diff --git a/.gitignore b/.gitignore index d9f52bcde..3fa3c4995 100644 --- a/.gitignore +++ b/.gitignore @@ -32,9 +32,11 @@ a.out *.class *.pyxbldc *.vcd +*.qm config.json clcache compile_commands.json +compare_runtime*.html persist board/obj/ @@ -61,7 +63,7 @@ panda_jungle provisioning .coverage* -coverage.xmlcar +coverage.xml htmlcov pandaextra @@ -81,8 +83,13 @@ build/ !**/.gitkeep poetry.toml -selfdrive/ui/_ui_nonav -*.po~ + +# rick - these are generated during compilation. +selfdrive/camerad/camerad +selfdrive/golden/ +selfdrive/legacy_modeld/_dmonitoringmodeld +selfdrive/legacy_modeld/_modeld +selfdrive/legacy_modeld/models/supercombo.thneed +selfdrive/legacy_modeld/models/supercombo_badweights.thneed +selfdrive/legacy_modeld/thneed/compile selfdrive/loggerd/bootlog -selfdrive/loggerd/loggerd -selfdrive/proclogd/proclogd diff --git a/CHANGELOGS.md b/CHANGELOGS.md deleted file mode 100644 index eabe02cd7..000000000 --- a/CHANGELOGS.md +++ /dev/null @@ -1,1027 +0,0 @@ -dragonpilot [2023.3.27] -======================= -* Synced with openpilot master 2023.03.26 commits. -* comma 0.9.2 release - * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do. -* DP Highlight - * Dynamic Rainbow mode. (fancy lol) - * Different color when Always On Lateral is enabled. - * RoadEdge detection has it's own toggle now. - * IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779 - * NEW: Alternative Lateral Controller - * Ability to switch to another lateral controller when SET speed is higher than configure speed. - * E.g. Use Torque + Laneless when belows 80kph and use PID + Laneline when above. - -dragonpilot [2023.2.15] -======================= -* Synced with openpilot master 2022.12.14 commits. -* Comma 0.9.1 release - * New driving model - * 30% improved height estimation resulting in better driving performance for tall cars - * UI updates - * Adjust alert volume using ambient noise level - * Driver monitoring icon shows driver's head pose -* NEW: Always On Lateral v2 (For Toyota/VAG/HKG/Honda). -* NEW: Block ALC if it's close to the road edges. -* NEW: Rinbow path toggle. (This effect is purely cosmetic) -* IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779 -* Bug fixes and improvement. - -dragonpilot [2023.1.10] -======================= -* Synced with openpilot master 2023.1.3 commits. -* IMPROVEMENT: Dynamic end to end refactored. It will automatically turn on and off for red light for smoother u/x. Now Supports (honda and vw that cab take advantage of VOACC). -* IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779 -* ADDED: support for Chevrolet Trailblazer 2022 (Thanks @TurboCE) -* ADDED: support for Honda odyssey hybrid 2022 China (Thanks @lijunhao731) -* ADDED: GPS accuracy on the sidebar. -* Bug fixes and improvement. - -HOTFIX: -======================= -* Allow Experimental Mode in release branch. (@Stupefacient) -* Happy Holiday / New Years! Safe Travel, cya in 2023! - -dragonpilot 2022.12.13 -======================= -* Synced with openpilot master 2022.12.13 commits. -* COMMA: New model, Toyota users can now configure SWAY settings. -* ADDED: Dashcam for comma 3. Store in /data/media/0/video/ (@neokii) -* ADDED: Better TSS2 Long and DF tune. @cgw1968-5779 -* NEW: Toggle to adapt Dynamic End-to-End to Following Dist. Mode. -* NEW: Toggle to adapt Dynamic End-to-End to Accel Mode. -* Improvement: Dynamic end to end is much more reliable and smoother experience -* Bug fixes and improvement. -* Happy Holiday / New Years! Safe Travel, cya in 2023! - -dragonpilot [2022.11.25] -======================= -* Synced with openpilot master 2022.11.25 commits. -* ADDED: Lateral Controller Selector. - - Ability to select between DEFAULT / PID / LQR / Torque Controller. -* ADDED: Redesigned UI to match Comma's new UI/UX style. -* ADDED: Dynamic End-to-End can be turned on when lead car is going below x km/h. (Useful for stop and go traffic.) -* ADDED: Toggle to adapt Dynamic End-to-End to Following Dist. Mode. -* ADDED: Toggle to adapt Dynamic End-to-End to Accel Mode. -* bug fix and improvement. - -dragonpilot [2022.11.14] -======================= -* Synced with openpilot master 2022.11.14 commits. -* COMMA: New Model. -* COMMA: RAV4 TSS2 now uses PID. -* REFACTORED: Turning off nav will free up some system resource. QR for nav has been move to home button / sidebar. -* ADDED: 2 new toggle to turn on or off laneline / path and chevron. -* ADDED: When reversing it will now show DM cam. - -dragonpilot [2022.11.01] -======================= -* Synced with openpilot master 2022.11.01 commits. -* COMMA: New Model. -* ADDED: Multi Lateral Planner: Ability to choose different Lateral Planner (0 = LATEST, 1 = 0.8.13, 2 = 0.8.16). -* READD: Toyota Prius ZSS support. -* Improvement: Better User experience for installing mapd database. -* Improvement: Turning on Lane Line will automatically will use DLP (Dynamic Lane Profile). -* bug fix and improvement - -dragonpilot [2022.10.26] -======================= -* Synced with openpilot master 2022.10.26 commits. -* COMMA: Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models. -* COMMA: New Model with much improved e2e long. -* ADDED: Mapd Database selector menu to use mapd offline located in software. When installing Database it will take some time. It is not stuck just be patience run `tmux a` for more info. DO NOT RESTART When database is being installed. -* ADDED: Better TSS2 Long and DF tune. @cgw1968-5779 -* ADDED: Toggle to bypass dashcam mode for Mazda. -* Improvement: Dynamic End to End tune. -* Improvement: Better Optimization for Vision Turn Controller with laneline mode. -* bug fix and improvement - -dragonpilot [2022.10.18] -======================= -* Synced with openpilot master 2022.10.18 commits. -* ADDED: Laneline toggle. -* ADDED: Turn and BSM indicator. (turn = green, turn + bsm = yellow, bsm = red) -* Improvement: Dynamic End to End tune. -* bug fix and improvement - - -dragonpilot [2022.10.04] -======================= -* Synced with openpilot master 2022.10.04 commits. -* ADDED: Dynamic End to End long. For more detail read the setting description. -* ADDED: Mpad now support's Stop Sign, Yield, Speed Bump, Sharp Curve. (For best experience map you area. https://www.openstreetmap.org/) -* ADDED: Chevron can display either distance or speed. -* ADDED: Toggles to force enabling torque control / torque tune for some vehicles -* Improvement: Dynamic Follow, Toyota Longitudinal and Decel tune. -* bug fix and improvement - -dragonpilot [2022.09.27] -======================= -* Synced with openpilot master 2022.09.27 commits. -* ADDED: Always On Lateral toggle under dp-controls! -* ADDED: Live torque fix pr#25868 -* ADDED: RAV4 and HIGHLANDER with sdsu can use follow distance button on the wheel. -* bug fix and improvement - -dragonpilot [2022.09.19] -======================== -* Synced with openpilot master 2022.09.19 commits. -* READD: refactored dyanmaic follow. support all car with op long. -* ADDED: PRIUS_TSS2 (2020-2022) now uses torque as default and auto learns. -* ADDED: Added a TSS2 RAV4 Special PID Tune toggle. -* ADDED: Added a PRIUS 2017 Special Torque Tune toggle. -* ADDED: Toggle to turn on and off Torque controller. -* ADDED: Toggle to turn on and off auto tune torque controller. -* ADDED: Vision Turn Controller. -* bug fix and improvement - -dragonpilot [2022.09.09] -======================== -* Synced with openpilot master 2022.09.09 commits. -* ADDED: us-west coast can now use mapd without data. See toggle description for more detail. -* READD: Temp check toggl e, max speed toggle and couple other UI toggles. -* bug fix and improvement - -dragonpilot [2022.09.04] -======================== -* Synced with openpilot master 2022.09.01 commits. -* Refactor: Dynamic Follow has been removerd temporary. Needs a refactor. (wip) -* ADDED: Auto Toyota door lock/unlock **only works on some car** -* READDED: Camera offset toggle. -* Improvement: gpxd now uses liveLocationKalman better performance. -* bug fix and improvement. - -dragonpilot [2022.08.07] -======================== -Synced to openpilot master 2022.08.07 commits. -NEW: Added back auto shutdown toggle. -NEW: Added back LQR tune toggle. -NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd) -TWEAKED: Panda Recovery should kill boardd process first. -FIXED: Fixed stop working issue when mapd crashed. - -dragonpilot 2022.07.27 -======================== -NEW: Synced to openpilot 2022.07.27 commits. -NEW: Included Mazda vehicles. -TWEAK: Only show road name bar when it's not empty. -TWEAK: Enlarged lead car distance text. -TWEAK: TOYOTA - Updated lowest speed override feature. -FIXED: Fixed Panda Flash/Recovery buttons. -FIXED: Included dp_patcher.py execution. - -dragonpilot [2022.08.07] -======================== -* Synced to openpilot master 2022.08.07 commits. -* NEW: Added back auto shutdown toggle. -* NEW: Added back LQR tune toggle. -* NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd) -* TWEAKED: Panda Recovery should kill boardd process first. -* FIXED: Fixed stop working issue when mapd crashed. - -dragonpilot 2022.07.27 -======================== -* NEW: Synced to openpilot 2022.07.27 commits. -* NEW: Included Mazda vehicles. -* TWEAK: Only show road name bar when it's not empty. -* TWEAK: Enlarged lead car distance text. -* TWEAK: TOYOTA - Updated lowest speed override feature. -* FIXED: Fixed Panda Flash/Recovery buttons. -* FIXED: Included dp_patcher.py execution. - -dragonpilot 2022.07.01 -======================== -* Synced with openpilot master 2022.06.29 commits. -* ADDED: MapD based off @move-fast. Thanks to @sunnyhaibin for mapbox as datapoint and ui refactor. (setting destination will use mapxbox speedlimit data which is more accurate. MapD priority: Mapbox(if nav active), OSM, RSA ) - -dragonpilot 2022.06.25 -======================== -* Synced with openpilot master 2022.06.25 commits. -* Updated zh-TW translation. -* ADDED: Dynamid follow @krkeegan version. (press the distance button) -* ADDED: dp ui vol. -* ADDED: dp ui brightness. -* ADDED: dp ui top/side bar. -* ADDED: dp display mode (0=off/normal, 1=turn off the screen when onroad). - -dragonpilot 2022.06.16 -======================== -* Synced with openpilot master 2022.06.16 commits. -* ADDED: Toyota SnG hack. -* ADDED: Accel Profile. -* FIXED: Car Selection. -* FLXED: ALCA Delay Setting UI. -* FIXED: Lane lines mode (w/ DLP built-in). - -dragonpilot 2022.06.11 -======================== -* Synced with openpilot master 2022.06.07 commits -* Migrating more features soon, stay tuned! - -dragonpilot 0.8.13-1 -======================== -* Based on openpilot 0.8.13 devel. -* ADDED: Support for SDSU. Can now control distance with the button on the steering wheel. (Thanks to @CT9212) -* FIXED: DLP fix. (Thank to @Hikari1023) -* Bug fixes. - -dragonpilot 0.8.12-3 -======================== -* Bug fixes. -* ADDED: Car Selector for C3. -* ADDED: ColorBlind mode eon only. (thanks to @ihsakashi) -* TUNNING: Toyota long improvement. -* Reimplement: Following Distance and added @krkeegan implementation (toyota only with sdsu/tss2). - -dragonpilot 0.8.12-2 -======================== -* Bug fixes. -* ADDED: FTP to easily manage storage. -* Readded: camera offset, path offset and autoshutdown. - -dragonpilot 0.8.12-1 -======================== -* Based on openpilot 0.8.12 devel. -* ADDED: Support for no gps (mr.one panda). -* Reimplement: camera offset, path offset, nav for c2 and autoshutdown. - -dragonpilot 0.8.10-4 -======================== -* FIXED: Allow gas press. (Thanks to @loveloveses) -* FIXED: Honda SnG. (Thanks to @loveloveses -* ADDED: Toyota: Display Blue Barriers When Engaged. (Thanks to @krkeegan) - -dragonpilot 0.8.10-3 -======================== -* NAV: Gaode/amap to use new key combination. (Thanks to @loveloveses) - -dragonpilot 0.8.10 -======================== -* Based on openpilot 0.8.10 devel. -* Reimplement: Following Distance. -* Better Subaru support. (Thanks to @martinl https://github.com/martinl/openpilot) -* NAV: Added use of Navigation tab to access home/work/recent dest. -* NAV: Added auto Day/Night Mode. -* NAV: Added customizable style. -* NAV: Added Gaode/amap Search. (Thanks to @loveloveses) -* FIXED: Device w/ battery no longer need to set auto shutdown to 1 min. -* FIXED: Auto shutdown while on bench (Thanks to @sunnyhaibin) -* REMOVED: Timebomb feature for VW. -* REMOVED: Support of running Android apps. - -dragonpilot 0.8.9-3 -======================== -* Bug fixes. -* Fixed up auto updater. -* Fixed Honda Jade dbc. (Thanks to @lijunhao731) -* ADDED: 0.8.10 model. -* ADDED: Nav for all device. -* ADDED: Support for Nvidia Xavier. - -dragonpilot 0.8.9-2 -======================== -* Bug fixes. -* Refactor UI related changes. -* Updated Simplified Chinese translation. (Thanks to @CCZ) -* WARNING: Due to recent OP change, Device w/ battery recommended setting autoshutdown to 1 min to prevent libusb error. -* Re-tuned acceleraton profile. (Thank to @wer5lcy) -* ADDED: Car port for Toyota Prius Alpha. (Thanks to @CT921) - -dragonpilot 0.8.9-1 -======================== -* Based on openpilot 0.8.8 devel. -* Re-introduce Follow Distance 4th profile (2.2s / 1.8s / 1.5s / 1.2s). -* ADDED: New softer sound for c3. -* ADDED: Dynamic Lane Profile. (Thanks to @sunnyhaibin) -* Bug Fixes. - -dragonpilot 0.8.8-2 -======================== -* ADDED: newer faster and modularized mapd and slow down for curve. (Thanks to @move-fast) -* ADDED: Street name on the bottom bar. -* ADDED: Now supports 1+3t / C2 / C3 / Jetson Xavier NX. -* ADDED: Smoother tune for PRIUS_TSS2. -* Bug fixes. - -dragonpilot 0.8.8-1 -======================== -** BETA TESTING ONLY ** -* Based on openpilot 0.8.8 devel. -* FIXED: dashcam issue. -* FIXED: some VW vehicles issue. (Thanks to @yayism) -* FIXED: white panda + j533 acc issue. (Thanks to @lirudy) -* ADDED: Auto fake black panda. -* ADDED: 2018 chinese camry hybrid fingerprint (Thanks to @stingshen) -* WIP: mapd. - -dragonpilot 0.8.7-4 -======================== -* 2017 JADE w/ Added Comma Pedal Support. (Thanks to @lijunhao731) -* Fixed toyota / honda brake light display. (Thanks to @loveloveses) -* Fixed UI toggle. (Thanks to @鄧育林、@謝聖鴻) -* Fixed VW resume/display issue. (Thanks to @SKY) -* Fixed CJK font installation issue. - -dragonpilot 0.8.7-3 -======================== -* Bug fixes. -* Fixed gpxd. -* Added some Chinese support. - -dragonpilot 0.8.7-2 -======================== -* Fixed sound issue. -* Changed gpx logs to OSM compatible format. -* HONDA: Added BSM support for CRV-Hybrid. -* HONDA: Added toggle to force displaying km/h in HUD. -* TOYOTA: Add new Toggles under DP - Cars to enable/disable Following Modes / Accel Modes with physical button feature. - -dragonpilot 0.8.7-1 -======================== -* Based on openpilot 0.8.7 devel. -* Support 1+3t / C2 / Jetson Xavier NX. -* Support White / Grey Panda. -* TOYOTA: Can now change Following Modes with physical button from the steering wheel. -* TOYOTA: Can now change Acceleration Modes with physical button if your car supports it. -* TOYOTA: Added Low speed override toggles. -* Dev UI now displays RPM reading. -* Added Prebuilt toggle for faster boot. -* Lexus RX high RPM fix. (Thanks to @crazysim). -* Added toggle to launch Language settings. -* Added toggle to launch Volume settings. -* Added toggle to launch date/time settings. -* Added toggle to flash panda. -* Added toggle to recover panda firmware. -* Added toggle to delete logging (/sdcard/realdata). -* Added GPS Logger. - -dragonpilot 0.8.6-1 -======================== -* Based on openpilot 0.8.6 devel. -* Support 1+3t / C2 / Jetson Xavier NX. -* Support White / Grey Panda. - -dragonpilot 0.8.5-4 -======================== -* Added multiple toggles. -* Code clean up. -* Android app support. (see selfdrive/dragonpilot/HOWTO-APPD.md) -* Better support for VW MPQ (Thanks to @Saber) - -dragonpilot 0.8.5-3 -======================== -* Added Jetson support toggle. -* Added Steering Ratio controller. -* Reduce Following Profile to 3 modes only. (1.8s / 1.5s / 1.2s) -* Bug fixes. - -dragonpilot 0.8.5-2 -======================== -* Added black panda simulation toggle. -* Added No GPS toggle. -* Added No Battery Toggle. -* Bug fixes. - -dragonpilot 0.8.5-1 -======================== -* Based on openpilot 0.8.5 devel. -* 基於 openpilot 0.8.5 devel. -* Support 1+3t / C2 / Jetson Xavier NX. -* 支持 1+3t / C2 / Jetson Xavier NX. -* No White/Grey Panda Support. -* 不支持白灰熊. - -dragonpilot 0.8.4-3 -======================== -* 簡化 1+3t 安裝方法. (請查閱 HOWTO-ONEPLUS.md) -* Simplied 1+3t installation. (See HOWTO-ONEPLUS.md) -* 加回舊 ssh 登錄. -* Good old ssh key. -* 修復本田錯誤. (感謝 @loveloveses) -* Fixed Honda bug. (Thanks to @loveloveses) - -dragonpilot 0.8.4-2 -======================== -* 加回可調整加速/跟車設定. -* Added back Accel/Following Profile. -* 支持 Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git) -* Support Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git) -* 支持 1+3t (需額外安裝手續) -* Support 1+3t (Require additional install procedure) -* 支持白/灰熊 -* Support White/Grey Panda. - -dragonpilot 0.8.4-1 -======================== -* 基於 openpilot 0.8.4 devel. -* Based on openpilot 0.8.4 devel. - -dragonpilot 0.8.1 -======================== -* 基於最新 openpilot 0.8.1 devel. -* Based on latest openpilot 0.8.1 devel. -* 加入行車記錄按鈕。(感謝 @toyboxZ 提供) -* Added REC screen button. (Thanks to @toyboxZ) - -dragonpilot 0.8.0 -======================== -* 基於最新 openpilot 0.8.0 devel. -* Based on latest openpilot 0.8.0 devel. -* 加入 git 錯誤修正。(感謝 @toyboxZ 提供) -* Added git error fix. (Thanks to @toyboxZ) - -dragonpilot 0.7.10.1 -======================== -* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供) -* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe) -* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議) -* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe) -* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供) -* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217) -* 使用 openpilot v0.8 的模型。(感謝 @eisenheim) -* Use openpilot v0.8 model. (Thanks to @eisenheim) -* 加入 0.8 測試版的部分優化。 -* Added optimizations from pre-0.8. -* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供) -* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369) -* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供) -* Fixed issue with white/grey panda support for VW (Thanks to @lirudy) -* GENESIS_G70 優化 (感謝 @sebastian4k 提供) -* GENESIS_G70 Optimisation (Thanks to @sebastian4k) -* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供) -* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe) -* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供) -* Added Dynamic Gas Lite. (Thanks to @toyboxZ) -* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供) -* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) -* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供) -* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ) - -dragonpilot 0.7.10.0 -======================== -* 基於最新 openpilot 0.7.10 devel. -* Based on latest openpilot 0.7.10 devel. -* 修正 Prius 特定情況下無法操控方向盤的問題。 -* Fixed unable to regain Prius steering control under certain condition. -* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本) -* Updated support of VW MQB. (scripts/vw.sh script required) -* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供) -* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung) -* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供) -* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa) -* 優化 nanovg。(感謝 @piggy 提供) -* Optomized nanovg. (Thanks to @piggy) -* 加入 complete_setup.sh (感謝 @深鲸希西 提供) -* Added complete_setup.sh (Thanks to @深鲸希西) -* Based on latest openpilot 0.7.10 devel. -* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報) -* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen) -* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供) -* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe) - -dragonpilot 0.7.8.3 -======================== -* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼) -* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd) - -dragonpilot 0.7.8.2 -======================== -* 修正在沒網路的情況下，開機超過五分鐘的問題。 -* Fixed 5+ minutes boot time issue when there is no internet connection. -* 錯誤回傳改使用 dp 的主機。 -* Used dp server for error reporting. -* 更新服務改使用 gitee 的 IP 檢查連線狀態。 -* updated service uses gitee IP address instead. - -dragonpilot 0.7.8.1 -======================== -* 加入 ko-KR 翻譯。 -* Added ko-KR translation. -* 加入 Honda Jade 支援。(感謝 @李俊灝) -* Added Honda Jade support. (Thanks to @lijunhao731) -* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供) -* Fixed ui.cc memory out of bound issue. (Thanks to @piggy) -* gpxd 記錄改自動存成 zip 格式。 -* gpxd now store in zip format. -* 強制關閉 panda 檢查 DOS 硬體。 -* Force disabled DOS hardware check in panda. - -dragonpilot 0.7.8.0 -======================== -* 基於最新 openpilot 0.7.8 devel. -* Based on latest openpilot 0.7.8 devel. -* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議) -* Added "Reset DP Settings" button. (Thanks to @LOVEChen) -* 將警示訊息更改為類似於概念 UI 的設計。 -* Alert messages changed to concept UI alike design. -* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。 -* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors. - -dragonpilot 0.7.7.3 -======================== -* 修正方向盤監控。 -* Fixed steering monitor timer param. -* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報) -* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough) -* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議) -* Re-added Dev Mini UI. (Thanks to @Ninjaa) -* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim) -* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim) -* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough) -* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough) -* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1） -* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1) -* 使用德國的車道寬度估算值。 （感謝 @arne182） -* Used lane width estimate value from Germany. (Thanks to @arne182) - -dragonpilot 0.7.7.2 -======================== -* 加入 d_poly offset。 (感謝 @ShaneSmiskol) -* Added d_poly offset. (Thanks to @ShaneSmiskol) -* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試) -* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing) -* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼) -* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol) -* 加入 LQR 控制器開關進設定畫面。 -* Added LQR Controller toggle to settings. - -dragonpilot 0.7.7.1 -======================== -* 加入 C2 風扇靜音模式。(感謝 @dingliangxue) -* Added C2 quiet fan mode. (Thanks to @dingliangxue) -* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。 -* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings. -* 加入回調校介面。(感謝 @Kent) -* Re-added Dev UI. (Thanks to @Kent) -* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim) -* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim) - -dragonpilot 0.7.7.0 -======================== -* 基於最新 openpilot 0.7.7 devel. -* Based on latest openpilot 0.7.7 devel. -* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue) -* When Manager failed, display IP address. (Thanks to @dingliangxue) -* 加回 sr learner 開關。 -* Re-added sr learner toggle. -* 加回 加速模式 開關。 -* Re-added Accel Profile toggle. -* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo) -* Added Toyota to override lowerest cruise speed. (Thanks to @Mojo) -* 介面加入盲點偵測顯示。(感謝 @wabes) -* Added BSM indicator to UI. (Thanks to @wabes) -* 加回彎道減速功能。(感謝 @Mojo) -* re-added Slow On Curve functionality. (Thanks to @Mojo) - -dragonpilot 0.7.6.2 -======================== -* 修正無法正確關閉駕駛監控的問題。 -* Fixed unable to properly turn off driver monitor issue. - -dragonpilot 0.7.6.1 -======================== -* 基於最新 openpilot 0.7.6.1 devel. -* Based on latest openpilot 0.7.6.1 devel. -* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能) -* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings) -* 完全關閉 steer ratio learner。 -* Completely disabled steer ratio learner. -* 移除「加速模式」。 -* Removed Accel Profile. -* 加入本田皓影混電版指紋v1。(感謝 @劉駿) -* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿) -* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid) -* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid) - -dragonpilot 0.7.5.4 -======================== -* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試) -* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing) - -dragonpilot 0.7.5.3 -======================== -* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試) -* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing) -* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試) -* Optimize Lexus GSH steering. (Thanks to @簡銘佑) -* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議) -* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968) -* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報) -* Fixed issue showing "pedalPressed" error. (Thanks to @Wei) -* 將剎車狀熊顯示於 dp 資訊欄。 -* Added brake indicator to dp infobar. -* 修正「溫度監控」燈示。 -* Fixed "Temp monitor" indicator. -* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議) -* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes) -* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供) -* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) - -dragonpilot 0.7.5.2 -======================== -* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植) -* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue) -* 修改成 3 小時後停止供電。(感謝 @Wei 建議) -* Updated to stop charging after 3 hrs. (Thanks to @Wei) -* 移除行車記錄下的「碰撞偵測」功能。 -* Removed Impact Detection in Dashcam. -* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報) -* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤) -* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報) -* Fixed alert issue in waze mode. (Thanks to @axandres) -* 修正無法顯示更新中圖示的問題。 -* Fixed unable to display "UPDATING" icon issue. -* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議) -* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤) -* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報) -* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei) -* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報) -* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang) - -dragonpilot 0.7.5.1 -======================== -* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。) -* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林) -* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議) -* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony) -* 更新 appd 使用 cnpmjs 來下載 APKs。 -* Updated appd to use cnpmjs to download APKs. -* 修正更新服務。(感謝 @Wei) -* Fixed Update Service. (Thanks to @Wei) -* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供) -* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰) -* 新增「通過移動網路上傳」開關 -* Added Upload Over Mobile Network toggle. -* 新增「通過熱點上傳」開關 -* Added Upload Over Hotspot toggle. -* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供) -* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰) -* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供) -* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji) - -dragonpilot 0.7.5.0 -======================== -* 基於最新 openpilot 0.7.5 devel-staging. -* Based on latest openpilot 0.7.5 devel-staging. -* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。 -* Updated dp logo, special thanks to @wabes for the design. -* 簡/繁中文版和 i18n 整合成為單一版本。 -* Merged zhs/zht/i18n versions into one. -* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾) -* Added China Camery Hybrid FPv2. (Thanks to @杜子腾) -* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish) -* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish) -* 新增行駛時關閉畫面功能。 -* Added Screen off while driving feature. -* 新增倒車時關閉畫面功能。 -* Added Screen off while reversing feature. -* 新增駕駛介面加入「加速模式」切換鈕。 -* Added acceleration profile toggle onto driving UI. -* 新增自定車型功能，取代指紋暫存功能。 -* Replaced fingerprint cache with custom car model selector. -* 新增可調亮度。 -* Added Brightness changer. -* 新增部分德語支持。(特別感謝 @arne182 提供) -* Added partial de_DE language support (Thanks to @arne182) -* 新增停車碰撞偵測記錄功能。 -* Added off road impact detection to dashcam. - -2020-05-06 -======================== -* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。 -* 中文版整合進 i18n 版。 -* 刪除指紋暫存功能。 -* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾) -* 新增行駛時關閉畫面功能。 -* 新增倒車時關閉畫面功能。 -* 新增駕駛介面加入「加速模式」切換鈕。 -* 新增自定義車型。 - -2020-04-16 -======================== -* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai) -* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip) -* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip) -* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip) -* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助) - -2020-04-13 -======================== -* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR) -* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議) -* [DEVEL] 更新 update script。(感謝 深鯨希西 回報) - -2020-04-10 -======================== -* [DEVEL] 更新 panda 至最新的 comma:master 分支。 -* [DEVEL] 移除所有的第三方應用改為自動下載。 -* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。 - -2020-03-31 -======================== -* [DEVEL] 更新至 2020-03-31 testing 分支。 - -2020-03-27 -======================== -* [DEVEL] 更新至最新的 testing 分支: - * 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供) - * 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle) - * 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。 - * 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供) - * 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供) - * 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供) - * 加入韓文支持。(感謝 crwusiz 提供) - * 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。 - -2020-03-22 -======================== -* [DEVEL] 更新至最新的 testing 分支。 - -2020-03-17 -======================== -* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。 -* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR) - -2020-03-14 -======================== -* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供) -* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議) -* [DEVEL] 調高 Toyota 扭力容錯值。 -* [DEVEL] 優化讀取 dp 設定值。 -* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供) -* [DEVEL] dp 功能加入對 Subaru 車系的支援。 - -2020-03-06 -======================== -* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供) -* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供) -* [DEVEL] 建立 devel-i18n 取代 devel-en。 -* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead. - -2020-03-04 -======================== -* [DEVEL] 加入顯示駕駛監控畫面。 -* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR) -* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報) - -2020-02-25 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。 - -2020-02-21 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。 - -2020-02-14 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。 -* [DEVEL] 修正錯誤。 - -2020-02-08 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。 -* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。 -* [DEVEL] 加入神盾測速照相自動啟動的開關。 -* [DEVEL] 更新高德地圖至 v4.5.0.600053。 -* [DEVEL] 使用 0.6.6 版的更新系統。 -* [DEVEL] 修正急剎問題。(感謝 kumar 提供) - -2020-01-31 -======================== -* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題) - -2020-01-29 -======================== -* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應) - -2020-01-23 -======================== -* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議) -* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議) -* [DEVEL] 優化 appd。 - -2020-01-19 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。 -* [DEVEL] 調整 appd 和 ALC 邏輯。 - -2020-01-14 -======================== -* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議) - -2020-01-08 -======================== -* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供) -* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供) - -2019-12-31 -======================== -* [DEVEL-ZHS] 加回第三方應用。 - -2019-12-29 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。 -* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay) -* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應) - -2019-12-18 -======================== -* [DEVEL] 修正自動換道邏輯。 -* [DEVEL] 更新 offroad 翻譯。 -* [DEVEL] 錯誤修正。 -* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突) - -2019-12-17 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。 -* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上) -* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上) -* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供) -* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供) -* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供) - -2019-12-10 -======================== -* [DEVEL] 加入位智車機模式。 (Waze Mode) - -2019-11-21 -======================== -* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報) -* [DEVEL] 調整前車靜止移動偵測參數。 -* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。 - -2019-11-18 -======================== -* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報) - -2019-11-18 -======================== -* [DEVEL] 修正 frame 翻譯。 - -2019-11-15 -======================== -* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應) - -2019-11-15 -======================== -* [DEVEL] 修正充電控制。 (感謝 KT 反應) -* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應) -* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。 - -2019-11-12 -======================== -* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線) -* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。 - -2019-11-12 -======================== -* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。 - -2019-11-11 -======================== -* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE -* [DEVEL] 更新 MiXplorer 至 v6.40.3 -* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。 -* [DEVEL] 前車靜止移動偵測加入偵測警示。 - -2019-11-07 -======================== -* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報) -* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供) - -2019-11-06 -======================== -* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報) -* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。 - -2019-11-05 -======================== -* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋) - -2019-11-01 -======================== -* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen) -* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh) - -2019-11-01 -======================== -* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。 -* [DEVEL] 更新 offroad 為多語言版 -* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 - -2019-10-29 -======================== -* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智) - -2019-10-28 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 -* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體) - -2019-10-18 -======================== -* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen) -* [DEVEL] 移除強迫網路連線提示。(感謝 Shell) -* [DEVEL] 修正 allow_gas 功能。 - -2019-10-18 -======================== -* [DEVEL] 加入彎道減速功能開關。 -* [DEVEL] 強迫使用 dp 版 Panda 韌體。 -* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 - -2019-10-17 -======================== -* [DEVEL] 加入「車型」顯示於 dp 設定畫面。 -* [DEVEL] 修正充電控制讀取預設值的錯誤。 -* [DEVEL] 修正無法顯示更新記錄的錯誤。 - -2019-10-16 -======================== -* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議) -* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。 -* [DEVEL] 更新高德地圖至 v4.3.0 -* [DEVEL] 刪除 bs (Branch Switcher) - -2019-10-14 -======================== -* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供) -* [DEVEL] 清除不再使用的 dp params。 -* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議) -* [DEVEL] 加入刷新 Panda 韌體按鈕。 - -2019-10-11 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 -* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供) - -2019-10-09 -======================== -* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。 - -2019-10-08 -======================== -* [DEVEL] 加回駕駛監控開關。 -* [DEVEL] 加入 bs (branch switcher) 程式。 - -2019-10-07 -======================== -* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供) - -2019-10-05 -======================== -* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。 -* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。 - -2019-09-30 -======================== -* [DEVEL] 更新 curvature learner 版本至 v4。 -* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor - -2019-09-27 -======================== -* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot) -* [DEVEL] 加入可開關駕駛監控的程式碼。 -* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。 -* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。 - -2019-09-26 -======================== -* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報) - -2019-09-24 -======================== -* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。 -* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot) - -2019-09-23 -======================== -* [DEVEL] 優化讀取 params 的次數。 -* [DEVEL] 加入可開關的車道偏移警示。 -* [DEVEL] 修正充電控制邏輯。 -* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供) - -2019-09-20 -======================== -* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議) - -2019-09-16 -======================== -* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供) -* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供) - -2019-09-13 -======================== -* [DEVEL] 行車介面加入可開關的「速度顯示」設定。 - -2019-09-09 -======================== -* [DEVEL] 加入 GreyPanda 模式。 - -2019-08-28 -======================== -* [DEVEL] 加入可調警示音量。 - -2019-08-27 -======================== -* [DEVEL] 自動關機改為可調時長。 diff --git a/CHANGELOGS_c2.md b/CHANGELOGS_c2.md deleted file mode 100644 index bb957c37a..000000000 --- a/CHANGELOGS_c2.md +++ /dev/null @@ -1,976 +0,0 @@ -dragonpilot [Latest] - EON/C2 Release -======================== -* Synced with openpilot master 2023.03.26 commits. -* DP Highlight - * NEW: Manual Lane Change. - * NEW: Road Edge detection when Lane Change. - * NEW: Rainbow mode. (fancy lol) - * NEW: Local Trip counter. - * NEW: Alternative Lateral Controller - * Ability to switch to another lateral controller when SET speed is higher than configure speed. - * E.g. Use Torque + Laneless when belows 80kph and use PID + Laneline when above. - * TWEAK: **10s Lat MPC is removed due to poor performance on EON/C2** - * TWEAK: Refactored cameraview widget. - * TWEAK: Different color when Always On Lateral is enabled. - * TWEAK: Better TSS2 Long and DF tune. @cgw1968-5779 - * TWEAK: e2e Lateral will display lanelines in white. - * TWEAK: Updated VisionIPC to match current version. - * TWEAK: DM reverted to 0.8.13 model and algorithm. - * TWEAK: E2E Initial speed matches ACC initial speed. (105 -> 40) - * FIXED: Fixed Reverse message not showing issue. - * FIXED: Honda - ALKA not working. @loveloveses - * FIXED: Display Mode. - * FIXED: Toyota - Speed Override. - * FIXED: Re-include CJK system font for EON/C2. - -dragonpilot 2023.02.08 - EON/C2 Release -======================== -* Synced with openpilot master 2022.12.14 commits. -* TWEAK: Ability to disable build-in NAV completely. (reduced CPU/memory load) -* NEW: Lateral Controller Selector - * Ability to select between DEFAULT / PID / LQR / Torque Controller. -* NEW: Redesigned UI to match Comma's new UI/UX style. -* NEW: Dynamic End-to-End can be turned on when lead car is going below x km/h. (Useful for stop and go traffic.) -* NEW: Toggle to adapt Dynamic End-to-End to Following Dist. Mode. -* NEW: Toggle to adapt Dynamic End-to-End to Accel Mode. -* NEW: Always On Lateral v2 (For Toyota/VAG/HKG/Honda). -* NEW: VAG - vw-spam-resume (Thanks to @jyoung8607) -* FIXED: Bugs in updated. -* FIXED: Issue in C2 fan control. -* TWEAK: Bug fixes and improvement. - -dragonpilot 2022.11.09 - EON/C2 Release -======================== -* Synced with openpilot master 2022.10.26 commits. -* COMMA: Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models. -* NEW: Mapd Database selector menu to use mapd offline located in software. When installing Database it will take some time. It is not stuck just be patience run `tmux a` for more info. DO NOT RESTART When database is being installed. - * Ability to use MapD without internet connection. -* NEW: TOYOTA - Better TSS2 Long and DF tune. @cgw1968-5779 -* NEW: MAZDA - Toggle to bypass dashcam mode. -* NEW: Added lanelines mode. - * Ability to adjust camera/path offset. -* NEW: Lateral Planner option. - * Ability to select 0.8.13, 0.8.16 and the latest/current planner. -* NEW: Offline OSM map database. -* NEW: Turn and BSM indicator. (turn = blink green, turn + bsm = blink yellow, bsm = solid yellow) -* TWEAK: Better Optimization for Vision Turn Controller with laneline mode. -* FIXED: When going offroad, the screen does not turn off. (w/ CP or w/ Battery) -* bug fix and improvement. - - -dragonpilot 2022.10.17 - EON/C2 Release -======================== -* Synced with openpilot master 2022.09.22 commits. - * Live Torque Tune (Only available to certain vehicle models with op long.) -* NEW: TOYOTA - Added a TSS2 RAV4 Special PID Tune toggle. -* NEW: TOYOTA - Added a PRIUS 2017 Special Torque Tune toggle. -* NEW: TOYOTA - PRIUS_TSS2 (2020-2022) now uses torque as default and auto learns. -* NEW: Added a toggle to force enable torque controller. (may not work on some vehicles) -* NEW: Added a toggle to force enable live torque tune. (may not work on some vehicles) -* NEW: VAG - Added auto resume fix toggle. -* NEW: refactored dynamic follow. support all car with op long. -* NEW: New blinker and BSM indicators. -* NEW: Lead Info is now displaying both speed and distance. -* FIXED: Minor bug fixes and improvement. - -dragonpilot 2022.09.22 - EON/C2 Release -======================== -* Synced with openpilot master 2022.09.17 commits. - * e2e longitudinal toggle. (Extremely alpha feature) - * Deprecated SNPE lib and switched to tinygrad. -* NEW: Added back nav support on EON/C2. -* WARNING: DUE TO THE INTRODUCTION OF END TO END LONGITUDINAL FEATURE, FOLLOWING FEATURES HAS BEEN CHANGED: - * WIP: Dynamic Follow has been temporary removed for refactoring. - * WIP: Vision Turn Control has been temporary removed for refactoring. - * REMOVED: Camera offset has been removed permanently due to new e2e implementation. - * EON/C2 WILL NO LONGER RECEIVE ANY DRIVING/DRIVER MONITORING MODEL UPDATES. - -dragonpilot 2022.08.29 - EON/C2 Release -======================== -* NEW: Synced to openpilot master 2022.08.23 commits. - * New driving model. -* NEW: Added back honda eps mod toggle. -* NEW: Added back camera offset toggle. -* TWEAK: Resume logic to adapt ATL mode. - -dragonpilot 2022.08.17 - EON/C2 Release -======================== -* NEW: Synced to openpilot master 2022.08.07 commits. -* NEW: Added back auto shutdown toggle. -* NEW: Added back On-Road Dashcam toggle. (You should not replace this with your dashcam!!!) -* NEW: Added back LQR tune toggle. -* NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd) -* NEW: Included all vehicles. -* TWEAK: Panda Recovery should kill boardd process first. -* FIXED: Fixed stop working issue when mapd crashed. - -dragonpilot 2022.07.29 - EON/C2 Release -======================== -* NEW: Synced to openpilot 2022.07.27 commits. -* NEW: Included Mazda vehicles. -* TWEAK: Only show road name bar when it's not empty. -* TWEAK: Enlarged lead car distance text. -* TWEAK: TOYOTA - Updated lowest speed override feature. -* FIXED: Fixed Panda Flash/Recovery buttons. -* FIXED: Included dp_patcher.py execution. - -dragonpilot 2022.07.20 - EON/C2 Release -======================== -* FIXED: Included correct camera/path offset values for EON/C2. -* FIXED: Param bug in HKG. (Thanks to @sunnyhaibin). -* FIXED: Included fan controller for UNO (C2). -* TWEAK: Auto set a decent date/time to prevent onroad incorrect date/time detection. -* TWEAK: Removed sounds unavailable warning. -* TWEAK: Removed unused loggers. -* TWEAK: Disabled IR controls completely. - -dragonpilot 2022.07.14 - EON/C2 Release -======================== -* FIXED: DM bug. -* FIXED: white / grey panda support. -* FIXED: Removed No GPS signal warning. - -dragonpilot 2022.07.12 - EON/C2 Release -======================== -* Synced up with dragonpilot 2022.06.25 C3 release -* Running on latest AI model. -* Steering monitor only. -* Works on EON/C2 + white/grey/black panda (tested only on Toyotas). -* Buggy! - -dragonpilot 2022.07.01 -======================== -* Synced with openpilot master 2022.06.29 commits. -* ADDED: MapD based off @move-fast. Thanks to @sunnyhaibin for mapbox as datapoint and ui refactor. (setting destination will use mapxbox speedlimit data which is more accurate. MapD priority: Mapbox(if nav active), OSM, RSA ) - -dragonpilot 2022.06.25 -======================== -* Synced with openpilot master 2022.06.25 commits. -* Updated zh-TW translation. -* ADDED: Dynamid follow @krkeegan version. (press the distance button) -* ADDED: dp ui vol. -* ADDED: dp ui brightness. -* ADDED: dp ui top/side bar. -* ADDED: dp display mode (0=off/normal, 1=turn off the screen when onroad). - -dragonpilot 2022.06.16 -======================== -* Synced with openpilot master 2022.06.16 commits. -* ADDED: Toyota SnG hack. -* ADDED: Accel Profile. -* FIXED: Car Selection. -* FLXED: ALCA Delay Setting UI. -* FIXED: Lane lines mode (w/ DLP built-in). - -dragonpilot 2022.06.11 -======================== -* Synced with openpilot master 2022.06.07 commits -* Migrating more features soon, stay tuned! - -dragonpilot 0.8.13-1 -======================== -* Based on openpilot 0.8.13 devel. -* ADDED: Support for SDSU. Can now control distance with the button on the steering wheel. (Thanks to @CT9212) -* FIXED: DLP fix. (Thank to @Hikari1023) -* Bug fixes. - -dragonpilot 0.8.12-3 -======================== -* Bug fixes. -* ADDED: Car Selector for C3. -* ADDED: ColorBlind mode eon only. (thanks to @ihsakashi) -* TUNNING: Toyota long improvement. -* Reimplement: Following Distance and added @krkeegan implementation (toyota only with sdsu/tss2). - -dragonpilot 0.8.12-2 -======================== -* Bug fixes. -* ADDED: FTP to easily manage storage. -* Readded: camera offset, path offset and autoshutdown. - -dragonpilot 0.8.12-1 -======================== -* Based on openpilot 0.8.12 devel. -* ADDED: Support for no gps (mr.one panda). -* Reimplement: camera offset, path offset, nav for c2 and autoshutdown. - -dragonpilot 0.8.10-4 -======================== -* FIXED: Allow gas press. (Thanks to @loveloveses) -* FIXED: Honda SnG. (Thanks to @loveloveses -* ADDED: Toyota: Display Blue Barriers When Engaged. (Thanks to @krkeegan) - -dragonpilot 0.8.10-3 -======================== -* NAV: Gaode/amap to use new key combination. (Thanks to @loveloveses) - -dragonpilot 0.8.10 -======================== -* Based on openpilot 0.8.10 devel. -* Reimplement: Following Distance. -* Better Subaru support. (Thanks to @martinl https://github.com/martinl/openpilot) -* NAV: Added use of Navigation tab to access home/work/recent dest. -* NAV: Added auto Day/Night Mode. -* NAV: Added customizable style. -* NAV: Added Gaode/amap Search. (Thanks to @loveloveses) -* FIXED: Device w/ battery no longer need to set auto shutdown to 1 min. -* FIXED: Auto shutdown while on bench (Thanks to @sunnyhaibin) -* REMOVED: Timebomb feature for VW. -* REMOVED: Support of running Android apps. - -dragonpilot 0.8.9-3 -======================== -* Bug fixes. -* Fixed up auto updater. -* Fixed Honda Jade dbc. (Thanks to @lijunhao731) -* ADDED: 0.8.10 model. -* ADDED: Nav for all device. -* ADDED: Support for Nvidia Xavier. - -dragonpilot 0.8.9-2 -======================== -* Bug fixes. -* Refactor UI related changes. -* Updated Simplified Chinese translation. (Thanks to @CCZ) -* WARNING: Due to recent OP change, Device w/ battery recommended setting autoshutdown to 1 min to prevent libusb error. -* Re-tuned acceleraton profile. (Thank to @wer5lcy) -* ADDED: Car port for Toyota Prius Alpha. (Thanks to @CT921) - -dragonpilot 0.8.9-1 -======================== -* Based on openpilot 0.8.8 devel. -* Re-introduce Follow Distance 4th profile (2.2s / 1.8s / 1.5s / 1.2s). -* ADDED: New softer sound for c3. -* ADDED: Dynamic Lane Profile. (Thanks to @sunnyhaibin) -* Bug Fixes. - -dragonpilot 0.8.8-2 -======================== -* ADDED: newer faster and modularized mapd and slow down for curve. (Thanks to @move-fast) -* ADDED: Street name on the bottom bar. -* ADDED: Now supports 1+3t / C2 / C3 / Jetson Xavier NX. -* ADDED: Smoother tune for PRIUS_TSS2. -* Bug fixes. - -dragonpilot 0.8.8-1 -======================== -** BETA TESTING ONLY ** -* Based on openpilot 0.8.8 devel. -* FIXED: dashcam issue. -* FIXED: some VW vehicles issue. (Thanks to @yayism) -* FIXED: white panda + j533 acc issue. (Thanks to @lirudy) -* ADDED: Auto fake black panda. -* ADDED: 2018 chinese camry hybrid fingerprint (Thanks to @stingshen) -* WIP: mapd. - -dragonpilot 0.8.7-4 -======================== -* 2017 JADE w/ Added Comma Pedal Support. (Thanks to @lijunhao731) -* Fixed toyota / honda brake light display. (Thanks to @loveloveses) -* Fixed UI toggle. (Thanks to @鄧育林、@謝聖鴻) -* Fixed VW resume/display issue. (Thanks to @SKY) -* Fixed CJK font installation issue. - -dragonpilot 0.8.7-3 -======================== -* Bug fixes. -* Fixed gpxd. -* Added some Chinese support. - -dragonpilot 0.8.7-2 -======================== -* Fixed sound issue. -* Changed gpx logs to OSM compatible format. -* HONDA: Added BSM support for CRV-Hybrid. -* HONDA: Added toggle to force displaying km/h in HUD. -* TOYOTA: Add new Toggles under DP - Cars to enable/disable Following Modes / Accel Modes with physical button feature. - -dragonpilot 0.8.7-1 -======================== -* Based on openpilot 0.8.7 devel. -* Support 1+3t / C2 / Jetson Xavier NX. -* Support White / Grey Panda. -* TOYOTA: Can now change Following Modes with physical button from the steering wheel. -* TOYOTA: Can now change Acceleration Modes with physical button if your car supports it. -* TOYOTA: Added Low speed override toggles. -* Dev UI now displays RPM reading. -* Added Prebuilt toggle for faster boot. -* Lexus RX high RPM fix. (Thanks to @crazysim). -* Added toggle to launch Language settings. -* Added toggle to launch Volume settings. -* Added toggle to launch date/time settings. -* Added toggle to flash panda. -* Added toggle to recover panda firmware. -* Added toggle to delete logging (/sdcard/realdata). -* Added GPS Logger. - -dragonpilot 0.8.6-1 -======================== -* Based on openpilot 0.8.6 devel. -* Support 1+3t / C2 / Jetson Xavier NX. -* Support White / Grey Panda. - -dragonpilot 0.8.5-4 -======================== -* Added multiple toggles. -* Code clean up. -* Android app support. (see selfdrive/dragonpilot/HOWTO-APPD.md) -* Better support for VW MPQ (Thanks to @Saber) - -dragonpilot 0.8.5-3 -======================== -* Added Jetson support toggle. -* Added Steering Ratio controller. -* Reduce Following Profile to 3 modes only. (1.8s / 1.5s / 1.2s) -* Bug fixes. - -dragonpilot 0.8.5-2 -======================== -* Added black panda simulation toggle. -* Added No GPS toggle. -* Added No Battery Toggle. -* Bug fixes. - -dragonpilot 0.8.5-1 -======================== -* Based on openpilot 0.8.5 devel. -* 基於 openpilot 0.8.5 devel. -* Support 1+3t / C2 / Jetson Xavier NX. -* 支持 1+3t / C2 / Jetson Xavier NX. -* No White/Grey Panda Support. -* 不支持白灰熊. - -dragonpilot 0.8.4-3 -======================== -* 簡化 1+3t 安裝方法. (請查閱 HOWTO-ONEPLUS.md) -* Simplied 1+3t installation. (See HOWTO-ONEPLUS.md) -* 加回舊 ssh 登錄. -* Good old ssh key. -* 修復本田錯誤. (感謝 @loveloveses) -* Fixed Honda bug. (Thanks to @loveloveses) - -dragonpilot 0.8.4-2 -======================== -* 加回可調整加速/跟車設定. -* Added back Accel/Following Profile. -* 支持 Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git) -* Support Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git) -* 支持 1+3t (需額外安裝手續) -* Support 1+3t (Require additional install procedure) -* 支持白/灰熊 -* Support White/Grey Panda. - -dragonpilot 0.8.4-1 -======================== -* 基於 openpilot 0.8.4 devel. -* Based on openpilot 0.8.4 devel. - -dragonpilot 0.8.1 -======================== -* 基於最新 openpilot 0.8.1 devel. -* Based on latest openpilot 0.8.1 devel. -* 加入行車記錄按鈕。(感謝 @toyboxZ 提供) -* Added REC screen button. (Thanks to @toyboxZ) - -dragonpilot 0.8.0 -======================== -* 基於最新 openpilot 0.8.0 devel. -* Based on latest openpilot 0.8.0 devel. -* 加入 git 錯誤修正。(感謝 @toyboxZ 提供) -* Added git error fix. (Thanks to @toyboxZ) - -dragonpilot 0.7.10.1 -======================== -* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供) -* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe) -* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議) -* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe) -* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供) -* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217) -* 使用 openpilot v0.8 的模型。(感謝 @eisenheim) -* Use openpilot v0.8 model. (Thanks to @eisenheim) -* 加入 0.8 測試版的部分優化。 -* Added optimizations from pre-0.8. -* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供) -* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369) -* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供) -* Fixed issue with white/grey panda support for VW (Thanks to @lirudy) -* GENESIS_G70 優化 (感謝 @sebastian4k 提供) -* GENESIS_G70 Optimisation (Thanks to @sebastian4k) -* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供) -* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe) -* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供) -* Added Dynamic Gas Lite. (Thanks to @toyboxZ) -* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供) -* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) -* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供) -* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ) - -dragonpilot 0.7.10.0 -======================== -* 基於最新 openpilot 0.7.10 devel. -* Based on latest openpilot 0.7.10 devel. -* 修正 Prius 特定情況下無法操控方向盤的問題。 -* Fixed unable to regain Prius steering control under certain condition. -* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本) -* Updated support of VW MQB. (scripts/vw.sh script required) -* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供) -* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung) -* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供) -* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa) -* 優化 nanovg。(感謝 @piggy 提供) -* Optomized nanovg. (Thanks to @piggy) -* 加入 complete_setup.sh (感謝 @深鲸希西 提供) -* Added complete_setup.sh (Thanks to @深鲸希西) -* Based on latest openpilot 0.7.10 devel. -* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報) -* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen) -* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供) -* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe) - -dragonpilot 0.7.8.3 -======================== -* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼) -* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd) - -dragonpilot 0.7.8.2 -======================== -* 修正在沒網路的情況下，開機超過五分鐘的問題。 -* Fixed 5+ minutes boot time issue when there is no internet connection. -* 錯誤回傳改使用 dp 的主機。 -* Used dp server for error reporting. -* 更新服務改使用 gitee 的 IP 檢查連線狀態。 -* updated service uses gitee IP address instead. - -dragonpilot 0.7.8.1 -======================== -* 加入 ko-KR 翻譯。 -* Added ko-KR translation. -* 加入 Honda Jade 支援。(感謝 @李俊灝) -* Added Honda Jade support. (Thanks to @lijunhao731) -* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供) -* Fixed ui.cc memory out of bound issue. (Thanks to @piggy) -* gpxd 記錄改自動存成 zip 格式。 -* gpxd now store in zip format. -* 強制關閉 panda 檢查 DOS 硬體。 -* Force disabled DOS hardware check in panda. - -dragonpilot 0.7.8.0 -======================== -* 基於最新 openpilot 0.7.8 devel. -* Based on latest openpilot 0.7.8 devel. -* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議) -* Added "Reset DP Settings" button. (Thanks to @LOVEChen) -* 將警示訊息更改為類似於概念 UI 的設計。 -* Alert messages changed to concept UI alike design. -* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。 -* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors. - -dragonpilot 0.7.7.3 -======================== -* 修正方向盤監控。 -* Fixed steering monitor timer param. -* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報) -* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough) -* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議) -* Re-added Dev Mini UI. (Thanks to @Ninjaa) -* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim) -* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim) -* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough) -* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough) -* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1） -* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1) -* 使用德國的車道寬度估算值。 （感謝 @arne182） -* Used lane width estimate value from Germany. (Thanks to @arne182) - -dragonpilot 0.7.7.2 -======================== -* 加入 d_poly offset。 (感謝 @ShaneSmiskol) -* Added d_poly offset. (Thanks to @ShaneSmiskol) -* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試) -* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing) -* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼) -* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol) -* 加入 LQR 控制器開關進設定畫面。 -* Added LQR Controller toggle to settings. - -dragonpilot 0.7.7.1 -======================== -* 加入 C2 風扇靜音模式。(感謝 @dingliangxue) -* Added C2 quiet fan mode. (Thanks to @dingliangxue) -* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。 -* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings. -* 加入回調校介面。(感謝 @Kent) -* Re-added Dev UI. (Thanks to @Kent) -* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim) -* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim) - -dragonpilot 0.7.7.0 -======================== -* 基於最新 openpilot 0.7.7 devel. -* Based on latest openpilot 0.7.7 devel. -* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue) -* When Manager failed, display IP address. (Thanks to @dingliangxue) -* 加回 sr learner 開關。 -* Re-added sr learner toggle. -* 加回 加速模式 開關。 -* Re-added Accel Profile toggle. -* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo) -* Added Toyota to override lowerest cruise speed. (Thanks to @Mojo) -* 介面加入盲點偵測顯示。(感謝 @wabes) -* Added BSM indicator to UI. (Thanks to @wabes) -* 加回彎道減速功能。(感謝 @Mojo) -* re-added Slow On Curve functionality. (Thanks to @Mojo) - -dragonpilot 0.7.6.2 -======================== -* 修正無法正確關閉駕駛監控的問題。 -* Fixed unable to properly turn off driver monitor issue. - -dragonpilot 0.7.6.1 -======================== -* 基於最新 openpilot 0.7.6.1 devel. -* Based on latest openpilot 0.7.6.1 devel. -* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能) -* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings) -* 完全關閉 steer ratio learner。 -* Completely disabled steer ratio learner. -* 移除「加速模式」。 -* Removed Accel Profile. -* 加入本田皓影混電版指紋v1。(感謝 @劉駿) -* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿) -* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid) -* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid) - -dragonpilot 0.7.5.4 -======================== -* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試) -* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing) - -dragonpilot 0.7.5.3 -======================== -* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試) -* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing) -* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試) -* Optimize Lexus GSH steering. (Thanks to @簡銘佑) -* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議) -* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968) -* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報) -* Fixed issue showing "pedalPressed" error. (Thanks to @Wei) -* 將剎車狀熊顯示於 dp 資訊欄。 -* Added brake indicator to dp infobar. -* 修正「溫度監控」燈示。 -* Fixed "Temp monitor" indicator. -* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議) -* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes) -* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供) -* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) - -dragonpilot 0.7.5.2 -======================== -* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植) -* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue) -* 修改成 3 小時後停止供電。(感謝 @Wei 建議) -* Updated to stop charging after 3 hrs. (Thanks to @Wei) -* 移除行車記錄下的「碰撞偵測」功能。 -* Removed Impact Detection in Dashcam. -* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報) -* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤) -* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報) -* Fixed alert issue in waze mode. (Thanks to @axandres) -* 修正無法顯示更新中圖示的問題。 -* Fixed unable to display "UPDATING" icon issue. -* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議) -* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤) -* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報) -* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei) -* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報) -* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang) - -dragonpilot 0.7.5.1 -======================== -* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。) -* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林) -* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議) -* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony) -* 更新 appd 使用 cnpmjs 來下載 APKs。 -* Updated appd to use cnpmjs to download APKs. -* 修正更新服務。(感謝 @Wei) -* Fixed Update Service. (Thanks to @Wei) -* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供) -* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰) -* 新增「通過移動網路上傳」開關 -* Added Upload Over Mobile Network toggle. -* 新增「通過熱點上傳」開關 -* Added Upload Over Hotspot toggle. -* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供) -* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰) -* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供) -* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji) - -dragonpilot 0.7.5.0 -======================== -* 基於最新 openpilot 0.7.5 devel-staging. -* Based on latest openpilot 0.7.5 devel-staging. -* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。 -* Updated dp logo, special thanks to @wabes for the design. -* 簡/繁中文版和 i18n 整合成為單一版本。 -* Merged zhs/zht/i18n versions into one. -* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾) -* Added China Camery Hybrid FPv2. (Thanks to @杜子腾) -* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish) -* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish) -* 新增行駛時關閉畫面功能。 -* Added Screen off while driving feature. -* 新增倒車時關閉畫面功能。 -* Added Screen off while reversing feature. -* 新增駕駛介面加入「加速模式」切換鈕。 -* Added acceleration profile toggle onto driving UI. -* 新增自定車型功能，取代指紋暫存功能。 -* Replaced fingerprint cache with custom car model selector. -* 新增可調亮度。 -* Added Brightness changer. -* 新增部分德語支持。(特別感謝 @arne182 提供) -* Added partial de_DE language support (Thanks to @arne182) -* 新增停車碰撞偵測記錄功能。 -* Added off road impact detection to dashcam. - -2020-05-06 -======================== -* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。 -* 中文版整合進 i18n 版。 -* 刪除指紋暫存功能。 -* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾) -* 新增行駛時關閉畫面功能。 -* 新增倒車時關閉畫面功能。 -* 新增駕駛介面加入「加速模式」切換鈕。 -* 新增自定義車型。 - -2020-04-16 -======================== -* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai) -* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip) -* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip) -* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip) -* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助) - -2020-04-13 -======================== -* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR) -* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議) -* [DEVEL] 更新 update script。(感謝 深鯨希西 回報) - -2020-04-10 -======================== -* [DEVEL] 更新 panda 至最新的 comma:master 分支。 -* [DEVEL] 移除所有的第三方應用改為自動下載。 -* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。 - -2020-03-31 -======================== -* [DEVEL] 更新至 2020-03-31 testing 分支。 - -2020-03-27 -======================== -* [DEVEL] 更新至最新的 testing 分支: - * 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供) - * 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle) - * 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。 - * 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供) - * 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供) - * 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供) - * 加入韓文支持。(感謝 crwusiz 提供) - * 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。 - -2020-03-22 -======================== -* [DEVEL] 更新至最新的 testing 分支。 - -2020-03-17 -======================== -* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。 -* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR) - -2020-03-14 -======================== -* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供) -* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議) -* [DEVEL] 調高 Toyota 扭力容錯值。 -* [DEVEL] 優化讀取 dp 設定值。 -* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供) -* [DEVEL] dp 功能加入對 Subaru 車系的支援。 - -2020-03-06 -======================== -* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供) -* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供) -* [DEVEL] 建立 devel-i18n 取代 devel-en。 -* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead. - -2020-03-04 -======================== -* [DEVEL] 加入顯示駕駛監控畫面。 -* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR) -* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報) - -2020-02-25 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。 - -2020-02-21 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。 - -2020-02-14 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。 -* [DEVEL] 修正錯誤。 - -2020-02-08 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。 -* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。 -* [DEVEL] 加入神盾測速照相自動啟動的開關。 -* [DEVEL] 更新高德地圖至 v4.5.0.600053。 -* [DEVEL] 使用 0.6.6 版的更新系統。 -* [DEVEL] 修正急剎問題。(感謝 kumar 提供) - -2020-01-31 -======================== -* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題) - -2020-01-29 -======================== -* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應) - -2020-01-23 -======================== -* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議) -* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議) -* [DEVEL] 優化 appd。 - -2020-01-19 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。 -* [DEVEL] 調整 appd 和 ALC 邏輯。 - -2020-01-14 -======================== -* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議) - -2020-01-08 -======================== -* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供) -* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供) - -2019-12-31 -======================== -* [DEVEL-ZHS] 加回第三方應用。 - -2019-12-29 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。 -* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay) -* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應) - -2019-12-18 -======================== -* [DEVEL] 修正自動換道邏輯。 -* [DEVEL] 更新 offroad 翻譯。 -* [DEVEL] 錯誤修正。 -* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突) - -2019-12-17 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。 -* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上) -* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上) -* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供) -* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供) -* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供) - -2019-12-10 -======================== -* [DEVEL] 加入位智車機模式。 (Waze Mode) - -2019-11-21 -======================== -* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報) -* [DEVEL] 調整前車靜止移動偵測參數。 -* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。 - -2019-11-18 -======================== -* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報) - -2019-11-18 -======================== -* [DEVEL] 修正 frame 翻譯。 - -2019-11-15 -======================== -* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應) - -2019-11-15 -======================== -* [DEVEL] 修正充電控制。 (感謝 KT 反應) -* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應) -* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。 - -2019-11-12 -======================== -* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線) -* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。 - -2019-11-12 -======================== -* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。 - -2019-11-11 -======================== -* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE -* [DEVEL] 更新 MiXplorer 至 v6.40.3 -* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。 -* [DEVEL] 前車靜止移動偵測加入偵測警示。 - -2019-11-07 -======================== -* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報) -* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供) - -2019-11-06 -======================== -* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報) -* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。 - -2019-11-05 -======================== -* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋) - -2019-11-01 -======================== -* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen) -* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh) - -2019-11-01 -======================== -* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。 -* [DEVEL] 更新 offroad 為多語言版 -* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 - -2019-10-29 -======================== -* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智) - -2019-10-28 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 -* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體) - -2019-10-18 -======================== -* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen) -* [DEVEL] 移除強迫網路連線提示。(感謝 Shell) -* [DEVEL] 修正 allow_gas 功能。 - -2019-10-18 -======================== -* [DEVEL] 加入彎道減速功能開關。 -* [DEVEL] 強迫使用 dp 版 Panda 韌體。 -* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 - -2019-10-17 -======================== -* [DEVEL] 加入「車型」顯示於 dp 設定畫面。 -* [DEVEL] 修正充電控制讀取預設值的錯誤。 -* [DEVEL] 修正無法顯示更新記錄的錯誤。 - -2019-10-16 -======================== -* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議) -* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。 -* [DEVEL] 更新高德地圖至 v4.3.0 -* [DEVEL] 刪除 bs (Branch Switcher) - -2019-10-14 -======================== -* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供) -* [DEVEL] 清除不再使用的 dp params。 -* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議) -* [DEVEL] 加入刷新 Panda 韌體按鈕。 - -2019-10-11 -======================== -* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 -* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供) - -2019-10-09 -======================== -* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。 - -2019-10-08 -======================== -* [DEVEL] 加回駕駛監控開關。 -* [DEVEL] 加入 bs (branch switcher) 程式。 - -2019-10-07 -======================== -* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供) - -2019-10-05 -======================== -* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。 -* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。 - -2019-09-30 -======================== -* [DEVEL] 更新 curvature learner 版本至 v4。 -* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor - -2019-09-27 -======================== -* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot) -* [DEVEL] 加入可開關駕駛監控的程式碼。 -* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。 -* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。 - -2019-09-26 -======================== -* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報) - -2019-09-24 -======================== -* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。 -* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot) - -2019-09-23 -======================== -* [DEVEL] 優化讀取 params 的次數。 -* [DEVEL] 加入可開關的車道偏移警示。 -* [DEVEL] 修正充電控制邏輯。 -* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供) - -2019-09-20 -======================== -* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議) - -2019-09-16 -======================== -* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供) -* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供) - -2019-09-13 -======================== -* [DEVEL] 行車介面加入可開關的「速度顯示」設定。 - -2019-09-09 -======================== -* [DEVEL] 加入 GreyPanda 模式。 - -2019-08-28 -======================== -* [DEVEL] 加入可調警示音量。 - -2019-08-27 -======================== -* [DEVEL] 自動關機改為可調時長。 diff --git a/LICENSE b/LICENSE index 7dafa9443..25a9cbee2 100644 --- a/LICENSE +++ b/LICENSE @@ -1,3 +1,17 @@ +MIT License + +Copyright (c) 2023-, Rick Lan + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software. + +You are not authorized to modify this README file in any way. If you need to make changes or additions to the documentation for your own use, please create a separate file and reference it in this README. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +--- + +MIT License + Copyright (c) 2018, Comma.ai, Inc. Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: diff --git a/README.md b/README.md index 95ddc61a8..071a92f05 100755 --- a/README.md +++ b/README.md @@ -1,14 +1,52 @@ -LIMITATION ------- -* CAN-FD vehicles WILL NOT WORK: this is due to the library in EON/C2 is old and cannot build red panda firmware. -* Body WILL NOT WORK: again this is due to the library in EON/C2 cannot build its firmware. -* AI Model REMAINS IN 0.8.16: Too much effort to port tinygrad/pyopencl onto EON/C2, still investigating workarounds. -* NOO (Navigation On Openpilot) WILL NOT WORK: NOO requires newer driving model to work with nav model, until we resolved the last statement. -* Logger WILL NOT WORK: It's running at near full capacity with the 0.8.16 driving model, Logger will cause performance/thermal issue. +# Legacypilot + +This software includes contributions from [dragonpilot](https://github.com/dragonpilot-community/dragonpilot/tree/beta2) and [openpilot](https://github.com/commaai/openpilot). + +NOTICE: legacypilot is not affiliated with comma.ai and is not an official comma.ai product. legacypilot is released under the terms of the MIT License. See the LICENSE file for more details. + + +## About + +legacypilot is a side project that enables comma.ai EON and Comma Two devices to use the dragonpilot. This project was started after comma.ai deprecated support for the EON in version 0.7.9 and for Comma Two in version 0.8.13.1, in order to provide continued access to these devices. + +legacypilot combines the Nuclear Grade Model with the latest openpilot (almost) codebase to create a hybrid solution. With the legacypilot project, we have stripped out nearly 99% of the dragonpilot code. + +In summary, legacypilot is based on Openpilot 0.8.16 with the latest vehicle model support from the Openpilot master branch. + +Please note that this build is and will always be in the experimental phase and may not be suitable for use as a daily driver. + +I recommend using the openpilot [commatwo_master](https://github.com/commaai/openpilot/tree/commatwo_master) branch for your daily driving needs. + + +## Why use legacypilot + +I have decided to make this side project open source for users who wish to: + +* Port unsupported vehicles +* Evaluate end-to-end lateral and longitudinal control on previously unsupported vehicles +* Understand the limitations of legacy devices +* Experience pure openpilot (without the modifications of dragonpilot) +* Make their own EON/C2 fork without spending hundreds of hours reverting and testing code. + +By making this project open source, I hope to alleviate some of the frustration and complaints about not being able to access the dragonpilot source code. + +I encourage users to consider purchasing a [comma 3](https://shop.comma.ai) for the best and up-to-date openpilot experience. + + +## Limitations + +* CAN-FD and BODY features are not supported due to outdated libraries in EON/C2 firmware. +* The driving AI model remains in version 0.8.16, as porting TinyGrad/PyOpenCL requires significant effort. +* The driver monitoring AI model remains in version 0.8.13. +* Navigation On Openpilot (NOO) is not supported, as it requires a newer driving model that is not currently available in legacypilot. +* Services are not optimized for resource usage, and using all services may result in overheating issues. +* Language files can only be generated in a PC due to missing Qt5 tools. + +======================= + + -** In short, consider it as openpilot 0.8.16 version PLUS latest vehicle model support from openpilot master branch.** -** THE BUILD IS VERY DIRTY, for porting/logging purpose we suggest using [openpilot mastertwo branch](https://github.com/commaai/openpilot/tree/commatwo_master).** ![](https://i.imgur.com/b0ZyIx5.jpg) @@ -53,8 +91,8 @@ Running on a dedicated device in a car To use openpilot in a car, you need four things * A supported device to run this software: a [comma three](https://comma.ai/shop/products/three). * This software. The setup procedure of the comma three allows the user to enter a URL for custom software. -The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork. -* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot. + The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork. +* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot. * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car. We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup). @@ -115,7 +153,6 @@ Directory Structure ├── opendbc # Files showing how to interpret data from cars ├── panda # Code used to communicate on CAN ├── third_party # External libraries - ├── pyextra # Extra python packages └── system # Generic services ├── camerad # Driver to capture images from the camera sensors ├── clocksd # Broadcasts current time diff --git a/RELEASES.md b/RELEASES.md index 55b0dbad7..ede5e530c 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,9 +1,29 @@ -Version 0.9.2 (2023-03-XX) +Version 0.9.2 (2023-05-XX) ======================== +* New driving model + * fixes turn diving + * trained on a new dataset * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do. * Buick LaCrosse 2017-19 support thanks to koch-cf! +* Chevrolet Trailblazer 2021-22 support thanks to TurboCE! +* Ford Bronco Sport 2021-22 support +* Ford Escape 2020-22 support +* Ford Escape Hybrid 2020-22 support +* Ford Escape Plug-in Hybrid 2021-22 support +* Ford Explorer 2020-22 support +* Ford Explorer Hybrid 2020-22 support +* Ford Kuga 2020-22 support +* Ford Kuga Hybrid 2020-22 support +* Ford Kuga Plug-in Hybrid 2020-22 support +* Genesis GV80 2023 support thanks to JWingate80! +* Honda HR-V 2023 support thanks to AlexandreSato and galegozi! +* Kia Niro EV 2023 support thanks to JosselinLecocq! +* Lexus ES 2017-18 support +* Lincoln Aviator 2021 support +* Lincoln Aviator Plug-in Hybrid 2021 support * Škoda Fabia 2022-23 support thanks to jyoung8607! + Version 0.9.1 (2023-02-28) ======================== * New driving model diff --git a/cereal/car.capnp b/cereal/car.capnp index 32dac644b..d7b90d873 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -65,7 +65,6 @@ struct CarEvent @0x9b1657f34caf3ad3 { lowBattery @48; vehicleModelInvalid @50; accFaulted @51; - accFaultedTemp @115; sensorDataInvalid @52; commIssue @53; commIssueAvgFreq @109; @@ -114,13 +113,7 @@ struct CarEvent @0x9b1657f34caf3ad3 { canBusMissing @111; controlsdLagging @112; resumeBlocked @113; - - #dp - speedLimitActive @116; - speedLimitValueChange @117; - leadMovingAlertSilent @118; - leadMovingAlert @119; - manualSteeringRequiredBlinkersOn @120; + steerTimeLimit @115; radarCanErrorDEPRECATED @15; communityFeatureDisallowedDEPRECATED @62; @@ -219,15 +212,6 @@ struct CarState { fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0 charging @43 :Bool; - # dp - engineRPM @46 :Float32; - distanceLines @47 :UInt8; - rightBlindspotD1 @48 :Float32; - rightBlindspotD2 @49 :Float32; - leftBlindspotD1 @50 :Float32; - leftBlindspotD2 @51 :Float32; - blindspotside @52 :Float32; - struct WheelSpeeds { # optional wheel speeds fl @0 :Float32; @@ -244,7 +228,6 @@ struct CarState { speedOffset @3 :Float32; standstill @4 :Bool; nonAdaptive @5 :Bool; - speedLimit @7 :Float32; } enum GearShifter { @@ -347,8 +330,6 @@ struct CarControl { cruiseControl @4 :CruiseControl; hudControl @5 :HUDControl; - latController @17 :Text; - struct Actuators { # range from 0.0 - 1.0 gas @0: Float32; @@ -445,15 +426,6 @@ struct CarParams { enableBsm @56 :Bool; # blind spot monitoring flags @64 :UInt32; # flags for car specific quirks experimentalLongitudinalAvailable @71 :Bool; - #dp: enable torque interceptor - enableTorqueInterceptor @72 :Bool; - #dp: alt tune collection - latTuneCollection @73 :LatTunes; - struct LatTunes { - pid @0 :LateralPIDTuning; - lqr @1 :LateralLQRTuning; - torque @2 :LateralTorqueTuning; - } minEnableSpeed @7 :Float32; minSteerSpeed @8 :Float32; @@ -614,7 +586,6 @@ struct CarParams { hongqi @26; body @27; hyundaiCanfd @28; - volvoC1 @29; } enum SteerControlType { @@ -661,10 +632,10 @@ struct CarParams { adas @19; cornerRadar @21; hvac @20; + parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc. # Toyota only dsu @6; - apgs @7; # Honda only vsa @13; # Vehicle Stability Assist @@ -673,10 +644,8 @@ struct CarParams { # Chrysler only hcp @18; # Hybrid Control Processor - # Hyundai only - parking @22; # ADAS parking ECU - debug @17; + unused @22; } enum FingerprintSource { diff --git a/cereal/dp.capnp b/cereal/dp.capnp deleted file mode 100644 index edbdb7b24..000000000 --- a/cereal/dp.capnp +++ /dev/null @@ -1,58 +0,0 @@ -using Cxx = import "./include/c++.capnp"; -$Cxx.namespace("cereal"); - -@0xbfa7e645486440c7; - -# dp -struct DragonConf { - dpAtl @0 :UInt8; - dpLocale @1 :Text; - dpLateralMode @2 :UInt8; - dpLcMinMph @3 :UInt8; - dpLcAutoMinMph @4 :UInt8; - dpLcAutoDelay @5 :Float32; - dpLateralLanelines @6 :Bool; - dpLateralCameraOffset @7 :Int8; - dpLateralPathOffset @8 :Int8; - dpLateralRoadEdgeDetected @9 :Bool; - dpIpAddr @10 :Text; - dpUiTop @11 :Bool; - dpUiSide @12 :Bool; - dpUiBrightness @13 :UInt8; - dpUiDisplayMode @14 :UInt8; - dpUiSpeed @15 :Bool; - dpUiEvent @16 :Bool; - dpUiFace @17 :Bool; - dpUiLeadInfo @18 :Bool; - dpUiLaneline @19 :Bool; - dpUiChevron @20 :Bool; - dpUiDmCam @21 :Bool; - dpUiRainbow @22 :Bool; - dpToyotaSng @23 :Bool; - dpAccelProfileCtrl @24 :Bool; - dpAccelProfile @25 :UInt8; - dpToyotaCruiseOverride @26 :Bool; - dpToyotaCruiseOverrideSpeed @27 :UInt8; - dpToyotaAutoLock @28 :Bool; - dpToyotaAutoUnlock @29 :Bool; - dpToyotaDebugBsm @30 :Bool; - dpMapd @31 :Bool; - dpLocalDb @32 :Bool; - dpDashcamd @33 :Bool; - dpMazdaSteerAlert @34 :Bool; - dpSpeedCheck @35 :Bool; - dpFollowingProfileCtrl @36 :Bool; - dpFollowingProfile @37 :UInt8; - dpLateralAlt @38 :Bool; - dpLateralAltSpeed @39 :UInt8; - dpLateralAltCtrl @40 :UInt8; - dpLateralAltLanelines @41 :Bool; - dpLateralAltCameraOffset @42 :Int8; - dpLateralAltPathOffset @43 :Int8; - dpE2EConditional @44 :Bool; - dpE2EConditionalAdaptFp @45 :Bool; - dpE2EConditionalAdaptAp @46 :Bool; - dpE2EConditionalVoacc @47 :Bool; - dpLongLeadMovingAlert @48 :Int8; - dpLateralLcManual @49 :Bool; -} diff --git a/cereal/libcereal_shared.so b/cereal/libcereal_shared.so index 717a11539..0b148e871 100755 Binary files a/cereal/libcereal_shared.so and b/cereal/libcereal_shared.so differ diff --git a/cereal/log.capnp b/cereal/log.capnp index 8db683d04..327875797 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -3,7 +3,6 @@ $Cxx.namespace("cereal"); using Car = import "car.capnp"; using Legacy = import "legacy.capnp"; -using Dp = import "dp.capnp"; @0xf3b1f17e25a4285b; @@ -47,6 +46,7 @@ struct InitData { chffrIos @3; tici @4; pc @5; + tizi @6; } struct PandaInfo { @@ -140,16 +140,6 @@ struct FrameData { targetGreyFraction @22 :Float32; exposureValPercent @27 :Float32; - # Focus - lensPos @11 :Int32; - lensSag @12 :Float32; - lensErr @13 :Float32; - lensTruePos @14 :Float32; - focusVal @16 :List(Int16); - focusConf @17 :List(UInt8); - sharpnessScore @18 :List(UInt16); - recoverState @19 :Int32; - transform @10 :List(Float32); image @6 :Data; @@ -172,6 +162,15 @@ struct FrameData { globalGainDEPRECATED @5 :Int32; androidCaptureResultDEPRECATED @9 :AndroidCaptureResult; + lensPosDEPRECATED @11 :Int32; + lensSagDEPRECATED @12 :Float32; + lensErrDEPRECATED @13 :Float32; + lensTruePosDEPRECATED @14 :Float32; + # rick - we need these for old camerad (16~19) + focusVal @16 :List(Int16); + focusConf @17 :List(UInt8); + sharpnessScore @18 :List(UInt16); + recoverState @19 :Int32; struct AndroidCaptureResult { sensitivity @0 :Int32; frameDuration @1 :Int64; @@ -410,10 +409,16 @@ struct PandaState @0xa7649e2575e4591e { powerSaveEnabled @16 :Bool; uptime @17 :UInt32; faults @18 :List(FaultType); - harnessStatus @21 :HarnessStatus; heartbeatLost @22 :Bool; interruptLoad @25 :Float32; fanPower @28 :UInt8; + fanStallCount @34 :UInt8; + + spiChecksumErrorCount @33 :UInt16; + + harnessStatus @21 :HarnessStatus; + sbu1Voltage @35 :Float32; + sbu2Voltage @36 :Float32; # can health canState0 @29 :PandaCanState; @@ -428,8 +433,9 @@ struct PandaState @0xa7649e2575e4591e { safetyParam @27 :UInt16; alternativeExperience @23 :Int16; safetyRxChecksInvalid @32 :Bool; - #dp: enable torque interceptor - torqueInterceptorDetected @33 :Bool; + + voltage @0 :UInt32; + current @1 :UInt32; enum FaultStatus { none @0; @@ -463,6 +469,8 @@ struct PandaState @0xa7649e2575e4591e { interruptRateExti @22; interruptRateSpi @23; interruptRateUart7 @24; + sirenMalfunction @25; + heartbeatLoopWatchdog @26; # Update max fault type in boardd when adding faults } @@ -485,15 +493,6 @@ struct PandaState @0xa7649e2575e4591e { flipped @2; } - startedSignalDetectedDEPRECATED @5 :Bool; - voltageDEPRECATED @0 :UInt32; - currentDEPRECATED @1 :UInt32; - hasGpsDEPRECATED @6 :Bool; - fanSpeedRpmDEPRECATED @11 :UInt16; - usbPowerMode @12 :PeripheralState.UsbPowerMode; - safetyParamDEPRECATED @20 :Int16; - safetyParam2DEPRECATED @26 :UInt32; - struct PandaCanState { busOff @0 :Bool; busOffCnt @1 :UInt32; @@ -528,6 +527,13 @@ struct PandaState @0xa7649e2575e4591e { noChange @7; } } + + startedSignalDetectedDEPRECATED @5 :Bool; + hasGpsDEPRECATED @6 :Bool; + fanSpeedRpmDEPRECATED @11 :UInt16; + usbPowerMode @12 :PeripheralState.UsbPowerMode; + safetyParamDEPRECATED @20 :Int16; + safetyParam2DEPRECATED @26 :UInt32; } struct PeripheralState { @@ -653,9 +659,6 @@ struct ControlsState @0x97ff69c53601abf1 { cumLagMs @15 :Float32; canErrorCounter @57 :UInt32; - # dp - for alt lateral - dpLateralAltActive @66 :Bool; - lateralControlState :union { indiState @52 :LateralINDIState; pidState @53 :LateralPIDState; @@ -664,8 +667,7 @@ struct ControlsState @0x97ff69c53601abf1 { torqueState @60 :LateralTorqueState; curvatureState @65 :LateralCurvatureState; - #dp - lqrState @55 :LateralLQRState; + lqrStateDEPRECATED @55 :LateralLQRState; } enum OpenpilotState @0xdbe58b96d2d1ac61 { @@ -961,34 +963,12 @@ struct LongitudinalPlan @0xe00b5b3eba12876c { solverExecutionTime @35 :Float32; - #dp - visionTurnControllerState @36 :VisionTurnControllerState; - visionTurnSpeed @37 :Float32; - speedLimitControlState @38 :SpeedLimitControlState; - speedLimit @39 :Float32; - speedLimitOffset @40 :Float32; - distToSpeedLimit @41 :Float32; - isMapSpeedLimit @42 :Bool; - speedLimitPercOffset @47 :Bool; - speedLimitValueOffset @48 :Float32; - - distToTurn @43 :Float32; - turnSpeed @44 :Float32; - turnSpeedControlState @45 :SpeedLimitControlState; - turnSign @46 :Int16; - - dpE2EIsBlended @49 :Bool; - enum LongitudinalPlanSource { cruise @0; lead0 @1; lead1 @2; lead2 @3; e2e @4; - #dp - turn @5; - limit @6; - turnlimit @7; } # deprecated @@ -1024,21 +1004,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c { x @0 :List(Float32); y @1 :List(Float32); } - - #dp - enum SpeedLimitControlState { - inactive @0; # No speed limit set or not enabled by parameter. - tempInactive @1; # User wants to ignore speed limit until it changes. - adapting @2; # Reducing speed to match new speed limit. - active @3; # Cruising at speed limit. - } - - enum VisionTurnControllerState { - disabled @0; # No predicted substancial turn on vision range or feature disabled. - entering @1; # A subsantial turn is predicted ahead, adapting speed to turn confort levels. - turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling. - leaving @3; # Road ahead straightens. Start to allow positive acceleration. - } } struct UiPlan { frameId @2 :UInt32; @@ -1054,10 +1019,6 @@ struct LateralPlan @0xe1e9318e2ae8b51e { dPathPoints @20 :List(Float32); dProbDEPRECATED @21 :Float32; - #dp - dPathWLinesX @32 :List(Float32); - dPathWLinesY @33 :List(Float32); - mpcSolutionValid @9 :Bool; desire @17 :Desire; laneChangeState @18 :LaneChangeState; @@ -1154,6 +1115,7 @@ struct LiveLocationKalman { deviceStable @22 :Bool = true; timeSinceReset @23 :Float64; excessiveResets @24 :Bool; + timeToFirstFix @25 :Float32; enum Status { uninitialized @0; @@ -1241,7 +1203,7 @@ struct GnssMeasurements { type @2 :EphemerisType; source @3 :EphemerisSource; } - + struct CorrectedMeasurement { constellationId @0 :ConstellationId; svId @1 :UInt8; @@ -1280,10 +1242,10 @@ struct GnssMeasurements { # Different ultra-rapid files: nasaUltraRapid @1; glonassIacUltraRapid @2; - # dp - eon/c2 need this renamed + # legacy - eon/c2 need this renamed qcompoly @3; } - + enum EphemerisSource { gnssChip @0; internet @1; @@ -1302,7 +1264,7 @@ struct UbloxGnss { glonassEphemeris @5 :GlonassEphemeris; satReport @6 :SatReport; } - + struct SatReport { #received time of week in gps time in seconds and gps week iTow @0 :UInt32; @@ -1517,7 +1479,7 @@ struct UbloxGnss { p4 @27 :UInt8; freqNumDEPRECATED @28 :UInt32; - + n4 @29 :UInt8; nt @30 :UInt16; freqNum @31 :Int16; @@ -2012,29 +1974,6 @@ struct CameraOdometry { wideFromDeviceEulerStd @7 :List(Float32); } -struct LiveMapData { - speedLimitValid @0 :Bool; - speedLimit @1 :Float32; - speedLimitAheadValid @2 :Bool; - speedLimitAhead @3 :Float32; - speedLimitAheadDistance @4 :Float32; - turnSpeedLimitValid @5 :Bool; - turnSpeedLimit @6 :Float32; - turnSpeedLimitEndDistance @7 :Float32; - turnSpeedLimitSign @8 :Int16; - turnSpeedLimitsAhead @9 :List(Float32); - turnSpeedLimitsAheadDistances @10 :List(Float32); - turnSpeedLimitsAheadSigns @11 :List(Int16); - lastGpsTimestamp @12 :Int64; # Milliseconds since January 1, 1970. - currentRoadName @13 :Text; - lastGpsLatitude @14 :Float64; - lastGpsLongitude @15 :Float64; - lastGpsSpeed @16 :Float32; - lastGpsBearingDeg @17 :Float32; - lastGpsAccuracy @18 :Float32; - lastGpsBearingAccuracyDeg @19 :Float32; -} - struct Sentinel { enum SentinelType { endOfSegment @0; @@ -2245,7 +2184,7 @@ struct Event { # UI services userFlag @93 :UserFlag; uiDebug @102 :UIDebug; - # dp reserve 107,108 + # *********** debug *********** testJoystick @52 :Joystick; roadEncodeData @86 :EncodeData; @@ -2253,9 +2192,6 @@ struct Event { wideRoadEncodeData @88 :EncodeData; qRoadEncodeData @89 :EncodeData; - dragonConf @107 :Dp.DragonConf; - liveMapData @108 :LiveMapData; - # *********** legacy + deprecated *********** model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated liveMpcDEPRECATED @36 :LiveMpcData; @@ -2292,7 +2228,7 @@ struct Event { kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry; uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState; pandaStateDEPRECATED @12 :PandaState; - # dp - legacy + # legacy driverState @59 :DriverState; sensorEvents @11 :List(SensorEventData); } diff --git a/cereal/messaging/bridge b/cereal/messaging/bridge index dbdef67a8..fc8247bf8 100755 Binary files a/cereal/messaging/bridge and b/cereal/messaging/bridge differ diff --git a/cereal/messaging/messaging_pyx.cpp b/cereal/messaging/messaging_pyx.cpp deleted file mode 100644 index 04b3605d3..000000000 --- a/cereal/messaging/messaging_pyx.cpp +++ /dev/null @@ -1,7178 +0,0 @@ -/* Generated by Cython 0.29.26 */ - 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#endif - #ifndef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 1 - #endif - #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #elif !defined(CYTHON_USE_UNICODE_WRITER) - #define CYTHON_USE_UNICODE_WRITER 1 - #endif - #ifndef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 0 - #endif - #ifndef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 1 - #endif - #ifndef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 1 - #endif - #ifndef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 1 - #endif - #ifndef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) - #endif - #ifndef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) - #endif - #ifndef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) - #endif - #ifndef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) - #endif - #ifndef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) - #endif -#endif -#if !defined(CYTHON_FAST_PYCCALL) -#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) -#endif -#if CYTHON_USE_PYLONG_INTERNALS - #if PY_MAJOR_VERSION < 3 - #include "longintrepr.h" - #endif - #undef SHIFT - #undef BASE - #undef MASK - #ifdef SIZEOF_VOID_P - enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; - #endif -#endif -#ifndef __has_attribute - #define __has_attribute(x) 0 -#endif -#ifndef __has_cpp_attribute - #define __has_cpp_attribute(x) 0 -#endif -#ifndef CYTHON_RESTRICT - #if defined(__GNUC__) - #define CYTHON_RESTRICT __restrict__ - #elif defined(_MSC_VER) && _MSC_VER >= 1400 - #define CYTHON_RESTRICT __restrict - #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L - #define CYTHON_RESTRICT restrict - #else - #define CYTHON_RESTRICT - #endif -#endif -#ifndef CYTHON_UNUSED -# if defined(__GNUC__) -# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -#endif -#ifndef CYTHON_MAYBE_UNUSED_VAR -# if defined(__cplusplus) - template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } -# else -# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) -# endif -#endif -#ifndef CYTHON_NCP_UNUSED -# if CYTHON_COMPILING_IN_CPYTHON -# define CYTHON_NCP_UNUSED -# else -# define CYTHON_NCP_UNUSED CYTHON_UNUSED -# endif -#endif -#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) -#ifdef _MSC_VER - #ifndef _MSC_STDINT_H_ - #if _MSC_VER < 1300 - typedef unsigned char uint8_t; - typedef unsigned int uint32_t; - #else - typedef unsigned __int8 uint8_t; - typedef unsigned __int32 uint32_t; - #endif - #endif -#else - #include -#endif -#ifndef CYTHON_FALLTHROUGH - #if defined(__cplusplus) && __cplusplus >= 201103L - #if __has_cpp_attribute(fallthrough) - #define CYTHON_FALLTHROUGH [[fallthrough]] - #elif __has_cpp_attribute(clang::fallthrough) - #define CYTHON_FALLTHROUGH [[clang::fallthrough]] - #elif __has_cpp_attribute(gnu::fallthrough) - #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] - #endif - #endif - #ifndef CYTHON_FALLTHROUGH - #if __has_attribute(fallthrough) - #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) - #else - #define CYTHON_FALLTHROUGH - #endif - #endif - #if defined(__clang__ ) && defined(__apple_build_version__) - #if __apple_build_version__ < 7000000 - #undef CYTHON_FALLTHROUGH - #define CYTHON_FALLTHROUGH - #endif - #endif -#endif - -#ifndef __cplusplus - #error "Cython files generated with the C++ option must be compiled with a C++ compiler." -#endif -#ifndef CYTHON_INLINE - #if defined(__clang__) - #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) - #else - #define CYTHON_INLINE inline - #endif -#endif -template -void __Pyx_call_destructor(T& x) { - x.~T(); -} -template -class __Pyx_FakeReference { - public: - __Pyx_FakeReference() : ptr(NULL) { } - __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } - T *operator->() { return ptr; } - T *operator&() { return ptr; } - operator T&() { return *ptr; } - template bool operator ==(U other) { return *ptr == other; } - template bool operator !=(U other) { return *ptr != other; } - private: - T *ptr; -}; - -#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) - #define Py_OptimizeFlag 0 -#endif -#define __PYX_BUILD_PY_SSIZE_T "n" -#define CYTHON_FORMAT_SSIZE_T "z" -#if PY_MAJOR_VERSION < 3 - #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) - #define __Pyx_DefaultClassType PyClass_Type -#else - #define __Pyx_BUILTIN_MODULE_NAME "builtins" - #define __Pyx_DefaultClassType PyType_Type -#if PY_VERSION_HEX >= 0x030B00A1 - static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, - PyObject *code, PyObject *c, PyObject* n, PyObject *v, - PyObject *fv, PyObject *cell, PyObject* fn, - PyObject *name, int fline, PyObject *lnos) { - PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; - PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; - const char *fn_cstr=NULL; - const char *name_cstr=NULL; - PyCodeObject* co=NULL; - PyObject *type, *value, *traceback; - PyErr_Fetch(&type, &value, &traceback); - if (!(kwds=PyDict_New())) goto end; - if (!(argcount=PyLong_FromLong(a))) goto end; - if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; - if (!(posonlyargcount=PyLong_FromLong(0))) goto end; - if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; - if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; - if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; - if (!(nlocals=PyLong_FromLong(l))) goto end; - if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; - if (!(stacksize=PyLong_FromLong(s))) goto end; - if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; - if (!(flags=PyLong_FromLong(f))) goto end; - if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; - if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; - if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; - if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; - if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; - if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here - if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; - Py_XDECREF((PyObject*)co); - co = (PyCodeObject*)call_result; - call_result = NULL; - if (0) { - cleanup_code_too: - Py_XDECREF((PyObject*)co); - co = NULL; - } - end: - Py_XDECREF(kwds); - Py_XDECREF(argcount); - Py_XDECREF(posonlyargcount); - Py_XDECREF(kwonlyargcount); - Py_XDECREF(nlocals); - Py_XDECREF(stacksize); - Py_XDECREF(replace); - Py_XDECREF(call_result); - Py_XDECREF(empty); - if (type) { - PyErr_Restore(type, value, traceback); - } - return co; - } -#else - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) -#endif - #define __Pyx_DefaultClassType PyType_Type -#endif -#ifndef Py_TPFLAGS_CHECKTYPES - #define Py_TPFLAGS_CHECKTYPES 0 -#endif -#ifndef Py_TPFLAGS_HAVE_INDEX - #define Py_TPFLAGS_HAVE_INDEX 0 -#endif -#ifndef Py_TPFLAGS_HAVE_NEWBUFFER - #define Py_TPFLAGS_HAVE_NEWBUFFER 0 -#endif -#ifndef Py_TPFLAGS_HAVE_FINALIZE - #define Py_TPFLAGS_HAVE_FINALIZE 0 -#endif -#ifndef METH_STACKLESS - #define METH_STACKLESS 0 -#endif -#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) - #ifndef METH_FASTCALL - #define METH_FASTCALL 0x80 - #endif - typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); - typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, - Py_ssize_t nargs, PyObject *kwnames); -#else - #define __Pyx_PyCFunctionFast _PyCFunctionFast - #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords -#endif -#if CYTHON_FAST_PYCCALL -#define __Pyx_PyFastCFunction_Check(func)\ - ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) -#else -#define __Pyx_PyFastCFunction_Check(func) 0 -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) - #define PyObject_Malloc(s) PyMem_Malloc(s) - #define PyObject_Free(p) PyMem_Free(p) - #define PyObject_Realloc(p) PyMem_Realloc(p) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 - #define PyMem_RawMalloc(n) PyMem_Malloc(n) - #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) - #define PyMem_RawFree(p) PyMem_Free(p) -#endif -#if CYTHON_COMPILING_IN_PYSTON - #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) -#else - #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) -#endif -#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#elif PY_VERSION_HEX >= 0x03060000 - #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() -#elif PY_VERSION_HEX >= 0x03000000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#else - #define __Pyx_PyThreadState_Current _PyThreadState_Current -#endif -#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) -#include "pythread.h" -#define Py_tss_NEEDS_INIT 0 -typedef int Py_tss_t; -static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { - *key = PyThread_create_key(); - return 0; -} -static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { - Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); - *key = Py_tss_NEEDS_INIT; - return key; -} -static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { - PyObject_Free(key); -} -static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { - return *key != Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { - PyThread_delete_key(*key); - *key = Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { - return PyThread_set_key_value(*key, value); -} -static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { - return PyThread_get_key_value(*key); -} -#endif -#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) -#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) -#else -#define __Pyx_PyDict_NewPresized(n) PyDict_New() -#endif -#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION - #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) -#else - #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS -#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) -#else -#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) -#endif -#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) - #define CYTHON_PEP393_ENABLED 1 - #if defined(PyUnicode_IS_READY) - #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ - 0 : _PyUnicode_Ready((PyObject *)(op))) - #else - #define __Pyx_PyUnicode_READY(op) (0) - #endif - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) - #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) - #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) - #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) - #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) - #endif - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) - #endif -#else - #define CYTHON_PEP393_ENABLED 0 - #define PyUnicode_1BYTE_KIND 1 - #define PyUnicode_2BYTE_KIND 2 - #define PyUnicode_4BYTE_KIND 4 - #define __Pyx_PyUnicode_READY(op) (0) - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) - #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) - #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) - #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) -#endif -#if CYTHON_COMPILING_IN_PYPY - #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) -#else - #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ - PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) - #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) - #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) - #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) -#endif -#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? 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- -/* InitStrings.proto */ -static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); - -static PyObject *__pyx_f_6cereal_9messaging_13messaging_pyx_9SubSocket_setPtr(struct __pyx_obj_6cereal_9messaging_13messaging_pyx_SubSocket *__pyx_v_self, SubSocket *__pyx_v_ptr); /* proto*/ - -/* Module declarations from 'libc.string' */ - -/* Module declarations from 'libcpp.string' */ - -/* Module declarations from 'libcpp' */ - -/* Module declarations from 'libc' */ - -/* Module declarations from 'libc.errno' */ - -/* Module declarations from 'libcpp.vector' */ - -/* Module declarations from 'cereal.messaging.messaging' */ - -/* Module declarations from 'cereal.messaging.messaging_pyx' */ -static PyTypeObject *__pyx_ptype_6cereal_9messaging_13messaging_pyx_Context = 0; -static PyTypeObject *__pyx_ptype_6cereal_9messaging_13messaging_pyx_Poller = 0; -static PyTypeObject *__pyx_ptype_6cereal_9messaging_13messaging_pyx_SubSocket = 0; -static PyTypeObject *__pyx_ptype_6cereal_9messaging_13messaging_pyx_PubSocket = 0; -static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ -#define __Pyx_MODULE_NAME "cereal.messaging.messaging_pyx" -extern int __pyx_module_is_main_cereal__messaging__messaging_pyx; -int __pyx_module_is_main_cereal__messaging__messaging_pyx = 0; - -/* Implementation of 'cereal.messaging.messaging_pyx' */ -static PyObject *__pyx_builtin_TypeError; -static PyObject *__pyx_builtin_print; -static const char __pyx_k_doc[] = "__doc__"; -static const char __pyx_k_sys[] = "sys"; -static const char __pyx_k_exit[] = "exit"; -static const char __pyx_k_main[] = "__main__"; -static const char __pyx_k_name[] = "__name__"; -static const char __pyx_k_test[] = "__test__"; -static const char __pyx_k_print[] = "print"; -static const char __pyx_k_Poller[] = "Poller"; -static const char __pyx_k_import[] = "__import__"; -static const char __pyx_k_module[] = "__module__"; -static const char __pyx_k_reduce[] = "__reduce__"; -static const char __pyx_k_Context[] = "Context"; -static const char __pyx_k_address[] = "address"; 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- Py_ssize_t i; - PyObject *result; - assert(globals != NULL); - /* XXX Perhaps we should create a specialized - PyFrame_New() that doesn't take locals, but does - take builtins without sanity checking them. - */ - assert(tstate != NULL); - f = PyFrame_New(tstate, co, globals, NULL); - if (f == NULL) { - return NULL; - } - fastlocals = __Pyx_PyFrame_GetLocalsplus(f); - for (i = 0; i < na; i++) { - Py_INCREF(*args); - fastlocals[i] = *args++; - } - result = PyEval_EvalFrameEx(f,0); - ++tstate->recursion_depth; - Py_DECREF(f); - --tstate->recursion_depth; - return result; -} -#if 1 || PY_VERSION_HEX < 0x030600B1 -static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { - PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); - PyObject *globals = PyFunction_GET_GLOBALS(func); - PyObject *argdefs = PyFunction_GET_DEFAULTS(func); - PyObject *closure; -#if PY_MAJOR_VERSION >= 3 - PyObject *kwdefs; -#endif - PyObject *kwtuple, **k; 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PyDict_Size(kwargs) : 0; - if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { - return NULL; - } - if ( -#if PY_MAJOR_VERSION >= 3 - co->co_kwonlyargcount == 0 && -#endif - likely(kwargs == NULL || nk == 0) && - co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { - if (argdefs == NULL && co->co_argcount == nargs) { - result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); - goto done; - } - else if (nargs == 0 && argdefs != NULL - && co->co_argcount == Py_SIZE(argdefs)) { - /* function called with no arguments, but all parameters have - a default value: use default values as arguments .*/ - args = &PyTuple_GET_ITEM(argdefs, 0); - result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); - goto done; - } - } - if (kwargs != NULL) { - Py_ssize_t pos, i; - kwtuple = PyTuple_New(2 * nk); - if (kwtuple == NULL) { - result = NULL; - goto done; - } - k = &PyTuple_GET_ITEM(kwtuple, 0); - pos = i = 0; - while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { - Py_INCREF(k[i]); - Py_INCREF(k[i+1]); - i += 2; - } - nk = i / 2; - } - else { - kwtuple = NULL; - k = NULL; - } - closure = PyFunction_GET_CLOSURE(func); -#if PY_MAJOR_VERSION >= 3 - kwdefs = PyFunction_GET_KW_DEFAULTS(func); -#endif - if (argdefs != NULL) { - d = &PyTuple_GET_ITEM(argdefs, 0); - nd = Py_SIZE(argdefs); - } - else { - d = NULL; - nd = 0; - } -#if PY_MAJOR_VERSION >= 3 - result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, kwdefs, closure); -#else - result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, closure); -#endif - Py_XDECREF(kwtuple); -done: - Py_LeaveRecursiveCall(); - return result; -} -#endif -#endif - -/* PyObjectCallMethO */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { - PyObject *self, *result; - PyCFunction cfunc; - cfunc = PyCFunction_GET_FUNCTION(func); - self = PyCFunction_GET_SELF(func); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = cfunc(self, arg); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallNoArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, NULL, 0); - } -#endif -#ifdef __Pyx_CyFunction_USED - if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) -#else - if (likely(PyCFunction_Check(func))) -#endif - { - if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { - return __Pyx_PyObject_CallMethO(func, NULL); - } - } - return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); -} -#endif - -/* PyDictVersioning */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; -} -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { - PyObject **dictptr = NULL; - Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; - if (offset) { -#if CYTHON_COMPILING_IN_CPYTHON - dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); -#else - dictptr = _PyObject_GetDictPtr(obj); -#endif - } - return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; -} -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) - return 0; - return obj_dict_version == __Pyx_get_object_dict_version(obj); -} -#endif - -/* GetModuleGlobalName */ -#if CYTHON_USE_DICT_VERSIONS -static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) -#else -static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) -#endif -{ - PyObject *result; -#if !CYTHON_AVOID_BORROWED_REFS -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 - result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } else if (unlikely(PyErr_Occurred())) { - return NULL; - } -#else - result = PyDict_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } -#endif -#else - result = PyObject_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } - PyErr_Clear(); -#endif - return __Pyx_GetBuiltinName(name); -} - -/* RaiseDoubleKeywords */ -static void __Pyx_RaiseDoubleKeywordsError( - const char* func_name, - PyObject* kw_name) -{ - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION >= 3 - "%s() got multiple values for keyword argument '%U'", func_name, kw_name); - #else - "%s() got multiple values for keyword argument '%s'", func_name, - PyString_AsString(kw_name)); - #endif -} - -/* ParseKeywords */ -static int __Pyx_ParseOptionalKeywords( - PyObject *kwds, - PyObject **argnames[], - PyObject *kwds2, - PyObject *values[], - Py_ssize_t num_pos_args, - const char* function_name) -{ - PyObject *key = 0, *value = 0; - Py_ssize_t pos = 0; - PyObject*** name; - PyObject*** first_kw_arg = argnames + num_pos_args; - while (PyDict_Next(kwds, &pos, &key, &value)) { - name = first_kw_arg; - while (*name && (**name != key)) name++; - if (*name) { - values[name-argnames] = value; - continue; - } - name = first_kw_arg; - #if PY_MAJOR_VERSION < 3 - if (likely(PyString_Check(key))) { - while (*name) { - if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) - && _PyString_Eq(**name, key)) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - if ((**argname == key) || ( - (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) - && _PyString_Eq(**argname, key))) { - goto arg_passed_twice; - } - argname++; - } - } - } else - #endif - if (likely(PyUnicode_Check(key))) { - while (*name) { - int cmp = (**name == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**name, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - int cmp = (**argname == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**argname, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) goto arg_passed_twice; - argname++; - } - } - } else - goto invalid_keyword_type; - if (kwds2) { - if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; - } else { - goto invalid_keyword; - } - } - return 0; -arg_passed_twice: - __Pyx_RaiseDoubleKeywordsError(function_name, key); - goto bad; -invalid_keyword_type: - PyErr_Format(PyExc_TypeError, - "%.200s() keywords must be strings", function_name); - goto bad; -invalid_keyword: - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION < 3 - "%.200s() got an unexpected keyword argument '%.200s'", - function_name, PyString_AsString(key)); - #else - "%s() got an unexpected keyword argument '%U'", - function_name, key); - #endif -bad: - return -1; -} - -/* PyCFunctionFastCall */ -#if CYTHON_FAST_PYCCALL -static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { - PyCFunctionObject *func = (PyCFunctionObject*)func_obj; - PyCFunction meth = PyCFunction_GET_FUNCTION(func); - PyObject *self = PyCFunction_GET_SELF(func); - int flags = PyCFunction_GET_FLAGS(func); - assert(PyCFunction_Check(func)); - assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); - assert(nargs >= 0); - assert(nargs == 0 || args != NULL); - /* _PyCFunction_FastCallDict() must not be called with an exception set, - because it may clear it (directly or indirectly) and so the - caller loses its exception */ - assert(!PyErr_Occurred()); - if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { - return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); - } else { - return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); - } -} -#endif - -/* PyObjectCall2Args */ -static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { - PyObject *args, *result = NULL; - #if CYTHON_FAST_PYCALL - if (PyFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyFunction_FastCall(function, args, 2); - } - #endif - #if CYTHON_FAST_PYCCALL - if (__Pyx_PyFastCFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyCFunction_FastCall(function, args, 2); - } - #endif - args = PyTuple_New(2); - if (unlikely(!args)) goto done; - Py_INCREF(arg1); - PyTuple_SET_ITEM(args, 0, arg1); - Py_INCREF(arg2); - PyTuple_SET_ITEM(args, 1, arg2); - Py_INCREF(function); - result = __Pyx_PyObject_Call(function, args, NULL); - Py_DECREF(args); - Py_DECREF(function); -done: - return result; -} - -/* PyObjectCallOneArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_New(1); - if (unlikely(!args)) return NULL; - Py_INCREF(arg); - PyTuple_SET_ITEM(args, 0, arg); - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, &arg, 1); - } -#endif - if (likely(PyCFunction_Check(func))) { - if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { - return __Pyx_PyObject_CallMethO(func, arg); -#if CYTHON_FAST_PYCCALL - } else if (__Pyx_PyFastCFunction_Check(func)) { - return __Pyx_PyCFunction_FastCall(func, &arg, 1); -#endif - } - } - return __Pyx__PyObject_CallOneArg(func, arg); -} -#else -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_Pack(1, arg); - if (unlikely(!args)) return NULL; - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -#endif - -/* PyObject_GenericGetAttrNoDict */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, attr_name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(attr_name)); -#endif - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { - PyObject *descr; - PyTypeObject *tp = Py_TYPE(obj); - if (unlikely(!PyString_Check(attr_name))) { - return PyObject_GenericGetAttr(obj, attr_name); - } - assert(!tp->tp_dictoffset); - descr = _PyType_Lookup(tp, attr_name); - if (unlikely(!descr)) { - return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); - } - Py_INCREF(descr); - #if PY_MAJOR_VERSION < 3 - if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) - #endif - { - descrgetfunc f = Py_TYPE(descr)->tp_descr_get; - if (unlikely(f)) { - PyObject *res = f(descr, obj, (PyObject *)tp); - Py_DECREF(descr); - return res; - } - } - return descr; -} -#endif - -/* PyObject_GenericGetAttr */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { - if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { - return PyObject_GenericGetAttr(obj, attr_name); - } - return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); -} -#endif - -/* PyErrExceptionMatches */ -#if CYTHON_FAST_THREAD_STATE -static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; icurexc_type; - if (exc_type == err) return 1; - if (unlikely(!exc_type)) return 0; - if (unlikely(PyTuple_Check(err))) - return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); - return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); -} -#endif - -/* PyObjectGetAttrStrNoError */ -static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - __Pyx_PyErr_Clear(); -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { - PyObject *result; -#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { - return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); - } -#endif - result = __Pyx_PyObject_GetAttrStr(obj, attr_name); - if (unlikely(!result)) { - __Pyx_PyObject_GetAttrStr_ClearAttributeError(); - } - return result; -} - -/* SetupReduce */ -static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { - int ret; - PyObject *name_attr; - name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name); - if (likely(name_attr)) { - ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); - } else { - ret = -1; - } - if (unlikely(ret < 0)) { - PyErr_Clear(); - ret = 0; - } - Py_XDECREF(name_attr); - return ret; -} -static int __Pyx_setup_reduce(PyObject* type_obj) { - int ret = 0; - PyObject *object_reduce = NULL; - PyObject *object_reduce_ex = NULL; - PyObject *reduce = NULL; - PyObject *reduce_ex = NULL; - PyObject *reduce_cython = NULL; - PyObject *setstate = NULL; - PyObject *setstate_cython = NULL; -#if CYTHON_USE_PYTYPE_LOOKUP - if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#else - if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#endif -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#else - object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#endif - reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; - if (reduce_ex == object_reduce_ex) { -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#else - object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#endif - reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; - if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { - reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); - if (likely(reduce_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (reduce == object_reduce || PyErr_Occurred()) { - goto __PYX_BAD; - } - setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); - if (!setstate) PyErr_Clear(); - if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { - setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); - if (likely(setstate_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (!setstate || PyErr_Occurred()) { - goto __PYX_BAD; - } - } - PyType_Modified((PyTypeObject*)type_obj); - } - } - goto __PYX_GOOD; -__PYX_BAD: - if (!PyErr_Occurred()) - PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); - ret = -1; -__PYX_GOOD: -#if !CYTHON_USE_PYTYPE_LOOKUP - Py_XDECREF(object_reduce); - Py_XDECREF(object_reduce_ex); -#endif - Py_XDECREF(reduce); - Py_XDECREF(reduce_ex); - Py_XDECREF(reduce_cython); - Py_XDECREF(setstate); - Py_XDECREF(setstate_cython); - return ret; -} - -/* SetVTable */ -static int __Pyx_SetVtable(PyObject *dict, void *vtable) { -#if PY_VERSION_HEX >= 0x02070000 - PyObject *ob = PyCapsule_New(vtable, 0, 0); -#else - PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); -#endif - if (!ob) - goto bad; - if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) - goto bad; - Py_DECREF(ob); - return 0; -bad: - Py_XDECREF(ob); - return -1; -} - -/* Import */ -static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { - PyObject *empty_list = 0; - PyObject *module = 0; - PyObject *global_dict = 0; - PyObject *empty_dict = 0; - PyObject *list; - #if PY_MAJOR_VERSION < 3 - PyObject *py_import; - py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); - if (!py_import) - goto bad; - #endif - if (from_list) - list = from_list; - else { - empty_list = PyList_New(0); - if (!empty_list) - goto bad; - list = empty_list; - } - global_dict = PyModule_GetDict(__pyx_m); - if (!global_dict) - goto bad; - empty_dict = PyDict_New(); - if (!empty_dict) - goto bad; - { - #if PY_MAJOR_VERSION >= 3 - if (level == -1) { - if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, 1); - if (!module) { - if (!PyErr_ExceptionMatches(PyExc_ImportError)) - goto bad; - PyErr_Clear(); - } - } - level = 0; - } - #endif - if (!module) { - #if PY_MAJOR_VERSION < 3 - PyObject *py_level = PyInt_FromLong(level); - if (!py_level) - goto bad; - module = PyObject_CallFunctionObjArgs(py_import, - name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); - Py_DECREF(py_level); - #else - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, level); - #endif - } - } -bad: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_import); - #endif - Py_XDECREF(empty_list); - Py_XDECREF(empty_dict); - return module; -} - -/* CalculateMetaclass */ -static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { - Py_ssize_t i, nbases = PyTuple_GET_SIZE(bases); - for (i=0; i < nbases; i++) { - PyTypeObject *tmptype; - PyObject *tmp = PyTuple_GET_ITEM(bases, i); - tmptype = Py_TYPE(tmp); -#if PY_MAJOR_VERSION < 3 - if (tmptype == &PyClass_Type) - continue; -#endif - if (!metaclass) { - metaclass = tmptype; - continue; - } - if (PyType_IsSubtype(metaclass, tmptype)) - continue; - if (PyType_IsSubtype(tmptype, metaclass)) { - metaclass = tmptype; - continue; - } - PyErr_SetString(PyExc_TypeError, - "metaclass conflict: " - "the metaclass of a derived class " - "must be a (non-strict) subclass " - "of the metaclasses of all its bases"); - return NULL; - } - if (!metaclass) { -#if PY_MAJOR_VERSION < 3 - metaclass = &PyClass_Type; -#else - metaclass = &PyType_Type; -#endif - } - Py_INCREF((PyObject*) metaclass); - return (PyObject*) metaclass; -} - -/* Py3ClassCreate */ -static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, - PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { - PyObject *ns; - if (metaclass) { - PyObject *prep = __Pyx_PyObject_GetAttrStr(metaclass, __pyx_n_s_prepare); - if (prep) { - PyObject *pargs = PyTuple_Pack(2, name, bases); - if (unlikely(!pargs)) { - Py_DECREF(prep); - return NULL; - } - ns = PyObject_Call(prep, pargs, mkw); - Py_DECREF(prep); - Py_DECREF(pargs); - } else { - if (unlikely(!PyErr_ExceptionMatches(PyExc_AttributeError))) - return NULL; - PyErr_Clear(); - ns = PyDict_New(); - } - } else { - ns = PyDict_New(); - } - if (unlikely(!ns)) - return NULL; - if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; - if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; - if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; - return ns; -bad: - Py_DECREF(ns); - return NULL; -} -static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, - PyObject *dict, PyObject *mkw, - int calculate_metaclass, int allow_py2_metaclass) { - PyObject *result, *margs; - PyObject *owned_metaclass = NULL; - if (allow_py2_metaclass) { - owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); - if (owned_metaclass) { - metaclass = owned_metaclass; - } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { - PyErr_Clear(); - } else { - return NULL; - } - } - if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { - metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); - Py_XDECREF(owned_metaclass); - if (unlikely(!metaclass)) - return NULL; - owned_metaclass = metaclass; - } - margs = PyTuple_Pack(3, name, bases, dict); - if (unlikely(!margs)) { - result = NULL; - } else { - result = PyObject_Call(metaclass, margs, mkw); - Py_DECREF(margs); - } - Py_XDECREF(owned_metaclass); - return result; -} - -/* CLineInTraceback */ -#ifndef CYTHON_CLINE_IN_TRACEBACK -static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { - PyObject *use_cline; - PyObject *ptype, *pvalue, *ptraceback; -#if CYTHON_COMPILING_IN_CPYTHON - PyObject **cython_runtime_dict; -#endif - if (unlikely(!__pyx_cython_runtime)) { - return c_line; - } - __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); -#if CYTHON_COMPILING_IN_CPYTHON - cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); - if (likely(cython_runtime_dict)) { - __PYX_PY_DICT_LOOKUP_IF_MODIFIED( - use_cline, *cython_runtime_dict, - __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) - } else -#endif - { - PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); - if (use_cline_obj) { - use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; - Py_DECREF(use_cline_obj); - } else { - PyErr_Clear(); - use_cline = NULL; - } - } - if (!use_cline) { - c_line = 0; - (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); - } - else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { - c_line = 0; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - return c_line; -} -#endif - -/* CodeObjectCache */ -static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { - int start = 0, mid = 0, end = count - 1; - if (end >= 0 && code_line > entries[end].code_line) { - return count; - } - while (start < end) { - mid = start + (end - start) / 2; - if (code_line < entries[mid].code_line) { - end = mid; - } else if (code_line > entries[mid].code_line) { - start = mid + 1; - } else { - return mid; - } - } - if (code_line <= entries[mid].code_line) { - return mid; - } else { - return mid + 1; - } -} -static PyCodeObject *__pyx_find_code_object(int code_line) { - PyCodeObject* code_object; - int pos; - if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { - return NULL; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { - return NULL; - } - code_object = __pyx_code_cache.entries[pos].code_object; - Py_INCREF(code_object); - return code_object; -} -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { - int pos, i; - __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; - if (unlikely(!code_line)) { - return; - } - if (unlikely(!entries)) { - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); - if (likely(entries)) { - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = 64; - __pyx_code_cache.count = 1; - entries[0].code_line = code_line; - entries[0].code_object = code_object; - Py_INCREF(code_object); - } - return; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { - PyCodeObject* tmp = entries[pos].code_object; - entries[pos].code_object = code_object; - Py_DECREF(tmp); - return; - } - if (__pyx_code_cache.count == __pyx_code_cache.max_count) { - int new_max = __pyx_code_cache.max_count + 64; - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( - __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); - if (unlikely(!entries)) { - return; - } - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = new_max; - } - for (i=__pyx_code_cache.count; i>pos; i--) { - entries[i] = entries[i-1]; - } - entries[pos].code_line = code_line; - entries[pos].code_object = code_object; - __pyx_code_cache.count++; - Py_INCREF(code_object); -} - -/* AddTraceback */ -#include "compile.h" -#include "frameobject.h" -#include "traceback.h" -static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( - const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = NULL; - PyObject *py_funcname = NULL; - #if PY_MAJOR_VERSION < 3 - PyObject *py_srcfile = NULL; - py_srcfile = PyString_FromString(filename); - if (!py_srcfile) goto bad; - #endif - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - funcname = PyUnicode_AsUTF8(py_funcname); - if (!funcname) goto bad; - #endif - } - else { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); - if (!py_funcname) goto bad; - #endif - } - #if PY_MAJOR_VERSION < 3 - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - #else - py_code = PyCode_NewEmpty(filename, funcname, py_line); - #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline - return py_code; -bad: - Py_XDECREF(py_funcname); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_srcfile); - #endif - return NULL; -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); - } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) goto bad; - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); - } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); -} - -/* CIntFromPyVerify */ -#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ - } - -/* CIntFromPy */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(int) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (int) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { - return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { - return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { - return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(int) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) - case -2: - if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - } -#endif - if (sizeof(int) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - int val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (int) -1; - } - } else { - int val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (int) -1; - val = __Pyx_PyInt_As_int(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to int"); - return (int) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to int"); - return (int) -1; -} - -/* CIntToPy */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); - } -} - -/* CIntFromPy */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(long) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (long) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { - return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { - return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { - return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(long) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) - case -2: - if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - } -#endif - if (sizeof(long) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - long val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (long) -1; - } - } else { - long val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (long) -1; - val = __Pyx_PyInt_As_long(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to long"); - return (long) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to long"); - return (long) -1; -} - -/* FastTypeChecks */ -#if CYTHON_COMPILING_IN_CPYTHON -static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { - while (a) { - a = a->tp_base; - if (a == b) - return 1; - } - return b == &PyBaseObject_Type; -} -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (a == b) return 1; - mro = a->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(a, b); -} -#if PY_MAJOR_VERSION == 2 -static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { - PyObject *exception, *value, *tb; - int res; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&exception, &value, &tb); - res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - if (!res) { - res = PyObject_IsSubclass(err, exc_type2); - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - } - __Pyx_ErrRestore(exception, value, tb); - return res; -} -#else -static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { - int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; - if (!res) { - res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); - } - return res; -} -#endif -static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - assert(PyExceptionClass_Check(exc_type)); - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; ip) { - #if PY_MAJOR_VERSION < 3 - if (t->is_unicode) { - *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); - } else if (t->intern) { - *t->p = PyString_InternFromString(t->s); - } else { - *t->p = PyString_FromStringAndSize(t->s, t->n - 1); - } - #else - if (t->is_unicode | t->is_str) { - if (t->intern) { - *t->p = PyUnicode_InternFromString(t->s); - } else if (t->encoding) { - *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); - } else { - *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); - } - } else { - *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); - } - #endif - if (!*t->p) - return -1; - if (PyObject_Hash(*t->p) == -1) - return -1; - ++t; - } - return 0; -} - -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { - return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); -} -static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { - Py_ssize_t ignore; - return __Pyx_PyObject_AsStringAndSize(o, &ignore); -} -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT -#if !CYTHON_PEP393_ENABLED -static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - char* defenc_c; - PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); - if (!defenc) return NULL; - defenc_c = PyBytes_AS_STRING(defenc); -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - { - char* end = defenc_c + PyBytes_GET_SIZE(defenc); - char* c; - for (c = defenc_c; c < end; c++) { - if ((unsigned char) (*c) >= 128) { - PyUnicode_AsASCIIString(o); - return NULL; - } - } - } -#endif - *length = PyBytes_GET_SIZE(defenc); - return defenc_c; -} -#else -static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - if (likely(PyUnicode_IS_ASCII(o))) { - *length = PyUnicode_GET_LENGTH(o); - return PyUnicode_AsUTF8(o); - } else { - PyUnicode_AsASCIIString(o); - return NULL; - } -#else - return PyUnicode_AsUTF8AndSize(o, length); -#endif -} -#endif -#endif -static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT - if ( -#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - __Pyx_sys_getdefaultencoding_not_ascii && -#endif - PyUnicode_Check(o)) { - return __Pyx_PyUnicode_AsStringAndSize(o, length); - } else -#endif -#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) - if (PyByteArray_Check(o)) { - *length = PyByteArray_GET_SIZE(o); - return PyByteArray_AS_STRING(o); - } else -#endif - { - char* result; - int r = PyBytes_AsStringAndSize(o, &result, length); - if (unlikely(r < 0)) { - return NULL; - } else { - return result; - } - } -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { - int is_true = x == Py_True; - if (is_true | (x == Py_False) | (x == Py_None)) return is_true; - else return PyObject_IsTrue(x); -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { - int retval; - if (unlikely(!x)) return -1; - retval = __Pyx_PyObject_IsTrue(x); - Py_DECREF(x); - return retval; -} -static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { -#if PY_MAJOR_VERSION >= 3 - if (PyLong_Check(result)) { - if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, - "__int__ returned non-int (type %.200s). " - "The ability to return an instance of a strict subclass of int " - "is deprecated, and may be removed in a future version of Python.", - Py_TYPE(result)->tp_name)) { - Py_DECREF(result); - return NULL; - } - return result; - } -#endif - PyErr_Format(PyExc_TypeError, - "__%.4s__ returned non-%.4s (type %.200s)", - type_name, type_name, Py_TYPE(result)->tp_name); - Py_DECREF(result); - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { -#if CYTHON_USE_TYPE_SLOTS - PyNumberMethods *m; -#endif - const char *name = NULL; - PyObject *res = NULL; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x) || PyLong_Check(x))) -#else - if (likely(PyLong_Check(x))) -#endif - return __Pyx_NewRef(x); -#if CYTHON_USE_TYPE_SLOTS - m = Py_TYPE(x)->tp_as_number; - #if PY_MAJOR_VERSION < 3 - if (m && m->nb_int) { - name = "int"; - res = m->nb_int(x); - } - else if (m && m->nb_long) { - name = "long"; - res = m->nb_long(x); - } - #else - if (likely(m && m->nb_int)) { - name = "int"; - res = m->nb_int(x); - } - #endif -#else - if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { - res = PyNumber_Int(x); - } -#endif - if (likely(res)) { -#if PY_MAJOR_VERSION < 3 - if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { -#else - if (unlikely(!PyLong_CheckExact(res))) { -#endif - return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); - } - } - else if (!PyErr_Occurred()) { - PyErr_SetString(PyExc_TypeError, - "an integer is required"); - } - return res; -} -static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { - Py_ssize_t ival; - PyObject *x; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(b))) { - if (sizeof(Py_ssize_t) >= sizeof(long)) - return PyInt_AS_LONG(b); - else - return PyInt_AsSsize_t(b); - } -#endif - if (likely(PyLong_CheckExact(b))) { - #if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)b)->ob_digit; - const Py_ssize_t size = Py_SIZE(b); - if (likely(__Pyx_sst_abs(size) <= 1)) { - ival = likely(size) ? digits[0] : 0; - if (size == -1) ival = -ival; - return ival; - } else { - switch (size) { - case 2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - } - } - #endif - return PyLong_AsSsize_t(b); - } - x = PyNumber_Index(b); - if (!x) return -1; - ival = PyInt_AsSsize_t(x); - Py_DECREF(x); - return ival; -} -static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { - if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { - return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); -#if PY_MAJOR_VERSION < 3 - } else if (likely(PyInt_CheckExact(o))) { - return PyInt_AS_LONG(o); -#endif - } else { - Py_ssize_t ival; - PyObject *x; - x = PyNumber_Index(o); - if (!x) return -1; - ival = PyInt_AsLong(x); - Py_DECREF(x); - return ival; - } -} -static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { - return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); -} -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { - return PyInt_FromSize_t(ival); -} - - -#endif /* Py_PYTHON_H */ diff --git a/cereal/messaging/messaging_pyx.so b/cereal/messaging/messaging_pyx.so index 94cb67415..aa6e1985e 100755 Binary files a/cereal/messaging/messaging_pyx.so and b/cereal/messaging/messaging_pyx.so differ diff --git a/cereal/services.h b/cereal/services.h index 41cb56298..6d7f371e9 100644 --- a/cereal/services.h +++ b/cereal/services.h @@ -3,63 +3,73 @@ #define __SERVICES_H struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; }; static struct service services[] = { - { "deviceState", 8001, true, 2, 1 }, - { "can", 8002, true, 100, 1223 }, - { "controlsState", 8003, true, 100, 10 }, - { "pandaStates", 8004, true, 2, 1 }, - { "peripheralState", 8005, true, 2, 1 }, - { "radarState", 8006, true, 20, 5 }, - { "roadEncodeIdx", 8007, false, 20, 1 }, - { "liveTracks", 8008, true, 20, -1 }, - { "sendcan", 8009, true, 100, 139 }, - { "logMessage", 8010, true, 0, -1 }, - { "errorLogMessage", 8011, true, 0, 1 }, - { "liveCalibration", 8012, true, 4, 4 }, - { "liveTorqueParameters", 8013, true, 4, 1 }, - { "androidLog", 8014, true, 0, -1 }, - { "carState", 8015, true, 100, 10 }, - { "carControl", 8016, true, 100, 10 }, - { "longitudinalPlan", 8017, true, 20, 5 }, - { "procLog", 8018, true, 0, -1 }, - { "gpsLocationExternal", 8019, true, 10, 10 }, - { "gpsLocation", 8020, true, 1, 1 }, - { "ubloxGnss", 8021, true, 10, -1 }, - { "qcomGnss", 8023, true, 2, -1 }, - { "gnssMeasurements", 8024, true, 10, 10 }, - { "clocks", 8025, true, 1, 1 }, - { "ubloxRaw", 8026, true, 20, -1 }, - { "liveLocationKalman", 8027, true, 20, 5 }, - { "liveParameters", 8028, true, 20, 5 }, - { "cameraOdometry", 8029, true, 20, 5 }, - { "lateralPlan", 8030, true, 20, 5 }, - { "thumbnail", 8031, true, 0, 1 }, - { "carEvents", 8032, true, 1, 1 }, - { "carParams", 8033, true, 0, 1 }, - { "roadCameraState", 8034, true, 20, 20 }, - { "modelV2", 8035, true, 20, 40 }, - { "managerState", 8036, true, 2, 1 }, - { "uploaderState", 8037, true, 0, 1 }, - { "navInstruction", 8038, true, 1, 10 }, - { "navRoute", 8039, true, 0, -1 }, - { "navThumbnail", 8040, true, 0, -1 }, - { "navModel", 8041, true, 2, 4 }, - { "mapRenderState", 8042, true, 2, 1 }, - { "uiPlan", 8043, true, 20, 40 }, - { "qRoadEncodeIdx", 8044, false, 20, -1 }, - { "userFlag", 8045, true, 0, 1 }, - { "uiDebug", 8046, true, 0, 1 }, - { "testJoystick", 8047, true, 0, -1 }, - { "roadEncodeData", 8048, false, 20, -1 }, - { "driverEncodeData", 8049, false, 20, -1 }, - { "wideRoadEncodeData", 8050, false, 20, -1 }, - { "qRoadEncodeData", 8051, false, 20, -1 }, - { "driverCameraState", 8052, true, 10, 10 }, - { "driverEncodeIdx", 8053, false, 10, 1 }, - { "driverState", 8054, true, 10, 5 }, - { "driverMonitoringState", 8055, true, 10, 5 }, - { "sensorEvents", 8056, true, 100, 100 }, - { "dragonConf", 8057, false, 1, -1 }, - { "liveMapData", 8058, true, 0, -1 }, + { "gyroscope", 8001, true, 104, 104 }, + { "gyroscope2", 8002, true, 100, 100 }, + { "accelerometer", 8003, true, 104, 104 }, + { "accelerometer2", 8004, true, 100, 100 }, + { "magnetometer", 8005, true, 100, 100 }, + { "lightSensor", 8006, true, 100, 100 }, + { "temperatureSensor", 8007, true, 100, 100 }, + { "gpsNMEA", 8008, true, 9, -1 }, + { "deviceState", 8009, true, 2, 1 }, + { "can", 8010, true, 100, 1223 }, + { "controlsState", 8011, true, 100, 10 }, + { "pandaStates", 8012, true, 2, 1 }, + { "peripheralState", 8013, true, 2, 1 }, + { "radarState", 8014, true, 20, 5 }, + { "roadEncodeIdx", 8015, false, 20, 1 }, + { "liveTracks", 8016, true, 20, -1 }, + { "sendcan", 8017, true, 100, 139 }, + { "logMessage", 8018, true, 0, -1 }, + { "errorLogMessage", 8019, true, 0, 1 }, + { "liveCalibration", 8020, true, 4, 4 }, + { "liveTorqueParameters", 8021, true, 4, 1 }, + { "androidLog", 8023, true, 0, -1 }, + { "carState", 8024, true, 100, 10 }, + { "carControl", 8025, true, 100, 10 }, + { "longitudinalPlan", 8026, true, 20, 5 }, + { "procLog", 8027, true, 0, -1 }, + { "gpsLocationExternal", 8028, true, 10, 10 }, + { "gpsLocation", 8029, true, 1, 1 }, + { "ubloxGnss", 8030, true, 10, -1 }, + { "qcomGnss", 8031, true, 2, -1 }, + { "gnssMeasurements", 8032, true, 10, 10 }, + { "clocks", 8033, true, 1, 1 }, + { "ubloxRaw", 8034, true, 20, -1 }, + { "liveLocationKalman", 8035, true, 20, 5 }, + { "liveParameters", 8036, true, 20, 5 }, + { "cameraOdometry", 8037, true, 20, 5 }, + { "lateralPlan", 8038, true, 20, 5 }, + { "thumbnail", 8039, true, 0, 1 }, + { "carEvents", 8040, true, 1, 1 }, + { "carParams", 8041, true, 0, 1 }, + { "roadCameraState", 8042, true, 20, 20 }, + { "driverCameraState", 8043, true, 10, 10 }, + { "driverEncodeIdx", 8044, true, 10, 1 }, + { "driverStateV2", 8045, true, 20, 10 }, + { "driverMonitoringState", 8046, true, 10, 5 }, + { "wideRoadEncodeIdx", 8047, false, 20, 1 }, + { "wideRoadCameraState", 8048, true, 20, 20 }, + { "modelV2", 8049, true, 20, 40 }, + { "managerState", 8050, true, 2, 1 }, + { "uploaderState", 8051, true, 0, 1 }, + { "navInstruction", 8052, true, 1, 10 }, + { "navRoute", 8053, true, 0, -1 }, + { "navThumbnail", 8054, true, 0, -1 }, + { "navModel", 8055, true, 2, 4 }, + { "mapRenderState", 8056, true, 2, 1 }, + { "uiPlan", 8057, true, 20, 40 }, + { "qRoadEncodeIdx", 8058, false, 20, -1 }, + { "userFlag", 8059, true, 0, 1 }, + { "microphone", 8060, true, 10, 10 }, + { "uiDebug", 8061, true, 0, 1 }, + { "testJoystick", 8062, true, 0, -1 }, + { "roadEncodeData", 8063, false, 20, -1 }, + { "driverEncodeData", 8064, false, 20, -1 }, + { "wideRoadEncodeData", 8065, false, 20, -1 }, + { "qRoadEncodeData", 8066, false, 20, -1 }, + { "driverState", 8067, true, 10, 5 }, + { "sensorEvents", 8068, true, 100, 100 }, }; #endif diff --git a/cereal/services.py b/cereal/services.py index 52d1cb12f..4b7f84a79 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -1,6 +1,8 @@ #!/usr/bin/env python3 from typing import Optional +import os +TICI = os.path.isfile('/TICI') RESERVED_PORT = 8022 # sshd STARTING_PORT = 8001 @@ -17,18 +19,19 @@ class Service: self.frequency = frequency self.decimation = decimation +DCAM_FREQ = 10. if not TICI else 20. services = { # service: (should_log, frequency, qlog decimation (optional)) # note: the "EncodeIdx" packets will still be in the log - # "gyroscope": (True, 104., 104), - # "gyroscope2": (True, 100., 100), - # "accelerometer": (True, 104., 104), - # "accelerometer2": (True, 100., 100), - # "magnetometer": (True, 100., 100), - # "lightSensor": (True, 100., 100), - # "temperatureSensor": (True, 100., 100), - # "gpsNMEA": (True, 9.), + "gyroscope": (True, 104., 104), + "gyroscope2": (True, 100., 100), + "accelerometer": (True, 104., 104), + "accelerometer2": (True, 100., 100), + "magnetometer": (True, 100., 100), + "lightSensor": (True, 100., 100), + "temperatureSensor": (True, 100., 100), + "gpsNMEA": (True, 9.), "deviceState": (True, 2., 1), "can": (True, 100., 1223), # decimation gives ~5 msgs in a full segment "controlsState": (True, 100., 10), @@ -62,12 +65,12 @@ services = { "carEvents": (True, 1., 1), "carParams": (True, 0.02, 1), "roadCameraState": (True, 20., 20), - # "driverCameraState": (True, 20., 20), - # "driverEncodeIdx": (False, 20., 1), - # "driverStateV2": (True, 20., 10), - # "driverMonitoringState": (True, 20., 10), - # "wideRoadEncodeIdx": (False, 20., 1), - # "wideRoadCameraState": (True, 20., 20), + "driverCameraState": (True, DCAM_FREQ, DCAM_FREQ), + "driverEncodeIdx": (True, DCAM_FREQ, 1), + "driverStateV2": (True, 20., 10), + "driverMonitoringState": (True, DCAM_FREQ, DCAM_FREQ / 2), + "wideRoadEncodeIdx": (False, 20., 1), + "wideRoadCameraState": (True, 20., 20), "modelV2": (True, 20., 40), "managerState": (True, 2., 1), "uploaderState": (True, 0., 1), @@ -79,7 +82,7 @@ services = { "uiPlan": (True, 20., 40.), "qRoadEncodeIdx": (False, 20.), "userFlag": (True, 0., 1), - # "microphone": (True, 10., 10), + "microphone": (True, 10., 10), # debug "uiDebug": (True, 0., 1), @@ -89,17 +92,9 @@ services = { "wideRoadEncodeData": (False, 20.), "qRoadEncodeData": (False, 20.), - # dp # legacy - "driverCameraState": (True, 10., 10), - "driverEncodeIdx": (False, 10., 1), "driverState": (True, 10, 5), - "driverMonitoringState": (True, 10., 5), "sensorEvents": (True, 100., 100), - # conf - "dragonConf": (False, 1.), - # mapd - "liveMapData": (True, 0.), } service_list = {name: Service(new_port(idx), *vals) for # type: ignore idx, (name, vals) in enumerate(services.items())} diff --git a/cereal/visionipc/visionipc_pyx.cpp b/cereal/visionipc/visionipc_pyx.cpp deleted file mode 100644 index f222a194a..000000000 --- a/cereal/visionipc/visionipc_pyx.cpp +++ /dev/null @@ -1,29950 +0,0 @@ -/* Generated by Cython 0.29.26 */ - -/* BEGIN: Cython Metadata -{ - "distutils": { - "depends": [ - "cereal/visionipc/visionbuf.h", - "cereal/visionipc/visionipc.h", - "cereal/visionipc/visionipc_client.h", - "cereal/visionipc/visionipc_server.h" - ], - "language": "c++", - "name": "cereal.visionipc.visionipc_pyx", - "sources": [ - "/data/openpilot/cereal/visionipc/visionipc_pyx.pyx" - ] - }, - "module_name": "cereal.visionipc.visionipc_pyx" -} -END: Cython Metadata */ - -#ifndef PY_SSIZE_T_CLEAN -#define PY_SSIZE_T_CLEAN -#endif /* PY_SSIZE_T_CLEAN */ -#include "Python.h" -#ifndef Py_PYTHON_H - #error Python headers needed to compile C extensions, please install development version of Python. -#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) - 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-value : value) -#endif -static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); -static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); -#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s)) -#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) -#define __Pyx_PyBytes_FromString PyBytes_FromString -#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); -#if PY_MAJOR_VERSION < 3 - #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString - #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize -#else - #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString - #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize -#endif -#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyObject_AsWritableString(s) ((char*) __Pyx_PyObject_AsString(s)) -#define __Pyx_PyObject_AsWritableSString(s) ((signed char*) __Pyx_PyObject_AsString(s)) -#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*) __Pyx_PyObject_AsString(s)) -#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) -#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) -#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) -#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) -#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) -#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) -#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) -static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) { - const Py_UNICODE *u_end = u; - while (*u_end++) ; - return (size_t)(u_end - u - 1); -} -#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) -#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode -#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode -#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) -#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) -static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); -static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); -static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); -static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); -#define __Pyx_PySequence_Tuple(obj)\ - (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) -static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); -static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); -#if CYTHON_ASSUME_SAFE_MACROS -#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) -#else -#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) -#endif -#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) -#if PY_MAJOR_VERSION >= 3 -#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) -#else -#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) -#endif -#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x)) -#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII -static int __Pyx_sys_getdefaultencoding_not_ascii; -static int __Pyx_init_sys_getdefaultencoding_params(void) { - PyObject* sys; - PyObject* default_encoding = NULL; - PyObject* ascii_chars_u = NULL; - PyObject* ascii_chars_b = NULL; - const char* default_encoding_c; - sys = PyImport_ImportModule("sys"); - if (!sys) goto bad; - default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); - Py_DECREF(sys); - if (!default_encoding) goto bad; - default_encoding_c = PyBytes_AsString(default_encoding); - if (!default_encoding_c) goto bad; - if (strcmp(default_encoding_c, "ascii") == 0) { - __Pyx_sys_getdefaultencoding_not_ascii = 0; - } else { - char ascii_chars[128]; - int c; - for (c = 0; c < 128; c++) { - ascii_chars[c] = c; - } - __Pyx_sys_getdefaultencoding_not_ascii = 1; - ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); - if (!ascii_chars_u) goto bad; - ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); - if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { - PyErr_Format( - PyExc_ValueError, - "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", - default_encoding_c); - goto bad; - } - Py_DECREF(ascii_chars_u); - Py_DECREF(ascii_chars_b); - } - Py_DECREF(default_encoding); - return 0; -bad: - Py_XDECREF(default_encoding); - Py_XDECREF(ascii_chars_u); 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PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2)) -#endif - -/* ListExtend.proto */ -static CYTHON_INLINE int __Pyx_PyList_Extend(PyObject* L, PyObject* v) { -#if CYTHON_COMPILING_IN_CPYTHON - PyObject* none = _PyList_Extend((PyListObject*)L, v); - if (unlikely(!none)) - return -1; - Py_DECREF(none); - return 0; -#else - return PyList_SetSlice(L, PY_SSIZE_T_MAX, PY_SSIZE_T_MAX, v); -#endif -} - -/* ListAppend.proto */ -#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS -static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { - PyListObject* L = (PyListObject*) list; - Py_ssize_t len = Py_SIZE(list); - if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { - Py_INCREF(x); - PyList_SET_ITEM(list, len, x); - __Pyx_SET_SIZE(list, len + 1); - return 0; - } - return PyList_Append(list, x); -} -#else -#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) -#endif - -/* None.proto */ -static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); - -/* None.proto */ -static CYTHON_INLINE long __Pyx_div_long(long, long); - -/* PyObject_GenericGetAttrNoDict.proto */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); -#else -#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr -#endif - -/* PyObject_GenericGetAttr.proto */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); -#else -#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr -#endif - -/* PyObjectGetAttrStrNoError.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); - -/* SetupReduce.proto */ -static int __Pyx_setup_reduce(PyObject* type_obj); - -/* SetVTable.proto */ -static int __Pyx_SetVtable(PyObject *dict, void *vtable); - -/* TypeImport.proto */ -#ifndef __PYX_HAVE_RT_ImportType_proto -#define __PYX_HAVE_RT_ImportType_proto -enum __Pyx_ImportType_CheckSize { - __Pyx_ImportType_CheckSize_Error = 0, - __Pyx_ImportType_CheckSize_Warn = 1, - __Pyx_ImportType_CheckSize_Ignore = 2 -}; -static PyTypeObject *__Pyx_ImportType(PyObject* module, const char *module_name, const char *class_name, size_t size, enum __Pyx_ImportType_CheckSize check_size); -#endif - -/* GetNameInClass.proto */ -#define __Pyx_GetNameInClass(var, nmspace, name) (var) = __Pyx__GetNameInClass(nmspace, name) -static PyObject *__Pyx__GetNameInClass(PyObject *nmspace, PyObject *name); - -/* CalculateMetaclass.proto */ -static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases); - -/* SetNameInClass.proto */ -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 -#define __Pyx_SetNameInClass(ns, name, value)\ - (likely(PyDict_CheckExact(ns)) ? _PyDict_SetItem_KnownHash(ns, name, value, ((PyASCIIObject *) name)->hash) : PyObject_SetItem(ns, name, value)) -#elif CYTHON_COMPILING_IN_CPYTHON -#define __Pyx_SetNameInClass(ns, name, value)\ - (likely(PyDict_CheckExact(ns)) ? PyDict_SetItem(ns, name, value) : PyObject_SetItem(ns, name, value)) -#else -#define __Pyx_SetNameInClass(ns, name, value) PyObject_SetItem(ns, name, value) -#endif - -/* FetchCommonType.proto */ -static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); - -/* CythonFunctionShared.proto */ -#define __Pyx_CyFunction_USED 1 -#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 -#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 -#define __Pyx_CYFUNCTION_CCLASS 0x04 -#define __Pyx_CyFunction_GetClosure(f)\ - (((__pyx_CyFunctionObject *) (f))->func_closure) -#define __Pyx_CyFunction_GetClassObj(f)\ - (((__pyx_CyFunctionObject *) (f))->func_classobj) -#define __Pyx_CyFunction_Defaults(type, f)\ - ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) -#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ - ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) -typedef struct { - PyCFunctionObject func; -#if PY_VERSION_HEX < 0x030500A0 - PyObject *func_weakreflist; -#endif - PyObject *func_dict; - PyObject *func_name; - PyObject *func_qualname; - PyObject *func_doc; - PyObject *func_globals; - PyObject *func_code; - PyObject *func_closure; - PyObject *func_classobj; - void *defaults; - int defaults_pyobjects; - size_t defaults_size; // used by FusedFunction for copying defaults - int flags; - PyObject *defaults_tuple; - PyObject *defaults_kwdict; - PyObject *(*defaults_getter)(PyObject *); - PyObject *func_annotations; -} __pyx_CyFunctionObject; -static PyTypeObject *__pyx_CyFunctionType = 0; -#define __Pyx_CyFunction_Check(obj) (__Pyx_TypeCheck(obj, __pyx_CyFunctionType)) -static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, - int flags, PyObject* qualname, - PyObject *self, - PyObject *module, PyObject *globals, - PyObject* code); -static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, - size_t size, - int pyobjects); -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, - PyObject *tuple); -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, - PyObject *dict); -static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, - PyObject *dict); -static int __pyx_CyFunction_init(void); - -/* CythonFunction.proto */ -static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, - int flags, PyObject* qualname, - PyObject *closure, - PyObject *module, PyObject *globals, - PyObject* code); - -/* Py3ClassCreate.proto */ -static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, PyObject *qualname, - PyObject *mkw, PyObject *modname, PyObject *doc); -static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, PyObject *dict, - PyObject *mkw, int calculate_metaclass, int allow_py2_metaclass); - -/* Globals.proto */ -static PyObject* __Pyx_Globals(void); - -/* CLineInTraceback.proto */ -#ifdef CYTHON_CLINE_IN_TRACEBACK -#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) -#else -static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); -#endif - -/* CodeObjectCache.proto */ -typedef struct { - PyCodeObject* code_object; - int code_line; -} __Pyx_CodeObjectCacheEntry; -struct __Pyx_CodeObjectCache { - int count; - int max_count; - __Pyx_CodeObjectCacheEntry* entries; -}; -static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; -static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); -static PyCodeObject *__pyx_find_code_object(int code_line); -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); - -/* AddTraceback.proto */ -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename); - -#if PY_MAJOR_VERSION < 3 - static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); - static void __Pyx_ReleaseBuffer(Py_buffer *view); -#else - #define __Pyx_GetBuffer PyObject_GetBuffer - #define __Pyx_ReleaseBuffer PyBuffer_Release -#endif - - -/* BufferStructDeclare.proto */ -typedef struct { - Py_ssize_t shape, strides, suboffsets; -} __Pyx_Buf_DimInfo; -typedef struct { - size_t refcount; - Py_buffer pybuffer; -} __Pyx_Buffer; -typedef struct { - __Pyx_Buffer *rcbuffer; - char *data; - __Pyx_Buf_DimInfo diminfo[8]; -} __Pyx_LocalBuf_ND; - -/* MemviewSliceIsContig.proto */ -static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); - -/* OverlappingSlices.proto */ -static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, - __Pyx_memviewslice *slice2, - int ndim, size_t itemsize); - -/* Capsule.proto */ -static CYTHON_INLINE PyObject *__pyx_capsule_create(void *p, const char *sig); - -/* GCCDiagnostics.proto */ -#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) -#define __Pyx_HAS_GCC_DIAGNOSTIC -#endif - -/* IsLittleEndian.proto */ -static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); - -/* BufferFormatCheck.proto */ -static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); -static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, - __Pyx_BufFmt_StackElem* stack, - __Pyx_TypeInfo* type); - -/* TypeInfoCompare.proto */ -static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); - -/* MemviewSliceValidateAndInit.proto */ -static int __Pyx_ValidateAndInit_memviewslice( - int *axes_specs, - int c_or_f_flag, - int buf_flags, - int ndim, - __Pyx_TypeInfo *dtype, - __Pyx_BufFmt_StackElem stack[], - __Pyx_memviewslice *memviewslice, - PyObject *original_obj); - -/* ObjectToMemviewSlice.proto */ -static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_unsigned_char__const__(PyObject *, int writable_flag); - -/* MemviewDtypeToObject.proto */ -static CYTHON_INLINE PyObject *__pyx_memview_get_unsigned_char__const__(const char *itemp); - -/* ObjectToMemviewSlice.proto */ -static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_char(PyObject *, int writable_flag); - -/* RealImag.proto */ -#if CYTHON_CCOMPLEX - #ifdef __cplusplus - #define __Pyx_CREAL(z) ((z).real()) - #define __Pyx_CIMAG(z) ((z).imag()) - #else - #define __Pyx_CREAL(z) (__real__(z)) - #define __Pyx_CIMAG(z) (__imag__(z)) - #endif -#else - #define __Pyx_CREAL(z) ((z).real) - #define __Pyx_CIMAG(z) ((z).imag) -#endif -#if defined(__cplusplus) && CYTHON_CCOMPLEX\ - && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) - #define __Pyx_SET_CREAL(z,x) ((z).real(x)) - #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) -#else - #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) - #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) -#endif - -/* Arithmetic.proto */ -#if CYTHON_CCOMPLEX - #define __Pyx_c_eq_float(a, b) ((a)==(b)) - #define __Pyx_c_sum_float(a, b) ((a)+(b)) - #define __Pyx_c_diff_float(a, b) ((a)-(b)) - #define __Pyx_c_prod_float(a, b) ((a)*(b)) - #define __Pyx_c_quot_float(a, b) ((a)/(b)) - #define __Pyx_c_neg_float(a) (-(a)) - #ifdef __cplusplus - #define __Pyx_c_is_zero_float(z) ((z)==(float)0) - #define __Pyx_c_conj_float(z) (::std::conj(z)) - #if 1 - #define __Pyx_c_abs_float(z) (::std::abs(z)) - #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) - #endif - #else - #define __Pyx_c_is_zero_float(z) ((z)==0) - #define __Pyx_c_conj_float(z) (conjf(z)) - #if 1 - #define __Pyx_c_abs_float(z) (cabsf(z)) - #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) - #endif - #endif -#else - static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); - static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); - #if 1 - static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); - #endif -#endif - -/* Arithmetic.proto */ -#if CYTHON_CCOMPLEX - #define __Pyx_c_eq_double(a, b) ((a)==(b)) - #define __Pyx_c_sum_double(a, b) ((a)+(b)) - #define __Pyx_c_diff_double(a, b) ((a)-(b)) - #define __Pyx_c_prod_double(a, b) ((a)*(b)) - #define __Pyx_c_quot_double(a, b) ((a)/(b)) - #define __Pyx_c_neg_double(a) (-(a)) - #ifdef __cplusplus - #define __Pyx_c_is_zero_double(z) ((z)==(double)0) - #define __Pyx_c_conj_double(z) (::std::conj(z)) - #if 1 - #define __Pyx_c_abs_double(z) (::std::abs(z)) - #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) - #endif - #else - #define __Pyx_c_is_zero_double(z) ((z)==0) - #define __Pyx_c_conj_double(z) (conj(z)) - #if 1 - #define __Pyx_c_abs_double(z) (cabs(z)) - #define __Pyx_c_pow_double(a, b) (cpow(a, b)) - #endif - #endif -#else - static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); - static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); - #if 1 - static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); - #endif -#endif - -/* MemviewSliceCopyTemplate.proto */ -static __Pyx_memviewslice -__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, - const char *mode, int ndim, - size_t sizeof_dtype, int contig_flag, - int dtype_is_object); - -/* CIntFromPy.proto */ -static CYTHON_INLINE enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType __Pyx_PyInt_As_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(PyObject *); - -/* CIntFromPy.proto */ -static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); - -/* CIntFromPy.proto */ -static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *); - -/* CIntFromPy.proto */ -static CYTHON_INLINE uint64_t __Pyx_PyInt_As_uint64_t(PyObject *); - -/* CIntFromPy.proto */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_unsigned_char(unsigned char value); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__VisionStreamType(enum VisionStreamType value); - -/* CIntFromPy.proto */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); - -/* CIntFromPy.proto */ -static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType value); - -/* CheckBinaryVersion.proto */ -static int __Pyx_check_binary_version(void); - -/* InitStrings.proto */ -static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); - -static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ -static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ -static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ -static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ -static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ -static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ -static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ - -/* Module declarations from 'cpython.buffer' */ - -/* Module declarations from 'libc.string' */ - -/* Module declarations from 'libc.stdio' */ - -/* Module declarations from '__builtin__' */ - -/* Module declarations from 'cpython.type' */ -static PyTypeObject *__pyx_ptype_7cpython_4type_type = 0; - -/* Module declarations from 'cpython' */ - -/* Module declarations from 'cpython.object' */ - -/* Module declarations from 'cpython.ref' */ - -/* Module declarations from 'cpython.mem' */ - -/* Module declarations from 'numpy' */ - -/* Module declarations from 'numpy' */ -static PyTypeObject *__pyx_ptype_5numpy_dtype = 0; -static PyTypeObject *__pyx_ptype_5numpy_flatiter = 0; -static PyTypeObject *__pyx_ptype_5numpy_broadcast = 0; -static PyTypeObject *__pyx_ptype_5numpy_ndarray = 0; -static PyTypeObject *__pyx_ptype_5numpy_generic = 0; -static PyTypeObject *__pyx_ptype_5numpy_number = 0; -static PyTypeObject *__pyx_ptype_5numpy_integer = 0; -static PyTypeObject *__pyx_ptype_5numpy_signedinteger = 0; -static PyTypeObject *__pyx_ptype_5numpy_unsignedinteger = 0; -static PyTypeObject *__pyx_ptype_5numpy_inexact = 0; -static PyTypeObject *__pyx_ptype_5numpy_floating = 0; -static PyTypeObject *__pyx_ptype_5numpy_complexfloating = 0; -static PyTypeObject *__pyx_ptype_5numpy_flexible = 0; -static PyTypeObject *__pyx_ptype_5numpy_character = 0; -static PyTypeObject *__pyx_ptype_5numpy_ufunc = 0; - -/* Module declarations from 'cython.view' */ - -/* Module declarations from 'libc.stdint' */ - -/* Module declarations from 'libcpp' */ - -/* Module declarations from 'libcpp.string' */ - -/* Module declarations from 'libcpp.vector' */ - -/* Module declarations from 'libcpp.utility' */ - -/* Module declarations from 'libcpp.set' */ - -/* Module declarations from 'cereal.visionipc.visionipc' */ - -/* Module declarations from 'cereal.visionipc.visionipc_pyx' */ -static PyTypeObject *__pyx_ptype_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer = 0; -static PyTypeObject *__pyx_ptype_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient = 0; -static PyTypeObject *__pyx_ptype___Pyx_EnumMeta = 0; -static PyTypeObject *__pyx_array_type = 0; -static PyTypeObject *__pyx_MemviewEnum_type = 0; -static PyTypeObject *__pyx_memoryview_type = 0; -static PyTypeObject *__pyx_memoryviewslice_type = 0; -static PyObject *__Pyx_OrderedDict = 0; -static PyObject *__Pyx_EnumBase = 0; -static PyObject *generic = 0; -static PyObject *strided = 0; -static PyObject *indirect = 0; -static PyObject *contiguous = 0; -static PyObject *indirect_contiguous = 0; -static int __pyx_memoryview_thread_locks_used; -static PyThread_type_lock __pyx_memoryview_thread_locks[8]; -static PyObject *__Pyx_globals = 0; -static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ -static PyObject *__pyx_convert_set_to_py_enum__VisionStreamType(std::set const &); /*proto*/ -static PyObject *__pyx_unpickle___Pyx_EnumMeta__set_state(struct __pyx_obj___Pyx_EnumMeta *, PyObject *); /*proto*/ -static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ -static void *__pyx_align_pointer(void *, size_t); /*proto*/ -static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ -static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ -static PyObject *_unellipsify(PyObject *, int); /*proto*/ -static PyObject *assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ -static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ -static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ -static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ -static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ -static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ -static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ -static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ -static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ -static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ -static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ -static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ -static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ -static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ -static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ -static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ -static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ -static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ -static int __pyx_memoryview_err_dim(PyObject *, char *, int); /*proto*/ -static int __pyx_memoryview_err(PyObject *, char *); /*proto*/ -static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ -static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ -static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ -static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ -static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ -static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ -static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ -static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ -static __Pyx_TypeInfo __Pyx_TypeInfo_unsigned_char__const__ = { "const unsigned char", NULL, sizeof(unsigned char const ), { 0 }, 0, IS_UNSIGNED(unsigned char const ) ? 'U' : 'I', IS_UNSIGNED(unsigned char const ), 0 }; -static __Pyx_TypeInfo __Pyx_TypeInfo_char = { "char", NULL, sizeof(char), { 0 }, 0, 'H', IS_UNSIGNED(char), 0 }; -#define __Pyx_MODULE_NAME "cereal.visionipc.visionipc_pyx" -extern int __pyx_module_is_main_cereal__visionipc__visionipc_pyx; -int __pyx_module_is_main_cereal__visionipc__visionipc_pyx = 0; - -/* Implementation of 'cereal.visionipc.visionipc_pyx' */ -static PyObject *__pyx_builtin_staticmethod; -static PyObject *__pyx_builtin_TypeError; -static PyObject *__pyx_builtin_ImportError; -static PyObject *__pyx_builtin_ValueError; -static PyObject *__pyx_builtin_MemoryError; -static PyObject *__pyx_builtin_enumerate; -static PyObject *__pyx_builtin_range; -static PyObject *__pyx_builtin_Ellipsis; -static PyObject *__pyx_builtin_id; -static PyObject *__pyx_builtin_IndexError; -static const char __pyx_k_O[] = "O"; -static const char __pyx_k_c[] = "c"; -static const char __pyx_k_v[] = "v"; -static const char __pyx_k_id[] = "id"; -static const char __pyx_k_np[] = "np"; -static const char __pyx_k_tp[] = "tp"; -static const char __pyx_k_cls[] = "cls"; -static const char __pyx_k_dct[] = "dct"; -static const char __pyx_k_doc[] = "__doc__"; -static const char __pyx_k_new[] = "__new__"; -static const char __pyx_k_obj[] = "obj"; -static const char __pyx_k_res[] = "res"; -static const char __pyx_k_rgb[] = "rgb"; -static const char __pyx_k_s_s[] = "%s.%s"; -static const char __pyx_k_str[] = "__str__"; -static const char __pyx_k_sys[] = "sys"; -static const char __pyx_k_base[] = "base"; -static const char __pyx_k_data[] = "data"; -static const char __pyx_k_dict[] = "__dict__"; -static const char __pyx_k_enum[] = "enum"; -static const char __pyx_k_init[] = "__init__"; -static const char __pyx_k_main[] = "__main__"; -static const char __pyx_k_mode[] = "mode"; -static const char __pyx_k_name[] = "name"; -static const char __pyx_k_ndim[] = "ndim"; -static const char __pyx_k_pack[] = "pack"; -static const char __pyx_k_repr[] = "__repr__"; -static const char __pyx_k_self[] = "self"; -static const char __pyx_k_size[] = "size"; -static const char __pyx_k_step[] = "step"; -static const char __pyx_k_stop[] = "stop"; -static const char __pyx_k_test[] = "__test__"; -static const char __pyx_k_ASCII[] = "ASCII"; -static const char __pyx_k_block[] = "block"; -static const char __pyx_k_class[] = "__class__"; -static const char __pyx_k_dtype[] = "dtype"; -static const char __pyx_k_empty[] = "empty"; -static const char __pyx_k_error[] = "error"; -static const char __pyx_k_flags[] = "flags"; -static const char __pyx_k_numpy[] = "numpy"; -static const char __pyx_k_range[] = "range"; -static const char __pyx_k_s_s_d[] = "<%s.%s: %d>"; -static const char __pyx_k_shape[] = "shape"; -static const char __pyx_k_start[] = "start"; -static const char __pyx_k_uint8[] = "uint8"; -static const char __pyx_k_value[] = "value"; -static const char __pyx_k_width[] = "width"; -static const char __pyx_k_encode[] = "encode"; -static const char __pyx_k_format[] = "format"; -static const char __pyx_k_height[] = "height"; -static const char __pyx_k_import[] = "__import__"; -static const char __pyx_k_module[] = "__module__"; -static const char __pyx_k_name_2[] = "__name__"; -static const char __pyx_k_pickle[] = "pickle"; -static const char __pyx_k_reduce[] = "__reduce__"; -static const char __pyx_k_stream[] = "stream"; -static const char __pyx_k_stride[] = "stride"; -static const char __pyx_k_struct[] = "struct"; -static const char __pyx_k_unpack[] = "unpack"; -static const char __pyx_k_update[] = "update"; -static const char __pyx_k_values[] = "values"; -static const char __pyx_k_IntEnum[] = "IntEnum"; -static const char __pyx_k_fortran[] = "fortran"; -static const char __pyx_k_members[] = "__members__"; -static const char __pyx_k_memview[] = "memview"; -static const char __pyx_k_parents[] = "parents"; -static const char __pyx_k_prepare[] = "__prepare__"; -static const char __pyx_k_Ellipsis[] = "Ellipsis"; -static const char __pyx_k_EnumBase[] = "EnumBase"; -static const char __pyx_k_EnumType[] = "EnumType"; -static const char __pyx_k_conflate[] = "conflate"; -static const char __pyx_k_frame_id[] = "frame_id"; -static const char __pyx_k_getstate[] = "__getstate__"; -static const char __pyx_k_itemsize[] = "itemsize"; -static const char __pyx_k_pyx_type[] = "__pyx_type"; -static const char __pyx_k_qualname[] = "__qualname__"; -static const char __pyx_k_setstate[] = "__setstate__"; -static const char __pyx_k_TypeError[] = "TypeError"; -static const char __pyx_k_enumerate[] = "enumerate"; -static const char __pyx_k_metaclass[] = "__metaclass__"; -static const char __pyx_k_pyx_state[] = "__pyx_state"; -static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; -static const char __pyx_k_uv_offset[] = "uv_offset"; -static const char __pyx_k_IndexError[] = "IndexError"; -static const char __pyx_k_ValueError[] = "ValueError"; -static const char __pyx_k_pyx_result[] = "__pyx_result"; -static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; -static const char __pyx_k_timeout_ms[] = "timeout_ms"; -static const char __pyx_k_ImportError[] = "ImportError"; -static const char __pyx_k_MemoryError[] = "MemoryError"; -static const char __pyx_k_OrderedDict[] = "OrderedDict"; -static const char __pyx_k_PickleError[] = "PickleError"; -static const char __pyx_k_collections[] = "collections"; -static const char __pyx_k_num_buffers[] = "num_buffers"; -static const char __pyx_k_Pyx_EnumBase[] = "__Pyx_EnumBase"; -static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; -static const char __pyx_k_staticmethod[] = "staticmethod"; -static const char __pyx_k_stringsource[] = "stringsource"; -static const char __pyx_k_pyx_getbuffer[] = "__pyx_getbuffer"; -static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; -static const char __pyx_k_timestamp_eof[] = "timestamp_eof"; -static const char __pyx_k_timestamp_sof[] = "timestamp_sof"; -static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; -static const char __pyx_k_VisionIpcClient[] = "VisionIpcClient"; -static const char __pyx_k_VisionIpcServer[] = "VisionIpcServer"; -static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; -static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; -static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; -static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; -static const char __pyx_k_VisionStreamType[] = "VisionStreamType"; -static const char __pyx_k_VISION_STREAM_MAP[] = "VISION_STREAM_MAP"; -static const char __pyx_k_available_streams[] = "available_streams"; -static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; -static const char __pyx_k_Pyx_EnumBase___new[] = "__Pyx_EnumBase.__new__"; -static const char __pyx_k_Pyx_EnumBase___str[] = "__Pyx_EnumBase.__str__"; -static const char __pyx_k_VISION_STREAM_ROAD[] = "VISION_STREAM_ROAD"; -static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; -static const char __pyx_k_strided_and_direct[] = ""; -static const char __pyx_k_Pyx_EnumBase___repr[] = "__Pyx_EnumBase.__repr__"; -static const char __pyx_k_Unknown_enum_value_s[] = "Unknown enum value: '%s'"; -static const char __pyx_k_VISION_STREAM_DRIVER[] = "VISION_STREAM_DRIVER"; -static const char __pyx_k_strided_and_indirect[] = ""; -static const char __pyx_k_contiguous_and_direct[] = ""; -static const char __pyx_k_MemoryView_of_r_object[] = ""; -static const char __pyx_k_VISION_STREAM_RGB_ROAD[] = "VISION_STREAM_RGB_ROAD"; -static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; -static const char __pyx_k_VISION_STREAM_WIDE_ROAD[] = "VISION_STREAM_WIDE_ROAD"; -static const char __pyx_k_contiguous_and_indirect[] = ""; -static const char __pyx_k_Cannot_index_with_type_s[] = "Cannot index with type '%s'"; -static const char __pyx_k_VISION_STREAM_RGB_DRIVER[] = "VISION_STREAM_RGB_DRIVER"; -static const char __pyx_k_Invalid_shape_in_axis_d_d[] = "Invalid shape in axis %d: %d."; -static const char __pyx_k_VISION_STREAM_RGB_WIDE_ROAD[] = "VISION_STREAM_RGB_WIDE_ROAD"; -static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; -static const char __pyx_k_pyx_unpickle___Pyx_EnumMeta[] = "__pyx_unpickle___Pyx_EnumMeta"; -static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; 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-static const char __pyx_k_Incompatible_checksums_s_vs_0xd4[] = "Incompatible checksums (%s vs 0xd41d8cd = ())"; -static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; -static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got %s"; -static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis %d)"; -static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; -static const char __pyx_k_cereal_visionipc_visionipc_pyx_p[] = "cereal/visionipc/visionipc_pyx.pyx"; -static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension %d (got %d and %d)"; -static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; -static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; -static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; -static PyObject *__pyx_n_s_ASCII; -static PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; -static PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; -static PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; -static PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; -static PyObject *__pyx_kp_s_Cannot_index_with_type_s; -static PyObject *__pyx_n_s_Ellipsis; -static PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; -static PyObject *__pyx_n_s_EnumBase; -static PyObject *__pyx_n_s_EnumType; -static PyObject *__pyx_n_s_ImportError; -static PyObject *__pyx_kp_s_Incompatible_checksums_s_vs_0xb0; -static PyObject *__pyx_kp_s_Incompatible_checksums_s_vs_0xd4; -static PyObject *__pyx_n_s_IndexError; -static PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; -static PyObject *__pyx_n_s_IntEnum; -static PyObject *__pyx_kp_s_Invalid_mode_expected_c_or_fortr; -static PyObject *__pyx_kp_s_Invalid_shape_in_axis_d_d; -static PyObject *__pyx_n_s_MemoryError; -static PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; -static PyObject *__pyx_kp_s_MemoryView_of_r_object; -static PyObject *__pyx_n_b_O; -static PyObject *__pyx_n_s_OrderedDict; -static PyObject *__pyx_kp_s_Out_of_bounds_on_buffer_access_a; -static PyObject *__pyx_n_s_PickleError; -static PyObject *__pyx_n_s_Pyx_EnumBase; -static PyObject *__pyx_n_s_Pyx_EnumBase___new; -static PyObject *__pyx_n_s_Pyx_EnumBase___repr; -static PyObject *__pyx_n_s_Pyx_EnumBase___str; -static PyObject *__pyx_n_s_TypeError; -static PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; -static PyObject *__pyx_kp_s_Unknown_enum_value_s; -static PyObject *__pyx_n_s_VISION_STREAM_DRIVER; -static PyObject *__pyx_n_s_VISION_STREAM_MAP; -static PyObject *__pyx_n_s_VISION_STREAM_RGB_DRIVER; -static PyObject *__pyx_n_s_VISION_STREAM_RGB_ROAD; -static PyObject *__pyx_n_s_VISION_STREAM_RGB_WIDE_ROAD; -static PyObject *__pyx_n_s_VISION_STREAM_ROAD; -static PyObject *__pyx_n_s_VISION_STREAM_WIDE_ROAD; -static PyObject *__pyx_n_s_ValueError; -static PyObject *__pyx_n_s_View_MemoryView; -static PyObject *__pyx_n_s_VisionIpcClient; -static PyObject *__pyx_n_s_VisionIpcServer; -static PyObject *__pyx_n_s_VisionStreamType; -static PyObject *__pyx_n_s_allocate_buffer; -static PyObject *__pyx_n_s_available_streams; -static PyObject *__pyx_n_s_base; -static PyObject *__pyx_n_s_block; -static PyObject *__pyx_n_s_c; -static PyObject *__pyx_n_u_c; -static PyObject *__pyx_n_s_cereal_visionipc_visionipc_pyx; -static PyObject *__pyx_kp_s_cereal_visionipc_visionipc_pyx_p; -static PyObject *__pyx_n_s_class; -static PyObject *__pyx_n_s_cline_in_traceback; -static PyObject *__pyx_n_s_cls; -static PyObject *__pyx_n_s_collections; -static PyObject *__pyx_n_s_conflate; -static PyObject *__pyx_kp_s_contiguous_and_direct; -static PyObject *__pyx_kp_s_contiguous_and_indirect; -static PyObject *__pyx_n_s_data; -static PyObject *__pyx_n_s_dct; -static PyObject *__pyx_n_s_dict; -static PyObject *__pyx_n_s_doc; -static PyObject *__pyx_n_s_dtype; -static PyObject *__pyx_n_s_dtype_is_object; -static PyObject *__pyx_n_s_empty; -static PyObject *__pyx_n_s_encode; -static PyObject *__pyx_n_s_enum; -static PyObject *__pyx_n_s_enumerate; -static PyObject *__pyx_n_s_error; -static PyObject *__pyx_n_s_flags; -static PyObject *__pyx_n_s_format; -static PyObject *__pyx_n_s_fortran; -static PyObject *__pyx_n_u_fortran; -static PyObject *__pyx_n_s_frame_id; -static PyObject *__pyx_n_s_getstate; -static PyObject *__pyx_kp_s_got_differing_extents_in_dimensi; -static PyObject *__pyx_n_s_height; -static PyObject *__pyx_n_s_id; -static PyObject *__pyx_n_s_import; -static PyObject *__pyx_n_s_init; -static PyObject *__pyx_n_s_itemsize; -static PyObject *__pyx_kp_s_itemsize_0_for_cython_array; -static PyObject *__pyx_n_s_main; -static PyObject *__pyx_n_s_members; -static PyObject *__pyx_n_s_memview; -static PyObject *__pyx_n_s_metaclass; -static PyObject *__pyx_n_s_mode; -static PyObject *__pyx_n_s_module; -static PyObject *__pyx_n_s_name; -static PyObject *__pyx_n_s_name_2; -static PyObject *__pyx_n_s_ndim; -static PyObject *__pyx_n_s_new; -static PyObject *__pyx_kp_s_no_default___reduce___due_to_non; -static PyObject *__pyx_n_s_np; -static PyObject *__pyx_n_s_num_buffers; -static PyObject *__pyx_n_s_numpy; -static PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; -static PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; -static PyObject *__pyx_n_s_obj; -static PyObject *__pyx_n_s_pack; -static PyObject *__pyx_n_s_parents; -static PyObject *__pyx_n_s_pickle; -static PyObject *__pyx_n_s_prepare; -static PyObject *__pyx_n_s_pyx_PickleError; -static PyObject *__pyx_n_s_pyx_checksum; -static PyObject *__pyx_n_s_pyx_getbuffer; -static PyObject *__pyx_n_s_pyx_result; -static PyObject *__pyx_n_s_pyx_state; -static PyObject *__pyx_n_s_pyx_type; -static PyObject *__pyx_n_s_pyx_unpickle_Enum; -static PyObject *__pyx_n_s_pyx_unpickle___Pyx_EnumMeta; -static PyObject *__pyx_n_s_pyx_vtable; -static PyObject *__pyx_n_s_qualname; -static PyObject *__pyx_n_s_range; -static PyObject *__pyx_n_s_reduce; -static PyObject *__pyx_n_s_reduce_cython; -static PyObject *__pyx_n_s_reduce_ex; -static PyObject *__pyx_n_s_repr; -static PyObject *__pyx_n_s_res; -static PyObject *__pyx_n_s_rgb; -static PyObject *__pyx_kp_s_s_s; -static PyObject *__pyx_kp_s_s_s_d; -static PyObject *__pyx_n_s_self; -static PyObject *__pyx_kp_s_self_server_cannot_be_converted; -static PyObject *__pyx_n_s_setstate; -static PyObject *__pyx_n_s_setstate_cython; -static PyObject *__pyx_n_s_shape; -static PyObject *__pyx_n_s_size; -static PyObject *__pyx_n_s_start; -static PyObject *__pyx_n_s_staticmethod; -static PyObject *__pyx_n_s_step; -static PyObject *__pyx_n_s_stop; -static PyObject *__pyx_n_s_str; -static PyObject *__pyx_n_s_stream; -static PyObject *__pyx_n_s_stride; -static PyObject *__pyx_kp_s_strided_and_direct; -static PyObject *__pyx_kp_s_strided_and_direct_or_indirect; -static PyObject *__pyx_kp_s_strided_and_indirect; -static PyObject *__pyx_kp_s_stringsource; -static PyObject *__pyx_n_s_struct; -static PyObject *__pyx_n_s_sys; -static PyObject *__pyx_n_s_test; -static PyObject *__pyx_n_s_timeout_ms; -static PyObject *__pyx_n_s_timestamp_eof; -static PyObject *__pyx_n_s_timestamp_sof; -static PyObject *__pyx_n_s_tp; -static PyObject *__pyx_n_s_uint8; -static PyObject *__pyx_kp_s_unable_to_allocate_array_data; -static PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; -static PyObject *__pyx_n_s_unpack; -static PyObject *__pyx_n_s_update; -static PyObject *__pyx_n_s_uv_offset; -static PyObject *__pyx_n_s_v; -static PyObject *__pyx_n_s_value; -static PyObject *__pyx_n_s_values; -static PyObject *__pyx_n_s_width; -static int __pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer___init__(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, std::string __pyx_v_name); /* proto */ -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_2create_buffers(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_tp, size_t __pyx_v_num_buffers, bool __pyx_v_rgb, size_t __pyx_v_width, size_t __pyx_v_height); /* proto */ -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_4create_buffers_with_sizes(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_tp, size_t __pyx_v_num_buffers, bool __pyx_v_rgb, size_t __pyx_v_width, size_t __pyx_v_height, size_t __pyx_v_size, size_t __pyx_v_stride, size_t __pyx_v_uv_offset); /* proto */ -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_6send(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_tp, __Pyx_memviewslice __pyx_v_data, uint32_t __pyx_v_frame_id, uint64_t __pyx_v_timestamp_sof, uint64_t __pyx_v_timestamp_eof); /* proto */ -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_8start_listener(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self); /* proto */ -static void __pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_10__dealloc__(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_12__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_14__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ -static int __pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient___cinit__(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, std::string __pyx_v_name, enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_stream, bool __pyx_v_conflate); /* proto */ -static void __pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_2__dealloc__(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_5width___get__(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_6height___get__(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_6stride___get__(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_9uv_offset___get__(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_4recv(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, int __pyx_v_timeout_ms); /* proto */ -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_6connect(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, bool __pyx_v_blocking); /* proto */ -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_8is_connected(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_10available_streams(std::string __pyx_v_name, bool __pyx_v_block); /* proto */ -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_12__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_14__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ -static int __pyx_pf_8EnumBase_14__Pyx_EnumMeta___init__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls, PyObject *__pyx_v_name, PyObject *__pyx_v_parents, PyObject *__pyx_v_dct); /* proto */ -static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_2__iter__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls); /* proto */ -static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_4__getitem__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls, PyObject *__pyx_v_name); /* proto */ -static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_6__reduce_cython__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_8__setstate_cython__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ -static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_cls, PyObject *__pyx_v_value, PyObject *__pyx_v_name); /* proto */ -static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase_2__repr__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase_4__str__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_8EnumBase___pyx_unpickle___Pyx_EnumMeta(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ -static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ -static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ -static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ -static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ -static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ -static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ -static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ -static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ -static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ -static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ -static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ -static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ -static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); 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* else: - * return 'F' - */ - __pyx_r = 'C'; - goto __pyx_L0; - - /* "View.MemoryView":1134 - * break - * - * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< - * return 'C' - * else: - */ - } - - /* "View.MemoryView":1137 - * return 'C' - * else: - * return 'F' # <<<<<<<<<<<<<< - * - * @cython.cdivision(True) - */ - /*else*/ { - __pyx_r = 'F'; - goto __pyx_L0; - } - - /* "View.MemoryView":1116 - * - * @cname('__pyx_get_best_slice_order') - * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) nogil: # <<<<<<<<<<<<<< - * """ - * Figure out the best memory access order for a given slice. - */ - - /* function exit code */ - __pyx_L0:; - return __pyx_r; -} - -/* "View.MemoryView":1140 - * - * @cython.cdivision(True) - * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< - * char *dst_data, Py_ssize_t *dst_strides, - * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, - */ - -static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { - CYTHON_UNUSED Py_ssize_t __pyx_v_i; - CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; - Py_ssize_t __pyx_v_dst_extent; - Py_ssize_t __pyx_v_src_stride; - Py_ssize_t __pyx_v_dst_stride; - int __pyx_t_1; - int __pyx_t_2; - int __pyx_t_3; - Py_ssize_t __pyx_t_4; - Py_ssize_t __pyx_t_5; - Py_ssize_t __pyx_t_6; - - /* "View.MemoryView":1147 - * - * cdef Py_ssize_t i - * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< - * cdef Py_ssize_t dst_extent = dst_shape[0] - * cdef Py_ssize_t src_stride = src_strides[0] - */ - __pyx_v_src_extent = (__pyx_v_src_shape[0]); - - /* "View.MemoryView":1148 - * cdef Py_ssize_t i - * cdef Py_ssize_t src_extent = src_shape[0] - * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< - * cdef Py_ssize_t src_stride = src_strides[0] - * cdef Py_ssize_t dst_stride = dst_strides[0] - */ - __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); - - /* "View.MemoryView":1149 - * cdef Py_ssize_t src_extent = src_shape[0] - * cdef Py_ssize_t dst_extent = dst_shape[0] - * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< - * cdef Py_ssize_t dst_stride = dst_strides[0] - * - */ - __pyx_v_src_stride = (__pyx_v_src_strides[0]); - - /* "View.MemoryView":1150 - * cdef Py_ssize_t dst_extent = dst_shape[0] - * cdef Py_ssize_t src_stride = src_strides[0] - * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< - * - * if ndim == 1: - */ - __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); - - /* "View.MemoryView":1152 - * cdef Py_ssize_t dst_stride = dst_strides[0] - * - * if ndim == 1: # <<<<<<<<<<<<<< - * if (src_stride > 0 and dst_stride > 0 and - * src_stride == itemsize == dst_stride): - */ - __pyx_t_1 = ((__pyx_v_ndim == 1) != 0); - if (__pyx_t_1) { - - /* "View.MemoryView":1153 - * - * if ndim == 1: - * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< - * src_stride == itemsize == dst_stride): - * memcpy(dst_data, src_data, itemsize * dst_extent) - */ - __pyx_t_2 = ((__pyx_v_src_stride > 0) != 0); - if (__pyx_t_2) { - } else { - __pyx_t_1 = __pyx_t_2; - goto __pyx_L5_bool_binop_done; - } - __pyx_t_2 = ((__pyx_v_dst_stride > 0) != 0); - if (__pyx_t_2) { - } else { - __pyx_t_1 = __pyx_t_2; - goto __pyx_L5_bool_binop_done; - } - - /* "View.MemoryView":1154 - * if ndim == 1: - * if (src_stride > 0 and dst_stride > 0 and - * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< - * memcpy(dst_data, src_data, itemsize * dst_extent) - * else: - */ - __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); - if (__pyx_t_2) { - __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); - } - __pyx_t_3 = (__pyx_t_2 != 0); - __pyx_t_1 = __pyx_t_3; - __pyx_L5_bool_binop_done:; - - /* "View.MemoryView":1153 - * - * if ndim == 1: - * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< - * src_stride == itemsize == dst_stride): - * memcpy(dst_data, src_data, itemsize * dst_extent) - */ - if (__pyx_t_1) { - - /* "View.MemoryView":1155 - * if (src_stride > 0 and dst_stride > 0 and - * src_stride == itemsize == dst_stride): - * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< - * else: - * for i in range(dst_extent): - */ - (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); - - /* "View.MemoryView":1153 - * - * if ndim == 1: - * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< - * src_stride == itemsize == dst_stride): - * memcpy(dst_data, src_data, itemsize * dst_extent) - */ - goto __pyx_L4; - } - - /* "View.MemoryView":1157 - * memcpy(dst_data, src_data, itemsize * dst_extent) - * else: - * for i in range(dst_extent): # <<<<<<<<<<<<<< - * memcpy(dst_data, src_data, itemsize) - * src_data += src_stride - */ - /*else*/ { - __pyx_t_4 = __pyx_v_dst_extent; - __pyx_t_5 = __pyx_t_4; - for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { - __pyx_v_i = __pyx_t_6; - - /* "View.MemoryView":1158 - * else: - * for i in range(dst_extent): - * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< - * src_data += src_stride - * dst_data += dst_stride - */ - (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); - - /* "View.MemoryView":1159 - * for i in range(dst_extent): - * memcpy(dst_data, src_data, itemsize) - * src_data += src_stride # <<<<<<<<<<<<<< - * dst_data += dst_stride - * else: - */ - __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); - - /* "View.MemoryView":1160 - * memcpy(dst_data, src_data, itemsize) - * src_data += src_stride - * dst_data += dst_stride # <<<<<<<<<<<<<< - * else: - * for i in range(dst_extent): - */ - __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); - } - } - __pyx_L4:; - - /* "View.MemoryView":1152 - * cdef Py_ssize_t dst_stride = dst_strides[0] - * - * if ndim == 1: # <<<<<<<<<<<<<< - * if (src_stride > 0 and dst_stride > 0 and - * src_stride == itemsize == dst_stride): - */ - goto __pyx_L3; - } - - /* "View.MemoryView":1162 - * dst_data += dst_stride - * else: - * for i in range(dst_extent): # <<<<<<<<<<<<<< - * _copy_strided_to_strided(src_data, src_strides + 1, - * dst_data, dst_strides + 1, - */ - /*else*/ { - __pyx_t_4 = __pyx_v_dst_extent; - __pyx_t_5 = __pyx_t_4; - for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { - __pyx_v_i = __pyx_t_6; - - /* "View.MemoryView":1163 - * else: - * for i in range(dst_extent): - * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< - * dst_data, dst_strides + 1, - * src_shape + 1, dst_shape + 1, - */ - _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); - - /* "View.MemoryView":1167 - * src_shape + 1, dst_shape + 1, - * ndim - 1, itemsize) - * src_data += src_stride # <<<<<<<<<<<<<< - * dst_data += dst_stride - * - */ - __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); - - /* "View.MemoryView":1168 - * ndim - 1, itemsize) - * src_data += src_stride - * dst_data += dst_stride # <<<<<<<<<<<<<< - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, - */ - __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); - } - } - __pyx_L3:; - - /* "View.MemoryView":1140 - * - * @cython.cdivision(True) - * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< - * char *dst_data, Py_ssize_t *dst_strides, - * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, - */ - - /* function exit code */ -} - -/* "View.MemoryView":1170 - * dst_data += dst_stride - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< - * __Pyx_memviewslice *dst, - * int ndim, size_t itemsize) nogil: - */ - -static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { - - /* "View.MemoryView":1173 - * __Pyx_memviewslice *dst, - * int ndim, size_t itemsize) nogil: - * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< - * src.shape, dst.shape, ndim, itemsize) - * - */ - _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); - - /* "View.MemoryView":1170 - * dst_data += dst_stride - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< - * __Pyx_memviewslice *dst, - * int ndim, size_t itemsize) nogil: - */ - - /* function exit code */ -} - -/* "View.MemoryView":1177 - * - * @cname('__pyx_memoryview_slice_get_size') - * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: # <<<<<<<<<<<<<< - * "Return the size of the memory occupied by the slice in number of bytes" - * cdef Py_ssize_t shape, size = src.memview.view.itemsize - */ - -static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { - Py_ssize_t __pyx_v_shape; - Py_ssize_t __pyx_v_size; - Py_ssize_t __pyx_r; - Py_ssize_t __pyx_t_1; - Py_ssize_t *__pyx_t_2; - Py_ssize_t *__pyx_t_3; - Py_ssize_t *__pyx_t_4; - - /* "View.MemoryView":1179 - * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: - * "Return the size of the memory occupied by the slice in number of bytes" - * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< - * - * for shape in src.shape[:ndim]: - */ - __pyx_t_1 = __pyx_v_src->memview->view.itemsize; - __pyx_v_size = __pyx_t_1; - - /* "View.MemoryView":1181 - * cdef Py_ssize_t shape, size = src.memview.view.itemsize - * - * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< - * size *= shape - * - */ - __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); - for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { - __pyx_t_2 = __pyx_t_4; - __pyx_v_shape = (__pyx_t_2[0]); - - /* "View.MemoryView":1182 - * - * for shape in src.shape[:ndim]: - * size *= shape # <<<<<<<<<<<<<< - * - * return size - */ - __pyx_v_size = (__pyx_v_size * __pyx_v_shape); - } - - /* "View.MemoryView":1184 - * size *= shape - * - * return size # <<<<<<<<<<<<<< - * - * @cname('__pyx_fill_contig_strides_array') - */ - __pyx_r = __pyx_v_size; - goto __pyx_L0; - - /* "View.MemoryView":1177 - * - * @cname('__pyx_memoryview_slice_get_size') - * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: # <<<<<<<<<<<<<< - * "Return the size of the memory occupied by the slice in number of bytes" - * cdef Py_ssize_t shape, size = src.memview.view.itemsize - */ - - /* function exit code */ - __pyx_L0:; - return __pyx_r; -} - -/* "View.MemoryView":1187 - * - * @cname('__pyx_fill_contig_strides_array') - * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< - * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, - * int ndim, char order) nogil: - */ - -static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { - int __pyx_v_idx; - Py_ssize_t __pyx_r; - int __pyx_t_1; - int __pyx_t_2; - int __pyx_t_3; - int __pyx_t_4; - - /* "View.MemoryView":1196 - * cdef int idx - * - * if order == 'F': # <<<<<<<<<<<<<< - * for idx in range(ndim): - * strides[idx] = stride - */ - __pyx_t_1 = ((__pyx_v_order == 'F') != 0); - if (__pyx_t_1) { - - /* "View.MemoryView":1197 - * - * if order == 'F': - * for idx in range(ndim): # <<<<<<<<<<<<<< - * strides[idx] = stride - * stride *= shape[idx] - */ - __pyx_t_2 = __pyx_v_ndim; - __pyx_t_3 = __pyx_t_2; - for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { - __pyx_v_idx = __pyx_t_4; - - /* "View.MemoryView":1198 - * if order == 'F': - * for idx in range(ndim): - * strides[idx] = stride # <<<<<<<<<<<<<< - * stride *= shape[idx] - * else: - */ - (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; - - /* "View.MemoryView":1199 - * for idx in range(ndim): - * strides[idx] = stride - * stride *= shape[idx] # <<<<<<<<<<<<<< - * else: - * for idx in range(ndim - 1, -1, -1): - */ - __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); - } - - /* "View.MemoryView":1196 - * cdef int idx - * - * if order == 'F': # <<<<<<<<<<<<<< - * for idx in range(ndim): - * strides[idx] = stride - */ - goto __pyx_L3; - } - - /* "View.MemoryView":1201 - * stride *= shape[idx] - * else: - * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< - * strides[idx] = stride - * stride *= shape[idx] - */ - /*else*/ { - for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { - __pyx_v_idx = __pyx_t_2; - - /* "View.MemoryView":1202 - * else: - * for idx in range(ndim - 1, -1, -1): - * strides[idx] = stride # <<<<<<<<<<<<<< - * stride *= shape[idx] - * - */ - (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; - - /* "View.MemoryView":1203 - * for idx in range(ndim - 1, -1, -1): - * strides[idx] = stride - * stride *= shape[idx] # <<<<<<<<<<<<<< - * - * return stride - */ - __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); - } - } - __pyx_L3:; - - /* "View.MemoryView":1205 - * stride *= shape[idx] - * - * return stride # <<<<<<<<<<<<<< - * - * @cname('__pyx_memoryview_copy_data_to_temp') - */ - __pyx_r = __pyx_v_stride; - goto __pyx_L0; - - /* "View.MemoryView":1187 - * - * @cname('__pyx_fill_contig_strides_array') - * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< - 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* elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< - * broadcast_leading(&dst, dst_ndim, src_ndim) - * - */ - __pyx_t_2 = ((__pyx_v_dst_ndim < __pyx_v_src_ndim) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1287 - * broadcast_leading(&src, src_ndim, dst_ndim) - * elif dst_ndim < src_ndim: - * broadcast_leading(&dst, dst_ndim, src_ndim) # <<<<<<<<<<<<<< - * - * cdef int ndim = max(src_ndim, dst_ndim) - */ - __pyx_memoryview_broadcast_leading((&__pyx_v_dst), __pyx_v_dst_ndim, __pyx_v_src_ndim); - - /* "View.MemoryView":1286 - * if src_ndim < dst_ndim: - * broadcast_leading(&src, src_ndim, dst_ndim) - * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< - * broadcast_leading(&dst, dst_ndim, src_ndim) - * - */ - } - __pyx_L3:; - - /* "View.MemoryView":1289 - * broadcast_leading(&dst, dst_ndim, src_ndim) - * - * cdef int ndim = max(src_ndim, dst_ndim) # <<<<<<<<<<<<<< - * - * for i in range(ndim): - */ - __pyx_t_3 = __pyx_v_dst_ndim; - __pyx_t_4 = __pyx_v_src_ndim; - if (((__pyx_t_3 > __pyx_t_4) != 0)) { - __pyx_t_5 = __pyx_t_3; - } else { - __pyx_t_5 = __pyx_t_4; - } - __pyx_v_ndim = __pyx_t_5; - - /* "View.MemoryView":1291 - * cdef int ndim = max(src_ndim, dst_ndim) - * - * for i in range(ndim): # <<<<<<<<<<<<<< - * if src.shape[i] != dst.shape[i]: - * if src.shape[i] == 1: - */ - __pyx_t_5 = __pyx_v_ndim; - __pyx_t_3 = __pyx_t_5; - for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { - __pyx_v_i = __pyx_t_4; - - /* "View.MemoryView":1292 - * - * for i in range(ndim): - * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< - * if src.shape[i] == 1: - * broadcasting = True - */ - __pyx_t_2 = (((__pyx_v_src.shape[__pyx_v_i]) != (__pyx_v_dst.shape[__pyx_v_i])) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1293 - * for i in range(ndim): - * if src.shape[i] != dst.shape[i]: - * if src.shape[i] == 1: # <<<<<<<<<<<<<< - * broadcasting = True - * src.strides[i] = 0 - */ - __pyx_t_2 = (((__pyx_v_src.shape[__pyx_v_i]) == 1) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1294 - * if src.shape[i] != dst.shape[i]: - * if src.shape[i] == 1: - * broadcasting = True # <<<<<<<<<<<<<< - * src.strides[i] = 0 - * else: - */ - __pyx_v_broadcasting = 1; - - /* "View.MemoryView":1295 - * if src.shape[i] == 1: - * broadcasting = True - * src.strides[i] = 0 # <<<<<<<<<<<<<< - * else: - * _err_extents(i, dst.shape[i], src.shape[i]) - */ - (__pyx_v_src.strides[__pyx_v_i]) = 0; - - /* "View.MemoryView":1293 - * for i in range(ndim): - * if src.shape[i] != dst.shape[i]: - * if src.shape[i] == 1: # <<<<<<<<<<<<<< - * broadcasting = True - * src.strides[i] = 0 - */ - goto __pyx_L7; - } - - /* "View.MemoryView":1297 - * src.strides[i] = 0 - * else: - * _err_extents(i, dst.shape[i], src.shape[i]) # <<<<<<<<<<<<<< - * - * if src.suboffsets[i] >= 0: - */ - /*else*/ { - __pyx_t_6 = __pyx_memoryview_err_extents(__pyx_v_i, (__pyx_v_dst.shape[__pyx_v_i]), (__pyx_v_src.shape[__pyx_v_i])); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1297, __pyx_L1_error) - } - __pyx_L7:; - - /* "View.MemoryView":1292 - * - * for i in range(ndim): - * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< - * if src.shape[i] == 1: - * broadcasting = True - */ - } - - /* "View.MemoryView":1299 - * _err_extents(i, dst.shape[i], src.shape[i]) - * - * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< - * _err_dim(ValueError, "Dimension %d is not direct", i) - * - */ - __pyx_t_2 = (((__pyx_v_src.suboffsets[__pyx_v_i]) >= 0) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1300 - * - * if src.suboffsets[i] >= 0: - * _err_dim(ValueError, "Dimension %d is not direct", i) # <<<<<<<<<<<<<< - * - * if slices_overlap(&src, &dst, ndim, itemsize): - */ - __pyx_t_6 = __pyx_memoryview_err_dim(__pyx_builtin_ValueError, ((char *)"Dimension %d is not direct"), __pyx_v_i); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1300, __pyx_L1_error) - - /* "View.MemoryView":1299 - * _err_extents(i, dst.shape[i], src.shape[i]) - * - * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< - * _err_dim(ValueError, "Dimension %d is not direct", i) - * - */ - } - } - - /* "View.MemoryView":1302 - * _err_dim(ValueError, "Dimension %d is not direct", i) - * - * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< - * - * if not slice_is_contig(src, order, ndim): - */ - __pyx_t_2 = (__pyx_slices_overlap((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1304 - * if slices_overlap(&src, &dst, ndim, itemsize): - * - * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< - * order = get_best_order(&dst, ndim) - * - */ - __pyx_t_2 = ((!(__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim) != 0)) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1305 - * - * if not slice_is_contig(src, order, ndim): - * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< - * - * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) - */ - __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); - - /* "View.MemoryView":1304 - * if slices_overlap(&src, &dst, ndim, itemsize): - * - * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< - * order = get_best_order(&dst, ndim) - * - */ - } - - /* "View.MemoryView":1307 - * order = get_best_order(&dst, ndim) - * - * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< - * src = tmp - * - */ - __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(1, 1307, __pyx_L1_error) - __pyx_v_tmpdata = __pyx_t_7; - - /* "View.MemoryView":1308 - * - * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) - * src = tmp # <<<<<<<<<<<<<< - * - * if not broadcasting: - */ - __pyx_v_src = __pyx_v_tmp; - - /* "View.MemoryView":1302 - * _err_dim(ValueError, "Dimension %d is not direct", i) - * - * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< - * - * if not slice_is_contig(src, order, ndim): - */ - } - - /* "View.MemoryView":1310 - * src = tmp - * - * if not broadcasting: # <<<<<<<<<<<<<< - * - * - */ - __pyx_t_2 = ((!(__pyx_v_broadcasting != 0)) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1313 - * - * - * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< - * direct_copy = slice_is_contig(dst, 'C', ndim) - * elif slice_is_contig(src, 'F', ndim): - */ - __pyx_t_2 = (__pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1314 - * - * if slice_is_contig(src, 'C', ndim): - * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< - * elif slice_is_contig(src, 'F', ndim): - * direct_copy = slice_is_contig(dst, 'F', ndim) - */ - __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); - - /* "View.MemoryView":1313 - * - * - * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< - * direct_copy = slice_is_contig(dst, 'C', ndim) - * elif slice_is_contig(src, 'F', ndim): - */ - goto __pyx_L12; - } - - /* "View.MemoryView":1315 - * if slice_is_contig(src, 'C', ndim): - * direct_copy = slice_is_contig(dst, 'C', ndim) - * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< - * direct_copy = slice_is_contig(dst, 'F', ndim) - * - */ - __pyx_t_2 = (__pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1316 - * direct_copy = slice_is_contig(dst, 'C', ndim) - * elif slice_is_contig(src, 'F', ndim): - * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< - * - * if direct_copy: - */ - __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); - - /* "View.MemoryView":1315 - * if slice_is_contig(src, 'C', ndim): - * direct_copy = slice_is_contig(dst, 'C', ndim) - * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< - * direct_copy = slice_is_contig(dst, 'F', ndim) - * - */ - } - __pyx_L12:; - - /* "View.MemoryView":1318 - * direct_copy = slice_is_contig(dst, 'F', ndim) - * - * if direct_copy: # <<<<<<<<<<<<<< - * - * refcount_copying(&dst, dtype_is_object, ndim, False) - */ - __pyx_t_2 = (__pyx_v_direct_copy != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1320 - * if direct_copy: - 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- /* "View.MemoryView":1323 - * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) - * refcount_copying(&dst, dtype_is_object, ndim, True) - * free(tmpdata) # <<<<<<<<<<<<<< - * return 0 - * - */ - free(__pyx_v_tmpdata); - - /* "View.MemoryView":1324 - * refcount_copying(&dst, dtype_is_object, ndim, True) - * free(tmpdata) - * return 0 # <<<<<<<<<<<<<< - * - * if order == 'F' == get_best_order(&dst, ndim): - */ - __pyx_r = 0; - goto __pyx_L0; - - /* "View.MemoryView":1318 - * direct_copy = slice_is_contig(dst, 'F', ndim) - * - * if direct_copy: # <<<<<<<<<<<<<< - * - * refcount_copying(&dst, dtype_is_object, ndim, False) - */ - } - - /* "View.MemoryView":1310 - * src = tmp - * - * if not broadcasting: # <<<<<<<<<<<<<< - * - * - */ - } - - /* "View.MemoryView":1326 - * return 0 - * - * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< - * - * - */ - __pyx_t_2 = (__pyx_v_order == 'F'); - if (__pyx_t_2) { - __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); - } - __pyx_t_8 = (__pyx_t_2 != 0); - if (__pyx_t_8) { - - /* "View.MemoryView":1329 - * - * - * transpose_memslice(&src) # <<<<<<<<<<<<<< - * transpose_memslice(&dst) - * - */ - __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)0))) __PYX_ERR(1, 1329, __pyx_L1_error) - - /* "View.MemoryView":1330 - * - * transpose_memslice(&src) - * transpose_memslice(&dst) # <<<<<<<<<<<<<< - * - * refcount_copying(&dst, dtype_is_object, ndim, False) - */ - __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)0))) __PYX_ERR(1, 1330, __pyx_L1_error) - - /* "View.MemoryView":1326 - * return 0 - * - * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< - * - * - */ - } - - /* "View.MemoryView":1332 - * transpose_memslice(&dst) - * - * refcount_copying(&dst, dtype_is_object, ndim, False) # <<<<<<<<<<<<<< - * copy_strided_to_strided(&src, &dst, ndim, itemsize) - * refcount_copying(&dst, dtype_is_object, ndim, True) - */ - __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); - 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struct __pyx_MemviewEnum_obj *p; - PyObject *o; - if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) { - o = (*t->tp_alloc)(t, 0); - } else { - o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); - } - if (unlikely(!o)) return 0; - p = ((struct __pyx_MemviewEnum_obj *)o); - p->name = Py_None; Py_INCREF(Py_None); - return o; -} - -static void __pyx_tp_dealloc_Enum(PyObject *o) { - struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; - #if CYTHON_USE_TP_FINALIZE - if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) { - if (PyObject_CallFinalizerFromDealloc(o)) return; - } - #endif - PyObject_GC_UnTrack(o); - Py_CLEAR(p->name); - (*Py_TYPE(o)->tp_free)(o); -} - -static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { - int e; - struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; - if (p->name) { - e = (*v)(p->name, a); if (e) return e; - } - return 0; -} - -static int __pyx_tp_clear_Enum(PyObject *o) { - PyObject* tmp; - struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; - tmp = ((PyObject*)p->name); - p->name = Py_None; Py_INCREF(Py_None); - Py_XDECREF(tmp); - return 0; -} - -static PyMethodDef __pyx_methods_Enum[] = { - {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, METH_NOARGS, 0}, - {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, METH_O, 0}, - {0, 0, 0, 0} -}; - -static PyTypeObject __pyx_type___pyx_MemviewEnum = { - PyVarObject_HEAD_INIT(0, 0) - "cereal.visionipc.visionipc_pyx.Enum", /*tp_name*/ - sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ - 0, /*tp_itemsize*/ - __pyx_tp_dealloc_Enum, /*tp_dealloc*/ - #if PY_VERSION_HEX < 0x030800b4 - 0, /*tp_print*/ - #endif - #if PY_VERSION_HEX >= 0x030800b4 - 0, /*tp_vectorcall_offset*/ - #endif - 0, /*tp_getattr*/ - 0, /*tp_setattr*/ - #if PY_MAJOR_VERSION < 3 - 0, /*tp_compare*/ - #endif - #if PY_MAJOR_VERSION >= 3 - 0, /*tp_as_async*/ - #endif - __pyx_MemviewEnum___repr__, /*tp_repr*/ - 0, /*tp_as_number*/ - 0, /*tp_as_sequence*/ - 0, /*tp_as_mapping*/ - 0, /*tp_hash*/ - 0, /*tp_call*/ - 0, /*tp_str*/ - 0, /*tp_getattro*/ - 0, /*tp_setattro*/ - 0, /*tp_as_buffer*/ - Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ - 0, /*tp_doc*/ - __pyx_tp_traverse_Enum, /*tp_traverse*/ - __pyx_tp_clear_Enum, /*tp_clear*/ - 0, /*tp_richcompare*/ - 0, /*tp_weaklistoffset*/ - 0, /*tp_iter*/ - 0, /*tp_iternext*/ - __pyx_methods_Enum, /*tp_methods*/ - 0, /*tp_members*/ - 0, /*tp_getset*/ - 0, /*tp_base*/ - 0, /*tp_dict*/ - 0, /*tp_descr_get*/ - 0, /*tp_descr_set*/ - 0, /*tp_dictoffset*/ - __pyx_MemviewEnum___init__, /*tp_init*/ - 0, /*tp_alloc*/ - __pyx_tp_new_Enum, /*tp_new*/ - 0, /*tp_free*/ - 0, /*tp_is_gc*/ - 0, /*tp_bases*/ - 0, /*tp_mro*/ - 0, /*tp_cache*/ - 0, /*tp_subclasses*/ - 0, /*tp_weaklist*/ - 0, /*tp_del*/ - 0, /*tp_version_tag*/ - #if PY_VERSION_HEX >= 0x030400a1 - 0, /*tp_finalize*/ - #endif - #if PY_VERSION_HEX >= 0x030800b1 - 0, /*tp_vectorcall*/ - #endif - #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 - 0, /*tp_print*/ - #endif - #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 - 0, /*tp_pypy_flags*/ - #endif -}; -static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; - -static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { - struct __pyx_memoryview_obj *p; - PyObject *o; - if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) { - o = (*t->tp_alloc)(t, 0); - } else { - o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); - } - if (unlikely(!o)) return 0; - p = ((struct __pyx_memoryview_obj *)o); - p->__pyx_vtab = __pyx_vtabptr_memoryview; - p->obj = Py_None; Py_INCREF(Py_None); - p->_size = Py_None; Py_INCREF(Py_None); - p->_array_interface = Py_None; Py_INCREF(Py_None); - p->view.obj = NULL; - 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e = (*v)(p->obj, a); if (e) return e; - } - if (p->_size) { - e = (*v)(p->_size, a); if (e) return e; - } - if (p->_array_interface) { - e = (*v)(p->_array_interface, a); if (e) return e; - } - if (p->view.obj) { - e = (*v)(p->view.obj, a); if (e) return e; - } - return 0; -} - -static int __pyx_tp_clear_memoryview(PyObject *o) { - PyObject* tmp; - struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; - tmp = ((PyObject*)p->obj); - p->obj = Py_None; Py_INCREF(Py_None); - Py_XDECREF(tmp); - tmp = ((PyObject*)p->_size); - p->_size = Py_None; Py_INCREF(Py_None); - Py_XDECREF(tmp); - tmp = ((PyObject*)p->_array_interface); - p->_array_interface = Py_None; Py_INCREF(Py_None); - Py_XDECREF(tmp); - Py_CLEAR(p->view.obj); - return 0; -} -static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { - PyObject *r; - PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; - r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); - Py_DECREF(x); - return r; -} - -static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { - 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{"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_memoryview_1__reduce_cython__, METH_NOARGS, 0}, - {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_memoryview_3__setstate_cython__, METH_O, 0}, - {0, 0, 0, 0} -}; - -static struct PyGetSetDef __pyx_getsets_memoryview[] = { - {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, - {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, - {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, - {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, - {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, - {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, - {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, - {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, - {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, - {0, 0, 0, 0, 0} -}; - -static PySequenceMethods __pyx_tp_as_sequence_memoryview = { - 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sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ - 0, /*tp_itemsize*/ - __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ - #if PY_VERSION_HEX < 0x030800b4 - 0, /*tp_print*/ - #endif - #if PY_VERSION_HEX >= 0x030800b4 - 0, /*tp_vectorcall_offset*/ - #endif - 0, /*tp_getattr*/ - 0, /*tp_setattr*/ - #if PY_MAJOR_VERSION < 3 - 0, /*tp_compare*/ - #endif - #if PY_MAJOR_VERSION >= 3 - 0, /*tp_as_async*/ - #endif - __pyx_memoryview___repr__, /*tp_repr*/ - 0, /*tp_as_number*/ - &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ - &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ - 0, /*tp_hash*/ - 0, /*tp_call*/ - __pyx_memoryview___str__, /*tp_str*/ - 0, /*tp_getattro*/ - 0, /*tp_setattro*/ - &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ - Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ - 0, /*tp_doc*/ - __pyx_tp_traverse_memoryview, /*tp_traverse*/ - __pyx_tp_clear_memoryview, /*tp_clear*/ - 0, /*tp_richcompare*/ - 0, /*tp_weaklistoffset*/ - 0, /*tp_iter*/ - 0, /*tp_iternext*/ - __pyx_methods_memoryview, /*tp_methods*/ - 0, /*tp_members*/ - __pyx_getsets_memoryview, /*tp_getset*/ - 0, /*tp_base*/ - 0, /*tp_dict*/ - 0, /*tp_descr_get*/ - 0, /*tp_descr_set*/ - 0, /*tp_dictoffset*/ - 0, /*tp_init*/ - 0, /*tp_alloc*/ - __pyx_tp_new_memoryview, /*tp_new*/ - 0, /*tp_free*/ - 0, /*tp_is_gc*/ - 0, /*tp_bases*/ - 0, /*tp_mro*/ - 0, /*tp_cache*/ - 0, /*tp_subclasses*/ - 0, /*tp_weaklist*/ - 0, /*tp_del*/ - 0, /*tp_version_tag*/ - #if PY_VERSION_HEX >= 0x030400a1 - 0, /*tp_finalize*/ - #endif - #if PY_VERSION_HEX >= 0x030800b1 - 0, /*tp_vectorcall*/ - #endif - #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 - 0, /*tp_print*/ - #endif - #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 - 0, /*tp_pypy_flags*/ - #endif -}; -static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; - -static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { - 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PyObject_GC_Track(o); - __pyx_tp_dealloc_memoryview(o); -} - -static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { - int e; - struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; - e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; - if (p->from_object) { - e = (*v)(p->from_object, a); if (e) return e; - } - return 0; -} - -static int __pyx_tp_clear__memoryviewslice(PyObject *o) { - PyObject* tmp; - struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; - __pyx_tp_clear_memoryview(o); - tmp = ((PyObject*)p->from_object); - p->from_object = Py_None; Py_INCREF(Py_None); - Py_XDECREF(tmp); - __PYX_XDEC_MEMVIEW(&p->from_slice, 1); - return 0; -} - -static PyObject *__pyx_getprop___pyx_memoryviewslice_base(PyObject *o, CYTHON_UNUSED void *x) { - return __pyx_pw_15View_dot_MemoryView_16_memoryviewslice_4base_1__get__(o); -} - -static PyMethodDef __pyx_methods__memoryviewslice[] = { - {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, METH_NOARGS, 0}, - 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- tstate->curexc_traceback = tb; - Py_XDECREF(tmp_tb); - } -#endif - } -bad: - Py_XDECREF(owned_instance); - return; -} -#endif - -/* PyDictVersioning */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; -} -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { - PyObject **dictptr = NULL; - Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; - if (offset) { -#if CYTHON_COMPILING_IN_CPYTHON - dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); -#else - dictptr = _PyObject_GetDictPtr(obj); -#endif - } - return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; -} -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) - return 0; - return obj_dict_version == __Pyx_get_object_dict_version(obj); -} -#endif - -/* GetModuleGlobalName */ -#if CYTHON_USE_DICT_VERSIONS -static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) -#else -static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) -#endif -{ - PyObject *result; -#if !CYTHON_AVOID_BORROWED_REFS -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 - result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } else if (unlikely(PyErr_Occurred())) { - return NULL; - } -#else - result = PyDict_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } -#endif -#else - result = PyObject_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } - PyErr_Clear(); -#endif - return __Pyx_GetBuiltinName(name); -} - -/* ExtTypeTest */ -static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { - if (unlikely(!type)) { - PyErr_SetString(PyExc_SystemError, "Missing type object"); - return 0; - } - if (likely(__Pyx_TypeCheck(obj, type))) - return 1; - PyErr_Format(PyExc_TypeError, "Cannot convert %.200s to %.200s", - Py_TYPE(obj)->tp_name, type->tp_name); - return 0; -} - -/* GetTopmostException */ -#if CYTHON_USE_EXC_INFO_STACK -static _PyErr_StackItem * -__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) -{ - _PyErr_StackItem *exc_info = tstate->exc_info; - while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) && - exc_info->previous_item != NULL) - { - exc_info = exc_info->previous_item; - } - return exc_info; -} -#endif - -/* SaveResetException */ -#if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); - *type = exc_info->exc_type; - *value = exc_info->exc_value; - *tb = exc_info->exc_traceback; - #else - *type = tstate->exc_type; - *value = tstate->exc_value; - *tb = tstate->exc_traceback; - #endif - Py_XINCREF(*type); - Py_XINCREF(*value); - Py_XINCREF(*tb); -} -static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = type; - exc_info->exc_value = value; - exc_info->exc_traceback = tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = type; - tstate->exc_value = value; - tstate->exc_traceback = tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -#endif - -/* PyErrExceptionMatches */ -#if CYTHON_FAST_THREAD_STATE -static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; icurexc_type; - if (exc_type == err) return 1; - if (unlikely(!exc_type)) return 0; - if (unlikely(PyTuple_Check(err))) - return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); - return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); -} -#endif - -/* GetException */ -#if CYTHON_FAST_THREAD_STATE -static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) -#else -static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) -#endif -{ - PyObject *local_type, *local_value, *local_tb; -#if CYTHON_FAST_THREAD_STATE - PyObject *tmp_type, *tmp_value, *tmp_tb; - local_type = tstate->curexc_type; - local_value = tstate->curexc_value; - local_tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -#else - PyErr_Fetch(&local_type, &local_value, &local_tb); -#endif - PyErr_NormalizeException(&local_type, &local_value, &local_tb); -#if CYTHON_FAST_THREAD_STATE - if (unlikely(tstate->curexc_type)) -#else - if (unlikely(PyErr_Occurred())) -#endif - goto bad; - #if PY_MAJOR_VERSION >= 3 - if (local_tb) { - if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) - goto bad; - } - #endif - Py_XINCREF(local_tb); - Py_XINCREF(local_type); - Py_XINCREF(local_value); - *type = local_type; - *value = local_value; - *tb = local_tb; -#if CYTHON_FAST_THREAD_STATE - #if CYTHON_USE_EXC_INFO_STACK - { - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = local_type; - exc_info->exc_value = local_value; - exc_info->exc_traceback = local_tb; - } - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = local_type; - tstate->exc_value = local_value; - tstate->exc_traceback = local_tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -#else - PyErr_SetExcInfo(local_type, local_value, local_tb); -#endif - return 0; -bad: - *type = 0; - *value = 0; - *tb = 0; - Py_XDECREF(local_type); - Py_XDECREF(local_value); - Py_XDECREF(local_tb); - return -1; -} - -/* PyFunctionFastCall */ -#if CYTHON_FAST_PYCALL -static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, - PyObject *globals) { - PyFrameObject *f; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject **fastlocals; - Py_ssize_t i; - PyObject *result; - assert(globals != NULL); - /* XXX Perhaps we should create a specialized - PyFrame_New() that doesn't take locals, but does - take builtins without sanity checking them. - */ - assert(tstate != NULL); - f = PyFrame_New(tstate, co, globals, NULL); - if (f == NULL) { - return NULL; - } - fastlocals = __Pyx_PyFrame_GetLocalsplus(f); - for (i = 0; i < na; i++) { - Py_INCREF(*args); - fastlocals[i] = *args++; - } - result = PyEval_EvalFrameEx(f,0); - ++tstate->recursion_depth; - Py_DECREF(f); - --tstate->recursion_depth; - return result; -} -#if 1 || PY_VERSION_HEX < 0x030600B1 -static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { - PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); - PyObject *globals = PyFunction_GET_GLOBALS(func); - PyObject *argdefs = PyFunction_GET_DEFAULTS(func); - PyObject *closure; -#if PY_MAJOR_VERSION >= 3 - PyObject *kwdefs; -#endif - PyObject *kwtuple, **k; - PyObject **d; - Py_ssize_t nd; - Py_ssize_t nk; - PyObject *result; - assert(kwargs == NULL || PyDict_Check(kwargs)); - nk = kwargs ? PyDict_Size(kwargs) : 0; - if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { - return NULL; - } - if ( -#if PY_MAJOR_VERSION >= 3 - co->co_kwonlyargcount == 0 && -#endif - likely(kwargs == NULL || nk == 0) && - co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { - if (argdefs == NULL && co->co_argcount == nargs) { - result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); - goto done; - } - else if (nargs == 0 && argdefs != NULL - && co->co_argcount == Py_SIZE(argdefs)) { - /* function called with no arguments, but all parameters have - a default value: use default values as arguments .*/ - args = &PyTuple_GET_ITEM(argdefs, 0); - result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); - goto done; - } - } - if (kwargs != NULL) { - Py_ssize_t pos, i; - kwtuple = PyTuple_New(2 * nk); - if (kwtuple == NULL) { - result = NULL; - goto done; - } - k = &PyTuple_GET_ITEM(kwtuple, 0); - pos = i = 0; - while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { - Py_INCREF(k[i]); - Py_INCREF(k[i+1]); - i += 2; - } - nk = i / 2; - } - else { - kwtuple = NULL; - k = NULL; - } - closure = PyFunction_GET_CLOSURE(func); -#if PY_MAJOR_VERSION >= 3 - kwdefs = PyFunction_GET_KW_DEFAULTS(func); -#endif - if (argdefs != NULL) { - d = &PyTuple_GET_ITEM(argdefs, 0); - nd = Py_SIZE(argdefs); - } - else { - d = NULL; - nd = 0; - } -#if PY_MAJOR_VERSION >= 3 - result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, kwdefs, closure); -#else - result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, closure); -#endif - Py_XDECREF(kwtuple); -done: - Py_LeaveRecursiveCall(); - return result; -} -#endif -#endif - -/* PyCFunctionFastCall */ -#if CYTHON_FAST_PYCCALL -static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { - PyCFunctionObject *func = (PyCFunctionObject*)func_obj; - PyCFunction meth = PyCFunction_GET_FUNCTION(func); - PyObject *self = PyCFunction_GET_SELF(func); - int flags = PyCFunction_GET_FLAGS(func); - assert(PyCFunction_Check(func)); - assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); - assert(nargs >= 0); - assert(nargs == 0 || args != NULL); - /* _PyCFunction_FastCallDict() must not be called with an exception set, - because it may clear it (directly or indirectly) and so the - caller loses its exception */ - assert(!PyErr_Occurred()); - if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { - return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); - } else { - return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); - } -} -#endif - -/* PyObjectCallMethO */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { - PyObject *self, *result; - PyCFunction cfunc; - cfunc = PyCFunction_GET_FUNCTION(func); - self = PyCFunction_GET_SELF(func); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = cfunc(self, arg); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallNoArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, NULL, 0); - } -#endif -#ifdef __Pyx_CyFunction_USED - if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) -#else - if (likely(PyCFunction_Check(func))) -#endif - { - if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { - return __Pyx_PyObject_CallMethO(func, NULL); - } - } - return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); -} -#endif - -/* PyObjectCallOneArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_New(1); - if (unlikely(!args)) return NULL; - Py_INCREF(arg); - PyTuple_SET_ITEM(args, 0, arg); - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, &arg, 1); - } -#endif - if (likely(PyCFunction_Check(func))) { - if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { - return __Pyx_PyObject_CallMethO(func, arg); -#if CYTHON_FAST_PYCCALL - } else if (__Pyx_PyFastCFunction_Check(func)) { - return __Pyx_PyCFunction_FastCall(func, &arg, 1); -#endif - } - } - return __Pyx__PyObject_CallOneArg(func, arg); -} -#else -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_Pack(1, arg); - if (unlikely(!args)) return NULL; - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -#endif - -/* PyObjectSetAttrStr */ -#if CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value) { - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_setattro)) - return tp->tp_setattro(obj, attr_name, value); -#if PY_MAJOR_VERSION < 3 - if (likely(tp->tp_setattr)) - return tp->tp_setattr(obj, PyString_AS_STRING(attr_name), value); -#endif - return PyObject_SetAttr(obj, attr_name, value); -} -#endif - -/* GetItemInt */ -static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { - PyObject *r; - if (!j) return NULL; - r = PyObject_GetItem(o, j); - Py_DECREF(j); - return r; -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyList_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { - PyObject *r = PyList_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyTuple_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS - if (is_list || PyList_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); - if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { - PyObject *r = PyList_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } - else if (PyTuple_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); - if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } else { - PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; - if (likely(m && m->sq_item)) { - if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { - Py_ssize_t l = m->sq_length(o); - if (likely(l >= 0)) { - i += l; - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - return NULL; - PyErr_Clear(); - } - } - return m->sq_item(o, i); - } - } -#else - if (is_list || PySequence_Check(o)) { - return PySequence_GetItem(o, i); - } -#endif - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -} - -/* ObjectGetItem */ -#if CYTHON_USE_TYPE_SLOTS -static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) { - PyObject *runerr; - Py_ssize_t key_value; - PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence; - if (unlikely(!(m && m->sq_item))) { - PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name); - return NULL; - } - key_value = __Pyx_PyIndex_AsSsize_t(index); - if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { - return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); - } - if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { - PyErr_Clear(); - PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name); - } - return NULL; -} -static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) { - PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping; - if (likely(m && m->mp_subscript)) { - return m->mp_subscript(obj, key); - } - return __Pyx_PyObject_GetIndex(obj, key); -} -#endif - -/* GetAttr */ -static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { -#if CYTHON_USE_TYPE_SLOTS -#if PY_MAJOR_VERSION >= 3 - if (likely(PyUnicode_Check(n))) -#else - if (likely(PyString_Check(n))) -#endif - return __Pyx_PyObject_GetAttrStr(o, n); -#endif - return PyObject_GetAttr(o, n); -} - -/* GetAttr3 */ -static PyObject *__Pyx_GetAttr3Default(PyObject *d) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - return NULL; - __Pyx_PyErr_Clear(); - Py_INCREF(d); - return d; -} -static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { - PyObject *r = __Pyx_GetAttr(o, n); - return (likely(r)) ? r : __Pyx_GetAttr3Default(d); -} - -/* Import */ -static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { - PyObject *empty_list = 0; - PyObject *module = 0; - PyObject *global_dict = 0; - PyObject *empty_dict = 0; - PyObject *list; - #if PY_MAJOR_VERSION < 3 - PyObject *py_import; - py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); - if (!py_import) - goto bad; - #endif - if (from_list) - list = from_list; - else { - empty_list = PyList_New(0); - if (!empty_list) - goto bad; - list = empty_list; - } - global_dict = PyModule_GetDict(__pyx_m); - if (!global_dict) - goto bad; - empty_dict = PyDict_New(); - if (!empty_dict) - goto bad; - { - #if PY_MAJOR_VERSION >= 3 - if (level == -1) { - if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, 1); - if (!module) { - if (!PyErr_ExceptionMatches(PyExc_ImportError)) - goto bad; - PyErr_Clear(); - } - } - level = 0; - } - #endif - if (!module) { - #if PY_MAJOR_VERSION < 3 - PyObject *py_level = PyInt_FromLong(level); - if (!py_level) - goto bad; - module = PyObject_CallFunctionObjArgs(py_import, - name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); - Py_DECREF(py_level); - #else - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, level); - #endif - } - } -bad: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_import); - #endif - Py_XDECREF(empty_list); - Py_XDECREF(empty_dict); - return module; -} - -/* ImportFrom */ -static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { - PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); - if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { - PyErr_Format(PyExc_ImportError, - #if PY_MAJOR_VERSION < 3 - "cannot import name %.230s", PyString_AS_STRING(name)); - #else - "cannot import name %S", name); - #endif - } - return value; -} - -/* PyObjectCall2Args */ -static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { - PyObject *args, *result = NULL; - #if CYTHON_FAST_PYCALL - if (PyFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyFunction_FastCall(function, args, 2); - } - #endif - #if CYTHON_FAST_PYCCALL - if (__Pyx_PyFastCFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyCFunction_FastCall(function, args, 2); - } - #endif - args = PyTuple_New(2); - if (unlikely(!args)) goto done; - Py_INCREF(arg1); - PyTuple_SET_ITEM(args, 0, arg1); - Py_INCREF(arg2); - PyTuple_SET_ITEM(args, 1, arg2); - Py_INCREF(function); - result = __Pyx_PyObject_Call(function, args, NULL); - Py_DECREF(args); - Py_DECREF(function); -done: - return result; -} - -/* HasAttr */ -static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { - PyObject *r; - if (unlikely(!__Pyx_PyBaseString_Check(n))) { - PyErr_SetString(PyExc_TypeError, - "hasattr(): attribute name must be string"); - return -1; - } - r = __Pyx_GetAttr(o, n); - if (unlikely(!r)) { - PyErr_Clear(); - return 0; - } else { - Py_DECREF(r); - return 1; - } -} - -/* ArgTypeTest */ -static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) -{ - if (unlikely(!type)) { - PyErr_SetString(PyExc_SystemError, "Missing type object"); - return 0; - } - else if (exact) { - #if PY_MAJOR_VERSION == 2 - if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; - #endif - } - else { - if (likely(__Pyx_TypeCheck(obj, type))) return 1; - } - PyErr_Format(PyExc_TypeError, - "Argument '%.200s' has incorrect type (expected %.200s, got %.200s)", - name, type->tp_name, Py_TYPE(obj)->tp_name); - return 0; -} - -/* BytesEquals */ -static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { -#if CYTHON_COMPILING_IN_PYPY - return PyObject_RichCompareBool(s1, s2, equals); -#else - if (s1 == s2) { - return (equals == Py_EQ); - } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { - const char *ps1, *ps2; - Py_ssize_t length = PyBytes_GET_SIZE(s1); - if (length != PyBytes_GET_SIZE(s2)) - return (equals == Py_NE); - ps1 = PyBytes_AS_STRING(s1); - ps2 = PyBytes_AS_STRING(s2); - if (ps1[0] != ps2[0]) { - return (equals == Py_NE); - } else if (length == 1) { - return (equals == Py_EQ); - } else { - int result; -#if CYTHON_USE_UNICODE_INTERNALS - Py_hash_t hash1, hash2; - hash1 = ((PyBytesObject*)s1)->ob_shash; - hash2 = ((PyBytesObject*)s2)->ob_shash; - if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { - return (equals == Py_NE); - } -#endif - result = memcmp(ps1, ps2, (size_t)length); - return (equals == Py_EQ) ? (result == 0) : (result != 0); - } - } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { - return (equals == Py_NE); - } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { - return (equals == Py_NE); - } else { - int result; - PyObject* py_result = PyObject_RichCompare(s1, s2, equals); - if (!py_result) - return -1; - result = __Pyx_PyObject_IsTrue(py_result); - Py_DECREF(py_result); - return result; - } -#endif -} - -/* UnicodeEquals */ -static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { -#if CYTHON_COMPILING_IN_PYPY - return PyObject_RichCompareBool(s1, s2, equals); -#else -#if PY_MAJOR_VERSION < 3 - PyObject* owned_ref = NULL; -#endif - int s1_is_unicode, s2_is_unicode; - if (s1 == s2) { - goto return_eq; - } - s1_is_unicode = PyUnicode_CheckExact(s1); - s2_is_unicode = PyUnicode_CheckExact(s2); -#if PY_MAJOR_VERSION < 3 - if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { - owned_ref = PyUnicode_FromObject(s2); - if (unlikely(!owned_ref)) - return -1; - s2 = owned_ref; - s2_is_unicode = 1; - } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { - owned_ref = PyUnicode_FromObject(s1); - if (unlikely(!owned_ref)) - return -1; - s1 = owned_ref; - s1_is_unicode = 1; - } else if (((!s2_is_unicode) & (!s1_is_unicode))) { - return __Pyx_PyBytes_Equals(s1, s2, equals); - } -#endif - if (s1_is_unicode & s2_is_unicode) { - Py_ssize_t length; - int kind; - void *data1, *data2; - if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) - return -1; - length = __Pyx_PyUnicode_GET_LENGTH(s1); - if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { - goto return_ne; - } -#if CYTHON_USE_UNICODE_INTERNALS - { - Py_hash_t hash1, hash2; - #if CYTHON_PEP393_ENABLED - hash1 = ((PyASCIIObject*)s1)->hash; - hash2 = ((PyASCIIObject*)s2)->hash; - #else - hash1 = ((PyUnicodeObject*)s1)->hash; - hash2 = ((PyUnicodeObject*)s2)->hash; - #endif - if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { - goto return_ne; - } - } -#endif - kind = __Pyx_PyUnicode_KIND(s1); - if (kind != __Pyx_PyUnicode_KIND(s2)) { - goto return_ne; - } - data1 = __Pyx_PyUnicode_DATA(s1); - data2 = __Pyx_PyUnicode_DATA(s2); - if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { - goto return_ne; - } else if (length == 1) { - goto return_eq; - } else { - int result = memcmp(data1, data2, (size_t)(length * kind)); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_EQ) ? (result == 0) : (result != 0); - } - } else if ((s1 == Py_None) & s2_is_unicode) { - goto return_ne; - } else if ((s2 == Py_None) & s1_is_unicode) { - goto return_ne; - } else { - int result; - PyObject* py_result = PyObject_RichCompare(s1, s2, equals); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - if (!py_result) - return -1; - result = __Pyx_PyObject_IsTrue(py_result); - Py_DECREF(py_result); - return result; - } -return_eq: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_EQ); -return_ne: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_NE); -#endif -} - -/* None */ -static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { - Py_ssize_t q = a / b; - Py_ssize_t r = a - q*b; - q -= ((r != 0) & ((r ^ b) < 0)); - return q; -} - -/* decode_c_string */ -static CYTHON_INLINE PyObject* __Pyx_decode_c_string( - const char* cstring, Py_ssize_t start, Py_ssize_t stop, - const char* encoding, const char* errors, - PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { - Py_ssize_t length; - if (unlikely((start < 0) | (stop < 0))) { - size_t slen = strlen(cstring); - if (unlikely(slen > (size_t) PY_SSIZE_T_MAX)) { - PyErr_SetString(PyExc_OverflowError, - "c-string too long to convert to Python"); - return NULL; - } - length = (Py_ssize_t) slen; - if (start < 0) { - start += length; - if (start < 0) - start = 0; - } - if (stop < 0) - stop += length; - } - if (unlikely(stop <= start)) - return __Pyx_NewRef(__pyx_empty_unicode); - length = stop - start; - cstring += start; - if (decode_func) { - return decode_func(cstring, length, errors); - } else { - return PyUnicode_Decode(cstring, length, encoding, errors); - } -} - -/* RaiseTooManyValuesToUnpack */ -static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { - PyErr_Format(PyExc_ValueError, - "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); -} - -/* RaiseNeedMoreValuesToUnpack */ -static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { - PyErr_Format(PyExc_ValueError, - "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", - index, (index == 1) ? "" : "s"); -} - -/* RaiseNoneIterError */ -static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { - PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); -} - -/* SwapException */ -#if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = *type; - exc_info->exc_value = *value; - exc_info->exc_traceback = *tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = *type; - tstate->exc_value = *value; - tstate->exc_traceback = *tb; - #endif - *type = tmp_type; - *value = tmp_value; - *tb = tmp_tb; -} -#else -static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); - PyErr_SetExcInfo(*type, *value, *tb); - *type = tmp_type; - *value = tmp_value; - *tb = tmp_tb; -} -#endif - -/* FastTypeChecks */ -#if CYTHON_COMPILING_IN_CPYTHON -static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { - while (a) { - a = a->tp_base; - if (a == b) - return 1; - } - return b == &PyBaseObject_Type; -} -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (a == b) return 1; - mro = a->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(a, b); -} -#if PY_MAJOR_VERSION == 2 -static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { - PyObject *exception, *value, *tb; - int res; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&exception, &value, &tb); - res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - if (!res) { - res = PyObject_IsSubclass(err, exc_type2); - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - } - __Pyx_ErrRestore(exception, value, tb); - return res; -} -#else -static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { - int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; - if (!res) { - res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); - } - return res; -} -#endif -static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - assert(PyExceptionClass_Check(exc_type)); - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; i= 0 || (x^b) >= 0)) - return PyInt_FromLong(x); - return PyLong_Type.tp_as_number->nb_add(op1, op2); - } - #endif - #if CYTHON_USE_PYLONG_INTERNALS - if (likely(PyLong_CheckExact(op1))) { - const long b = intval; - long a, x; -#ifdef HAVE_LONG_LONG - const PY_LONG_LONG llb = intval; - PY_LONG_LONG lla, llx; -#endif - const digit* digits = ((PyLongObject*)op1)->ob_digit; - const Py_ssize_t size = Py_SIZE(op1); - if (likely(__Pyx_sst_abs(size) <= 1)) { - a = likely(size) ? digits[0] : 0; - if (size == -1) a = -a; - } else { - switch (size) { - case -2: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 2: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case -3: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 3: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case -4: - if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 4: - if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - default: return PyLong_Type.tp_as_number->nb_add(op1, op2); - } - } - x = a + b; - return PyLong_FromLong(x); -#ifdef HAVE_LONG_LONG - long_long: - llx = lla + llb; - return PyLong_FromLongLong(llx); -#endif - - - } - #endif - if (PyFloat_CheckExact(op1)) { - const long b = intval; - double a = PyFloat_AS_DOUBLE(op1); - double result; - PyFPE_START_PROTECT("add", return NULL) - result = ((double)a) + (double)b; - PyFPE_END_PROTECT(result) - return PyFloat_FromDouble(result); - } - return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); -} -#endif - -/* None */ -static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { - PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); -} - -/* None */ -static CYTHON_INLINE long __Pyx_div_long(long a, long b) { - long q = a / b; - long r = a - q*b; - q -= ((r != 0) & ((r ^ b) < 0)); - return q; -} - -/* PyObject_GenericGetAttrNoDict */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, attr_name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(attr_name)); -#endif - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { - PyObject *descr; - PyTypeObject *tp = Py_TYPE(obj); - if (unlikely(!PyString_Check(attr_name))) { - return PyObject_GenericGetAttr(obj, attr_name); - } - assert(!tp->tp_dictoffset); - descr = _PyType_Lookup(tp, attr_name); - if (unlikely(!descr)) { - return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); - } - Py_INCREF(descr); - #if PY_MAJOR_VERSION < 3 - if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) - #endif - { - descrgetfunc f = Py_TYPE(descr)->tp_descr_get; - if (unlikely(f)) { - PyObject *res = f(descr, obj, (PyObject *)tp); - Py_DECREF(descr); - return res; - } - } - return descr; -} -#endif - -/* PyObject_GenericGetAttr */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { - if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { - return PyObject_GenericGetAttr(obj, attr_name); - } - return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); -} -#endif - -/* PyObjectGetAttrStrNoError */ -static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - __Pyx_PyErr_Clear(); -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { - PyObject *result; -#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { - return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); - } -#endif - result = __Pyx_PyObject_GetAttrStr(obj, attr_name); - if (unlikely(!result)) { - __Pyx_PyObject_GetAttrStr_ClearAttributeError(); - } - return result; -} - -/* SetupReduce */ -static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { - int ret; - PyObject *name_attr; - name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name_2); - if (likely(name_attr)) { - ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); - } else { - ret = -1; - } - if (unlikely(ret < 0)) { - PyErr_Clear(); - ret = 0; - } - Py_XDECREF(name_attr); - return ret; -} -static int __Pyx_setup_reduce(PyObject* type_obj) { - int ret = 0; - PyObject *object_reduce = NULL; - PyObject *object_reduce_ex = NULL; - PyObject *reduce = NULL; - PyObject *reduce_ex = NULL; - PyObject *reduce_cython = NULL; - PyObject *setstate = NULL; - PyObject *setstate_cython = NULL; -#if CYTHON_USE_PYTYPE_LOOKUP - if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#else - if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#endif -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#else - object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#endif - reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; - if (reduce_ex == object_reduce_ex) { -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#else - object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#endif - reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; - if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { - reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); - if (likely(reduce_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (reduce == object_reduce || PyErr_Occurred()) { - goto __PYX_BAD; - } - setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); - if (!setstate) PyErr_Clear(); - if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { - setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); - if (likely(setstate_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (!setstate || PyErr_Occurred()) { - goto __PYX_BAD; - } - } - PyType_Modified((PyTypeObject*)type_obj); - } - } - goto __PYX_GOOD; -__PYX_BAD: - if (!PyErr_Occurred()) - PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); - ret = -1; -__PYX_GOOD: -#if !CYTHON_USE_PYTYPE_LOOKUP - Py_XDECREF(object_reduce); - Py_XDECREF(object_reduce_ex); -#endif - Py_XDECREF(reduce); - Py_XDECREF(reduce_ex); - Py_XDECREF(reduce_cython); - Py_XDECREF(setstate); - Py_XDECREF(setstate_cython); - return ret; -} - -/* SetVTable */ -static int __Pyx_SetVtable(PyObject *dict, void *vtable) { -#if PY_VERSION_HEX >= 0x02070000 - PyObject *ob = PyCapsule_New(vtable, 0, 0); -#else - PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); -#endif - if (!ob) - goto bad; - if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) - goto bad; - Py_DECREF(ob); - return 0; -bad: - Py_XDECREF(ob); - return -1; -} - -/* TypeImport */ -#ifndef __PYX_HAVE_RT_ImportType -#define __PYX_HAVE_RT_ImportType -static PyTypeObject *__Pyx_ImportType(PyObject *module, const char *module_name, const char *class_name, - size_t size, enum __Pyx_ImportType_CheckSize check_size) -{ - PyObject *result = 0; - char warning[200]; - Py_ssize_t basicsize; -#ifdef Py_LIMITED_API - PyObject *py_basicsize; -#endif - result = PyObject_GetAttrString(module, class_name); - if (!result) - goto bad; - if (!PyType_Check(result)) { - PyErr_Format(PyExc_TypeError, - "%.200s.%.200s is not a type object", - module_name, class_name); - goto bad; - } -#ifndef Py_LIMITED_API - basicsize = ((PyTypeObject *)result)->tp_basicsize; -#else - py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); - if (!py_basicsize) - goto bad; - basicsize = PyLong_AsSsize_t(py_basicsize); - Py_DECREF(py_basicsize); - py_basicsize = 0; - if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) - goto bad; -#endif - if ((size_t)basicsize < size) { - PyErr_Format(PyExc_ValueError, - "%.200s.%.200s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - goto bad; - } - if (check_size == __Pyx_ImportType_CheckSize_Error && (size_t)basicsize != size) { - PyErr_Format(PyExc_ValueError, - "%.200s.%.200s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - goto bad; - } - else if (check_size == __Pyx_ImportType_CheckSize_Warn && (size_t)basicsize > size) { - PyOS_snprintf(warning, sizeof(warning), - "%s.%s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; - } - return (PyTypeObject *)result; -bad: - Py_XDECREF(result); - return NULL; -} -#endif - -/* GetNameInClass */ -static PyObject *__Pyx_GetGlobalNameAfterAttributeLookup(PyObject *name) { - PyObject *result; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - return NULL; - __Pyx_PyErr_Clear(); - __Pyx_GetModuleGlobalNameUncached(result, name); - return result; -} -static PyObject *__Pyx__GetNameInClass(PyObject *nmspace, PyObject *name) { - PyObject *result; - result = __Pyx_PyObject_GetAttrStr(nmspace, name); - if (!result) { - result = __Pyx_GetGlobalNameAfterAttributeLookup(name); - } - return result; -} - -/* CalculateMetaclass */ -static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { - Py_ssize_t i, nbases = PyTuple_GET_SIZE(bases); - for (i=0; i < nbases; i++) { - PyTypeObject *tmptype; - PyObject *tmp = PyTuple_GET_ITEM(bases, i); - tmptype = Py_TYPE(tmp); -#if PY_MAJOR_VERSION < 3 - if (tmptype == &PyClass_Type) - continue; -#endif - if (!metaclass) { - metaclass = tmptype; - continue; - } - if (PyType_IsSubtype(metaclass, tmptype)) - continue; - if (PyType_IsSubtype(tmptype, metaclass)) { - metaclass = tmptype; - continue; - } - PyErr_SetString(PyExc_TypeError, - "metaclass conflict: " - "the metaclass of a derived class " - "must be a (non-strict) subclass " - "of the metaclasses of all its bases"); - return NULL; - } - if (!metaclass) { -#if PY_MAJOR_VERSION < 3 - metaclass = &PyClass_Type; -#else - metaclass = &PyType_Type; -#endif - } - Py_INCREF((PyObject*) metaclass); - return (PyObject*) metaclass; -} - -/* FetchCommonType */ -static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { - PyObject* fake_module; - PyTypeObject* cached_type = NULL; - fake_module = PyImport_AddModule((char*) "_cython_" CYTHON_ABI); - if (!fake_module) return NULL; - Py_INCREF(fake_module); - cached_type = (PyTypeObject*) PyObject_GetAttrString(fake_module, type->tp_name); - if (cached_type) { - if (!PyType_Check((PyObject*)cached_type)) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s is not a type object", - type->tp_name); - goto bad; - } - if (cached_type->tp_basicsize != type->tp_basicsize) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s has the wrong size, try recompiling", - type->tp_name); - goto bad; - } - } else { - if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; - PyErr_Clear(); - if (PyType_Ready(type) < 0) goto bad; - if (PyObject_SetAttrString(fake_module, type->tp_name, (PyObject*) type) < 0) - goto bad; - Py_INCREF(type); - cached_type = type; - } -done: - Py_DECREF(fake_module); - return cached_type; -bad: - Py_XDECREF(cached_type); - cached_type = NULL; - goto done; -} - -/* CythonFunctionShared */ -#include -static PyObject * -__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *closure) -{ - if (unlikely(op->func_doc == NULL)) { - if (op->func.m_ml->ml_doc) { -#if PY_MAJOR_VERSION >= 3 - op->func_doc = PyUnicode_FromString(op->func.m_ml->ml_doc); -#else - op->func_doc = PyString_FromString(op->func.m_ml->ml_doc); -#endif - if (unlikely(op->func_doc == NULL)) - return NULL; - } else { - Py_INCREF(Py_None); - return Py_None; - } - } - Py_INCREF(op->func_doc); - return op->func_doc; -} -static int -__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp = op->func_doc; - if (value == NULL) { - value = Py_None; - } - Py_INCREF(value); - op->func_doc = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - if (unlikely(op->func_name == NULL)) { -#if PY_MAJOR_VERSION >= 3 - op->func_name = PyUnicode_InternFromString(op->func.m_ml->ml_name); -#else - op->func_name = PyString_InternFromString(op->func.m_ml->ml_name); -#endif - if (unlikely(op->func_name == NULL)) - return NULL; - } - Py_INCREF(op->func_name); - return op->func_name; -} -static int -__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__name__ must be set to a string object"); - return -1; - } - tmp = op->func_name; - Py_INCREF(value); - op->func_name = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - Py_INCREF(op->func_qualname); - return op->func_qualname; -} -static int -__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__qualname__ must be set to a string object"); - return -1; - } - tmp = op->func_qualname; - Py_INCREF(value); - op->func_qualname = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_self(__pyx_CyFunctionObject *m, CYTHON_UNUSED void *closure) -{ - PyObject *self; - self = m->func_closure; - if (self == NULL) - self = Py_None; - Py_INCREF(self); - return self; -} -static PyObject * -__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - if (unlikely(op->func_dict == NULL)) { - op->func_dict = PyDict_New(); - if (unlikely(op->func_dict == NULL)) - return NULL; - } - Py_INCREF(op->func_dict); - return op->func_dict; -} -static int -__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; - if (unlikely(value == NULL)) { - PyErr_SetString(PyExc_TypeError, - "function's dictionary may not be deleted"); - return -1; - } - if (unlikely(!PyDict_Check(value))) { - PyErr_SetString(PyExc_TypeError, - "setting function's dictionary to a non-dict"); - return -1; - } - tmp = op->func_dict; - Py_INCREF(value); - op->func_dict = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - Py_INCREF(op->func_globals); - return op->func_globals; -} -static PyObject * -__Pyx_CyFunction_get_closure(CYTHON_UNUSED __pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - Py_INCREF(Py_None); - return Py_None; -} -static PyObject * -__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - PyObject* result = (op->func_code) ? op->func_code : Py_None; - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { - int result = 0; - PyObject *res = op->defaults_getter((PyObject *) op); - if (unlikely(!res)) - return -1; - #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - op->defaults_tuple = PyTuple_GET_ITEM(res, 0); - Py_INCREF(op->defaults_tuple); - op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); - Py_INCREF(op->defaults_kwdict); - #else - op->defaults_tuple = PySequence_ITEM(res, 0); - if (unlikely(!op->defaults_tuple)) result = -1; - else { - op->defaults_kwdict = PySequence_ITEM(res, 1); - if (unlikely(!op->defaults_kwdict)) result = -1; - } - #endif - Py_DECREF(res); - return result; -} -static int -__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { - PyObject* tmp; - if (!value) { - value = Py_None; - } else if (value != Py_None && !PyTuple_Check(value)) { - PyErr_SetString(PyExc_TypeError, - "__defaults__ must be set to a tuple object"); - return -1; - } - Py_INCREF(value); - tmp = op->defaults_tuple; - op->defaults_tuple = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { - PyObject* result = op->defaults_tuple; - if (unlikely(!result)) { - if (op->defaults_getter) { - if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; - result = op->defaults_tuple; - } else { - result = Py_None; - } - } - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { - PyObject* tmp; - if (!value) { - value = Py_None; - } else if (value != Py_None && !PyDict_Check(value)) { - PyErr_SetString(PyExc_TypeError, - "__kwdefaults__ must be set to a dict object"); - return -1; - } - Py_INCREF(value); - tmp = op->defaults_kwdict; - op->defaults_kwdict = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { - PyObject* result = op->defaults_kwdict; - if (unlikely(!result)) { - if (op->defaults_getter) { - if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; - result = op->defaults_kwdict; - } else { - result = Py_None; - } - } - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { - PyObject* tmp; - if (!value || value == Py_None) { - value = NULL; - } else if (!PyDict_Check(value)) { - PyErr_SetString(PyExc_TypeError, - "__annotations__ must be set to a dict object"); - return -1; - } - Py_XINCREF(value); - tmp = op->func_annotations; - op->func_annotations = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { - PyObject* result = op->func_annotations; - if (unlikely(!result)) { - result = PyDict_New(); - if (unlikely(!result)) return NULL; - op->func_annotations = result; - } - Py_INCREF(result); - return result; -} -static PyGetSetDef __pyx_CyFunction_getsets[] = { - {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, - {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, - {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, - {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, - {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, - {(char *) "__self__", (getter)__Pyx_CyFunction_get_self, 0, 0, 0}, - {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, - {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, - {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, - {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, - {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, - {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, - {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, - {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, - {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, - {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, - {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, - {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, - {0, 0, 0, 0, 0} -}; -static PyMemberDef __pyx_CyFunction_members[] = { - {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), PY_WRITE_RESTRICTED, 0}, - {0, 0, 0, 0, 0} -}; -static PyObject * -__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, CYTHON_UNUSED PyObject *args) -{ -#if PY_MAJOR_VERSION >= 3 - Py_INCREF(m->func_qualname); - return m->func_qualname; -#else - return PyString_FromString(m->func.m_ml->ml_name); -#endif -} -static PyMethodDef __pyx_CyFunction_methods[] = { - {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, - {0, 0, 0, 0} -}; -#if PY_VERSION_HEX < 0x030500A0 -#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) -#else -#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func.m_weakreflist) -#endif -static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, - PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { - if (unlikely(op == NULL)) - return NULL; - op->flags = flags; - __Pyx_CyFunction_weakreflist(op) = NULL; - op->func.m_ml = ml; - op->func.m_self = (PyObject *) op; - Py_XINCREF(closure); - op->func_closure = closure; - Py_XINCREF(module); - op->func.m_module = module; - op->func_dict = NULL; - op->func_name = NULL; - Py_INCREF(qualname); - op->func_qualname = qualname; - op->func_doc = NULL; - op->func_classobj = NULL; - op->func_globals = globals; - Py_INCREF(op->func_globals); - Py_XINCREF(code); - op->func_code = code; - op->defaults_pyobjects = 0; - op->defaults_size = 0; - op->defaults = NULL; - op->defaults_tuple = NULL; - op->defaults_kwdict = NULL; - op->defaults_getter = NULL; - op->func_annotations = NULL; - return (PyObject *) op; -} -static int -__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) -{ - Py_CLEAR(m->func_closure); - Py_CLEAR(m->func.m_module); - Py_CLEAR(m->func_dict); - Py_CLEAR(m->func_name); - Py_CLEAR(m->func_qualname); - Py_CLEAR(m->func_doc); - Py_CLEAR(m->func_globals); - Py_CLEAR(m->func_code); - Py_CLEAR(m->func_classobj); - Py_CLEAR(m->defaults_tuple); - Py_CLEAR(m->defaults_kwdict); - Py_CLEAR(m->func_annotations); - if (m->defaults) { - PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); - int i; - for (i = 0; i < m->defaults_pyobjects; i++) - Py_XDECREF(pydefaults[i]); - PyObject_Free(m->defaults); - m->defaults = NULL; - } - return 0; -} -static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) -{ - if (__Pyx_CyFunction_weakreflist(m) != NULL) - PyObject_ClearWeakRefs((PyObject *) m); - __Pyx_CyFunction_clear(m); - PyObject_GC_Del(m); -} -static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) -{ - PyObject_GC_UnTrack(m); - __Pyx__CyFunction_dealloc(m); -} -static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) -{ - Py_VISIT(m->func_closure); - Py_VISIT(m->func.m_module); - Py_VISIT(m->func_dict); - Py_VISIT(m->func_name); - Py_VISIT(m->func_qualname); - Py_VISIT(m->func_doc); - Py_VISIT(m->func_globals); - Py_VISIT(m->func_code); - Py_VISIT(m->func_classobj); - Py_VISIT(m->defaults_tuple); - Py_VISIT(m->defaults_kwdict); - if (m->defaults) { - PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); - int i; - for (i = 0; i < m->defaults_pyobjects; i++) - Py_VISIT(pydefaults[i]); - } - return 0; -} -static PyObject *__Pyx_CyFunction_descr_get(PyObject *func, PyObject *obj, PyObject *type) -{ -#if PY_MAJOR_VERSION < 3 - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - if (m->flags & __Pyx_CYFUNCTION_STATICMETHOD) { - Py_INCREF(func); - return func; - } - if (m->flags & __Pyx_CYFUNCTION_CLASSMETHOD) { - if (type == NULL) - type = (PyObject *)(Py_TYPE(obj)); - return __Pyx_PyMethod_New(func, type, (PyObject *)(Py_TYPE(type))); - } - if (obj == Py_None) - obj = NULL; -#endif - return __Pyx_PyMethod_New(func, obj, type); -} -static PyObject* -__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) -{ -#if PY_MAJOR_VERSION >= 3 - return PyUnicode_FromFormat("", - op->func_qualname, (void *)op); -#else - return PyString_FromFormat("", - PyString_AsString(op->func_qualname), (void *)op); -#endif -} -static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { - PyCFunctionObject* f = (PyCFunctionObject*)func; - PyCFunction meth = f->m_ml->ml_meth; - Py_ssize_t size; - switch (f->m_ml->ml_flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { - case METH_VARARGS: - if (likely(kw == NULL || PyDict_Size(kw) == 0)) - return (*meth)(self, arg); - break; - case METH_VARARGS | METH_KEYWORDS: - return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); - case METH_NOARGS: - if (likely(kw == NULL || PyDict_Size(kw) == 0)) { - size = PyTuple_GET_SIZE(arg); - if (likely(size == 0)) - return (*meth)(self, NULL); - PyErr_Format(PyExc_TypeError, - "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", - f->m_ml->ml_name, size); - return NULL; - } - break; - case METH_O: - if (likely(kw == NULL || PyDict_Size(kw) == 0)) { - size = PyTuple_GET_SIZE(arg); - if (likely(size == 1)) { - PyObject *result, *arg0; - #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - arg0 = PyTuple_GET_ITEM(arg, 0); - #else - arg0 = PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; - #endif - result = (*meth)(self, arg0); - #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) - Py_DECREF(arg0); - #endif - return result; - } - PyErr_Format(PyExc_TypeError, - "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", - f->m_ml->ml_name, size); - return NULL; - } - break; - default: - PyErr_SetString(PyExc_SystemError, "Bad call flags in " - "__Pyx_CyFunction_Call. METH_OLDARGS is no " - "longer supported!"); - return NULL; - } - PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", - f->m_ml->ml_name); - return NULL; -} -static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { - return __Pyx_CyFunction_CallMethod(func, ((PyCFunctionObject*)func)->m_self, arg, kw); -} -static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { - PyObject *result; - __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; - if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { - Py_ssize_t argc; - PyObject *new_args; - PyObject *self; - argc = PyTuple_GET_SIZE(args); - new_args = PyTuple_GetSlice(args, 1, argc); - if (unlikely(!new_args)) - return NULL; - self = PyTuple_GetItem(args, 0); - if (unlikely(!self)) { - Py_DECREF(new_args); - return NULL; - } - result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); - Py_DECREF(new_args); - } else { - result = __Pyx_CyFunction_Call(func, args, kw); - } - return result; -} -static PyTypeObject __pyx_CyFunctionType_type = { - PyVarObject_HEAD_INIT(0, 0) - "cython_function_or_method", - sizeof(__pyx_CyFunctionObject), - 0, - (destructor) __Pyx_CyFunction_dealloc, - 0, - 0, - 0, -#if PY_MAJOR_VERSION < 3 - 0, -#else - 0, -#endif - (reprfunc) __Pyx_CyFunction_repr, - 0, - 0, - 0, - 0, - __Pyx_CyFunction_CallAsMethod, - 0, - 0, - 0, - 0, - Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC, - 0, - (traverseproc) __Pyx_CyFunction_traverse, - (inquiry) __Pyx_CyFunction_clear, - 0, -#if PY_VERSION_HEX < 0x030500A0 - offsetof(__pyx_CyFunctionObject, func_weakreflist), -#else - offsetof(PyCFunctionObject, m_weakreflist), -#endif - 0, - 0, - __pyx_CyFunction_methods, - __pyx_CyFunction_members, - __pyx_CyFunction_getsets, - 0, - 0, - __Pyx_CyFunction_descr_get, - 0, - offsetof(__pyx_CyFunctionObject, func_dict), - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, -#if PY_VERSION_HEX >= 0x030400a1 - 0, -#endif -#if PY_VERSION_HEX >= 0x030800b1 - 0, -#endif -#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 - 0, -#endif -#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 - 0, -#endif -}; -static int __pyx_CyFunction_init(void) { - __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); - if (unlikely(__pyx_CyFunctionType == NULL)) { - return -1; - } - return 0; -} -static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults = PyObject_Malloc(size); - if (unlikely(!m->defaults)) - return PyErr_NoMemory(); - memset(m->defaults, 0, size); - m->defaults_pyobjects = pyobjects; - m->defaults_size = size; - return m->defaults; -} -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults_tuple = tuple; - Py_INCREF(tuple); -} -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults_kwdict = dict; - Py_INCREF(dict); -} -static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->func_annotations = dict; - Py_INCREF(dict); -} - -/* CythonFunction */ -static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, - PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { - PyObject *op = __Pyx_CyFunction_Init( - PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), - ml, flags, qualname, closure, module, globals, code - ); - if (likely(op)) { - PyObject_GC_Track(op); - } - return op; -} - -/* Py3ClassCreate */ -static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, - PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { - PyObject *ns; - if (metaclass) { - PyObject *prep = __Pyx_PyObject_GetAttrStr(metaclass, __pyx_n_s_prepare); - if (prep) { - PyObject *pargs = PyTuple_Pack(2, name, bases); - if (unlikely(!pargs)) { - Py_DECREF(prep); - return NULL; - } - ns = PyObject_Call(prep, pargs, mkw); - Py_DECREF(prep); - Py_DECREF(pargs); - } else { - if (unlikely(!PyErr_ExceptionMatches(PyExc_AttributeError))) - return NULL; - PyErr_Clear(); - ns = PyDict_New(); - } - } else { - ns = PyDict_New(); - } - if (unlikely(!ns)) - return NULL; - if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; - if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; - if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; - return ns; -bad: - Py_DECREF(ns); - return NULL; -} -static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, - PyObject *dict, PyObject *mkw, - int calculate_metaclass, int allow_py2_metaclass) { - PyObject *result, *margs; - PyObject *owned_metaclass = NULL; - if (allow_py2_metaclass) { - owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); - if (owned_metaclass) { - metaclass = owned_metaclass; - } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { - PyErr_Clear(); - } else { - return NULL; - } - } - if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { - metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); - Py_XDECREF(owned_metaclass); - if (unlikely(!metaclass)) - return NULL; - owned_metaclass = metaclass; - } - margs = PyTuple_Pack(3, name, bases, dict); - if (unlikely(!margs)) { - result = NULL; - } else { - result = PyObject_Call(metaclass, margs, mkw); - Py_DECREF(margs); - } - Py_XDECREF(owned_metaclass); - return result; -} - -/* Globals */ -static PyObject* __Pyx_Globals(void) { - Py_ssize_t i; - PyObject *names; - PyObject *globals = __pyx_d; - Py_INCREF(globals); - names = PyObject_Dir(__pyx_m); - if (!names) - goto bad; - for (i = PyList_GET_SIZE(names)-1; i >= 0; i--) { -#if CYTHON_COMPILING_IN_PYPY - PyObject* name = PySequence_ITEM(names, i); - if (!name) - goto bad; -#else - PyObject* name = PyList_GET_ITEM(names, i); -#endif - if (!PyDict_Contains(globals, name)) { - PyObject* value = __Pyx_GetAttr(__pyx_m, name); - if (!value) { -#if CYTHON_COMPILING_IN_PYPY - Py_DECREF(name); -#endif - goto bad; - } - if (PyDict_SetItem(globals, name, value) < 0) { -#if CYTHON_COMPILING_IN_PYPY - Py_DECREF(name); -#endif - Py_DECREF(value); - goto bad; - } - } -#if CYTHON_COMPILING_IN_PYPY - Py_DECREF(name); -#endif - } - Py_DECREF(names); - return globals; -bad: - Py_XDECREF(names); - Py_XDECREF(globals); - return NULL; -} - -/* CLineInTraceback */ -#ifndef CYTHON_CLINE_IN_TRACEBACK -static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { - PyObject *use_cline; - PyObject *ptype, *pvalue, *ptraceback; -#if CYTHON_COMPILING_IN_CPYTHON - PyObject **cython_runtime_dict; -#endif - if (unlikely(!__pyx_cython_runtime)) { - return c_line; - } - __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); -#if CYTHON_COMPILING_IN_CPYTHON - cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); - if (likely(cython_runtime_dict)) { - __PYX_PY_DICT_LOOKUP_IF_MODIFIED( - use_cline, *cython_runtime_dict, - __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) - } else -#endif - { - PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); - if (use_cline_obj) { - use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; - Py_DECREF(use_cline_obj); - } else { - PyErr_Clear(); - use_cline = NULL; - } - } - if (!use_cline) { - c_line = 0; - (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); - } - else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { - c_line = 0; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - return c_line; -} -#endif - -/* CodeObjectCache */ -static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { - int start = 0, mid = 0, end = count - 1; - if (end >= 0 && code_line > entries[end].code_line) { - return count; - } - while (start < end) { - mid = start + (end - start) / 2; - if (code_line < entries[mid].code_line) { - end = mid; - } else if (code_line > entries[mid].code_line) { - start = mid + 1; - } else { - return mid; - } - } - if (code_line <= entries[mid].code_line) { - return mid; - } else { - return mid + 1; - } -} -static PyCodeObject *__pyx_find_code_object(int code_line) { - PyCodeObject* code_object; - int pos; - if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { - return NULL; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { - return NULL; - } - code_object = __pyx_code_cache.entries[pos].code_object; - Py_INCREF(code_object); - return code_object; -} -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { - int pos, i; - __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; - if (unlikely(!code_line)) { - return; - } - if (unlikely(!entries)) { - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); - if (likely(entries)) { - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = 64; - __pyx_code_cache.count = 1; - entries[0].code_line = code_line; - entries[0].code_object = code_object; - Py_INCREF(code_object); - } - return; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { - PyCodeObject* tmp = entries[pos].code_object; - entries[pos].code_object = code_object; - Py_DECREF(tmp); - return; - } - if (__pyx_code_cache.count == __pyx_code_cache.max_count) { - int new_max = __pyx_code_cache.max_count + 64; - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( - __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); - if (unlikely(!entries)) { - return; - } - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = new_max; - } - for (i=__pyx_code_cache.count; i>pos; i--) { - entries[i] = entries[i-1]; - } - entries[pos].code_line = code_line; - entries[pos].code_object = code_object; - __pyx_code_cache.count++; - Py_INCREF(code_object); -} - -/* AddTraceback */ -#include "compile.h" -#include "frameobject.h" -#include "traceback.h" -static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( - const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = NULL; - PyObject *py_funcname = NULL; - #if PY_MAJOR_VERSION < 3 - PyObject *py_srcfile = NULL; - py_srcfile = PyString_FromString(filename); - if (!py_srcfile) goto bad; - #endif - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - funcname = PyUnicode_AsUTF8(py_funcname); - if (!funcname) goto bad; - #endif - } - else { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); - if (!py_funcname) goto bad; - #endif - } - #if PY_MAJOR_VERSION < 3 - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - #else - py_code = PyCode_NewEmpty(filename, funcname, py_line); - #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline - return py_code; -bad: - Py_XDECREF(py_funcname); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_srcfile); - #endif - return NULL; -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); - } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) goto bad; - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); - } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); -} - -#if PY_MAJOR_VERSION < 3 -static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { - if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); - if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); - if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); - PyErr_Format(PyExc_TypeError, "'%.200s' does not have the buffer interface", Py_TYPE(obj)->tp_name); - return -1; -} -static void __Pyx_ReleaseBuffer(Py_buffer *view) { - PyObject *obj = view->obj; - if (!obj) return; - if (PyObject_CheckBuffer(obj)) { - PyBuffer_Release(view); - return; - } - if ((0)) {} - view->obj = NULL; - Py_DECREF(obj); -} -#endif - - -/* MemviewSliceIsContig */ -static int -__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) -{ - int i, index, step, start; - Py_ssize_t itemsize = mvs.memview->view.itemsize; - if (order == 'F') { - step = 1; - start = 0; - } else { - step = -1; - start = ndim - 1; - } - for (i = 0; i < ndim; i++) { - index = start + step * i; - if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) - return 0; - itemsize *= mvs.shape[index]; - } - return 1; -} - -/* OverlappingSlices */ -static void -__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, - void **out_start, void **out_end, - int ndim, size_t itemsize) -{ - char *start, *end; - int i; - start = end = slice->data; - for (i = 0; i < ndim; i++) { - Py_ssize_t stride = slice->strides[i]; - Py_ssize_t extent = slice->shape[i]; - if (extent == 0) { - *out_start = *out_end = start; - return; - } else { - if (stride > 0) - end += stride * (extent - 1); - else - start += stride * (extent - 1); - } - } - *out_start = start; - *out_end = end + itemsize; -} -static int -__pyx_slices_overlap(__Pyx_memviewslice *slice1, - __Pyx_memviewslice *slice2, - int ndim, size_t itemsize) -{ - void *start1, *end1, *start2, *end2; - __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); - __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); - return (start1 < end2) && (start2 < end1); -} - -/* Capsule */ -static CYTHON_INLINE PyObject * -__pyx_capsule_create(void *p, CYTHON_UNUSED const char *sig) -{ - PyObject *cobj; -#if PY_VERSION_HEX >= 0x02070000 - cobj = PyCapsule_New(p, sig, NULL); -#else - cobj = PyCObject_FromVoidPtr(p, NULL); -#endif - return cobj; -} - -/* CIntFromPyVerify */ -#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ - } - -/* IsLittleEndian */ -static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) -{ - union { - uint32_t u32; - uint8_t u8[4]; - } S; - S.u32 = 0x01020304; - return S.u8[0] == 4; -} - -/* BufferFormatCheck */ -static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, - __Pyx_BufFmt_StackElem* stack, - __Pyx_TypeInfo* type) { - stack[0].field = &ctx->root; - stack[0].parent_offset = 0; - ctx->root.type = type; - ctx->root.name = "buffer dtype"; - ctx->root.offset = 0; - ctx->head = stack; - ctx->head->field = &ctx->root; - ctx->fmt_offset = 0; - ctx->head->parent_offset = 0; - ctx->new_packmode = '@'; - ctx->enc_packmode = '@'; - ctx->new_count = 1; - ctx->enc_count = 0; - ctx->enc_type = 0; - ctx->is_complex = 0; - ctx->is_valid_array = 0; - ctx->struct_alignment = 0; - while (type->typegroup == 'S') { - ++ctx->head; - ctx->head->field = type->fields; - ctx->head->parent_offset = 0; - type = type->fields->type; - } -} -static int __Pyx_BufFmt_ParseNumber(const char** ts) { - int count; - const char* t = *ts; - if (*t < '0' || *t > '9') { - return -1; - } else { - count = *t++ - '0'; - while (*t >= '0' && *t <= '9') { - count *= 10; - count += *t++ - '0'; - } - } - *ts = t; - return count; -} -static int __Pyx_BufFmt_ExpectNumber(const char **ts) { - int number = __Pyx_BufFmt_ParseNumber(ts); - if (number == -1) - PyErr_Format(PyExc_ValueError,\ - "Does not understand character buffer dtype format string ('%c')", **ts); - return number; -} -static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { - PyErr_Format(PyExc_ValueError, - "Unexpected format string character: '%c'", ch); -} -static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { - switch (ch) { - case '?': return "'bool'"; - case 'c': return "'char'"; - case 'b': return "'signed char'"; - case 'B': return "'unsigned char'"; - case 'h': return "'short'"; - case 'H': return "'unsigned short'"; - case 'i': return "'int'"; - case 'I': return "'unsigned int'"; - case 'l': return "'long'"; - case 'L': return "'unsigned long'"; - case 'q': return "'long long'"; - case 'Q': return "'unsigned long long'"; - case 'f': return (is_complex ? "'complex float'" : "'float'"); - case 'd': return (is_complex ? "'complex double'" : "'double'"); - case 'g': return (is_complex ? "'complex long double'" : "'long double'"); - case 'T': return "a struct"; - case 'O': return "Python object"; - case 'P': return "a pointer"; - case 's': case 'p': return "a string"; - case 0: return "end"; - default: return "unparseable format string"; - } -} -static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return 2; - case 'i': case 'I': case 'l': case 'L': return 4; - case 'q': case 'Q': return 8; - case 'f': return (is_complex ? 8 : 4); - case 'd': return (is_complex ? 16 : 8); - case 'g': { - PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); - return 0; - } - case 'O': case 'P': return sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(short); - case 'i': case 'I': return sizeof(int); - case 'l': case 'L': return sizeof(long); - #ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(PY_LONG_LONG); - #endif - case 'f': return sizeof(float) * (is_complex ? 2 : 1); - case 'd': return sizeof(double) * (is_complex ? 2 : 1); - case 'g': return sizeof(long double) * (is_complex ? 2 : 1); - case 'O': case 'P': return sizeof(void*); - default: { - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } - } -} -typedef struct { char c; short x; } __Pyx_st_short; -typedef struct { char c; int x; } __Pyx_st_int; -typedef struct { char c; long x; } __Pyx_st_long; -typedef struct { char c; float x; } __Pyx_st_float; -typedef struct { char c; double x; } __Pyx_st_double; -typedef struct { char c; long double x; } __Pyx_st_longdouble; -typedef struct { char c; void *x; } __Pyx_st_void_p; -#ifdef HAVE_LONG_LONG -typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; -#endif -static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, CYTHON_UNUSED int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); - case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); - case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); -#ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); -#endif - case 'f': return sizeof(__Pyx_st_float) - sizeof(float); - case 'd': return sizeof(__Pyx_st_double) - sizeof(double); - case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); - case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -/* These are for computing the padding at the end of the struct to align - on the first member of the struct. This will probably the same as above, - but we don't have any guarantees. - */ -typedef struct { short x; char c; } __Pyx_pad_short; -typedef struct { int x; char c; } __Pyx_pad_int; -typedef struct { long x; char c; } __Pyx_pad_long; -typedef struct { float x; char c; } __Pyx_pad_float; -typedef struct { double x; char c; } __Pyx_pad_double; -typedef struct { long double x; char c; } __Pyx_pad_longdouble; -typedef struct { void *x; char c; } __Pyx_pad_void_p; -#ifdef HAVE_LONG_LONG -typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; -#endif -static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, CYTHON_UNUSED int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); - case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); - case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); -#ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); -#endif - case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); - case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); - case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); - case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { - switch (ch) { - case 'c': - return 'H'; - case 'b': case 'h': case 'i': - case 'l': case 'q': case 's': case 'p': - return 'I'; - case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': - return 'U'; - case 'f': case 'd': case 'g': - return (is_complex ? 'C' : 'R'); - case 'O': - return 'O'; - case 'P': - return 'P'; - default: { - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } - } -} -static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { - if (ctx->head == NULL || ctx->head->field == &ctx->root) { - const char* expected; - const char* quote; - if (ctx->head == NULL) { - expected = "end"; - quote = ""; - } else { - expected = ctx->head->field->type->name; - quote = "'"; - } - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch, expected %s%s%s but got %s", - quote, expected, quote, - __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); - } else { - __Pyx_StructField* field = ctx->head->field; - __Pyx_StructField* parent = (ctx->head - 1)->field; - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", - field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), - parent->type->name, field->name); - } -} -static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { - char group; - size_t size, offset, arraysize = 1; - if (ctx->enc_type == 0) return 0; - if (ctx->head->field->type->arraysize[0]) { - int i, ndim = 0; - if (ctx->enc_type == 's' || ctx->enc_type == 'p') { - ctx->is_valid_array = ctx->head->field->type->ndim == 1; - ndim = 1; - if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { - PyErr_Format(PyExc_ValueError, - "Expected a dimension of size %zu, got %zu", - ctx->head->field->type->arraysize[0], ctx->enc_count); - return -1; - } - } - if (!ctx->is_valid_array) { - PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", - ctx->head->field->type->ndim, ndim); - return -1; - } - for (i = 0; i < ctx->head->field->type->ndim; i++) { - arraysize *= ctx->head->field->type->arraysize[i]; - } - ctx->is_valid_array = 0; - ctx->enc_count = 1; - } - group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); - do { - __Pyx_StructField* field = ctx->head->field; - __Pyx_TypeInfo* type = field->type; - if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { - size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); - } else { - size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); - } - if (ctx->enc_packmode == '@') { - size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); - size_t align_mod_offset; - if (align_at == 0) return -1; - align_mod_offset = ctx->fmt_offset % align_at; - if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; - if (ctx->struct_alignment == 0) - ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, - ctx->is_complex); - } - if (type->size != size || type->typegroup != group) { - if (type->typegroup == 'C' && type->fields != NULL) { - size_t parent_offset = ctx->head->parent_offset + field->offset; - ++ctx->head; - ctx->head->field = type->fields; - ctx->head->parent_offset = parent_offset; - continue; - } - if ((type->typegroup == 'H' || group == 'H') && type->size == size) { - } else { - __Pyx_BufFmt_RaiseExpected(ctx); - return -1; - } - } - offset = ctx->head->parent_offset + field->offset; - if (ctx->fmt_offset != offset) { - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", - (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); - return -1; - } - ctx->fmt_offset += size; - if (arraysize) - ctx->fmt_offset += (arraysize - 1) * size; - --ctx->enc_count; - while (1) { - if (field == &ctx->root) { - ctx->head = NULL; - if (ctx->enc_count != 0) { - __Pyx_BufFmt_RaiseExpected(ctx); - return -1; - } - break; - } - ctx->head->field = ++field; - if (field->type == NULL) { - --ctx->head; - field = ctx->head->field; - continue; - } else if (field->type->typegroup == 'S') { - size_t parent_offset = ctx->head->parent_offset + field->offset; - if (field->type->fields->type == NULL) continue; - field = field->type->fields; - ++ctx->head; - ctx->head->field = field; - ctx->head->parent_offset = parent_offset; - break; - } else { - break; - } - } - } while (ctx->enc_count); - ctx->enc_type = 0; - ctx->is_complex = 0; - return 0; -} -static PyObject * -__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) -{ - const char *ts = *tsp; - int i = 0, number, ndim; - ++ts; - if (ctx->new_count != 1) { - PyErr_SetString(PyExc_ValueError, - "Cannot handle repeated arrays in format string"); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ndim = ctx->head->field->type->ndim; - while (*ts && *ts != ')') { - switch (*ts) { - case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; - default: break; - } - number = __Pyx_BufFmt_ExpectNumber(&ts); - if (number == -1) return NULL; - if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) - return PyErr_Format(PyExc_ValueError, - "Expected a dimension of size %zu, got %d", - ctx->head->field->type->arraysize[i], number); - if (*ts != ',' && *ts != ')') - return PyErr_Format(PyExc_ValueError, - "Expected a comma in format string, got '%c'", *ts); - if (*ts == ',') ts++; - i++; - } - if (i != ndim) - return PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", - ctx->head->field->type->ndim, i); - if (!*ts) { - PyErr_SetString(PyExc_ValueError, - "Unexpected end of format string, expected ')'"); - return NULL; - } - ctx->is_valid_array = 1; - ctx->new_count = 1; - *tsp = ++ts; - return Py_None; -} -static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { - int got_Z = 0; - while (1) { - switch(*ts) { - case 0: - if (ctx->enc_type != 0 && ctx->head == NULL) { - __Pyx_BufFmt_RaiseExpected(ctx); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - if (ctx->head != NULL) { - __Pyx_BufFmt_RaiseExpected(ctx); - return NULL; - } - return ts; - case ' ': - case '\r': - case '\n': - ++ts; - break; - case '<': - if (!__Pyx_Is_Little_Endian()) { - PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); - return NULL; - } - ctx->new_packmode = '='; - ++ts; - break; - case '>': - case '!': - if (__Pyx_Is_Little_Endian()) { - PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); - return NULL; - } - ctx->new_packmode = '='; - ++ts; - break; - case '=': - case '@': - case '^': - ctx->new_packmode = *ts++; - break; - case 'T': - { - const char* ts_after_sub; - size_t i, struct_count = ctx->new_count; - size_t struct_alignment = ctx->struct_alignment; - ctx->new_count = 1; - ++ts; - if (*ts != '{') { - PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_type = 0; - ctx->enc_count = 0; - ctx->struct_alignment = 0; - ++ts; - ts_after_sub = ts; - for (i = 0; i != struct_count; ++i) { - ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); - if (!ts_after_sub) return NULL; - } - ts = ts_after_sub; - if (struct_alignment) ctx->struct_alignment = struct_alignment; - } - break; - case '}': - { - size_t alignment = ctx->struct_alignment; - ++ts; - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_type = 0; - if (alignment && ctx->fmt_offset % alignment) { - ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); - } - } - return ts; - case 'x': - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->fmt_offset += ctx->new_count; - ctx->new_count = 1; - ctx->enc_count = 0; - ctx->enc_type = 0; - ctx->enc_packmode = ctx->new_packmode; - ++ts; - break; - case 'Z': - got_Z = 1; - ++ts; - if (*ts != 'f' && *ts != 'd' && *ts != 'g') { - __Pyx_BufFmt_RaiseUnexpectedChar('Z'); - return NULL; - } - CYTHON_FALLTHROUGH; - case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': - case 'l': case 'L': case 'q': case 'Q': - case 'f': case 'd': case 'g': - case 'O': case 'p': - if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && - (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { - ctx->enc_count += ctx->new_count; - ctx->new_count = 1; - got_Z = 0; - ++ts; - break; - } - CYTHON_FALLTHROUGH; - case 's': - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_count = ctx->new_count; - ctx->enc_packmode = ctx->new_packmode; - ctx->enc_type = *ts; - ctx->is_complex = got_Z; - ++ts; - ctx->new_count = 1; - got_Z = 0; - break; - case ':': - ++ts; - while(*ts != ':') ++ts; - ++ts; - break; - case '(': - if (!__pyx_buffmt_parse_array(ctx, &ts)) return NULL; - break; - default: - { - int number = __Pyx_BufFmt_ExpectNumber(&ts); - if (number == -1) return NULL; - ctx->new_count = (size_t)number; - } - } - } -} - -/* TypeInfoCompare */ - static int -__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) -{ - int i; - if (!a || !b) - return 0; - if (a == b) - return 1; - if (a->size != b->size || a->typegroup != b->typegroup || - a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { - if (a->typegroup == 'H' || b->typegroup == 'H') { - return a->size == b->size; - } else { - return 0; - } - } - if (a->ndim) { - for (i = 0; i < a->ndim; i++) - if (a->arraysize[i] != b->arraysize[i]) - return 0; - } - if (a->typegroup == 'S') { - if (a->flags != b->flags) - return 0; - if (a->fields || b->fields) { - if (!(a->fields && b->fields)) - return 0; - for (i = 0; a->fields[i].type && b->fields[i].type; i++) { - __Pyx_StructField *field_a = a->fields + i; - __Pyx_StructField *field_b = b->fields + i; - if (field_a->offset != field_b->offset || - !__pyx_typeinfo_cmp(field_a->type, field_b->type)) - return 0; - } - return !a->fields[i].type && !b->fields[i].type; - } - } - return 1; -} - -/* MemviewSliceValidateAndInit */ - static int -__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) -{ - if (buf->shape[dim] <= 1) - return 1; - if (buf->strides) { - if (spec & __Pyx_MEMVIEW_CONTIG) { - if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { - if (unlikely(buf->strides[dim] != sizeof(void *))) { - PyErr_Format(PyExc_ValueError, - "Buffer is not indirectly contiguous " - "in dimension %d.", dim); - goto fail; - } - } else if (unlikely(buf->strides[dim] != buf->itemsize)) { - PyErr_SetString(PyExc_ValueError, - "Buffer and memoryview are not contiguous " - "in the same dimension."); - goto fail; - } - } - if (spec & __Pyx_MEMVIEW_FOLLOW) { - Py_ssize_t stride = buf->strides[dim]; - if (stride < 0) - stride = -stride; - if (unlikely(stride < buf->itemsize)) { - PyErr_SetString(PyExc_ValueError, - "Buffer and memoryview are not contiguous " - "in the same dimension."); - goto fail; - } - } - } else { - if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { - PyErr_Format(PyExc_ValueError, - "C-contiguous buffer is not contiguous in " - "dimension %d", dim); - goto fail; - } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { - PyErr_Format(PyExc_ValueError, - "C-contiguous buffer is not indirect in " - "dimension %d", dim); - goto fail; - } else if (unlikely(buf->suboffsets)) { - PyErr_SetString(PyExc_ValueError, - "Buffer exposes suboffsets but no strides"); - goto fail; - } - } - return 1; -fail: - return 0; -} -static int -__pyx_check_suboffsets(Py_buffer *buf, int dim, CYTHON_UNUSED int ndim, int spec) -{ - if (spec & __Pyx_MEMVIEW_DIRECT) { - if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { - PyErr_Format(PyExc_ValueError, - "Buffer not compatible with direct access " - "in dimension %d.", dim); - goto fail; - } - } - if (spec & __Pyx_MEMVIEW_PTR) { - if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { - PyErr_Format(PyExc_ValueError, - "Buffer is not indirectly accessible " - "in dimension %d.", dim); - goto fail; - } - } - return 1; -fail: - return 0; -} -static int -__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) -{ - int i; - if (c_or_f_flag & __Pyx_IS_F_CONTIG) { - Py_ssize_t stride = 1; - for (i = 0; i < ndim; i++) { - if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { - PyErr_SetString(PyExc_ValueError, - "Buffer not fortran contiguous."); - goto fail; - } - stride = stride * buf->shape[i]; - } - } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { - Py_ssize_t stride = 1; - for (i = ndim - 1; i >- 1; i--) { - if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { - PyErr_SetString(PyExc_ValueError, - "Buffer not C contiguous."); - goto fail; - } - stride = stride * buf->shape[i]; - } - } - return 1; -fail: - return 0; -} -static int __Pyx_ValidateAndInit_memviewslice( - int *axes_specs, - int c_or_f_flag, - int buf_flags, - int ndim, - __Pyx_TypeInfo *dtype, - __Pyx_BufFmt_StackElem stack[], - __Pyx_memviewslice *memviewslice, - PyObject *original_obj) -{ - struct __pyx_memoryview_obj *memview, *new_memview; - __Pyx_RefNannyDeclarations - Py_buffer *buf; - int i, spec = 0, retval = -1; - __Pyx_BufFmt_Context ctx; - int from_memoryview = __pyx_memoryview_check(original_obj); - __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); - if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) - original_obj)->typeinfo)) { - memview = (struct __pyx_memoryview_obj *) original_obj; - new_memview = NULL; - } else { - memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( - original_obj, buf_flags, 0, dtype); - new_memview = memview; - if (unlikely(!memview)) - goto fail; - } - buf = &memview->view; - if (unlikely(buf->ndim != ndim)) { - PyErr_Format(PyExc_ValueError, - "Buffer has wrong number of dimensions (expected %d, got %d)", - ndim, buf->ndim); - goto fail; - } - if (new_memview) { - __Pyx_BufFmt_Init(&ctx, stack, dtype); - if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; - } - if (unlikely((unsigned) buf->itemsize != dtype->size)) { - PyErr_Format(PyExc_ValueError, - "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " - "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", - buf->itemsize, - (buf->itemsize > 1) ? "s" : "", - dtype->name, - dtype->size, - (dtype->size > 1) ? "s" : ""); - goto fail; - } - if (buf->len > 0) { - for (i = 0; i < ndim; i++) { - spec = axes_specs[i]; - if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) - goto fail; - if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) - goto fail; - } - if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) - goto fail; - } - if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, - new_memview != NULL) == -1)) { - goto fail; - } - retval = 0; - goto no_fail; -fail: - Py_XDECREF(new_memview); - retval = -1; -no_fail: - __Pyx_RefNannyFinishContext(); - return retval; -} - -/* ObjectToMemviewSlice */ - static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_unsigned_char__const__(PyObject *obj, int writable_flag) { - __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; - __Pyx_BufFmt_StackElem stack[1]; - int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; - int retcode; - if (obj == Py_None) { - result.memview = (struct __pyx_memoryview_obj *) Py_None; - return result; - } - retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, - PyBUF_RECORDS_RO | writable_flag, 1, - &__Pyx_TypeInfo_unsigned_char__const__, stack, - &result, obj); - if (unlikely(retcode == -1)) - goto __pyx_fail; - return result; -__pyx_fail: - result.memview = NULL; - result.data = NULL; - return result; -} - -/* MemviewDtypeToObject */ - static CYTHON_INLINE PyObject *__pyx_memview_get_unsigned_char__const__(const char *itemp) { - return (PyObject *) __Pyx_PyInt_From_unsigned_char(*(unsigned char const *) itemp); -} - -/* ObjectToMemviewSlice */ - static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_char(PyObject *obj, int writable_flag) { - __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; - __Pyx_BufFmt_StackElem stack[1]; - int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; - int retcode; - if (obj == Py_None) { - result.memview = (struct __pyx_memoryview_obj *) Py_None; - return result; - } - retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, - PyBUF_RECORDS_RO | writable_flag, 1, - &__Pyx_TypeInfo_char, stack, - &result, obj); - if (unlikely(retcode == -1)) - goto __pyx_fail; - return result; -__pyx_fail: - result.memview = NULL; - result.data = NULL; - return result; -} - -/* Declarations */ - #if CYTHON_CCOMPLEX - #ifdef __cplusplus - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - return ::std::complex< float >(x, y); - } - #else - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - return x + y*(__pyx_t_float_complex)_Complex_I; - } - #endif -#else - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - __pyx_t_float_complex z; - z.real = x; - z.imag = y; - return z; - } -#endif - -/* Arithmetic */ - #if CYTHON_CCOMPLEX -#else - static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - return (a.real == b.real) && (a.imag == b.imag); - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real + b.real; - z.imag = a.imag + b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real - b.real; - z.imag = a.imag - b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real * b.real - a.imag * b.imag; - z.imag = a.real * b.imag + a.imag * b.real; - return z; - } - #if 1 - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - if (b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); - } else if (fabsf(b.real) >= fabsf(b.imag)) { - if (b.real == 0 && b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); - } else { - float r = b.imag / b.real; - float s = (float)(1.0) / (b.real + b.imag * r); - return __pyx_t_float_complex_from_parts( - (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); - } - } else { - float r = b.real / b.imag; - float s = (float)(1.0) / (b.imag + b.real * r); - return __pyx_t_float_complex_from_parts( - (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); - } - } - #else - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - if (b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); - } else { - float denom = b.real * b.real + b.imag * b.imag; - return __pyx_t_float_complex_from_parts( - (a.real * b.real + a.imag * b.imag) / denom, - (a.imag * b.real - a.real * b.imag) / denom); - } - } - #endif - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { - __pyx_t_float_complex z; - z.real = -a.real; - z.imag = -a.imag; - return z; - } - static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { - return (a.real == 0) && (a.imag == 0); - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { - __pyx_t_float_complex z; - z.real = a.real; - z.imag = -a.imag; - return z; - } - #if 1 - static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { - #if !defined(HAVE_HYPOT) || defined(_MSC_VER) - return sqrtf(z.real*z.real + z.imag*z.imag); - #else - return hypotf(z.real, z.imag); - #endif - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - float r, lnr, theta, z_r, z_theta; - if (b.imag == 0 && b.real == (int)b.real) { - if (b.real < 0) { - float denom = a.real * a.real + a.imag * a.imag; - a.real = a.real / denom; - a.imag = -a.imag / denom; - b.real = -b.real; - } - switch ((int)b.real) { - case 0: - z.real = 1; - z.imag = 0; - return z; - case 1: - return a; - case 2: - return __Pyx_c_prod_float(a, a); - case 3: - z = __Pyx_c_prod_float(a, a); - return __Pyx_c_prod_float(z, a); - case 4: - z = __Pyx_c_prod_float(a, a); - return __Pyx_c_prod_float(z, z); - } - } - if (a.imag == 0) { - if (a.real == 0) { - return a; - } else if (b.imag == 0) { - z.real = powf(a.real, b.real); - z.imag = 0; - return z; - } else if (a.real > 0) { - r = a.real; - theta = 0; - } else { - r = -a.real; - theta = atan2f(0.0, -1.0); - } - } else { - r = __Pyx_c_abs_float(a); - theta = atan2f(a.imag, a.real); - } - lnr = logf(r); - z_r = expf(lnr * b.real - theta * b.imag); - z_theta = theta * b.real + lnr * b.imag; - z.real = z_r * cosf(z_theta); - z.imag = z_r * sinf(z_theta); - return z; - } - #endif -#endif - -/* Declarations */ - #if CYTHON_CCOMPLEX - #ifdef __cplusplus - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - return ::std::complex< double >(x, y); - } - #else - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - return x + y*(__pyx_t_double_complex)_Complex_I; - } - #endif -#else - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - __pyx_t_double_complex z; - z.real = x; - z.imag = y; - return z; - } -#endif - -/* Arithmetic */ - #if CYTHON_CCOMPLEX -#else - static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - return (a.real == b.real) && (a.imag == b.imag); - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real + b.real; - z.imag = a.imag + b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real - b.real; - z.imag = a.imag - b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real * b.real - a.imag * b.imag; - z.imag = a.real * b.imag + a.imag * b.real; - return z; - } - #if 1 - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - if (b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); - } else if (fabs(b.real) >= fabs(b.imag)) { - if (b.real == 0 && b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); - } else { - double r = b.imag / b.real; - double s = (double)(1.0) / (b.real + b.imag * r); - return __pyx_t_double_complex_from_parts( - (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); - } - } else { - double r = b.real / b.imag; - double s = (double)(1.0) / (b.imag + b.real * r); - return __pyx_t_double_complex_from_parts( - (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); - } - } - #else - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - if (b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); - } else { - double denom = b.real * b.real + b.imag * b.imag; - return __pyx_t_double_complex_from_parts( - (a.real * b.real + a.imag * b.imag) / denom, - (a.imag * b.real - a.real * b.imag) / denom); - } - } - #endif - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { - __pyx_t_double_complex z; - z.real = -a.real; - z.imag = -a.imag; - return z; - } - static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { - return (a.real == 0) && (a.imag == 0); - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { - __pyx_t_double_complex z; - z.real = a.real; - z.imag = -a.imag; - return z; - } - #if 1 - static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { - #if !defined(HAVE_HYPOT) || defined(_MSC_VER) - return sqrt(z.real*z.real + z.imag*z.imag); - #else - return hypot(z.real, z.imag); - #endif - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - double r, lnr, theta, z_r, z_theta; - if (b.imag == 0 && b.real == (int)b.real) { - if (b.real < 0) { - double denom = a.real * a.real + a.imag * a.imag; - a.real = a.real / denom; - a.imag = -a.imag / denom; - b.real = -b.real; - } - switch ((int)b.real) { - case 0: - z.real = 1; - z.imag = 0; - return z; - case 1: - return a; - case 2: - return __Pyx_c_prod_double(a, a); - case 3: - z = __Pyx_c_prod_double(a, a); - return __Pyx_c_prod_double(z, a); - case 4: - z = __Pyx_c_prod_double(a, a); - return __Pyx_c_prod_double(z, z); - } - } - if (a.imag == 0) { - if (a.real == 0) { - return a; - } else if (b.imag == 0) { - z.real = pow(a.real, b.real); - z.imag = 0; - return z; - } else if (a.real > 0) { - r = a.real; - theta = 0; - } else { - r = -a.real; - theta = atan2(0.0, -1.0); - } - } else { - r = __Pyx_c_abs_double(a); - theta = atan2(a.imag, a.real); - } - lnr = log(r); - z_r = exp(lnr * b.real - theta * b.imag); - z_theta = theta * b.real + lnr * b.imag; - z.real = z_r * cos(z_theta); - z.imag = z_r * sin(z_theta); - return z; - } - #endif -#endif - -/* MemviewSliceCopyTemplate */ - static __Pyx_memviewslice -__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, - const char *mode, int ndim, - size_t sizeof_dtype, int contig_flag, - int dtype_is_object) -{ - __Pyx_RefNannyDeclarations - int i; - __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; - struct __pyx_memoryview_obj *from_memview = from_mvs->memview; - Py_buffer *buf = &from_memview->view; - PyObject *shape_tuple = NULL; - PyObject *temp_int = NULL; - struct __pyx_array_obj *array_obj = NULL; - struct __pyx_memoryview_obj *memview_obj = NULL; - __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); - for (i = 0; i < ndim; i++) { - if (unlikely(from_mvs->suboffsets[i] >= 0)) { - PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " - "indirect dimensions (axis %d)", i); - goto fail; - } - } - shape_tuple = PyTuple_New(ndim); - if (unlikely(!shape_tuple)) { - goto fail; - } - __Pyx_GOTREF(shape_tuple); - for(i = 0; i < ndim; i++) { - temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); - if(unlikely(!temp_int)) { - goto fail; - } else { - PyTuple_SET_ITEM(shape_tuple, i, temp_int); - temp_int = NULL; - } - } - array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); - if (unlikely(!array_obj)) { - goto fail; - } - __Pyx_GOTREF(array_obj); - memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( - (PyObject *) array_obj, contig_flag, - dtype_is_object, - from_mvs->memview->typeinfo); - if (unlikely(!memview_obj)) - goto fail; - if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) - goto fail; - if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, - dtype_is_object) < 0)) - goto fail; - goto no_fail; -fail: - __Pyx_XDECREF(new_mvs.memview); - new_mvs.memview = NULL; - new_mvs.data = NULL; -no_fail: - __Pyx_XDECREF(shape_tuple); - __Pyx_XDECREF(temp_int); - __Pyx_XDECREF(array_obj); - __Pyx_RefNannyFinishContext(); - return new_mvs; -} - -/* CIntFromPy */ - static CYTHON_INLINE enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType __Pyx_PyInt_As_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType neg_one = (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) -1, const_zero = (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) 0; - case 1: __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, digit, digits[0]) - case 2: - if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) >= 2 * PyLong_SHIFT) { - return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) (((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) >= 3 * PyLong_SHIFT) { - return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) (((((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) >= 4 * PyLong_SHIFT) { - return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) (((((((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[3]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) 0; - case -1: __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, digit, +digits[0]) - case -2: - if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 2 * PyLong_SHIFT) { - return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) (((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)-1)*(((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 2 * PyLong_SHIFT) { - return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) ((((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 3 * PyLong_SHIFT) { - return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) (((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)-1)*(((((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 3 * PyLong_SHIFT) { - return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) ((((((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 4 * PyLong_SHIFT) { - return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) (((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)-1)*(((((((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[3]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 4 * PyLong_SHIFT) { - return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) ((((((((((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[3]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); - } - } - break; - } -#endif - if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) -1; - } - } else { - enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) -1; - val = __Pyx_PyInt_As_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType"); - return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType"); - return (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) -1; -} - -/* CIntFromPy */ - static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(size_t) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (size_t) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (size_t) 0; - case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, digits[0]) - case 2: - if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 2 * PyLong_SHIFT) { - return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 3 * PyLong_SHIFT) { - return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 4 * PyLong_SHIFT) { - return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (size_t) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(size_t) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (size_t) 0; - case -1: __PYX_VERIFY_RETURN_INT(size_t, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, +digits[0]) - case -2: - if (8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { - return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - } -#endif - if (sizeof(size_t) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(size_t) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - size_t val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (size_t) -1; - } - } else { - size_t val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (size_t) -1; - val = __Pyx_PyInt_As_size_t(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to size_t"); - return (size_t) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to size_t"); - return (size_t) -1; -} - -/* CIntFromPy */ - static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(uint32_t) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(uint32_t, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (uint32_t) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (uint32_t) 0; - case 1: __PYX_VERIFY_RETURN_INT(uint32_t, digit, digits[0]) - case 2: - if (8 * sizeof(uint32_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) >= 2 * PyLong_SHIFT) { - return (uint32_t) (((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(uint32_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) >= 3 * PyLong_SHIFT) { - return (uint32_t) (((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(uint32_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) >= 4 * PyLong_SHIFT) { - return (uint32_t) (((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (uint32_t) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(uint32_t) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (uint32_t) 0; - case -1: __PYX_VERIFY_RETURN_INT(uint32_t, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(uint32_t, digit, +digits[0]) - case -2: - if (8 * sizeof(uint32_t) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { - return (uint32_t) (((uint32_t)-1)*(((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(uint32_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { - return (uint32_t) ((((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { - return (uint32_t) (((uint32_t)-1)*(((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(uint32_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { - return (uint32_t) ((((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT) { - return (uint32_t) (((uint32_t)-1)*(((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(uint32_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT) { - return (uint32_t) ((((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - } -#endif - if (sizeof(uint32_t) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(uint32_t, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(uint32_t) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(uint32_t, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - uint32_t val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (uint32_t) -1; - } - } else { - uint32_t val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (uint32_t) -1; - val = __Pyx_PyInt_As_uint32_t(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to uint32_t"); - return (uint32_t) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to uint32_t"); - return (uint32_t) -1; -} - -/* CIntFromPy */ - static CYTHON_INLINE uint64_t __Pyx_PyInt_As_uint64_t(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const uint64_t neg_one = (uint64_t) -1, const_zero = (uint64_t) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(uint64_t) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(uint64_t, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (uint64_t) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (uint64_t) 0; - case 1: __PYX_VERIFY_RETURN_INT(uint64_t, digit, digits[0]) - case 2: - if (8 * sizeof(uint64_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint64_t) >= 2 * PyLong_SHIFT) { - return (uint64_t) (((((uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(uint64_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint64_t) >= 3 * PyLong_SHIFT) { - return (uint64_t) (((((((uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(uint64_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint64_t) >= 4 * PyLong_SHIFT) { - return (uint64_t) (((((((((uint64_t)digits[3]) << PyLong_SHIFT) | (uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (uint64_t) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(uint64_t) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(uint64_t, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(uint64_t) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(uint64_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (uint64_t) 0; - case -1: __PYX_VERIFY_RETURN_INT(uint64_t, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(uint64_t, digit, +digits[0]) - case -2: - if (8 * sizeof(uint64_t) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint64_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint64_t) - 1 > 2 * PyLong_SHIFT) { - return (uint64_t) (((uint64_t)-1)*(((((uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(uint64_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint64_t) - 1 > 2 * PyLong_SHIFT) { - return (uint64_t) ((((((uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(uint64_t) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint64_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint64_t) - 1 > 3 * PyLong_SHIFT) { - return (uint64_t) (((uint64_t)-1)*(((((((uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(uint64_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint64_t) - 1 > 3 * PyLong_SHIFT) { - return (uint64_t) ((((((((uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(uint64_t) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint64_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint64_t) - 1 > 4 * PyLong_SHIFT) { - return (uint64_t) (((uint64_t)-1)*(((((((((uint64_t)digits[3]) << PyLong_SHIFT) | (uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(uint64_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint64_t) - 1 > 4 * PyLong_SHIFT) { - return (uint64_t) ((((((((((uint64_t)digits[3]) << PyLong_SHIFT) | (uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); - } - } - break; - } -#endif - if (sizeof(uint64_t) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(uint64_t, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(uint64_t) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(uint64_t, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - uint64_t val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (uint64_t) -1; - } - } else { - uint64_t val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (uint64_t) -1; - val = __Pyx_PyInt_As_uint64_t(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to uint64_t"); - return (uint64_t) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to uint64_t"); - return (uint64_t) -1; -} - -/* CIntFromPy */ - static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(int) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (int) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { - return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { - return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { - return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(int) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) - case -2: - if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - } -#endif - if (sizeof(int) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - int val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (int) -1; - } - } else { - int val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (int) -1; - val = __Pyx_PyInt_As_int(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to int"); - return (int) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to int"); - return (int) -1; -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_unsigned_char(unsigned char value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const unsigned char neg_one = (unsigned char) -1, const_zero = (unsigned char) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(unsigned char) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(unsigned char) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(unsigned char) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(unsigned char) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(unsigned char) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(unsigned char), - little, !is_unsigned); - } -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__VisionStreamType(enum VisionStreamType value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const enum VisionStreamType neg_one = (enum VisionStreamType) -1, const_zero = (enum VisionStreamType) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(enum VisionStreamType) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(enum VisionStreamType) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(enum VisionStreamType) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(enum VisionStreamType) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(enum VisionStreamType) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(enum VisionStreamType), - little, !is_unsigned); - } -} - -/* CIntFromPy */ - static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(long) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (long) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { - return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { - return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { - return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(long) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) - case -2: - if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - } -#endif - if (sizeof(long) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - long val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (long) -1; - } - } else { - long val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (long) -1; - val = __Pyx_PyInt_As_long(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to long"); - return (long) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to long"); - return (long) -1; -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); - } -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(int) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(int) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(int) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(int), - little, !is_unsigned); - } -} - -/* CIntFromPy */ - static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const char neg_one = (char) -1, const_zero = (char) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(char) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (char) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (char) 0; - case 1: __PYX_VERIFY_RETURN_INT(char, digit, digits[0]) - case 2: - if (8 * sizeof(char) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 2 * PyLong_SHIFT) { - return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(char) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 3 * PyLong_SHIFT) { - return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(char) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 4 * PyLong_SHIFT) { - return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (char) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(char) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(char) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (char) 0; - case -1: __PYX_VERIFY_RETURN_INT(char, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(char, digit, +digits[0]) - case -2: - if (8 * sizeof(char) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { - return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(char) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { - return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { - return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(char) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { - return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { - return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(char) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { - return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - } -#endif - if (sizeof(char) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(char) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - char val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (char) -1; - } - } else { - char val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (char) -1; - val = __Pyx_PyInt_As_char(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to char"); - return (char) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to char"); - return (char) -1; -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType neg_one = (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) -1, const_zero = (enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType), - little, !is_unsigned); - } -} - -/* CheckBinaryVersion */ - static int __Pyx_check_binary_version(void) { - char ctversion[4], rtversion[4]; - PyOS_snprintf(ctversion, 4, "%d.%d", PY_MAJOR_VERSION, PY_MINOR_VERSION); - PyOS_snprintf(rtversion, 4, "%s", Py_GetVersion()); - if (ctversion[0] != rtversion[0] || ctversion[2] != rtversion[2]) { - char message[200]; - PyOS_snprintf(message, sizeof(message), - "compiletime version %s of module '%.100s' " - "does not match runtime version %s", - ctversion, __Pyx_MODULE_NAME, rtversion); - return PyErr_WarnEx(NULL, message, 1); - } - return 0; -} - -/* InitStrings */ - static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { - while (t->p) { - #if PY_MAJOR_VERSION < 3 - if (t->is_unicode) { - *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); - } else if (t->intern) { - *t->p = PyString_InternFromString(t->s); - } else { - *t->p = PyString_FromStringAndSize(t->s, t->n - 1); - } - #else - if (t->is_unicode | t->is_str) { - if (t->intern) { - *t->p = PyUnicode_InternFromString(t->s); - } else if (t->encoding) { - *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); - } else { - *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); - } - } else { - *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); - } - #endif - if (!*t->p) - return -1; - if (PyObject_Hash(*t->p) == -1) - return -1; - ++t; - } - return 0; -} - -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { - return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); -} -static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { - Py_ssize_t ignore; - return __Pyx_PyObject_AsStringAndSize(o, &ignore); -} -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT -#if !CYTHON_PEP393_ENABLED -static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - char* defenc_c; - PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); - if (!defenc) return NULL; - defenc_c = PyBytes_AS_STRING(defenc); -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - { - char* end = defenc_c + PyBytes_GET_SIZE(defenc); - char* c; - for (c = defenc_c; c < end; c++) { - if ((unsigned char) (*c) >= 128) { - PyUnicode_AsASCIIString(o); - return NULL; - } - } - } -#endif - *length = PyBytes_GET_SIZE(defenc); - return defenc_c; -} -#else -static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - if (likely(PyUnicode_IS_ASCII(o))) { - *length = PyUnicode_GET_LENGTH(o); - return PyUnicode_AsUTF8(o); - } else { - PyUnicode_AsASCIIString(o); - return NULL; - } -#else - return PyUnicode_AsUTF8AndSize(o, length); -#endif -} -#endif -#endif -static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT - if ( -#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - __Pyx_sys_getdefaultencoding_not_ascii && -#endif - PyUnicode_Check(o)) { - return __Pyx_PyUnicode_AsStringAndSize(o, length); - } else -#endif -#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) - if (PyByteArray_Check(o)) { - *length = PyByteArray_GET_SIZE(o); - return PyByteArray_AS_STRING(o); - } else -#endif - { - char* result; - int r = PyBytes_AsStringAndSize(o, &result, length); - if (unlikely(r < 0)) { - return NULL; - } else { - return result; - } - } -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { - int is_true = x == Py_True; - if (is_true | (x == Py_False) | (x == Py_None)) return is_true; - else return PyObject_IsTrue(x); -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { - int retval; - if (unlikely(!x)) return -1; - retval = __Pyx_PyObject_IsTrue(x); - Py_DECREF(x); - return retval; -} -static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { -#if PY_MAJOR_VERSION >= 3 - if (PyLong_Check(result)) { - if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, - "__int__ returned non-int (type %.200s). " - "The ability to return an instance of a strict subclass of int " - "is deprecated, and may be removed in a future version of Python.", - Py_TYPE(result)->tp_name)) { - Py_DECREF(result); - return NULL; - } - return result; - } -#endif - PyErr_Format(PyExc_TypeError, - "__%.4s__ returned non-%.4s (type %.200s)", - type_name, type_name, Py_TYPE(result)->tp_name); - Py_DECREF(result); - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { -#if CYTHON_USE_TYPE_SLOTS - PyNumberMethods *m; -#endif - const char *name = NULL; - PyObject *res = NULL; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x) || PyLong_Check(x))) -#else - if (likely(PyLong_Check(x))) -#endif - return __Pyx_NewRef(x); -#if CYTHON_USE_TYPE_SLOTS - m = Py_TYPE(x)->tp_as_number; - #if PY_MAJOR_VERSION < 3 - if (m && m->nb_int) { - name = "int"; - res = m->nb_int(x); - } - else if (m && m->nb_long) { - name = "long"; - res = m->nb_long(x); - } - #else - if (likely(m && m->nb_int)) { - name = "int"; - res = m->nb_int(x); - } - #endif -#else - if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { - res = PyNumber_Int(x); - } -#endif - if (likely(res)) { -#if PY_MAJOR_VERSION < 3 - if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { -#else - if (unlikely(!PyLong_CheckExact(res))) { -#endif - return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); - } - } - else if (!PyErr_Occurred()) { - PyErr_SetString(PyExc_TypeError, - "an integer is required"); - } - return res; -} -static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { - Py_ssize_t ival; - PyObject *x; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(b))) { - if (sizeof(Py_ssize_t) >= sizeof(long)) - return PyInt_AS_LONG(b); - else - return PyInt_AsSsize_t(b); - } -#endif - if (likely(PyLong_CheckExact(b))) { - #if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)b)->ob_digit; - const Py_ssize_t size = Py_SIZE(b); - if (likely(__Pyx_sst_abs(size) <= 1)) { - ival = likely(size) ? digits[0] : 0; - if (size == -1) ival = -ival; - return ival; - } else { - switch (size) { - case 2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - } - } - #endif - return PyLong_AsSsize_t(b); - } - x = PyNumber_Index(b); - if (!x) return -1; - ival = PyInt_AsSsize_t(x); - Py_DECREF(x); - return ival; -} -static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { - if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { - return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); -#if PY_MAJOR_VERSION < 3 - } else if (likely(PyInt_CheckExact(o))) { - return PyInt_AS_LONG(o); -#endif - } else { - Py_ssize_t ival; - PyObject *x; - x = PyNumber_Index(o); - if (!x) return -1; - ival = PyInt_AsLong(x); - Py_DECREF(x); - return ival; - } -} -static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { - return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); -} -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { - return PyInt_FromSize_t(ival); -} - - -#endif /* Py_PYTHON_H */ diff --git a/cereal/visionipc/visionipc_pyx.so b/cereal/visionipc/visionipc_pyx.so index b50a37759..5a376ecba 100755 Binary files a/cereal/visionipc/visionipc_pyx.so and b/cereal/visionipc/visionipc_pyx.so differ diff --git a/common/api/__init__.py b/common/api/__init__.py index 0ffbdfabb..c1fa635bd 100644 --- a/common/api/__init__.py +++ b/common/api/__init__.py @@ -5,8 +5,7 @@ from datetime import datetime, timedelta from common.basedir import PERSIST from system.version import get_version -from common.params import Params -API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') if not Params().get_bool("dp_api_custom") else Params().get("dp_api_custom_url", encoding='utf-8') +API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') class Api(): def __init__(self, dongle_id): diff --git a/common/clock.cpp b/common/clock.cpp deleted file mode 100644 index c2a5b2412..000000000 --- a/common/clock.cpp +++ /dev/null @@ -1,2889 +0,0 @@ -/* Generated by Cython 0.29.26 */ - -/* BEGIN: Cython Metadata -{ - "distutils": { - "depends": [], - "language": "c++", - "name": "common.clock", - "sources": [ - "/data/openpilot/common/clock.pyx" - ] - }, - "module_name": "common.clock" -} -END: Cython Metadata */ - -#ifndef PY_SSIZE_T_CLEAN -#define PY_SSIZE_T_CLEAN -#endif /* PY_SSIZE_T_CLEAN */ -#include "Python.h" -#ifndef Py_PYTHON_H - #error Python headers needed to compile C extensions, please install development version of Python. -#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) - #error Cython requires Python 2.6+ or Python 3.3+. -#else -#define CYTHON_ABI "0_29_26" -#define CYTHON_HEX_VERSION 0x001D1AF0 -#define CYTHON_FUTURE_DIVISION 1 -#include -#ifndef offsetof - #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) -#endif -#if !defined(WIN32) && !defined(MS_WINDOWS) - #ifndef __stdcall - #define __stdcall - #endif - #ifndef __cdecl - #define __cdecl - #endif - #ifndef __fastcall - #define __fastcall - 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#define CYTHON_USE_PYTYPE_LOOKUP 0 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #undef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 0 - #ifndef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 1 - #endif - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #ifndef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 0 - #endif - #ifndef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 1 - #endif - #ifndef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 1 - #endif - #undef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 0 - #undef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL 0 - #undef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT 0 - #undef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE 0 - #undef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS 0 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 -#else - #define CYTHON_COMPILING_IN_PYPY 0 - #define CYTHON_COMPILING_IN_PYSTON 0 - #define CYTHON_COMPILING_IN_CPYTHON 1 - #ifndef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 1 - #endif - #if PY_VERSION_HEX < 0x02070000 - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #elif !defined(CYTHON_USE_PYTYPE_LOOKUP) - #define CYTHON_USE_PYTYPE_LOOKUP 1 - #endif - #if PY_MAJOR_VERSION < 3 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #elif !defined(CYTHON_USE_ASYNC_SLOTS) - #define CYTHON_USE_ASYNC_SLOTS 1 - #endif - #if PY_VERSION_HEX < 0x02070000 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #elif !defined(CYTHON_USE_PYLONG_INTERNALS) - #define CYTHON_USE_PYLONG_INTERNALS 1 - #endif - #ifndef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 1 - #endif - #ifndef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 1 - #endif - #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #elif !defined(CYTHON_USE_UNICODE_WRITER) - #define CYTHON_USE_UNICODE_WRITER 1 - #endif - #ifndef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 0 - #endif - #ifndef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 1 - #endif - #ifndef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 1 - #endif - #ifndef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 1 - #endif - #ifndef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) - #endif - #ifndef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) - #endif - #ifndef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) - #endif - #ifndef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) - #endif - #ifndef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) - #endif -#endif -#if !defined(CYTHON_FAST_PYCCALL) -#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) -#endif -#if CYTHON_USE_PYLONG_INTERNALS - #if PY_MAJOR_VERSION < 3 - #include "longintrepr.h" - #endif - #undef SHIFT - #undef BASE - #undef MASK - #ifdef SIZEOF_VOID_P - enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; - #endif -#endif -#ifndef __has_attribute - #define __has_attribute(x) 0 -#endif -#ifndef __has_cpp_attribute - #define __has_cpp_attribute(x) 0 -#endif -#ifndef CYTHON_RESTRICT - #if defined(__GNUC__) - #define CYTHON_RESTRICT __restrict__ - #elif defined(_MSC_VER) && _MSC_VER >= 1400 - #define CYTHON_RESTRICT __restrict - #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L - #define CYTHON_RESTRICT restrict - #else - #define CYTHON_RESTRICT - #endif -#endif -#ifndef CYTHON_UNUSED -# if defined(__GNUC__) -# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -#endif -#ifndef CYTHON_MAYBE_UNUSED_VAR -# if defined(__cplusplus) - template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } -# else -# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) -# endif -#endif -#ifndef CYTHON_NCP_UNUSED -# if CYTHON_COMPILING_IN_CPYTHON -# define CYTHON_NCP_UNUSED -# else -# define CYTHON_NCP_UNUSED CYTHON_UNUSED -# endif -#endif -#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) -#ifdef _MSC_VER - #ifndef _MSC_STDINT_H_ - #if _MSC_VER < 1300 - typedef unsigned char uint8_t; - typedef unsigned int uint32_t; - #else - typedef unsigned __int8 uint8_t; - typedef unsigned __int32 uint32_t; - #endif - #endif -#else - #include -#endif -#ifndef CYTHON_FALLTHROUGH - #if defined(__cplusplus) && __cplusplus >= 201103L - #if __has_cpp_attribute(fallthrough) - #define CYTHON_FALLTHROUGH [[fallthrough]] - #elif __has_cpp_attribute(clang::fallthrough) - #define CYTHON_FALLTHROUGH [[clang::fallthrough]] - #elif __has_cpp_attribute(gnu::fallthrough) - #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] - #endif - #endif - #ifndef CYTHON_FALLTHROUGH - #if __has_attribute(fallthrough) - #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) - #else - #define CYTHON_FALLTHROUGH - #endif - #endif - #if defined(__clang__ ) && defined(__apple_build_version__) - #if __apple_build_version__ < 7000000 - #undef CYTHON_FALLTHROUGH - #define CYTHON_FALLTHROUGH - #endif - #endif -#endif - -#ifndef __cplusplus - #error "Cython files generated with the C++ option must be compiled with a C++ compiler." -#endif -#ifndef CYTHON_INLINE - #if defined(__clang__) - #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) - #else - #define CYTHON_INLINE inline - #endif -#endif -template -void __Pyx_call_destructor(T& x) { - x.~T(); -} -template -class __Pyx_FakeReference { - public: - __Pyx_FakeReference() : ptr(NULL) { } - __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } - T *operator->() { return ptr; } - T *operator&() { return ptr; } - operator T&() { return *ptr; } - template bool operator ==(U other) { return *ptr == other; } - template bool operator !=(U other) { return *ptr != other; } - private: - T *ptr; -}; - -#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) - #define Py_OptimizeFlag 0 -#endif -#define __PYX_BUILD_PY_SSIZE_T "n" -#define CYTHON_FORMAT_SSIZE_T "z" -#if PY_MAJOR_VERSION < 3 - #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) - #define __Pyx_DefaultClassType PyClass_Type -#else - #define __Pyx_BUILTIN_MODULE_NAME "builtins" - #define __Pyx_DefaultClassType PyType_Type -#if PY_VERSION_HEX >= 0x030B00A1 - static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, - PyObject *code, PyObject *c, PyObject* n, PyObject *v, - PyObject *fv, PyObject *cell, PyObject* fn, - PyObject *name, int fline, PyObject *lnos) { - PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; - PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; - const char *fn_cstr=NULL; - const char *name_cstr=NULL; - PyCodeObject* co=NULL; - PyObject *type, *value, *traceback; - PyErr_Fetch(&type, &value, &traceback); - if (!(kwds=PyDict_New())) goto end; - if (!(argcount=PyLong_FromLong(a))) goto end; - if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; - if (!(posonlyargcount=PyLong_FromLong(0))) goto end; - if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; - if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; - if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; - if (!(nlocals=PyLong_FromLong(l))) goto end; - if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; - if (!(stacksize=PyLong_FromLong(s))) goto end; - if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; - if (!(flags=PyLong_FromLong(f))) goto end; - if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; - if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; - if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; - if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; - if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; - if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here - if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; - Py_XDECREF((PyObject*)co); - co = (PyCodeObject*)call_result; - call_result = NULL; - if (0) { - cleanup_code_too: - Py_XDECREF((PyObject*)co); - co = NULL; - } - end: - Py_XDECREF(kwds); - Py_XDECREF(argcount); - Py_XDECREF(posonlyargcount); - Py_XDECREF(kwonlyargcount); - Py_XDECREF(nlocals); - Py_XDECREF(stacksize); - Py_XDECREF(replace); - Py_XDECREF(call_result); - Py_XDECREF(empty); - if (type) { - PyErr_Restore(type, value, traceback); - } - return co; - } -#else - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) -#endif - #define __Pyx_DefaultClassType PyType_Type -#endif -#ifndef Py_TPFLAGS_CHECKTYPES - #define Py_TPFLAGS_CHECKTYPES 0 -#endif -#ifndef Py_TPFLAGS_HAVE_INDEX - #define Py_TPFLAGS_HAVE_INDEX 0 -#endif -#ifndef Py_TPFLAGS_HAVE_NEWBUFFER - #define Py_TPFLAGS_HAVE_NEWBUFFER 0 -#endif -#ifndef Py_TPFLAGS_HAVE_FINALIZE - #define Py_TPFLAGS_HAVE_FINALIZE 0 -#endif -#ifndef METH_STACKLESS - #define METH_STACKLESS 0 -#endif -#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) - 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#define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) - #define PyMem_RawFree(p) PyMem_Free(p) -#endif -#if CYTHON_COMPILING_IN_PYSTON - #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) -#else - #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) -#endif -#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#elif PY_VERSION_HEX >= 0x03060000 - #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() -#elif PY_VERSION_HEX >= 0x03000000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#else - #define __Pyx_PyThreadState_Current _PyThreadState_Current -#endif -#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) -#include "pythread.h" -#define Py_tss_NEEDS_INIT 0 -typedef int Py_tss_t; -static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { - *key = PyThread_create_key(); - return 0; -} -static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { - Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); - *key = Py_tss_NEEDS_INIT; - return key; -} -static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { - PyObject_Free(key); -} -static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { - return *key != Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { - PyThread_delete_key(*key); - *key = Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { - return PyThread_set_key_value(*key, value); -} -static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { - return PyThread_get_key_value(*key); -} -#endif -#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) -#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) -#else -#define __Pyx_PyDict_NewPresized(n) PyDict_New() -#endif -#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION - #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) -#else - #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS -#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) -#else -#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) -#endif -#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) - #define CYTHON_PEP393_ENABLED 1 - #if defined(PyUnicode_IS_READY) - #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ - 0 : _PyUnicode_Ready((PyObject *)(op))) - #else - #define __Pyx_PyUnicode_READY(op) (0) - #endif - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) - #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) - #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) - #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) - #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) - #endif - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) - #endif -#else - #define CYTHON_PEP393_ENABLED 0 - #define PyUnicode_1BYTE_KIND 1 - #define PyUnicode_2BYTE_KIND 2 - #define PyUnicode_4BYTE_KIND 4 - #define __Pyx_PyUnicode_READY(op) (0) - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) - #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) - #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) - #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) -#endif -#if CYTHON_COMPILING_IN_PYPY - #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) -#else - #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ - PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) - #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) - #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) - #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) -#endif -#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) -#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) -#if PY_MAJOR_VERSION >= 3 - #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) -#else - #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) -#endif -#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) - #define PyObject_ASCII(o) PyObject_Repr(o) -#endif -#if PY_MAJOR_VERSION >= 3 - #define PyBaseString_Type PyUnicode_Type - #define PyStringObject PyUnicodeObject - #define PyString_Type PyUnicode_Type - #define PyString_Check PyUnicode_Check - #define PyString_CheckExact PyUnicode_CheckExact -#ifndef PyObject_Unicode - #define PyObject_Unicode PyObject_Str -#endif -#endif -#if PY_MAJOR_VERSION >= 3 - #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) - #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) -#else - #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) - #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) -#endif -#ifndef PySet_CheckExact - #define PySet_CheckExact(obj) (Py_TYPE(obj) == &PySet_Type) -#endif -#if PY_VERSION_HEX >= 0x030900A4 - #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) - #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) -#else - #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) - #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) -#endif -#if CYTHON_ASSUME_SAFE_MACROS - #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) -#else - #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) -#endif -#if PY_MAJOR_VERSION >= 3 - #define PyIntObject PyLongObject - #define PyInt_Type PyLong_Type - #define PyInt_Check(op) PyLong_Check(op) - #define PyInt_CheckExact(op) PyLong_CheckExact(op) - #define PyInt_FromString PyLong_FromString - #define PyInt_FromUnicode PyLong_FromUnicode - #define PyInt_FromLong PyLong_FromLong - #define PyInt_FromSize_t PyLong_FromSize_t - #define PyInt_FromSsize_t PyLong_FromSsize_t - #define PyInt_AsLong PyLong_AsLong - #define PyInt_AS_LONG PyLong_AS_LONG - #define PyInt_AsSsize_t PyLong_AsSsize_t - #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask - #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask - #define PyNumber_Int PyNumber_Long -#endif -#if PY_MAJOR_VERSION >= 3 - #define PyBoolObject PyLongObject -#endif -#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY - #ifndef PyUnicode_InternFromString - #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) - #endif -#endif -#if PY_VERSION_HEX < 0x030200A4 - typedef long Py_hash_t; - #define __Pyx_PyInt_FromHash_t PyInt_FromLong - #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t -#else - #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t - #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t -#endif -#if PY_MAJOR_VERSION >= 3 - #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func)) -#else - #define __Pyx_PyMethod_New(func, self, klass) PyMethod_New(func, self, klass) -#endif -#if CYTHON_USE_ASYNC_SLOTS - #if PY_VERSION_HEX >= 0x030500B1 - #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods - #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) - #else - #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) - #endif -#else - #define __Pyx_PyType_AsAsync(obj) NULL -#endif -#ifndef __Pyx_PyAsyncMethodsStruct - typedef struct { - unaryfunc am_await; - unaryfunc am_aiter; - unaryfunc am_anext; - } __Pyx_PyAsyncMethodsStruct; -#endif - -#if defined(WIN32) || defined(MS_WINDOWS) - #define _USE_MATH_DEFINES -#endif -#include -#ifdef NAN -#define __PYX_NAN() ((float) NAN) -#else -static CYTHON_INLINE float __PYX_NAN() { - float value; - memset(&value, 0xFF, sizeof(value)); - return value; -} -#endif -#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) -#define __Pyx_truncl trunc -#else -#define __Pyx_truncl truncl -#endif - -#define __PYX_MARK_ERR_POS(f_index, lineno) \ - { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } -#define __PYX_ERR(f_index, lineno, Ln_error) \ - { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } - -#ifndef __PYX_EXTERN_C - #ifdef __cplusplus - #define __PYX_EXTERN_C extern "C" - #else - #define __PYX_EXTERN_C extern - #endif -#endif - -#define __PYX_HAVE__common__clock -#define __PYX_HAVE_API__common__clock -/* Early includes */ -#include -#include -#include -#ifdef _OPENMP -#include -#endif /* _OPENMP */ - -#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) -#define CYTHON_WITHOUT_ASSERTIONS -#endif - -typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; - const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; - -#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 -#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 -#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) -#define __PYX_DEFAULT_STRING_ENCODING "" -#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString -#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize -#define __Pyx_uchar_cast(c) ((unsigned char)c) -#define __Pyx_long_cast(x) ((long)x) -#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ - (sizeof(type) < sizeof(Py_ssize_t)) ||\ - (sizeof(type) > sizeof(Py_ssize_t) &&\ - likely(v < (type)PY_SSIZE_T_MAX ||\ - v == (type)PY_SSIZE_T_MAX) &&\ - (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ - v == (type)PY_SSIZE_T_MIN))) ||\ - (sizeof(type) == sizeof(Py_ssize_t) &&\ - (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ - v == (type)PY_SSIZE_T_MAX))) ) -static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { - return (size_t) i < (size_t) limit; -} -#if defined (__cplusplus) && __cplusplus >= 201103L - #include - #define __Pyx_sst_abs(value) std::abs(value) -#elif SIZEOF_INT >= SIZEOF_SIZE_T - #define __Pyx_sst_abs(value) abs(value) -#elif SIZEOF_LONG >= SIZEOF_SIZE_T - #define __Pyx_sst_abs(value) labs(value) -#elif defined (_MSC_VER) - #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) -#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L - #define __Pyx_sst_abs(value) llabs(value) -#elif defined (__GNUC__) - #define __Pyx_sst_abs(value) __builtin_llabs(value) -#else - #define __Pyx_sst_abs(value) ((value<0) ? -value : value) -#endif -static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); -static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); -#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s)) -#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) -#define __Pyx_PyBytes_FromString PyBytes_FromString -#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); -#if PY_MAJOR_VERSION < 3 - #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString - #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize -#else - #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString - #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize -#endif -#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyObject_AsWritableString(s) ((char*) __Pyx_PyObject_AsString(s)) -#define __Pyx_PyObject_AsWritableSString(s) ((signed char*) __Pyx_PyObject_AsString(s)) -#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*) __Pyx_PyObject_AsString(s)) -#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) -#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) -#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) -#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) -#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) -#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) -#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) -static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) { - const Py_UNICODE *u_end = u; - while (*u_end++) ; - return (size_t)(u_end - u - 1); -} -#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) -#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode -#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode -#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) -#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) -static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); -static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); -static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); -static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); -#define __Pyx_PySequence_Tuple(obj)\ - (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) -static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); -static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); -#if CYTHON_ASSUME_SAFE_MACROS -#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) -#else -#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) -#endif -#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) -#if PY_MAJOR_VERSION >= 3 -#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) -#else -#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) -#endif -#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x)) -#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII -static int __Pyx_sys_getdefaultencoding_not_ascii; -static int __Pyx_init_sys_getdefaultencoding_params(void) { - PyObject* sys; - PyObject* default_encoding = NULL; - PyObject* ascii_chars_u = NULL; - PyObject* ascii_chars_b = NULL; - const char* default_encoding_c; - sys = PyImport_ImportModule("sys"); - if (!sys) goto bad; - default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); - Py_DECREF(sys); - if (!default_encoding) goto bad; 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Py_False : Py_True; - Py_DECREF(use_cline_obj); - } else { - PyErr_Clear(); - use_cline = NULL; - } - } - if (!use_cline) { - c_line = 0; - (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); - } - else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { - c_line = 0; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - return c_line; -} -#endif - -/* CodeObjectCache */ -static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { - int start = 0, mid = 0, end = count - 1; - if (end >= 0 && code_line > entries[end].code_line) { - return count; - } - while (start < end) { - mid = start + (end - start) / 2; - if (code_line < entries[mid].code_line) { - end = mid; - } else if (code_line > entries[mid].code_line) { - start = mid + 1; - } else { - return mid; - } - } - if (code_line <= entries[mid].code_line) { - return mid; - } else { - return mid + 1; - } -} -static PyCodeObject *__pyx_find_code_object(int code_line) { - PyCodeObject* code_object; - int pos; - if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { - return NULL; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { - return NULL; - } - code_object = __pyx_code_cache.entries[pos].code_object; - Py_INCREF(code_object); - return code_object; -} -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { - int pos, i; - __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; - if (unlikely(!code_line)) { - return; - } - if (unlikely(!entries)) { - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); - if (likely(entries)) { - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = 64; - __pyx_code_cache.count = 1; - entries[0].code_line = code_line; - entries[0].code_object = code_object; - Py_INCREF(code_object); - } - return; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { - PyCodeObject* tmp = entries[pos].code_object; - entries[pos].code_object = code_object; - Py_DECREF(tmp); - return; - } - if (__pyx_code_cache.count == __pyx_code_cache.max_count) { - int new_max = __pyx_code_cache.max_count + 64; - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( - __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); - if (unlikely(!entries)) { - return; - } - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = new_max; - } - for (i=__pyx_code_cache.count; i>pos; i--) { - entries[i] = entries[i-1]; - } - entries[pos].code_line = code_line; - entries[pos].code_object = code_object; - __pyx_code_cache.count++; - Py_INCREF(code_object); -} - -/* AddTraceback */ -#include "compile.h" -#include "frameobject.h" -#include "traceback.h" -static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( - const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = NULL; - PyObject *py_funcname = NULL; - #if PY_MAJOR_VERSION < 3 - PyObject *py_srcfile = NULL; - py_srcfile = PyString_FromString(filename); - if (!py_srcfile) goto bad; - #endif - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - funcname = PyUnicode_AsUTF8(py_funcname); - if (!funcname) goto bad; - #endif - } - else { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); - if (!py_funcname) goto bad; - #endif - } - #if PY_MAJOR_VERSION < 3 - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - #else - py_code = PyCode_NewEmpty(filename, funcname, py_line); - #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline - return py_code; -bad: - Py_XDECREF(py_funcname); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_srcfile); - #endif - return NULL; -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); - } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) goto bad; - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); - } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); -} - -/* CIntToPy */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); - } -} - -/* CIntFromPyVerify */ -#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ - } - -/* CIntFromPy */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(long) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (long) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { - return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { - return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { - return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(long) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) - case -2: - if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - } -#endif - if (sizeof(long) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - long val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (long) -1; - } - } else { - long val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (long) -1; - val = __Pyx_PyInt_As_long(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to long"); - return (long) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to long"); - return (long) -1; -} - -/* CIntFromPy */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(int) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (int) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { - return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { - return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { - return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(int) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) - case -2: - if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - } -#endif - if (sizeof(int) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - int val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (int) -1; - } - } else { - int val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (int) -1; - val = __Pyx_PyInt_As_int(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to int"); - return (int) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to int"); - return (int) -1; -} - -/* FastTypeChecks */ -#if CYTHON_COMPILING_IN_CPYTHON -static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { - while (a) { - a = a->tp_base; - if (a == b) - return 1; - } - return b == &PyBaseObject_Type; -} -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (a == b) return 1; - mro = a->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(a, b); -} -#if PY_MAJOR_VERSION == 2 -static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { - PyObject *exception, *value, *tb; - int res; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&exception, &value, &tb); - res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - if (!res) { - res = PyObject_IsSubclass(err, exc_type2); - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - } - __Pyx_ErrRestore(exception, value, tb); - return res; -} -#else -static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { - int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; - if (!res) { - res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); - } - return res; -} -#endif -static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - assert(PyExceptionClass_Check(exc_type)); - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; ip) { - #if PY_MAJOR_VERSION < 3 - if (t->is_unicode) { - *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); - } else if (t->intern) { - *t->p = PyString_InternFromString(t->s); - } else { - *t->p = PyString_FromStringAndSize(t->s, t->n - 1); - } - #else - if (t->is_unicode | t->is_str) { - if (t->intern) { - *t->p = PyUnicode_InternFromString(t->s); - } else if (t->encoding) { - *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); - } else { - *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); - } - } else { - *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); - } - #endif - if (!*t->p) - return -1; - if (PyObject_Hash(*t->p) == -1) - return -1; - ++t; - } - return 0; -} - -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { - return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); -} -static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { - Py_ssize_t ignore; - return __Pyx_PyObject_AsStringAndSize(o, &ignore); -} -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT -#if !CYTHON_PEP393_ENABLED -static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - char* defenc_c; - PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); - if (!defenc) return NULL; - defenc_c = PyBytes_AS_STRING(defenc); -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - { - char* end = defenc_c + PyBytes_GET_SIZE(defenc); - char* c; - for (c = defenc_c; c < end; c++) { - if ((unsigned char) (*c) >= 128) { - PyUnicode_AsASCIIString(o); - return NULL; - } - } - } -#endif - *length = PyBytes_GET_SIZE(defenc); - return defenc_c; -} -#else -static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - if (likely(PyUnicode_IS_ASCII(o))) { - *length = PyUnicode_GET_LENGTH(o); - return PyUnicode_AsUTF8(o); - } else { - PyUnicode_AsASCIIString(o); - return NULL; - } -#else - return PyUnicode_AsUTF8AndSize(o, length); -#endif -} -#endif -#endif -static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT - if ( -#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - __Pyx_sys_getdefaultencoding_not_ascii && -#endif - PyUnicode_Check(o)) { - return __Pyx_PyUnicode_AsStringAndSize(o, length); - } else -#endif -#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) - if (PyByteArray_Check(o)) { - *length = PyByteArray_GET_SIZE(o); - return PyByteArray_AS_STRING(o); - } else -#endif - { - char* result; - int r = PyBytes_AsStringAndSize(o, &result, length); - if (unlikely(r < 0)) { - return NULL; - } else { - return result; - } - } -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { - int is_true = x == Py_True; - if (is_true | (x == Py_False) | (x == Py_None)) return is_true; - else return PyObject_IsTrue(x); -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { - int retval; - if (unlikely(!x)) return -1; - retval = __Pyx_PyObject_IsTrue(x); - Py_DECREF(x); - return retval; -} -static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { -#if PY_MAJOR_VERSION >= 3 - if (PyLong_Check(result)) { - if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, - "__int__ returned non-int (type %.200s). " - "The ability to return an instance of a strict subclass of int " - "is deprecated, and may be removed in a future version of Python.", - Py_TYPE(result)->tp_name)) { - Py_DECREF(result); - return NULL; - } - return result; - } -#endif - PyErr_Format(PyExc_TypeError, - "__%.4s__ returned non-%.4s (type %.200s)", - type_name, type_name, Py_TYPE(result)->tp_name); - Py_DECREF(result); - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { -#if CYTHON_USE_TYPE_SLOTS - PyNumberMethods *m; -#endif - const char *name = NULL; - PyObject *res = NULL; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x) || PyLong_Check(x))) -#else - if (likely(PyLong_Check(x))) -#endif - return __Pyx_NewRef(x); -#if CYTHON_USE_TYPE_SLOTS - m = Py_TYPE(x)->tp_as_number; - #if PY_MAJOR_VERSION < 3 - if (m && m->nb_int) { - name = "int"; - res = m->nb_int(x); - } - else if (m && m->nb_long) { - name = "long"; - res = m->nb_long(x); - } - #else - if (likely(m && m->nb_int)) { - name = "int"; - res = m->nb_int(x); - } - #endif -#else - if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { - res = PyNumber_Int(x); - } -#endif - if (likely(res)) { -#if PY_MAJOR_VERSION < 3 - if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { -#else - if (unlikely(!PyLong_CheckExact(res))) { -#endif - return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); - } - } - else if (!PyErr_Occurred()) { - PyErr_SetString(PyExc_TypeError, - "an integer is required"); - } - return res; -} -static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { - Py_ssize_t ival; - PyObject *x; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(b))) { - if (sizeof(Py_ssize_t) >= sizeof(long)) - return PyInt_AS_LONG(b); - else - return PyInt_AsSsize_t(b); - } -#endif - if (likely(PyLong_CheckExact(b))) { - #if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)b)->ob_digit; - const Py_ssize_t size = Py_SIZE(b); - if (likely(__Pyx_sst_abs(size) <= 1)) { - ival = likely(size) ? digits[0] : 0; - if (size == -1) ival = -ival; - return ival; - } else { - switch (size) { - case 2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - } - } - #endif - return PyLong_AsSsize_t(b); - } - x = PyNumber_Index(b); - if (!x) return -1; - ival = PyInt_AsSsize_t(x); - Py_DECREF(x); - return ival; -} -static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { - if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { - return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); -#if PY_MAJOR_VERSION < 3 - } else if (likely(PyInt_CheckExact(o))) { - return PyInt_AS_LONG(o); -#endif - } else { - Py_ssize_t ival; - PyObject *x; - x = PyNumber_Index(o); - if (!x) return -1; - ival = PyInt_AsLong(x); - Py_DECREF(x); - return ival; - } -} -static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { - return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); -} -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { - return PyInt_FromSize_t(ival); -} - - -#endif /* Py_PYTHON_H */ diff --git a/common/dp_conf.py b/common/dp_conf.py deleted file mode 100644 index a53aa0c55..000000000 --- a/common/dp_conf.py +++ /dev/null @@ -1,318 +0,0 @@ -#!/usr/bin/env python3.7 -#pylint: skip-file -import os -import sys -import json -import time -from math import floor -from system.hardware import TICI - -''' -* type: Bool, Int8, UInt8, UInt16, Float32 -* conf_type: param, struct -* dependencies needs to use struct and loaded prior so we don't have to read the param multiple times. -* update_once: True, False (the param will only load up once, need both param and struct defined) -''' -confs = [ - # custom api server - {'name': 'dp_api_custom', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_api_custom_url', 'default': 'https://api.retropilot.org', 'type': 'Text', 'depends': [{'name': 'dp_api_custom', 'vals': [True]}], 'conf_type': ['param']}, - - {'name': 'dp_atl', 'default': 0, 'type': 'UInt8', 'conf_type': ['param', 'struct'], 'update_once': True}, - - {'name': 'dp_locale', 'default': 'en-US', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True}, - {'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - - # nav service - {'name': 'dp_nav', 'default': True if TICI else False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_otisserv', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_nav_mapbox_token_pk', 'default': '', 'type': 'Text', 'conf_type': ['param']}, - {'name': 'dp_nav_mapbox_token_sk', 'default': '', 'type': 'Text', 'conf_type': ['param']}, - {'name': 'dp_nav_full_screen', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_nav_gmap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_nav_gmap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']}, - {'name': 'dp_nav_amap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_nav_amap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']}, - {'name': 'dp_nav_amap_key_2', 'default': '', 'type': 'Text', 'conf_type': ['param']}, - {'name': 'dp_nav_style_day', 'default': 'mapbox://styles/rav4kumar/ckv7dtfba6oik15r0w8dh1c1q', 'type': 'Text', 'conf_type': ['param']}, - {'name': 'dp_nav_style_night', 'default': 'mapbox://styles/rav4kumar/ckvsf3f4u0zb414tcz9vof5jc', 'type': 'Text', 'conf_type': ['param']}, - - # gpxd - {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - - # assign car via param - # echo -n TOYOTA C-HR 2021 > /data/params/d/dp_car_assigned - {'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']}, - {'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']}, - - {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']}, - - # lateral - alc - {'name': 'dp_lateral_mode', 'default': 1, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']}, - # {'name': 'dp_signal_off_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [0]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_lc_min_mph', 'default': 15, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [1, 2]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_lc_auto_min_mph', 'default': 40, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_lc_auto_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_lateral_lanelines', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_lateral_camera_offset', 'default': 4 if TICI else -6, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_lateral_path_offset', 'default': 4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_lateral_road_edge_detected', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - - #ui - {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']}, - {'name': 'dp_quiet_drive', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_ui_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - #{'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']}, - {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']}, - {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']}, - {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - # {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_ui_lead_info', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_ui_laneline', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_ui_chevron', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_ui_dm_cam', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_ui_rainbow', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - - #toyota - {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_toyota_cruise_override_speed', 'default': 30, 'type': 'UInt8', 'min': 5, 'max': 60, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_toyota_auto_lock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_toyota_auto_unlock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - - {'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_local_db', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - - - # dashcam related - {'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - # # auto shutdown - {'name': 'dp_auto_shutdown', 'default': True, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_auto_shutdown_in', 'default': 60, 'type': 'UInt16', 'min': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']}, - - {'name': 'dp_mazda_steer_alert', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_mazda_dashcam_bypass', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # # service - # {'name': 'dp_updated', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # {'name': 'dp_logger', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # {'name': 'dp_athenad', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True}, - # {'name': 'dp_uploader', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True}, - # # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_dm', 'default': True if not TICI else False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_temp_check', 'default': True, 'type': 'Bool', 'conf_type': ['param']}, - # {'name': 'dp_vag_resume_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # # lat ctrl - # {'name': 'dp_lane_less_mode_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - # {'name': 'dp_lane_less_mode', 'default': 2, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_lane_less_mode_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - # # long ctrl - # {'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_lateral_tune', 'default': 0, 'type': 'UInt8', 'conf_type': ['param']}, - {'name': 'dp_lateral_torque_live_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_lateral_alt', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_lateral_alt_speed', 'default': 80, 'type': 'UInt8', 'min': 10, 'max': 130, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_lateral_alt_ctrl', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_lateral_alt_lanelines', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_lateral_alt_camera_offset', 'default': 4 if TICI else -6, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}, {'name': 'dp_lateral_alt_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_lateral_alt_path_offset', 'default': 4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}, {'name': 'dp_lateral_alt_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - # {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - # {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - # # safety - # {'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']}, - # # UIs - # {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']}, - # {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - # {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - # {'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - # {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - # {'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - # {'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - # {'name': 'dp_ui_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - # {'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - # {'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - # {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']}, - # {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']}, - # # toyota - {'name': 'dp_toyota_rav4_tss2_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_toyota_prius_bad_angle_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_e2e_conditional', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - #{'name': 'dp_e2e_conditional_at_speed', 'default': 60, 'type': 'UInt8', 'min': 30, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - #{'name': 'dp_e2e_conditional_at_speed_lead', 'default': 40, 'type': 'UInt8', 'min': 0, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_e2e_conditional_adapt_fp', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_e2e_conditional_adapt_ap', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - {'name': 'dp_e2e_conditional_voacc', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - # {'name': 'dp_toyota_no_min_acc_limit', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_toyota_change5speed', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # {'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # {'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # {'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - # {'name': 'dp_toyota_cruise_override_vego', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'conf_type': ['param', 'struct']}, - # {'name': 'dp_toyota_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']}, - # {'name': 'dp_toyota_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']}, - # # hyundai - # {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # # honda - # {'name': 'dp_honda_kmh_display', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # # volkswagen - # # {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # #misc - # {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']}, - # {'name': 'dp_fan_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param']}, - # {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']}, - # {'name': 'dp_camera_offset', 'default': CAMERA_OFFSET, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']}, - # {'name': 'dp_path_offset', 'default': 0 if EON else -4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']}, - # - # {'name': 'dp_reg', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # # sr learner related - # {'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - # {'name': 'dp_sr_custom', 'default': 9.99, 'min': 9.99, 'max': 30., 'type': 'Float32', 'depends': [{'name': 'dp_sr_learner', 'vals': [False]}], 'conf_type': ['param', 'struct']}, - # {'name': 'dp_sr_stock', 'default': 9.99, 'min': 9.99, 'max': 100., 'type': 'Float32', 'conf_type': ['param']}, - # - # {'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # {'name': 'dp_reset_live_param_on_start', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # - # {'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']}, - # {'name': 'dp_no_batt', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # {'name': 'dp_last_candidate', 'default': '', 'type': 'Text', 'conf_type': ['param']}, - # {'name': 'dp_prebuilt', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # {'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, - # # no gps is for mr. one's harness + black panda in one solution (without GPS chip) - # {'name': 'dp_panda_no_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # - # {'name': 'dp_no_offroad_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - # {'name': 'dp_ftpd', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'dp_lateral_version', 'default': 0, 'min': 0, 'max': 2, 'type': 'UInt8', 'conf_type': ['param']}, - {'name': 'dp_lateral_steer_rate_cost', 'default': 1.0, 'min': 0.5, 'max': 2.0, 'type': 'Float32', 'conf_type': ['param']}, - {'name': 'dp_upload_ignored', 'default': True, 'type': 'Bool', 'conf_type': ['param']}, - {'name': 'local_trip_count_total', 'default': 0.0, 'type': 'Float32', 'conf_type': ['param']}, - {'name': 'local_trip_meter_total', 'default': 0.0, 'type': 'Float32', 'conf_type': ['param']}, - {'name': 'local_trip_min_total', 'default': 0.0, 'type': 'Float32', 'conf_type': ['param']}, - {'name': 'dp_lateral_lc_manual', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, -] - -def get_definition(name): - for conf in confs: - if conf['name'] == name: - return conf - return None - -def to_param_val(name, val): - conf = get_definition(name) - if conf is not None: - type = conf['type'].lower() - try: - if 'bool' in type: - val = '1' if val else '0' - elif 'int' in type: - val = int(val) - elif 'float' in type: - val = float(val) - return str(val) - except (ValueError, TypeError): - return '' - return '' - -def to_struct_val(name, val): - conf = get_definition(name) - if conf is not None: - try: - type = conf['type'].lower() - if 'bool' in type: - val = True if val == '1' else False - elif 'int' in type: - val = int(val) - elif 'float' in type: - val = float(val) - return val - except (ValueError, TypeError): - return None - return None - -''' -function to convert param name into struct name. -''' -def get_struct_name(snake_str): - components = snake_str.split('_') - # We capitalize the first letter of each component except the first one - # with the 'title' method and join them together. - return components[0] + ''.join(x.title() for x in components[1:]) - -''' -function to generate struct for log.capnp -''' -def gen_log_struct(): - count = 0 - str = "# dp\n" - str += "struct DragonConf {\n" - for conf in confs: - name = get_struct_name(conf['name']) - if 'struct' in conf['conf_type']: - str += f" {name} @{count} :{conf['type']};\n" - count += 1 - str += "}" - print(str) - -''' -function to generate support car list -''' -def get_support_car_list(): - attrs = ['FINGERPRINTS', 'FW_VERSIONS'] - cars = dict({"cars": []}) - models = [] - for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]: - try: - car_name = car_folder.split('/')[-1] - if car_name != "mock": - for attr in attrs: - values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr]) - if hasattr(values, attr): - attr_values = getattr(values, attr) - else: - continue - if isinstance(attr_values, dict): - for f, v in attr_values.items(): - if f not in models: - models.append(f) - except (ImportError, IOError, ValueError): - pass - models.sort() - cars["cars"] = models - return json.dumps(cars) - -''' -function to init param value. -should add this into manager.py -''' -def init_params_vals(params): - for conf in confs: - if 'param' in conf['conf_type']: - if conf['name'] == 'dp_car_list': - params.put(conf['name'], get_support_car_list()) - elif params.get(conf['name']) is None: - params.put(conf['name'], to_param_val(conf['name'], conf['default'])) - -def gen_params_cc_keys(): - for conf in confs: - if 'param' in conf['conf_type']: - print(" {\"%s\", PERSISTENT}," % conf['name']) - - -if __name__ == "__main__": - if (len(sys.argv) > 1) and sys.argv[1] == 'cc': - gen_params_cc_keys() - else: - gen_log_struct() diff --git a/common/dp_helpers.py b/common/dp_helpers.py deleted file mode 100644 index 064949c20..000000000 --- a/common/dp_helpers.py +++ /dev/null @@ -1,59 +0,0 @@ -#!/usr/bin/env python3.7 -# import subprocess -# from cereal import car -from common.params import Params -from common.realtime import sec_since_boot -import os -params = Params() -LAST_MODIFIED = params.get_param_path() + "/dp_last_modified" - -# delay of reading last modified -# LAST_MODIFIED_TIMER_THERMALD = 10. -LAST_MODIFIED_TIMER_SYSTEMD = 1. -# LAST_MODIFIED_TIMER_LANE_PLANNER = 3. -# LAST_MODIFIED_TIMER_UPLOADER = 10. - -# def is_online(): -# try: -# return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"]) -# except ProcessLookupError: -# return False -# -# def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego): -# if enabled: -# if dragonconf.dpLateralMode == 0 and blinker_on: -# steer_req = 0 if isinstance(steer_req, int) else False -# return steer_req -# -def get_last_modified(delay, old_check, old_modified): - new_check = sec_since_boot() - if os.path.isfile(LAST_MODIFIED) and (old_check is None or new_check - old_check >= delay): - return new_check, os.stat(LAST_MODIFIED).st_mtime - else: - return old_check, old_modified - -# def param_get_if_updated(param, type, old_val, old_modified): -# try: -# modified = os.stat(PARAM_PATH + param).st_mtime -# except OSError: -# return old_val, old_modified -# if old_modified != modified: -# new_val = param_get(param, type, old_val) -# new_modified = modified -# else: -# new_val = old_val -# new_modified = old_modified -# return new_val, new_modified - -# def param_get(param_name, type, default): -# try: -# val = params.get(param_name, encoding='utf8').rstrip('\x00') -# if type == 'bool': -# val = val == '1' -# elif type == 'int': -# val = int(val) -# elif type == 'float': -# val = float(val) -# except (TypeError, ValueError): -# val = default -# return val diff --git a/common/file_helpers.py b/common/file_helpers.py index 592b2a199..8a45fa313 100644 --- a/common/file_helpers.py +++ b/common/file_helpers.py @@ -81,25 +81,12 @@ def _get_fileobject_func(writer, temp_dir): return writer.get_fileobject(dir=temp_dir) return _get_fileobject -def monkeypatch_os_link(): - # This is neccesary on EON/C2, where os.link is patched out of python - if not hasattr(os, 'link'): - from cffi import FFI - ffi = FFI() - ffi.cdef("int link(const char *oldpath, const char *newpath);") - libc = ffi.dlopen(None) - - def link(src, dest): - return libc.link(src.encode(), dest.encode()) - os.link = link - def atomic_write_on_fs_tmp(path, **kwargs): """Creates an atomic writer using a temporary file in a temporary directory on the same filesystem as path. """ # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp # directory. - monkeypatch_os_link() writer = AtomicWriter(path, **kwargs) return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path))) @@ -108,6 +95,5 @@ def atomic_write_in_dir(path, **kwargs): """Creates an atomic writer using a temporary file in the same directory as the destination file. """ - monkeypatch_os_link() writer = AtomicWriter(path, **kwargs) return writer._open(_get_fileobject_func(writer, os.path.dirname(path))) diff --git a/common/gpio.py b/common/gpio.py index 260f8898a..711fcff85 100644 --- a/common/gpio.py +++ b/common/gpio.py @@ -1,4 +1,5 @@ -from typing import Optional +import glob +from typing import Optional, List def gpio_init(pin: int, output: bool) -> None: try: @@ -23,3 +24,13 @@ def gpio_read(pin: int) -> Optional[bool]: print(f"Failed to set gpio {pin} value: {e}") return val + +def get_irq_for_action(action: str) -> List[int]: + ret = [] + for fn in glob.glob('/sys/kernel/irq/*/actions'): + with open(fn) as f: + actions = f.read().strip().split(',') + if action in actions: + irq = int(fn.split('/')[-2]) + ret.append(irq) + return ret diff --git a/common/kalman/simple_kalman_impl.cpp b/common/kalman/simple_kalman_impl.cpp deleted file mode 100644 index faa41d50f..000000000 --- a/common/kalman/simple_kalman_impl.cpp +++ /dev/null @@ -1,6965 +0,0 @@ -/* Generated by Cython 0.29.26 */ - 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- default_encoding_c = PyBytes_AsString(default_encoding); - if (!default_encoding_c) goto bad; - if (strcmp(default_encoding_c, "ascii") == 0) { - __Pyx_sys_getdefaultencoding_not_ascii = 0; - } else { - char ascii_chars[128]; - int c; - for (c = 0; c < 128; c++) { - ascii_chars[c] = c; - } - __Pyx_sys_getdefaultencoding_not_ascii = 1; - ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); - if (!ascii_chars_u) goto bad; - ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); - if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { - PyErr_Format( - PyExc_ValueError, - "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", - default_encoding_c); - goto bad; - } - Py_DECREF(ascii_chars_u); - Py_DECREF(ascii_chars_b); - } - Py_DECREF(default_encoding); - return 0; -bad: - Py_XDECREF(default_encoding); - Py_XDECREF(ascii_chars_u); 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"" : "s", num_found); -} - -/* RaiseDoubleKeywords */ -static void __Pyx_RaiseDoubleKeywordsError( - const char* func_name, - PyObject* kw_name) -{ - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION >= 3 - "%s() got multiple values for keyword argument '%U'", func_name, kw_name); - #else - "%s() got multiple values for keyword argument '%s'", func_name, - PyString_AsString(kw_name)); - #endif -} - -/* ParseKeywords */ -static int __Pyx_ParseOptionalKeywords( - PyObject *kwds, - PyObject **argnames[], - PyObject *kwds2, - PyObject *values[], - Py_ssize_t num_pos_args, - const char* function_name) -{ - PyObject *key = 0, *value = 0; - Py_ssize_t pos = 0; - PyObject*** name; - PyObject*** first_kw_arg = argnames + num_pos_args; - while (PyDict_Next(kwds, &pos, &key, &value)) { - name = first_kw_arg; - while (*name && (**name != key)) name++; - if (*name) { - values[name-argnames] = value; - continue; - } - name = first_kw_arg; - #if PY_MAJOR_VERSION < 3 - if (likely(PyString_Check(key))) { - while (*name) { - if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) - && _PyString_Eq(**name, key)) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - if ((**argname == key) || ( - (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) - && _PyString_Eq(**argname, key))) { - goto arg_passed_twice; - } - argname++; - } - } - } else - #endif - if (likely(PyUnicode_Check(key))) { - while (*name) { - int cmp = (**name == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**name, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - int cmp = (**argname == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**argname, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) goto arg_passed_twice; - argname++; - } - } - } else - goto invalid_keyword_type; - if (kwds2) { - if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; - } else { - goto invalid_keyword; - } - } - return 0; -arg_passed_twice: - __Pyx_RaiseDoubleKeywordsError(function_name, key); - goto bad; -invalid_keyword_type: - PyErr_Format(PyExc_TypeError, - "%.200s() keywords must be strings", function_name); - goto bad; -invalid_keyword: - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION < 3 - "%.200s() got an unexpected keyword argument '%.200s'", - function_name, PyString_AsString(key)); - #else - "%s() got an unexpected keyword argument '%U'", - function_name, key); - #endif -bad: - return -1; -} - -/* GetItemInt */ -static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { - PyObject *r; - if (!j) return NULL; - r = PyObject_GetItem(o, j); - Py_DECREF(j); - return r; -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyList_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { - PyObject *r = PyList_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyTuple_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS - if (is_list || PyList_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); - if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { - PyObject *r = PyList_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } - else if (PyTuple_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); - if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } else { - PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; - if (likely(m && m->sq_item)) { - if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { - Py_ssize_t l = m->sq_length(o); - if (likely(l >= 0)) { - i += l; - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - return NULL; - PyErr_Clear(); - } - } - return m->sq_item(o, i); - } - } -#else - if (is_list || PySequence_Check(o)) { - return PySequence_GetItem(o, i); - } -#endif - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -} - -/* PyErrExceptionMatches */ -#if CYTHON_FAST_THREAD_STATE -static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; icurexc_type; - if (exc_type == err) return 1; - if (unlikely(!exc_type)) return 0; - if (unlikely(PyTuple_Check(err))) - return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); - return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); -} -#endif - -/* PyErrFetchRestore */ -#if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - tmp_type = tstate->curexc_type; - tmp_value = tstate->curexc_value; - tmp_tb = tstate->curexc_traceback; - tstate->curexc_type = type; - tstate->curexc_value = value; - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - *type = tstate->curexc_type; - *value = tstate->curexc_value; - *tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -} -#endif - -/* PyObjectGetAttrStr */ -#if CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro)) - return tp->tp_getattro(obj, attr_name); -#if PY_MAJOR_VERSION < 3 - if (likely(tp->tp_getattr)) - return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); -#endif - return PyObject_GetAttr(obj, attr_name); -} -#endif - -/* GetAttr */ -static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { -#if CYTHON_USE_TYPE_SLOTS -#if PY_MAJOR_VERSION >= 3 - if (likely(PyUnicode_Check(n))) -#else - if (likely(PyString_Check(n))) -#endif - return __Pyx_PyObject_GetAttrStr(o, n); -#endif - return PyObject_GetAttr(o, n); -} - -/* GetAttr3 */ -static PyObject *__Pyx_GetAttr3Default(PyObject *d) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - return NULL; - __Pyx_PyErr_Clear(); - Py_INCREF(d); - return d; -} -static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { - PyObject *r = __Pyx_GetAttr(o, n); - return (likely(r)) ? r : __Pyx_GetAttr3Default(d); -} - -/* GetBuiltinName */ -static PyObject *__Pyx_GetBuiltinName(PyObject *name) { - PyObject* result = __Pyx_PyObject_GetAttrStr(__pyx_b, name); - if (unlikely(!result)) { - PyErr_Format(PyExc_NameError, -#if PY_MAJOR_VERSION >= 3 - "name '%U' is not defined", name); -#else - "name '%.200s' is not defined", PyString_AS_STRING(name)); -#endif - } - return result; -} - -/* PyDictVersioning */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; -} -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { - PyObject **dictptr = NULL; - Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; - if (offset) { -#if CYTHON_COMPILING_IN_CPYTHON - dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); -#else - dictptr = _PyObject_GetDictPtr(obj); -#endif - } - return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; -} -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) - return 0; - return obj_dict_version == __Pyx_get_object_dict_version(obj); -} -#endif - -/* GetModuleGlobalName */ -#if CYTHON_USE_DICT_VERSIONS -static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) -#else -static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) -#endif -{ - PyObject *result; -#if !CYTHON_AVOID_BORROWED_REFS -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 - result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } else if (unlikely(PyErr_Occurred())) { - return NULL; - } -#else - result = PyDict_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } -#endif -#else - result = PyObject_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } - PyErr_Clear(); -#endif - return __Pyx_GetBuiltinName(name); -} - -/* Import */ -static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { - PyObject *empty_list = 0; - PyObject *module = 0; - PyObject *global_dict = 0; - PyObject *empty_dict = 0; - PyObject *list; - #if PY_MAJOR_VERSION < 3 - PyObject *py_import; - py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); - if (!py_import) - goto bad; - #endif - if (from_list) - list = from_list; - else { - empty_list = PyList_New(0); - if (!empty_list) - goto bad; - list = empty_list; - } - global_dict = PyModule_GetDict(__pyx_m); - if (!global_dict) - goto bad; - empty_dict = PyDict_New(); - if (!empty_dict) - goto bad; - { - #if PY_MAJOR_VERSION >= 3 - if (level == -1) { - if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, 1); - if (!module) { - if (!PyErr_ExceptionMatches(PyExc_ImportError)) - goto bad; - PyErr_Clear(); - } - } - level = 0; - } - #endif - if (!module) { - #if PY_MAJOR_VERSION < 3 - PyObject *py_level = PyInt_FromLong(level); - if (!py_level) - goto bad; - module = PyObject_CallFunctionObjArgs(py_import, - name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); - Py_DECREF(py_level); - #else - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, level); - #endif - } - } -bad: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_import); - #endif - Py_XDECREF(empty_list); - Py_XDECREF(empty_dict); - return module; -} - -/* ImportFrom */ -static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { - PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); - if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { - PyErr_Format(PyExc_ImportError, - #if PY_MAJOR_VERSION < 3 - "cannot import name %.230s", PyString_AS_STRING(name)); - #else - "cannot import name %S", name); - #endif - } - return value; -} - -/* PyCFunctionFastCall */ -#if CYTHON_FAST_PYCCALL -static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { - PyCFunctionObject *func = (PyCFunctionObject*)func_obj; - PyCFunction meth = PyCFunction_GET_FUNCTION(func); - PyObject *self = PyCFunction_GET_SELF(func); - int flags = PyCFunction_GET_FLAGS(func); - assert(PyCFunction_Check(func)); - assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); - assert(nargs >= 0); - assert(nargs == 0 || args != NULL); - /* _PyCFunction_FastCallDict() must not be called with an exception set, - because it may clear it (directly or indirectly) and so the - caller loses its exception */ - assert(!PyErr_Occurred()); - if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { - return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); - } else { - return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); - } -} -#endif - -/* PyFunctionFastCall */ -#if CYTHON_FAST_PYCALL -static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, - PyObject *globals) { - PyFrameObject *f; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject **fastlocals; - Py_ssize_t i; - PyObject *result; - assert(globals != NULL); - /* XXX Perhaps we should create a specialized - PyFrame_New() that doesn't take locals, but does - take builtins without sanity checking them. - */ - assert(tstate != NULL); - f = PyFrame_New(tstate, co, globals, NULL); - if (f == NULL) { - return NULL; - } - fastlocals = __Pyx_PyFrame_GetLocalsplus(f); - for (i = 0; i < na; i++) { - Py_INCREF(*args); - fastlocals[i] = *args++; - } - result = PyEval_EvalFrameEx(f,0); - ++tstate->recursion_depth; - Py_DECREF(f); - --tstate->recursion_depth; - return result; -} -#if 1 || PY_VERSION_HEX < 0x030600B1 -static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { - PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); - PyObject *globals = PyFunction_GET_GLOBALS(func); - PyObject *argdefs = PyFunction_GET_DEFAULTS(func); - PyObject *closure; -#if PY_MAJOR_VERSION >= 3 - PyObject *kwdefs; -#endif - PyObject *kwtuple, **k; - PyObject **d; - Py_ssize_t nd; - Py_ssize_t nk; - PyObject *result; - assert(kwargs == NULL || PyDict_Check(kwargs)); - nk = kwargs ? PyDict_Size(kwargs) : 0; - if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { - return NULL; - } - if ( -#if PY_MAJOR_VERSION >= 3 - co->co_kwonlyargcount == 0 && -#endif - likely(kwargs == NULL || nk == 0) && - co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { - if (argdefs == NULL && co->co_argcount == nargs) { - result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); - goto done; - } - else if (nargs == 0 && argdefs != NULL - && co->co_argcount == Py_SIZE(argdefs)) { - /* function called with no arguments, but all parameters have - a default value: use default values as arguments .*/ - args = &PyTuple_GET_ITEM(argdefs, 0); - result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); - goto done; - } - } - if (kwargs != NULL) { - Py_ssize_t pos, i; - kwtuple = PyTuple_New(2 * nk); - if (kwtuple == NULL) { - result = NULL; - goto done; - } - k = &PyTuple_GET_ITEM(kwtuple, 0); - pos = i = 0; - while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { - Py_INCREF(k[i]); - Py_INCREF(k[i+1]); - i += 2; - } - nk = i / 2; - } - else { - kwtuple = NULL; - k = NULL; - } - closure = PyFunction_GET_CLOSURE(func); -#if PY_MAJOR_VERSION >= 3 - kwdefs = PyFunction_GET_KW_DEFAULTS(func); -#endif - if (argdefs != NULL) { - d = &PyTuple_GET_ITEM(argdefs, 0); - nd = Py_SIZE(argdefs); - } - else { - d = NULL; - nd = 0; - } -#if PY_MAJOR_VERSION >= 3 - result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, kwdefs, closure); -#else - result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, closure); -#endif - Py_XDECREF(kwtuple); -done: - Py_LeaveRecursiveCall(); - return result; -} -#endif -#endif - -/* PyObjectCall */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { - PyObject *result; - ternaryfunc call = Py_TYPE(func)->tp_call; - if (unlikely(!call)) - return PyObject_Call(func, arg, kw); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = (*call)(func, arg, kw); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCall2Args */ -static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { - PyObject *args, *result = NULL; - #if CYTHON_FAST_PYCALL - if (PyFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyFunction_FastCall(function, args, 2); - } - #endif - #if CYTHON_FAST_PYCCALL - if (__Pyx_PyFastCFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyCFunction_FastCall(function, args, 2); - } - #endif - args = PyTuple_New(2); - if (unlikely(!args)) goto done; - Py_INCREF(arg1); - PyTuple_SET_ITEM(args, 0, arg1); - Py_INCREF(arg2); - PyTuple_SET_ITEM(args, 1, arg2); - Py_INCREF(function); - result = __Pyx_PyObject_Call(function, args, NULL); - Py_DECREF(args); - Py_DECREF(function); -done: - return result; -} - -/* PyObjectCallMethO */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { - PyObject *self, *result; - PyCFunction cfunc; - cfunc = PyCFunction_GET_FUNCTION(func); - self = PyCFunction_GET_SELF(func); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = cfunc(self, arg); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallOneArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_New(1); - if (unlikely(!args)) return NULL; - Py_INCREF(arg); - PyTuple_SET_ITEM(args, 0, arg); - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, &arg, 1); - } -#endif - if (likely(PyCFunction_Check(func))) { - if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { - return __Pyx_PyObject_CallMethO(func, arg); -#if CYTHON_FAST_PYCCALL - } else if (__Pyx_PyFastCFunction_Check(func)) { - return __Pyx_PyCFunction_FastCall(func, &arg, 1); -#endif - } - } - return __Pyx__PyObject_CallOneArg(func, arg); -} -#else -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_Pack(1, arg); - if (unlikely(!args)) return NULL; - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -#endif - -/* RaiseException */ -#if PY_MAJOR_VERSION < 3 -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, - CYTHON_UNUSED PyObject *cause) { - __Pyx_PyThreadState_declare - Py_XINCREF(type); - if (!value || value == Py_None) - value = NULL; - else - Py_INCREF(value); - if (!tb || tb == Py_None) - tb = NULL; - else { - Py_INCREF(tb); - if (!PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto raise_error; - } - } - if (PyType_Check(type)) { -#if CYTHON_COMPILING_IN_PYPY - if (!value) { - Py_INCREF(Py_None); - value = Py_None; - } -#endif - PyErr_NormalizeException(&type, &value, &tb); - } else { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto raise_error; - } - value = type; - type = (PyObject*) Py_TYPE(type); - Py_INCREF(type); - if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto raise_error; - } - } - __Pyx_PyThreadState_assign - __Pyx_ErrRestore(type, value, tb); - return; -raise_error: - Py_XDECREF(value); - Py_XDECREF(type); - Py_XDECREF(tb); - return; -} -#else -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { - PyObject* owned_instance = NULL; - if (tb == Py_None) { - tb = 0; - } else if (tb && !PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto bad; - } - if (value == Py_None) - value = 0; - if (PyExceptionInstance_Check(type)) { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto bad; - } - value = type; - type = (PyObject*) Py_TYPE(value); - } else if (PyExceptionClass_Check(type)) { - PyObject *instance_class = NULL; - if (value && PyExceptionInstance_Check(value)) { - instance_class = (PyObject*) Py_TYPE(value); - if (instance_class != type) { - int is_subclass = PyObject_IsSubclass(instance_class, type); - if (!is_subclass) { - instance_class = NULL; - } else if (unlikely(is_subclass == -1)) { - goto bad; - } else { - type = instance_class; - } - } - } - if (!instance_class) { - PyObject *args; - if (!value) - args = PyTuple_New(0); - else if (PyTuple_Check(value)) { - Py_INCREF(value); - args = value; - } else - args = PyTuple_Pack(1, value); - if (!args) - goto bad; - owned_instance = PyObject_Call(type, args, NULL); - Py_DECREF(args); - if (!owned_instance) - goto bad; - value = owned_instance; - if (!PyExceptionInstance_Check(value)) { - PyErr_Format(PyExc_TypeError, - "calling %R should have returned an instance of " - "BaseException, not %R", - type, Py_TYPE(value)); - goto bad; - } - } - } else { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto bad; - } - if (cause) { - PyObject *fixed_cause; - if (cause == Py_None) { - fixed_cause = NULL; - } else if (PyExceptionClass_Check(cause)) { - fixed_cause = PyObject_CallObject(cause, NULL); - if (fixed_cause == NULL) - goto bad; - } else if (PyExceptionInstance_Check(cause)) { - fixed_cause = cause; - Py_INCREF(fixed_cause); - } else { - PyErr_SetString(PyExc_TypeError, - "exception causes must derive from " - "BaseException"); - goto bad; - } - PyException_SetCause(value, fixed_cause); - } - PyErr_SetObject(type, value); - if (tb) { -#if CYTHON_COMPILING_IN_PYPY - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); - Py_INCREF(tb); - PyErr_Restore(tmp_type, tmp_value, tb); - Py_XDECREF(tmp_tb); -#else - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* tmp_tb = tstate->curexc_traceback; - if (tb != tmp_tb) { - Py_INCREF(tb); - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_tb); - } -#endif - } -bad: - Py_XDECREF(owned_instance); - return; -} -#endif - -/* HasAttr */ -static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { - PyObject *r; - if (unlikely(!__Pyx_PyBaseString_Check(n))) { - PyErr_SetString(PyExc_TypeError, - "hasattr(): attribute name must be string"); - return -1; - } - r = __Pyx_GetAttr(o, n); - if (unlikely(!r)) { - PyErr_Clear(); - return 0; - } else { - Py_DECREF(r); - return 1; - } -} - -/* PyObject_GenericGetAttrNoDict */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, attr_name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(attr_name)); -#endif - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { - PyObject *descr; - PyTypeObject *tp = Py_TYPE(obj); - if (unlikely(!PyString_Check(attr_name))) { - return PyObject_GenericGetAttr(obj, attr_name); - } - assert(!tp->tp_dictoffset); - descr = _PyType_Lookup(tp, attr_name); - if (unlikely(!descr)) { - return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); - } - Py_INCREF(descr); - #if PY_MAJOR_VERSION < 3 - if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) - #endif - { - descrgetfunc f = Py_TYPE(descr)->tp_descr_get; - if (unlikely(f)) { - PyObject *res = f(descr, obj, (PyObject *)tp); - Py_DECREF(descr); - return res; - } - } - return descr; -} -#endif - -/* PyObject_GenericGetAttr */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { - if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { - return PyObject_GenericGetAttr(obj, attr_name); - } - return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); -} -#endif - -/* PyObjectGetAttrStrNoError */ -static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - __Pyx_PyErr_Clear(); -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { - PyObject *result; -#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { - return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); - } -#endif - result = __Pyx_PyObject_GetAttrStr(obj, attr_name); - if (unlikely(!result)) { - __Pyx_PyObject_GetAttrStr_ClearAttributeError(); - } - return result; -} - -/* SetupReduce */ -static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { - int ret; - PyObject *name_attr; - name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name); - if (likely(name_attr)) { - ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); - } else { - ret = -1; - } - if (unlikely(ret < 0)) { - PyErr_Clear(); - ret = 0; - } - Py_XDECREF(name_attr); - return ret; -} -static int __Pyx_setup_reduce(PyObject* type_obj) { - int ret = 0; - PyObject *object_reduce = NULL; - PyObject *object_reduce_ex = NULL; - PyObject *reduce = NULL; - PyObject *reduce_ex = NULL; - PyObject *reduce_cython = NULL; - PyObject *setstate = NULL; - PyObject *setstate_cython = NULL; -#if CYTHON_USE_PYTYPE_LOOKUP - if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#else - if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#endif -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#else - object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#endif - reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; - if (reduce_ex == object_reduce_ex) { -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#else - object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#endif - reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; - if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { - reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); - if (likely(reduce_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (reduce == object_reduce || PyErr_Occurred()) { - goto __PYX_BAD; - } - setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); - if (!setstate) PyErr_Clear(); - if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { - setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); - if (likely(setstate_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (!setstate || PyErr_Occurred()) { - goto __PYX_BAD; - } - } - PyType_Modified((PyTypeObject*)type_obj); - } - } - goto __PYX_GOOD; -__PYX_BAD: - if (!PyErr_Occurred()) - PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); - ret = -1; -__PYX_GOOD: -#if !CYTHON_USE_PYTYPE_LOOKUP - Py_XDECREF(object_reduce); - Py_XDECREF(object_reduce_ex); -#endif - Py_XDECREF(reduce); - Py_XDECREF(reduce_ex); - Py_XDECREF(reduce_cython); - Py_XDECREF(setstate); - Py_XDECREF(setstate_cython); - return ret; -} - -/* CLineInTraceback */ -#ifndef CYTHON_CLINE_IN_TRACEBACK -static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { - PyObject *use_cline; - PyObject *ptype, *pvalue, *ptraceback; -#if CYTHON_COMPILING_IN_CPYTHON - PyObject **cython_runtime_dict; -#endif - if (unlikely(!__pyx_cython_runtime)) { - return c_line; - } - __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); -#if CYTHON_COMPILING_IN_CPYTHON - cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); - if (likely(cython_runtime_dict)) { - __PYX_PY_DICT_LOOKUP_IF_MODIFIED( - use_cline, *cython_runtime_dict, - __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) - } else -#endif - { - PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); - if (use_cline_obj) { - use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; - Py_DECREF(use_cline_obj); - } else { - PyErr_Clear(); - use_cline = NULL; - } - } - if (!use_cline) { - c_line = 0; - (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); - } - else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { - c_line = 0; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - return c_line; -} -#endif - -/* CodeObjectCache */ -static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { - int start = 0, mid = 0, end = count - 1; - if (end >= 0 && code_line > entries[end].code_line) { - return count; - } - while (start < end) { - mid = start + (end - start) / 2; - if (code_line < entries[mid].code_line) { - end = mid; - } else if (code_line > entries[mid].code_line) { - start = mid + 1; - } else { - return mid; - } - } - if (code_line <= entries[mid].code_line) { - return mid; - } else { - return mid + 1; - } -} -static PyCodeObject *__pyx_find_code_object(int code_line) { - PyCodeObject* code_object; - int pos; - if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { - return NULL; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { - return NULL; - } - code_object = __pyx_code_cache.entries[pos].code_object; - Py_INCREF(code_object); - return code_object; -} -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { - int pos, i; - __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; - if (unlikely(!code_line)) { - return; - } - if (unlikely(!entries)) { - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); - if (likely(entries)) { - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = 64; - __pyx_code_cache.count = 1; - entries[0].code_line = code_line; - entries[0].code_object = code_object; - Py_INCREF(code_object); - } - return; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { - PyCodeObject* tmp = entries[pos].code_object; - entries[pos].code_object = code_object; - Py_DECREF(tmp); - return; - } - if (__pyx_code_cache.count == __pyx_code_cache.max_count) { - int new_max = __pyx_code_cache.max_count + 64; - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( - __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); - if (unlikely(!entries)) { - return; - } - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = new_max; - } - for (i=__pyx_code_cache.count; i>pos; i--) { - entries[i] = entries[i-1]; - } - entries[pos].code_line = code_line; - entries[pos].code_object = code_object; - __pyx_code_cache.count++; - Py_INCREF(code_object); -} - -/* AddTraceback */ -#include "compile.h" -#include "frameobject.h" -#include "traceback.h" -static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( - const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = NULL; - PyObject *py_funcname = NULL; - #if PY_MAJOR_VERSION < 3 - PyObject *py_srcfile = NULL; - py_srcfile = PyString_FromString(filename); - if (!py_srcfile) goto bad; - #endif - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - funcname = PyUnicode_AsUTF8(py_funcname); - if (!funcname) goto bad; - #endif - } - else { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); - if (!py_funcname) goto bad; - #endif - } - #if PY_MAJOR_VERSION < 3 - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - #else - py_code = PyCode_NewEmpty(filename, funcname, py_line); - #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline - return py_code; -bad: - Py_XDECREF(py_funcname); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_srcfile); - #endif - return NULL; -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); - } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) goto bad; - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); - } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); -} - -/* CIntFromPyVerify */ -#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ - } - -/* CIntFromPy */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(long) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (long) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { - return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { - return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { - return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(long) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) - case -2: - if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - } -#endif - if (sizeof(long) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - long val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (long) -1; - } - } else { - long val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (long) -1; - val = __Pyx_PyInt_As_long(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to long"); - return (long) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to long"); - return (long) -1; -} - -/* CIntToPy */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); - } -} - -/* CIntFromPy */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(int) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (int) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { - return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { - return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { - return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(int) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) - case -2: - if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - } -#endif - if (sizeof(int) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - int val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (int) -1; - } - } else { - int val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (int) -1; - val = __Pyx_PyInt_As_int(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to int"); - return (int) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to int"); - return (int) -1; -} - -/* FastTypeChecks */ -#if CYTHON_COMPILING_IN_CPYTHON -static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { - while (a) { - a = a->tp_base; - if (a == b) - return 1; - } - return b == &PyBaseObject_Type; -} -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (a == b) return 1; - mro = a->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(a, b); -} -#if PY_MAJOR_VERSION == 2 -static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { - PyObject *exception, *value, *tb; - int res; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&exception, &value, &tb); - res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - if (!res) { - res = PyObject_IsSubclass(err, exc_type2); - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - } - __Pyx_ErrRestore(exception, value, tb); - return res; -} -#else -static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { - int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; - if (!res) { - res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); - } - return res; -} -#endif -static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - assert(PyExceptionClass_Check(exc_type)); - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; ip) { - #if PY_MAJOR_VERSION < 3 - if (t->is_unicode) { - *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); - } else if (t->intern) { - *t->p = PyString_InternFromString(t->s); - } else { - *t->p = PyString_FromStringAndSize(t->s, t->n - 1); - } - #else - if (t->is_unicode | t->is_str) { - if (t->intern) { - *t->p = PyUnicode_InternFromString(t->s); - } else if (t->encoding) { - *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); - } else { - *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); - } - } else { - *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); - } - #endif - if (!*t->p) - return -1; - if (PyObject_Hash(*t->p) == -1) - return -1; - ++t; - } - return 0; -} - -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { - return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); -} -static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { - Py_ssize_t ignore; - return __Pyx_PyObject_AsStringAndSize(o, &ignore); -} -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT -#if !CYTHON_PEP393_ENABLED -static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - char* defenc_c; - PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); - if (!defenc) return NULL; - defenc_c = PyBytes_AS_STRING(defenc); -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - { - char* end = defenc_c + PyBytes_GET_SIZE(defenc); - char* c; - for (c = defenc_c; c < end; c++) { - if ((unsigned char) (*c) >= 128) { - PyUnicode_AsASCIIString(o); - return NULL; - } - } - } -#endif - *length = PyBytes_GET_SIZE(defenc); - return defenc_c; -} -#else -static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - if (likely(PyUnicode_IS_ASCII(o))) { - *length = PyUnicode_GET_LENGTH(o); - return PyUnicode_AsUTF8(o); - } else { - PyUnicode_AsASCIIString(o); - return NULL; - } -#else - return PyUnicode_AsUTF8AndSize(o, length); -#endif -} -#endif -#endif -static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT - if ( -#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - __Pyx_sys_getdefaultencoding_not_ascii && -#endif - PyUnicode_Check(o)) { - return __Pyx_PyUnicode_AsStringAndSize(o, length); - } else -#endif -#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) - if (PyByteArray_Check(o)) { - *length = PyByteArray_GET_SIZE(o); - return PyByteArray_AS_STRING(o); - } else -#endif - { - char* result; - int r = PyBytes_AsStringAndSize(o, &result, length); - if (unlikely(r < 0)) { - return NULL; - } else { - return result; - } - } -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { - int is_true = x == Py_True; - if (is_true | (x == Py_False) | (x == Py_None)) return is_true; - else return PyObject_IsTrue(x); -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { - int retval; - if (unlikely(!x)) return -1; - retval = __Pyx_PyObject_IsTrue(x); - Py_DECREF(x); - return retval; -} -static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { -#if PY_MAJOR_VERSION >= 3 - if (PyLong_Check(result)) { - if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, - "__int__ returned non-int (type %.200s). 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__Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); -} -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { - return PyInt_FromSize_t(ival); -} - - -#endif /* Py_PYTHON_H */ diff --git a/common/legacy_modeldata.h b/common/legacy_modeldata.h new file mode 100644 index 000000000..d50c90022 --- /dev/null +++ b/common/legacy_modeldata.h @@ -0,0 +1,55 @@ +#pragma once + +#include +#include "common/mat.h" +#include "system/hardware/hw.h" + +const int TRAJECTORY_SIZE = 33; +const float MIN_DRAW_DISTANCE = 10.0; +const float MAX_DRAW_DISTANCE = 100.0; + +template +constexpr std::array build_idxs(float max_val) { + std::array result{}; + for (int i = 0; i < size; ++i) { + result[i] = max_val * ((i / (double)(size - 1)) * (i / (double)(size - 1))); + } + return result; +} + +constexpr auto T_IDXS = build_idxs(10.0); +constexpr auto T_IDXS_FLOAT = build_idxs(10.0); +constexpr auto X_IDXS = build_idxs(192.0); +constexpr auto X_IDXS_FLOAT = build_idxs(192.0); + +const int TICI_CAM_WIDTH = 1928; + +namespace tici_dm_crop { + const int x_offset = -72; + const int y_offset = -144; + const int width = 954; +}; + +const mat3 fcam_intrinsic_matrix = + Hardware::EON() ? (mat3){{910., 0., 1164.0 / 2, + 0., 910., 874.0 / 2, + 0., 0., 1.}} + : (mat3){{2648.0, 0.0, 1928.0 / 2, + 0.0, 2648.0, 1208.0 / 2, + 0.0, 0.0, 1.0}}; + +// tici ecam focal probably wrong? magnification is not consistent across frame +// Need to retrain model before this can be changed +const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2, + 0.0, 567.0, 1208.0 / 2, + 0.0, 0.0, 1.0}}; + +static inline mat3 get_model_yuv_transform(bool bayer = true) { + float db_s = Hardware::EON() ? 0.5 : 1.0; // debayering does a 2x downscale on EON + const mat3 transform = (mat3){{ + 1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0 + }}; + return bayer ? transform_scale_buffer(transform, db_s) : transform; +} diff --git a/common/modeldata.h b/common/modeldata.h index 13d349899..a00d3d49d 100644 --- a/common/modeldata.h +++ b/common/modeldata.h @@ -24,21 +24,9 @@ constexpr auto T_IDXS_FLOAT = build_idxs(10.0); constexpr auto X_IDXS = build_idxs(192.0); constexpr auto X_IDXS_FLOAT = build_idxs(192.0); -const int TICI_CAM_WIDTH = 1928; - -namespace tici_dm_crop { - const int x_offset = -72; - const int y_offset = -144; - const int width = 954; -}; - -const mat3 fcam_intrinsic_matrix = - Hardware::EON() ? (mat3){{910., 0., 1164.0 / 2, - 0., 910., 874.0 / 2, - 0., 0., 1.}} - : (mat3){{2648.0, 0.0, 1928.0 / 2, - 0.0, 2648.0, 1208.0 / 2, - 0.0, 0.0, 1.0}}; +const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2, + 0.0, 2648.0, 1208.0 / 2, + 0.0, 0.0, 1.0}}; // tici ecam focal probably wrong? magnification is not consistent across frame // Need to retrain model before this can be changed @@ -46,12 +34,13 @@ const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2, 0.0, 567.0, 1208.0 / 2, 0.0, 0.0, 1.0}}; -static inline mat3 get_model_yuv_transform(bool bayer = true) { - float db_s = Hardware::EON() ? 0.5 : 1.0; // debayering does a 2x downscale on EON +static inline mat3 get_model_yuv_transform() { + float db_s = 1.0; const mat3 transform = (mat3){{ 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 }}; - return bayer ? transform_scale_buffer(transform, db_s) : transform; + // Can this be removed since scale is 1? + return transform_scale_buffer(transform, db_s); } diff --git a/common/params_pyx.cpp b/common/params_pyx.cpp deleted file mode 100644 index 768d83188..000000000 --- a/common/params_pyx.cpp +++ /dev/null @@ -1,11552 +0,0 @@ -/* Generated by Cython 0.29.26 */ - 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#define CYTHON_USE_DICT_VERSIONS 0 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 -#else - #define CYTHON_COMPILING_IN_PYPY 0 - #define CYTHON_COMPILING_IN_PYSTON 0 - #define CYTHON_COMPILING_IN_CPYTHON 1 - #ifndef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 1 - #endif - #if PY_VERSION_HEX < 0x02070000 - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #elif !defined(CYTHON_USE_PYTYPE_LOOKUP) - #define CYTHON_USE_PYTYPE_LOOKUP 1 - #endif - #if PY_MAJOR_VERSION < 3 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #elif !defined(CYTHON_USE_ASYNC_SLOTS) - #define CYTHON_USE_ASYNC_SLOTS 1 - #endif - #if PY_VERSION_HEX < 0x02070000 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #elif !defined(CYTHON_USE_PYLONG_INTERNALS) - #define CYTHON_USE_PYLONG_INTERNALS 1 - #endif - #ifndef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 1 - #endif - #ifndef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 1 - #endif - #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #elif !defined(CYTHON_USE_UNICODE_WRITER) - #define CYTHON_USE_UNICODE_WRITER 1 - #endif - #ifndef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 0 - #endif - #ifndef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 1 - #endif - #ifndef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 1 - #endif - #ifndef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 1 - #endif - #ifndef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) - #endif - #ifndef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) - #endif - #ifndef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) - #endif - #ifndef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) - #endif - #ifndef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) - #endif -#endif -#if !defined(CYTHON_FAST_PYCCALL) -#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) -#endif -#if CYTHON_USE_PYLONG_INTERNALS - #if PY_MAJOR_VERSION < 3 - #include "longintrepr.h" - #endif - #undef SHIFT - #undef BASE - #undef MASK - #ifdef SIZEOF_VOID_P - enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; - #endif -#endif -#ifndef __has_attribute - #define __has_attribute(x) 0 -#endif -#ifndef __has_cpp_attribute - #define __has_cpp_attribute(x) 0 -#endif -#ifndef CYTHON_RESTRICT - #if defined(__GNUC__) - #define CYTHON_RESTRICT __restrict__ - #elif defined(_MSC_VER) && _MSC_VER >= 1400 - #define CYTHON_RESTRICT __restrict - #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L - #define CYTHON_RESTRICT restrict - #else - #define CYTHON_RESTRICT - #endif -#endif -#ifndef CYTHON_UNUSED -# if defined(__GNUC__) -# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -#endif -#ifndef CYTHON_MAYBE_UNUSED_VAR -# if defined(__cplusplus) - template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } -# else -# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) -# endif -#endif -#ifndef CYTHON_NCP_UNUSED -# if CYTHON_COMPILING_IN_CPYTHON -# define CYTHON_NCP_UNUSED -# else -# define CYTHON_NCP_UNUSED CYTHON_UNUSED -# endif -#endif -#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) -#ifdef _MSC_VER - #ifndef _MSC_STDINT_H_ - #if _MSC_VER < 1300 - typedef unsigned char uint8_t; - typedef unsigned int uint32_t; - #else - typedef unsigned __int8 uint8_t; - typedef unsigned __int32 uint32_t; - #endif - #endif -#else - #include -#endif -#ifndef CYTHON_FALLTHROUGH - #if defined(__cplusplus) && __cplusplus >= 201103L - #if __has_cpp_attribute(fallthrough) - #define CYTHON_FALLTHROUGH [[fallthrough]] - #elif __has_cpp_attribute(clang::fallthrough) - #define CYTHON_FALLTHROUGH [[clang::fallthrough]] - #elif __has_cpp_attribute(gnu::fallthrough) - #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] - #endif - #endif - #ifndef CYTHON_FALLTHROUGH - #if __has_attribute(fallthrough) - #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) - #else - #define CYTHON_FALLTHROUGH - #endif - #endif - #if defined(__clang__ ) && defined(__apple_build_version__) - #if __apple_build_version__ < 7000000 - #undef CYTHON_FALLTHROUGH - #define CYTHON_FALLTHROUGH - #endif - #endif -#endif - -#ifndef __cplusplus - #error "Cython files generated with the C++ option must be compiled with a C++ compiler." -#endif -#ifndef CYTHON_INLINE - #if defined(__clang__) - #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) - #else - #define CYTHON_INLINE inline - #endif -#endif -template -void __Pyx_call_destructor(T& x) { - x.~T(); -} -template -class __Pyx_FakeReference { - public: - __Pyx_FakeReference() : ptr(NULL) { } - __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } - T *operator->() { return ptr; } - T *operator&() { return ptr; } - operator T&() { return *ptr; } - template bool operator ==(U other) { return *ptr == other; } - template bool operator !=(U other) { return *ptr != other; } - private: - T *ptr; -}; - -#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) - #define Py_OptimizeFlag 0 -#endif -#define __PYX_BUILD_PY_SSIZE_T "n" -#define CYTHON_FORMAT_SSIZE_T "z" -#if PY_MAJOR_VERSION < 3 - #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) - #define __Pyx_DefaultClassType PyClass_Type -#else - #define __Pyx_BUILTIN_MODULE_NAME "builtins" - #define __Pyx_DefaultClassType PyType_Type -#if PY_VERSION_HEX >= 0x030B00A1 - static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, - PyObject *code, PyObject *c, PyObject* n, PyObject *v, - PyObject *fv, PyObject *cell, PyObject* fn, - PyObject *name, int fline, PyObject *lnos) { - PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; - PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; - const char *fn_cstr=NULL; - const char *name_cstr=NULL; - PyCodeObject* co=NULL; - PyObject *type, *value, *traceback; - PyErr_Fetch(&type, &value, &traceback); - if (!(kwds=PyDict_New())) goto end; - if (!(argcount=PyLong_FromLong(a))) goto end; - if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; - if (!(posonlyargcount=PyLong_FromLong(0))) goto end; - if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; - if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; - if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; - if (!(nlocals=PyLong_FromLong(l))) goto end; - if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; - if (!(stacksize=PyLong_FromLong(s))) goto end; - if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; - if (!(flags=PyLong_FromLong(f))) goto end; - if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; - if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; - if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; - if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; - if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; - if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here - if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; - Py_XDECREF((PyObject*)co); - co = (PyCodeObject*)call_result; - call_result = NULL; - if (0) { - cleanup_code_too: - Py_XDECREF((PyObject*)co); - co = NULL; - } - end: - Py_XDECREF(kwds); - Py_XDECREF(argcount); - Py_XDECREF(posonlyargcount); - Py_XDECREF(kwonlyargcount); - Py_XDECREF(nlocals); - Py_XDECREF(stacksize); - Py_XDECREF(replace); - Py_XDECREF(call_result); - Py_XDECREF(empty); - if (type) { - PyErr_Restore(type, value, traceback); - } - return co; - } -#else - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) -#endif - #define __Pyx_DefaultClassType PyType_Type -#endif -#ifndef Py_TPFLAGS_CHECKTYPES - #define Py_TPFLAGS_CHECKTYPES 0 -#endif -#ifndef Py_TPFLAGS_HAVE_INDEX - #define Py_TPFLAGS_HAVE_INDEX 0 -#endif -#ifndef Py_TPFLAGS_HAVE_NEWBUFFER - #define Py_TPFLAGS_HAVE_NEWBUFFER 0 -#endif -#ifndef Py_TPFLAGS_HAVE_FINALIZE - #define Py_TPFLAGS_HAVE_FINALIZE 0 -#endif -#ifndef METH_STACKLESS - #define METH_STACKLESS 0 -#endif -#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) - #ifndef METH_FASTCALL - #define METH_FASTCALL 0x80 - #endif - typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); - typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, - Py_ssize_t nargs, PyObject *kwnames); -#else - #define __Pyx_PyCFunctionFast _PyCFunctionFast - #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords -#endif -#if CYTHON_FAST_PYCCALL -#define __Pyx_PyFastCFunction_Check(func)\ - ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) -#else -#define __Pyx_PyFastCFunction_Check(func) 0 -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) - #define PyObject_Malloc(s) PyMem_Malloc(s) - #define PyObject_Free(p) PyMem_Free(p) - #define PyObject_Realloc(p) PyMem_Realloc(p) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 - #define PyMem_RawMalloc(n) PyMem_Malloc(n) - #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) - #define PyMem_RawFree(p) PyMem_Free(p) -#endif -#if CYTHON_COMPILING_IN_PYSTON - #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) -#else - #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) -#endif -#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#elif PY_VERSION_HEX >= 0x03060000 - #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() -#elif PY_VERSION_HEX >= 0x03000000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#else - #define __Pyx_PyThreadState_Current _PyThreadState_Current -#endif -#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) -#include "pythread.h" -#define Py_tss_NEEDS_INIT 0 -typedef int Py_tss_t; -static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { - *key = PyThread_create_key(); - return 0; -} -static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { - Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); - *key = Py_tss_NEEDS_INIT; - return key; -} -static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { - PyObject_Free(key); -} -static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { - return *key != Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { - PyThread_delete_key(*key); - *key = Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { - return PyThread_set_key_value(*key, value); -} -static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { - return PyThread_get_key_value(*key); -} -#endif -#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) -#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) -#else -#define __Pyx_PyDict_NewPresized(n) PyDict_New() -#endif -#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION - #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) -#else - #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS -#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) -#else -#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) -#endif -#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) - #define CYTHON_PEP393_ENABLED 1 - #if defined(PyUnicode_IS_READY) - #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ - 0 : _PyUnicode_Ready((PyObject *)(op))) - #else - #define __Pyx_PyUnicode_READY(op) (0) - #endif - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) - #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) - #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) - #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) - #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) - #endif - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) - #endif -#else - #define CYTHON_PEP393_ENABLED 0 - #define PyUnicode_1BYTE_KIND 1 - #define PyUnicode_2BYTE_KIND 2 - #define PyUnicode_4BYTE_KIND 4 - #define __Pyx_PyUnicode_READY(op) (0) - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) - #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) - #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) - #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) -#endif -#if CYTHON_COMPILING_IN_PYPY - #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) -#else - #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ - PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) - #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) - #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) - #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) -#endif -#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? 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PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) -#if PY_MAJOR_VERSION >= 3 - #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) -#else - #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) -#endif -#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) - #define PyObject_ASCII(o) PyObject_Repr(o) -#endif -#if PY_MAJOR_VERSION >= 3 - #define PyBaseString_Type PyUnicode_Type - #define PyStringObject PyUnicodeObject - #define PyString_Type PyUnicode_Type - #define PyString_Check PyUnicode_Check - #define PyString_CheckExact PyUnicode_CheckExact -#ifndef PyObject_Unicode - #define PyObject_Unicode PyObject_Str -#endif -#endif -#if PY_MAJOR_VERSION >= 3 - #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) - #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) -#else - #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) - #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) -#endif -#ifndef PySet_CheckExact - #define PySet_CheckExact(obj) (Py_TYPE(obj) == &PySet_Type) -#endif -#if PY_VERSION_HEX >= 0x030900A4 - #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) - #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) -#else - #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) - #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) -#endif -#if CYTHON_ASSUME_SAFE_MACROS - #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) -#else - #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) -#endif -#if PY_MAJOR_VERSION >= 3 - #define PyIntObject PyLongObject - #define PyInt_Type PyLong_Type - #define PyInt_Check(op) PyLong_Check(op) - #define PyInt_CheckExact(op) PyLong_CheckExact(op) - #define PyInt_FromString PyLong_FromString - #define PyInt_FromUnicode PyLong_FromUnicode - #define PyInt_FromLong PyLong_FromLong - #define PyInt_FromSize_t PyLong_FromSize_t - #define PyInt_FromSsize_t PyLong_FromSsize_t - #define PyInt_AsLong PyLong_AsLong - #define PyInt_AS_LONG PyLong_AS_LONG - #define PyInt_AsSsize_t PyLong_AsSsize_t - #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask - #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask - #define PyNumber_Int PyNumber_Long -#endif -#if PY_MAJOR_VERSION >= 3 - #define PyBoolObject PyLongObject -#endif -#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY - #ifndef PyUnicode_InternFromString - #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) - #endif -#endif -#if PY_VERSION_HEX < 0x030200A4 - typedef long Py_hash_t; - #define __Pyx_PyInt_FromHash_t PyInt_FromLong - #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t -#else - #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t - #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t -#endif -#if PY_MAJOR_VERSION >= 3 - #define __Pyx_PyMethod_New(func, self, klass) ((self) ? 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- if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = (*call)(func, arg, kw); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallMethO */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { - PyObject *self, *result; - PyCFunction cfunc; - cfunc = PyCFunction_GET_FUNCTION(func); - self = PyCFunction_GET_SELF(func); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = cfunc(self, arg); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallNoArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, NULL, 0); - } -#endif -#ifdef __Pyx_CyFunction_USED - if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) -#else - if (likely(PyCFunction_Check(func))) -#endif - { - if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { - return __Pyx_PyObject_CallMethO(func, NULL); - } - } - return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); -} -#endif - -/* PyCFunctionFastCall */ -#if CYTHON_FAST_PYCCALL -static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { - PyCFunctionObject *func = (PyCFunctionObject*)func_obj; - PyCFunction meth = PyCFunction_GET_FUNCTION(func); - PyObject *self = PyCFunction_GET_SELF(func); - int flags = PyCFunction_GET_FLAGS(func); - assert(PyCFunction_Check(func)); - assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); - assert(nargs >= 0); - assert(nargs == 0 || args != NULL); - /* _PyCFunction_FastCallDict() must not be called with an exception set, - because it may clear it (directly or indirectly) and so the - caller loses its exception */ - assert(!PyErr_Occurred()); - if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { - return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); - } else { - return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); - } -} -#endif - -/* PyObjectCallOneArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_New(1); - if (unlikely(!args)) return NULL; - Py_INCREF(arg); - PyTuple_SET_ITEM(args, 0, arg); - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, &arg, 1); - } -#endif - if (likely(PyCFunction_Check(func))) { - if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { - return __Pyx_PyObject_CallMethO(func, arg); -#if CYTHON_FAST_PYCCALL - } else if (__Pyx_PyFastCFunction_Check(func)) { - return __Pyx_PyCFunction_FastCall(func, &arg, 1); -#endif - } - } - return __Pyx__PyObject_CallOneArg(func, arg); -} -#else -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_Pack(1, arg); - if (unlikely(!args)) return NULL; - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -#endif - -/* RaiseDoubleKeywords */ -static void __Pyx_RaiseDoubleKeywordsError( - const char* func_name, - PyObject* kw_name) -{ - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION >= 3 - "%s() got multiple values for keyword argument '%U'", func_name, kw_name); - #else - "%s() got multiple values for keyword argument '%s'", func_name, - PyString_AsString(kw_name)); - #endif -} - -/* ParseKeywords */ -static int __Pyx_ParseOptionalKeywords( - PyObject *kwds, - PyObject **argnames[], - PyObject *kwds2, - PyObject *values[], - Py_ssize_t num_pos_args, - const char* function_name) -{ - PyObject *key = 0, *value = 0; - Py_ssize_t pos = 0; - PyObject*** name; - PyObject*** first_kw_arg = argnames + num_pos_args; - while (PyDict_Next(kwds, &pos, &key, &value)) { - name = first_kw_arg; - while (*name && (**name != key)) name++; - if (*name) { - values[name-argnames] = value; - continue; - } - name = first_kw_arg; - #if PY_MAJOR_VERSION < 3 - if (likely(PyString_Check(key))) { - while (*name) { - if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) - && _PyString_Eq(**name, key)) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - if ((**argname == key) || ( - (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) - && _PyString_Eq(**argname, key))) { - goto arg_passed_twice; - } - argname++; - } - } - } else - #endif - if (likely(PyUnicode_Check(key))) { - while (*name) { - int cmp = (**name == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**name, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - int cmp = (**argname == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**argname, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) goto arg_passed_twice; - argname++; - } - } - } else - goto invalid_keyword_type; - if (kwds2) { - if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; - } else { - goto invalid_keyword; - } - } - return 0; -arg_passed_twice: - __Pyx_RaiseDoubleKeywordsError(function_name, key); - goto bad; -invalid_keyword_type: - PyErr_Format(PyExc_TypeError, - "%.200s() keywords must be strings", function_name); - goto bad; -invalid_keyword: - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION < 3 - "%.200s() got an unexpected keyword argument '%.200s'", - function_name, PyString_AsString(key)); - #else - "%s() got an unexpected keyword argument '%U'", - function_name, key); - #endif -bad: - return -1; -} - -/* RaiseArgTupleInvalid */ -static void __Pyx_RaiseArgtupleInvalid( - const char* func_name, - int exact, - Py_ssize_t num_min, - Py_ssize_t num_max, - Py_ssize_t num_found) -{ - Py_ssize_t num_expected; - const char *more_or_less; - if (num_found < num_min) { - num_expected = num_min; - more_or_less = "at least"; - } else { - num_expected = num_max; - more_or_less = "at most"; - } - if (exact) { - more_or_less = "exactly"; - } - PyErr_Format(PyExc_TypeError, - "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", - func_name, more_or_less, num_expected, - (num_expected == 1) ? "" : "s", num_found); -} - -/* PyDictVersioning */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; -} -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { - PyObject **dictptr = NULL; - Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; - if (offset) { -#if CYTHON_COMPILING_IN_CPYTHON - dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); -#else - dictptr = _PyObject_GetDictPtr(obj); -#endif - } - return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; -} -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) - return 0; - return obj_dict_version == __Pyx_get_object_dict_version(obj); -} -#endif - -/* GetModuleGlobalName */ -#if CYTHON_USE_DICT_VERSIONS -static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) -#else -static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) -#endif -{ - PyObject *result; -#if !CYTHON_AVOID_BORROWED_REFS -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 - result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } else if (unlikely(PyErr_Occurred())) { - return NULL; - } -#else - result = PyDict_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } -#endif -#else - result = PyObject_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } - PyErr_Clear(); -#endif - return __Pyx_GetBuiltinName(name); -} - -/* PyObjectCall2Args */ -static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { - PyObject *args, *result = NULL; - #if CYTHON_FAST_PYCALL - if (PyFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyFunction_FastCall(function, args, 2); - } - #endif - #if CYTHON_FAST_PYCCALL - if (__Pyx_PyFastCFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyCFunction_FastCall(function, args, 2); - } - #endif - args = PyTuple_New(2); - if (unlikely(!args)) goto done; - Py_INCREF(arg1); - PyTuple_SET_ITEM(args, 0, arg1); - Py_INCREF(arg2); - PyTuple_SET_ITEM(args, 1, arg2); - Py_INCREF(function); - result = __Pyx_PyObject_Call(function, args, NULL); - Py_DECREF(args); - Py_DECREF(function); -done: - return result; -} - -/* PyErrFetchRestore */ -#if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - tmp_type = tstate->curexc_type; - tmp_value = tstate->curexc_value; - tmp_tb = tstate->curexc_traceback; - tstate->curexc_type = type; - tstate->curexc_value = value; - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - *type = tstate->curexc_type; - *value = tstate->curexc_value; - *tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -} -#endif - -/* RaiseException */ -#if PY_MAJOR_VERSION < 3 -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, - CYTHON_UNUSED PyObject *cause) { - __Pyx_PyThreadState_declare - Py_XINCREF(type); - if (!value || value == Py_None) - value = NULL; - else - Py_INCREF(value); - if (!tb || tb == Py_None) - tb = NULL; - else { - Py_INCREF(tb); - if (!PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto raise_error; - } - } - if (PyType_Check(type)) { -#if CYTHON_COMPILING_IN_PYPY - if (!value) { - Py_INCREF(Py_None); - value = Py_None; - } -#endif - PyErr_NormalizeException(&type, &value, &tb); - } else { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto raise_error; - } - value = type; - type = (PyObject*) Py_TYPE(type); - Py_INCREF(type); - if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto raise_error; - } - } - __Pyx_PyThreadState_assign - __Pyx_ErrRestore(type, value, tb); - return; -raise_error: - Py_XDECREF(value); - Py_XDECREF(type); - Py_XDECREF(tb); - return; -} -#else -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { - PyObject* owned_instance = NULL; - if (tb == Py_None) { - tb = 0; - } else if (tb && !PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto bad; - } - if (value == Py_None) - value = 0; - if (PyExceptionInstance_Check(type)) { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto bad; - } - value = type; - type = (PyObject*) Py_TYPE(value); - } else if (PyExceptionClass_Check(type)) { - PyObject *instance_class = NULL; - if (value && PyExceptionInstance_Check(value)) { - instance_class = (PyObject*) Py_TYPE(value); - if (instance_class != type) { - int is_subclass = PyObject_IsSubclass(instance_class, type); - if (!is_subclass) { - instance_class = NULL; - } else if (unlikely(is_subclass == -1)) { - goto bad; - } else { - type = instance_class; - } - } - } - if (!instance_class) { - PyObject *args; - if (!value) - args = PyTuple_New(0); - else if (PyTuple_Check(value)) { - Py_INCREF(value); - args = value; - } else - args = PyTuple_Pack(1, value); - if (!args) - goto bad; - owned_instance = PyObject_Call(type, args, NULL); - Py_DECREF(args); - if (!owned_instance) - goto bad; - value = owned_instance; - if (!PyExceptionInstance_Check(value)) { - PyErr_Format(PyExc_TypeError, - "calling %R should have returned an instance of " - "BaseException, not %R", - type, Py_TYPE(value)); - goto bad; - } - } - } else { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto bad; - } - if (cause) { - PyObject *fixed_cause; - if (cause == Py_None) { - fixed_cause = NULL; - } else if (PyExceptionClass_Check(cause)) { - fixed_cause = PyObject_CallObject(cause, NULL); - if (fixed_cause == NULL) - goto bad; - } else if (PyExceptionInstance_Check(cause)) { - fixed_cause = cause; - Py_INCREF(fixed_cause); - } else { - PyErr_SetString(PyExc_TypeError, - "exception causes must derive from " - "BaseException"); - goto bad; - } - PyException_SetCause(value, fixed_cause); - } - PyErr_SetObject(type, value); - if (tb) { -#if CYTHON_COMPILING_IN_PYPY - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); - Py_INCREF(tb); - PyErr_Restore(tmp_type, tmp_value, tb); - Py_XDECREF(tmp_tb); -#else - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* tmp_tb = tstate->curexc_traceback; - if (tb != tmp_tb) { - Py_INCREF(tb); - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_tb); - } -#endif - } -bad: - Py_XDECREF(owned_instance); - return; -} -#endif - -/* decode_c_bytes */ -static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( - const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, - const char* encoding, const char* errors, - PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { - if (unlikely((start < 0) | (stop < 0))) { - if (start < 0) { - start += length; - if (start < 0) - start = 0; - } - if (stop < 0) - stop += length; - } - if (stop > length) - stop = length; - if (unlikely(stop <= start)) - return __Pyx_NewRef(__pyx_empty_unicode); - length = stop - start; - cstring += start; - if (decode_func) { - return decode_func(cstring, length, errors); - } else { - return PyUnicode_Decode(cstring, length, encoding, errors); - } -} - -/* None */ -static CYTHON_INLINE void __Pyx_RaiseClosureNameError(const char *varname) { - PyErr_Format(PyExc_NameError, "free variable '%s' referenced before assignment in enclosing scope", varname); -} - -/* FetchCommonType */ -static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { - PyObject* fake_module; - PyTypeObject* cached_type = NULL; - fake_module = PyImport_AddModule((char*) "_cython_" CYTHON_ABI); - if (!fake_module) return NULL; - Py_INCREF(fake_module); - cached_type = (PyTypeObject*) PyObject_GetAttrString(fake_module, type->tp_name); - if (cached_type) { - if (!PyType_Check((PyObject*)cached_type)) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s is not a type object", - type->tp_name); - goto bad; - } - if (cached_type->tp_basicsize != type->tp_basicsize) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s has the wrong size, try recompiling", - type->tp_name); - goto bad; - } - } else { - if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; - PyErr_Clear(); - if (PyType_Ready(type) < 0) goto bad; - if (PyObject_SetAttrString(fake_module, type->tp_name, (PyObject*) type) < 0) - goto bad; - Py_INCREF(type); - cached_type = type; - } -done: - Py_DECREF(fake_module); - return cached_type; -bad: - Py_XDECREF(cached_type); - cached_type = NULL; - goto done; -} - -/* CythonFunctionShared */ -#include -static PyObject * -__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *closure) -{ - if (unlikely(op->func_doc == NULL)) { - if (op->func.m_ml->ml_doc) { -#if PY_MAJOR_VERSION >= 3 - op->func_doc = PyUnicode_FromString(op->func.m_ml->ml_doc); -#else - op->func_doc = PyString_FromString(op->func.m_ml->ml_doc); -#endif - if (unlikely(op->func_doc == NULL)) - return NULL; - } else { - Py_INCREF(Py_None); - return Py_None; - } - } - Py_INCREF(op->func_doc); - return op->func_doc; -} -static int -__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp = op->func_doc; - if (value == NULL) { - value = Py_None; - } - Py_INCREF(value); - op->func_doc = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - if (unlikely(op->func_name == NULL)) { -#if PY_MAJOR_VERSION >= 3 - op->func_name = PyUnicode_InternFromString(op->func.m_ml->ml_name); -#else - op->func_name = PyString_InternFromString(op->func.m_ml->ml_name); -#endif - if (unlikely(op->func_name == NULL)) - return NULL; - } - Py_INCREF(op->func_name); - return op->func_name; -} -static int -__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__name__ must be set to a string object"); - return -1; - } - tmp = op->func_name; - Py_INCREF(value); - op->func_name = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - Py_INCREF(op->func_qualname); - return op->func_qualname; -} -static int -__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; 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- Py_VISIT(m->func_code); - Py_VISIT(m->func_classobj); - Py_VISIT(m->defaults_tuple); - Py_VISIT(m->defaults_kwdict); - if (m->defaults) { - PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); - int i; - for (i = 0; i < m->defaults_pyobjects; i++) - Py_VISIT(pydefaults[i]); - } - return 0; -} -static PyObject *__Pyx_CyFunction_descr_get(PyObject *func, PyObject *obj, PyObject *type) -{ -#if PY_MAJOR_VERSION < 3 - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - if (m->flags & __Pyx_CYFUNCTION_STATICMETHOD) { - Py_INCREF(func); - return func; - } - if (m->flags & __Pyx_CYFUNCTION_CLASSMETHOD) { - if (type == NULL) - type = (PyObject *)(Py_TYPE(obj)); - return __Pyx_PyMethod_New(func, type, (PyObject *)(Py_TYPE(type))); - } - if (obj == Py_None) - obj = NULL; -#endif - return __Pyx_PyMethod_New(func, obj, type); -} -static PyObject* -__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) -{ -#if PY_MAJOR_VERSION >= 3 - return PyUnicode_FromFormat("", - op->func_qualname, (void *)op); 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- Py_DECREF(new_args); - } else { - result = __Pyx_CyFunction_Call(func, args, kw); - } - return result; -} -static PyTypeObject __pyx_CyFunctionType_type = { - PyVarObject_HEAD_INIT(0, 0) - "cython_function_or_method", - sizeof(__pyx_CyFunctionObject), - 0, - (destructor) __Pyx_CyFunction_dealloc, - 0, - 0, - 0, -#if PY_MAJOR_VERSION < 3 - 0, -#else - 0, -#endif - (reprfunc) __Pyx_CyFunction_repr, - 0, - 0, - 0, - 0, - __Pyx_CyFunction_CallAsMethod, - 0, - 0, - 0, - 0, - Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC, - 0, - (traverseproc) __Pyx_CyFunction_traverse, - (inquiry) __Pyx_CyFunction_clear, - 0, -#if PY_VERSION_HEX < 0x030500A0 - offsetof(__pyx_CyFunctionObject, func_weakreflist), -#else - offsetof(PyCFunctionObject, m_weakreflist), -#endif - 0, - 0, - __pyx_CyFunction_methods, - __pyx_CyFunction_members, - __pyx_CyFunction_getsets, - 0, - 0, - __Pyx_CyFunction_descr_get, - 0, - offsetof(__pyx_CyFunctionObject, func_dict), - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, -#if PY_VERSION_HEX >= 0x030400a1 - 0, -#endif -#if PY_VERSION_HEX >= 0x030800b1 - 0, -#endif -#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 - 0, -#endif -#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 - 0, -#endif -}; -static int __pyx_CyFunction_init(void) { - __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); - if (unlikely(__pyx_CyFunctionType == NULL)) { - return -1; - } - return 0; -} -static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults = PyObject_Malloc(size); - if (unlikely(!m->defaults)) - return PyErr_NoMemory(); - memset(m->defaults, 0, size); - m->defaults_pyobjects = pyobjects; - m->defaults_size = size; - return m->defaults; -} -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults_tuple = tuple; - Py_INCREF(tuple); -} -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults_kwdict = dict; - Py_INCREF(dict); -} -static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->func_annotations = dict; - Py_INCREF(dict); -} - -/* CythonFunction */ -static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, - PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { - PyObject *op = __Pyx_CyFunction_Init( - PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), - ml, flags, qualname, closure, module, globals, code - ); - if (likely(op)) { - PyObject_GC_Track(op); - } - return op; -} - -/* PyObjectSetAttrStr */ -#if CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value) { - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_setattro)) - return tp->tp_setattro(obj, attr_name, value); -#if PY_MAJOR_VERSION < 3 - if (likely(tp->tp_setattr)) - return tp->tp_setattr(obj, PyString_AS_STRING(attr_name), value); -#endif - return PyObject_SetAttr(obj, attr_name, value); -} -#endif - -/* GetItemInt */ -static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { - PyObject *r; - if (!j) return NULL; - r = PyObject_GetItem(o, j); - Py_DECREF(j); - return r; -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyList_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { - PyObject *r = PyList_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyTuple_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS - if (is_list || PyList_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); - if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { - PyObject *r = PyList_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } - else if (PyTuple_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); - if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } else { - PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; - if (likely(m && m->sq_item)) { - if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { - Py_ssize_t l = m->sq_length(o); - if (likely(l >= 0)) { - i += l; - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - return NULL; - PyErr_Clear(); - } - } - return m->sq_item(o, i); - } - } -#else - if (is_list || PySequence_Check(o)) { - return PySequence_GetItem(o, i); - } -#endif - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -} - -/* ObjectGetItem */ -#if CYTHON_USE_TYPE_SLOTS -static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) { - PyObject *runerr; - Py_ssize_t key_value; - PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence; - if (unlikely(!(m && m->sq_item))) { - PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name); - return NULL; - } - key_value = __Pyx_PyIndex_AsSsize_t(index); - if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { - return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); - } - if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { - PyErr_Clear(); - PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name); - } - return NULL; -} -static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) { - PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping; - if (likely(m && m->mp_subscript)) { - return m->mp_subscript(obj, key); - } - return __Pyx_PyObject_GetIndex(obj, key); -} -#endif - -/* PyErrExceptionMatches */ -#if CYTHON_FAST_THREAD_STATE -static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; icurexc_type; - if (exc_type == err) return 1; - if (unlikely(!exc_type)) return 0; - if (unlikely(PyTuple_Check(err))) - return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); - return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); -} -#endif - -/* GetAttr */ -static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { -#if CYTHON_USE_TYPE_SLOTS -#if PY_MAJOR_VERSION >= 3 - if (likely(PyUnicode_Check(n))) -#else - if (likely(PyString_Check(n))) -#endif - return __Pyx_PyObject_GetAttrStr(o, n); -#endif - return PyObject_GetAttr(o, n); -} - -/* GetAttr3 */ -static PyObject *__Pyx_GetAttr3Default(PyObject *d) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - return NULL; - __Pyx_PyErr_Clear(); - Py_INCREF(d); - return d; -} -static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { - PyObject *r = __Pyx_GetAttr(o, n); - return (likely(r)) ? r : __Pyx_GetAttr3Default(d); -} - -/* Import */ -static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { - PyObject *empty_list = 0; - PyObject *module = 0; - PyObject *global_dict = 0; - PyObject *empty_dict = 0; - PyObject *list; - #if PY_MAJOR_VERSION < 3 - PyObject *py_import; - py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); - if (!py_import) - goto bad; - #endif - if (from_list) - list = from_list; - else { - empty_list = PyList_New(0); - if (!empty_list) - goto bad; - list = empty_list; - } - global_dict = PyModule_GetDict(__pyx_m); - if (!global_dict) - goto bad; - empty_dict = PyDict_New(); - if (!empty_dict) - goto bad; - { - #if PY_MAJOR_VERSION >= 3 - if (level == -1) { - if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, 1); - if (!module) { - if (!PyErr_ExceptionMatches(PyExc_ImportError)) - goto bad; - PyErr_Clear(); - } - } - level = 0; - } - #endif - if (!module) { - #if PY_MAJOR_VERSION < 3 - PyObject *py_level = PyInt_FromLong(level); - if (!py_level) - goto bad; - module = PyObject_CallFunctionObjArgs(py_import, - name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); - Py_DECREF(py_level); - #else - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, level); - #endif - } - } -bad: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_import); - #endif - Py_XDECREF(empty_list); - Py_XDECREF(empty_dict); - return module; -} - -/* ImportFrom */ -static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { - PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); - if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { - PyErr_Format(PyExc_ImportError, - #if PY_MAJOR_VERSION < 3 - "cannot import name %.230s", PyString_AS_STRING(name)); - #else - "cannot import name %S", name); - #endif - } - return value; -} - -/* HasAttr */ -static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { - PyObject *r; - if (unlikely(!__Pyx_PyBaseString_Check(n))) { - PyErr_SetString(PyExc_TypeError, - "hasattr(): attribute name must be string"); - return -1; - } - r = __Pyx_GetAttr(o, n); - if (unlikely(!r)) { - PyErr_Clear(); - return 0; - } else { - Py_DECREF(r); - return 1; - } -} - -/* PyObject_GenericGetAttrNoDict */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, attr_name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(attr_name)); -#endif - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { - PyObject *descr; - PyTypeObject *tp = Py_TYPE(obj); - if (unlikely(!PyString_Check(attr_name))) { - return PyObject_GenericGetAttr(obj, attr_name); - } - assert(!tp->tp_dictoffset); - descr = _PyType_Lookup(tp, attr_name); - if (unlikely(!descr)) { - return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); - } - Py_INCREF(descr); - #if PY_MAJOR_VERSION < 3 - if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) - #endif - { - descrgetfunc f = Py_TYPE(descr)->tp_descr_get; - if (unlikely(f)) { - PyObject *res = f(descr, obj, (PyObject *)tp); - Py_DECREF(descr); - return res; - } - } - return descr; -} -#endif - -/* PyObject_GenericGetAttr */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { - if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { - return PyObject_GenericGetAttr(obj, attr_name); - } - return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); -} -#endif - -/* PyObjectGetAttrStrNoError */ -static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - __Pyx_PyErr_Clear(); -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { - PyObject *result; -#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { - return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); - } -#endif - result = __Pyx_PyObject_GetAttrStr(obj, attr_name); - if (unlikely(!result)) { - __Pyx_PyObject_GetAttrStr_ClearAttributeError(); - } - return result; -} - -/* SetupReduce */ -static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { - int ret; - PyObject *name_attr; - name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name_2); - if (likely(name_attr)) { - ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); - } else { - ret = -1; - } - if (unlikely(ret < 0)) { - PyErr_Clear(); - ret = 0; - } - Py_XDECREF(name_attr); - return ret; -} -static int __Pyx_setup_reduce(PyObject* type_obj) { - int ret = 0; - PyObject *object_reduce = NULL; - PyObject *object_reduce_ex = NULL; - PyObject *reduce = NULL; - PyObject *reduce_ex = NULL; - PyObject *reduce_cython = NULL; - PyObject *setstate = NULL; - PyObject *setstate_cython = NULL; -#if CYTHON_USE_PYTYPE_LOOKUP - if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#else - if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#endif -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#else - object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#endif - reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; - if (reduce_ex == object_reduce_ex) { -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#else - object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#endif - reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; - if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { - reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); - if (likely(reduce_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (reduce == object_reduce || PyErr_Occurred()) { - goto __PYX_BAD; - } - setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); - if (!setstate) PyErr_Clear(); - if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { - setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); - if (likely(setstate_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (!setstate || PyErr_Occurred()) { - goto __PYX_BAD; - } - } - PyType_Modified((PyTypeObject*)type_obj); - } - } - goto __PYX_GOOD; -__PYX_BAD: - if (!PyErr_Occurred()) - PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); - ret = -1; -__PYX_GOOD: -#if !CYTHON_USE_PYTYPE_LOOKUP - Py_XDECREF(object_reduce); - Py_XDECREF(object_reduce_ex); -#endif - Py_XDECREF(reduce); - Py_XDECREF(reduce_ex); - Py_XDECREF(reduce_cython); - Py_XDECREF(setstate); - Py_XDECREF(setstate_cython); - return ret; -} - -/* CalculateMetaclass */ -static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { - Py_ssize_t i, nbases = PyTuple_GET_SIZE(bases); - for (i=0; i < nbases; i++) { - PyTypeObject *tmptype; - PyObject *tmp = PyTuple_GET_ITEM(bases, i); - tmptype = Py_TYPE(tmp); -#if PY_MAJOR_VERSION < 3 - if (tmptype == &PyClass_Type) - continue; -#endif - if (!metaclass) { - metaclass = tmptype; - continue; - } - if (PyType_IsSubtype(metaclass, tmptype)) - continue; - if (PyType_IsSubtype(tmptype, metaclass)) { - metaclass = tmptype; - continue; - } - PyErr_SetString(PyExc_TypeError, - "metaclass conflict: " - "the metaclass of a derived class " - "must be a (non-strict) subclass " - "of the metaclasses of all its bases"); - return NULL; - } - if (!metaclass) { -#if PY_MAJOR_VERSION < 3 - metaclass = &PyClass_Type; -#else - metaclass = &PyType_Type; -#endif - } - Py_INCREF((PyObject*) metaclass); - return (PyObject*) metaclass; -} - -/* Py3ClassCreate */ -static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, - PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { - PyObject *ns; - if (metaclass) { - PyObject *prep = __Pyx_PyObject_GetAttrStr(metaclass, __pyx_n_s_prepare); - if (prep) { - PyObject *pargs = PyTuple_Pack(2, name, bases); - if (unlikely(!pargs)) { - Py_DECREF(prep); - return NULL; - } - ns = PyObject_Call(prep, pargs, mkw); - Py_DECREF(prep); - Py_DECREF(pargs); - } else { - if (unlikely(!PyErr_ExceptionMatches(PyExc_AttributeError))) - return NULL; - PyErr_Clear(); - ns = PyDict_New(); - } - } else { - ns = PyDict_New(); - } - if (unlikely(!ns)) - return NULL; - if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; - if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; - if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; - return ns; -bad: - Py_DECREF(ns); - return NULL; -} -static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, - PyObject *dict, PyObject *mkw, - int calculate_metaclass, int allow_py2_metaclass) { - PyObject *result, *margs; - PyObject *owned_metaclass = NULL; - if (allow_py2_metaclass) { - owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); - if (owned_metaclass) { - metaclass = owned_metaclass; - } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { - PyErr_Clear(); - } else { - return NULL; - } - } - if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { - metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); - Py_XDECREF(owned_metaclass); - if (unlikely(!metaclass)) - return NULL; - owned_metaclass = metaclass; - } - margs = PyTuple_Pack(3, name, bases, dict); - if (unlikely(!margs)) { - result = NULL; - } else { - result = PyObject_Call(metaclass, margs, mkw); - Py_DECREF(margs); - } - Py_XDECREF(owned_metaclass); - return result; -} - -/* Globals */ -static PyObject* __Pyx_Globals(void) { - Py_ssize_t i; - PyObject *names; - PyObject *globals = __pyx_d; - Py_INCREF(globals); - names = PyObject_Dir(__pyx_m); - if (!names) - goto bad; - for (i = PyList_GET_SIZE(names)-1; i >= 0; i--) { -#if CYTHON_COMPILING_IN_PYPY - PyObject* name = PySequence_ITEM(names, i); - if (!name) - goto bad; -#else - PyObject* name = PyList_GET_ITEM(names, i); -#endif - if (!PyDict_Contains(globals, name)) { - PyObject* value = __Pyx_GetAttr(__pyx_m, name); - if (!value) { -#if CYTHON_COMPILING_IN_PYPY - Py_DECREF(name); -#endif - goto bad; - } - if (PyDict_SetItem(globals, name, value) < 0) { -#if CYTHON_COMPILING_IN_PYPY - Py_DECREF(name); -#endif - Py_DECREF(value); - goto bad; - } - } -#if CYTHON_COMPILING_IN_PYPY - Py_DECREF(name); -#endif - } - Py_DECREF(names); - return globals; -bad: - Py_XDECREF(names); - Py_XDECREF(globals); - return NULL; -} - -/* CLineInTraceback */ -#ifndef CYTHON_CLINE_IN_TRACEBACK -static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { - PyObject *use_cline; - PyObject *ptype, *pvalue, *ptraceback; -#if CYTHON_COMPILING_IN_CPYTHON - PyObject **cython_runtime_dict; -#endif - if (unlikely(!__pyx_cython_runtime)) { - return c_line; - } - __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); -#if CYTHON_COMPILING_IN_CPYTHON - cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); - if (likely(cython_runtime_dict)) { - __PYX_PY_DICT_LOOKUP_IF_MODIFIED( - use_cline, *cython_runtime_dict, - __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) - } else -#endif - { - PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); - if (use_cline_obj) { - use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; - Py_DECREF(use_cline_obj); - } else { - PyErr_Clear(); - use_cline = NULL; - } - } - if (!use_cline) { - c_line = 0; - (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); - } - else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { - c_line = 0; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - return c_line; -} -#endif - -/* CodeObjectCache */ -static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { - int start = 0, mid = 0, end = count - 1; - if (end >= 0 && code_line > entries[end].code_line) { - return count; - } - while (start < end) { - mid = start + (end - start) / 2; - if (code_line < entries[mid].code_line) { - end = mid; - } else if (code_line > entries[mid].code_line) { - start = mid + 1; - } else { - return mid; - } - } - if (code_line <= entries[mid].code_line) { - return mid; - } else { - return mid + 1; - } -} -static PyCodeObject *__pyx_find_code_object(int code_line) { - PyCodeObject* code_object; - int pos; - if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { - return NULL; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { - return NULL; - } - code_object = __pyx_code_cache.entries[pos].code_object; - Py_INCREF(code_object); - return code_object; -} -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { - int pos, i; - __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; - if (unlikely(!code_line)) { - return; - } - if (unlikely(!entries)) { - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); - if (likely(entries)) { - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = 64; - __pyx_code_cache.count = 1; - entries[0].code_line = code_line; - entries[0].code_object = code_object; - Py_INCREF(code_object); - } - return; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { - PyCodeObject* tmp = entries[pos].code_object; - entries[pos].code_object = code_object; - Py_DECREF(tmp); - return; - } - if (__pyx_code_cache.count == __pyx_code_cache.max_count) { - int new_max = __pyx_code_cache.max_count + 64; - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( - __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); - if (unlikely(!entries)) { - return; - } - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = new_max; - } - for (i=__pyx_code_cache.count; i>pos; i--) { - entries[i] = entries[i-1]; - } - entries[pos].code_line = code_line; - entries[pos].code_object = code_object; - __pyx_code_cache.count++; - Py_INCREF(code_object); -} - -/* AddTraceback */ -#include "compile.h" -#include "frameobject.h" -#include "traceback.h" -static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( - const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = NULL; - PyObject *py_funcname = NULL; - #if PY_MAJOR_VERSION < 3 - PyObject *py_srcfile = NULL; - py_srcfile = PyString_FromString(filename); - if (!py_srcfile) goto bad; - #endif - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - funcname = PyUnicode_AsUTF8(py_funcname); - if (!funcname) goto bad; - #endif - } - else { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); - if (!py_funcname) goto bad; - #endif - } - #if PY_MAJOR_VERSION < 3 - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - #else - py_code = PyCode_NewEmpty(filename, funcname, py_line); - #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline - return py_code; -bad: - Py_XDECREF(py_funcname); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_srcfile); - #endif - return NULL; -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); - } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) goto bad; - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); - } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); -} - -/* CIntFromPyVerify */ -#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ - } - -/* CIntToPy */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__ParamKeyType(enum ParamKeyType value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const enum ParamKeyType neg_one = (enum ParamKeyType) -1, const_zero = (enum ParamKeyType) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(enum ParamKeyType) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(enum ParamKeyType) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(enum ParamKeyType) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(enum ParamKeyType) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(enum ParamKeyType) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(enum ParamKeyType), - little, !is_unsigned); - } -} - -/* CIntFromPy */ -static CYTHON_INLINE enum ParamKeyType __Pyx_PyInt_As_enum__ParamKeyType(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const enum ParamKeyType neg_one = (enum ParamKeyType) -1, const_zero = (enum ParamKeyType) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(enum ParamKeyType) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(enum ParamKeyType, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (enum ParamKeyType) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (enum ParamKeyType) 0; - case 1: __PYX_VERIFY_RETURN_INT(enum ParamKeyType, digit, digits[0]) - case 2: - if (8 * sizeof(enum ParamKeyType) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum ParamKeyType) >= 2 * PyLong_SHIFT) { - return (enum ParamKeyType) (((((enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(enum ParamKeyType) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum ParamKeyType) >= 3 * PyLong_SHIFT) { - return (enum ParamKeyType) (((((((enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(enum ParamKeyType) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum ParamKeyType) >= 4 * PyLong_SHIFT) { - return (enum ParamKeyType) (((((((((enum ParamKeyType)digits[3]) << PyLong_SHIFT) | (enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (enum ParamKeyType) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(enum ParamKeyType) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(enum ParamKeyType, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(enum ParamKeyType) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(enum ParamKeyType, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (enum ParamKeyType) 0; - case -1: __PYX_VERIFY_RETURN_INT(enum ParamKeyType, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(enum ParamKeyType, digit, +digits[0]) - case -2: - if (8 * sizeof(enum ParamKeyType) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum ParamKeyType, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum ParamKeyType) - 1 > 2 * PyLong_SHIFT) { - return (enum ParamKeyType) (((enum ParamKeyType)-1)*(((((enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(enum ParamKeyType) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum ParamKeyType) - 1 > 2 * PyLong_SHIFT) { - return (enum ParamKeyType) ((((((enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(enum ParamKeyType) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum ParamKeyType, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum ParamKeyType) - 1 > 3 * PyLong_SHIFT) { - return (enum ParamKeyType) (((enum ParamKeyType)-1)*(((((((enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(enum ParamKeyType) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum ParamKeyType) - 1 > 3 * PyLong_SHIFT) { - return (enum ParamKeyType) ((((((((enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(enum ParamKeyType) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum ParamKeyType, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum ParamKeyType) - 1 > 4 * PyLong_SHIFT) { - return (enum ParamKeyType) (((enum ParamKeyType)-1)*(((((((((enum ParamKeyType)digits[3]) << PyLong_SHIFT) | (enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(enum ParamKeyType) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(enum ParamKeyType) - 1 > 4 * PyLong_SHIFT) { - return (enum ParamKeyType) ((((((((((enum ParamKeyType)digits[3]) << PyLong_SHIFT) | (enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); - } - } - break; - } -#endif - if (sizeof(enum ParamKeyType) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(enum ParamKeyType, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(enum ParamKeyType) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(enum ParamKeyType, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - enum ParamKeyType val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (enum ParamKeyType) -1; - } - } else { - enum ParamKeyType val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (enum ParamKeyType) -1; - val = __Pyx_PyInt_As_enum__ParamKeyType(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to enum ParamKeyType"); - return (enum ParamKeyType) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to enum ParamKeyType"); - return (enum ParamKeyType) -1; -} - -/* CIntFromPy */ -static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(size_t) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (size_t) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (size_t) 0; - case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, digits[0]) - case 2: - if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 2 * PyLong_SHIFT) { - return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 3 * PyLong_SHIFT) { - return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 4 * PyLong_SHIFT) { - return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (size_t) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(size_t) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (size_t) 0; - case -1: __PYX_VERIFY_RETURN_INT(size_t, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, +digits[0]) - case -2: - if (8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { - return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - } -#endif - if (sizeof(size_t) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(size_t) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - size_t val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (size_t) -1; - } - } else { - size_t val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (size_t) -1; - val = __Pyx_PyInt_As_size_t(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to size_t"); - return (size_t) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to size_t"); - return (size_t) -1; -} - -/* CIntFromPy */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(long) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (long) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { - return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { - return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { - return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(long) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) - case -2: - if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - } -#endif - if (sizeof(long) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - long val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (long) -1; - } - } else { - long val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (long) -1; - val = __Pyx_PyInt_As_long(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to long"); - return (long) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to long"); - return (long) -1; -} - -/* CIntToPy */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); - } -} - -/* CIntFromPy */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(int) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (int) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { - return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { - return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { - return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(int) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) - case -2: - if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - } -#endif - if (sizeof(int) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - int val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (int) -1; - } - } else { - int val; 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return PyInt_FromSize_t(ival); -} - - -#endif /* Py_PYTHON_H */ diff --git a/common/params_pyx.so b/common/params_pyx.so index 068dae9a3..6100c58e7 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/common/realtime.py b/common/realtime.py index af45a63ea..81cd36b74 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -15,7 +15,10 @@ from system.hardware import PC, TICI DT_CTRL = 0.01 # controlsd DT_MDL = 0.05 # model DT_TRML = 0.5 # thermald and manager -DT_DMON = 0.1 # driver monitoring +if TICI: + DT_DMON = 0.05 +else: + DT_DMON = 0.1 class Priority: diff --git a/common/swaglog.h b/common/swaglog.h index a0096e3a6..68b05ed2e 100644 --- a/common/swaglog.h +++ b/common/swaglog.h @@ -22,7 +22,7 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun #define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \ __func__, \ fmt, ## __VA_ARGS__); - + #define cloudlog_t(lvl, ...) cloudlog_te(lvl, __FILE__, __LINE__, \ __func__, \ __VA_ARGS__); diff --git a/common/transformations/camera.py b/common/transformations/camera.py index 503a31399..b20ed5c64 100644 --- a/common/transformations/camera.py +++ b/common/transformations/camera.py @@ -1,18 +1,15 @@ import numpy as np import common.transformations.orientation as orient -from system.hardware import TICI ## -- hardcoded hardware params -- eon_f_focal_length = 910.0 -eon_d_focal_length = 860.0 -leon_d_focal_length = 650.0 +eon_d_focal_length = 650.0 tici_f_focal_length = 2648.0 tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame eon_f_frame_size = (1164, 874) -eon_d_frame_size = (1152, 864) -leon_d_frame_size = (816, 612) +eon_d_frame_size = (816, 612) tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208) # aka 'K' aka camera_frame_from_view_frame @@ -22,11 +19,6 @@ eon_fcam_intrinsics = np.array([ [0.0, 0.0, 1.0]]) eon_intrinsics = eon_fcam_intrinsics # xx -leon_dcam_intrinsics = np.array([ - [leon_d_focal_length, 0.0, float(leon_d_frame_size[0])/2], - [0.0, leon_d_focal_length, float(leon_d_frame_size[1])/2], - [0.0, 0.0, 1.0]]) - eon_dcam_intrinsics = np.array([ [eon_d_focal_length, 0.0, float(eon_d_frame_size[0])/2], [0.0, eon_d_focal_length, float(eon_d_frame_size[1])/2], @@ -52,14 +44,9 @@ tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics) tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics) -if not TICI: - FULL_FRAME_SIZE = eon_f_frame_size - FOCAL = eon_f_focal_length - fcam_intrinsics = eon_fcam_intrinsics -else: - FULL_FRAME_SIZE = tici_f_frame_size - FOCAL = tici_f_focal_length - fcam_intrinsics = tici_fcam_intrinsics +FULL_FRAME_SIZE = tici_f_frame_size +FOCAL = tici_f_focal_length +fcam_intrinsics = tici_fcam_intrinsics W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1] diff --git a/common/transformations/transformations.cpp b/common/transformations/transformations.cpp deleted file mode 100644 index 4080d4a8b..000000000 --- a/common/transformations/transformations.cpp +++ /dev/null @@ -1,10462 +0,0 @@ -/* Generated by Cython 0.29.26 */ - 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#define CYTHON_COMPILING_IN_PYPY 0 - #define CYTHON_COMPILING_IN_PYSTON 1 - #define CYTHON_COMPILING_IN_CPYTHON 0 - #ifndef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 1 - #endif - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #undef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 0 - #ifndef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 1 - #endif - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #ifndef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 0 - #endif - #ifndef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 1 - #endif - #ifndef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 1 - #endif - #undef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 0 - #undef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL 0 - #undef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT 0 - #undef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE 0 - #undef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS 0 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 -#else - #define CYTHON_COMPILING_IN_PYPY 0 - #define CYTHON_COMPILING_IN_PYSTON 0 - #define CYTHON_COMPILING_IN_CPYTHON 1 - #ifndef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 1 - #endif - #if PY_VERSION_HEX < 0x02070000 - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #elif !defined(CYTHON_USE_PYTYPE_LOOKUP) - #define CYTHON_USE_PYTYPE_LOOKUP 1 - #endif - #if PY_MAJOR_VERSION < 3 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #elif !defined(CYTHON_USE_ASYNC_SLOTS) - #define CYTHON_USE_ASYNC_SLOTS 1 - #endif - #if PY_VERSION_HEX < 0x02070000 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #elif !defined(CYTHON_USE_PYLONG_INTERNALS) - #define CYTHON_USE_PYLONG_INTERNALS 1 - #endif - #ifndef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 1 - #endif - #ifndef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 1 - #endif - #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #elif !defined(CYTHON_USE_UNICODE_WRITER) - #define CYTHON_USE_UNICODE_WRITER 1 - #endif - #ifndef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 0 - #endif - #ifndef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 1 - #endif - #ifndef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 1 - #endif - #ifndef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 1 - #endif - #ifndef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) - #endif - #ifndef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) - #endif - #ifndef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) - #endif - #ifndef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) - #endif - #ifndef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) - #endif -#endif -#if !defined(CYTHON_FAST_PYCCALL) -#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) -#endif -#if CYTHON_USE_PYLONG_INTERNALS - #if PY_MAJOR_VERSION < 3 - #include "longintrepr.h" - #endif - #undef SHIFT - #undef BASE - #undef MASK - #ifdef SIZEOF_VOID_P - enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; - #endif -#endif -#ifndef __has_attribute - #define __has_attribute(x) 0 -#endif -#ifndef __has_cpp_attribute - #define __has_cpp_attribute(x) 0 -#endif -#ifndef CYTHON_RESTRICT - #if defined(__GNUC__) - #define CYTHON_RESTRICT __restrict__ - #elif defined(_MSC_VER) && _MSC_VER >= 1400 - #define CYTHON_RESTRICT __restrict - #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L - #define CYTHON_RESTRICT restrict - #else - #define CYTHON_RESTRICT - #endif -#endif -#ifndef CYTHON_UNUSED -# if defined(__GNUC__) -# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -#endif -#ifndef CYTHON_MAYBE_UNUSED_VAR -# if defined(__cplusplus) - template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } -# else -# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) -# endif -#endif -#ifndef CYTHON_NCP_UNUSED -# if CYTHON_COMPILING_IN_CPYTHON -# define CYTHON_NCP_UNUSED -# else -# define CYTHON_NCP_UNUSED CYTHON_UNUSED -# endif -#endif -#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) -#ifdef _MSC_VER - #ifndef _MSC_STDINT_H_ - #if _MSC_VER < 1300 - typedef unsigned char uint8_t; - typedef unsigned int uint32_t; - #else - typedef unsigned __int8 uint8_t; - typedef unsigned __int32 uint32_t; - #endif - #endif -#else - #include -#endif -#ifndef CYTHON_FALLTHROUGH - #if defined(__cplusplus) && __cplusplus >= 201103L - #if __has_cpp_attribute(fallthrough) - #define CYTHON_FALLTHROUGH [[fallthrough]] - #elif __has_cpp_attribute(clang::fallthrough) - #define CYTHON_FALLTHROUGH [[clang::fallthrough]] - #elif __has_cpp_attribute(gnu::fallthrough) - #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] - #endif - #endif - #ifndef CYTHON_FALLTHROUGH - #if __has_attribute(fallthrough) - #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) - #else - #define CYTHON_FALLTHROUGH - #endif - #endif - #if defined(__clang__ ) && defined(__apple_build_version__) - #if __apple_build_version__ < 7000000 - #undef CYTHON_FALLTHROUGH - #define CYTHON_FALLTHROUGH - #endif - #endif -#endif - -#ifndef __cplusplus - #error "Cython files generated with the C++ option must be compiled with a C++ compiler." -#endif -#ifndef CYTHON_INLINE - #if defined(__clang__) - #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) - #else - #define CYTHON_INLINE inline - #endif -#endif -template -void __Pyx_call_destructor(T& x) { - x.~T(); -} -template -class __Pyx_FakeReference { - public: - __Pyx_FakeReference() : ptr(NULL) { } - __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } - T *operator->() { return ptr; } - T *operator&() { return ptr; } - operator T&() { return *ptr; } - template bool operator ==(U other) { return *ptr == other; } - template bool operator !=(U other) { return *ptr != other; } - private: - T *ptr; -}; - -#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) - #define Py_OptimizeFlag 0 -#endif -#define __PYX_BUILD_PY_SSIZE_T "n" -#define CYTHON_FORMAT_SSIZE_T "z" -#if PY_MAJOR_VERSION < 3 - #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) - #define __Pyx_DefaultClassType PyClass_Type -#else - #define __Pyx_BUILTIN_MODULE_NAME "builtins" - #define __Pyx_DefaultClassType PyType_Type -#if PY_VERSION_HEX >= 0x030B00A1 - static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, - PyObject *code, PyObject *c, PyObject* n, PyObject *v, - PyObject *fv, PyObject *cell, PyObject* fn, - PyObject *name, int fline, PyObject *lnos) { - PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; - PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; - const char *fn_cstr=NULL; - const char *name_cstr=NULL; - PyCodeObject* co=NULL; - PyObject *type, *value, *traceback; - PyErr_Fetch(&type, &value, &traceback); - if (!(kwds=PyDict_New())) goto end; - if (!(argcount=PyLong_FromLong(a))) goto end; - if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; - if (!(posonlyargcount=PyLong_FromLong(0))) goto end; - if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; - if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; - if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; - if (!(nlocals=PyLong_FromLong(l))) goto end; - if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; - if (!(stacksize=PyLong_FromLong(s))) goto end; - if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; - if (!(flags=PyLong_FromLong(f))) goto end; - if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; - if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; - if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; - if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; - if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; - if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here - if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; - Py_XDECREF((PyObject*)co); - co = (PyCodeObject*)call_result; - call_result = NULL; - if (0) { - cleanup_code_too: - Py_XDECREF((PyObject*)co); - co = NULL; - } - end: - Py_XDECREF(kwds); - Py_XDECREF(argcount); - Py_XDECREF(posonlyargcount); - Py_XDECREF(kwonlyargcount); - Py_XDECREF(nlocals); - Py_XDECREF(stacksize); - Py_XDECREF(replace); - Py_XDECREF(call_result); - Py_XDECREF(empty); - if (type) { - PyErr_Restore(type, value, traceback); - } - return co; - } -#else - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) -#endif - #define __Pyx_DefaultClassType PyType_Type -#endif -#ifndef Py_TPFLAGS_CHECKTYPES - #define Py_TPFLAGS_CHECKTYPES 0 -#endif -#ifndef Py_TPFLAGS_HAVE_INDEX - #define Py_TPFLAGS_HAVE_INDEX 0 -#endif -#ifndef Py_TPFLAGS_HAVE_NEWBUFFER - #define Py_TPFLAGS_HAVE_NEWBUFFER 0 -#endif -#ifndef Py_TPFLAGS_HAVE_FINALIZE - #define Py_TPFLAGS_HAVE_FINALIZE 0 -#endif -#ifndef METH_STACKLESS - #define METH_STACKLESS 0 -#endif -#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) - #ifndef METH_FASTCALL - #define METH_FASTCALL 0x80 - #endif - typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); - typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, - Py_ssize_t nargs, PyObject *kwnames); -#else - #define __Pyx_PyCFunctionFast _PyCFunctionFast - #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords -#endif -#if CYTHON_FAST_PYCCALL -#define __Pyx_PyFastCFunction_Check(func)\ - ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) -#else -#define __Pyx_PyFastCFunction_Check(func) 0 -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) - #define PyObject_Malloc(s) PyMem_Malloc(s) - #define PyObject_Free(p) PyMem_Free(p) - #define PyObject_Realloc(p) PyMem_Realloc(p) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 - #define PyMem_RawMalloc(n) PyMem_Malloc(n) - #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) - #define PyMem_RawFree(p) PyMem_Free(p) -#endif -#if CYTHON_COMPILING_IN_PYSTON - #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) -#else - #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) -#endif -#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#elif PY_VERSION_HEX >= 0x03060000 - #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() -#elif PY_VERSION_HEX >= 0x03000000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#else - #define __Pyx_PyThreadState_Current _PyThreadState_Current -#endif -#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) -#include "pythread.h" -#define Py_tss_NEEDS_INIT 0 -typedef int Py_tss_t; -static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { - *key = PyThread_create_key(); - return 0; -} -static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { - Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); - *key = Py_tss_NEEDS_INIT; - return key; -} -static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { - PyObject_Free(key); -} -static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { - return *key != Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { - PyThread_delete_key(*key); - *key = Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { - return PyThread_set_key_value(*key, value); -} -static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { - return PyThread_get_key_value(*key); -} -#endif -#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) -#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) -#else -#define __Pyx_PyDict_NewPresized(n) PyDict_New() -#endif -#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION - #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) -#else - #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS -#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) -#else -#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) -#endif -#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) - #define CYTHON_PEP393_ENABLED 1 - #if defined(PyUnicode_IS_READY) - #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ - 0 : _PyUnicode_Ready((PyObject *)(op))) - #else - #define __Pyx_PyUnicode_READY(op) (0) - #endif - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) - #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) - #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) - #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) - #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) - #endif - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) - #endif -#else - #define CYTHON_PEP393_ENABLED 0 - #define PyUnicode_1BYTE_KIND 1 - #define PyUnicode_2BYTE_KIND 2 - #define PyUnicode_4BYTE_KIND 4 - #define __Pyx_PyUnicode_READY(op) (0) - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) - #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) - #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) - #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) -#endif -#if CYTHON_COMPILING_IN_PYPY - #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) -#else - #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ - PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) - #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) - #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) - #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) -#endif -#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) -#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? 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-#else -static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); -#endif - -/* PyObject_GenericGetAttrNoDict.proto */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); -#else -#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr -#endif - -/* PyObject_GenericGetAttr.proto */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); -#else -#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr -#endif - -/* PyObjectGetAttrStrNoError.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); - -/* SetupReduce.proto */ -static int __Pyx_setup_reduce(PyObject* type_obj); - -/* TypeImport.proto */ -#ifndef __PYX_HAVE_RT_ImportType_proto -#define __PYX_HAVE_RT_ImportType_proto -enum __Pyx_ImportType_CheckSize { - __Pyx_ImportType_CheckSize_Error = 0, - __Pyx_ImportType_CheckSize_Warn = 1, - __Pyx_ImportType_CheckSize_Ignore = 2 -}; -static PyTypeObject *__Pyx_ImportType(PyObject* module, const char *module_name, const char *class_name, size_t size, enum __Pyx_ImportType_CheckSize check_size); -#endif - -/* Import.proto */ -static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); - -/* ClassMethod.proto */ -#include "descrobject.h" -static CYTHON_UNUSED PyObject* __Pyx_Method_ClassMethod(PyObject *method); - -/* GetNameInClass.proto */ -#define __Pyx_GetNameInClass(var, nmspace, name) (var) = __Pyx__GetNameInClass(nmspace, name) -static PyObject *__Pyx__GetNameInClass(PyObject *nmspace, PyObject *name); - -/* CLineInTraceback.proto */ -#ifdef CYTHON_CLINE_IN_TRACEBACK -#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) -#else -static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); -#endif - -/* CodeObjectCache.proto */ -typedef struct { - PyCodeObject* code_object; - int code_line; -} __Pyx_CodeObjectCacheEntry; -struct __Pyx_CodeObjectCache { - int count; - int max_count; - __Pyx_CodeObjectCacheEntry* entries; -}; -static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; -static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); -static PyCodeObject *__pyx_find_code_object(int code_line); -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); - -/* AddTraceback.proto */ -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename); - -/* BufferStructDeclare.proto */ -typedef struct { - Py_ssize_t shape, strides, suboffsets; -} __Pyx_Buf_DimInfo; -typedef struct { - size_t refcount; - Py_buffer pybuffer; -} __Pyx_Buffer; -typedef struct { - __Pyx_Buffer *rcbuffer; - char *data; - __Pyx_Buf_DimInfo diminfo[8]; -} __Pyx_LocalBuf_ND; - -#if PY_MAJOR_VERSION < 3 - static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); - static void __Pyx_ReleaseBuffer(Py_buffer *view); -#else - #define __Pyx_GetBuffer PyObject_GetBuffer - #define __Pyx_ReleaseBuffer PyBuffer_Release -#endif - - -/* GCCDiagnostics.proto */ -#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) -#define __Pyx_HAS_GCC_DIAGNOSTIC -#endif - -/* RealImag.proto */ -#if CYTHON_CCOMPLEX - #ifdef __cplusplus - #define __Pyx_CREAL(z) ((z).real()) - #define __Pyx_CIMAG(z) ((z).imag()) - #else - #define __Pyx_CREAL(z) (__real__(z)) - #define __Pyx_CIMAG(z) (__imag__(z)) - #endif -#else - #define __Pyx_CREAL(z) ((z).real) - #define __Pyx_CIMAG(z) ((z).imag) -#endif -#if defined(__cplusplus) && CYTHON_CCOMPLEX\ - && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) - #define __Pyx_SET_CREAL(z,x) ((z).real(x)) - #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) -#else - #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) - #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) -#endif - -/* Arithmetic.proto */ -#if CYTHON_CCOMPLEX - #define __Pyx_c_eq_float(a, b) ((a)==(b)) - #define __Pyx_c_sum_float(a, b) ((a)+(b)) - #define __Pyx_c_diff_float(a, b) ((a)-(b)) - #define __Pyx_c_prod_float(a, b) ((a)*(b)) - #define __Pyx_c_quot_float(a, b) ((a)/(b)) - #define __Pyx_c_neg_float(a) (-(a)) - #ifdef __cplusplus - #define __Pyx_c_is_zero_float(z) ((z)==(float)0) - #define __Pyx_c_conj_float(z) (::std::conj(z)) - #if 1 - #define __Pyx_c_abs_float(z) (::std::abs(z)) - #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) - #endif - #else - #define __Pyx_c_is_zero_float(z) ((z)==0) - #define __Pyx_c_conj_float(z) (conjf(z)) - #if 1 - #define __Pyx_c_abs_float(z) (cabsf(z)) - #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) - #endif - #endif -#else - static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); - static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); - #if 1 - static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); - #endif -#endif - -/* Arithmetic.proto */ -#if CYTHON_CCOMPLEX - #define __Pyx_c_eq_double(a, b) ((a)==(b)) - #define __Pyx_c_sum_double(a, b) ((a)+(b)) - #define __Pyx_c_diff_double(a, b) ((a)-(b)) - #define __Pyx_c_prod_double(a, b) ((a)*(b)) - #define __Pyx_c_quot_double(a, b) ((a)/(b)) - #define __Pyx_c_neg_double(a) (-(a)) - #ifdef __cplusplus - #define __Pyx_c_is_zero_double(z) ((z)==(double)0) - #define __Pyx_c_conj_double(z) (::std::conj(z)) - #if 1 - #define __Pyx_c_abs_double(z) (::std::abs(z)) - #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) - #endif - #else - #define __Pyx_c_is_zero_double(z) ((z)==0) - #define __Pyx_c_conj_double(z) (conj(z)) - #if 1 - #define __Pyx_c_abs_double(z) (cabs(z)) - #define __Pyx_c_pow_double(a, b) (cpow(a, b)) - #endif - #endif -#else - static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); - static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); - #if 1 - static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); - #endif -#endif - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); - -/* CIntFromPy.proto */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); - -/* CIntFromPy.proto */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); - -/* FastTypeChecks.proto */ -#if CYTHON_COMPILING_IN_CPYTHON -#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); -#else -#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) -#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) -#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) -#endif -#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) - -/* CheckBinaryVersion.proto */ -static int __Pyx_check_binary_version(void); - -/* InitStrings.proto */ -static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); - - -/* Module declarations from 'libcpp' */ - -/* Module declarations from 'cython' */ - -/* Module declarations from 'cpython.buffer' */ - -/* Module declarations from 'libc.string' */ - -/* Module declarations from 'libc.stdio' */ - -/* Module declarations from '__builtin__' */ - -/* Module declarations from 'cpython.type' */ -static PyTypeObject *__pyx_ptype_7cpython_4type_type = 0; - -/* Module declarations from 'cpython' */ - -/* Module declarations from 'cpython.object' */ - -/* Module declarations from 'cpython.ref' */ - -/* Module declarations from 'cpython.mem' */ - -/* Module declarations from 'numpy' */ - -/* Module declarations from 'numpy' */ -static PyTypeObject *__pyx_ptype_5numpy_dtype = 0; -static PyTypeObject *__pyx_ptype_5numpy_flatiter = 0; -static PyTypeObject *__pyx_ptype_5numpy_broadcast = 0; -static PyTypeObject *__pyx_ptype_5numpy_ndarray = 0; -static PyTypeObject *__pyx_ptype_5numpy_generic = 0; -static PyTypeObject *__pyx_ptype_5numpy_number = 0; -static PyTypeObject *__pyx_ptype_5numpy_integer = 0; -static PyTypeObject *__pyx_ptype_5numpy_signedinteger = 0; -static PyTypeObject *__pyx_ptype_5numpy_unsignedinteger = 0; -static PyTypeObject *__pyx_ptype_5numpy_inexact = 0; -static PyTypeObject *__pyx_ptype_5numpy_floating = 0; -static PyTypeObject *__pyx_ptype_5numpy_complexfloating = 0; -static PyTypeObject *__pyx_ptype_5numpy_flexible = 0; -static PyTypeObject *__pyx_ptype_5numpy_character = 0; -static PyTypeObject *__pyx_ptype_5numpy_ufunc = 0; - -/* Module declarations from 'common.transformations.transformations' */ -static PyTypeObject *__pyx_ptype_6common_15transformations_15transformations_LocalCoord = 0; -static PyArrayObject *__pyx_f_6common_15transformations_15transformations_matrix2numpy(Eigen::Matrix3d); /*proto*/ -static Eigen::Matrix3d __pyx_f_6common_15transformations_15transformations_numpy2matrix(PyArrayObject *); /*proto*/ -static struct ECEF __pyx_f_6common_15transformations_15transformations_list2ecef(PyObject *); /*proto*/ -static struct NED __pyx_f_6common_15transformations_15transformations_list2ned(PyObject *); /*proto*/ -static struct Geodetic __pyx_f_6common_15transformations_15transformations_list2geodetic(PyObject *); /*proto*/ -static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; -#define __Pyx_MODULE_NAME "common.transformations.transformations" -extern int __pyx_module_is_main_common__transformations__transformations; -int __pyx_module_is_main_common__transformations__transformations = 0; - -/* Implementation of 'common.transformations.transformations' */ -static PyObject *__pyx_builtin_TypeError; -static PyObject *__pyx_builtin_ImportError; -static const char __pyx_k_e[] = "e"; -static const char __pyx_k_g[] = "g"; -static const char __pyx_k_q[] = "q"; -static const char __pyx_k_r[] = "r"; -static const char __pyx_k_np[] = "np"; -static const char __pyx_k_rot[] = "rot"; -static const char __pyx_k_yaw[] = "yaw"; -static const char __pyx_k_ecef[] = "ecef"; -static const char __pyx_k_init[] = "init"; -static const char __pyx_k_main[] = "__main__"; -static const char __pyx_k_name[] = "__name__"; -static const char __pyx_k_pose[] = "pose"; -static const char __pyx_k_quat[] = "quat"; -static const char __pyx_k_roll[] = "roll"; -static const char __pyx_k_test[] = "__test__"; -static const char __pyx_k_array[] = "array"; -static const char __pyx_k_dtype[] = "dtype"; -static const char __pyx_k_euler[] = "euler"; -static const char __pyx_k_numpy[] = "numpy"; -static const char __pyx_k_pitch[] = "pitch"; -static const char __pyx_k_double[] = "double"; -static const char __pyx_k_import[] = "__import__"; -static const char __pyx_k_reduce[] = "__reduce__"; -static const char __pyx_k_geodetic[] = "geodetic"; -static const char __pyx_k_getstate[] = "__getstate__"; -static const char __pyx_k_ned_pose[] = "ned_pose"; -static const char __pyx_k_setstate[] = "__setstate__"; -static const char __pyx_k_TypeError[] = "TypeError"; -static const char __pyx_k_ecef_init[] = "ecef_init"; -static const char __pyx_k_ecef_pose[] = "ecef_pose"; -static const char __pyx_k_from_ecef[] = "from_ecef"; -static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; -static const char __pyx_k_LocalCoord[] = "LocalCoord"; -static const char __pyx_k_ImportError[] = "ImportError"; -static const char __pyx_k_from_geodetic[] = "from_geodetic"; -static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; -static const char __pyx_k_asfortranarray[] = "asfortranarray"; -static const char __pyx_k_ecef2ned_matrix[] = "ecef2ned_matrix"; -static const char __pyx_k_ned2ecef_matrix[] = "ned2ecef_matrix"; -static const char __pyx_k_quat2rot_single[] = "quat2rot_single"; -static const char __pyx_k_rot2quat_single[] = "rot2quat_single"; -static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; -static const char __pyx_k_euler2rot_single[] = "euler2rot_single"; -static const char __pyx_k_rot2euler_single[] = "rot2euler_single"; -static const char __pyx_k_euler2quat_single[] = "euler2quat_single"; -static const char __pyx_k_quat2euler_single[] = "quat2euler_single"; -static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; -static const char __pyx_k_ecef2geodetic_single[] = "ecef2geodetic_single"; -static const char __pyx_k_geodetic2ecef_single[] = "geodetic2ecef_single"; -static const char __pyx_k_ecef_euler_from_ned_single[] = "ecef_euler_from_ned_single"; -static const char __pyx_k_ned_euler_from_ecef_single[] = "ned_euler_from_ecef_single"; -static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; -static const char __pyx_k_common_transformations_transform[] = "common/transformations/transformations.pyx"; -static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; -static const char __pyx_k_self_lc_cannot_be_converted_to_a[] = "self.lc cannot be converted to a Python object for pickling"; -static const char __pyx_k_common_transformations_transform_2[] = "common.transformations.transformations"; 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- PyTuple_SET_ITEM(args, 0, arg); - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, &arg, 1); - } -#endif - if (likely(PyCFunction_Check(func))) { - if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { - return __Pyx_PyObject_CallMethO(func, arg); -#if CYTHON_FAST_PYCCALL - } else if (__Pyx_PyFastCFunction_Check(func)) { - return __Pyx_PyCFunction_FastCall(func, &arg, 1); -#endif - } - } - return __Pyx__PyObject_CallOneArg(func, arg); -} -#else -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_Pack(1, arg); - if (unlikely(!args)) return NULL; - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -#endif - -/* ExtTypeTest */ -static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { - if (unlikely(!type)) { - PyErr_SetString(PyExc_SystemError, "Missing type object"); - return 0; - } - if (likely(__Pyx_TypeCheck(obj, type))) - return 1; - PyErr_Format(PyExc_TypeError, "Cannot convert %.200s to %.200s", - Py_TYPE(obj)->tp_name, type->tp_name); - return 0; -} - -/* IsLittleEndian */ -static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) -{ - union { - uint32_t u32; - uint8_t u8[4]; - } S; - S.u32 = 0x01020304; - return S.u8[0] == 4; -} - -/* BufferFormatCheck */ -static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, - __Pyx_BufFmt_StackElem* stack, - __Pyx_TypeInfo* type) { - stack[0].field = &ctx->root; - stack[0].parent_offset = 0; - ctx->root.type = type; - ctx->root.name = "buffer dtype"; - ctx->root.offset = 0; - ctx->head = stack; - ctx->head->field = &ctx->root; - ctx->fmt_offset = 0; - ctx->head->parent_offset = 0; - ctx->new_packmode = '@'; - ctx->enc_packmode = '@'; - ctx->new_count = 1; - ctx->enc_count = 0; - ctx->enc_type = 0; - ctx->is_complex = 0; - ctx->is_valid_array = 0; - ctx->struct_alignment = 0; - while (type->typegroup == 'S') { - ++ctx->head; - ctx->head->field = type->fields; - ctx->head->parent_offset = 0; - type = type->fields->type; - } -} -static int __Pyx_BufFmt_ParseNumber(const char** ts) { - int count; - const char* t = *ts; - if (*t < '0' || *t > '9') { - return -1; - } else { - count = *t++ - '0'; - while (*t >= '0' && *t <= '9') { - count *= 10; - count += *t++ - '0'; - } - } - *ts = t; - return count; -} -static int __Pyx_BufFmt_ExpectNumber(const char **ts) { - int number = __Pyx_BufFmt_ParseNumber(ts); - if (number == -1) - PyErr_Format(PyExc_ValueError,\ - "Does not understand character buffer dtype format string ('%c')", **ts); - return number; -} -static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { - PyErr_Format(PyExc_ValueError, - "Unexpected format string character: '%c'", ch); -} -static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { - switch (ch) { - case '?': return "'bool'"; - case 'c': return "'char'"; - case 'b': return "'signed char'"; - case 'B': return "'unsigned char'"; - case 'h': return "'short'"; - case 'H': return "'unsigned short'"; - case 'i': return "'int'"; - case 'I': return "'unsigned int'"; - case 'l': return "'long'"; - case 'L': return "'unsigned long'"; - case 'q': return "'long long'"; - case 'Q': return "'unsigned long long'"; - case 'f': return (is_complex ? "'complex float'" : "'float'"); - case 'd': return (is_complex ? "'complex double'" : "'double'"); - case 'g': return (is_complex ? "'complex long double'" : "'long double'"); - case 'T': return "a struct"; - case 'O': return "Python object"; - case 'P': return "a pointer"; - case 's': case 'p': return "a string"; - case 0: return "end"; - default: return "unparseable format string"; - } -} -static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return 2; - case 'i': case 'I': case 'l': case 'L': return 4; - case 'q': case 'Q': return 8; - case 'f': return (is_complex ? 8 : 4); - case 'd': return (is_complex ? 16 : 8); - case 'g': { - PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); - return 0; - } - case 'O': case 'P': return sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(short); - case 'i': case 'I': return sizeof(int); - case 'l': case 'L': return sizeof(long); - #ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(PY_LONG_LONG); - #endif - case 'f': return sizeof(float) * (is_complex ? 2 : 1); - case 'd': return sizeof(double) * (is_complex ? 2 : 1); - case 'g': return sizeof(long double) * (is_complex ? 2 : 1); - case 'O': case 'P': return sizeof(void*); - default: { - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } - } -} -typedef struct { char c; short x; } __Pyx_st_short; -typedef struct { char c; int x; } __Pyx_st_int; -typedef struct { char c; long x; } __Pyx_st_long; -typedef struct { char c; float x; } __Pyx_st_float; -typedef struct { char c; double x; } __Pyx_st_double; -typedef struct { char c; long double x; } __Pyx_st_longdouble; -typedef struct { char c; void *x; } __Pyx_st_void_p; -#ifdef HAVE_LONG_LONG -typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; -#endif -static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, CYTHON_UNUSED int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); - case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); - case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); -#ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); -#endif - case 'f': return sizeof(__Pyx_st_float) - sizeof(float); - case 'd': return sizeof(__Pyx_st_double) - sizeof(double); - case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); - case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -/* These are for computing the padding at the end of the struct to align - on the first member of the struct. This will probably the same as above, - but we don't have any guarantees. - */ -typedef struct { short x; char c; } __Pyx_pad_short; -typedef struct { int x; char c; } __Pyx_pad_int; -typedef struct { long x; char c; } __Pyx_pad_long; -typedef struct { float x; char c; } __Pyx_pad_float; -typedef struct { double x; char c; } __Pyx_pad_double; -typedef struct { long double x; char c; } __Pyx_pad_longdouble; -typedef struct { void *x; char c; } __Pyx_pad_void_p; -#ifdef HAVE_LONG_LONG -typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; -#endif -static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, CYTHON_UNUSED int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); - case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); - case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); -#ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); -#endif - case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); - case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); - case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); - case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { - switch (ch) { - case 'c': - return 'H'; - case 'b': case 'h': case 'i': - case 'l': case 'q': case 's': case 'p': - return 'I'; - case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': - return 'U'; - case 'f': case 'd': case 'g': - return (is_complex ? 'C' : 'R'); - case 'O': - return 'O'; - case 'P': - return 'P'; - default: { - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } - } -} -static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { - if (ctx->head == NULL || ctx->head->field == &ctx->root) { - const char* expected; - const char* quote; - if (ctx->head == NULL) { - expected = "end"; - quote = ""; - } else { - expected = ctx->head->field->type->name; - quote = "'"; - } - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch, expected %s%s%s but got %s", - quote, expected, quote, - __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); - } else { - __Pyx_StructField* field = ctx->head->field; - __Pyx_StructField* parent = (ctx->head - 1)->field; - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", - field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), - parent->type->name, field->name); - } -} -static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { - char group; - size_t size, offset, arraysize = 1; - if (ctx->enc_type == 0) return 0; - if (ctx->head->field->type->arraysize[0]) { - int i, ndim = 0; - if (ctx->enc_type == 's' || ctx->enc_type == 'p') { - ctx->is_valid_array = ctx->head->field->type->ndim == 1; - ndim = 1; - if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { - PyErr_Format(PyExc_ValueError, - "Expected a dimension of size %zu, got %zu", - ctx->head->field->type->arraysize[0], ctx->enc_count); - return -1; - } - } - if (!ctx->is_valid_array) { - PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", - ctx->head->field->type->ndim, ndim); - return -1; - } - for (i = 0; i < ctx->head->field->type->ndim; i++) { - arraysize *= ctx->head->field->type->arraysize[i]; - } - ctx->is_valid_array = 0; - ctx->enc_count = 1; - } - group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); - do { - __Pyx_StructField* field = ctx->head->field; - __Pyx_TypeInfo* type = field->type; - if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { - size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); - } else { - size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); - } - if (ctx->enc_packmode == '@') { - size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); - size_t align_mod_offset; - if (align_at == 0) return -1; - align_mod_offset = ctx->fmt_offset % align_at; - if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; - if (ctx->struct_alignment == 0) - ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, - ctx->is_complex); - } - if (type->size != size || type->typegroup != group) { - if (type->typegroup == 'C' && type->fields != NULL) { - size_t parent_offset = ctx->head->parent_offset + field->offset; - ++ctx->head; - ctx->head->field = type->fields; - ctx->head->parent_offset = parent_offset; - continue; - } - if ((type->typegroup == 'H' || group == 'H') && type->size == size) { - } else { - __Pyx_BufFmt_RaiseExpected(ctx); - return -1; - } - } - offset = ctx->head->parent_offset + field->offset; - if (ctx->fmt_offset != offset) { - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", - (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); - return -1; - } - ctx->fmt_offset += size; - if (arraysize) - ctx->fmt_offset += (arraysize - 1) * size; - --ctx->enc_count; - while (1) { - if (field == &ctx->root) { - ctx->head = NULL; - if (ctx->enc_count != 0) { - __Pyx_BufFmt_RaiseExpected(ctx); - return -1; - } - break; - } - ctx->head->field = ++field; - if (field->type == NULL) { - --ctx->head; - field = ctx->head->field; - continue; - } else if (field->type->typegroup == 'S') { - size_t parent_offset = ctx->head->parent_offset + field->offset; - if (field->type->fields->type == NULL) continue; - field = field->type->fields; - ++ctx->head; - ctx->head->field = field; - ctx->head->parent_offset = parent_offset; - break; - } else { - break; - } - } - } while (ctx->enc_count); - ctx->enc_type = 0; - ctx->is_complex = 0; - return 0; -} -static PyObject * -__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) -{ - const char *ts = *tsp; - int i = 0, number, ndim; - ++ts; - if (ctx->new_count != 1) { - PyErr_SetString(PyExc_ValueError, - "Cannot handle repeated arrays in format string"); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ndim = ctx->head->field->type->ndim; - while (*ts && *ts != ')') { - switch (*ts) { - case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; - default: break; - } - number = __Pyx_BufFmt_ExpectNumber(&ts); - if (number == -1) return NULL; - if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) - return PyErr_Format(PyExc_ValueError, - "Expected a dimension of size %zu, got %d", - ctx->head->field->type->arraysize[i], number); - if (*ts != ',' && *ts != ')') - return PyErr_Format(PyExc_ValueError, - "Expected a comma in format string, got '%c'", *ts); - if (*ts == ',') ts++; - i++; - } - if (i != ndim) - return PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", - ctx->head->field->type->ndim, i); - if (!*ts) { - PyErr_SetString(PyExc_ValueError, - "Unexpected end of format string, expected ')'"); - return NULL; - } - ctx->is_valid_array = 1; - ctx->new_count = 1; - *tsp = ++ts; - return Py_None; -} -static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { - int got_Z = 0; - while (1) { - switch(*ts) { - case 0: - if (ctx->enc_type != 0 && ctx->head == NULL) { - __Pyx_BufFmt_RaiseExpected(ctx); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - if (ctx->head != NULL) { - __Pyx_BufFmt_RaiseExpected(ctx); - return NULL; - } - return ts; - case ' ': - case '\r': - case '\n': - ++ts; - break; - case '<': - if (!__Pyx_Is_Little_Endian()) { - PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); - return NULL; - } - ctx->new_packmode = '='; - ++ts; - break; - case '>': - case '!': - if (__Pyx_Is_Little_Endian()) { - PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); - return NULL; - } - ctx->new_packmode = '='; - ++ts; - break; - case '=': - case '@': - case '^': - ctx->new_packmode = *ts++; - break; - case 'T': - { - const char* ts_after_sub; - size_t i, struct_count = ctx->new_count; - size_t struct_alignment = ctx->struct_alignment; - ctx->new_count = 1; - ++ts; - if (*ts != '{') { - PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_type = 0; - ctx->enc_count = 0; - ctx->struct_alignment = 0; - ++ts; - ts_after_sub = ts; - for (i = 0; i != struct_count; ++i) { - ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); - if (!ts_after_sub) return NULL; - } - ts = ts_after_sub; - if (struct_alignment) ctx->struct_alignment = struct_alignment; - } - break; - case '}': - { - size_t alignment = ctx->struct_alignment; - ++ts; - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_type = 0; - if (alignment && ctx->fmt_offset % alignment) { - ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); - } - } - return ts; - case 'x': - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->fmt_offset += ctx->new_count; - ctx->new_count = 1; - ctx->enc_count = 0; - ctx->enc_type = 0; - ctx->enc_packmode = ctx->new_packmode; - ++ts; - break; - case 'Z': - got_Z = 1; - ++ts; - if (*ts != 'f' && *ts != 'd' && *ts != 'g') { - __Pyx_BufFmt_RaiseUnexpectedChar('Z'); - return NULL; - } - CYTHON_FALLTHROUGH; - case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': - case 'l': case 'L': case 'q': case 'Q': - case 'f': case 'd': case 'g': - case 'O': case 'p': - if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && - (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { - ctx->enc_count += ctx->new_count; - ctx->new_count = 1; - got_Z = 0; - ++ts; - break; - } - CYTHON_FALLTHROUGH; - case 's': - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_count = ctx->new_count; - ctx->enc_packmode = ctx->new_packmode; - ctx->enc_type = *ts; - ctx->is_complex = got_Z; - ++ts; - ctx->new_count = 1; - got_Z = 0; - break; - case ':': - ++ts; - while(*ts != ':') ++ts; - ++ts; - break; - case '(': - if (!__pyx_buffmt_parse_array(ctx, &ts)) return NULL; - break; - default: - { - int number = __Pyx_BufFmt_ExpectNumber(&ts); - if (number == -1) return NULL; - ctx->new_count = (size_t)number; - } - } - } -} - -/* BufferGetAndValidate */ - static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { - if (unlikely(info->buf == NULL)) return; - if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; - __Pyx_ReleaseBuffer(info); -} -static void __Pyx_ZeroBuffer(Py_buffer* buf) { - buf->buf = NULL; - buf->obj = NULL; - buf->strides = __Pyx_zeros; - buf->shape = __Pyx_zeros; - buf->suboffsets = __Pyx_minusones; -} -static int __Pyx__GetBufferAndValidate( - Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, - int nd, int cast, __Pyx_BufFmt_StackElem* stack) -{ - buf->buf = NULL; - if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { - __Pyx_ZeroBuffer(buf); - return -1; - } - if (unlikely(buf->ndim != nd)) { - PyErr_Format(PyExc_ValueError, - "Buffer has wrong number of dimensions (expected %d, got %d)", - nd, buf->ndim); - goto fail; - } - if (!cast) { - __Pyx_BufFmt_Context ctx; - __Pyx_BufFmt_Init(&ctx, stack, dtype); - if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; - } - if (unlikely((size_t)buf->itemsize != dtype->size)) { - PyErr_Format(PyExc_ValueError, - "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", - buf->itemsize, (buf->itemsize > 1) ? "s" : "", - dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); - goto fail; - } - if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; - return 0; -fail:; - __Pyx_SafeReleaseBuffer(buf); - return -1; -} - -/* PyErrFetchRestore */ - #if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - tmp_type = tstate->curexc_type; - tmp_value = tstate->curexc_value; - tmp_tb = tstate->curexc_traceback; - tstate->curexc_type = type; - tstate->curexc_value = value; - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - *type = tstate->curexc_type; - *value = tstate->curexc_value; - *tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -} -#endif - -/* WriteUnraisableException */ - static void __Pyx_WriteUnraisable(const char *name, CYTHON_UNUSED int clineno, - CYTHON_UNUSED int lineno, CYTHON_UNUSED const char *filename, - int full_traceback, CYTHON_UNUSED int nogil) { - PyObject *old_exc, *old_val, *old_tb; - PyObject *ctx; - __Pyx_PyThreadState_declare -#ifdef WITH_THREAD - PyGILState_STATE state; - if (nogil) - state = PyGILState_Ensure(); -#ifdef _MSC_VER - else state = (PyGILState_STATE)-1; -#endif -#endif - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&old_exc, &old_val, &old_tb); - if (full_traceback) { - Py_XINCREF(old_exc); - Py_XINCREF(old_val); - Py_XINCREF(old_tb); - __Pyx_ErrRestore(old_exc, old_val, old_tb); - PyErr_PrintEx(1); - } - #if PY_MAJOR_VERSION < 3 - ctx = PyString_FromString(name); - #else - ctx = PyUnicode_FromString(name); - #endif - __Pyx_ErrRestore(old_exc, old_val, old_tb); - if (!ctx) { - PyErr_WriteUnraisable(Py_None); - } else { - PyErr_WriteUnraisable(ctx); - Py_DECREF(ctx); - } -#ifdef WITH_THREAD - if (nogil) - PyGILState_Release(state); -#endif -} - -/* GetItemInt */ - static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { - PyObject *r; - if (!j) return NULL; - r = PyObject_GetItem(o, j); - Py_DECREF(j); - return r; -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyList_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { - PyObject *r = PyList_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyTuple_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS - if (is_list || PyList_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); - if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { - PyObject *r = PyList_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } - else if (PyTuple_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); - if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } else { - PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; - if (likely(m && m->sq_item)) { - if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { - Py_ssize_t l = m->sq_length(o); - if (likely(l >= 0)) { - i += l; - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - return NULL; - PyErr_Clear(); - } - } - return m->sq_item(o, i); - } - } -#else - if (is_list || PySequence_Check(o)) { - return PySequence_GetItem(o, i); - } -#endif - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -} - -/* RaiseArgTupleInvalid */ - static void __Pyx_RaiseArgtupleInvalid( - const char* func_name, - int exact, - Py_ssize_t num_min, - Py_ssize_t num_max, - Py_ssize_t num_found) -{ - Py_ssize_t num_expected; - const char *more_or_less; - if (num_found < num_min) { - num_expected = num_min; - more_or_less = "at least"; - } else { - num_expected = num_max; - more_or_less = "at most"; - } - if (exact) { - more_or_less = "exactly"; - } - PyErr_Format(PyExc_TypeError, - "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", - func_name, more_or_less, num_expected, - (num_expected == 1) ? "" : "s", num_found); -} - -/* RaiseDoubleKeywords */ - static void __Pyx_RaiseDoubleKeywordsError( - const char* func_name, - PyObject* kw_name) -{ - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION >= 3 - "%s() got multiple values for keyword argument '%U'", func_name, kw_name); - #else - "%s() got multiple values for keyword argument '%s'", func_name, - PyString_AsString(kw_name)); - #endif -} - -/* ParseKeywords */ - static int __Pyx_ParseOptionalKeywords( - PyObject *kwds, - PyObject **argnames[], - PyObject *kwds2, - PyObject *values[], - Py_ssize_t num_pos_args, - const char* function_name) -{ - PyObject *key = 0, *value = 0; - Py_ssize_t pos = 0; - PyObject*** name; - PyObject*** first_kw_arg = argnames + num_pos_args; - while (PyDict_Next(kwds, &pos, &key, &value)) { - name = first_kw_arg; - while (*name && (**name != key)) name++; - if (*name) { - values[name-argnames] = value; - continue; - } - name = first_kw_arg; - #if PY_MAJOR_VERSION < 3 - if (likely(PyString_Check(key))) { - while (*name) { - if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) - && _PyString_Eq(**name, key)) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - if ((**argname == key) || ( - (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) - && _PyString_Eq(**argname, key))) { - goto arg_passed_twice; - } - argname++; - } - } - } else - #endif - if (likely(PyUnicode_Check(key))) { - while (*name) { - int cmp = (**name == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**name, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - int cmp = (**argname == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**argname, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) goto arg_passed_twice; - argname++; - } - } - } else - goto invalid_keyword_type; - if (kwds2) { - if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; - } else { - goto invalid_keyword; - } - } - return 0; -arg_passed_twice: - __Pyx_RaiseDoubleKeywordsError(function_name, key); - goto bad; -invalid_keyword_type: - PyErr_Format(PyExc_TypeError, - "%.200s() keywords must be strings", function_name); - goto bad; -invalid_keyword: - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION < 3 - "%.200s() got an unexpected keyword argument '%.200s'", - function_name, PyString_AsString(key)); - #else - "%s() got an unexpected keyword argument '%U'", - function_name, key); - #endif -bad: - return -1; -} - -/* RaiseException */ - #if PY_MAJOR_VERSION < 3 -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, - CYTHON_UNUSED PyObject *cause) { - __Pyx_PyThreadState_declare - Py_XINCREF(type); - if (!value || value == Py_None) - value = NULL; - else - Py_INCREF(value); - if (!tb || tb == Py_None) - tb = NULL; - else { - Py_INCREF(tb); - if (!PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto raise_error; - } - } - if (PyType_Check(type)) { -#if CYTHON_COMPILING_IN_PYPY - if (!value) { - Py_INCREF(Py_None); - value = Py_None; - } -#endif - PyErr_NormalizeException(&type, &value, &tb); - } else { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto raise_error; - } - value = type; - type = (PyObject*) Py_TYPE(type); - Py_INCREF(type); - if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto raise_error; - } - } - __Pyx_PyThreadState_assign - __Pyx_ErrRestore(type, value, tb); - return; -raise_error: - Py_XDECREF(value); - Py_XDECREF(type); - Py_XDECREF(tb); - return; -} -#else -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { - PyObject* owned_instance = NULL; - if (tb == Py_None) { - tb = 0; - } else if (tb && !PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto bad; - } - if (value == Py_None) - value = 0; - if (PyExceptionInstance_Check(type)) { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto bad; - } - value = type; - type = (PyObject*) Py_TYPE(value); - } else if (PyExceptionClass_Check(type)) { - PyObject *instance_class = NULL; - if (value && PyExceptionInstance_Check(value)) { - instance_class = (PyObject*) Py_TYPE(value); - if (instance_class != type) { - int is_subclass = PyObject_IsSubclass(instance_class, type); - if (!is_subclass) { - instance_class = NULL; - } else if (unlikely(is_subclass == -1)) { - goto bad; - } else { - type = instance_class; - } - } - } - if (!instance_class) { - PyObject *args; - if (!value) - args = PyTuple_New(0); - else if (PyTuple_Check(value)) { - Py_INCREF(value); - args = value; - } else - args = PyTuple_Pack(1, value); - if (!args) - goto bad; - owned_instance = PyObject_Call(type, args, NULL); - Py_DECREF(args); - if (!owned_instance) - goto bad; - value = owned_instance; - if (!PyExceptionInstance_Check(value)) { - PyErr_Format(PyExc_TypeError, - "calling %R should have returned an instance of " - "BaseException, not %R", - type, Py_TYPE(value)); - goto bad; - } - } - } else { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto bad; - } - if (cause) { - PyObject *fixed_cause; - if (cause == Py_None) { - fixed_cause = NULL; - } else if (PyExceptionClass_Check(cause)) { - fixed_cause = PyObject_CallObject(cause, NULL); - if (fixed_cause == NULL) - goto bad; - } else if (PyExceptionInstance_Check(cause)) { - fixed_cause = cause; - Py_INCREF(fixed_cause); - } else { - PyErr_SetString(PyExc_TypeError, - "exception causes must derive from " - "BaseException"); - goto bad; - } - PyException_SetCause(value, fixed_cause); - } - PyErr_SetObject(type, value); - if (tb) { -#if CYTHON_COMPILING_IN_PYPY - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); - Py_INCREF(tb); - PyErr_Restore(tmp_type, tmp_value, tb); - Py_XDECREF(tmp_tb); -#else - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* tmp_tb = tstate->curexc_traceback; - if (tb != tmp_tb) { - Py_INCREF(tb); - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_tb); - } -#endif - } -bad: - Py_XDECREF(owned_instance); - return; -} -#endif - -/* GetTopmostException */ - #if CYTHON_USE_EXC_INFO_STACK -static _PyErr_StackItem * -__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) -{ - _PyErr_StackItem *exc_info = tstate->exc_info; - while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) && - exc_info->previous_item != NULL) - { - exc_info = exc_info->previous_item; - } - return exc_info; -} -#endif - -/* SaveResetException */ - #if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); - *type = exc_info->exc_type; - *value = exc_info->exc_value; - *tb = exc_info->exc_traceback; - #else - *type = tstate->exc_type; - *value = tstate->exc_value; - *tb = tstate->exc_traceback; - #endif - Py_XINCREF(*type); - Py_XINCREF(*value); - Py_XINCREF(*tb); -} -static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = type; - exc_info->exc_value = value; - exc_info->exc_traceback = tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = type; - tstate->exc_value = value; - tstate->exc_traceback = tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -#endif - -/* PyErrExceptionMatches */ - #if CYTHON_FAST_THREAD_STATE -static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; icurexc_type; - if (exc_type == err) return 1; - if (unlikely(!exc_type)) return 0; - if (unlikely(PyTuple_Check(err))) - return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); - return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); -} -#endif - -/* GetException */ - #if CYTHON_FAST_THREAD_STATE -static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) -#else -static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) -#endif -{ - PyObject *local_type, *local_value, *local_tb; -#if CYTHON_FAST_THREAD_STATE - PyObject *tmp_type, *tmp_value, *tmp_tb; - local_type = tstate->curexc_type; - local_value = tstate->curexc_value; - local_tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -#else - PyErr_Fetch(&local_type, &local_value, &local_tb); -#endif - PyErr_NormalizeException(&local_type, &local_value, &local_tb); -#if CYTHON_FAST_THREAD_STATE - if (unlikely(tstate->curexc_type)) -#else - if (unlikely(PyErr_Occurred())) -#endif - goto bad; - #if PY_MAJOR_VERSION >= 3 - if (local_tb) { - if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) - goto bad; - } - #endif - Py_XINCREF(local_tb); - Py_XINCREF(local_type); - Py_XINCREF(local_value); - *type = local_type; - *value = local_value; - *tb = local_tb; -#if CYTHON_FAST_THREAD_STATE - #if CYTHON_USE_EXC_INFO_STACK - { - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = local_type; - exc_info->exc_value = local_value; - exc_info->exc_traceback = local_tb; - } - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = local_type; - tstate->exc_value = local_value; - tstate->exc_traceback = local_tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -#else - PyErr_SetExcInfo(local_type, local_value, local_tb); -#endif - return 0; -bad: - *type = 0; - *value = 0; - *tb = 0; - Py_XDECREF(local_type); - Py_XDECREF(local_value); - Py_XDECREF(local_tb); - return -1; -} - -/* PyObject_GenericGetAttrNoDict */ - #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, attr_name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(attr_name)); -#endif - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { - PyObject *descr; - PyTypeObject *tp = Py_TYPE(obj); - if (unlikely(!PyString_Check(attr_name))) { - return PyObject_GenericGetAttr(obj, attr_name); - } - assert(!tp->tp_dictoffset); - descr = _PyType_Lookup(tp, attr_name); - if (unlikely(!descr)) { - return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); - } - Py_INCREF(descr); - #if PY_MAJOR_VERSION < 3 - if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) - #endif - { - descrgetfunc f = Py_TYPE(descr)->tp_descr_get; - if (unlikely(f)) { - PyObject *res = f(descr, obj, (PyObject *)tp); - Py_DECREF(descr); - return res; - } - } - return descr; -} -#endif - -/* PyObject_GenericGetAttr */ - #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { - if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { - return PyObject_GenericGetAttr(obj, attr_name); - } - return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); -} -#endif - -/* PyObjectGetAttrStrNoError */ - static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - __Pyx_PyErr_Clear(); -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { - PyObject *result; -#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { - return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); - } -#endif - result = __Pyx_PyObject_GetAttrStr(obj, attr_name); - if (unlikely(!result)) { - __Pyx_PyObject_GetAttrStr_ClearAttributeError(); - } - return result; -} - -/* SetupReduce */ - static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { - int ret; - PyObject *name_attr; - name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name); - if (likely(name_attr)) { - ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); - } else { - ret = -1; - } - if (unlikely(ret < 0)) { - PyErr_Clear(); - ret = 0; - } - Py_XDECREF(name_attr); - return ret; -} -static int __Pyx_setup_reduce(PyObject* type_obj) { - int ret = 0; - PyObject *object_reduce = NULL; - PyObject *object_reduce_ex = NULL; - PyObject *reduce = NULL; - PyObject *reduce_ex = NULL; - PyObject *reduce_cython = NULL; - PyObject *setstate = NULL; - PyObject *setstate_cython = NULL; -#if CYTHON_USE_PYTYPE_LOOKUP - if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#else - if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#endif -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#else - object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#endif - reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; - if (reduce_ex == object_reduce_ex) { -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#else - object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#endif - reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; - if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { - reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); - if (likely(reduce_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (reduce == object_reduce || PyErr_Occurred()) { - goto __PYX_BAD; - } - setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); - if (!setstate) PyErr_Clear(); - if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { - setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); - if (likely(setstate_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (!setstate || PyErr_Occurred()) { - goto __PYX_BAD; - } - } - PyType_Modified((PyTypeObject*)type_obj); - } - } - goto __PYX_GOOD; -__PYX_BAD: - if (!PyErr_Occurred()) - PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); - ret = -1; -__PYX_GOOD: -#if !CYTHON_USE_PYTYPE_LOOKUP - Py_XDECREF(object_reduce); - Py_XDECREF(object_reduce_ex); -#endif - Py_XDECREF(reduce); - Py_XDECREF(reduce_ex); - Py_XDECREF(reduce_cython); - Py_XDECREF(setstate); - Py_XDECREF(setstate_cython); - return ret; -} - -/* TypeImport */ - #ifndef __PYX_HAVE_RT_ImportType -#define __PYX_HAVE_RT_ImportType -static PyTypeObject *__Pyx_ImportType(PyObject *module, const char *module_name, const char *class_name, - size_t size, enum __Pyx_ImportType_CheckSize check_size) -{ - PyObject *result = 0; - char warning[200]; - Py_ssize_t basicsize; -#ifdef Py_LIMITED_API - PyObject *py_basicsize; -#endif - result = PyObject_GetAttrString(module, class_name); - if (!result) - goto bad; - if (!PyType_Check(result)) { - PyErr_Format(PyExc_TypeError, - "%.200s.%.200s is not a type object", - module_name, class_name); - goto bad; - } -#ifndef Py_LIMITED_API - basicsize = ((PyTypeObject *)result)->tp_basicsize; -#else - py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); - if (!py_basicsize) - goto bad; - basicsize = PyLong_AsSsize_t(py_basicsize); - Py_DECREF(py_basicsize); - py_basicsize = 0; - if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) - goto bad; -#endif - if ((size_t)basicsize < size) { - PyErr_Format(PyExc_ValueError, - "%.200s.%.200s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - goto bad; - } - if (check_size == __Pyx_ImportType_CheckSize_Error && (size_t)basicsize != size) { - PyErr_Format(PyExc_ValueError, - "%.200s.%.200s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - goto bad; - } - else if (check_size == __Pyx_ImportType_CheckSize_Warn && (size_t)basicsize > size) { - PyOS_snprintf(warning, sizeof(warning), - "%s.%s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; - } - return (PyTypeObject *)result; -bad: - Py_XDECREF(result); - return NULL; -} -#endif - -/* Import */ - static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { - PyObject *empty_list = 0; - PyObject *module = 0; - PyObject *global_dict = 0; - PyObject *empty_dict = 0; - PyObject *list; - #if PY_MAJOR_VERSION < 3 - PyObject *py_import; - py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); - if (!py_import) - goto bad; - #endif - if (from_list) - list = from_list; - else { - empty_list = PyList_New(0); - if (!empty_list) - goto bad; - list = empty_list; - } - global_dict = PyModule_GetDict(__pyx_m); - if (!global_dict) - goto bad; - empty_dict = PyDict_New(); - if (!empty_dict) - goto bad; - { - #if PY_MAJOR_VERSION >= 3 - if (level == -1) { - if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, 1); - if (!module) { - if (!PyErr_ExceptionMatches(PyExc_ImportError)) - goto bad; - PyErr_Clear(); - } - } - level = 0; - } - #endif - if (!module) { - #if PY_MAJOR_VERSION < 3 - PyObject *py_level = PyInt_FromLong(level); - if (!py_level) - goto bad; - module = PyObject_CallFunctionObjArgs(py_import, - name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); - Py_DECREF(py_level); - #else - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, level); - #endif - } - } -bad: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_import); - #endif - Py_XDECREF(empty_list); - Py_XDECREF(empty_dict); - return module; -} - -/* ClassMethod */ - static PyObject* __Pyx_Method_ClassMethod(PyObject *method) { -#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM <= 0x05080000 - if (PyObject_TypeCheck(method, &PyWrapperDescr_Type)) { - return PyClassMethod_New(method); - } -#else -#if CYTHON_COMPILING_IN_PYSTON || CYTHON_COMPILING_IN_PYPY - if (PyMethodDescr_Check(method)) -#else - #if PY_MAJOR_VERSION == 2 - static PyTypeObject *methoddescr_type = NULL; - if (methoddescr_type == NULL) { - PyObject *meth = PyObject_GetAttrString((PyObject*)&PyList_Type, "append"); - if (!meth) return NULL; - methoddescr_type = Py_TYPE(meth); - Py_DECREF(meth); - } - #else - PyTypeObject *methoddescr_type = &PyMethodDescr_Type; - #endif - if (__Pyx_TypeCheck(method, methoddescr_type)) -#endif - { - PyMethodDescrObject *descr = (PyMethodDescrObject *)method; - #if PY_VERSION_HEX < 0x03020000 - PyTypeObject *d_type = descr->d_type; - #else - PyTypeObject *d_type = descr->d_common.d_type; - #endif - return PyDescr_NewClassMethod(d_type, descr->d_method); - } -#endif - else if (PyMethod_Check(method)) { - return PyClassMethod_New(PyMethod_GET_FUNCTION(method)); - } - else { - return PyClassMethod_New(method); - } -} - -/* GetNameInClass */ - static PyObject *__Pyx_GetGlobalNameAfterAttributeLookup(PyObject *name) { - PyObject *result; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - return NULL; - __Pyx_PyErr_Clear(); - __Pyx_GetModuleGlobalNameUncached(result, name); - return result; -} -static PyObject *__Pyx__GetNameInClass(PyObject *nmspace, PyObject *name) { - PyObject *result; - result = __Pyx_PyObject_GetAttrStr(nmspace, name); - if (!result) { - result = __Pyx_GetGlobalNameAfterAttributeLookup(name); - } - return result; -} - -/* CLineInTraceback */ - #ifndef CYTHON_CLINE_IN_TRACEBACK -static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { - PyObject *use_cline; - PyObject *ptype, *pvalue, *ptraceback; -#if CYTHON_COMPILING_IN_CPYTHON - PyObject **cython_runtime_dict; -#endif - if (unlikely(!__pyx_cython_runtime)) { - return c_line; - } - __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); -#if CYTHON_COMPILING_IN_CPYTHON - cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); - if (likely(cython_runtime_dict)) { - __PYX_PY_DICT_LOOKUP_IF_MODIFIED( - use_cline, *cython_runtime_dict, - __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) - } else -#endif - { - PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); - if (use_cline_obj) { - use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; - Py_DECREF(use_cline_obj); - } else { - PyErr_Clear(); - use_cline = NULL; - } - } - if (!use_cline) { - c_line = 0; - (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); - } - else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { - c_line = 0; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - return c_line; -} -#endif - -/* CodeObjectCache */ - static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { - int start = 0, mid = 0, end = count - 1; - if (end >= 0 && code_line > entries[end].code_line) { - return count; - } - while (start < end) { - mid = start + (end - start) / 2; - if (code_line < entries[mid].code_line) { - end = mid; - } else if (code_line > entries[mid].code_line) { - start = mid + 1; - } else { - return mid; - } - } - if (code_line <= entries[mid].code_line) { - return mid; - } else { - return mid + 1; - } -} -static PyCodeObject *__pyx_find_code_object(int code_line) { - PyCodeObject* code_object; - int pos; - if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { - return NULL; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { - return NULL; - } - code_object = __pyx_code_cache.entries[pos].code_object; - Py_INCREF(code_object); - return code_object; -} -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { - int pos, i; - __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; - if (unlikely(!code_line)) { - return; - } - if (unlikely(!entries)) { - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); - if (likely(entries)) { - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = 64; - __pyx_code_cache.count = 1; - entries[0].code_line = code_line; - entries[0].code_object = code_object; - Py_INCREF(code_object); - } - return; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { - PyCodeObject* tmp = entries[pos].code_object; - entries[pos].code_object = code_object; - Py_DECREF(tmp); - return; - } - if (__pyx_code_cache.count == __pyx_code_cache.max_count) { - int new_max = __pyx_code_cache.max_count + 64; - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( - __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); - if (unlikely(!entries)) { - return; - } - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = new_max; - } - for (i=__pyx_code_cache.count; i>pos; i--) { - entries[i] = entries[i-1]; - } - entries[pos].code_line = code_line; - entries[pos].code_object = code_object; - __pyx_code_cache.count++; - Py_INCREF(code_object); -} - -/* AddTraceback */ - #include "compile.h" -#include "frameobject.h" -#include "traceback.h" -static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( - const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = NULL; - PyObject *py_funcname = NULL; - #if PY_MAJOR_VERSION < 3 - PyObject *py_srcfile = NULL; - py_srcfile = PyString_FromString(filename); - if (!py_srcfile) goto bad; - #endif - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - funcname = PyUnicode_AsUTF8(py_funcname); - if (!funcname) goto bad; - #endif - } - else { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); - if (!py_funcname) goto bad; - #endif - } - #if PY_MAJOR_VERSION < 3 - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - #else - py_code = PyCode_NewEmpty(filename, funcname, py_line); - #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline - return py_code; -bad: - Py_XDECREF(py_funcname); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_srcfile); - #endif - return NULL; -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); - } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) goto bad; - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); - } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); -} - -#if PY_MAJOR_VERSION < 3 -static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { - if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); - PyErr_Format(PyExc_TypeError, "'%.200s' does not have the buffer interface", Py_TYPE(obj)->tp_name); - return -1; -} -static void __Pyx_ReleaseBuffer(Py_buffer *view) { - PyObject *obj = view->obj; - if (!obj) return; - if (PyObject_CheckBuffer(obj)) { - PyBuffer_Release(view); - return; - } - if ((0)) {} - view->obj = NULL; - Py_DECREF(obj); -} -#endif - - - /* Declarations */ - #if CYTHON_CCOMPLEX - #ifdef __cplusplus - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - return ::std::complex< float >(x, y); - } - #else - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - return x + y*(__pyx_t_float_complex)_Complex_I; - } - #endif -#else - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - __pyx_t_float_complex z; - z.real = x; - z.imag = y; - return z; - } -#endif - -/* Arithmetic */ - #if CYTHON_CCOMPLEX -#else - static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - return (a.real == b.real) && (a.imag == b.imag); - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real + b.real; - z.imag = a.imag + b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real - b.real; - z.imag = a.imag - b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real * b.real - a.imag * b.imag; - z.imag = a.real * b.imag + a.imag * b.real; - return z; - } - #if 1 - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - if (b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); - } else if (fabsf(b.real) >= fabsf(b.imag)) { - if (b.real == 0 && b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); - } else { - float r = b.imag / b.real; - float s = (float)(1.0) / (b.real + b.imag * r); - return __pyx_t_float_complex_from_parts( - (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); - } - } else { - float r = b.real / b.imag; - float s = (float)(1.0) / (b.imag + b.real * r); - return __pyx_t_float_complex_from_parts( - (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); - } - } - #else - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - if (b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); - } else { - float denom = b.real * b.real + b.imag * b.imag; - return __pyx_t_float_complex_from_parts( - (a.real * b.real + a.imag * b.imag) / denom, - (a.imag * b.real - a.real * b.imag) / denom); - } - } - #endif - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { - __pyx_t_float_complex z; - z.real = -a.real; - z.imag = -a.imag; - return z; - } - static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { - return (a.real == 0) && (a.imag == 0); - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { - __pyx_t_float_complex z; - z.real = a.real; - z.imag = -a.imag; - return z; - } - #if 1 - static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { - #if !defined(HAVE_HYPOT) || defined(_MSC_VER) - return sqrtf(z.real*z.real + z.imag*z.imag); - #else - return hypotf(z.real, z.imag); - #endif - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - float r, lnr, theta, z_r, z_theta; - if (b.imag == 0 && b.real == (int)b.real) { - if (b.real < 0) { - float denom = a.real * a.real + a.imag * a.imag; - a.real = a.real / denom; - a.imag = -a.imag / denom; - b.real = -b.real; - } - switch ((int)b.real) { - case 0: - z.real = 1; - z.imag = 0; - return z; - case 1: - return a; - case 2: - return __Pyx_c_prod_float(a, a); - case 3: - z = __Pyx_c_prod_float(a, a); - return __Pyx_c_prod_float(z, a); - case 4: - z = __Pyx_c_prod_float(a, a); - return __Pyx_c_prod_float(z, z); - } - } - if (a.imag == 0) { - if (a.real == 0) { - return a; - } else if (b.imag == 0) { - z.real = powf(a.real, b.real); - z.imag = 0; - return z; - } else if (a.real > 0) { - r = a.real; - theta = 0; - } else { - r = -a.real; - theta = atan2f(0.0, -1.0); - } - } else { - r = __Pyx_c_abs_float(a); - theta = atan2f(a.imag, a.real); - } - lnr = logf(r); - z_r = expf(lnr * b.real - theta * b.imag); - z_theta = theta * b.real + lnr * b.imag; - z.real = z_r * cosf(z_theta); - z.imag = z_r * sinf(z_theta); - return z; - } - #endif -#endif - -/* Declarations */ - #if CYTHON_CCOMPLEX - #ifdef __cplusplus - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - return ::std::complex< double >(x, y); - } - #else - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - return x + y*(__pyx_t_double_complex)_Complex_I; - } - #endif -#else - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - __pyx_t_double_complex z; - z.real = x; - z.imag = y; - return z; - } -#endif - -/* Arithmetic */ - #if CYTHON_CCOMPLEX -#else - static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - return (a.real == b.real) && (a.imag == b.imag); - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real + b.real; - z.imag = a.imag + b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real - b.real; - z.imag = a.imag - b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real * b.real - a.imag * b.imag; - z.imag = a.real * b.imag + a.imag * b.real; - return z; - } - #if 1 - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - if (b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); - } else if (fabs(b.real) >= fabs(b.imag)) { - if (b.real == 0 && b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); - } else { - double r = b.imag / b.real; - double s = (double)(1.0) / (b.real + b.imag * r); - return __pyx_t_double_complex_from_parts( - (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); - } - } else { - double r = b.real / b.imag; - double s = (double)(1.0) / (b.imag + b.real * r); - return __pyx_t_double_complex_from_parts( - (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); - } - } - #else - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - if (b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); - } else { - double denom = b.real * b.real + b.imag * b.imag; - return __pyx_t_double_complex_from_parts( - (a.real * b.real + a.imag * b.imag) / denom, - (a.imag * b.real - a.real * b.imag) / denom); - } - } - #endif - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { - __pyx_t_double_complex z; - z.real = -a.real; - z.imag = -a.imag; - return z; - } - static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { - return (a.real == 0) && (a.imag == 0); - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { - __pyx_t_double_complex z; - z.real = a.real; - z.imag = -a.imag; - return z; - } - #if 1 - static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { - #if !defined(HAVE_HYPOT) || defined(_MSC_VER) - return sqrt(z.real*z.real + z.imag*z.imag); - #else - return hypot(z.real, z.imag); - #endif - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - double r, lnr, theta, z_r, z_theta; - if (b.imag == 0 && b.real == (int)b.real) { - if (b.real < 0) { - double denom = a.real * a.real + a.imag * a.imag; - a.real = a.real / denom; - a.imag = -a.imag / denom; - b.real = -b.real; - } - switch ((int)b.real) { - case 0: - z.real = 1; - z.imag = 0; - return z; - case 1: - return a; - case 2: - return __Pyx_c_prod_double(a, a); - case 3: - z = __Pyx_c_prod_double(a, a); - return __Pyx_c_prod_double(z, a); - case 4: - z = __Pyx_c_prod_double(a, a); - return __Pyx_c_prod_double(z, z); - } - } - if (a.imag == 0) { - if (a.real == 0) { - return a; - } else if (b.imag == 0) { - z.real = pow(a.real, b.real); - z.imag = 0; - return z; - } else if (a.real > 0) { - r = a.real; - theta = 0; - } else { - r = -a.real; - theta = atan2(0.0, -1.0); - } - } else { - r = __Pyx_c_abs_double(a); - theta = atan2(a.imag, a.real); - } - lnr = log(r); - z_r = exp(lnr * b.real - theta * b.imag); - z_theta = theta * b.real + lnr * b.imag; - z.real = z_r * cos(z_theta); - z.imag = z_r * sin(z_theta); - return z; - } - #endif -#endif - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); - } -} - -/* CIntFromPyVerify */ - #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ - } - -/* CIntFromPy */ - static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(long) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (long) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { - return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { - return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { - return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(long) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) - case -2: - if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - } -#endif - if (sizeof(long) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - long val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (long) -1; - } - } else { - long val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (long) -1; - val = __Pyx_PyInt_As_long(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to long"); - return (long) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to long"); - return (long) -1; -} - -/* CIntFromPy */ - static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(int) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (int) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { - return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { - return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { - return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(int) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) - case -2: - if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - } -#endif - if (sizeof(int) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - int val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (int) -1; - } - } else { - int val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (int) -1; - val = __Pyx_PyInt_As_int(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to int"); - return (int) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to int"); - return (int) -1; -} - -/* FastTypeChecks */ - #if CYTHON_COMPILING_IN_CPYTHON -static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { - while (a) { - a = a->tp_base; - if (a == b) - return 1; - } - return b == &PyBaseObject_Type; -} -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (a == b) return 1; - mro = a->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(a, b); -} -#if PY_MAJOR_VERSION == 2 -static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { - PyObject *exception, *value, *tb; - int res; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&exception, &value, &tb); - res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - if (!res) { - res = PyObject_IsSubclass(err, exc_type2); - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - } - __Pyx_ErrRestore(exception, value, tb); - return res; -} -#else -static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { - int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; - if (!res) { - res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); - } - return res; -} -#endif -static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - assert(PyExceptionClass_Check(exc_type)); - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; ip) { - #if PY_MAJOR_VERSION < 3 - if (t->is_unicode) { - *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); - } else if (t->intern) { - *t->p = PyString_InternFromString(t->s); - } else { - *t->p = PyString_FromStringAndSize(t->s, t->n - 1); - } - #else - if (t->is_unicode | t->is_str) { - if (t->intern) { - *t->p = PyUnicode_InternFromString(t->s); - } else if (t->encoding) { - *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); - } else { - *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); - } - } else { - *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); - } - #endif - if (!*t->p) - return -1; - if (PyObject_Hash(*t->p) == -1) - return -1; - ++t; - } - return 0; -} - -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { - return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); -} -static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { - Py_ssize_t ignore; - return __Pyx_PyObject_AsStringAndSize(o, &ignore); -} -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT -#if !CYTHON_PEP393_ENABLED -static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - char* defenc_c; - PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); - if (!defenc) return NULL; - defenc_c = PyBytes_AS_STRING(defenc); -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - { - char* end = defenc_c + PyBytes_GET_SIZE(defenc); - char* c; - for (c = defenc_c; c < end; c++) { - if ((unsigned char) (*c) >= 128) { - PyUnicode_AsASCIIString(o); - return NULL; - } - } - } -#endif - *length = PyBytes_GET_SIZE(defenc); - return defenc_c; -} -#else -static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - if (likely(PyUnicode_IS_ASCII(o))) { - *length = PyUnicode_GET_LENGTH(o); - return PyUnicode_AsUTF8(o); - } else { - PyUnicode_AsASCIIString(o); - return NULL; - } -#else - return PyUnicode_AsUTF8AndSize(o, length); -#endif -} -#endif -#endif -static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT - if ( -#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - __Pyx_sys_getdefaultencoding_not_ascii && -#endif - PyUnicode_Check(o)) { - return __Pyx_PyUnicode_AsStringAndSize(o, length); - } else -#endif -#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) - if (PyByteArray_Check(o)) { - *length = PyByteArray_GET_SIZE(o); - return PyByteArray_AS_STRING(o); - } else -#endif - { - char* result; - int r = PyBytes_AsStringAndSize(o, &result, length); - if (unlikely(r < 0)) { - return NULL; - } else { - return result; - } - } -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { - int is_true = x == Py_True; - if (is_true | (x == Py_False) | (x == Py_None)) return is_true; - else return PyObject_IsTrue(x); -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { - int retval; - if (unlikely(!x)) return -1; - retval = __Pyx_PyObject_IsTrue(x); - Py_DECREF(x); - return retval; -} -static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { -#if PY_MAJOR_VERSION >= 3 - if (PyLong_Check(result)) { - if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, - "__int__ returned non-int (type %.200s). " - "The ability to return an instance of a strict subclass of int " - "is deprecated, and may be removed in a future version of Python.", - Py_TYPE(result)->tp_name)) { - Py_DECREF(result); - return NULL; - } - return result; - } -#endif - PyErr_Format(PyExc_TypeError, - "__%.4s__ returned non-%.4s (type %.200s)", - type_name, type_name, Py_TYPE(result)->tp_name); - Py_DECREF(result); - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { -#if CYTHON_USE_TYPE_SLOTS - PyNumberMethods *m; -#endif - const char *name = NULL; - PyObject *res = NULL; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x) || PyLong_Check(x))) -#else - if (likely(PyLong_Check(x))) -#endif - return __Pyx_NewRef(x); -#if CYTHON_USE_TYPE_SLOTS - m = Py_TYPE(x)->tp_as_number; - #if PY_MAJOR_VERSION < 3 - if (m && m->nb_int) { - name = "int"; - res = m->nb_int(x); - } - else if (m && m->nb_long) { - name = "long"; - res = m->nb_long(x); - } - #else - if (likely(m && m->nb_int)) { - name = "int"; - res = m->nb_int(x); - } - #endif -#else - if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { - res = PyNumber_Int(x); - } -#endif - if (likely(res)) { -#if PY_MAJOR_VERSION < 3 - if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { -#else - if (unlikely(!PyLong_CheckExact(res))) { -#endif - return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); - } - } - else if (!PyErr_Occurred()) { - PyErr_SetString(PyExc_TypeError, - "an integer is required"); - } - return res; -} -static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { - Py_ssize_t ival; - PyObject *x; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(b))) { - if (sizeof(Py_ssize_t) >= sizeof(long)) - return PyInt_AS_LONG(b); - else - return PyInt_AsSsize_t(b); - } -#endif - if (likely(PyLong_CheckExact(b))) { - #if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)b)->ob_digit; - const Py_ssize_t size = Py_SIZE(b); - if (likely(__Pyx_sst_abs(size) <= 1)) { - ival = likely(size) ? digits[0] : 0; - if (size == -1) ival = -ival; - return ival; - } else { - switch (size) { - case 2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - } - } - #endif - return PyLong_AsSsize_t(b); - } - x = PyNumber_Index(b); - if (!x) return -1; - ival = PyInt_AsSsize_t(x); - Py_DECREF(x); - return ival; -} -static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { - if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { - return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); -#if PY_MAJOR_VERSION < 3 - } else if (likely(PyInt_CheckExact(o))) { - return PyInt_AS_LONG(o); -#endif - } else { - Py_ssize_t ival; - PyObject *x; - x = PyNumber_Index(o); - if (!x) return -1; - ival = PyInt_AsLong(x); - Py_DECREF(x); - return ival; - } -} -static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { - return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); -} -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { - return PyInt_FromSize_t(ival); -} - - -#endif /* Py_PYTHON_H */ diff --git a/common/util.h b/common/util.h index 028074384..c80dc234f 100644 --- a/common/util.h +++ b/common/util.h @@ -81,7 +81,6 @@ std::string dir_name(std::string const& path); // **** file fhelpers ***** std::string read_file(const std::string& fn); std::map read_files_in_dir(const std::string& path); -void remove_files_in_dir(const std::string& path); int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664); FILE* safe_fopen(const char* filename, const char* mode); diff --git a/common/version.h b/common/version.h index 0e6db0690..3625e8686 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "2023.04.13" +#define COMMA_VERSION "2023.05.09" diff --git a/common/visionimg.h b/common/visionimg.h index e8917f3bd..2549bf19b 100644 --- a/common/visionimg.h +++ b/common/visionimg.h @@ -2,26 +2,21 @@ #include "cereal/visionipc/visionbuf.h" -#ifdef __APPLE__ -#include -#else -#include -#endif - #ifdef QCOM +#include + #include #define EGL_EGLEXT_PROTOTYPES #include #undef Status -#endif class EGLImageTexture { public: EGLImageTexture(const VisionBuf *buf); ~EGLImageTexture(); GLuint frame_tex = 0; -#ifdef QCOM + void *private_handle = nullptr; EGLImageKHR img_khr = 0; -#endif }; +#endif diff --git a/docs/CARS.md b/docs/CARS.md index 3e23316bd..2febdd53b 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -2,9 +2,9 @@ # Supported Cars -A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. +A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 239 Supported Cars +# 256 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -23,13 +23,23 @@ A supported vehicle is one that just works when you install a comma three. All s |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| +|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| |Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| |Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| -|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| +|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| +|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ford Q3|| +|Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ford Q3|| +|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ford Q3|| +|Ford|Escape Plug-in Hybrid 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ford Q3|| +|Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ford Q3|| +|Ford|Explorer Hybrid 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ford Q3|| +|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ford Q3|| +|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ford Q3|| +|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ford Q3|| |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| |Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|| @@ -38,15 +48,16 @@ A supported vehicle is one that just works when you install a comma three. All s |Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Genesis|GV60 (Performance Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| |Genesis|GV70 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| +|Genesis|GV80 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai M|| |GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| |Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| +|Honda|Civic 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| +|Honda|Civic Hatchback 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| @@ -54,12 +65,13 @@ A supported vehicle is one that just works when you install a comma three. All s |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| |Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|| |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| @@ -74,7 +86,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| +|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|| |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|| @@ -92,23 +104,24 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| |Hyundai|Tucson 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| -|Hyundai|Tucson Hybrid 2022[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| +|Hyundai|Tucson Hybrid 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| |Kia|EV6 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|| -|Kia|EV6 (with HDA II) 2022[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|| -|Kia|EV6 (without HDA II) 2022[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| +|Kia|EV6 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|| +|Kia|EV6 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|| +|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| |Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| |Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| |Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| -|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| +|Kia|Niro EV 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| +|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| |Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| |Kia|Niro Plug-in Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|| @@ -125,6 +138,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| |Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| @@ -141,12 +155,14 @@ A supported vehicle is one that just works when you install a comma three. All s |Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Lincoln|Aviator 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ford Q3|| +|Lincoln|Aviator Plug-in Hybrid 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ford Q3|| |MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|| |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|| -|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| +|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| |Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|| @@ -237,8 +253,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Volkswagen|Passat 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| -|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| @@ -246,6 +262,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| @@ -277,6 +294,7 @@ If your car has the following packages or features, then it's a good candidate f | Make | Required Package/Features | | ---- | ------------------------- | | Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. | +| Ford | Any car with Lane Centering will likely work. | | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. | | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. | | Nissan | Any car with ProPILOT will likely work. | diff --git a/installer/custom/install_osm.sh b/installer/custom/install_osm.sh deleted file mode 100755 index f92e461ed..000000000 --- a/installer/custom/install_osm.sh +++ /dev/null @@ -1,39 +0,0 @@ -# OSM Installation instructions: -# https://wiki.openstreetmap.org/wiki/Overpass_API/Installation - -# Install expat. All other needed libraries are already installed. -# g++ make expat libexpat1-dev zlib1g-dev -#sudo apt-get update -#sudo apt-get install expat - -# Add required path variables to environment -export OSM_ROOT=/data/media/0/osm -if [ -f /TICI ]; then - export OSM_VERSION=0.7.57 -else - export OSM_VERSION=0.7.56 -fi -export GZ_FILE=osm-3s_v${OSM_VERSION}.tar.xz -export OSM_DIR=${OSM_ROOT}/${OSM_VERSION} -# export DB_DIR=/data/osm/db/ - -# Download and extract overpass library - -if [ ! -d ${OSM_ROOT} ]; then - mkdir -p ${OSM_ROOT} -fi -tar -vxf /data/openpilot/selfdrive/mapd/assets/${GZ_FILE} -C ${OSM_ROOT} - -# Configure and install overpass -#cd $(ls | grep $SOURCE_FILE_ROOT\.[0-9]*) -#cd osm-3s_v0.7.56 -#./configure CXXFLAGS="-O2" --prefix=$EXEC_DIR -#make install - -# Remove source files after installation -#cd .. -if [ -d ${OSM_DIR} ]; then - rm -fr ${OSM_DIR} -fi - -mv ${OSM_ROOT}/osm-3s_v${OSM_VERSION} ${OSM_ROOT}/v${OSM_VERSION} diff --git a/installer/custom/install_osm_db.sh b/installer/custom/install_osm_db.sh deleted file mode 100755 index ac8569d9e..000000000 --- a/installer/custom/install_osm_db.sh +++ /dev/null @@ -1,34 +0,0 @@ -export OSM_DIR=/data/media/0/osm - -export OSM_LOCATION=$(cat /data/params/d/OsmLocationUrl) - -export OSM_LOCATION_TEXT=$(cat /data/params/d/OsmLocationName) - -export XZ_MAP_FILE_NAME=${OSM_LOCATION_TEXT}.tar.xz -export XZ_MAP_FILE=${OSM_DIR}/${XZ_MAP_FILE_NAME} - -# WD -cd $OSM_DIR - -# Remove legacy compressed map file if existing -rm -rf $XZ_MAP_FILE - -# Download map file -wget -O ${XZ_MAP_FILE_NAME} ${OSM_LOCATION} - -if [[ "$?" != 0 ]]; then - echo "Error downloading map file" -else - echo "Successfully downloaded map file" - # Remove current db dir if existing - rm -rf ${DB_DIR}/db - if [ -d ${OSM_DIR}/${OSM_LOCATION_TEXT} ]; then - rm -rf ${OSM_DIR}/${OSM_LOCATION_TEXT} - fi - # Decompressing - tar -vxf ${XZ_MAP_FILE_NAME} - mv ${OSM_LOCATION_TEXT} db - - # Remove compressed map files after expanding - rm -rf $XZ_MAP_FILE -fi diff --git a/laika/__init__.py b/laika/__init__.py deleted file mode 100644 index 661c4584d..000000000 --- a/laika/__init__.py +++ /dev/null @@ -1,2 +0,0 @@ -from .astro_dog import AstroDog -assert AstroDog diff --git a/laika/astro_dog.py b/laika/astro_dog.py deleted file mode 100644 index 348c3959a..000000000 --- a/laika/astro_dog.py +++ /dev/null @@ -1,366 +0,0 @@ -from collections import defaultdict -from concurrent.futures import ThreadPoolExecutor -from typing import DefaultDict, Dict, Iterable, List, Optional, Union - -from .constants import SECS_IN_DAY, SECS_IN_HR -from .helpers import ConstellationId, get_constellation, get_closest, get_el_az, TimeRangeHolder -from .ephemeris import Ephemeris, EphemerisType, GLONASSEphemeris, GPSEphemeris, PolyEphemeris, parse_sp3_orbits, parse_rinex_nav_msg_gps, \ - parse_rinex_nav_msg_glonass -from .downloader import download_orbits_gps, download_orbits_russia_src, download_nav, download_ionex, download_dcb, download_prediction_orbits_russia_src -from .downloader import download_cors_station -from .trop import saast -from .iono import IonexMap, parse_ionex -from .dcb import DCB, parse_dcbs -from .gps_time import GPSTime -from .dgps import get_closest_station_names, parse_dgps -from . import constants - -MAX_DGPS_DISTANCE = 100_000 # in meters, because we're not barbarians - - -class AstroDog: - ''' - auto_update: flag indicating whether laika should fetch files from web automatically - cache_dir: directory where data files are downloaded to and cached - dgps: flag indicating whether laika should use dgps (CORS) - data to calculate pseudorange corrections - valid_const: list of constellation identifiers laika will try process - valid_ephem_types: set of ephemeris types that are allowed to use and download. - Default is set to use all orbit ephemeris types - clear_old_ephemeris: flag indicating if ephemeris for an individual satellite should be overwritten when new ephemeris is added. - ''' - - def __init__(self, auto_update=True, - cache_dir='/tmp/gnss/', - dgps=False, - valid_const=('GPS', 'GLONASS'), - valid_ephem_types=EphemerisType.all_orbits(), - clear_old_ephemeris=False): - self.auto_update = auto_update - self.cache_dir = cache_dir - self.clear_old_ephemeris = clear_old_ephemeris - self.dgps = dgps - if not isinstance(valid_ephem_types, Iterable): - valid_ephem_types = [valid_ephem_types] - self.pull_orbit = len(set(EphemerisType.all_orbits()) & set(valid_ephem_types)) > 0 - self.pull_nav = EphemerisType.NAV in valid_ephem_types - self.valid_const = valid_const - self.valid_ephem_types = valid_ephem_types - - self.orbit_fetched_times = TimeRangeHolder() - self.navs_fetched_times = TimeRangeHolder() - self.dcbs_fetched_times = TimeRangeHolder() - - self.dgps_delays = [] - self.ionex_maps: List[IonexMap] = [] - self.orbits: DefaultDict[str, List[PolyEphemeris]] = defaultdict(list) - self.navs: DefaultDict[str, List[Union[GPSEphemeris, GLONASSEphemeris]]] = defaultdict(list) - self.dcbs: DefaultDict[str, List[DCB]] = defaultdict(list) - - self.cached_ionex: Optional[IonexMap] = None - self.cached_dgps = None - self.cached_orbit: DefaultDict[str, Optional[PolyEphemeris]] = defaultdict(lambda: None) - self.cached_nav: DefaultDict[str, Union[GPSEphemeris, GLONASSEphemeris, None]] = defaultdict(lambda: None) - self.cached_dcb: DefaultDict[str, Optional[DCB]] = defaultdict(lambda: None) - - def get_ionex(self, time) -> Optional[IonexMap]: - ionex: Optional[IonexMap] = self._get_latest_valid_data(self.ionex_maps, self.cached_ionex, self.get_ionex_data, time) - if ionex is None: - if self.auto_update: - raise RuntimeError("Pulled ionex, but still can't get valid for time " + str(time)) - else: - self.cached_ionex = ionex - return ionex - - def get_nav(self, prn, time): - skip_download = time in self.navs_fetched_times - nav = self._get_latest_valid_data(self.navs[prn], self.cached_nav[prn], self.get_nav_data, time, skip_download) - if nav is not None: - self.cached_nav[prn] = nav - return nav - - @staticmethod - def _select_valid_temporal_items(item_dict, time, cache): - '''Returns only valid temporal item for specific time from currently fetched - data.''' - result = {} - for prn, temporal_objects in item_dict.items(): - cached = cache[prn] - if cached is not None and cached.valid(time): - obj = cached - else: - obj = get_closest(time, temporal_objects) - if obj is None or not obj.valid(time): - continue - cache[prn] = obj - result[prn] = obj - return result - - def get_navs(self, time): - if time not in self.navs_fetched_times: - self.get_nav_data(time) - return AstroDog._select_valid_temporal_items(self.navs, time, self.cached_nav) - - def get_orbit(self, prn: str, time: GPSTime): - skip_download = time in self.orbit_fetched_times - orbit = self._get_latest_valid_data(self.orbits[prn], self.cached_orbit[prn], self.get_orbit_data, time, skip_download) - if orbit is not None: - self.cached_orbit[prn] = orbit - return orbit - - def get_orbits(self, time): - if time not in self.orbit_fetched_times: - self.get_orbit_data(time) - return AstroDog._select_valid_temporal_items(self.orbits, time, self.cached_orbit) - - def get_dcb(self, prn, time): - skip_download = time in self.dcbs_fetched_times - dcb = self._get_latest_valid_data(self.dcbs[prn], self.cached_dcb[prn], self.get_dcb_data, time, skip_download) - if dcb is not None: - self.cached_dcb[prn] = dcb - return dcb - - def get_dgps_corrections(self, time, recv_pos): - latest_data = self._get_latest_valid_data(self.dgps_delays, self.cached_dgps, self.get_dgps_data, time, recv_pos=recv_pos) - if latest_data is None: - if self.auto_update: - raise RuntimeError("Pulled dgps, but still can't get valid for time " + str(time)) - else: - self.cached_dgps = latest_data - return latest_data - - def add_orbits(self, new_ephems: Dict[str, List[Ephemeris]]): - self._add_ephems(new_ephems, self.orbits, self.orbit_fetched_times) - - def add_navs(self, new_ephems: Dict[str, List[Ephemeris]]): - self._add_ephems(new_ephems, self.navs, self.navs_fetched_times) - - def _add_ephems(self, new_ephems: Dict[str, List[Ephemeris]], ephems_dict, fetched_times): - for k, v in new_ephems.items(): - if len(v) > 0: - if self.clear_old_ephemeris: - ephems_dict[k] = v - else: - ephems_dict[k].extend(v) - - min_epochs = [] - max_epochs = [] - for v in new_ephems.values(): - if len(v) > 0: - min_ephem, max_ephem = self.get_epoch_range(v) - min_epochs.append(min_ephem) - max_epochs.append(max_ephem) - if len(min_epochs) > 0: - min_epoch = min(min_epochs) - max_epoch = max(max_epochs) - fetched_times.add(min_epoch, max_epoch) - - def get_nav_data(self, time): - def download_and_parse(constellation, parse_rinex_nav_func): - file_path = download_nav(time, cache_dir=self.cache_dir, constellation=constellation) - return parse_rinex_nav_func(file_path) if file_path else {} - - fetched_ephems = {} - - if 'GPS' in self.valid_const: - fetched_ephems = download_and_parse(ConstellationId.GPS, parse_rinex_nav_msg_gps) - if 'GLONASS' in self.valid_const: - for k, v in download_and_parse(ConstellationId.GLONASS, parse_rinex_nav_msg_glonass).items(): - fetched_ephems.setdefault(k, []).extend(v) - self.add_navs(fetched_ephems) - - if sum([len(v) for v in fetched_ephems.values()]) == 0: - begin_day = GPSTime(time.week, SECS_IN_DAY * (time.tow // SECS_IN_DAY)) - end_day = GPSTime(time.week, SECS_IN_DAY * (1 + (time.tow // SECS_IN_DAY))) - self.navs_fetched_times.add(begin_day, end_day) - - def download_parse_orbit(self, gps_time: GPSTime, skip_before_epoch=None) -> Dict[str, List[PolyEphemeris]]: - # Download multiple days to be able to polyfit at the start-end of the day - time_steps = [gps_time - SECS_IN_DAY, gps_time, gps_time + SECS_IN_DAY] - with ThreadPoolExecutor() as executor: - futures_other = [executor.submit(download_orbits_russia_src, t, self.cache_dir, self.valid_ephem_types) for t in time_steps] - futures_gps = None - if "GPS" in self.valid_const: - futures_gps = [executor.submit(download_orbits_gps, t, self.cache_dir, self.valid_ephem_types) for t in time_steps] - - ephems_other = parse_sp3_orbits([f.result() for f in futures_other if f.result()], self.valid_const, skip_before_epoch) - ephems_us = parse_sp3_orbits([f.result() for f in futures_gps if f.result()], self.valid_const, skip_before_epoch) if futures_gps else {} - - return {k: ephems_other.get(k, []) + ephems_us.get(k, []) for k in set(list(ephems_other.keys()) + list(ephems_us.keys()))} - - def download_parse_prediction_orbit(self, gps_time: GPSTime): - assert EphemerisType.ULTRA_RAPID_ORBIT in self.valid_ephem_types - skip_until_epoch = gps_time - 2 * SECS_IN_HR - - result = download_prediction_orbits_russia_src(gps_time, self.cache_dir) - if result is not None: - result = [result] - elif "GPS" in self.valid_const: - # Slower fallback. Russia src prediction orbits are published from 2022 - result = [download_orbits_gps(t, self.cache_dir, self.valid_ephem_types) for t in [gps_time - SECS_IN_DAY, gps_time]] - if result is None: - return {} - return parse_sp3_orbits(result, self.valid_const, skip_until_epoch=skip_until_epoch) - - def get_orbit_data(self, time: GPSTime, only_predictions=False): - if only_predictions: - ephems_sp3 = self.download_parse_prediction_orbit(time) - else: - ephems_sp3 = self.download_parse_orbit(time) - if sum([len(v) for v in ephems_sp3.values()]) < 5: - raise RuntimeError(f'No orbit data found. For Time {time.as_datetime()} constellations {self.valid_const} valid ephem types {self.valid_ephem_types}') - - self.add_orbits(ephems_sp3) - - def get_dcb_data(self, time): - file_path_dcb = download_dcb(time, cache_dir=self.cache_dir) - dcbs = parse_dcbs(file_path_dcb, self.valid_const) - for dcb in dcbs: - self.dcbs[dcb.prn].append(dcb) - - if len(dcbs) != 0: - min_epoch, max_epoch = self.get_epoch_range(dcbs) - self.dcbs_fetched_times.add(min_epoch, max_epoch) - - def get_epoch_range(self, new_ephems): - min_ephem = min(new_ephems, key=lambda e: e.epoch) - max_ephem = max(new_ephems, key=lambda e: e.epoch) - min_epoch = min_ephem.epoch - min_ephem.max_time_diff - max_epoch = max_ephem.epoch + max_ephem.max_time_diff - return min_epoch, max_epoch - - def get_ionex_data(self, time): - file_path_ionex = download_ionex(time, cache_dir=self.cache_dir) - ionex_maps = parse_ionex(file_path_ionex) - for im in ionex_maps: - self.ionex_maps.append(im) - - def get_dgps_data(self, time, recv_pos): - station_names = get_closest_station_names(recv_pos, k=8, max_distance=MAX_DGPS_DISTANCE, cache_dir=self.cache_dir) - for station_name in station_names: - file_path_station = download_cors_station(time, station_name, cache_dir=self.cache_dir) - if file_path_station: - dgps = parse_dgps(station_name, file_path_station, - self, max_distance=MAX_DGPS_DISTANCE, - required_constellations=self.valid_const) - if dgps is not None: - self.dgps_delays.append(dgps) - break - - def get_tgd_from_nav(self, prn, time): - if get_constellation(prn) not in self.valid_const: - return None - - eph = self.get_nav(prn, time) - - if eph: - return eph.get_tgd() - return None - - def get_sat_info(self, prn, time): - if get_constellation(prn) not in self.valid_const: - return None - eph = None - if self.pull_orbit: - eph = self.get_orbit(prn, time) - if not eph and self.pull_nav: - eph = self.get_nav(prn, time) - if eph: - return eph.get_sat_info(time) - return None - - def get_all_sat_info(self, time): - ephs = {} - if self.pull_orbit: - ephs = self.get_orbits(time) - if len(ephs) == 0 and self.pull_nav: - ephs = self.get_navs(time) - - return {prn: eph.get_sat_info(time) for prn, eph in ephs.items()} - - def get_glonass_channel(self, prn, time): - nav = self.get_nav(prn, time) - if nav: - return nav.channel - return None - - def get_frequency(self, prn, time, signal='C1C'): - if get_constellation(prn) == 'GPS': - switch = {'1': constants.GPS_L1, - '2': constants.GPS_L2, - '5': constants.GPS_L5, - '6': constants.GALILEO_E6, - '7': constants.GALILEO_E5B, - '8': constants.GALILEO_E5AB} - freq = switch.get(signal[1]) - if freq: - return freq - raise NotImplementedError("Dont know this GPS frequency: ", signal, prn) - elif get_constellation(prn) == 'GLONASS': - n = self.get_glonass_channel(prn, time) - if n is None: - return None - switch = {'1': constants.GLONASS_L1 + n * constants.GLONASS_L1_DELTA, - '2': constants.GLONASS_L2 + n * constants.GLONASS_L2_DELTA, - '5': constants.GLONASS_L5 + n * constants.GLONASS_L5_DELTA, - '6': constants.GALILEO_E6, - '7': constants.GALILEO_E5B, - '8': constants.GALILEO_E5AB} - freq = switch.get(signal[1]) - if freq: - return freq - raise NotImplementedError("Dont know this GLONASS frequency: ", signal, prn) - - def get_delay(self, prn, time, rcv_pos, no_dgps=False, signal='C1C', freq=None): - sat_info = self.get_sat_info(prn, time) - if sat_info is None: - return None - sat_pos = sat_info[0] - el, az = get_el_az(rcv_pos, sat_pos) - if el < 0.2: - return None - - if self.dgps and not no_dgps: - return self._get_delay_dgps(prn, rcv_pos, time) - - ionex = self.get_ionex(time) - if not freq and ionex is not None: - freq = self.get_frequency(prn, time, signal) - dcb = self.get_dcb(prn, time) - # When using internet we expect all data or return None - if self.auto_update and (ionex is None or dcb is None or freq is None): - return None - iono_delay = ionex.get_delay(rcv_pos, az, el, sat_pos, time, freq) if ionex is not None else 0. - trop_delay = saast(rcv_pos, el) - code_bias = dcb.get_delay(signal) if dcb is not None else 0. - return iono_delay + trop_delay + code_bias - - def _get_delay_dgps(self, prn, rcv_pos, time): - dgps_corrections = self.get_dgps_corrections(time, rcv_pos) - if dgps_corrections is None: - return None - return dgps_corrections.get_delay(prn, time) - - def _get_latest_valid_data(self, data, latest_data, download_data_func, time, skip_download=False, recv_pos=None): - def is_valid(latest_data): - if recv_pos is None: - return latest_data is not None and latest_data.valid(time) - else: - return latest_data is not None and latest_data.valid(time, recv_pos) - - if is_valid(latest_data): - return latest_data - - latest_data = get_closest(time, data, recv_pos=recv_pos) - if is_valid(latest_data): - return latest_data - if skip_download or not self.auto_update: - return None - if recv_pos is not None: - download_data_func(time, recv_pos) - else: - download_data_func(time) - latest_data = get_closest(time, data, recv_pos=recv_pos) - if is_valid(latest_data): - return latest_data - return None diff --git a/laika/constants.py b/laika/constants.py deleted file mode 100644 index 6b6d33110..000000000 --- a/laika/constants.py +++ /dev/null @@ -1,34 +0,0 @@ -# These are all from IS-GPS-200G unless otherwise noted - -SPEED_OF_LIGHT = 2.99792458e8 # m/s - -# Physical parameters of the Earth -EARTH_GM = 3.986005e14 # m^3/s^2 (gravitational constant * mass of earth) -EARTH_RADIUS = 6.3781e6 # m -EARTH_ROTATION_RATE = 7.2921151467e-005 # rad/s (WGS84 earth rotation rate) - -# GPS system parameters: -GPS_L1 = l1 = 1.57542e9 # Hz -GPS_L2 = l2 = 1.22760e9 # Hz -GPS_L5 = l5 = 1.17645e9 # Hz Also E5 - -#GLONASS system parameters -#TODO this is old convention -GLONASS_L1 = 1.602e9 -GLONASS_L1_DELTA = 0.5625e6 -GLONASS_L2 = 1.246e9 -GLONASS_L2_DELTA = 0.4375e6 -GLONASS_L5 = 1.201e9 -GLONASS_L5_DELTA = 0.4375e6 - -#Galileo system parameters: # Has additional frequencies on E6 -#Source RINEX 2.11 document -GALILEO_E5B = 1.207140e9 # Hz -GALILEO_E5AB = 1.191795e9 # Hz -GALILEO_E6 = 1.27875e9 # Hz - -SECS_IN_MIN = 60 -SECS_IN_HR = 60*SECS_IN_MIN -SECS_IN_DAY = 24*SECS_IN_HR -SECS_IN_WEEK = 7*SECS_IN_DAY -SECS_IN_YEAR = 365*SECS_IN_DAY diff --git a/laika/dcb.py b/laika/dcb.py deleted file mode 100644 index 06017ff4c..000000000 --- a/laika/dcb.py +++ /dev/null @@ -1,84 +0,0 @@ -from datetime import datetime -from .constants import SECS_IN_HR, SECS_IN_WEEK, \ - SPEED_OF_LIGHT, GPS_L1, GPS_L2 -from .gps_time import GPSTime -from .helpers import get_constellation -import warnings - - -class DCB: - def __init__(self, prn, data): - self.max_time_diff = 2*SECS_IN_WEEK - self.prn = prn - self.epoch = data['epoch'] - self.healthy = True - if 'C1W_C2W' in data: - self.C1W_C2W = data['C1W_C2W'] - elif 'C1P_C2P' in data: - self.C1W_C2W = data['C1P_C2P'] - else: - self.healthy = False - if 'C1C_C1W' in data: - self.C1C_C1W = data['C1C_C1W'] - elif 'C1C_C1P' in data: - self.C1C_C1W = data['C1C_C1P'] - else: - self.healthy = False - - def valid(self, time): - return abs(time - self.epoch) <= self.max_time_diff and self.healthy - - def get_delay(self, signal): - if signal == 'C1C': - return (- SPEED_OF_LIGHT*1e-9*self.C1W_C2W*GPS_L2**2/(GPS_L1**2 - GPS_L2**2) - + SPEED_OF_LIGHT*1e-9*self.C1C_C1W) - if signal == 'C2P': - return (- SPEED_OF_LIGHT*1e-9*self.C1W_C2W*GPS_L1**2/(GPS_L1**2 - GPS_L2**2)) - if signal == 'C1P': - return (SPEED_OF_LIGHT*1e-9*self.C1C_C1W) - ## Todo: update dcb database and get delay to include additional signals - if signal == 'C2C': - warnings.warn("Differential code bias not implemented for signal C2C", UserWarning) - return 0 - if signal == 'C5C': - warnings.warn("Differential code bias not implemented for signal C5C", UserWarning) - return 0 - if signal == 'C6C': - warnings.warn("Differential code bias not implemented for signal C6C", UserWarning) - return 0 - if signal == 'C7C': - warnings.warn("Differential code bias not implemented for signal C7C", UserWarning) - return 0 - if signal == 'C8C': - warnings.warn("Differential code bias not implemented for signal C8C", UserWarning) - return 0 - - -def parse_dcbs(file_name, SUPPORTED_CONSTELLATIONS): - with open(file_name, 'r+') as DCB_file: - contents = DCB_file.readlines() - data_started = False - dcbs_dict = {} - for line in contents: - if not data_started: - if line[1:4] == 'DSB': - data_started = True - else: - continue - line_components = line.split() - if len(line_components[2]) < 3: - break - prn = line_components[2] - if get_constellation(prn) not in SUPPORTED_CONSTELLATIONS: - continue - dcb_type = line_components[3] + '_' + line_components[4] - epoch = GPSTime.from_datetime(datetime.strptime(line_components[5], '%Y:%j:%f')) + 12*SECS_IN_HR - if prn not in dcbs_dict: - dcbs_dict[prn] = {} - dcbs_dict[prn][dcb_type] = float(line_components[8]) - dcbs_dict[prn]['epoch'] = epoch - - dcbs = [] - for prn in dcbs_dict: - dcbs.append(DCB(prn, dcbs_dict[prn])) - return dcbs diff --git a/laika/dgps.py b/laika/dgps.py deleted file mode 100644 index 53111d90d..000000000 --- a/laika/dgps.py +++ /dev/null @@ -1,162 +0,0 @@ -import os -import numpy as np -from datetime import datetime - -from .gps_time import GPSTime -from .constants import SECS_IN_YEAR -from . import raw_gnss as raw -from . import opt -from .rinex_file import RINEXFile -from .downloader import download_cors_coords -from .helpers import get_constellation - - -def mean_filter(delay): - d2 = delay.copy() - max_step = 10 - for i in range(max_step, len(delay) - max_step): - finite_idxs = np.where(np.isfinite(delay[i - max_step:i + max_step])) - if max_step in finite_idxs[0]: - step = min([max_step, finite_idxs[0][-1] - max_step, max_step - finite_idxs[0][0]]) - d2[i] = np.nanmean(delay[i - step:i + step + 1]) - return d2 - - -def download_and_parse_station_postions(cors_station_positions_path, cache_dir): - if not os.path.isfile(cors_station_positions_path): - cors_stations = {} - coord_file_paths = download_cors_coords(cache_dir=cache_dir) - for coord_file_path in coord_file_paths: - try: - station_id = coord_file_path.split('/')[-1][:4] - with open(coord_file_path, 'r+') as coord_file: - contents = coord_file.readlines() - phase_center = False - for line_number in range(len(contents)): - if 'L1 Phase Center' in contents[line_number]: - phase_center = True - if not phase_center and 'ITRF2014 POSITION' in contents[line_number]: - velocity = [float(contents[line_number+8].split()[3]), - float(contents[line_number+9].split()[3]), - float(contents[line_number+10].split()[3])] - if phase_center and 'ITRF2014 POSITION' in contents[line_number]: - epoch = GPSTime.from_datetime(datetime(2005,1,1)) - position = [float(contents[line_number+2].split()[3]), - float(contents[line_number+3].split()[3]), - float(contents[line_number+4].split()[3])] - cors_stations[station_id] = [epoch, position, velocity] - break - except ValueError: - pass - cors_station_positions_file = open(cors_station_positions_path, 'wb') - np.save(cors_station_positions_file, cors_stations) - cors_station_positions_file.close() - - -def get_closest_station_names(pos, k=5, max_distance=100000, cache_dir='/tmp/gnss/'): - from scipy.spatial import cKDTree - - cors_station_positions_dict = load_cors_station_positions(cache_dir) - station_ids = list(cors_station_positions_dict.keys()) - station_positions = [] - for station_id in station_ids: - station_positions.append(cors_station_positions_dict[station_id][1]) - tree = cKDTree(station_positions) - distances, idxs = tree.query(pos, k=k, distance_upper_bound=max_distance) - return np.array(station_ids)[idxs] - - -def load_cors_station_positions(cache_dir): - cors_station_positions_path = cache_dir + 'cors_coord/cors_station_positions' - download_and_parse_station_postions(cors_station_positions_path, cache_dir) - with open(cors_station_positions_path, 'rb') as f: - return np.load(f, allow_pickle=True).item() # pylint: disable=unexpected-keyword-arg - - -def get_station_position(station_id, cache_dir='/tmp/gnss/', time=GPSTime.from_datetime(datetime.utcnow())): - cors_station_positions_dict = load_cors_station_positions(cache_dir) - epoch, pos, vel = cors_station_positions_dict[station_id] - return ((time - epoch)/SECS_IN_YEAR)*np.array(vel) + np.array(pos) - - -def parse_dgps(station_id, station_obs_file_path, dog, max_distance=100000, required_constellations=['GPS']): - station_pos = get_station_position(station_id, cache_dir=dog.cache_dir) - obsdata = RINEXFile(station_obs_file_path) - measurements = raw.read_rinex_obs(obsdata) - - # if not all constellations in first 100 epochs bail - detected_constellations = set() - for m in sum(measurements[:100],[]): - detected_constellations.add(get_constellation(m.prn)) - for constellation in required_constellations: - if constellation not in detected_constellations: - return None - - proc_measurements = [] - for measurement in measurements: - proc_measurements.append(raw.process_measurements(measurement, dog=dog)) - # sample at 30s - if len(proc_measurements) > 2880: - proc_measurements = proc_measurements[::int(len(proc_measurements)/2880)] - if len(proc_measurements) != 2880: - return None - - station_delays = {} - n = len(proc_measurements) - for signal in ['C1C', 'C2P']: - times = [] - station_delays[signal] = {} - for i, proc_measurement in enumerate(proc_measurements): - times.append(proc_measurement[0].recv_time) - Fx_pos = opt.pr_residual(proc_measurement, signal=signal) - residual, _ = Fx_pos(list(station_pos) + [0,0]) - residual = -np.array(residual) - for j, m in enumerate(proc_measurement): - prn = m.prn - if prn not in station_delays[signal]: - station_delays[signal][prn] = np.nan*np.ones(n) - station_delays[signal][prn][i] = residual[j] - assert len(times) == n - - # TODO crude way to get dgps station's clock errors, - # could this be biased? Only use GPS for convenience. - model_delays = {} - for prn in station_delays['C1C']: - if get_constellation(prn) == 'GPS': - model_delays[prn] = np.nan*np.zeros(n) - for i in range(n): - model_delays[prn][i] = dog.get_delay(prn, times[i], station_pos, no_dgps=True) - station_clock_errs = np.zeros(n) - for i in range(n): - station_clock_errs[i] = np.nanmean([(station_delays['C1C'][prn][i] - model_delays[prn][i]) for prn in model_delays]) - - # remove clock errors and smooth out signal - for prn in station_delays['C1C']: - station_delays['C1C'][prn] = mean_filter(station_delays['C1C'][prn] - station_clock_errs) - for prn in station_delays['C2P']: - station_delays['C2P'][prn] = station_delays['C2P'][prn] - station_clock_errs - - return DGPSDelay(station_id, station_pos, station_delays, - times, max_distance) - - -class DGPSDelay: - def __init__(self, station_id, station_pos, - station_delays, station_delays_t, max_distance): - self.id = station_id - self.pos = station_pos - self.delays = station_delays - self.delays_t = station_delays_t - self.max_distance = max_distance - - def get_delay(self, prn, time, signal='C1C'): - time_index = int((time - self.delays_t[0])/30) - assert abs(self.delays_t[time_index] - time) < 30 - if prn in self.delays[signal] and np.isfinite(self.delays[signal][prn][time_index]): - return self.delays[signal][prn][time_index] - return None - - def valid(self, time, recv_pos): - return (np.linalg.norm(recv_pos - self.pos) <= self.max_distance and - time - self.delays_t[0] > -30 and - self.delays_t[-1] - time > -30) diff --git a/laika/downloader.py b/laika/downloader.py deleted file mode 100644 index bd456af20..000000000 --- a/laika/downloader.py +++ /dev/null @@ -1,482 +0,0 @@ -import certifi -import ftplib -import hatanaka -import os -import urllib.request -import urllib.error -import pycurl -import re -import time -import socket - -from datetime import datetime, timedelta -from urllib.parse import urlparse -from io import BytesIO -from ftplib import FTP_TLS - -from atomicwrites import atomic_write - -from laika.ephemeris import EphemerisType -from .constants import SECS_IN_HR, SECS_IN_DAY, SECS_IN_WEEK -from .gps_time import GPSTime, tow_to_datetime -from .helpers import ConstellationId - -dir_path = os.path.dirname(os.path.realpath(__file__)) - -class DownloadFailed(Exception): - pass - - -def retryable(f): - """ - Decorator to allow us to pass multiple URLs from which to download. - Automatically retry the request with the next URL on failure - """ - def wrapped(url_bases, *args, **kwargs): - if isinstance(url_bases, str): - # only one url passed, don't do the retry thing - return f(url_bases, *args, **kwargs) - - # not a string, must be a list of url_bases - for url_base in url_bases: - try: - return f(url_base, *args, **kwargs) - except DownloadFailed as e: - print(e) - # none of them succeeded - raise DownloadFailed("Multiple URL failures attempting to pull file(s)") - return wrapped - - -def ftp_connect(url): - parsed = urlparse(url) - assert parsed.scheme == 'ftp' - try: - domain = parsed.netloc - ftp = ftplib.FTP(domain, timeout=10) - ftp.login() - except (OSError, ftplib.error_perm): - raise DownloadFailed("Could not connect/auth to: " + domain) - try: - ftp.cwd(parsed.path) - except ftplib.error_perm: - raise DownloadFailed("Permission failure with folder: " + url) - return ftp - - -@retryable -def list_dir(url): - parsed = urlparse(url) - if parsed.scheme == 'ftp': - try: - ftp = ftp_connect(url) - return ftp.nlst() - except ftplib.error_perm: - raise DownloadFailed("Permission failure listing folder: " + url) - else: - # just connect and do simple url parsing - listing = https_download_file(url) - urls = re.findall(b"", listing) - # decode the urls to normal strings. If they are complicated paths, ignore them - return [name.decode("latin1") for name in urls if name and b"/" not in name[1:]] - - -def ftp_download_files(url_base, folder_path, cacheDir, filenames): - """ - Like download file, but more of them. Keeps a persistent FTP connection open - to be more efficient. - """ - folder_path_abs = os.path.join(cacheDir, folder_path) - - ftp = ftp_connect(url_base + folder_path) - - filepaths = [] - for filename in filenames: - # os.path.join will be dumb if filename has a leading / - # if there is a / in the filename, then it's using a different folder - filename = filename.lstrip("/") - if "/" in filename: - continue - filepath = os.path.join(folder_path_abs, filename) - print("pulling from", url_base, "to", filepath) - - if not os.path.isfile(filepath): - os.makedirs(folder_path_abs, exist_ok=True) - try: - ftp.retrbinary('RETR ' + filename, open(filepath, 'wb').write) - except (ftplib.error_perm): - raise DownloadFailed("Could not download file from: " + url_base + folder_path + filename) - except (socket.timeout): - raise DownloadFailed("Read timed out from: " + url_base + folder_path + filename) - filepaths.append(filepath) - else: - filepaths.append(filepath) - return filepaths - - -def http_download_files(url_base, folder_path, cacheDir, filenames): - """ - Similar to ftp_download_files, attempt to download multiple files faster than - just downloading them one-by-one. - Returns a list of filepaths instead of the raw data - """ - folder_path_abs = os.path.join(cacheDir, folder_path) - - def write_function(disk_path, handle): - def do_write(data): - open(disk_path, "wb").write(data) - - return do_write - - fetcher = pycurl.CurlMulti() - fetcher.setopt(pycurl.M_PIPELINING, 3) - fetcher.setopt(pycurl.M_MAX_HOST_CONNECTIONS, 64) - fetcher.setopt(pycurl.M_MAX_TOTAL_CONNECTIONS, 64) - filepaths = [] - for filename in filenames: - # os.path.join will be dumb if filename has a leading / - # if there is a / in the filename, then it's using a different folder - filename = filename.lstrip("/") - if "/" in filename: - continue - filepath = os.path.join(folder_path_abs, filename) - if not os.path.isfile(filepath): - print("pulling from", url_base, "to", filepath) - os.makedirs(folder_path_abs, exist_ok=True) - url_path = url_base + folder_path + filename - handle = pycurl.Curl() - handle.setopt(pycurl.URL, url_path) - handle.setopt(pycurl.CONNECTTIMEOUT, 10) - handle.setopt(pycurl.WRITEFUNCTION, write_function(filepath, handle)) - fetcher.add_handle(handle) - filepaths.append(filepath) - - requests_processing = len(filepaths) - timeout = 10.0 # after 10 seconds of nothing happening, restart - deadline = time.time() + timeout - while requests_processing and time.time() < deadline: - while True: - ret, cur_requests_processing = fetcher.perform() - if ret != pycurl.E_CALL_MULTI_PERFORM: - _, success, failed = fetcher.info_read() - break - if requests_processing > cur_requests_processing: - deadline = time.time() + timeout - requests_processing = cur_requests_processing - - if fetcher.select(1) < 0: - continue - - # if there are downloads left to be done, repeat, and don't overwrite - _, requests_processing = fetcher.perform() - if requests_processing > 0: - print("some requests stalled, retrying them") - return http_download_files(url_base, folder_path, cacheDir, filenames) - - return filepaths - - -def https_download_file(url): - crl = pycurl.Curl() - crl.setopt(crl.CAINFO, certifi.where()) - crl.setopt(crl.URL, url) - crl.setopt(crl.FOLLOWLOCATION, True) - crl.setopt(crl.SSL_CIPHER_LIST, 'DEFAULT@SECLEVEL=1') - crl.setopt(crl.COOKIEJAR, '/tmp/cddis_cookies') - crl.setopt(pycurl.CONNECTTIMEOUT, 10) - - buf = BytesIO() - crl.setopt(crl.WRITEDATA, buf) - crl.perform() - response = crl.getinfo(pycurl.RESPONSE_CODE) - crl.close() - - if response != 200: - raise DownloadFailed('HTTPS error ' + str(response)) - return buf.getvalue() - - -def ftp_download_file(url): - try: - urlf = urllib.request.urlopen(url, timeout=10) - data_zipped = urlf.read() - urlf.close() - return data_zipped - except urllib.error.URLError as e: - raise DownloadFailed(e) - -def ftps_download_file(url): - parsed = urlparse(url) - try: - buf = BytesIO() - with FTP_TLS(parsed.hostname) as ftps: - ftps.login(user='anonymous') - ftps.prot_p() - ftps.retrbinary('RETR ' + parsed.path, buf.write) - return buf.getvalue() - except ftplib.all_errors as e: - raise DownloadFailed(e) - -@retryable -def download_files(url_base, folder_path, cacheDir, filenames): - parsed = urlparse(url_base) - if parsed.scheme == 'ftp': - return ftp_download_files(url_base, folder_path, cacheDir, filenames) - else: - return http_download_files(url_base, folder_path, cacheDir, filenames) - - -@retryable -def download_file(url_base, folder_path, filename_zipped): - url = url_base + folder_path + filename_zipped - print('Downloading ' + url) - if url.startswith('https://'): - return https_download_file(url) - elif url.startswith('ftp://'): - return ftp_download_file(url) - elif url.startswith('sftp://'): - return ftps_download_file(url) - raise NotImplementedError('Did not find supported url scheme') - - -def download_and_cache_file_return_first_success(url_bases, folder_and_file_names, cache_dir, compression='', overwrite=False, raise_error=False): - last_error = None - for folder_path, filename in folder_and_file_names: - try: - file = download_and_cache_file(url_bases, folder_path, cache_dir, filename, compression, overwrite) - return file - except DownloadFailed as e: - last_error = e - - if last_error and raise_error: - raise last_error - - -def download_and_cache_file(url_base, folder_path: str, cache_dir: str, filename: str, compression='', overwrite=False): - filename_zipped = filename + compression - folder_path_abs = os.path.join(cache_dir, folder_path) - filepath = str(hatanaka.get_decompressed_path(os.path.join(folder_path_abs, filename))) - - filepath_attempt = filepath + '.attempt_time' - - if os.path.exists(filepath_attempt): - with open(filepath_attempt, 'r') as rf: - last_attempt_time = float(rf.read()) - if time.time() - last_attempt_time < SECS_IN_HR: - raise DownloadFailed(f"Too soon to try downloading {folder_path + filename_zipped} from {url_base} again since last attempt") - if not os.path.isfile(filepath) or overwrite: - try: - data_zipped = download_file(url_base, folder_path, filename_zipped) - except (DownloadFailed, pycurl.error, socket.timeout): - unix_time = time.time() - os.makedirs(folder_path_abs, exist_ok=True) - with atomic_write(filepath_attempt, mode='w', overwrite=True) as wf: - wf.write(str(unix_time)) - raise DownloadFailed(f"Could not download {folder_path + filename_zipped} from {url_base} ") - - os.makedirs(folder_path_abs, exist_ok=True) - ephem_bytes = hatanaka.decompress(data_zipped) - try: - with atomic_write(filepath, mode='wb', overwrite=overwrite) as f: - f.write(ephem_bytes) - except FileExistsError: - # Only happens when same file is downloaded in parallel by another process. - pass - return filepath - - -# Currently, only GPS and Glonass are supported for daily and hourly data. -CONSTELLATION_NASA_CHAR = {ConstellationId.GPS: 'n', ConstellationId.GLONASS: 'g'} - - -def download_nav(time: GPSTime, cache_dir, constellation: ConstellationId): - t = time.as_datetime() - try: - if constellation not in CONSTELLATION_NASA_CHAR: - return None - c = CONSTELLATION_NASA_CHAR[constellation] - if GPSTime.from_datetime(datetime.utcnow()) - time > SECS_IN_DAY: - url_bases = ( - 'https://github.com/commaai/gnss-data/raw/master/gnss/data/daily/', - 'sftp://gdc.cddis.eosdis.nasa.gov/gnss/data/daily/', - ) - filename = t.strftime(f"brdc%j0.%y{c}") - folder_path = t.strftime(f'%Y/%j/%y{c}/') - compression = '.gz' if folder_path >= '2020/335/' else '.Z' - return download_and_cache_file(url_bases, folder_path, cache_dir+'daily_nav/', filename, compression) - else: - url_bases = ( - 'https://github.com/commaai/gnss-data-hourly/raw/master/', - 'sftp://gdc.cddis.eosdis.nasa.gov/gnss/data/hourly/', - ) - times = [t, (t - timedelta(hours=1))] - folder_and_filenames = [(t.strftime('%Y/%j/'), t.strftime(f"hour%j0.%y{c}")) for t in times] - compression = '.gz' if folder_and_filenames[0][0] >= '2020/336/' else '.Z' - # always overwrite as this file is appended - return download_and_cache_file_return_first_success(url_bases, - folder_and_filenames, cache_dir+'hourly_nav/', compression, overwrite=True) - except DownloadFailed: - pass - - -def download_orbits_gps_cod0(time, cache_dir, ephem_types): - url_bases = ( - 'https://github.com/commaai/gnss-data/raw/master/gnss/products/', - 'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/', - ) - - if EphemerisType.ULTRA_RAPID_ORBIT not in ephem_types: - # TODO: raise error here - return None - - tm = tow_to_datetime(time.tow, time.week).timetuple() - doy = str(tm.tm_yday).zfill(3) - filename = f"COD0OPSULT_{tm.tm_year}{doy}0000_02D_05M_ORB.SP3" - # TODO: add hour management - - folder_path = "%i/" % time.week - folder_file_names = [(folder_path, filename)] - return download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'cddis_products/', compression='.gz') - - -def download_orbits_gps(time, cache_dir, ephem_types): - url_bases = ( - 'https://github.com/commaai/gnss-data/raw/master/gnss/products/', - 'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/', - 'ftp://igs.ign.fr/pub/igs/products/', - ) - folder_path = "%i/" % time.week - filenames = [] - time_str = "%i%i" % (time.week, time.day) - # Download filenames in order of quality. Final -> Rapid -> Ultra-Rapid(newest first) - if EphemerisType.FINAL_ORBIT in ephem_types and GPSTime.from_datetime(datetime.utcnow()) - time > 3 * SECS_IN_WEEK: - filenames.append(f"igs{time_str}.sp3") - if EphemerisType.RAPID_ORBIT in ephem_types: - filenames.append(f"igr{time_str}.sp3") - if EphemerisType.ULTRA_RAPID_ORBIT in ephem_types: - filenames.extend([f"igu{time_str}_18.sp3", - f"igu{time_str}_12.sp3", - f"igu{time_str}_06.sp3", - f"igu{time_str}_00.sp3"]) - folder_file_names = [(folder_path, filename) for filename in filenames] - ret = download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'cddis_products/', compression='.Z') - if ret is not None: - return ret - - # fallback to COD0 Ultra Rapid Orbits - return download_orbits_gps_cod0(time, cache_dir, ephem_types) - - -def download_prediction_orbits_russia_src(gps_time, cache_dir): - # Download single file that contains Ultra_Rapid predictions for GPS, GLONASS and other constellations - t = gps_time.as_datetime() - # Files exist starting at 29-01-2022 - if t < datetime(2022, 1, 29): - return None - url_bases = 'https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/' - folder_path = t.strftime('%y%j/ultra/') - file_prefix = "Stark_1D_" + t.strftime('%y%m%d') - - # Predictions are 24H so previous day can also be used. - prev_day = (t - timedelta(days=1)) - file_prefix_prev = "Stark_1D_" + prev_day.strftime('%y%m%d') - folder_path_prev = prev_day.strftime('%y%j/ultra/') - - current_day = GPSTime.from_datetime(datetime(t.year, t.month, t.day)) - # Ultra-Orbit is published in gnss-data-alt every 10th minute past the 5,11,17,23 hour. - # Predictions published are delayed by around 10 hours. - # Download latest file that includes gps_time with 20 minutes margin.: - if gps_time > current_day + 23.5 * SECS_IN_HR: - prev_day, current_day = [], [6, 12] - elif gps_time > current_day + 17.5 * SECS_IN_HR: - prev_day, current_day = [], [0, 6] - elif gps_time > current_day + 11.5 * SECS_IN_HR: - prev_day, current_day = [18], [0] - elif gps_time > current_day + 5.5 * SECS_IN_HR: - prev_day, current_day = [12, 18], [] - else: - prev_day, current_day = [6, 12], [] - # Example: Stark_1D_22060100.sp3 - folder_and_file_names = [(folder_path, file_prefix + f"{h:02}.sp3") for h in reversed(current_day)] + \ - [(folder_path_prev, file_prefix_prev + f"{h:02}.sp3") for h in reversed(prev_day)] - return download_and_cache_file_return_first_success(url_bases, folder_and_file_names, cache_dir+'russian_products/', raise_error=True) - - -def download_orbits_russia_src(time, cache_dir, ephem_types): - # Orbits from russian source. Contains GPS, GLONASS, GALILEO, BEIDOU - url_bases = ( - 'https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/', - 'ftp://ftp.glonass-iac.ru/MCC/PRODUCTS/', - ) - t = time.as_datetime() - folder_paths = [] - current_gps_time = GPSTime.from_datetime(datetime.utcnow()) - filename = "Sta%i%i.sp3" % (time.week, time.day) - if EphemerisType.FINAL_ORBIT in ephem_types and current_gps_time - time > 2 * SECS_IN_WEEK: - folder_paths.append(t.strftime('%y%j/final/')) - if EphemerisType.RAPID_ORBIT in ephem_types: - folder_paths.append(t.strftime('%y%j/rapid/')) - if EphemerisType.ULTRA_RAPID_ORBIT in ephem_types: - folder_paths.append(t.strftime('%y%j/ultra/')) - folder_file_names = [(folder_path, filename) for folder_path in folder_paths] - return download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'russian_products/') - - -def download_ionex(time, cache_dir): - t = time.as_datetime() - url_bases = ( - 'https://github.com/commaai/gnss-data/raw/master/gnss/products/ionex/', - 'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/ionex/', - 'ftp://igs.ensg.ign.fr/pub/igs/products/ionosphere/', - 'ftp://gssc.esa.int/gnss/products/ionex/', - ) - folder_path = t.strftime('%Y/%j/') - filenames = [t.strftime("codg%j0.%yi"), t.strftime("c1pg%j0.%yi"), t.strftime("c2pg%j0.%yi")] - - folder_file_names = [(folder_path, f) for f in filenames] - return download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'ionex/', compression='.Z', raise_error=True) - - -def download_dcb(time, cache_dir): - filenames = [] - folder_paths = [] - url_bases = ( - 'https://github.com/commaai/gnss-data/raw/master/gnss/products/bias/', - 'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/bias/', - 'ftp://igs.ign.fr/pub/igs/products/mgex/dcb/', - ) - # seem to be a lot of data missing, so try many days - for time_step in [time - i * SECS_IN_DAY for i in range(14)]: - t = time_step.as_datetime() - folder_paths.append(t.strftime('%Y/')) - filenames.append(t.strftime("CAS0MGXRAP_%Y%j0000_01D_01D_DCB.BSX")) - - return download_and_cache_file_return_first_success(url_bases, list(zip(folder_paths, filenames)), cache_dir+'dcb/', compression='.gz', raise_error=True) - - -def download_cors_coords(cache_dir): - cache_subdir = cache_dir + 'cors_coord/' - url_bases = ( - 'https://geodesy.noaa.gov/corsdata/coord/coord_14/', - 'https://alt.ngs.noaa.gov/corsdata/coord/coord_14/', - ) - file_names = list_dir(url_bases) - file_names = [file_name for file_name in file_names if file_name.endswith('coord.txt')] - filepaths = download_files(url_bases, '', cache_subdir, file_names) - return filepaths - - -def download_cors_station(time, station_name, cache_dir): - t = time.as_datetime() - folder_path = t.strftime('%Y/%j/') + station_name + '/' - filename = station_name + t.strftime("%j0.%yd") - url_bases = ( - 'https://geodesy.noaa.gov/corsdata/rinex/', - 'https://alt.ngs.noaa.gov/corsdata/rinex/', - ) - try: - filepath = download_and_cache_file(url_bases, folder_path, cache_dir+'cors_obs/', filename, compression='.gz') - return filepath - except DownloadFailed: - print("File not downloaded, check availability on server.") - return None diff --git a/laika/ephemeris.py b/laika/ephemeris.py deleted file mode 100644 index 059fc931c..000000000 --- a/laika/ephemeris.py +++ /dev/null @@ -1,598 +0,0 @@ -import json -import warnings -from abc import ABC, abstractmethod -from collections import defaultdict -from enum import IntEnum -from typing import Dict, List, Optional - -import numpy as np -import numpy.polynomial.polynomial as poly -from datetime import datetime, timedelta -from math import sin, cos, sqrt, fabs, atan2 - -from .gps_time import GPSTime, utc_to_gpst -from .constants import SPEED_OF_LIGHT, SECS_IN_MIN, SECS_IN_HR, SECS_IN_DAY, \ - SECS_IN_WEEK, EARTH_ROTATION_RATE, EARTH_GM -from .helpers import get_constellation, get_prn_from_nmea_id - - -def read4(f, rinex_ver): - line = f.readline()[:-1] - if rinex_ver == 2: - line = ' ' + line # Shift 1 char to the right - line = line.replace('D', 'E') # Handle bizarro float format - return float(line[4:23]), float(line[23:42]), float(line[42:61]), float(line[61:80]) - - -def convert_ublox_gps_ephem(ublox_ephem, current_time: Optional[datetime] = None): - # Week time of ephemeris gps msg has a roll-over period of 10 bits (19.6 years) - # The latest roll-over was on 2019-04-07 - week = ublox_ephem.gpsWeek - if current_time is None: - # Each message is incremented to be greater or equal than week 1877 (2015-12-27). - # To skip this use the current_time argument - week += 1024 - if week < 1877: - week += 1024 - else: - roll_overs = GPSTime.from_datetime(current_time).week // 1024 - week += (roll_overs - (week // 1024)) * 1024 - - # GPS week refers to current week, the ephemeris can be valid for the next - # if toe equals 0, this can be verified by the TOW count if it is within the - # last 2 hours of the week (gps ephemeris valid for 4hours) - if ublox_ephem.toe == 0 and ublox_ephem.towCount*6 >= (SECS_IN_WEEK - 2*SECS_IN_HR): - week += 1 - - ephem = {} - ephem['sv_id'] = ublox_ephem.svId - ephem['toe'] = GPSTime(week, ublox_ephem.toe) - ephem['toc'] = GPSTime(week, ublox_ephem.toc) - ephem['af0'] = ublox_ephem.af0 - ephem['af1'] = ublox_ephem.af1 - ephem['af2'] = ublox_ephem.af2 - ephem['tgd'] = ublox_ephem.tgd - - ephem['sqrta'] = np.sqrt(ublox_ephem.a) - ephem['dn'] = ublox_ephem.deltaN - ephem['m0'] = ublox_ephem.m0 - - ephem['ecc'] = ublox_ephem.ecc - ephem['w'] = ublox_ephem.omega - ephem['cus'] = ublox_ephem.cus - ephem['cuc'] = ublox_ephem.cuc - ephem['crc'] = ublox_ephem.crc - ephem['crs'] = ublox_ephem.crs - ephem['cic'] = ublox_ephem.cic - ephem['cis'] = ublox_ephem.cis - - ephem['inc'] = ublox_ephem.i0 - ephem['inc_dot'] = ublox_ephem.iDot - ephem['omegadot'] = ublox_ephem.omegaDot - ephem['omega0'] = ublox_ephem.omega0 - - ephem['healthy'] = ublox_ephem.svHealth == 0.0 - - epoch = ephem['toe'] - return GPSEphemeris(ephem, epoch) - - -def convert_ublox_glonass_ephem(ublox_ephem, current_time: Optional[datetime] = None): - ephem = {} - ephem['prn'] = 'R%02i' % ublox_ephem.svId - - etime = datetime.strptime(f"{ublox_ephem.year}-{ublox_ephem.dayInYear}", "%Y-%j") - # glonass time: UTC + 3h - time_in_day = timedelta(hours=ublox_ephem.hour, minutes=ublox_ephem.minute, seconds=ublox_ephem.second) - ephem['toc'] = GPSTime.from_datetime(etime + time_in_day - timedelta(hours=3)) - ephem['toe'] = GPSTime.from_datetime(etime + timedelta(minutes=(ublox_ephem.tb*15 - 180))) - - ephem['x'] = ublox_ephem.x # km - ephem['x_vel'] = ublox_ephem.xVel # km/s - ephem['x_acc'] = ublox_ephem.xAccel # km/s*s - - ephem['y'] = ublox_ephem.y # km - ephem['y_vel'] = ublox_ephem.yVel # km/s - ephem['y_acc'] = ublox_ephem.yAccel # km/s*s - - ephem['z'] = ublox_ephem.z # km - ephem['z_vel'] = ublox_ephem.zVel # km/s - ephem['z_acc'] = ublox_ephem.zAccel # km/s*s - - ephem['healthy'] = ublox_ephem.svHealth == 0.0 - ephem['age'] = ublox_ephem.age # age of information [days] - - # tauN compared to ephemeris from gdc.cddis.eosdis.nasa.gov is times -1 - ephem['min_tauN'] = ublox_ephem.tauN * (-1) # time correction relative to GLONASS tc - ephem['GammaN'] = ublox_ephem.gammaN - - # TODO: channel is in string 7, which is not parsed - ephem['freq_num'] = "1" - - # NOTE: ublox_ephem.tk is in a different format than rinex tk - return GLONASSEphemeris(ephem, ephem['toe']) - - -class EphemerisType(IntEnum): - # Matches the enum in log.capnp - NAV = 0 - FINAL_ORBIT = 1 - RAPID_ORBIT = 2 - ULTRA_RAPID_ORBIT = 3 - QCOM_POLY = 4 - - @staticmethod - def all_orbits(): - return EphemerisType.FINAL_ORBIT, EphemerisType.RAPID_ORBIT, EphemerisType.ULTRA_RAPID_ORBIT - - @classmethod - def from_file_name(cls, file_name: str): - if "/final" in file_name or "/igs" in file_name: - return EphemerisType.FINAL_ORBIT - if "/rapid" in file_name or "/igr" in file_name: - return EphemerisType.RAPID_ORBIT - if "/ultra" in file_name or "/igu" in file_name or "COD0OPSULT" in file_name: - return EphemerisType.ULTRA_RAPID_ORBIT - raise RuntimeError(f"Ephemeris type not found in filename: {file_name}") - - -class Ephemeris(ABC): - - def __init__(self, prn: str, data, epoch: GPSTime, eph_type: EphemerisType, healthy: bool, max_time_diff: float, - file_epoch: Optional[GPSTime] = None, file_name=None): - self.prn = prn - self.data = data - self.epoch = epoch - self.eph_type = eph_type - self.healthy = healthy - self.max_time_diff = max_time_diff - self.file_epoch = file_epoch - self.file_source = '' if file_name is None else file_name.split('/')[-1][:3] # File source for the ephemeris (e.g. igu, igr, Sta) - self.__json = None - - def valid(self, time): - return abs(time - self.epoch) <= self.max_time_diff - - def __repr__(self): - time = self.epoch.as_datetime().strftime('%Y-%m-%dT%H:%M:%S.%f') - return f"<{self.__class__.__name__} from {self.prn} at {time}>" - - def get_sat_info(self, time: GPSTime): - """ - Returns: (pos, vel, clock_err, clock_rate_err, ephemeris) - """ - if not self.healthy: - return None - return list(self._get_sat_info(time)) + [self] - - @abstractmethod - def _get_sat_info(self, time): - pass - - def to_json(self): - if self.__json is None: - dict = self.__dict__ - dict['ephemeris_class'] = self.__class__.__name__ - self.__json = {'ephemeris': json.dumps(dict, cls=EphemerisSerializer)} - return self.__json - - @classmethod - def from_json(cls, json_dct): - dct = json.loads(json_dct['ephemeris'], object_hook=ephemeris_deserialize_hook) - obj = cls.__new__(globals()[dct['ephemeris_class']]) - obj.__dict__.update(dct) - obj.__json = json_dct - return obj - - -def ephemeris_deserialize_hook(dct): - if 'week' in dct: - return GPSTime(dct['week'], dct['tow']) - return dct - - -class EphemerisSerializer(json.JSONEncoder): - - def default(self, o): - if isinstance(o, GPSTime): - return o.__dict__ - if isinstance(o, np.ndarray): - return o.tolist() - return json.JSONEncoder.default(self, o) - - -class GLONASSEphemeris(Ephemeris): - def __init__(self, data, epoch, file_name=None): - super().__init__(data['prn'], data, epoch, EphemerisType.NAV, data['healthy'], max_time_diff=25*SECS_IN_MIN, file_name=file_name) - self.channel = data['freq_num'] - self.to_json() - - def _get_sat_info(self, time: GPSTime): - # see the russian doc for this: - # http://gauss.gge.unb.ca/GLONASS.ICD.pdf - - eph = self.data - tdiff = time - utc_to_gpst(eph['toe']) - - # Clock correction (except for general relativity which is applied later) - clock_err = eph['min_tauN'] + tdiff * (eph['GammaN']) - clock_rate_err = eph['GammaN'] - - def glonass_diff_eq(state, acc): - J2 = 1.0826257e-3 - mu = 3.9860044e14 - omega = 7.292115e-5 - ae = 6378136.0 - r = np.sqrt(state[0]**2 + state[1]**2 + state[2]**2) - ders = np.zeros(6) - if r**2 < 0: - return ders - a = 1.5 * J2 * mu * (ae**2)/ (r**5) - b = 5 * (state[2]**2) / (r**2) - c = -mu/(r**3) - a*(1-b) - - ders[0:3] = state[3:6] - ders[3] = (c + omega**2)*state[0] + 2*omega*state[4] + acc[0] - ders[4] = (c + omega**2)*state[1] - 2*omega*state[3] + acc[1] - ders[5] = (c - 2*a)*state[2] + acc[2] - return ders - - init_state = np.empty(6) - init_state[0] = eph['x'] - init_state[1] = eph['y'] - init_state[2] = eph['z'] - init_state[3] = eph['x_vel'] - init_state[4] = eph['y_vel'] - init_state[5] = eph['z_vel'] - init_state = 1000*init_state - acc = 1000*np.array([eph['x_acc'], eph['y_acc'], eph['z_acc']]) - state = init_state - tstep = 90 - if tdiff < 0: - tt = -tstep - elif tdiff > 0: - tt = tstep - while abs(tdiff) > 1e-9: - if abs(tdiff) < tstep: - tt = tdiff - k1 = glonass_diff_eq(state, acc) - k2 = glonass_diff_eq(state + k1*tt/2, -acc) - k3 = glonass_diff_eq(state + k2*tt/2, -acc) - k4 = glonass_diff_eq(state + k3*tt, -acc) - state += (k1 + 2*k2 + 2*k3 + k4)*tt/6.0 - tdiff -= tt - - pos = state[0:3] - vel = state[3:6] - return pos, vel, clock_err, clock_rate_err - - -class PolyEphemeris(Ephemeris): - def __init__(self, prn: str, data, epoch: GPSTime, ephem_type: EphemerisType, - file_epoch: GPSTime=None, file_name: str=None, healthy=True, tgd=0, - max_time_diff: int=SECS_IN_HR): - super().__init__(prn, data, epoch, ephem_type, healthy, max_time_diff=max_time_diff, file_epoch=file_epoch, file_name=file_name) - self.tgd = tgd - self.to_json() - - def _get_sat_info(self, time: GPSTime): - dt = time - self.data['t0'] - deg = self.data['deg'] - deg_t = self.data['deg_t'] - indices = np.arange(deg+1)[:,np.newaxis] - sat_pos = np.sum((dt**indices)*self.data['xyz'], axis=0) - indices = indices[1:] - sat_vel = np.sum(indices*(dt**(indices-1)*self.data['xyz'][1:]), axis=0) - time_err = sum((dt**p)*self.data['clock'][deg_t-p] for p in range(deg_t+1)) - time_err_rate = sum(p*(dt**(p-1))*self.data['clock'][deg_t-p] for p in range(1,deg_t+1)) - time_err_with_rel = time_err - 2*np.inner(sat_pos, sat_vel)/SPEED_OF_LIGHT**2 - return sat_pos, sat_vel, time_err_with_rel, time_err_rate - - -class GPSEphemeris(Ephemeris): - def __init__(self, data, epoch, file_name=None): - super().__init__('G%02i' % data['sv_id'], data, epoch, EphemerisType.NAV, data['healthy'], max_time_diff=2*SECS_IN_HR, file_name=file_name) - self.max_time_diff_tgd = SECS_IN_DAY - self.to_json() - - def get_tgd(self): - return self.data['tgd'] - - def _get_sat_info(self, time: GPSTime): - eph = self.data - tdiff = time - eph['toc'] # Time of clock - clock_err = eph['af0'] + tdiff * (eph['af1'] + tdiff * eph['af2']) - clock_rate_err = eph['af1'] + 2 * tdiff * eph['af2'] - - # Orbit propagation - tdiff = time - eph['toe'] # Time of ephemeris (might be different from time of clock) - - # Calculate position per IS-GPS-200D p 97 Table 20-IV - a = eph['sqrta'] * eph['sqrta'] # [m] Semi-major axis - ma_dot = sqrt(EARTH_GM / (a * a * a)) + eph['dn'] # [rad/sec] Corrected mean motion - ma = eph['m0'] + ma_dot * tdiff # [rad] Corrected mean anomaly - - # Iteratively solve for the Eccentric Anomaly (from Keith Alter and David Johnston) - ea = ma # Starting value for E - - ea_old = 2222 - while fabs(ea - ea_old) > 1.0E-14: - ea_old = ea - tempd1 = 1.0 - eph['ecc'] * cos(ea_old) - ea = ea + (ma - ea_old + eph['ecc'] * sin(ea_old)) / tempd1 - ea_dot = ma_dot / tempd1 - - # Relativistic correction term - einstein = -4.442807633E-10 * eph['ecc'] * eph['sqrta'] * sin(ea) - - # Begin calc for True Anomaly and Argument of Latitude - tempd2 = sqrt(1.0 - eph['ecc'] * eph['ecc']) - # [rad] Argument of Latitude = True Anomaly + Argument of Perigee - al = atan2(tempd2 * sin(ea), cos(ea) - eph['ecc']) + eph['w'] - al_dot = tempd2 * ea_dot / tempd1 - - # Calculate corrected argument of latitude based on position - cal = al + eph['cus'] * sin(2.0 * al) + eph['cuc'] * cos(2.0 * al) - cal_dot = al_dot * (1.0 + 2.0 * (eph['cus'] * cos(2.0 * al) - - eph['cuc'] * sin(2.0 * al))) - - # Calculate corrected radius based on argument of latitude - r = a * tempd1 + eph['crc'] * cos(2.0 * al) + eph['crs'] * sin(2.0 * al) - r_dot = (a * eph['ecc'] * sin(ea) * ea_dot + - 2.0 * al_dot * (eph['crs'] * cos(2.0 * al) - - eph['crc'] * sin(2.0 * al))) - - # Calculate inclination based on argument of latitude - inc = (eph['inc'] + eph['inc_dot'] * tdiff + - eph['cic'] * cos(2.0 * al) + - eph['cis'] * sin(2.0 * al)) - inc_dot = (eph['inc_dot'] + - 2.0 * al_dot * (eph['cis'] * cos(2.0 * al) - - eph['cic'] * sin(2.0 * al))) - - # Calculate position and velocity in orbital plane - x = r * cos(cal) - y = r * sin(cal) - x_dot = r_dot * cos(cal) - y * cal_dot - y_dot = r_dot * sin(cal) + x * cal_dot - - # Corrected longitude of ascending node - om_dot = eph['omegadot'] - EARTH_ROTATION_RATE - om = eph['omega0'] + tdiff * om_dot - EARTH_ROTATION_RATE * eph['toe'].tow - - # Compute the satellite's position in Earth-Centered Earth-Fixed coordinates - pos = np.empty(3) - pos[0] = x * cos(om) - y * cos(inc) * sin(om) - pos[1] = x * sin(om) + y * cos(inc) * cos(om) - pos[2] = y * sin(inc) - - tempd3 = y_dot * cos(inc) - y * sin(inc) * inc_dot - - # Compute the satellite's velocity in Earth-Centered Earth-Fixed coordinates - vel = np.empty(3) - vel[0] = -om_dot * pos[1] + x_dot * cos(om) - tempd3 * sin(om) - vel[1] = om_dot * pos[0] + x_dot * sin(om) + tempd3 * cos(om) - vel[2] = y * cos(inc) * inc_dot + y_dot * sin(inc) - - clock_err += einstein - - return pos, vel, clock_err, clock_rate_err - - -def parse_sp3_orbits(file_names, supported_constellations, skip_until_epoch: Optional[GPSTime] = None) -> Dict[str, List[PolyEphemeris]]: - if skip_until_epoch is None: - skip_until_epoch = GPSTime(0, 0) - data: Dict[str, List] = {} - for file_name in file_names: - if file_name is None: - continue - with open(file_name) as f: - ephem_type = EphemerisType.from_file_name(file_name) - file_epoch = None - while True: - line = f.readline()[:-1] - if not line: - break - # epoch header - if line[0:2] == '* ': - year = int(line[3:7]) - month = int(line[8:10]) - day = int(line[11:13]) - hour = int(line[14:16]) - minute = int(line[17:19]) - second = int(float(line[20:31])) - epoch = GPSTime.from_datetime(datetime(year, month, day, hour, minute, second)) - if file_epoch is None: - file_epoch = epoch - # pos line - elif line[0] == 'P': - # Skipping data can reduce the time significantly when parsing the ephemeris - if epoch < skip_until_epoch: - continue - prn = line[1:4].replace(' ', '0') - # In old SP3 files vehicle ID doesn't contain constellation - # identifier. We assume that constellation is GPS when missing. - if prn[0] == '0': - prn = 'G' + prn[1:] - if get_constellation(prn) not in supported_constellations: - continue - if prn not in data: - data[prn] = [] - #TODO this is a crappy way to deal with overlapping ultra rapid - if len(data[prn]) < 1 or epoch - data[prn][-1][1] > 0: - parsed = [(ephem_type, file_epoch, file_name), - epoch, - 1e3 * float(line[4:18]), - 1e3 * float(line[18:32]), - 1e3 * float(line[32:46]), - 1e-6 * float(line[46:60])] - if (np.array(parsed[2:]) != 0).all(): - data[prn].append(parsed) - ephems = {} - for prn in data: - ephems[prn] = read_prn_data(data, prn) - return ephems - - -def read_prn_data(data, prn, deg=16, deg_t=1): - np_data_prn = np.array(data[prn], dtype=object) - # Currently, don't even bother with satellites that have unhealthy times - if len(np_data_prn) == 0 or (np_data_prn[:, 5] > .99).any(): - return [] - ephems = [] - for i in range(len(np_data_prn) - deg): - epoch_index = i + deg // 2 - epoch = np_data_prn[epoch_index][1] - measurements = np_data_prn[i:i + deg + 1, 1:5] - - times = (measurements[:, 0] - epoch).astype(float) - if not (np.diff(times) != 900).any() and not (np.diff(times) != 300).any(): - continue - - poly_data = {} - poly_data['t0'] = epoch - with warnings.catch_warnings(): - warnings.simplefilter("ignore") # Ignores: UserWarning: The value of the smallest subnormal for type is zero. - poly_data['xyz'] = poly.polyfit(times, measurements[:, 1:].astype(float), deg) - poly_data['clock'] = [(np_data_prn[epoch_index + 1][5] - np_data_prn[epoch_index - 1][5]) / 1800, np_data_prn[epoch_index][5]] - poly_data['deg'] = deg - poly_data['deg_t'] = deg_t - # It can happen that a mix of orbit ephemeris types are used in the polyfit. - ephem_type, file_epoch, file_name = np_data_prn[epoch_index][0] - ephems.append(PolyEphemeris(prn, poly_data, epoch, ephem_type, file_epoch, file_name, healthy=True)) - return ephems - - -def parse_rinex_nav_msg_gps(file_name): - ephems = defaultdict(list) - got_header = False - rinex_ver = None - #ion_alpha = None - #ion_beta = None - f = open(file_name) - while True: - line = f.readline()[:-1] - if not line: - break - if not got_header: - if rinex_ver is None: - if line[60:80] != "RINEX VERSION / TYPE": - raise RuntimeError("Doesn't appear to be a RINEX file") - rinex_ver = int(float(line[0:9])) - if line[20] != "N": - raise RuntimeError("Doesn't appear to be a Navigation Message file") - #if line[60:69] == "ION ALPHA": - # line = line.replace('D', 'E') # Handle bizarro float format - # ion_alpha= [float(line[3:14]), float(line[15:26]), float(line[27:38]), float(line[39:50])] - #if line[60:68] == "ION BETA": - # line = line.replace('D', 'E') # Handle bizarro float format - # ion_beta= [float(line[3:14]), float(line[15:26]), float(line[27:38]), float(line[39:50])] - if line[60:73] == "END OF HEADER": - #ion = ion_alpha + ion_beta - got_header = True - continue - if rinex_ver == 3: - if line[0] != 'G': - continue - if rinex_ver == 3: - sv_id = int(line[1:3]) - epoch = GPSTime.from_datetime(datetime.strptime(line[4:23], "%y %m %d %H %M %S")) - elif rinex_ver == 2: - sv_id = int(line[0:2]) - # 2000 year is in RINEX file as 0, but Python requires two digit year: 00 - epoch_str = line[3:20] - if epoch_str[0] == ' ': - epoch_str = '0' + epoch_str[1:] - epoch = GPSTime.from_datetime(datetime.strptime(epoch_str, "%y %m %d %H %M %S")) - line = ' ' + line # Shift 1 char to the right - - line = line.replace('D', 'E') # Handle bizarro float format - e = {'epoch': epoch, 'sv_id': sv_id} - e['toc'] = epoch - e['af0'] = float(line[23:42]) - e['af1'] = float(line[42:61]) - e['af2'] = float(line[61:80]) - - e['iode'], e['crs'], e['dn'], e['m0'] = read4(f, rinex_ver) - e['cuc'], e['ecc'], e['cus'], e['sqrta'] = read4(f, rinex_ver) - toe_tow, e['cic'], e['omega0'], e['cis'] = read4(f, rinex_ver) - e['inc'], e['crc'], e['w'], e['omegadot'] = read4(f, rinex_ver) - e['inc_dot'], e['l2_codes'], toe_week, e['l2_pflag'] = read4(f, rinex_ver) - e['sv_accuracy'], e['health'], e['tgd'], e['iodc'] = read4(f, rinex_ver) - f.readline() # Discard last row - - e['toe'] = GPSTime(toe_week, toe_tow) - e['healthy'] = (e['health'] == 0.0) - - ephem = GPSEphemeris(e, epoch, file_name=file_name) - ephems[ephem.prn].append(ephem) - f.close() - return ephems - - -def parse_rinex_nav_msg_glonass(file_name): - ephems = defaultdict(list) - f = open(file_name) - got_header = False - rinex_ver = None - while True: - line = f.readline()[:-1] - if not line: - break - if not got_header: - if rinex_ver is None: - if line[60:80] != "RINEX VERSION / TYPE": - raise RuntimeError("Doesn't appear to be a RINEX file") - rinex_ver = int(float(line[0:9])) - if line[20] != "G": - raise RuntimeError("Doesn't appear to be a Navigation Message file") - if line[60:73] == "END OF HEADER": - got_header = True - continue - if rinex_ver == 3: - prn = line[:3] - epoch = GPSTime.from_datetime(datetime.strptime(line[4:23], "%y %m %d %H %M %S")) - elif rinex_ver == 2: - prn = 'R%02i' % int(line[0:2]) - epoch = GPSTime.from_datetime(datetime.strptime(line[3:20], "%y %m %d %H %M %S")) - line = ' ' + line # Shift 1 char to the right - - line = line.replace('D', 'E') # Handle bizarro float format - e = {'epoch': epoch, 'prn': prn} - e['toe'] = epoch - e['min_tauN'] = float(line[23:42]) - e['GammaN'] = float(line[42:61]) - e['tk'] = float(line[61:80]) - - e['x'], e['x_vel'], e['x_acc'], e['health'] = read4(f, rinex_ver) - e['y'], e['y_vel'], e['y_acc'], e['freq_num'] = read4(f, rinex_ver) - e['z'], e['z_vel'], e['z_acc'], e['age'] = read4(f, rinex_ver) - - e['healthy'] = (e['health'] == 0.0) - ephems[prn].append(GLONASSEphemeris(e, epoch, file_name=file_name)) - f.close() - return ephems - - -def parse_qcom_ephem(qcom_poly, current_week): - svId = qcom_poly.svId - data = qcom_poly - t0 = data.t0 - # fix glonass time - prn = get_prn_from_nmea_id(svId) - if prn == 'GLONASS': - # TODO should handle leap seconds better - epoch = GPSTime(current_week, (t0 + 3*SECS_IN_WEEK) % (SECS_IN_WEEK) + 18) - else: - epoch = GPSTime(current_week, t0) - poly_data = {} - poly_data['t0'] = epoch - poly_data['xyz'] = np.array([ - [data.xyz0[0], data.xyzN[0], data.xyzN[1], data.xyzN[2]], - [data.xyz0[1], data.xyzN[3], data.xyzN[4], data.xyzN[5]], - [data.xyz0[2], data.xyzN[6], data.xyzN[7], data.xyzN[8]] ]).T - - poly_data['clock'] = [1e-3*data.other[3], 1e-3*data.other[2], 1e-3*data.other[1], 1e-3*data.other[0]] - poly_data['deg'] = 3 - poly_data['deg_t'] = 3 - return PolyEphemeris(prn, poly_data, epoch, ephem_type=EphemerisType.QCOM_POLY, max_time_diff=180) diff --git a/laika/gps_time.py b/laika/gps_time.py deleted file mode 100644 index b9492f52d..000000000 --- a/laika/gps_time.py +++ /dev/null @@ -1,192 +0,0 @@ -import datetime - - -def datetime_to_tow(t): - """ - Convert a Python datetime object to GPS Week and Time Of Week. - Does *not* convert from UTC to GPST. - Fractional seconds are supported. - - Parameters - ---------- - t : datetime - A time to be converted, on the GPST timescale. - mod1024 : bool, optional - If True (default), the week number will be output in 10-bit form. - - Returns - ------- - week, tow : tuple (int, float) - The GPS week number and time-of-week. - """ - # DateTime to GPS week and TOW - wk_ref = datetime.datetime(2014, 2, 16, 0, 0, 0, 0, None) - refwk = 1780 - wk = (t - wk_ref).days // 7 + refwk - tow = ((t - wk_ref) - datetime.timedelta((wk - refwk) * 7.0)).total_seconds() - return wk, tow - - -def tow_to_datetime(tow, week): - """ - Convert a GPS Week and Time Of Week to Python datetime object. - Does *not* convert from GPST to UTC. - Fractional seconds are supported. - - Parameters - ---------- - tow : time of week in seconds - - weeks : gps week - - - Returns - ------- - t : datetime - Python datetime - """ - # GPS week and TOW to DateTime - t = datetime.datetime(1980, 1, 6, 0, 0, 0, 0, None) - t += datetime.timedelta(seconds=tow) - t += datetime.timedelta(weeks=week) - return t - - -def get_leap_seconds(time): - # TODO use library for this - if time <= GPSTime.from_datetime(datetime.datetime(2006, 1, 1)): - raise ValueError("Don't know how many leap seconds to use before 2006") - elif time <= GPSTime.from_datetime(datetime.datetime(2009, 1, 1)): - return 14 - elif time <= GPSTime.from_datetime(datetime.datetime(2012, 7, 1)): - return 15 - elif time <= GPSTime.from_datetime(datetime.datetime(2015, 7, 1)): - return 16 - elif time <= GPSTime.from_datetime(datetime.datetime(2017, 1, 1)): - return 17 - else: - return 18 - - -def gpst_to_utc(t_gpst): - t_utc = t_gpst - get_leap_seconds(t_gpst) - if utc_to_gpst(t_utc) - t_gpst != 0: - return t_utc + 1 - else: - return t_utc - - -def utc_to_gpst(t_utc): - t_gpst = t_utc + get_leap_seconds(t_utc) - return t_gpst - - -class GPSTime: - """ - GPS time class to add and subtract [week, tow] - """ - def __init__(self, week, tow): - self.week = week - self.tow = tow - self.seconds_in_week = 604800 - - @classmethod - def from_datetime(cls, datetime): - week, tow = datetime_to_tow(datetime) - return cls(week, tow) - - @classmethod - def from_glonass(cls, cycle, days, tow): - # https://en.wikipedia.org/wiki/GLONASS - # Day number (1 to 1461) within a four-year interval - # starting on 1 January of the last leap year - t = datetime.datetime(1992, 1, 1, 0, 0, 0, 0, None) - t += datetime.timedelta(days=cycle*(365*4+1)+(days-1)) - # according to Moscow decree time. - t -= datetime.timedelta(hours=3) - t += datetime.timedelta(seconds=tow) - ret = cls.from_datetime(t) - return utc_to_gpst(ret) - - @classmethod - def from_meas(cls, meas): - return cls(meas[1], meas[2]) - - def __sub__(self, other): - if isinstance(other, type(self)): - return (self.week - other.week)*self.seconds_in_week + self.tow - other.tow - elif isinstance(other, float) or isinstance(other, int): - new_week = self.week - new_tow = self.tow - other - while new_tow < 0: - new_tow += self.seconds_in_week - new_week -= 1 - return GPSTime(new_week, new_tow) - raise NotImplementedError(f"subtracting {other} from {self}") - - def __add__(self, other): - if isinstance(other, float) or isinstance(other, int): - new_week = self.week - new_tow = self.tow + other - while new_tow >= self.seconds_in_week: - new_tow -= self.seconds_in_week - new_week += 1 - return GPSTime(new_week, new_tow) - raise NotImplementedError(f"adding {other} from {self}") - - def __lt__(self, other): - return self - other < 0 - - def __gt__(self, other): - return self - other > 0 - - def __le__(self, other): - return self - other <= 0 - - def __ge__(self, other): - return self - other >= 0 - - def __eq__(self, other): - return self - other == 0 - - def as_datetime(self): - return tow_to_datetime(self.tow, self.week) - - def as_unix_timestamp(self): - return (gpst_to_utc(self).as_datetime() - datetime.datetime(1970, 1, 1)).total_seconds() - - @property - def day(self): - return int(self.tow/(24*3600)) - - def __repr__(self): - return f"GPSTime(week={self.week}, tow={self.tow})" - - -class TimeSyncer: - """ - Converts logmonotime to gps_time and vice versa - """ - def __init__(self, mono_time, gps_time): - self.ref_mono_time = mono_time - self.ref_gps_time = gps_time - - @classmethod - def from_datetime(cls, datetime): - week, tow = datetime_to_tow(datetime) - return cls(week, tow) - - @classmethod - def from_logs(cls, raw_qcom_measurement_report, clocks): - #TODO - #return cls(week, mono_time, gps_time) - return None - - def mono2gps(self, mono_time): - return self.ref_gps_time + mono_time - self.ref_mono_time - - def gps2mono(self, gps_time): - return gps_time - self.ref_gps_time + self.ref_mono_time - - def __str__(self): - return f"Reference mono time: {self.ref_mono_time} \n Reference gps time: {self.ref_gps_time}" diff --git a/laika/helpers.py b/laika/helpers.py deleted file mode 100644 index a0480d633..000000000 --- a/laika/helpers.py +++ /dev/null @@ -1,226 +0,0 @@ -from enum import IntEnum -from typing import Dict - -import numpy as np -from .lib.coordinates import LocalCoord - - -class ConstellationId(IntEnum): - # Int values match Ublox gnssid version 8 - GPS = 0 - SBAS = 1 - GALILEO = 2 - BEIDOU = 3 - IMES = 4 - QZNSS = 5 - GLONASS = 6 - # Not supported by Ublox: - IRNSS = 7 - - def to_rinex_char(self) -> str: - # returns single character id - return RINEX_CONSTELLATION_TO_ID[self] - - @classmethod - def from_rinex_char(cls, c: str): - if c in RINEX_ID_TO_CONSTELLATION: - return RINEX_ID_TO_CONSTELLATION[c] - else: - return None - - @classmethod - def from_qcom_source(cls, report_source: int): - if report_source == 0: - return ConstellationId.GPS - if report_source == 1: - return ConstellationId.GLONASS - if report_source == 2: - return ConstellationId.BEIDOU - if report_source == 6: - return ConstellationId.SBAS - raise NotImplementedError('Only GPS (0), GLONASS (1), BEIDOU (2) and SBAS (6) are supported from qcom, not:', {report_source}) - - -# From https://gpsd.gitlab.io/gpsd/NMEA.html#_satellite_ids -# NmeaId is the unique 3 digits id for every satellite globally. (Example: 001, 201) -# SvId is the 2 digits satellite id that is unique within a constellation. (Get the unique satellite with the constellation id. Examples: G01, R01) -CONSTELLATION_TO_NMEA_RANGES = { - # NmeaId ranges for each constellation with its svId offset. - # constellation: [(start, end, svIdOffset)] - # svId = nmeaId + offset - ConstellationId.GPS: [(1, 32, 0)], # svId [1,32] - ConstellationId.SBAS: [(33, 64, -32), (120, 158, -87)], # svId [1,71] - ConstellationId.GLONASS: [(65, 96, -64)], # svId [1,31] - ConstellationId.IMES: [(173, 182, -172)], # svId [1,9] - ConstellationId.QZNSS: [(193, 200, -192)], # svId [1,28] # todo should be QZSS - ConstellationId.BEIDOU: [(201, 235, -200), (401, 437, -365)], # svId 1-72 - ConstellationId.GALILEO: [(301, 336, -300)] # svId 1-36 -} -# -# # Source: RINEX 3.04 -RINEX_CONSTELLATION_TO_ID: Dict[ConstellationId, str] = { - ConstellationId.GPS: 'G', - ConstellationId.GLONASS: 'R', - ConstellationId.SBAS: 'S', - ConstellationId.GALILEO: 'E', - ConstellationId.BEIDOU: 'C', - ConstellationId.QZNSS: 'J', - ConstellationId.IRNSS: 'I' -} - -# Make above dictionary bidirectional map: -# Now you can ask for constellation using: -# >>> RINEX_CONSTELLATION_IDENTIFIERS['R'] -# "GLONASS" -RINEX_ID_TO_CONSTELLATION: Dict[str, ConstellationId] = {id: con for con, id in RINEX_CONSTELLATION_TO_ID.items()} - - -def get_el_az(pos, sat_pos): - converter = LocalCoord.from_ecef(pos) - sat_ned = converter.ecef2ned(sat_pos) - sat_range = np.linalg.norm(sat_ned) - - el = np.arcsin(-sat_ned[2] / sat_range) # pylint: disable=unsubscriptable-object - az = np.arctan2(sat_ned[1], sat_ned[0]) # pylint: disable=unsubscriptable-object - return el, az - - -def get_closest(time, candidates, recv_pos=None): - if recv_pos is None: - # Takes a list of object that have an epoch(GPSTime) value - # and return the one that is closest the given time (GPSTime) - return min(candidates, key=lambda candidate: abs(time - candidate.epoch), default=None) - - return min( - (candidate for candidate in candidates if candidate.valid(time, recv_pos)), - key=lambda candidate: np.linalg.norm(recv_pos - candidate.pos), - default=None, - ) - - -def get_constellation(prn: str): - identifier = prn[0] - constellation = ConstellationId.from_rinex_char(identifier) - if constellation is not None: - return constellation.name - return None - - -def get_constellation_and_sv_id(nmea_id): - for c, ranges in CONSTELLATION_TO_NMEA_RANGES.items(): - for (start, end, sv_id_offset) in ranges: - if start <= nmea_id <= end: - sv_id = nmea_id + sv_id_offset - return c, sv_id - - raise ValueError(f"constellation not found for nmeaid {nmea_id}") - - -def get_prn_from_nmea_id(nmea_id: int): - c_id, sv_id = get_constellation_and_sv_id(nmea_id) - return "%s%02d" % (c_id.to_rinex_char(), sv_id) - - -def get_nmea_id_from_prn(prn: str): - constellation = get_constellation(prn) - if constellation is None: - raise ValueError(f"Constellation not found for prn {prn}") - - sv_id = int(prn[1:]) # satellite id - return get_nmea_id_from_constellation_and_svid(ConstellationId[constellation], sv_id) - - -def get_nmea_id_from_constellation_and_svid(constellation: ConstellationId, sv_id: int): - ranges = CONSTELLATION_TO_NMEA_RANGES[constellation] - for (start, end, sv_id_offset) in ranges: - new_nmea_id = sv_id - sv_id_offset - if start <= new_nmea_id <= end: - return new_nmea_id - - raise ValueError(f"NMEA ID not found for constellation {constellation.name} with satellite id {sv_id}") - - -def rinex3_obs_from_rinex2_obs(observable): - if observable == 'P2': - return 'C2P' - if len(observable) == 2: - return observable + 'C' - raise NotImplementedError("Don't know this: " + observable) - - -class TimeRangeHolder: - '''Class to support test if date is in any of the multiple, sparse ranges''' - - def __init__(self): - # Sorted list - self._ranges = [] - - def _previous_and_contains_index(self, time): - prev = None - current = None - - for idx, (start, end) in enumerate(self._ranges): - # Time may be in next range - if time > end: - continue - - # Time isn't in any next range - if time < start: - prev = idx - 1 - current = None - # Time is in current range - else: - prev = idx - 1 - current = idx - break - - # Break in last loop - if prev is None: - prev = len(self._ranges) - 1 - - return prev, current - - def add(self, start_time, end_time): - prev_start, current_start = self._previous_and_contains_index(start_time) - _, current_end = self._previous_and_contains_index(end_time) - - # Merge ranges - if current_start is not None and current_end is not None: - # If ranges are different then merge - if current_start != current_end: - new_start, _ = self._ranges[current_start] - _, new_end = self._ranges[current_end] - new_range = (new_start, new_end) - # Required reversed order to correct remove - del self._ranges[current_end] - del self._ranges[current_start] - self._ranges.insert(current_start, new_range) - # Extend range - left - elif current_start is not None: - new_start, _ = self._ranges[current_start] - new_range = (new_start, end_time) - del self._ranges[current_start] - self._ranges.insert(current_start, new_range) - # Extend range - right - elif current_end is not None: - _, new_end = self._ranges[current_end] - new_range = (start_time, new_end) - del self._ranges[current_end] - self._ranges.insert(prev_start + 1, new_range) - # Create new range - else: - new_range = (start_time, end_time) - self._ranges.insert(prev_start + 1, new_range) - - def __contains__(self, time): - for start, end in self._ranges: - # Time may be in next range - if time > end: - continue - - # Time isn't in any next range - if time < start: - return False - # Time is in current range - return True - return False diff --git a/laika/iono.py b/laika/iono.py deleted file mode 100644 index 16bad87fe..000000000 --- a/laika/iono.py +++ /dev/null @@ -1,246 +0,0 @@ -import datetime as dt -import numpy as np -import re -from math import cos, sin, pi, floor -from .constants import SECS_IN_MIN, SECS_IN_HR, EARTH_RADIUS -from .lib.coordinates import LocalCoord -from .gps_time import GPSTime - -# Altitude of Ionospheric-pierce-point -IPP_ALT = 6821000 - - -def closest_in_list(lst, val, num=2): - """ - Returns two (`num` in general) closest values of `val` in list `lst` - """ - idxs = sorted(lst, key=lambda x: abs(x - val))[:num] - return sorted(list(lst).index(x) for x in idxs) - - -def get_header_line(headr, proprty): - """ - :param headr: the header of the RINEX-file - :param proprty: string-like property to search for (e.g. 'delta-utc') - :return: the string of the ``headr`` containing ``property`` - """ - pattern = re.compile(proprty, re.IGNORECASE) - for d in headr: - if pattern.search(d): - return d - - -def get_header_body(file_path): - """ - Opens `file_path`, reads file and returns header and body - separated with "END OF HEADER" - :param file_path: path to RINEX-like file - :return: header, body (arrays of lines) - """ - with open(file_path) as fd: - data = fd.readlines() - for j, d in enumerate(data): - if "END OF HEADER" in d: - header_end = j - break - return data[:header_end], data[header_end + 1:] - - -def get_int_from_header(hdr, seq): - """ - Returns the first int from the line that contains `seq` of lines `hdr`. - In fact, _header_ here may not be header of RINEX/IONEX, just some set of lines. - """ - return int(get_header_line(hdr, seq).split()[0]) - -def compute_grid_lats_lons(data): - grid = np.array([], dtype='uint16') - lats = np.array([]) - for j, line in enumerate(data[1:]): - if "LAT" in line: - lat, lon1, lon2, dlon, h = (float(line[x:x + 6]) for x in range(2, 32, 6)) - lats = np.append(lats, lat) - row_length = (lon2 - lon1) / dlon + 1 # total number of values of longitudes - next_lines_with_numbers = int(np.ceil(row_length / 16)) - elems_in_row = [ - min(16, int(row_length - i * 16)) for i in range(next_lines_with_numbers) - ] - row = np.array([], dtype='int16') - for i, elem in enumerate(elems_in_row): - row = np.append( - row, - np.array( - [int(data[j + 2 + i][5 * x:5 * x + 5]) for x in range(elem)], - dtype='int16', - ), - ) - if len(grid) > 0: - grid = np.vstack((grid, row)) - else: - grid = np.append(grid, row) - lons = np.linspace(lon1, lon2, int(row_length)) - return (grid, lats, lons) - - -class IonexMap: - def __init__(self, exp, data1, data2): - self.exp = exp - self.t1 = GPSTime.from_datetime(dt.datetime(*[int(d) for d in data1[0].split()[:6]])) - self.t2 = GPSTime.from_datetime(dt.datetime(*[int(d) for d in data2[0].split()[:6]])) - assert self.t2 - self.t1 == SECS_IN_HR - assert len(data1) == len(data2) - - self.max_time_diff = SECS_IN_MIN*30 - self.epoch = self.t1 + self.max_time_diff - - self.grid_TEC1, self.lats, self.lons = compute_grid_lats_lons(data1) - self.grid_TEC2, self.lats, self.lons = compute_grid_lats_lons(data2) - - def valid(self, time): - return abs(time - self.epoch) <= self.max_time_diff - - @staticmethod - def find_nearest(lst, val): - return (np.abs(lst - val)).argmin() - - def get_TEC(self, pos, time): - """ - Returns TEC in a position `pos` of ionosphere - :param pos: (lat, lon) [deg, deg] - :return: - """ - if pos[0] in self.lats and pos[1] in self.lons: - lat = self.find_nearest(self.lats, pos[0]) - lon = self.find_nearest(self.lons, pos[1]) - E = self.grid_TEC1[lat][lon] + self.grid_TEC2[lat][lon] - return E - lat_idxs = closest_in_list(self.lats, pos[0]) - lon_idxs = closest_in_list(self.lons, pos[1]) - lat0, lat1 = self.lats[lat_idxs[0]], self.lats[lat_idxs[1]] - lon0, lon1 = self.lons[lon_idxs[0]], self.lons[lon_idxs[1]] - dlat = lat1 - lat0 - dlon = lon1 - lon0 - p = float(pos[0] - lat0) / dlat - q = float(pos[1] - lon0) / dlon - - (E00, E10), (E01, E11) = self.grid_TEC1[lat_idxs[0]:lat_idxs[1] + 1, lon_idxs[0]:lon_idxs[1] + 1] - TEC_1 = ((1 - p) * (1 - q) * E00 + p * (1 - q) * E01 + (1 - p) * q * E10 + p * q * E11) - (E00, E10), (E01, E11) = self.grid_TEC2[lat_idxs[0]:lat_idxs[1] + 1, lon_idxs[0]:lon_idxs[1] + 1] - TEC_2 = ((1 - p) * (1 - q) * E00 + p * (1 - q) * E01 + (1 - p) * q * E10 + p * q * E11) - - return (1 - (time - self.t1)/SECS_IN_HR)*TEC_1 + ((time - self.t1)/SECS_IN_HR)*TEC_2 - - def get_delay(self, rcv_pos, az, el, sat_pos, time, freq): - # To get a delay from a TEC map, we need to calculate - # the ionospheric pierce point, geometry described here - # https://en.wikipedia.org/wiki/Ionospheric_pierce_point - conv = LocalCoord.from_ecef(rcv_pos) - geocentric_alt = np.linalg.norm(rcv_pos) - alpha = np.pi/2 + el - beta = np.arcsin(geocentric_alt*np.sin(alpha)/IPP_ALT) - gamma = np.pi - alpha - beta - ipp_dist = geocentric_alt*np.sin(gamma)/np.sin(beta) - ipp_ned = conv.ecef2ned(sat_pos)*(ipp_dist)/np.linalg.norm(sat_pos) - ipp_geo = conv.ned2geodetic(ipp_ned) - factor = 40.30E16 / (freq**2) * 10**(self.exp) - vertical_delay = self.get_TEC(ipp_geo, time) * factor - slant_delay = vertical_delay * ((1 - ((EARTH_RADIUS * np.sin(beta)) / - (EARTH_RADIUS + 3.5e5))**2)**(-0.5)) - return slant_delay - - @staticmethod - def round_to_grid(number, base): - return int(base * round(float(number) / base)) - - -def parse_ionex(ionex_file): - """ - :param ionex_file: path to the IONEX file - :return: TEC interpolation function `f( (lat,lon), datetime )` - """ - header, body = get_header_body(ionex_file) - - exponent = get_int_from_header(header, "EXPONENT") - maps_count = get_int_from_header(header, "MAPS IN FILE") - # ============= - # Separate maps - # ============= - map_start_idx = [] - map_end_idx = [] - - for j, line in enumerate(body): - if "START OF TEC MAP" in line: - map_start_idx += [j] - elif "END OF TEC MAP" in line: - map_end_idx += [j] - if maps_count != len(map_start_idx): - raise LookupError("Parsing error: the number of maps in the header " - "is not equal to the number of maps in the body.") - if len(map_start_idx) != len(map_end_idx): - raise IndexError("Starts end ends numbers are not equal.") - map_dates = [] - for i in range(maps_count): - date_components = body[map_start_idx[i] + 1].split()[:6] - map_dates.append(dt.datetime(*[int(d) for d in date_components])) - - maps = [] - iono_map = iono_map_prev = None - for m in range(maps_count): - iono_map_prev = iono_map - iono_map = body[map_start_idx[m] + 1:map_end_idx[m]] - if iono_map and iono_map_prev: - maps += [IonexMap(exponent, iono_map_prev, iono_map)] - return maps - - -def klobuchar(pos, az, el, time, iono_coeffs): - """ - Details are taken from [5]: IS-GPS-200H, Fig. 20-4 - Note: result is referred to the GPS L₁ frequency; - if the user is operating on the GPS L₂ frequency, the correction term must - be multiplied by γ = f₂²/f₁¹ = 0.6071850227694382 - :param pos: [lat, lon, alt] in radians and meters - """ - - tow = time.tow - if pos[2] < -1E3 or el < 0: - return 0.0 - if len(iono_coeffs) < 8: - return None - - # earth centered angle (semi-circle) - psi = 0.0137 / (el / pi + 0.11) - 0.022 - - # subionospheric latitude/longitude (semi-circle) - phi = pos[0] / pi + psi * cos(az) - if phi > 0.416: - phi = 0.416 - elif phi < -0.416: - phi = -0.416 - lam = pos[1] / pi + psi * sin(az) / cos(phi * pi) - - # geomagnetic latitude (semi-circle) */ - phi += 0.064 * cos((lam - 1.617) * pi) - - # local time (s) - tt = 43200.0 * lam + tow - tt -= floor(tt / 86400.0) * 86400.0 # 0<=tt<86400 - - # slant factor - f = 1.0 + 16.0 * pow(0.53 - el / pi, 3.0) - - # ionospheric delay - amp = iono_coeffs[0] + phi * (iono_coeffs[1] + phi * - (iono_coeffs[2] + phi * iono_coeffs[3])) - per = iono_coeffs[4] + phi * (iono_coeffs[5] + phi * - (iono_coeffs[6] + phi * iono_coeffs[7])) - if amp < 0.0: - amp = 0. - if per < 72000.0: - per = 72000.0 - x = 2.0 * pi * (tt - 50400.0) / per - - mul = 5E-9 - if abs(x) < 1.57: - mul = (5E-9 + amp * (1.0 + x * x * (-0.5 + x * x / 24.0))) - return 2.99792458E8 * f * mul diff --git a/laika/lib/coordinates.py b/laika/lib/coordinates.py deleted file mode 100644 index c6e584f83..000000000 --- a/laika/lib/coordinates.py +++ /dev/null @@ -1,106 +0,0 @@ -import numpy as np -""" -Coordinate transformation module. All methods accept arrays as input -with each row as a position. -""" - - -a = 6378137 -b = 6356752.3142 -esq = 6.69437999014 * 0.001 -e1sq = 6.73949674228 * 0.001 - - -def geodetic2ecef(geodetic, radians=False): - geodetic = np.array(geodetic) - input_shape = geodetic.shape - geodetic = np.atleast_2d(geodetic) - - ratio = 1.0 if radians else (np.pi / 180.0) - lat = ratio*geodetic[:,0] - lon = ratio*geodetic[:,1] - alt = geodetic[:,2] - - xi = np.sqrt(1 - esq * np.sin(lat)**2) - x = (a / xi + alt) * np.cos(lat) * np.cos(lon) - y = (a / xi + alt) * np.cos(lat) * np.sin(lon) - z = (a / xi * (1 - esq) + alt) * np.sin(lat) - ecef = np.array([x, y, z]).T - return ecef.reshape(input_shape) - - -def ecef2geodetic(ecef, radians=False): - """ - Convert ECEF coordinates to geodetic using ferrari's method - """ - # Save shape and export column - ecef = np.atleast_1d(ecef) - input_shape = ecef.shape - ecef = np.atleast_2d(ecef) - x, y, z = ecef[:, 0], ecef[:, 1], ecef[:, 2] - - ratio = 1.0 if radians else (180.0 / np.pi) - - # Conver from ECEF to geodetic using Ferrari's methods - # https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution - r = np.sqrt(x * x + y * y) - Esq = a * a - b * b - F = 54 * b * b * z * z - G = r * r + (1 - esq) * z * z - esq * Esq - C = (esq * esq * F * r * r) / (pow(G, 3)) - S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C)) - P = F / (3 * pow((S + 1 / S + 1), 2) * G * G) - Q = np.sqrt(1 + 2 * esq * esq * P) - r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r) - U = np.sqrt(pow((r - esq * r_0), 2) + z * z) - V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z) - Z_0 = b * b * z / (a * V) - h = U * (1 - b * b / (a * V)) - lat = ratio*np.arctan((z + e1sq * Z_0) / r) - lon = ratio*np.arctan2(y, x) - - # stack the new columns and return to the original shape - geodetic = np.column_stack((lat, lon, h)) - return geodetic.reshape(input_shape) - -class LocalCoord: - """ - Allows conversions to local frames. In this case NED. - That is: North East Down from the start position in - meters. - """ - def __init__(self, init_geodetic, init_ecef): - self.init_ecef = init_ecef - lat, lon, _ = (np.pi/180)*np.array(init_geodetic) - self.ned2ecef_matrix = np.array([[-np.sin(lat)*np.cos(lon), -np.sin(lon), -np.cos(lat)*np.cos(lon)], - [-np.sin(lat)*np.sin(lon), np.cos(lon), -np.cos(lat)*np.sin(lon)], - [np.cos(lat), 0, -np.sin(lat)]]) - self.ecef2ned_matrix = self.ned2ecef_matrix.T - - @classmethod - def from_geodetic(cls, init_geodetic): - init_ecef = geodetic2ecef(init_geodetic) - return LocalCoord(init_geodetic, init_ecef) - - @classmethod - def from_ecef(cls, init_ecef): - init_geodetic = ecef2geodetic(init_ecef) - return LocalCoord(init_geodetic, init_ecef) - - def ecef2ned(self, ecef): - ecef = np.array(ecef) - return np.dot(self.ecef2ned_matrix, (ecef - self.init_ecef).T).T - - def ned2ecef(self, ned): - ned = np.array(ned) - # Transpose so that init_ecef will broadcast correctly for 1d or 2d ned. - return (np.dot(self.ned2ecef_matrix, ned.T).T + self.init_ecef) - - def geodetic2ned(self, geodetic): - ecef = geodetic2ecef(geodetic) - return self.ecef2ned(ecef) - - def ned2geodetic(self, ned): - ecef = self.ned2ecef(ned) - return ecef2geodetic(ecef) diff --git a/laika/lib/orientation.py b/laika/lib/orientation.py deleted file mode 100644 index 5f8d5d2b3..000000000 --- a/laika/lib/orientation.py +++ /dev/null @@ -1,291 +0,0 @@ -import numpy as np -from numpy import dot, inner, array, linalg -from .coordinates import LocalCoord - - -''' -Vectorized functions that transform between -rotation matrices, euler angles and quaternions. -All support lists, array or array of arrays as inputs. -Supports both x2y and y_from_x format (y_from_x preferred!). -''' - -def euler2quat(eulers): - eulers = array(eulers) - if len(eulers.shape) > 1: - output_shape = (-1,4) - else: - output_shape = (4,) - eulers = np.atleast_2d(eulers) - gamma, theta, psi = eulers[:,0], eulers[:,1], eulers[:,2] - - cos_half_gamma = np.cos(gamma / 2) - cos_half_theta = np.cos(theta / 2) - cos_half_psi = np.cos(psi / 2) - sin_half_gamma = np.sin(gamma / 2) - sin_half_theta = np.sin(theta / 2) - sin_half_psi = np.sin(psi / 2) - q0 = cos_half_gamma * cos_half_theta * cos_half_psi + sin_half_gamma * sin_half_theta * sin_half_psi - q1 = sin_half_gamma * cos_half_theta * cos_half_psi - cos_half_gamma * sin_half_theta * sin_half_psi - q2 = cos_half_gamma * sin_half_theta * cos_half_psi + sin_half_gamma * cos_half_theta * sin_half_psi - q3 = cos_half_gamma * cos_half_theta * sin_half_psi - sin_half_gamma * sin_half_theta * cos_half_psi - - quats = array([q0, q1, q2, q3]).T - for i in range(len(quats)): - if quats[i,0] < 0: - quats[i] = -quats[i] - return quats.reshape(output_shape) - - -def quat2euler(quats): - quats = array(quats) - if len(quats.shape) > 1: - output_shape = (-1,3) - else: - output_shape = (3,) - quats = np.atleast_2d(quats) - q0, q1, q2, q3 = quats[:,0], quats[:,1], quats[:,2], quats[:,3] - - gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2)) - theta = np.arcsin(2 * (q0 * q2 - q3 * q1)) - psi = np.arctan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2**2 + q3**2)) - - eulers = array([gamma, theta, psi]).T - return eulers.reshape(output_shape) - - -def quat2rot(quats): - quats = array(quats) - input_shape = quats.shape - quats = np.atleast_2d(quats) - Rs = np.zeros((quats.shape[0], 3, 3)) - q0 = quats[:, 0] - q1 = quats[:, 1] - q2 = quats[:, 2] - q3 = quats[:, 3] - Rs[:, 0, 0] = q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3 - Rs[:, 0, 1] = 2 * (q1 * q2 - q0 * q3) - Rs[:, 0, 2] = 2 * (q0 * q2 + q1 * q3) - Rs[:, 1, 0] = 2 * (q1 * q2 + q0 * q3) - Rs[:, 1, 1] = q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3 - Rs[:, 1, 2] = 2 * (q2 * q3 - q0 * q1) - Rs[:, 2, 0] = 2 * (q1 * q3 - q0 * q2) - Rs[:, 2, 1] = 2 * (q0 * q1 + q2 * q3) - Rs[:, 2, 2] = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3 - - if len(input_shape) < 2: - return Rs[0] - return Rs - - -def rot2quat(rots): - input_shape = rots.shape - if len(input_shape) < 3: - rots = array([rots]) - K3 = np.empty((len(rots), 4, 4)) - K3[:, 0, 0] = (rots[:, 0, 0] - rots[:, 1, 1] - rots[:, 2, 2]) / 3.0 - K3[:, 0, 1] = (rots[:, 1, 0] + rots[:, 0, 1]) / 3.0 - K3[:, 0, 2] = (rots[:, 2, 0] + rots[:, 0, 2]) / 3.0 - K3[:, 0, 3] = (rots[:, 1, 2] - rots[:, 2, 1]) / 3.0 - K3[:, 1, 0] = K3[:, 0, 1] - K3[:, 1, 1] = (rots[:, 1, 1] - rots[:, 0, 0] - rots[:, 2, 2]) / 3.0 - K3[:, 1, 2] = (rots[:, 2, 1] + rots[:, 1, 2]) / 3.0 - K3[:, 1, 3] = (rots[:, 2, 0] - rots[:, 0, 2]) / 3.0 - K3[:, 2, 0] = K3[:, 0, 2] - K3[:, 2, 1] = K3[:, 1, 2] - K3[:, 2, 2] = (rots[:, 2, 2] - rots[:, 0, 0] - rots[:, 1, 1]) / 3.0 - K3[:, 2, 3] = (rots[:, 0, 1] - rots[:, 1, 0]) / 3.0 - K3[:, 3, 0] = K3[:, 0, 3] - K3[:, 3, 1] = K3[:, 1, 3] - K3[:, 3, 2] = K3[:, 2, 3] - K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0 - q = np.empty((len(rots), 4)) - for i in range(len(rots)): - _, eigvecs = linalg.eigh(K3[i].T) - eigvecs = eigvecs[:,3:] - q[i, 0] = eigvecs[-1] - q[i, 1:] = -eigvecs[:-1].flatten() - if q[i, 0] < 0: - q[i] = -q[i] - - if len(input_shape) < 3: - return q[0] - return q - - -def euler2rot(eulers): - return rotations_from_quats(euler2quat(eulers)) - - -def rot2euler(rots): - return quat2euler(quats_from_rotations(rots)) - - -quats_from_rotations = rot2quat -quat_from_rot = rot2quat -rotations_from_quats = quat2rot -rot_from_quat= quat2rot -rot_from_quat= quat2rot -euler_from_rot = rot2euler -euler_from_quat = quat2euler -rot_from_euler = euler2rot -quat_from_euler = euler2quat - - -''' -Random helpers below -''' - - -def quat_product(q, r): - t = np.zeros(4) - t[0] = r[0] * q[0] - r[1] * q[1] - r[2] * q[2] - r[3] * q[3] - t[1] = r[0] * q[1] + r[1] * q[0] - r[2] * q[3] + r[3] * q[2] - t[2] = r[0] * q[2] + r[1] * q[3] + r[2] * q[0] - r[3] * q[1] - t[3] = r[0] * q[3] - r[1] * q[2] + r[2] * q[1] + r[3] * q[0] - return t - - -def rot_matrix(roll, pitch, yaw): - cr, sr = np.cos(roll), np.sin(roll) - cp, sp = np.cos(pitch), np.sin(pitch) - cy, sy = np.cos(yaw), np.sin(yaw) - rr = array([[1,0,0],[0, cr,-sr],[0, sr, cr]]) - rp = array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]]) - ry = array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]]) - return ry.dot(rp.dot(rr)) - - -def rot(axis, angle): - # Rotates around an arbitrary axis - ret_1 = (1 - np.cos(angle)) * array([[axis[0]**2, axis[0] * axis[1], axis[0] * axis[2]], [ - axis[1] * axis[0], axis[1]**2, axis[1] * axis[2] - ], [axis[2] * axis[0], axis[2] * axis[1], axis[2]**2]]) - ret_2 = np.cos(angle) * np.eye(3) - ret_3 = np.sin(angle) * array([[0, -axis[2], axis[1]], [axis[2], 0, -axis[0]], - [-axis[1], axis[0], 0]]) - return ret_1 + ret_2 + ret_3 - - -def ecef_euler_from_ned(ned_ecef_init, ned_pose): - ''' - Got it from here: - Using Rotations to Build Aerospace Coordinate Systems - -Don Koks - ''' - converter = LocalCoord.from_ecef(ned_ecef_init) - x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0]) - y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0]) - z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0]) - - x1 = rot(z0, ned_pose[2]).dot(x0) - y1 = rot(z0, ned_pose[2]).dot(y0) - z1 = rot(z0, ned_pose[2]).dot(z0) - - x2 = rot(y1, ned_pose[1]).dot(x1) - y2 = rot(y1, ned_pose[1]).dot(y1) - z2 = rot(y1, ned_pose[1]).dot(z1) - - x3 = rot(x2, ned_pose[0]).dot(x2) - y3 = rot(x2, ned_pose[0]).dot(y2) - #z3 = rot(x2, ned_pose[0]).dot(z2) - - x0 = array([1, 0, 0]) - y0 = array([0, 1, 0]) - z0 = array([0, 0, 1]) - - psi = np.arctan2(inner(x3, y0), inner(x3, x0)) - theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2)) - y2 = rot(z0, psi).dot(y0) - z2 = rot(y2, theta).dot(z0) - phi = np.arctan2(inner(y3, z2), inner(y3, y2)) - - ret = array([phi, theta, psi]) - return ret - - -def ned_euler_from_ecef(ned_ecef_init, ecef_poses): - ''' - Got the math from here: - Using Rotations to Build Aerospace Coordinate Systems - -Don Koks - - Also accepts array of ecef_poses and array of ned_ecef_inits. - Where each row is a pose and an ecef_init. - ''' - ned_ecef_init = array(ned_ecef_init) - ecef_poses = array(ecef_poses) - output_shape = ecef_poses.shape - ned_ecef_init = np.atleast_2d(ned_ecef_init) - if ned_ecef_init.shape[0] == 1: - ned_ecef_init = np.tile(ned_ecef_init[0], (output_shape[0], 1)) - ecef_poses = np.atleast_2d(ecef_poses) - - ned_poses = np.zeros(ecef_poses.shape) - for i, ecef_pose in enumerate(ecef_poses): - converter = LocalCoord.from_ecef(ned_ecef_init[i]) - x0 = array([1, 0, 0]) - y0 = array([0, 1, 0]) - z0 = array([0, 0, 1]) - - x1 = rot(z0, ecef_pose[2]).dot(x0) - y1 = rot(z0, ecef_pose[2]).dot(y0) - z1 = rot(z0, ecef_pose[2]).dot(z0) - - x2 = rot(y1, ecef_pose[1]).dot(x1) - y2 = rot(y1, ecef_pose[1]).dot(y1) - z2 = rot(y1, ecef_pose[1]).dot(z1) - - x3 = rot(x2, ecef_pose[0]).dot(x2) - y3 = rot(x2, ecef_pose[0]).dot(y2) - #z3 = rot(x2, ecef_pose[0]).dot(z2) - - x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0]) - y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0]) - z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0]) - - psi = np.arctan2(inner(x3, y0), inner(x3, x0)) - theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2)) - y2 = rot(z0, psi).dot(y0) - z2 = rot(y2, theta).dot(z0) - phi = np.arctan2(inner(y3, z2), inner(y3, y2)) - ned_poses[i] = array([phi, theta, psi]) - - return ned_poses.reshape(output_shape) - - -def ecef2car(car_ecef, psi, theta, points_ecef, ned_converter): - """ - TODO: add roll rotation - Converts an array of points in ecef coordinates into - x-forward, y-left, z-up coordinates - Parameters - ---------- - psi: yaw, radian - theta: pitch, radian - Returns - ------- - [x, y, z] coordinates in car frame - """ - - # input is an array of points in ecef cocrdinates - # output is an array of points in car's coordinate (x-front, y-left, z-up) - - # convert points to NED - points_ned = [] - for p in points_ecef: - points_ned.append(ned_converter.ecef2ned_matrix.dot(array(p) - car_ecef)) - - points_ned = np.vstack(points_ned).T - - # n, e, d -> x, y, z - # Calculate relative positions and rotate wrt to heading and pitch of car - invert_R = array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]]) - - c, s = np.cos(psi), np.sin(psi) - yaw_R = array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]]) - - c, s = np.cos(theta), np.sin(theta) - pitch_R = array([[c, 0., -s], [0., 1., 0.], [s, 0., c]]) - - return dot(pitch_R, dot(yaw_R, dot(invert_R, points_ned))) diff --git a/laika/opt.py b/laika/opt.py deleted file mode 100644 index 1a76f353c..000000000 --- a/laika/opt.py +++ /dev/null @@ -1,191 +0,0 @@ -import sympy -import numpy as np -from typing import List - -from .constants import EARTH_ROTATION_RATE, SPEED_OF_LIGHT -from .helpers import ConstellationId -from .raw_gnss import GNSSMeasurement - - -def gauss_newton(fun, b, xtol=1e-8, max_n=25): - for _ in range(max_n): - # Compute function and jacobian on current estimate - r, J = fun(b) - - # Update estimate - delta = np.linalg.pinv(J) @ r - b -= delta - - # Check step size for stopping condition - if np.linalg.norm(delta) < xtol: - break - return b - - -def calc_pos_fix(measurements, posfix_functions=None, x0=None, no_weight=False, signal='C1C', min_measurements=6): - ''' - Calculates gps fix using gauss newton method - To solve the problem a minimal of 4 measurements are required. - If Glonass is included 5 are required to solve for the additional free variable. - returns: - 0 -> list with positions - 1 -> pseudorange errs - ''' - if x0 is None: - x0 = [0, 0, 0, 0, 0] - - if len(measurements) < min_measurements: - return [],[] - - Fx_pos = pr_residual(measurements, posfix_functions, signal=signal, no_weight=no_weight, no_nans=True) - x = gauss_newton(Fx_pos, x0) - residual, _ = Fx_pos(x, no_weight=True) - return x.tolist(), residual.tolist() - - -def calc_vel_fix(measurements, est_pos, velfix_function=None, v0=None, no_weight=False, signal='D1C', min_measurements=6): - ''' - Calculates gps velocity fix using gauss newton method - returns: - 0 -> list with velocities - 1 -> pseudorange_rate errs - ''' - if v0 is None: - v0 = [0, 0, 0, 0] - - if len(measurements) < min_measurements: - return [], [] - - Fx_vel = prr_residual(measurements, est_pos, velfix_function, signal=signal, no_weight=no_weight, no_nans=True) - v = gauss_newton(Fx_vel, v0) - residual, _ = Fx_vel(v, no_weight=True) - return v.tolist(), residual.tolist() - - -def get_posfix_sympy_fun(constellation): - # Unknowns - x, y, z = sympy.Symbol('x'), sympy.Symbol('y'), sympy.Symbol('z') - bc = sympy.Symbol('bc') - bg = sympy.Symbol('bg') - zero_theta = sympy.Symbol('zero_theta') - var = [x, y, z, bc, bg] - - # Knowns - pr = sympy.Symbol('pr') - sat_x, sat_y, sat_z = sympy.Symbol('sat_x'), sympy.Symbol('sat_y'), sympy.Symbol('sat_z') - weight = sympy.Symbol('weight') - - theta = (EARTH_ROTATION_RATE * (pr - bc) / SPEED_OF_LIGHT)*zero_theta - val = sympy.sqrt( - (sat_x * sympy.cos(theta) + sat_y * sympy.sin(theta) - x) ** 2 + - (sat_y * sympy.cos(theta) - sat_x * sympy.sin(theta) - y) ** 2 + - (sat_z - z) ** 2 - ) - - if constellation == ConstellationId.GLONASS: - res = weight * (val - (pr - bc - bg)) - elif constellation == ConstellationId.GPS: - res = weight * (val - (pr - bc)) - else: - raise NotImplementedError(f"Constellation {constellation} not supported") - - res = [res] + [sympy.diff(res, v) for v in var] - - return sympy.lambdify([x, y, z, bc, bg, pr, zero_theta, sat_x, sat_y, sat_z, weight], res, modules=["numpy"]) - - -def get_velfix_sympy_func(): - # implementing this without sympy.Matrix gives a 2x speedup at generation - - # knowns, receiver position, satellite position, satellite velocity - ep_x, ep_y, ep_z = sympy.Symbol('ep_x'), sympy.Symbol('ep_y'), sympy.Symbol('ep_z') - est_pos = np.array([ep_x, ep_y, ep_z]) - sp_x, sp_y, sp_z = sympy.Symbol('sp_x'), sympy.Symbol('sp_y'), sympy.Symbol('sp_z') - sat_pos = np.array([sp_x, sp_y, sp_z]) - sv_x, sv_y, sv_z = sympy.Symbol('sv_x'), sympy.Symbol('sv_y'), sympy.Symbol('sv_z') - sat_vel = np.array([sv_x, sv_y, sv_z]) - observables = sympy.Symbol('observables') - weight = sympy.Symbol('weight') - - # unknown, receiver velocity - v_x, v_y, v_z = sympy.Symbol('v_x'), sympy.Symbol('v_y'), sympy.Symbol('v_z') - vel = np.array([v_x, v_y, v_z]) - vel_o = sympy.Symbol('vel_o') - - loss = sat_pos - est_pos - loss /= sympy.sqrt(loss.dot(loss)) - - nv = loss.dot(sat_vel - vel) - ov = (observables - vel_o) - res = (nv - ov)*weight - - res = [res] + [sympy.diff(res, v) for v in [v_x, v_y, v_z, vel_o]] - - return sympy.lambdify([ - ep_x, ep_y, ep_z, sp_x, sp_y, sp_z, - sv_x, sv_y, sv_z, observables, weight, - v_x, v_y, v_z, vel_o - ], - res, modules=["numpy"]) - - -def pr_residual(measurements: List[GNSSMeasurement], posfix_functions=None, signal='C1C', no_weight=False, no_nans=False): - - if posfix_functions is None: - posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)} - - def Fx_pos(inp, no_weight=no_weight): - vals, gradients = [], [] - - for meas in measurements: - if signal in meas.observables_final and np.isfinite(meas.observables_final[signal]): - pr = meas.observables_final[signal] - sat_pos = meas.sat_pos_final - zero_theta = 0 - elif signal in meas.observables and np.isfinite(meas.observables[signal]) and meas.processed: - pr = meas.observables[signal] - pr += meas.sat_clock_err * SPEED_OF_LIGHT - sat_pos = meas.sat_pos - zero_theta = 1 - else: - if not no_nans: - vals.append(np.nan) - gradients.append(np.nan) - continue - - w = 1.0 if no_weight or meas.observables_std[signal] == 0 else (1 / meas.observables_std[signal]) - val, *gradient = posfix_functions[meas.constellation_id](*inp, pr, zero_theta, *sat_pos, w) - vals.append(val) - gradients.append(gradient) - return np.asarray(vals), np.asarray(gradients) - return Fx_pos - - -def prr_residual(measurements: List[GNSSMeasurement], est_pos, velfix_function=None, signal='D1C', no_weight=False, no_nans=False): - - if velfix_function is None: - velfix_function = get_velfix_sympy_func() - - def Fx_vel(vel, no_weight=no_weight): - vals, gradients = [], [] - - for meas in measurements: - if signal not in meas.observables or not np.isfinite(meas.observables[signal]): - if not no_nans: - vals.append(np.nan) - gradients.append(np.nan) - continue - - sat_pos = meas.sat_pos_final if meas.corrected else meas.sat_pos - weight = 1.0 if no_weight or meas.observables_std[signal] == 0 else (1 / meas.observables_std[signal]) - - val, *gradient = velfix_function(est_pos[0], est_pos[1], est_pos[2], - sat_pos[0], sat_pos[1], sat_pos[2], - meas.sat_vel[0], meas.sat_vel[1], meas.sat_vel[2], - meas.observables[signal], weight, - vel[0], vel[1], vel[2], vel[3]) - vals.append(val) - gradients.append(gradient) - - return np.asarray(vals), np.asarray(gradients) - return Fx_vel diff --git a/laika/raw_gnss.py b/laika/raw_gnss.py deleted file mode 100644 index b1f60ab9b..000000000 --- a/laika/raw_gnss.py +++ /dev/null @@ -1,331 +0,0 @@ -from math import sqrt -from typing import Dict, List, Optional, Union - -import numpy as np -import datetime -import struct - -from . import constants -from .ephemeris import Ephemeris -from .lib.coordinates import LocalCoord -from .gps_time import GPSTime -from .helpers import ConstellationId, get_constellation_and_sv_id, get_nmea_id_from_constellation_and_svid, \ - rinex3_obs_from_rinex2_obs - - -def array_from_normal_meas(meas): - return np.concatenate(([meas.get_nmea_id()], - [meas.recv_time_week], - [meas.recv_time_sec], - [meas.glonass_freq], - [meas.observables['C1C']], - [meas.observables_std['C1C']], - [meas.observables['D1C']], - [meas.observables_std['D1C']], - [meas.observables['S1C']], - [meas.observables['L1C']])) - - -def normal_meas_from_array(arr): - observables, observables_std = {}, {} - observables['C1C'] = arr[4] - observables_std['C1C'] = arr[5] - observables['D1C'] = arr[6] - observables_std['D1C'] = arr[7] - observables['S1C'] = arr[8] - observables['L1C'] = arr[9] - constellation_id, sv_id = get_constellation_and_sv_id(nmea_id=arr[0]) - return GNSSMeasurement(constellation_id, sv_id, arr[1], arr[2], - observables, observables_std, arr[3]) - - -class GNSSMeasurement: - PRN = 0 - RECV_TIME_WEEK = 1 - RECV_TIME_SEC = 2 - GLONASS_FREQ = 3 - - PR = 4 - PR_STD = 5 - PRR = 6 - PRR_STD = 7 - - SAT_POS = slice(8, 11) - SAT_VEL = slice(11, 14) - - def __init__(self, constellation_id: ConstellationId, sv_id: int, recv_time_week: int, recv_time_sec: float, observables: Dict[str, float], observables_std: Dict[str, float], - glonass_freq: Union[int, float] = None): - # Metadata - # prn: unique satellite id - self.prn = "%s%02d" % (constellation_id.to_rinex_char(), sv_id) # satellite ID in rinex convention - self.constellation_id = constellation_id - self.sv_id = sv_id # satellite id per constellation - - self.recv_time_week = recv_time_week - self.recv_time_sec = recv_time_sec - self.recv_time = GPSTime(recv_time_week, recv_time_sec) - self.glonass_freq = glonass_freq # glonass channel - - # Measurements - self.observables = observables - self.observables_std = observables_std - - # flags - self.processed = False - self.corrected = False - - # sat info - self.sat_pos = np.array([np.nan, np.nan, np.nan]) - self.sat_vel = np.array([np.nan, np.nan, np.nan]) - self.sat_clock_err = np.nan - self.sat_ephemeris: Optional[Ephemeris] = None - - self.sat_pos_final = np.array([np.nan, np.nan, np.nan]) # sat_pos in receiver time's ECEF frame instead of satellite time's ECEF frame - self.observables_final: Dict[str, float] = {} - - def process(self, dog): - sat_time = self.recv_time - self.observables['C1C']/constants.SPEED_OF_LIGHT - sat_info = dog.get_sat_info(self.prn, sat_time) - if sat_info is None: - return False - self.sat_pos, self.sat_vel, self.sat_clock_err, _, self.sat_ephemeris = sat_info - self.processed = True - return True - - def correct(self, est_pos, dog): - for obs in self.observables: - if obs[0] == 'C': # or obs[0] == 'L': - delay = dog.get_delay(self.prn, self.recv_time, est_pos, signal=obs) - if delay is not None: - self.observables_final[obs] = (self.observables[obs] + - self.sat_clock_err*constants.SPEED_OF_LIGHT - - delay) - else: - self.observables_final[obs] = self.observables[obs] - if 'C1C' in self.observables_final and 'C2P' in self.observables_final: - self.observables_final['IOF'] = (((constants.GPS_L1**2)*self.observables_final['C1C'] - - (constants.GPS_L2**2)*self.observables_final['C2P'])/ - (constants.GPS_L1**2 - constants.GPS_L2**2)) - - geometric_range = np.linalg.norm(self.sat_pos - est_pos) - theta_1 = constants.EARTH_ROTATION_RATE * geometric_range / constants.SPEED_OF_LIGHT - self.sat_pos_final = np.array([self.sat_pos[0] * np.cos(theta_1) + self.sat_pos[1] * np.sin(theta_1), - self.sat_pos[1] * np.cos(theta_1) - self.sat_pos[0] * np.sin(theta_1), - self.sat_pos[2]]) - if 'C1C' in self.observables_final and np.isfinite(self.observables_final['C1C']): - self.corrected = True - return True - return False - - def as_array(self, only_corrected=True): - observables = self.observables_final - sat_pos = self.sat_pos_final - if not self.corrected: - if only_corrected: - raise NotImplementedError('Only corrected measurements can be put into arrays') - else: - observables = self.observables - sat_pos = self.sat_pos - ret = np.array([self.get_nmea_id(), self.recv_time_week, self.recv_time_sec, self.glonass_freq, - observables['C1C'], self.observables_std['C1C'], - observables['D1C'], self.observables_std['D1C']]) - return np.concatenate((ret, sat_pos, self.sat_vel)) - - def __repr__(self): - time = self.recv_time.as_datetime().strftime('%Y-%m-%dT%H:%M:%S.%f') - return f"" - - def get_nmea_id(self): - return get_nmea_id_from_constellation_and_svid(self.constellation_id, self.sv_id) - - -def process_measurements(measurements: List[GNSSMeasurement], dog) -> List[GNSSMeasurement]: - proc_measurements = [] - for meas in measurements: - if meas.process(dog): - proc_measurements.append(meas) - return proc_measurements - - -def correct_measurements(measurements: List[GNSSMeasurement], est_pos, dog) -> List[GNSSMeasurement]: - corrected_measurements = [] - for meas in measurements: - if meas.correct(est_pos, dog): - corrected_measurements.append(meas) - return corrected_measurements - - -def group_measurements_by_epoch(measurements): - meas_filt_by_t = [[measurements[0]]] - for m in measurements[1:]: - if abs(m.recv_time - meas_filt_by_t[-1][-1].recv_time) > 1e-9: - meas_filt_by_t.append([]) - meas_filt_by_t[-1].append(m) - return meas_filt_by_t - - -def group_measurements_by_sat(measurements): - measurements_by_sat = {} - sats = {m.prn for m in measurements} - for sat in sats: - measurements_by_sat[sat] = [m for m in measurements if m.prn == sat] - return measurements_by_sat - - -def read_raw_qcom(report): - dr = 'DrMeasurementReport' in str(report.schema) - # Only gps/sbas and glonass are supported - constellation_id = ConstellationId.from_qcom_source(report.source) - if constellation_id in [ConstellationId.GPS, ConstellationId.SBAS]: # gps/sbas - if dr: - recv_tow = report.gpsMilliseconds / 1000.0 # seconds - time_bias_ms = struct.unpack("f", struct.pack("I", report.gpsTimeBiasMs))[0] - else: - recv_tow = report.milliseconds / 1000.0 # seconds - time_bias_ms = report.timeBias - recv_time = GPSTime(report.gpsWeek, recv_tow) - elif constellation_id == ConstellationId.GLONASS: - if dr: - recv_tow = report.glonassMilliseconds / 1000.0 # seconds - recv_time = GPSTime.from_glonass(report.glonassYear, report.glonassDay, recv_tow) - time_bias_ms = report.glonassTimeBias - else: - recv_tow = report.milliseconds / 1000.0 # seconds - recv_time = GPSTime.from_glonass(report.glonassCycleNumber, report.glonassNumberOfDays, recv_tow) - time_bias_ms = report.timeBias - else: - raise NotImplementedError('Only GPS (0), SBAS (1) and GLONASS (6) are supported from qcom, not:', {report.source}) - #print(recv_time, report.source, time_bias_ms, dr) - measurements = [] - for i in report.sv: - nmea_id = i.svId # todo change svId to nmea_id in cereal message. Or better: change the publisher to publish correct svId's, since constellation id is also given - if nmea_id == 255: - # todo nmea_id is not valid. Fix publisher - continue - _, sv_id = get_constellation_and_sv_id(nmea_id) - if not i.measurementStatus.measurementNotUsable and i.measurementStatus.satelliteTimeIsKnown: - sat_tow = (i.unfilteredMeasurementIntegral + i.unfilteredMeasurementFraction + i.latency + time_bias_ms) / 1000 - observables, observables_std = {}, {} - observables['C1C'] = (recv_tow - sat_tow)*constants.SPEED_OF_LIGHT - observables_std['C1C'] = i.unfilteredTimeUncertainty * 1e-3 * constants.SPEED_OF_LIGHT - if i.measurementStatus.fineOrCoarseVelocity: - # about 10x better, perhaps filtered with carrier phase? - observables['D1C'] = i.fineSpeed - observables_std['D1C'] = i.fineSpeedUncertainty - else: - observables['D1C'] = i.unfilteredSpeed - observables_std['D1C'] = i.unfilteredSpeedUncertainty - observables['S1C'] = (i.carrierNoise/100.) if i.carrierNoise != 0 else np.nan - observables['L1C'] = np.nan - #print(" %.5f %3d %10.2f %7.2f %7.2f %.2f %d" % (recv_time.tow, nmea_id, - # observables['C1C'], observables_std['C1C'], - # observables_std['D1C'], observables['S1C'], i.latency), i.observationState, i.measurementStatus.fineOrCoarseVelocity) - glonass_freq = (i.glonassFrequencyIndex - 7) if constellation_id == ConstellationId.GLONASS else np.nan - measurements.append(GNSSMeasurement(constellation_id, sv_id, - recv_time.week, - recv_time.tow, - observables, - observables_std, - glonass_freq)) - return measurements - - -def read_raw_ublox(report) -> List[GNSSMeasurement]: - recv_tow = report.rcvTow # seconds - recv_week = report.gpsWeek - measurements = [] - for i in report.measurements: - # only add Gps and Glonass fixes - if i.gnssId in [ConstellationId.GPS, ConstellationId.GLONASS]: - if i.svId > 32 or i.pseudorange > 2**32: - continue - observables = {} - observables_std = {} - if i.trackingStatus.pseudorangeValid and i.sigId == 0: - observables['C1C'] = i.pseudorange - # Empirically it seems obvious ublox's std is - # actually a variation - observables_std['C1C'] = sqrt(i.pseudorangeStdev)*10 - if i.gnssId == ConstellationId.GLONASS: - glonass_freq = i.glonassFrequencyIndex - 7 - observables['D1C'] = -(constants.SPEED_OF_LIGHT / (constants.GLONASS_L1 + glonass_freq * constants.GLONASS_L1_DELTA)) * i.doppler - else: # GPS - glonass_freq = np.nan - observables['D1C'] = -(constants.SPEED_OF_LIGHT / constants.GPS_L1) * i.doppler - observables_std['D1C'] = (constants.SPEED_OF_LIGHT / constants.GPS_L1) * i.dopplerStdev - observables['S1C'] = i.cno - if i.trackingStatus.carrierPhaseValid: - observables['L1C'] = i.carrierCycles - else: - observables['L1C'] = np.nan - - measurements.append(GNSSMeasurement(ConstellationId(i.gnssId), i.svId, recv_week, recv_tow, - observables, observables_std, glonass_freq)) - return measurements - - -def read_rinex_obs(obsdata) -> List[List[GNSSMeasurement]]: - measurements: List[List[GNSSMeasurement]] = [] - obsdata_keys = list(obsdata.data.keys()) - first_sat = obsdata_keys[0] - n = len(obsdata.data[first_sat]['Epochs']) - for i in range(n): - recv_time_datetime = obsdata.data[first_sat]['Epochs'][i] - recv_time_datetime = recv_time_datetime.astype(datetime.datetime) - recv_time = GPSTime.from_datetime(recv_time_datetime) - measurements.append([]) - for sat_str in obsdata_keys: - if np.isnan(obsdata.data[sat_str]['C1'][i]): - continue - observables, observables_std = {}, {} - for obs in obsdata.data[sat_str]: - if obs == 'Epochs': - continue - rinex3_obs_key = rinex3_obs_from_rinex2_obs(obs) - observables[rinex3_obs_key] = obsdata.data[sat_str][obs][i] - observables_std[rinex3_obs_key] = 1. - - constellation_id, sv_id = get_constellation_and_sv_id(int(sat_str)) - measurements[-1].append(GNSSMeasurement(constellation_id, sv_id, - recv_time.week, recv_time.tow, - observables, observables_std)) - return measurements - - -def get_Q(recv_pos, sat_positions): - local = LocalCoord.from_ecef(recv_pos) - sat_positions_rel = local.ecef2ned(sat_positions) - sat_distances = np.linalg.norm(sat_positions_rel, axis=1) - A = np.column_stack((sat_positions_rel[:,0]/sat_distances, # pylint: disable=unsubscriptable-object - sat_positions_rel[:,1]/sat_distances, # pylint: disable=unsubscriptable-object - sat_positions_rel[:,2]/sat_distances, # pylint: disable=unsubscriptable-object - -np.ones(len(sat_distances)))) - if A.shape[0] < 4 or np.linalg.matrix_rank(A) < 4: - return np.inf*np.ones((4,4)) - Q = np.linalg.inv(A.T.dot(A)) - return Q - - -def get_DOP(recv_pos, sat_positions): - Q = get_Q(recv_pos, sat_positions) - return np.sqrt(np.trace(Q)) - - -def get_HDOP(recv_pos, sat_positions): - Q = get_Q(recv_pos, sat_positions) - return np.sqrt(np.trace(Q[:2,:2])) - - -def get_VDOP(recv_pos, sat_positions): - Q = get_Q(recv_pos, sat_positions) - return np.sqrt(Q[2,2]) - - -def get_TDOP(recv_pos, sat_positions): - Q = get_Q(recv_pos, sat_positions) - return np.sqrt(Q[3,3]) - - -def get_PDOP(recv_pos, sat_positions): - Q = get_Q(recv_pos, sat_positions) - return np.sqrt(np.trace(Q[:3,:3])) diff --git a/laika/rinex_file.py b/laika/rinex_file.py deleted file mode 100644 index 438506191..000000000 --- a/laika/rinex_file.py +++ /dev/null @@ -1,252 +0,0 @@ -#!/usr/bin/env python - -# Copyright (C) 2014 Swift Navigation Inc. -# -# This source is subject to the license found in the file 'LICENSE' which must -# be be distributed together with this source. All other rights reserved. -# -# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, -# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED -# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. - -import datetime -import numpy as np - - -def floatornan(x): - if x == '' or x[-1] == ' ': - return np.NaN - return float(x) - - -def digitorzero(x): - if x == ' ' or x == '': - return 0 - return int(x) - - -def padline(l, n=16): - x = len(l) - x_ = n * ((x + n - 1) // n) - padded = l + ' ' * (x_ - x) - while len(padded) < 70: - padded += ' ' * 16 - return padded - - -TOTAL_SATS = 132 # Increased to support Galileo - - -class DownloadError(Exception): - pass - - -class RINEXFile: - def __init__(self, filename, rate=None): - self.rate = rate - try: - with open(filename) as f: - self._read_header(f) - self._read_data(f) - except TypeError: - print("TypeError, file likely not downloaded.") - raise DownloadError("file download failure") - except FileNotFoundError: - print("File not found in directory.") - raise DownloadError("file missing in download cache") - def _read_header(self, f): - version_line = padline(f.readline(), 80) - - self.version = float(version_line[0:9]) - if (self.version > 2.11): - raise ValueError( - f"RINEX file versions > 2.11 not supported (file version {self.version:f})") - - self.filetype = version_line[20] - if self.filetype not in "ONGM": # Check valid file type - raise ValueError(f"RINEX file type '{self.filetype}' not supported") - if self.filetype != 'O': - raise ValueError("Only 'OBSERVATION DATA' RINEX files are currently supported") - - self.gnss = version_line[40] - if self.gnss not in " GRSEM": # Check valid satellite system - raise ValueError(f"Satellite system '{self.filetype}' not supported") - if self.gnss == ' ': - self.gnss = 'G' - if self.gnss != 'G': - #raise ValueError("Only GPS data currently supported") - pass - - self.comment = "" - while True: # Read the rest of the header - line = padline(f.readline(), 80) - label = line[60:80].rstrip() - if label == "END OF HEADER": - break - if label == "COMMENT": - self.comment += line[:60] + '\n' - if label == "MARKER NAME": - self.marker_name = line[:60].rstrip() - if self.marker_name == '': - self.marker_name = 'UNKNOWN' - if label == "# / TYPES OF OBSERV": - # RINEX files can have multiple line headers - # This code handles the case - try: - n_obs = int(line[0:6]) - self.obs_types = [] - except ValueError: - pass - - if n_obs <= 9: - for i in range(0, n_obs): - self.obs_types.append(line[10 + 6 * i:12 + 6 * i]) - if n_obs > 9: - for i in range(0, 9): - self.obs_types.append(line[10 + 6 * i:12 + 6 * i]) - n_obs -= 9 - - def _read_next_non_comment(self, f): - line = f.readline() - while line and line.find('COMMENT') != -1: - line = f.readline() - return line - - def _read_epoch_header(self, f): - epoch_hdr = self._read_next_non_comment(f) - if epoch_hdr == '': - return None - # ignore any line with these three strings - skippable = ('0.0000000 4 5', 'MARKER NUMBER', ' 4 1') - while any(skip in epoch_hdr for skip in skippable): - epoch_hdr = self._read_next_non_comment(f) - - if epoch_hdr == '': - return None - - year = int(epoch_hdr[1:3]) - if year >= 80: - year += 1900 - else: - year += 2000 - month = int(epoch_hdr[4:6]) - day = int(epoch_hdr[7:9]) - hour = int(epoch_hdr[10:12]) - minute = int(epoch_hdr[13:15]) - second = int(epoch_hdr[15:18]) - microsecond = int( - epoch_hdr[19:25]) # Discard the least sig. fig. (use microseconds only). - epoch = datetime.datetime(year, month, day, hour, minute, second, microsecond) - - flag = int(epoch_hdr[28]) - allowed_flags = {0, 3, 4} - if flag not in allowed_flags: - raise ValueError("Don't know how to handle epoch flag %d in epoch header:\n%s" % - (flag, epoch_hdr)) - - n_sats = int(epoch_hdr[29:32]) - if flag > 1: # event flag: nsats is number of records - for i in range(n_sats): - f.readline() - return None - - sats = [] - for i in range(0, n_sats): - if ((i % 12) == 0) and (i > 0): - epoch_hdr = f.readline() - sats.append(epoch_hdr[(32 + (i % 12) * 3):(35 + (i % 12) * 3)]) - - return epoch, flag, sats - - def _read_obs(self, f, n_sat, sat_map): - obs = np.empty((TOTAL_SATS, len(self.obs_types)), dtype=np.float64) * np.NaN - lli = np.zeros((TOTAL_SATS, len(self.obs_types)), dtype=np.uint8) - signal_strength = np.zeros((TOTAL_SATS, len(self.obs_types)), dtype=np.uint8) - - for i in range(n_sat): - # Join together observations for a single satellite if split across lines. - obs_line = ''.join( - padline(f.readline()[:-1], 16) for _ in range((len(self.obs_types) + 4) // 5)) - for j in range(len(self.obs_types)): - obs_record = obs_line[16 * j:16 * (j + 1)] - obs[int(sat_map[i]), j] = floatornan(obs_record[0:14]) - lli[int(sat_map[i]), j] = digitorzero(obs_record[14:15]) - signal_strength[int(sat_map[i]), j] = digitorzero(obs_record[15:16]) - - return obs, lli, signal_strength - - def _skip_obs(self, f, n_sat): - for i in range(n_sat): - for _ in range((len(self.obs_types) + 4) // 5): - f.readline() - - def _read_data_chunk(self, f, CHUNK_SIZE=10000): - obss = np.empty( - (CHUNK_SIZE, TOTAL_SATS, len(self.obs_types)), dtype=np.float64) * np.NaN - llis = np.zeros((CHUNK_SIZE, TOTAL_SATS, len(self.obs_types)), dtype=np.uint8) - signal_strengths = np.zeros( - (CHUNK_SIZE, TOTAL_SATS, len(self.obs_types)), dtype=np.uint8) - epochs = np.zeros(CHUNK_SIZE, dtype='datetime64[us]') - flags = np.zeros(CHUNK_SIZE, dtype=np.uint8) - - i = 0 - while True: - hdr = self._read_epoch_header(f) - if hdr is None: - break - # data faster than desired rate: ignore it - if self.rate and (hdr[0].microsecond or hdr[0].second % self.rate != 0): - self._skip_obs(f, len(hdr[2])) - continue - epoch, flags[i], sats = hdr - epochs[i] = np.datetime64(epoch) - sat_map = np.ones(len(sats)) * -1 - for n, sat in enumerate(sats): - if sat[0] == 'G': - sat_map[n] = int(sat[1:]) - 1 - if sat[0] == 'R': - sat_map[n] = int(sat[1:]) - 1 + 64 - obss[i], llis[i], signal_strengths[i] = self._read_obs(f, len(sats), sat_map) - i += 1 - if i >= CHUNK_SIZE: - break - - return obss[:i], llis[:i], signal_strengths[:i], epochs[:i], flags[:i] - - def _read_data(self, f): - self.data = {} - while True: - obss, llis, signal_strengths, epochs, flags = self._read_data_chunk(f) - if obss.shape[0] == 0: - break - - for i, sv in enumerate(['%02d' % d for d in range(1, TOTAL_SATS+1)]): - if sv not in self.data: - self.data[sv] = {} - for j, obs_type in enumerate(self.obs_types): - if obs_type in self.data[sv]: - self.data[sv][obs_type] = np.append(self.data[sv][obs_type], obss[:, i, j]) - else: - self.data[sv][obs_type] = obss[:, i, j] - if 'Epochs' in self.data[sv]: - self.data[sv]['Epochs'] = np.append(self.data[sv]['Epochs'], epochs) - else: - self.data[sv]['Epochs'] = epochs - for sat in list(self.data.keys()): - if np.all(np.isnan(self.data[sat]['C1'])): - del self.data[sat] - - - - - - - - - - - - - - - diff --git a/laika/trop.py b/laika/trop.py deleted file mode 100644 index ff224663f..000000000 --- a/laika/trop.py +++ /dev/null @@ -1,34 +0,0 @@ -#!/usr/bin/python - -from numpy import cos, exp, pi -from .lib.coordinates import ecef2geodetic - - -def saast(pos, el, humi=0.75, temp0=15.0): - """ - Function from RTKlib: https://github.com/tomojitakasu/RTKLIB/blob/master/src/rtkcmn.c#L3362-3362 - with no changes - :param time: time - :param pos: receiver position {ecef} m) - :param el: azimuth/elevation angle {az,el} (rad) -- we do not use az - :param humi: relative humidity - :param temp0: temperature (Celsius) - :return: tropospheric delay (m) - """ - pos_rad = ecef2geodetic(pos, radians=True) - if pos_rad[2] < -1E3 or 1E4 < pos_rad[2] or el <= 0: - return 0.0 - - # /* standard atmosphere */ - hgt = 0.0 if pos_rad[2] < 0.0 else pos_rad[2] - - pres = 1013.25 * pow(1.0 - 2.2557E-5 * hgt, 5.2568) - temp = temp0 - 6.5E-3 * hgt + 273.16 - e = 6.108 * humi * exp((17.15 * temp - 4684.0) / (temp - 38.45)) - - # /* saastamoninen model */ - z = pi / 2.0 - el - trph = 0.0022768 * pres / ( - 1.0 - 0.00266 * cos(2.0 * pos_rad[0]) - 0.00028 * hgt / 1E3) / cos(z) - trpw = 0.002277 * (1255.0 / temp + 0.05) * e / cos(z) - return trph + trpw diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index 9aededc11..115e4fcdd 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -9,9 +9,10 @@ source "$BASEDIR/launch_env.sh" DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" function two_init { + mount -o remount,rw /system + # font installer if [ -f /EON ]; then if [ ! -f /system/fonts/NotoSansCJKtc-Regular.otf ]; then - mount -o remount,rw /system rm -fr /system/fonts/NotoSansTC*.otf rm -fr /system/fonts/NotoSansSC*.otf rm -fr /system/fonts/NotoSansKR*.otf @@ -20,17 +21,16 @@ function two_init { cp -rf /data/openpilot/selfdrive/assets/fonts/fonts.xml /system/etc/fonts.xml chmod 644 /system/etc/fonts.xml chmod 644 /system/fonts/NotoSansCJKtc-* - mount -o remount,r /system fi fi - dt=$(date +%s) - - if [ $dt -le 1658278800 ]; then - date -s 'Wednesday, July 20, 2022 9:00:00 AM GMT+08:00' >/dev/null 2>&1 + # openpilot ssh key installer + if [ ! -f /data/params/d/GithubSshKeys ]; then + echo -n openpilot > /data/params/d/GithubUsername + cat /system/comma/home/setup_keys > /data/params/d/GithubSshKeys + echo -n 1 > /data/params/d/SshEnabled + setprop persist.neos.ssh 1 fi - - mount -o remount,rw /system if [ ! -f /ONEPLUS ] && ! $(grep -q "letv" /proc/cmdline); then sed -i -e 's#/dev/input/event1#/dev/input/event2#g' ~/.bash_profile touch /ONEPLUS @@ -40,6 +40,7 @@ function two_init { fi fi mount -o remount,r /system + # always update to the latest update.zip if [ -f /ONEPLUS ]; then cp -f "$BASEDIR/system/hardware/eon/update.zip" "/data/media/0/update.zip" @@ -82,7 +83,11 @@ function two_init { # 192000000 307200000 384000000 441600000 537600000 614400000 691200000 # 768000000 844800000 902400000 979200000 "1056000000" 1132800000 # 1190400000 1286400000 1363200000 1440000000 1516800000 1593600000 - echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq + if [ -f /ONEPLUS ]; then + echo 1363200 > /sys/class/devfreq/soc:qcom,m4m/max_freq + else + echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq + fi echo "performance" > /sys/class/devfreq/soc:qcom,m4m/governor # unclear if these help, but they don't seem to hurt @@ -134,22 +139,6 @@ function two_init { LIB_PATH="/data/openpilot/system/hardware/eon/libs" PY_LIB_DEST="/system/comma/usr/lib/python3.8/site-packages" mount -o remount,rw /system - # mapd - if [ ! -f "/system/comma/usr/lib/libgfortran.so.5.0.0" ]; then - echo "Installing libgfortran..." - tar -zxvf "$LIB_PATH/libgfortran.tar.gz" -C /system/comma/usr/lib/ - fi - # mapd - MODULE="opspline" - if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then - echo "Installing $MODULE..." - tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/" - fi - MODULE="overpy" - if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then - echo "Installing $MODULE..." - tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/" - fi # laika MODULE="hatanaka" if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then @@ -188,7 +177,7 @@ function two_init { mount -o remount,r /system # Check for NEOS update - if [ -f /LEECO ] && [ $(< /VERSION) != "$NEOS_VERSION" ]; then + if [ -f /LEECO ] && [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then echo "Installing NEOS update" NEOS_PY="$DIR/system/hardware/eon/neos.py" MANIFEST="$DIR/system/hardware/eon/neos.json" @@ -210,7 +199,7 @@ function two_init { # make sure we have the latest os version number. mount -o remount,rw /system - echo -n "$NEOS_VERSION" > /VERSION + echo -n "$REQUIRED_NEOS_VERSION" > /VERSION mount -o remount,r /system } @@ -254,10 +243,10 @@ function launch { # that completed successfully and synced to disk. if [ -f "${BASEDIR}/.overlay_init" ]; then -# find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null -# if [ $? -eq 0 ]; then -# echo "${BASEDIR} has been modified, skipping overlay update installation" -# else + find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null + if [ $? -eq 0 ]; then + echo "${BASEDIR} has been modified, skipping overlay update installation" + else if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then if [ ! -d /data/safe_staging/old_openpilot ]; then echo "Valid overlay update found, installing" @@ -268,7 +257,7 @@ function launch { cd $BASEDIR echo "Restarting launch script ${LAUNCHER_LOCATION}" - unset NEOS_VERSION + unset REQUIRED_NEOS_VERSION unset AGNOS_VERSION exec "${LAUNCHER_LOCATION}" else @@ -276,38 +265,26 @@ function launch { # TODO: restore backup? This means the updater didn't start after swapping fi fi -# fi + fi fi # handle pythonpath ln -sfn $(pwd) /data/pythonpath - export PYTHONPATH="$PWD:$PWD/pyextra" - - # dp - apply custom patch - if [ -f "/data/media/0/dp_patcher.py" ]; then - python /data/media/0/dp_patcher.py - fi - # dp - install default ssh key - python /data/openpilot/scripts/sshkey_installer.py + export PYTHONPATH="$PWD" # hardware specific init - two_init + if [ -f /EON ]; then + two_init + elif [ -f /TICI ]; then + tici_init + fi # write tmux scrollback to a file tmux capture-pane -pq -S-1000 > /tmp/launch_log # start manager cd selfdrive/manager - if [ -f /data/params/d/OsmLocal ]; then - OSM_LOCAL=`cat /data/params/d/OsmLocal` - else - OSM_LOCAL="0" - fi - if [ $OSM_LOCAL = "1" ]; then - ./build.py && ./local_osm_install.py && ./manager.py - else - ./build.py && ./manager.py - fi + ./build.py && ./manager.py # if broken, keep on screen error while true; do sleep 1; done diff --git a/launch_env.sh b/launch_env.sh index 238c896f3..138778cec 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -6,14 +6,14 @@ export NUMEXPR_NUM_THREADS=1 export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 -if [ -z "$NEOS_VERSION" ]; then - export NEOS_VERSION="20" -fi - if [ -z "$AGNOS_VERSION" ]; then export AGNOS_VERSION="6.2" fi +if [ -z "$REQUIRED_NEOS_VERSION" ]; then + export REQUIRED_NEOS_VERSION="20" +fi + if [ -z "$PASSIVE" ]; then export PASSIVE="1" fi diff --git a/opendbc/.gitignore b/opendbc/.gitignore index bf8570d8b..d5c2eb4a3 100644 --- a/opendbc/.gitignore +++ b/opendbc/.gitignore @@ -9,6 +9,7 @@ .sconsign.dblite can/*.so +can/*.a can/build/ can/obj/ can/packer_pyx.cpp diff --git a/opendbc/Dockerfile b/opendbc/Dockerfile index e075f4fcd..c406413ae 100644 --- a/opendbc/Dockerfile +++ b/opendbc/Dockerfile @@ -44,16 +44,14 @@ RUN pip install --no-cache-dir pre-commit==2.15.0 pylint==2.5.2 ENV PYTHONPATH=/project +RUN git config --global --add safe.directory '*' + WORKDIR /project -# TODO: Add tag to cereal RUN git clone https://github.com/commaai/cereal.git /project/cereal && \ cd /project/cereal && \ - git checkout 959ff79963b80829be9902d146c31fda44dbbd20 + git checkout 959ff79963b80829be9902d146c31fda44dbbd20 && \ + rm -rf .git && \ + scons -j$(nproc) COPY SConstruct . COPY ./site_scons /project/site_scons -COPY . /project/opendbc - -RUN rm -rf /project/opendbc/.git && \ - rm -rf /project/cereal/.git -RUN scons -c && scons -j$(nproc) diff --git a/opendbc/acura_ilx_2016_can_generated.dbc b/opendbc/acura_ilx_2016_can_generated.dbc index 854c36ee0..1afb5bade 100644 --- a/opendbc/acura_ilx_2016_can_generated.dbc +++ b/opendbc/acura_ilx_2016_can_generated.dbc @@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY diff --git a/opendbc/acura_rdx_2018_can_generated.dbc b/opendbc/acura_rdx_2018_can_generated.dbc index c9a8dd6d7..6596b4451 100644 --- a/opendbc/acura_rdx_2018_can_generated.dbc +++ b/opendbc/acura_rdx_2018_can_generated.dbc @@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY diff --git a/opendbc/acura_rdx_2020_can_generated.dbc b/opendbc/acura_rdx_2020_can_generated.dbc index 0b8162f05..c6149921d 100644 --- a/opendbc/acura_rdx_2020_can_generated.dbc +++ b/opendbc/acura_rdx_2020_can_generated.dbc @@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY @@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY @@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY diff --git a/opendbc/can/common.h b/opendbc/can/common.h index ba9ce0234..0031d787f 100644 --- a/opendbc/can/common.h +++ b/opendbc/can/common.h @@ -37,6 +37,7 @@ unsigned int pedal_checksum(uint32_t address, const Signal &sig, const std::vect class MessageState { public: + std::string name; uint32_t address; unsigned int size; @@ -80,11 +81,12 @@ public: CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter); #ifndef DYNAMIC_CAPNP void update_string(const std::string &data, bool sendcan); + void update_strings(const std::vector &data, std::vector &vals, bool sendcan); void UpdateCans(uint64_t sec, const capnp::List::Reader& cans); #endif void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans); void UpdateValid(uint64_t sec); - std::vector query_latest(); + void query_latest(std::vector &vals, uint64_t last_ts = 0); }; class CANPacker { diff --git a/opendbc/can/common.pxd b/opendbc/can/common.pxd index c863b65a7..2d3a8eefd 100644 --- a/opendbc/can/common.pxd +++ b/opendbc/can/common.pxd @@ -78,9 +78,8 @@ cdef extern from "common.h": bool can_valid bool bus_timeout CANParser(int, string, vector[MessageParseOptions], vector[SignalParseOptions]) - void update_string(string, bool) - vector[SignalValue] query_latest() + void update_strings(vector[string]&, vector[SignalValue]&, bool) cdef cppclass CANPacker: CANPacker(string) - vector[uint8_t] pack(uint32_t, vector[SignalPackValue]) + vector[uint8_t] pack(uint32_t, vector[SignalPackValue]&) diff --git a/opendbc/can/common_dbc.h b/opendbc/can/common_dbc.h index 21399ad0a..1e0f03452 100644 --- a/opendbc/can/common_dbc.h +++ b/opendbc/can/common_dbc.h @@ -82,19 +82,8 @@ typedef struct ChecksumState { SignalType checksum_type; unsigned int (*calc_checksum)(uint32_t address, const Signal &sig, const std::vector &d); } ChecksumState; -#ifndef QCOM + DBC* dbc_parse(const std::string& dbc_path); -DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum = nullptr); +DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum = nullptr, bool allow_duplicate_msg_name=false); const DBC* dbc_lookup(const std::string& dbc_name); std::vector get_dbc_names(); -#else -std::vector& get_dbcs(); -const DBC* dbc_lookup(const std::string& dbc_name); - -void dbc_register(const DBC* dbc); - -#define dbc_init(dbc) \ -static void __attribute__((constructor)) do_dbc_init_ ## dbc(void) { \ - dbc_register(&dbc); \ -} -#endif diff --git a/opendbc/can/libdbc.so b/opendbc/can/libdbc.so index 9fd1cbbe7..1772591ca 100755 Binary files a/opendbc/can/libdbc.so and b/opendbc/can/libdbc.so differ diff --git a/opendbc/can/packer_pyx.cpp b/opendbc/can/packer_pyx.cpp deleted file mode 100644 index ca164e5b5..000000000 --- a/opendbc/can/packer_pyx.cpp +++ /dev/null @@ -1,5710 +0,0 @@ -/* Generated by Cython 0.29.26 */ - -/* BEGIN: Cython Metadata -{ - "distutils": { - "depends": [ - "opendbc/can/common.h", - "opendbc/can/common_dbc.h" - ], - "include_dirs": [ - "./opendbc/can" - ], - "language": "c++", - "name": "opendbc.can.packer_pyx", - "sources": [ - "/data/openpilot/opendbc/can/packer_pyx.pyx" - ] - }, - "module_name": "opendbc.can.packer_pyx" -} -END: Cython Metadata */ - -#ifndef PY_SSIZE_T_CLEAN -#define PY_SSIZE_T_CLEAN -#endif /* PY_SSIZE_T_CLEAN */ -#include "Python.h" -#ifndef Py_PYTHON_H - 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#ifndef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 1 - #endif - #ifndef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 1 - #endif - #ifndef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) - #endif - #ifndef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) - #endif - #ifndef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) - #endif - #ifndef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) - #endif - #ifndef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) - #endif -#endif -#if !defined(CYTHON_FAST_PYCCALL) -#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) -#endif -#if CYTHON_USE_PYLONG_INTERNALS - #if PY_MAJOR_VERSION < 3 - #include "longintrepr.h" - #endif - #undef SHIFT - #undef BASE - #undef MASK - #ifdef SIZEOF_VOID_P - enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; - #endif -#endif -#ifndef __has_attribute - #define __has_attribute(x) 0 -#endif -#ifndef __has_cpp_attribute - #define __has_cpp_attribute(x) 0 -#endif -#ifndef CYTHON_RESTRICT - #if defined(__GNUC__) - #define CYTHON_RESTRICT __restrict__ - #elif defined(_MSC_VER) && _MSC_VER >= 1400 - #define CYTHON_RESTRICT __restrict - #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L - #define CYTHON_RESTRICT restrict - #else - #define CYTHON_RESTRICT - #endif -#endif -#ifndef CYTHON_UNUSED -# if defined(__GNUC__) -# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -#endif -#ifndef CYTHON_MAYBE_UNUSED_VAR -# if defined(__cplusplus) - template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } -# else -# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) -# endif -#endif -#ifndef CYTHON_NCP_UNUSED -# if CYTHON_COMPILING_IN_CPYTHON -# define CYTHON_NCP_UNUSED -# else -# define CYTHON_NCP_UNUSED CYTHON_UNUSED -# endif -#endif -#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) -#ifdef _MSC_VER - #ifndef _MSC_STDINT_H_ - #if _MSC_VER < 1300 - typedef unsigned char uint8_t; - typedef unsigned int uint32_t; - #else - typedef unsigned __int8 uint8_t; - typedef unsigned __int32 uint32_t; - #endif - #endif -#else - #include -#endif -#ifndef CYTHON_FALLTHROUGH - #if defined(__cplusplus) && __cplusplus >= 201103L - #if __has_cpp_attribute(fallthrough) - #define CYTHON_FALLTHROUGH [[fallthrough]] - #elif __has_cpp_attribute(clang::fallthrough) - #define CYTHON_FALLTHROUGH [[clang::fallthrough]] - #elif __has_cpp_attribute(gnu::fallthrough) - #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] - #endif - #endif - #ifndef CYTHON_FALLTHROUGH - #if __has_attribute(fallthrough) - #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) - #else - #define CYTHON_FALLTHROUGH - #endif - #endif - #if defined(__clang__ ) && defined(__apple_build_version__) - #if __apple_build_version__ < 7000000 - #undef CYTHON_FALLTHROUGH - #define CYTHON_FALLTHROUGH - #endif - #endif -#endif - -#ifndef __cplusplus - #error "Cython files generated with the C++ option must be compiled with a C++ compiler." -#endif -#ifndef CYTHON_INLINE - #if defined(__clang__) - #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) - #else - #define CYTHON_INLINE inline - #endif -#endif -template -void __Pyx_call_destructor(T& x) { - x.~T(); -} -template -class __Pyx_FakeReference { - public: - __Pyx_FakeReference() : ptr(NULL) { } - __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } - T *operator->() { return ptr; } - T *operator&() { return ptr; } - operator T&() { return *ptr; } - template bool operator ==(U other) { return *ptr == other; } - template bool operator !=(U other) { return *ptr != other; } - private: - T *ptr; -}; - -#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) - #define Py_OptimizeFlag 0 -#endif -#define __PYX_BUILD_PY_SSIZE_T "n" -#define CYTHON_FORMAT_SSIZE_T "z" -#if PY_MAJOR_VERSION < 3 - #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) - #define __Pyx_DefaultClassType PyClass_Type -#else - #define __Pyx_BUILTIN_MODULE_NAME "builtins" - #define __Pyx_DefaultClassType PyType_Type -#if PY_VERSION_HEX >= 0x030B00A1 - static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, - PyObject *code, PyObject *c, PyObject* n, PyObject *v, - PyObject *fv, PyObject *cell, PyObject* fn, - PyObject *name, int fline, PyObject *lnos) { - PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; - PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; - const char *fn_cstr=NULL; - const char *name_cstr=NULL; - PyCodeObject* co=NULL; - PyObject *type, *value, *traceback; - PyErr_Fetch(&type, &value, &traceback); - if (!(kwds=PyDict_New())) goto end; - if (!(argcount=PyLong_FromLong(a))) goto end; - if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; - if (!(posonlyargcount=PyLong_FromLong(0))) goto end; - if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; - if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; - if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; - if (!(nlocals=PyLong_FromLong(l))) goto end; - if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; - if (!(stacksize=PyLong_FromLong(s))) goto end; - if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; - if (!(flags=PyLong_FromLong(f))) goto end; - if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; - if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; - if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; - if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; - if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; - if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here - if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; - Py_XDECREF((PyObject*)co); - co = (PyCodeObject*)call_result; - call_result = NULL; - if (0) { - cleanup_code_too: - Py_XDECREF((PyObject*)co); - co = NULL; - } - end: - Py_XDECREF(kwds); - Py_XDECREF(argcount); - Py_XDECREF(posonlyargcount); - Py_XDECREF(kwonlyargcount); - Py_XDECREF(nlocals); - Py_XDECREF(stacksize); - Py_XDECREF(replace); - Py_XDECREF(call_result); - Py_XDECREF(empty); - if (type) { - PyErr_Restore(type, value, traceback); - } - return co; - } -#else - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) -#endif - #define __Pyx_DefaultClassType PyType_Type -#endif -#ifndef Py_TPFLAGS_CHECKTYPES - #define Py_TPFLAGS_CHECKTYPES 0 -#endif -#ifndef Py_TPFLAGS_HAVE_INDEX - #define Py_TPFLAGS_HAVE_INDEX 0 -#endif -#ifndef Py_TPFLAGS_HAVE_NEWBUFFER - #define Py_TPFLAGS_HAVE_NEWBUFFER 0 -#endif -#ifndef Py_TPFLAGS_HAVE_FINALIZE - #define Py_TPFLAGS_HAVE_FINALIZE 0 -#endif -#ifndef METH_STACKLESS - #define METH_STACKLESS 0 -#endif -#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) - #ifndef METH_FASTCALL - #define METH_FASTCALL 0x80 - #endif - typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); - typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, - Py_ssize_t nargs, PyObject *kwnames); -#else - #define __Pyx_PyCFunctionFast _PyCFunctionFast - #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords -#endif -#if CYTHON_FAST_PYCCALL -#define __Pyx_PyFastCFunction_Check(func)\ - ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) -#else -#define __Pyx_PyFastCFunction_Check(func) 0 -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) - #define PyObject_Malloc(s) PyMem_Malloc(s) - #define PyObject_Free(p) PyMem_Free(p) - #define PyObject_Realloc(p) PyMem_Realloc(p) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 - #define PyMem_RawMalloc(n) PyMem_Malloc(n) - #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) - #define PyMem_RawFree(p) PyMem_Free(p) -#endif -#if CYTHON_COMPILING_IN_PYSTON - #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) -#else - #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) -#endif -#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#elif PY_VERSION_HEX >= 0x03060000 - #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() -#elif PY_VERSION_HEX >= 0x03000000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#else - #define __Pyx_PyThreadState_Current _PyThreadState_Current -#endif -#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) -#include "pythread.h" -#define Py_tss_NEEDS_INIT 0 -typedef int Py_tss_t; -static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { - *key = PyThread_create_key(); - return 0; -} -static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { - Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); - *key = Py_tss_NEEDS_INIT; - return key; -} -static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { - PyObject_Free(key); -} -static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { - return *key != Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { - PyThread_delete_key(*key); - *key = Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { - return PyThread_set_key_value(*key, value); -} -static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { - return PyThread_get_key_value(*key); -} -#endif -#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) -#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) -#else -#define __Pyx_PyDict_NewPresized(n) PyDict_New() -#endif -#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION - #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) -#else - #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS -#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) -#else -#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) -#endif -#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) - #define CYTHON_PEP393_ENABLED 1 - #if defined(PyUnicode_IS_READY) - #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ - 0 : _PyUnicode_Ready((PyObject *)(op))) - #else - #define __Pyx_PyUnicode_READY(op) (0) - #endif - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) - #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) - #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) - #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) - #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) - #endif - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) - #endif -#else - #define CYTHON_PEP393_ENABLED 0 - #define PyUnicode_1BYTE_KIND 1 - #define PyUnicode_2BYTE_KIND 2 - #define PyUnicode_4BYTE_KIND 4 - #define __Pyx_PyUnicode_READY(op) (0) - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) - #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) - #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) - #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) -#endif -#if CYTHON_COMPILING_IN_PYPY - #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) -#else - #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ - PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) - #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) - #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) - #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) -#endif -#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? 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PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) -#if PY_MAJOR_VERSION >= 3 - #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) -#else - #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) -#endif -#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) - #define PyObject_ASCII(o) PyObject_Repr(o) -#endif -#if PY_MAJOR_VERSION >= 3 - #define PyBaseString_Type PyUnicode_Type - #define PyStringObject PyUnicodeObject - #define PyString_Type PyUnicode_Type - #define PyString_Check PyUnicode_Check - #define PyString_CheckExact PyUnicode_CheckExact -#ifndef PyObject_Unicode - #define PyObject_Unicode PyObject_Str -#endif -#endif -#if PY_MAJOR_VERSION >= 3 - #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) - #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) -#else - #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) - #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) -#endif -#ifndef PySet_CheckExact - #define PySet_CheckExact(obj) (Py_TYPE(obj) == &PySet_Type) -#endif -#if PY_VERSION_HEX >= 0x030900A4 - #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) - #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) -#else - #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) - #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) -#endif -#if CYTHON_ASSUME_SAFE_MACROS - #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) -#else - #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) -#endif -#if PY_MAJOR_VERSION >= 3 - #define PyIntObject PyLongObject - #define PyInt_Type PyLong_Type - #define PyInt_Check(op) PyLong_Check(op) - #define PyInt_CheckExact(op) PyLong_CheckExact(op) - #define PyInt_FromString PyLong_FromString - #define PyInt_FromUnicode PyLong_FromUnicode - #define PyInt_FromLong PyLong_FromLong - #define PyInt_FromSize_t PyLong_FromSize_t - #define PyInt_FromSsize_t PyLong_FromSsize_t - #define PyInt_AsLong PyLong_AsLong - #define PyInt_AS_LONG PyLong_AS_LONG - #define PyInt_AsSsize_t PyLong_AsSsize_t - #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask - #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask - #define PyNumber_Int PyNumber_Long -#endif -#if PY_MAJOR_VERSION >= 3 - #define PyBoolObject PyLongObject -#endif -#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY - #ifndef PyUnicode_InternFromString - #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) - #endif -#endif -#if PY_VERSION_HEX < 0x030200A4 - typedef long Py_hash_t; - #define __Pyx_PyInt_FromHash_t PyInt_FromLong - #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t -#else - #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t - #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t -#endif -#if PY_MAJOR_VERSION >= 3 - #define __Pyx_PyMethod_New(func, self, klass) ((self) ? 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(Py_INCREF(s), s) :\ - PyObject_Format(s, f)) -#endif - -/* PyCFunctionFastCall.proto */ -#if CYTHON_FAST_PYCCALL -static CYTHON_INLINE PyObject *__Pyx_PyCFunction_FastCall(PyObject *func, PyObject **args, Py_ssize_t nargs); -#else -#define __Pyx_PyCFunction_FastCall(func, args, nargs) (assert(0), NULL) -#endif - -/* PyFunctionFastCall.proto */ -#if CYTHON_FAST_PYCALL -#define __Pyx_PyFunction_FastCall(func, args, nargs)\ - __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) -#if 1 || PY_VERSION_HEX < 0x030600B1 -static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); -#else -#define __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs) _PyFunction_FastCallDict(func, args, nargs, kwargs) -#endif -#define __Pyx_BUILD_ASSERT_EXPR(cond)\ - (sizeof(char [1 - 2*!(cond)]) - 1) -#ifndef Py_MEMBER_SIZE -#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) -#endif -#if CYTHON_FAST_PYCALL - static size_t __pyx_pyframe_localsplus_offset = 0; - #include "frameobject.h" - #define __Pxy_PyFrame_Initialize_Offsets()\ - ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ - (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) - #define __Pyx_PyFrame_GetLocalsplus(frame)\ - (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) -#endif // CYTHON_FAST_PYCALL -#endif - -/* PyObjectCall.proto */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); -#else -#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) -#endif - -/* PyObjectCallMethO.proto */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); -#endif - -/* PyObjectCallOneArg.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); - -/* PyThreadStateGet.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; -#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; -#define __Pyx_PyErr_Occurred() __pyx_tstate->curexc_type -#else -#define __Pyx_PyThreadState_declare -#define __Pyx_PyThreadState_assign -#define __Pyx_PyErr_Occurred() PyErr_Occurred() -#endif - -/* PyErrFetchRestore.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) -#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) -#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) -#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) -#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); -static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#if CYTHON_COMPILING_IN_CPYTHON -#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) -#else -#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) -#endif -#else -#define __Pyx_PyErr_Clear() PyErr_Clear() -#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) -#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) -#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) -#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) -#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) -#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) -#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) -#endif - -/* RaiseException.proto */ -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); - -/* IterFinish.proto */ -static CYTHON_INLINE int __Pyx_IterFinish(void); - -/* PyObjectCallNoArg.proto */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); -#else -#define __Pyx_PyObject_CallNoArg(func) __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL) -#endif - -/* PyObjectGetMethod.proto */ -static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); - -/* PyObjectCallMethod0.proto */ -static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); - -/* RaiseNeedMoreValuesToUnpack.proto */ -static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); - -/* RaiseTooManyValuesToUnpack.proto */ -static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); - -/* UnpackItemEndCheck.proto */ -static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected); - -/* RaiseNoneIterError.proto */ -static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); - -/* UnpackTupleError.proto */ -static void __Pyx_UnpackTupleError(PyObject *, Py_ssize_t index); - -/* UnpackTuple2.proto */ -#define __Pyx_unpack_tuple2(tuple, value1, value2, is_tuple, has_known_size, decref_tuple)\ - (likely(is_tuple || PyTuple_Check(tuple)) ?\ - (likely(has_known_size || PyTuple_GET_SIZE(tuple) == 2) ?\ - __Pyx_unpack_tuple2_exact(tuple, value1, value2, decref_tuple) :\ - (__Pyx_UnpackTupleError(tuple, 2), -1)) :\ - __Pyx_unpack_tuple2_generic(tuple, value1, value2, has_known_size, decref_tuple)) -static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( - PyObject* tuple, PyObject** value1, PyObject** value2, int decref_tuple); -static int __Pyx_unpack_tuple2_generic( - PyObject* tuple, PyObject** value1, PyObject** value2, int has_known_size, int decref_tuple); - -/* dict_iter.proto */ -static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* dict, int is_dict, PyObject* method_name, - Py_ssize_t* p_orig_length, int* p_is_dict); -static CYTHON_INLINE int __Pyx_dict_iter_next(PyObject* dict_or_iter, Py_ssize_t orig_length, Py_ssize_t* ppos, - PyObject** pkey, PyObject** pvalue, PyObject** pitem, int is_dict); - -/* PyObjectCall2Args.proto */ -static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); - -/* WriteUnraisableException.proto */ -static void __Pyx_WriteUnraisable(const char *name, int clineno, - int lineno, const char *filename, - int full_traceback, int nogil); - -/* PyDictVersioning.proto */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) -#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) -#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ - (version_var) = __PYX_GET_DICT_VERSION(dict);\ - (cache_var) = (value); -#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ - static PY_UINT64_T __pyx_dict_version = 0;\ - static PyObject *__pyx_dict_cached_value = NULL;\ - if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ - (VAR) = __pyx_dict_cached_value;\ - } else {\ - (VAR) = __pyx_dict_cached_value = (LOOKUP);\ - __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ - }\ -} -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); -#else -#define __PYX_GET_DICT_VERSION(dict) (0) -#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) -#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); -#endif - -/* PyObject_GenericGetAttrNoDict.proto */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); -#else -#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr -#endif - -/* PyObject_GenericGetAttr.proto */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); -#else -#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr -#endif - -/* SetVTable.proto */ -static int __Pyx_SetVtable(PyObject *dict, void *vtable); - -/* PyErrExceptionMatches.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) -static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); -#else -#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) -#endif - -/* PyObjectGetAttrStrNoError.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); - -/* SetupReduce.proto */ -static int __Pyx_setup_reduce(PyObject* type_obj); - -/* CLineInTraceback.proto */ -#ifdef CYTHON_CLINE_IN_TRACEBACK -#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) -#else -static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); -#endif - -/* CodeObjectCache.proto */ -typedef struct { - PyCodeObject* code_object; - int code_line; -} __Pyx_CodeObjectCacheEntry; -struct __Pyx_CodeObjectCache { - int count; - int max_count; - __Pyx_CodeObjectCacheEntry* entries; -}; -static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; -static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); -static PyCodeObject *__pyx_find_code_object(int code_line); -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); - -/* AddTraceback.proto */ -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename); - -/* None.proto */ -#include - -/* GCCDiagnostics.proto */ -#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) -#define __Pyx_HAS_GCC_DIAGNOSTIC -#endif - -/* CppExceptionConversion.proto */ -#ifndef __Pyx_CppExn2PyErr -#include -#include -#include -#include -static void __Pyx_CppExn2PyErr() { - try { - if (PyErr_Occurred()) - ; // let the latest Python exn pass through and ignore the current one - else - throw; - } catch (const std::bad_alloc& exn) { - PyErr_SetString(PyExc_MemoryError, exn.what()); - } catch (const std::bad_cast& exn) { - PyErr_SetString(PyExc_TypeError, exn.what()); - } catch (const std::bad_typeid& exn) { - PyErr_SetString(PyExc_TypeError, exn.what()); - } catch (const std::domain_error& exn) { - PyErr_SetString(PyExc_ValueError, exn.what()); - } catch (const std::invalid_argument& exn) { - PyErr_SetString(PyExc_ValueError, exn.what()); - } catch (const std::ios_base::failure& exn) { - PyErr_SetString(PyExc_IOError, exn.what()); - } catch (const std::out_of_range& exn) { - PyErr_SetString(PyExc_IndexError, exn.what()); - } catch (const std::overflow_error& exn) { - PyErr_SetString(PyExc_OverflowError, exn.what()); - } catch (const std::range_error& exn) { - PyErr_SetString(PyExc_ArithmeticError, exn.what()); - } catch (const std::underflow_error& exn) { - PyErr_SetString(PyExc_ArithmeticError, exn.what()); - } catch (const std::exception& exn) { - PyErr_SetString(PyExc_RuntimeError, exn.what()); - } - catch (...) - { - PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); - } -} -#endif - -/* CIntFromPy.proto */ -static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); - -/* CIntFromPy.proto */ -static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *); - -/* CIntFromPy.proto */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); - -/* CIntFromPy.proto */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); - -/* FastTypeChecks.proto */ -#if CYTHON_COMPILING_IN_CPYTHON -#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); -#else -#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) -#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) -#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) -#endif -#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) - -/* CheckBinaryVersion.proto */ -static int __Pyx_check_binary_version(void); - -/* InitStrings.proto */ -static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); - -static std::vector __pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_pack(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_addr, PyObject *__pyx_v_values); /* proto*/ -static PyObject *__pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_make_can_msg(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_name_or_addr, PyObject *__pyx_v_bus, PyObject *__pyx_v_values, int __pyx_skip_dispatch); /* proto*/ - -/* Module declarations from 'libc.stdint' */ - -/* Module declarations from 'libcpp.vector' */ - -/* Module declarations from 'libcpp.utility' */ - -/* Module declarations from 'libcpp.map' */ - -/* Module declarations from 'libc.string' */ - -/* Module declarations from 'libcpp.string' */ - -/* Module declarations from 'libcpp' */ - -/* Module declarations from 'posix.dlfcn' */ - -/* Module declarations from 'libcpp.unordered_set' */ - -/* Module declarations from 'opendbc.can.common' */ - -/* Module declarations from 'opendbc.can.packer_pyx' */ -static PyTypeObject *__pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker = 0; -static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ -#define __Pyx_MODULE_NAME "opendbc.can.packer_pyx" -extern int __pyx_module_is_main_opendbc__can__packer_pyx; -int __pyx_module_is_main_opendbc__can__packer_pyx = 0; - -/* Implementation of 'opendbc.can.packer_pyx' */ -static PyObject *__pyx_builtin_RuntimeError; -static PyObject *__pyx_builtin_range; -static PyObject *__pyx_builtin_TypeError; -static const char __pyx_k_bus[] = "bus"; -static const char __pyx_k_main[] = "__main__"; -static const char __pyx_k_name[] = "__name__"; -static const char __pyx_k_test[] = "__test__"; -static const char __pyx_k_utf8[] = "utf8"; -static const char __pyx_k_range[] = "range"; -static const char __pyx_k_encode[] = "encode"; -static const char __pyx_k_reduce[] = "__reduce__"; -static const char __pyx_k_values[] = "values"; -static const char __pyx_k_dbc_name[] = "dbc_name"; -static const char __pyx_k_getstate[] = "__getstate__"; -static const char __pyx_k_setstate[] = "__setstate__"; -static const char __pyx_k_CANPacker[] = "CANPacker"; -static const char __pyx_k_TypeError[] = "TypeError"; -static const char __pyx_k_iteritems[] = "iteritems"; -static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; -static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; -static const char __pyx_k_Can_t_lookup[] = "Can't lookup "; -static const char __pyx_k_RuntimeError[] = "RuntimeError"; -static const char __pyx_k_make_can_msg[] = "make_can_msg"; -static const char __pyx_k_name_or_addr[] = "name_or_addr"; -static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; -static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; -static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; -static const char __pyx_k_self_dbc_self_packer_cannot_be_c[] = "self.dbc,self.packer cannot be converted to a Python object for pickling"; -static PyObject *__pyx_n_s_CANPacker; -static PyObject *__pyx_kp_u_Can_t_lookup; -static PyObject *__pyx_n_s_RuntimeError; -static PyObject *__pyx_n_s_TypeError; 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- #else - "%s() got an unexpected keyword argument '%U'", - function_name, key); - #endif -bad: - return -1; -} - -/* RaiseArgTupleInvalid */ -static void __Pyx_RaiseArgtupleInvalid( - const char* func_name, - int exact, - Py_ssize_t num_min, - Py_ssize_t num_max, - Py_ssize_t num_found) -{ - Py_ssize_t num_expected; - const char *more_or_less; - if (num_found < num_min) { - num_expected = num_min; - more_or_less = "at least"; - } else { - num_expected = num_max; - more_or_less = "at most"; - } - if (exact) { - more_or_less = "exactly"; - } - PyErr_Format(PyExc_TypeError, - "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", - func_name, more_or_less, num_expected, - (num_expected == 1) ? "" : "s", num_found); -} - -/* PyCFunctionFastCall */ -#if CYTHON_FAST_PYCCALL -static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { - PyCFunctionObject *func = (PyCFunctionObject*)func_obj; - PyCFunction meth = PyCFunction_GET_FUNCTION(func); - PyObject *self = PyCFunction_GET_SELF(func); - int flags = PyCFunction_GET_FLAGS(func); - assert(PyCFunction_Check(func)); - assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); - assert(nargs >= 0); - assert(nargs == 0 || args != NULL); - /* _PyCFunction_FastCallDict() must not be called with an exception set, - because it may clear it (directly or indirectly) and so the - caller loses its exception */ - assert(!PyErr_Occurred()); - if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { - return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); - } else { - return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); - } -} -#endif - -/* PyFunctionFastCall */ -#if CYTHON_FAST_PYCALL -static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, - PyObject *globals) { - PyFrameObject *f; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject **fastlocals; - Py_ssize_t i; - PyObject *result; - assert(globals != NULL); - /* XXX Perhaps we should create a specialized - PyFrame_New() that doesn't take locals, but does - take builtins without sanity checking them. - */ - assert(tstate != NULL); - f = PyFrame_New(tstate, co, globals, NULL); - if (f == NULL) { - return NULL; - } - fastlocals = __Pyx_PyFrame_GetLocalsplus(f); - for (i = 0; i < na; i++) { - Py_INCREF(*args); - fastlocals[i] = *args++; - } - result = PyEval_EvalFrameEx(f,0); - ++tstate->recursion_depth; - Py_DECREF(f); - --tstate->recursion_depth; - return result; -} -#if 1 || PY_VERSION_HEX < 0x030600B1 -static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { - PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); - PyObject *globals = PyFunction_GET_GLOBALS(func); - PyObject *argdefs = PyFunction_GET_DEFAULTS(func); - PyObject *closure; -#if PY_MAJOR_VERSION >= 3 - PyObject *kwdefs; -#endif - PyObject *kwtuple, **k; - PyObject **d; - Py_ssize_t nd; - Py_ssize_t nk; - PyObject *result; - assert(kwargs == NULL || PyDict_Check(kwargs)); - nk = kwargs ? PyDict_Size(kwargs) : 0; - if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { - return NULL; - } - if ( -#if PY_MAJOR_VERSION >= 3 - co->co_kwonlyargcount == 0 && -#endif - likely(kwargs == NULL || nk == 0) && - co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { - if (argdefs == NULL && co->co_argcount == nargs) { - result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); - goto done; - } - else if (nargs == 0 && argdefs != NULL - && co->co_argcount == Py_SIZE(argdefs)) { - /* function called with no arguments, but all parameters have - a default value: use default values as arguments .*/ - args = &PyTuple_GET_ITEM(argdefs, 0); - result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); - goto done; - } - } - if (kwargs != NULL) { - Py_ssize_t pos, i; - kwtuple = PyTuple_New(2 * nk); - if (kwtuple == NULL) { - result = NULL; - goto done; - } - k = &PyTuple_GET_ITEM(kwtuple, 0); - pos = i = 0; - while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { - Py_INCREF(k[i]); - Py_INCREF(k[i+1]); - i += 2; - } - nk = i / 2; - } - else { - kwtuple = NULL; - k = NULL; - } - closure = PyFunction_GET_CLOSURE(func); -#if PY_MAJOR_VERSION >= 3 - kwdefs = PyFunction_GET_KW_DEFAULTS(func); -#endif - if (argdefs != NULL) { - d = &PyTuple_GET_ITEM(argdefs, 0); - nd = Py_SIZE(argdefs); - } - else { - d = NULL; - nd = 0; - } -#if PY_MAJOR_VERSION >= 3 - result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, kwdefs, closure); -#else - result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, closure); -#endif - Py_XDECREF(kwtuple); -done: - Py_LeaveRecursiveCall(); - return result; -} -#endif -#endif - -/* PyObjectCall */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { - PyObject *result; - ternaryfunc call = Py_TYPE(func)->tp_call; - if (unlikely(!call)) - return PyObject_Call(func, arg, kw); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = (*call)(func, arg, kw); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallMethO */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { - PyObject *self, *result; - PyCFunction cfunc; - cfunc = PyCFunction_GET_FUNCTION(func); - self = PyCFunction_GET_SELF(func); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = cfunc(self, arg); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallOneArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_New(1); - if (unlikely(!args)) return NULL; - Py_INCREF(arg); - PyTuple_SET_ITEM(args, 0, arg); - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, &arg, 1); - } -#endif - if (likely(PyCFunction_Check(func))) { - if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { - return __Pyx_PyObject_CallMethO(func, arg); -#if CYTHON_FAST_PYCCALL - } else if (__Pyx_PyFastCFunction_Check(func)) { - return __Pyx_PyCFunction_FastCall(func, &arg, 1); -#endif - } - } - return __Pyx__PyObject_CallOneArg(func, arg); -} -#else -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_Pack(1, arg); - if (unlikely(!args)) return NULL; - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -#endif - -/* PyErrFetchRestore */ -#if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - tmp_type = tstate->curexc_type; - tmp_value = tstate->curexc_value; - tmp_tb = tstate->curexc_traceback; - tstate->curexc_type = type; - tstate->curexc_value = value; - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - *type = tstate->curexc_type; - *value = tstate->curexc_value; - *tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -} -#endif - -/* RaiseException */ -#if PY_MAJOR_VERSION < 3 -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, - CYTHON_UNUSED PyObject *cause) { - __Pyx_PyThreadState_declare - Py_XINCREF(type); - if (!value || value == Py_None) - value = NULL; - else - Py_INCREF(value); - if (!tb || tb == Py_None) - tb = NULL; - else { - Py_INCREF(tb); - if (!PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto raise_error; - } - } - if (PyType_Check(type)) { -#if CYTHON_COMPILING_IN_PYPY - if (!value) { - Py_INCREF(Py_None); - value = Py_None; - } -#endif - PyErr_NormalizeException(&type, &value, &tb); - } else { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto raise_error; - } - value = type; - type = (PyObject*) Py_TYPE(type); - Py_INCREF(type); - if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto raise_error; - } - } - __Pyx_PyThreadState_assign - __Pyx_ErrRestore(type, value, tb); - return; -raise_error: - Py_XDECREF(value); - Py_XDECREF(type); - Py_XDECREF(tb); - return; -} -#else -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { - PyObject* owned_instance = NULL; - if (tb == Py_None) { - tb = 0; - } else if (tb && !PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto bad; - } - if (value == Py_None) - value = 0; - if (PyExceptionInstance_Check(type)) { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto bad; - } - value = type; - type = (PyObject*) Py_TYPE(value); - } else if (PyExceptionClass_Check(type)) { - PyObject *instance_class = NULL; - if (value && PyExceptionInstance_Check(value)) { - instance_class = (PyObject*) Py_TYPE(value); - if (instance_class != type) { - int is_subclass = PyObject_IsSubclass(instance_class, type); - if (!is_subclass) { - instance_class = NULL; - } else if (unlikely(is_subclass == -1)) { - goto bad; - } else { - type = instance_class; - } - } - } - if (!instance_class) { - PyObject *args; - if (!value) - args = PyTuple_New(0); - else if (PyTuple_Check(value)) { - Py_INCREF(value); - args = value; - } else - args = PyTuple_Pack(1, value); - if (!args) - goto bad; - owned_instance = PyObject_Call(type, args, NULL); - Py_DECREF(args); - if (!owned_instance) - goto bad; - value = owned_instance; - if (!PyExceptionInstance_Check(value)) { - PyErr_Format(PyExc_TypeError, - "calling %R should have returned an instance of " - "BaseException, not %R", - type, Py_TYPE(value)); - goto bad; - } - } - } else { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto bad; - } - if (cause) { - PyObject *fixed_cause; - if (cause == Py_None) { - fixed_cause = NULL; - } else if (PyExceptionClass_Check(cause)) { - fixed_cause = PyObject_CallObject(cause, NULL); - if (fixed_cause == NULL) - goto bad; - } else if (PyExceptionInstance_Check(cause)) { - fixed_cause = cause; - Py_INCREF(fixed_cause); - } else { - PyErr_SetString(PyExc_TypeError, - "exception causes must derive from " - "BaseException"); - goto bad; - } - PyException_SetCause(value, fixed_cause); - } - PyErr_SetObject(type, value); - if (tb) { -#if CYTHON_COMPILING_IN_PYPY - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); - Py_INCREF(tb); - PyErr_Restore(tmp_type, tmp_value, tb); - Py_XDECREF(tmp_tb); -#else - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* tmp_tb = tstate->curexc_traceback; - if (tb != tmp_tb) { - Py_INCREF(tb); - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_tb); - } -#endif - } -bad: - Py_XDECREF(owned_instance); - return; -} -#endif - -/* IterFinish */ -static CYTHON_INLINE int __Pyx_IterFinish(void) { -#if CYTHON_FAST_THREAD_STATE - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* exc_type = tstate->curexc_type; - if (unlikely(exc_type)) { - if (likely(__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) { - PyObject *exc_value, *exc_tb; - exc_value = tstate->curexc_value; - exc_tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; - Py_DECREF(exc_type); - Py_XDECREF(exc_value); - Py_XDECREF(exc_tb); - return 0; - } else { - return -1; - } - } - return 0; -#else - if (unlikely(PyErr_Occurred())) { - if (likely(PyErr_ExceptionMatches(PyExc_StopIteration))) { - PyErr_Clear(); - return 0; - } else { - return -1; - } - } - return 0; -#endif -} - -/* PyObjectCallNoArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, NULL, 0); - } -#endif -#ifdef __Pyx_CyFunction_USED - if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) -#else - if (likely(PyCFunction_Check(func))) -#endif - { - if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { - return __Pyx_PyObject_CallMethO(func, NULL); - } - } - return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); -} -#endif - -/* PyObjectGetMethod */ -static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { - PyObject *attr; -#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP - PyTypeObject *tp = Py_TYPE(obj); - PyObject *descr; - descrgetfunc f = NULL; - PyObject **dictptr, *dict; - int meth_found = 0; - assert (*method == NULL); - if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { - attr = __Pyx_PyObject_GetAttrStr(obj, name); - goto try_unpack; - } - if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { - return 0; - } - descr = _PyType_Lookup(tp, name); - if (likely(descr != NULL)) { - Py_INCREF(descr); -#if PY_MAJOR_VERSION >= 3 - #ifdef __Pyx_CyFunction_USED - if (likely(PyFunction_Check(descr) || (Py_TYPE(descr) == &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) - #else - if (likely(PyFunction_Check(descr) || (Py_TYPE(descr) == &PyMethodDescr_Type))) - #endif -#else - #ifdef __Pyx_CyFunction_USED - if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) - #else - if (likely(PyFunction_Check(descr))) - #endif -#endif - { - meth_found = 1; - } else { - f = Py_TYPE(descr)->tp_descr_get; - if (f != NULL && PyDescr_IsData(descr)) { - attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); - Py_DECREF(descr); - goto try_unpack; - } - } - } - dictptr = _PyObject_GetDictPtr(obj); - if (dictptr != NULL && (dict = *dictptr) != NULL) { - Py_INCREF(dict); - attr = __Pyx_PyDict_GetItemStr(dict, name); - if (attr != NULL) { - Py_INCREF(attr); - Py_DECREF(dict); - Py_XDECREF(descr); - goto try_unpack; - } - Py_DECREF(dict); - } - if (meth_found) { - *method = descr; - return 1; - } - if (f != NULL) { - attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); - Py_DECREF(descr); - goto try_unpack; - } - if (descr != NULL) { - *method = descr; - return 0; - } - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(name)); -#endif - return 0; -#else - attr = __Pyx_PyObject_GetAttrStr(obj, name); - goto try_unpack; -#endif -try_unpack: -#if CYTHON_UNPACK_METHODS - if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { - PyObject *function = PyMethod_GET_FUNCTION(attr); - Py_INCREF(function); - Py_DECREF(attr); - *method = function; - return 1; - } -#endif - *method = attr; - return 0; -} - -/* PyObjectCallMethod0 */ -static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { - PyObject *method = NULL, *result = NULL; - int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); - if (likely(is_method)) { - result = __Pyx_PyObject_CallOneArg(method, obj); - Py_DECREF(method); - return result; - } - if (unlikely(!method)) goto bad; - result = __Pyx_PyObject_CallNoArg(method); - Py_DECREF(method); -bad: - return result; -} - -/* RaiseNeedMoreValuesToUnpack */ -static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { - PyErr_Format(PyExc_ValueError, - "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", - index, (index == 1) ? "" : "s"); -} - -/* RaiseTooManyValuesToUnpack */ -static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { - PyErr_Format(PyExc_ValueError, - "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); -} - -/* UnpackItemEndCheck */ -static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { - if (unlikely(retval)) { - Py_DECREF(retval); - __Pyx_RaiseTooManyValuesError(expected); - return -1; - } else { - return __Pyx_IterFinish(); - } - return 0; -} - -/* RaiseNoneIterError */ -static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { - PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); -} - -/* UnpackTupleError */ -static void __Pyx_UnpackTupleError(PyObject *t, Py_ssize_t index) { - if (t == Py_None) { - __Pyx_RaiseNoneNotIterableError(); - } else if (PyTuple_GET_SIZE(t) < index) { - __Pyx_RaiseNeedMoreValuesError(PyTuple_GET_SIZE(t)); - } else { - __Pyx_RaiseTooManyValuesError(index); - } -} - -/* UnpackTuple2 */ -static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( - PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, int decref_tuple) { - PyObject *value1 = NULL, *value2 = NULL; -#if CYTHON_COMPILING_IN_PYPY - value1 = PySequence_ITEM(tuple, 0); if (unlikely(!value1)) goto bad; - value2 = PySequence_ITEM(tuple, 1); if (unlikely(!value2)) goto bad; -#else - value1 = PyTuple_GET_ITEM(tuple, 0); Py_INCREF(value1); - value2 = PyTuple_GET_ITEM(tuple, 1); Py_INCREF(value2); -#endif - if (decref_tuple) { - Py_DECREF(tuple); - } - *pvalue1 = value1; - *pvalue2 = value2; - return 0; -#if CYTHON_COMPILING_IN_PYPY -bad: - Py_XDECREF(value1); - Py_XDECREF(value2); - if (decref_tuple) { Py_XDECREF(tuple); } - return -1; -#endif -} -static int __Pyx_unpack_tuple2_generic(PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, - int has_known_size, int decref_tuple) { - Py_ssize_t index; - PyObject *value1 = NULL, *value2 = NULL, *iter = NULL; - iternextfunc iternext; - iter = PyObject_GetIter(tuple); - if (unlikely(!iter)) goto bad; - if (decref_tuple) { Py_DECREF(tuple); tuple = NULL; } - iternext = Py_TYPE(iter)->tp_iternext; - value1 = iternext(iter); if (unlikely(!value1)) { index = 0; goto unpacking_failed; } - value2 = iternext(iter); if (unlikely(!value2)) { index = 1; goto unpacking_failed; } - if (!has_known_size && unlikely(__Pyx_IternextUnpackEndCheck(iternext(iter), 2))) goto bad; - Py_DECREF(iter); - *pvalue1 = value1; - *pvalue2 = value2; - return 0; -unpacking_failed: - if (!has_known_size && __Pyx_IterFinish() == 0) - __Pyx_RaiseNeedMoreValuesError(index); -bad: - Py_XDECREF(iter); - Py_XDECREF(value1); - Py_XDECREF(value2); - if (decref_tuple) { Py_XDECREF(tuple); } - return -1; -} - -/* dict_iter */ -static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* iterable, int is_dict, PyObject* method_name, - Py_ssize_t* p_orig_length, int* p_source_is_dict) { - is_dict = is_dict || likely(PyDict_CheckExact(iterable)); - *p_source_is_dict = is_dict; - if (is_dict) { -#if !CYTHON_COMPILING_IN_PYPY - *p_orig_length = PyDict_Size(iterable); - Py_INCREF(iterable); - return iterable; -#elif PY_MAJOR_VERSION >= 3 - static PyObject *py_items = NULL, *py_keys = NULL, *py_values = NULL; - PyObject **pp = NULL; - if (method_name) { - const char *name = PyUnicode_AsUTF8(method_name); - if (strcmp(name, "iteritems") == 0) pp = &py_items; - else if (strcmp(name, "iterkeys") == 0) pp = &py_keys; - else if (strcmp(name, "itervalues") == 0) pp = &py_values; - if (pp) { - if (!*pp) { - *pp = PyUnicode_FromString(name + 4); - if (!*pp) - return NULL; - } - method_name = *pp; - } - } -#endif - } - *p_orig_length = 0; - if (method_name) { - PyObject* iter; - iterable = __Pyx_PyObject_CallMethod0(iterable, method_name); - if (!iterable) - return NULL; -#if !CYTHON_COMPILING_IN_PYPY - if (PyTuple_CheckExact(iterable) || PyList_CheckExact(iterable)) - return iterable; -#endif - iter = PyObject_GetIter(iterable); - Py_DECREF(iterable); - return iter; - } - return PyObject_GetIter(iterable); -} -static CYTHON_INLINE int __Pyx_dict_iter_next( - PyObject* iter_obj, CYTHON_NCP_UNUSED Py_ssize_t orig_length, CYTHON_NCP_UNUSED Py_ssize_t* ppos, - PyObject** pkey, PyObject** pvalue, PyObject** pitem, int source_is_dict) { - PyObject* next_item; -#if !CYTHON_COMPILING_IN_PYPY - if (source_is_dict) { - PyObject *key, *value; - if (unlikely(orig_length != PyDict_Size(iter_obj))) { - PyErr_SetString(PyExc_RuntimeError, "dictionary changed size during iteration"); - return -1; - } - if (unlikely(!PyDict_Next(iter_obj, ppos, &key, &value))) { - return 0; - } - if (pitem) { - PyObject* tuple = PyTuple_New(2); - if (unlikely(!tuple)) { - return -1; - } - Py_INCREF(key); - Py_INCREF(value); - PyTuple_SET_ITEM(tuple, 0, key); - PyTuple_SET_ITEM(tuple, 1, value); - *pitem = tuple; - } else { - if (pkey) { - Py_INCREF(key); - *pkey = key; - } - if (pvalue) { - Py_INCREF(value); - *pvalue = value; - } - } - return 1; - } else if (PyTuple_CheckExact(iter_obj)) { - Py_ssize_t pos = *ppos; - if (unlikely(pos >= PyTuple_GET_SIZE(iter_obj))) return 0; - *ppos = pos + 1; - next_item = PyTuple_GET_ITEM(iter_obj, pos); - Py_INCREF(next_item); - } else if (PyList_CheckExact(iter_obj)) { - Py_ssize_t pos = *ppos; - if (unlikely(pos >= PyList_GET_SIZE(iter_obj))) return 0; - *ppos = pos + 1; - next_item = PyList_GET_ITEM(iter_obj, pos); - Py_INCREF(next_item); - } else -#endif - { - next_item = PyIter_Next(iter_obj); - if (unlikely(!next_item)) { - return __Pyx_IterFinish(); - } - } - if (pitem) { - *pitem = next_item; - } else if (pkey && pvalue) { - if (__Pyx_unpack_tuple2(next_item, pkey, pvalue, source_is_dict, source_is_dict, 1)) - return -1; - } else if (pkey) { - *pkey = next_item; - } else { - *pvalue = next_item; - } - return 1; -} - -/* PyObjectCall2Args */ -static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { - PyObject *args, *result = NULL; - #if CYTHON_FAST_PYCALL - if (PyFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyFunction_FastCall(function, args, 2); - } - #endif - #if CYTHON_FAST_PYCCALL - if (__Pyx_PyFastCFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyCFunction_FastCall(function, args, 2); - } - #endif - args = PyTuple_New(2); - if (unlikely(!args)) goto done; - Py_INCREF(arg1); - PyTuple_SET_ITEM(args, 0, arg1); - Py_INCREF(arg2); - PyTuple_SET_ITEM(args, 1, arg2); - Py_INCREF(function); - result = __Pyx_PyObject_Call(function, args, NULL); - Py_DECREF(args); - Py_DECREF(function); -done: - return result; -} - -/* WriteUnraisableException */ -static void __Pyx_WriteUnraisable(const char *name, CYTHON_UNUSED int clineno, - CYTHON_UNUSED int lineno, CYTHON_UNUSED const char *filename, - int full_traceback, CYTHON_UNUSED int nogil) { - PyObject *old_exc, *old_val, *old_tb; - PyObject *ctx; - __Pyx_PyThreadState_declare -#ifdef WITH_THREAD - PyGILState_STATE state; - if (nogil) - state = PyGILState_Ensure(); -#ifdef _MSC_VER - else state = (PyGILState_STATE)-1; -#endif -#endif - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&old_exc, &old_val, &old_tb); - if (full_traceback) { - Py_XINCREF(old_exc); - Py_XINCREF(old_val); - Py_XINCREF(old_tb); - __Pyx_ErrRestore(old_exc, old_val, old_tb); - PyErr_PrintEx(1); - } - #if PY_MAJOR_VERSION < 3 - ctx = PyString_FromString(name); - #else - ctx = PyUnicode_FromString(name); - #endif - __Pyx_ErrRestore(old_exc, old_val, old_tb); - if (!ctx) { - PyErr_WriteUnraisable(Py_None); - } else { - PyErr_WriteUnraisable(ctx); - Py_DECREF(ctx); - } -#ifdef WITH_THREAD - if (nogil) - PyGILState_Release(state); -#endif -} - -/* PyDictVersioning */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; -} -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { - PyObject **dictptr = NULL; - Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; - if (offset) { -#if CYTHON_COMPILING_IN_CPYTHON - dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); -#else - dictptr = _PyObject_GetDictPtr(obj); -#endif - } - return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; -} -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) - return 0; - return obj_dict_version == __Pyx_get_object_dict_version(obj); -} -#endif - -/* PyObject_GenericGetAttrNoDict */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, attr_name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(attr_name)); -#endif - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { - PyObject *descr; - PyTypeObject *tp = Py_TYPE(obj); - if (unlikely(!PyString_Check(attr_name))) { - return PyObject_GenericGetAttr(obj, attr_name); - } - assert(!tp->tp_dictoffset); - descr = _PyType_Lookup(tp, attr_name); - if (unlikely(!descr)) { - return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); - } - Py_INCREF(descr); - #if PY_MAJOR_VERSION < 3 - if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) - #endif - { - descrgetfunc f = Py_TYPE(descr)->tp_descr_get; - if (unlikely(f)) { - PyObject *res = f(descr, obj, (PyObject *)tp); - Py_DECREF(descr); - return res; - } - } - return descr; -} -#endif - -/* PyObject_GenericGetAttr */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { - if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { - return PyObject_GenericGetAttr(obj, attr_name); - } - return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); -} -#endif - -/* SetVTable */ -static int __Pyx_SetVtable(PyObject *dict, void *vtable) { -#if PY_VERSION_HEX >= 0x02070000 - PyObject *ob = PyCapsule_New(vtable, 0, 0); -#else - PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); -#endif - if (!ob) - goto bad; - if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) - goto bad; - Py_DECREF(ob); - return 0; -bad: - Py_XDECREF(ob); - return -1; -} - -/* PyErrExceptionMatches */ -#if CYTHON_FAST_THREAD_STATE -static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; icurexc_type; - if (exc_type == err) return 1; - if (unlikely(!exc_type)) return 0; - if (unlikely(PyTuple_Check(err))) - return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); - return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); -} -#endif - -/* PyObjectGetAttrStrNoError */ -static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - __Pyx_PyErr_Clear(); -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { - PyObject *result; -#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { - return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); - } -#endif - result = __Pyx_PyObject_GetAttrStr(obj, attr_name); - if (unlikely(!result)) { - __Pyx_PyObject_GetAttrStr_ClearAttributeError(); - } - return result; -} - -/* SetupReduce */ -static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { - int ret; - PyObject *name_attr; - name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name); - if (likely(name_attr)) { - ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); - } else { - ret = -1; - } - if (unlikely(ret < 0)) { - PyErr_Clear(); - ret = 0; - } - Py_XDECREF(name_attr); - return ret; -} -static int __Pyx_setup_reduce(PyObject* type_obj) { - int ret = 0; - PyObject *object_reduce = NULL; - PyObject *object_reduce_ex = NULL; - PyObject *reduce = NULL; - PyObject *reduce_ex = NULL; - PyObject *reduce_cython = NULL; - PyObject *setstate = NULL; - PyObject *setstate_cython = NULL; -#if CYTHON_USE_PYTYPE_LOOKUP - if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#else - if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#endif -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#else - object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#endif - reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; - if (reduce_ex == object_reduce_ex) { -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#else - object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#endif - reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; - if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { - reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); - if (likely(reduce_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (reduce == object_reduce || PyErr_Occurred()) { - goto __PYX_BAD; - } - setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); - if (!setstate) PyErr_Clear(); - if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { - setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); - if (likely(setstate_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (!setstate || PyErr_Occurred()) { - goto __PYX_BAD; - } - } - PyType_Modified((PyTypeObject*)type_obj); - } - } - goto __PYX_GOOD; -__PYX_BAD: - if (!PyErr_Occurred()) - PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); - ret = -1; -__PYX_GOOD: -#if !CYTHON_USE_PYTYPE_LOOKUP - Py_XDECREF(object_reduce); - Py_XDECREF(object_reduce_ex); -#endif - Py_XDECREF(reduce); - Py_XDECREF(reduce_ex); - Py_XDECREF(reduce_cython); - Py_XDECREF(setstate); - Py_XDECREF(setstate_cython); - return ret; -} - -/* CLineInTraceback */ -#ifndef CYTHON_CLINE_IN_TRACEBACK -static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { - PyObject *use_cline; - PyObject *ptype, *pvalue, *ptraceback; -#if CYTHON_COMPILING_IN_CPYTHON - PyObject **cython_runtime_dict; -#endif - if (unlikely(!__pyx_cython_runtime)) { - return c_line; - } - __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); -#if CYTHON_COMPILING_IN_CPYTHON - cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); - if (likely(cython_runtime_dict)) { - __PYX_PY_DICT_LOOKUP_IF_MODIFIED( - use_cline, *cython_runtime_dict, - __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) - } else -#endif - { - PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); - if (use_cline_obj) { - use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; - Py_DECREF(use_cline_obj); - } else { - PyErr_Clear(); - use_cline = NULL; - } - } - if (!use_cline) { - c_line = 0; - (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); - } - else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { - c_line = 0; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - return c_line; -} -#endif - -/* CodeObjectCache */ -static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { - int start = 0, mid = 0, end = count - 1; - if (end >= 0 && code_line > entries[end].code_line) { - return count; - } - while (start < end) { - mid = start + (end - start) / 2; - if (code_line < entries[mid].code_line) { - end = mid; - } else if (code_line > entries[mid].code_line) { - start = mid + 1; - } else { - return mid; - } - } - if (code_line <= entries[mid].code_line) { - return mid; - } else { - return mid + 1; - } -} -static PyCodeObject *__pyx_find_code_object(int code_line) { - PyCodeObject* code_object; - int pos; - if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { - return NULL; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { - return NULL; - } - code_object = __pyx_code_cache.entries[pos].code_object; - Py_INCREF(code_object); - return code_object; -} -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { - int pos, i; - __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; - if (unlikely(!code_line)) { - return; - } - if (unlikely(!entries)) { - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); - if (likely(entries)) { - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = 64; - __pyx_code_cache.count = 1; - entries[0].code_line = code_line; - entries[0].code_object = code_object; - Py_INCREF(code_object); - } - return; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { - PyCodeObject* tmp = entries[pos].code_object; - entries[pos].code_object = code_object; - Py_DECREF(tmp); - return; - } - if (__pyx_code_cache.count == __pyx_code_cache.max_count) { - int new_max = __pyx_code_cache.max_count + 64; - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( - __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); - if (unlikely(!entries)) { - return; - } - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = new_max; - } - for (i=__pyx_code_cache.count; i>pos; i--) { - entries[i] = entries[i-1]; - } - entries[pos].code_line = code_line; - entries[pos].code_object = code_object; - __pyx_code_cache.count++; - Py_INCREF(code_object); -} - -/* AddTraceback */ -#include "compile.h" -#include "frameobject.h" -#include "traceback.h" -static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( - const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = NULL; - PyObject *py_funcname = NULL; - #if PY_MAJOR_VERSION < 3 - PyObject *py_srcfile = NULL; - py_srcfile = PyString_FromString(filename); - if (!py_srcfile) goto bad; - #endif - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - funcname = PyUnicode_AsUTF8(py_funcname); - if (!funcname) goto bad; - #endif - } - else { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); - if (!py_funcname) goto bad; - #endif - } - #if PY_MAJOR_VERSION < 3 - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - #else - py_code = PyCode_NewEmpty(filename, funcname, py_line); - #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline - return py_code; -bad: - Py_XDECREF(py_funcname); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_srcfile); - #endif - return NULL; -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); - } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) goto bad; - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); - } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); -} - -/* CIntFromPyVerify */ -#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ - } - -/* CIntFromPy */ -static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(size_t) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (size_t) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (size_t) 0; - case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, digits[0]) - case 2: - if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 2 * PyLong_SHIFT) { - return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 3 * PyLong_SHIFT) { - return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 4 * PyLong_SHIFT) { - return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (size_t) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(size_t) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (size_t) 0; - case -1: __PYX_VERIFY_RETURN_INT(size_t, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, +digits[0]) - case -2: - if (8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { - return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - } -#endif - if (sizeof(size_t) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(size_t) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - size_t val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (size_t) -1; - } - } else { - size_t val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (size_t) -1; - val = __Pyx_PyInt_As_size_t(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to size_t"); - return (size_t) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to size_t"); - return (size_t) -1; -} - -/* CIntFromPy */ -static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(uint32_t) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(uint32_t, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (uint32_t) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (uint32_t) 0; - case 1: __PYX_VERIFY_RETURN_INT(uint32_t, digit, digits[0]) - case 2: - if (8 * sizeof(uint32_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) >= 2 * PyLong_SHIFT) { - return (uint32_t) (((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(uint32_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) >= 3 * PyLong_SHIFT) { - return (uint32_t) (((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(uint32_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) >= 4 * PyLong_SHIFT) { - return (uint32_t) (((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (uint32_t) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(uint32_t) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (uint32_t) 0; - case -1: __PYX_VERIFY_RETURN_INT(uint32_t, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(uint32_t, digit, +digits[0]) - case -2: - if (8 * sizeof(uint32_t) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { - return (uint32_t) (((uint32_t)-1)*(((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(uint32_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { - return (uint32_t) ((((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { - return (uint32_t) (((uint32_t)-1)*(((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(uint32_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { - return (uint32_t) ((((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT) { - return (uint32_t) (((uint32_t)-1)*(((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(uint32_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT) { - return (uint32_t) ((((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - } -#endif - if (sizeof(uint32_t) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(uint32_t, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(uint32_t) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(uint32_t, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - uint32_t val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (uint32_t) -1; - } - } else { - uint32_t val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (uint32_t) -1; - val = __Pyx_PyInt_As_uint32_t(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to uint32_t"); - return (uint32_t) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to uint32_t"); - return (uint32_t) -1; -} - -/* CIntFromPy */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(int) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (int) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { - return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { - return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { - return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(int) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) - case -2: - if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - } -#endif - if (sizeof(int) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - int val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (int) -1; - } - } else { - int val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (int) -1; - val = __Pyx_PyInt_As_int(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to int"); - return (int) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to int"); - return (int) -1; -} - -/* CIntToPy */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(int) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(int) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(int) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(int), - little, !is_unsigned); - } -} - -/* CIntToPy */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); - } -} - -/* CIntFromPy */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(long) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (long) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { - return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { - return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { - return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(long) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) - case -2: - if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - } -#endif - if (sizeof(long) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - long val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (long) -1; - } - } else { - long val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (long) -1; - val = __Pyx_PyInt_As_long(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to long"); - return (long) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to long"); - return (long) -1; -} - -/* FastTypeChecks */ -#if CYTHON_COMPILING_IN_CPYTHON -static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { - while (a) { - a = a->tp_base; - if (a == b) - return 1; - } - return b == &PyBaseObject_Type; -} -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (a == b) return 1; - mro = a->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(a, b); -} -#if PY_MAJOR_VERSION == 2 -static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { - PyObject *exception, *value, *tb; - int res; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&exception, &value, &tb); - res = exc_type1 ? 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#ifndef _MSC_STDINT_H_ - #if _MSC_VER < 1300 - typedef unsigned char uint8_t; - typedef unsigned int uint32_t; - #else - typedef unsigned __int8 uint8_t; - typedef unsigned __int32 uint32_t; - #endif - #endif -#else - #include -#endif -#ifndef CYTHON_FALLTHROUGH - #if defined(__cplusplus) && __cplusplus >= 201103L - #if __has_cpp_attribute(fallthrough) - #define CYTHON_FALLTHROUGH [[fallthrough]] - #elif __has_cpp_attribute(clang::fallthrough) - #define CYTHON_FALLTHROUGH [[clang::fallthrough]] - #elif __has_cpp_attribute(gnu::fallthrough) - #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] - #endif - #endif - #ifndef CYTHON_FALLTHROUGH - #if __has_attribute(fallthrough) - #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) - #else - #define CYTHON_FALLTHROUGH - #endif - #endif - #if defined(__clang__ ) && defined(__apple_build_version__) - #if __apple_build_version__ < 7000000 - #undef CYTHON_FALLTHROUGH - #define CYTHON_FALLTHROUGH - #endif - #endif -#endif - -#ifndef __cplusplus - #error "Cython files generated with the C++ option must be compiled with a C++ compiler." -#endif -#ifndef CYTHON_INLINE - #if defined(__clang__) - #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) - #else - #define CYTHON_INLINE inline - #endif -#endif -template -void __Pyx_call_destructor(T& x) { - x.~T(); -} -template -class __Pyx_FakeReference { - public: - __Pyx_FakeReference() : ptr(NULL) { } - __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } - T *operator->() { return ptr; } - T *operator&() { return ptr; } - operator T&() { return *ptr; } - template bool operator ==(U other) { return *ptr == other; } - template bool operator !=(U other) { return *ptr != other; } - private: - T *ptr; -}; - -#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) - #define Py_OptimizeFlag 0 -#endif -#define __PYX_BUILD_PY_SSIZE_T "n" -#define CYTHON_FORMAT_SSIZE_T "z" -#if PY_MAJOR_VERSION < 3 - #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) - #define __Pyx_DefaultClassType PyClass_Type -#else - #define __Pyx_BUILTIN_MODULE_NAME "builtins" - #define __Pyx_DefaultClassType PyType_Type -#if PY_VERSION_HEX >= 0x030B00A1 - static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, - PyObject *code, PyObject *c, PyObject* n, PyObject *v, - PyObject *fv, PyObject *cell, PyObject* fn, - PyObject *name, int fline, PyObject *lnos) { - PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; - PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; - const char *fn_cstr=NULL; - const char *name_cstr=NULL; - PyCodeObject* co=NULL; - PyObject *type, *value, *traceback; - PyErr_Fetch(&type, &value, &traceback); - if (!(kwds=PyDict_New())) goto end; - if (!(argcount=PyLong_FromLong(a))) goto end; - if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; - if (!(posonlyargcount=PyLong_FromLong(0))) goto end; - if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; - if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; - if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; - if (!(nlocals=PyLong_FromLong(l))) goto end; - if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; - if (!(stacksize=PyLong_FromLong(s))) goto end; - if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; - if (!(flags=PyLong_FromLong(f))) goto end; - if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; - if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; - if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; - if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; - if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; - if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here - if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; - Py_XDECREF((PyObject*)co); - co = (PyCodeObject*)call_result; - call_result = NULL; - if (0) { - cleanup_code_too: - Py_XDECREF((PyObject*)co); - co = NULL; - } - end: - Py_XDECREF(kwds); - Py_XDECREF(argcount); - Py_XDECREF(posonlyargcount); - Py_XDECREF(kwonlyargcount); - Py_XDECREF(nlocals); - Py_XDECREF(stacksize); - Py_XDECREF(replace); - Py_XDECREF(call_result); - Py_XDECREF(empty); - if (type) { - PyErr_Restore(type, value, traceback); - } - return co; - } -#else - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) -#endif - #define __Pyx_DefaultClassType PyType_Type -#endif -#ifndef Py_TPFLAGS_CHECKTYPES - #define Py_TPFLAGS_CHECKTYPES 0 -#endif -#ifndef Py_TPFLAGS_HAVE_INDEX - #define Py_TPFLAGS_HAVE_INDEX 0 -#endif -#ifndef Py_TPFLAGS_HAVE_NEWBUFFER - #define Py_TPFLAGS_HAVE_NEWBUFFER 0 -#endif -#ifndef Py_TPFLAGS_HAVE_FINALIZE - #define Py_TPFLAGS_HAVE_FINALIZE 0 -#endif -#ifndef METH_STACKLESS - #define METH_STACKLESS 0 -#endif -#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) - #ifndef METH_FASTCALL - #define METH_FASTCALL 0x80 - #endif - typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); - typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, - Py_ssize_t nargs, PyObject *kwnames); -#else - #define __Pyx_PyCFunctionFast _PyCFunctionFast - #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords -#endif -#if CYTHON_FAST_PYCCALL -#define __Pyx_PyFastCFunction_Check(func)\ - ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) -#else -#define __Pyx_PyFastCFunction_Check(func) 0 -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) - #define PyObject_Malloc(s) PyMem_Malloc(s) - #define PyObject_Free(p) PyMem_Free(p) - #define PyObject_Realloc(p) PyMem_Realloc(p) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 - #define PyMem_RawMalloc(n) PyMem_Malloc(n) - #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) - #define PyMem_RawFree(p) PyMem_Free(p) -#endif -#if CYTHON_COMPILING_IN_PYSTON - #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) -#else - #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) -#endif -#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#elif PY_VERSION_HEX >= 0x03060000 - #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() -#elif PY_VERSION_HEX >= 0x03000000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#else - #define __Pyx_PyThreadState_Current _PyThreadState_Current -#endif -#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) -#include "pythread.h" -#define Py_tss_NEEDS_INIT 0 -typedef int Py_tss_t; -static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { - *key = PyThread_create_key(); - return 0; -} -static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { - Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); - *key = Py_tss_NEEDS_INIT; - return key; -} -static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { - PyObject_Free(key); -} -static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { - return *key != Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { - PyThread_delete_key(*key); - *key = Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { - return PyThread_set_key_value(*key, value); -} -static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { - return PyThread_get_key_value(*key); -} -#endif -#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) -#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) -#else -#define __Pyx_PyDict_NewPresized(n) PyDict_New() -#endif -#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION - #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) -#else - #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS -#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) -#else -#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) -#endif -#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) - #define CYTHON_PEP393_ENABLED 1 - #if defined(PyUnicode_IS_READY) - #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ - 0 : _PyUnicode_Ready((PyObject *)(op))) - #else - #define __Pyx_PyUnicode_READY(op) (0) - #endif - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) - #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) - #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) - #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) - #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) - #endif - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) - #endif -#else - #define CYTHON_PEP393_ENABLED 0 - #define PyUnicode_1BYTE_KIND 1 - #define PyUnicode_2BYTE_KIND 2 - #define PyUnicode_4BYTE_KIND 4 - #define __Pyx_PyUnicode_READY(op) (0) - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) - #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) - #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) - #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) -#endif -#if CYTHON_COMPILING_IN_PYPY - #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) -#else - #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ - PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) - #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) - #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) - #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) -#endif -#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) -#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? 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CYTHON_FAST_THREAD_STATE -#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); -#else -#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) -#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) -#endif - -/* SwapException.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#else -static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); -#endif - -/* PyObjectCallMethod1.proto */ -static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg); - -/* CoroutineBase.proto */ -typedef PyObject *(*__pyx_coroutine_body_t)(PyObject *, PyThreadState *, PyObject *); -#if CYTHON_USE_EXC_INFO_STACK -#define __Pyx_ExcInfoStruct _PyErr_StackItem -#else -typedef struct { - PyObject *exc_type; - PyObject *exc_value; - PyObject *exc_traceback; -} __Pyx_ExcInfoStruct; -#endif -typedef struct { - PyObject_HEAD - __pyx_coroutine_body_t body; - PyObject *closure; - __Pyx_ExcInfoStruct gi_exc_state; - PyObject *gi_weakreflist; - PyObject *classobj; - PyObject *yieldfrom; - PyObject *gi_name; - PyObject *gi_qualname; - PyObject *gi_modulename; - PyObject *gi_code; - PyObject *gi_frame; - int resume_label; - char is_running; -} __pyx_CoroutineObject; -static __pyx_CoroutineObject *__Pyx__Coroutine_New( - PyTypeObject *type, __pyx_coroutine_body_t body, PyObject *code, PyObject *closure, - PyObject *name, PyObject *qualname, PyObject *module_name); -static __pyx_CoroutineObject *__Pyx__Coroutine_NewInit( - __pyx_CoroutineObject *gen, __pyx_coroutine_body_t body, PyObject *code, PyObject *closure, - PyObject *name, PyObject *qualname, PyObject *module_name); -static CYTHON_INLINE void __Pyx_Coroutine_ExceptionClear(__Pyx_ExcInfoStruct *self); -static int __Pyx_Coroutine_clear(PyObject *self); -static PyObject *__Pyx_Coroutine_Send(PyObject *self, PyObject *value); -static PyObject *__Pyx_Coroutine_Close(PyObject *self); -static PyObject *__Pyx_Coroutine_Throw(PyObject *gen, PyObject *args); -#if CYTHON_USE_EXC_INFO_STACK -#define __Pyx_Coroutine_SwapException(self) -#define __Pyx_Coroutine_ResetAndClearException(self) __Pyx_Coroutine_ExceptionClear(&(self)->gi_exc_state) -#else -#define __Pyx_Coroutine_SwapException(self) {\ - __Pyx_ExceptionSwap(&(self)->gi_exc_state.exc_type, &(self)->gi_exc_state.exc_value, &(self)->gi_exc_state.exc_traceback);\ - __Pyx_Coroutine_ResetFrameBackpointer(&(self)->gi_exc_state);\ - } -#define __Pyx_Coroutine_ResetAndClearException(self) {\ - __Pyx_ExceptionReset((self)->gi_exc_state.exc_type, (self)->gi_exc_state.exc_value, (self)->gi_exc_state.exc_traceback);\ - (self)->gi_exc_state.exc_type = (self)->gi_exc_state.exc_value = (self)->gi_exc_state.exc_traceback = NULL;\ - } -#endif -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_PyGen_FetchStopIterationValue(pvalue)\ - __Pyx_PyGen__FetchStopIterationValue(__pyx_tstate, pvalue) -#else -#define __Pyx_PyGen_FetchStopIterationValue(pvalue)\ - __Pyx_PyGen__FetchStopIterationValue(__Pyx_PyThreadState_Current, pvalue) -#endif -static int __Pyx_PyGen__FetchStopIterationValue(PyThreadState *tstate, PyObject **pvalue); -static CYTHON_INLINE void __Pyx_Coroutine_ResetFrameBackpointer(__Pyx_ExcInfoStruct *exc_state); - -/* PatchModuleWithCoroutine.proto */ -static PyObject* __Pyx_Coroutine_patch_module(PyObject* module, const char* py_code); - -/* PatchGeneratorABC.proto */ -static int __Pyx_patch_abc(void); - -/* Generator.proto */ -#define __Pyx_Generator_USED -static PyTypeObject *__pyx_GeneratorType = 0; -#define __Pyx_Generator_CheckExact(obj) (Py_TYPE(obj) == __pyx_GeneratorType) -#define __Pyx_Generator_New(body, code, closure, name, qualname, module_name)\ - __Pyx__Coroutine_New(__pyx_GeneratorType, body, code, closure, name, qualname, module_name) -static PyObject *__Pyx_Generator_Next(PyObject *self); -static int __pyx_Generator_init(void); - -/* CheckBinaryVersion.proto */ -static int __Pyx_check_binary_version(void); - -/* InitStrings.proto */ -static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); - -static std::unordered_set __pyx_f_7opendbc_3can_10parser_pyx_9CANParser_update_vl(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto*/ - -/* Module declarations from 'libc.string' */ - -/* Module declarations from 'libcpp.string' */ - -/* Module declarations from 'libcpp.vector' */ - -/* Module declarations from 'libcpp.utility' */ - -/* Module declarations from 'libcpp.unordered_set' */ - -/* Module declarations from 'libc.stdint' */ - -/* Module declarations from 'libcpp' */ - -/* Module declarations from 'libcpp.map' */ - -/* Module declarations from 'opendbc.can.common' */ - -/* Module declarations from 'opendbc.can.parser_pyx' */ -static PyTypeObject *__pyx_ptype_7opendbc_3can_10parser_pyx_CANParser = 0; -static PyTypeObject *__pyx_ptype_7opendbc_3can_10parser_pyx_CANDefine = 0; -static PyTypeObject *__pyx_ptype_7opendbc_3can_10parser_pyx___pyx_scope_struct____init__ = 0; -static PyTypeObject *__pyx_ptype_7opendbc_3can_10parser_pyx___pyx_scope_struct_1_genexpr = 0; -static PyTypeObject *__pyx_ptype_7opendbc_3can_10parser_pyx___pyx_scope_struct_2_genexpr = 0; -static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ -static CYTHON_INLINE PyObject *__pyx_convert_PyObject_string_to_py_std__in_string(std::string const &); /*proto*/ -static CYTHON_INLINE PyObject *__pyx_convert_PyUnicode_string_to_py_std__in_string(std::string const &); /*proto*/ -static CYTHON_INLINE PyObject *__pyx_convert_PyStr_string_to_py_std__in_string(std::string const &); /*proto*/ -static CYTHON_INLINE PyObject *__pyx_convert_PyBytes_string_to_py_std__in_string(std::string const &); /*proto*/ -static CYTHON_INLINE PyObject *__pyx_convert_PyByteArray_string_to_py_std__in_string(std::string const &); /*proto*/ -static PyObject *__pyx_convert_vector_to_py_double(const std::vector &); /*proto*/ -static PyObject *__pyx_convert_unordered_set_to_py_uint32_t(std::unordered_set const &); /*proto*/ -#define __Pyx_MODULE_NAME "opendbc.can.parser_pyx" -extern int __pyx_module_is_main_opendbc__can__parser_pyx; -int __pyx_module_is_main_opendbc__can__parser_pyx = 0; - -/* Implementation of 'opendbc.can.parser_pyx' */ -static PyObject *__pyx_builtin_RuntimeError; -static PyObject *__pyx_builtin_range; -static PyObject *__pyx_builtin_print; -static PyObject *__pyx_builtin_hex; -static PyObject *__pyx_builtin_TypeError; -static PyObject *__pyx_builtin_zip; -static const char __pyx_k_[] = " ("; -static const char __pyx_k__2[] = ")"; -static const char __pyx_k__3[] = ", "; -static const char __pyx_k__6[] = "'"; -static const char __pyx_k_os[] = "os"; -static const char __pyx_k_bus[] = "bus"; -static const char __pyx_k_dat[] = "dat"; -static const char __pyx_k_hex[] = "hex"; -static const char __pyx_k_zip[] = "zip"; -static const char __pyx_k_None[] = "None"; -static const char __pyx_k_args[] = "args"; -static const char __pyx_k_main[] = "__main__"; -static const char __pyx_k_name[] = "__name__"; -static const char __pyx_k_send[] = "send"; -static const char __pyx_k_test[] = "__test__"; -static const char __pyx_k_clear[] = "clear"; -static const char __pyx_k_close[] = "close"; -static const char __pyx_k_items[] = "items"; -static const char __pyx_k_print[] = "print"; -static const char __pyx_k_range[] = "range"; -static const char __pyx_k_split[] = "split"; -static const char __pyx_k_throw[] = "throw"; -static const char __pyx_k_Number[] = "Number"; -static const char __pyx_k_checks[] = "checks"; -static const char __pyx_k_extend[] = "extend"; -static const char __pyx_k_import[] = "__import__"; -static const char __pyx_k_in_DBC[] = " in DBC "; -static const char __pyx_k_reduce[] = "__reduce__"; -static const char __pyx_k_update[] = "update"; -static const char __pyx_k_values[] = "values"; -static const char __pyx_k_genexpr[] = "genexpr"; -static const char __pyx_k_numbers[] = "numbers"; -static const char __pyx_k_sendcan[] = "sendcan"; -static const char __pyx_k_signals[] = "signals"; -static const char __pyx_k_strings[] = "strings"; -static const char __pyx_k_dbc_name[] = "dbc_name"; -static const char __pyx_k_getstate[] = "__getstate__"; -static const char __pyx_k_setstate[] = "__setstate__"; -static const char __pyx_k_CANDefine[] = "CANDefine"; -static const char __pyx_k_CANParser[] = "CANParser"; -static const char __pyx_k_TypeError[] = "TypeError"; -static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; -static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; -static const char __pyx_k_collections[] = "collections"; -static const char __pyx_k_defaultdict[] = "defaultdict"; -static const char __pyx_k_RuntimeError[] = "RuntimeError"; -static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; -static const char __pyx_k_Can_t_find_DBC[] = "Can't find DBC: "; -static const char __pyx_k_enforce_checks[] = "enforce_checks"; -static const char __pyx_k_Unchecked_addrs[] = "Unchecked addrs: "; -static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; -static const char __pyx_k_Can_t_find_DBC_2[] = "Can't find DBC: '"; -static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; -static const char __pyx_k_init___locals_genexpr[] = "__init__..genexpr"; -static const char __pyx_k_could_not_find_message[] = "could not find message "; -static const char __pyx_k_opendbc_can_parser_pyx[] = "opendbc.can.parser_pyx"; -static const char __pyx_k_self_dbc_cannot_be_converted_to[] = "self.dbc cannot be converted to a Python object for pickling"; -static const char __pyx_k_self_can_self_dbc_cannot_be_conv[] = "self.can,self.dbc cannot be converted to a Python object for pickling"; -static PyObject *__pyx_kp_u_; -static PyObject *__pyx_n_s_CANDefine; -static PyObject *__pyx_n_s_CANParser; -static PyObject *__pyx_kp_u_Can_t_find_DBC; -static PyObject *__pyx_kp_u_Can_t_find_DBC_2; -static PyObject *__pyx_kp_u_None; -static PyObject *__pyx_n_s_Number; -static PyObject *__pyx_n_s_RuntimeError; -static PyObject *__pyx_n_s_TypeError; -static PyObject *__pyx_kp_u_Unchecked_addrs; -static PyObject *__pyx_kp_u__2; -static PyObject *__pyx_kp_u__3; -static PyObject *__pyx_kp_u__6; -static PyObject *__pyx_n_s_args; -static PyObject *__pyx_n_s_bus; -static PyObject *__pyx_n_s_checks; -static PyObject *__pyx_n_s_clear; -static PyObject *__pyx_n_s_cline_in_traceback; -static PyObject *__pyx_n_s_close; -static PyObject *__pyx_n_s_collections; -static PyObject *__pyx_kp_u_could_not_find_message; -static PyObject *__pyx_n_s_dat; -static PyObject *__pyx_n_s_dbc_name; -static PyObject *__pyx_n_s_defaultdict; -static PyObject *__pyx_n_s_enforce_checks; -static PyObject *__pyx_n_s_extend; -static PyObject *__pyx_n_s_genexpr; -static PyObject *__pyx_n_s_getstate; -static PyObject *__pyx_n_s_hex; -static PyObject *__pyx_n_s_import; -static PyObject *__pyx_kp_u_in_DBC; -static PyObject *__pyx_n_s_init___locals_genexpr; -static PyObject *__pyx_n_s_items; -static PyObject *__pyx_n_s_main; -static PyObject *__pyx_n_s_name; -static PyObject *__pyx_n_s_numbers; -static PyObject *__pyx_n_s_opendbc_can_parser_pyx; -static PyObject *__pyx_n_s_os; -static PyObject *__pyx_n_s_print; -static PyObject *__pyx_n_s_pyx_vtable; -static PyObject *__pyx_n_s_range; -static PyObject *__pyx_n_s_reduce; -static PyObject *__pyx_n_s_reduce_cython; -static PyObject *__pyx_n_s_reduce_ex; -static PyObject *__pyx_kp_s_self_can_self_dbc_cannot_be_conv; -static PyObject *__pyx_kp_s_self_dbc_cannot_be_converted_to; -static PyObject *__pyx_n_s_send; -static PyObject *__pyx_n_s_sendcan; -static PyObject *__pyx_n_s_setstate; -static PyObject *__pyx_n_s_setstate_cython; -static PyObject *__pyx_n_s_signals; -static PyObject *__pyx_n_s_split; -static PyObject *__pyx_n_s_strings; -static PyObject *__pyx_n_s_test; -static PyObject *__pyx_n_s_throw; -static PyObject *__pyx_n_s_update; -static PyObject *__pyx_n_s_values; -static PyObject *__pyx_n_s_zip; -static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_8__init___genexpr(PyObject *__pyx_self); /* proto */ -static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_8__init___3genexpr(PyObject *__pyx_self); /* proto */ -static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANParser___init__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, PyObject 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"" : "s", num_found); -} - -/* RaiseDoubleKeywords */ -static void __Pyx_RaiseDoubleKeywordsError( - const char* func_name, - PyObject* kw_name) -{ - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION >= 3 - "%s() got multiple values for keyword argument '%U'", func_name, kw_name); - #else - "%s() got multiple values for keyword argument '%s'", func_name, - PyString_AsString(kw_name)); - #endif -} - -/* ParseKeywords */ -static int __Pyx_ParseOptionalKeywords( - PyObject *kwds, - PyObject **argnames[], - PyObject *kwds2, - PyObject *values[], - Py_ssize_t num_pos_args, - const char* function_name) -{ - PyObject *key = 0, *value = 0; - Py_ssize_t pos = 0; - PyObject*** name; - PyObject*** first_kw_arg = argnames + num_pos_args; - while (PyDict_Next(kwds, &pos, &key, &value)) { - name = first_kw_arg; - while (*name && (**name != key)) name++; - if (*name) { - values[name-argnames] = value; - continue; - } - name = first_kw_arg; - #if PY_MAJOR_VERSION < 3 - if (likely(PyString_Check(key))) { - while (*name) { - if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) - && _PyString_Eq(**name, key)) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - if ((**argname == key) || ( - (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) - && _PyString_Eq(**argname, key))) { - goto arg_passed_twice; - } - argname++; - } - } - } else - #endif - if (likely(PyUnicode_Check(key))) { - while (*name) { - int cmp = (**name == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**name, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - int cmp = (**argname == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**argname, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) goto arg_passed_twice; - argname++; - } - } - } else - goto invalid_keyword_type; - if (kwds2) { - if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; - } else { - goto invalid_keyword; - } - } - return 0; -arg_passed_twice: - __Pyx_RaiseDoubleKeywordsError(function_name, key); - goto bad; -invalid_keyword_type: - PyErr_Format(PyExc_TypeError, - "%.200s() keywords must be strings", function_name); - goto bad; -invalid_keyword: - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION < 3 - "%.200s() got an unexpected keyword argument '%.200s'", - function_name, PyString_AsString(key)); - #else - "%s() got an unexpected keyword argument '%U'", - function_name, key); - #endif -bad: - return -1; -} - -/* None */ -static CYTHON_INLINE void __Pyx_RaiseClosureNameError(const char *varname) { - PyErr_Format(PyExc_NameError, "free variable '%s' referenced before assignment in enclosing scope", varname); -} - -/* decode_c_bytes */ -static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( - const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, - const char* encoding, const char* errors, - PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { - if (unlikely((start < 0) | (stop < 0))) { - if (start < 0) { - start += length; - if (start < 0) - start = 0; - } - if (stop < 0) - stop += length; - } - if (stop > length) - stop = length; - if (unlikely(stop <= start)) - return __Pyx_NewRef(__pyx_empty_unicode); - length = stop - start; - cstring += start; - if (decode_func) { - return decode_func(cstring, length, errors); - } else { - return PyUnicode_Decode(cstring, length, encoding, errors); - } -} - -/* PyCFunctionFastCall */ -#if CYTHON_FAST_PYCCALL -static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { - PyCFunctionObject *func = (PyCFunctionObject*)func_obj; - PyCFunction meth = PyCFunction_GET_FUNCTION(func); - PyObject *self = PyCFunction_GET_SELF(func); - int flags = PyCFunction_GET_FLAGS(func); - assert(PyCFunction_Check(func)); - assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); - assert(nargs >= 0); - assert(nargs == 0 || args != NULL); - /* _PyCFunction_FastCallDict() must not be called with an exception set, - because it may clear it (directly or indirectly) and so the - caller loses its exception */ - assert(!PyErr_Occurred()); - if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { - return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); - } else { - return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); - } -} -#endif - -/* PyFunctionFastCall */ -#if CYTHON_FAST_PYCALL -static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, - PyObject *globals) { - PyFrameObject *f; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject **fastlocals; - Py_ssize_t i; - PyObject *result; - assert(globals != NULL); - /* XXX Perhaps we should create a specialized - PyFrame_New() that doesn't take locals, but does - take builtins without sanity checking them. - */ - assert(tstate != NULL); - f = PyFrame_New(tstate, co, globals, NULL); - if (f == NULL) { - return NULL; - } - fastlocals = __Pyx_PyFrame_GetLocalsplus(f); - for (i = 0; i < na; i++) { - Py_INCREF(*args); - fastlocals[i] = *args++; - } - result = PyEval_EvalFrameEx(f,0); - ++tstate->recursion_depth; - Py_DECREF(f); - --tstate->recursion_depth; - return result; -} -#if 1 || PY_VERSION_HEX < 0x030600B1 -static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { - PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); - PyObject *globals = PyFunction_GET_GLOBALS(func); - PyObject *argdefs = PyFunction_GET_DEFAULTS(func); - PyObject *closure; -#if PY_MAJOR_VERSION >= 3 - PyObject *kwdefs; -#endif - PyObject *kwtuple, **k; - PyObject **d; - Py_ssize_t nd; - Py_ssize_t nk; - PyObject *result; - assert(kwargs == NULL || PyDict_Check(kwargs)); - nk = kwargs ? PyDict_Size(kwargs) : 0; - if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { - return NULL; - } - if ( -#if PY_MAJOR_VERSION >= 3 - co->co_kwonlyargcount == 0 && -#endif - likely(kwargs == NULL || nk == 0) && - co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { - if (argdefs == NULL && co->co_argcount == nargs) { - result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); - goto done; - } - else if (nargs == 0 && argdefs != NULL - && co->co_argcount == Py_SIZE(argdefs)) { - /* function called with no arguments, but all parameters have - a default value: use default values as arguments .*/ - args = &PyTuple_GET_ITEM(argdefs, 0); - result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); - goto done; - } - } - if (kwargs != NULL) { - Py_ssize_t pos, i; - kwtuple = PyTuple_New(2 * nk); - if (kwtuple == NULL) { - result = NULL; - goto done; - } - k = &PyTuple_GET_ITEM(kwtuple, 0); - pos = i = 0; - while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { - Py_INCREF(k[i]); - Py_INCREF(k[i+1]); - i += 2; - } - nk = i / 2; - } - else { - kwtuple = NULL; - k = NULL; - } - closure = PyFunction_GET_CLOSURE(func); -#if PY_MAJOR_VERSION >= 3 - kwdefs = PyFunction_GET_KW_DEFAULTS(func); -#endif - if (argdefs != NULL) { - d = &PyTuple_GET_ITEM(argdefs, 0); - nd = Py_SIZE(argdefs); - } - else { - d = NULL; - nd = 0; - } -#if PY_MAJOR_VERSION >= 3 - result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, kwdefs, closure); -#else - result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, closure); -#endif - Py_XDECREF(kwtuple); -done: - Py_LeaveRecursiveCall(); - return result; -} -#endif -#endif - -/* PyObjectCall */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { - PyObject *result; - ternaryfunc call = Py_TYPE(func)->tp_call; - if (unlikely(!call)) - return PyObject_Call(func, arg, kw); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = (*call)(func, arg, kw); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallMethO */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { - PyObject *self, *result; - PyCFunction cfunc; - cfunc = PyCFunction_GET_FUNCTION(func); - self = PyCFunction_GET_SELF(func); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = cfunc(self, arg); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallOneArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_New(1); - if (unlikely(!args)) return NULL; - Py_INCREF(arg); - PyTuple_SET_ITEM(args, 0, arg); - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, &arg, 1); - } -#endif - if (likely(PyCFunction_Check(func))) { - if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { - return __Pyx_PyObject_CallMethO(func, arg); -#if CYTHON_FAST_PYCCALL - } else if (__Pyx_PyFastCFunction_Check(func)) { - return __Pyx_PyCFunction_FastCall(func, &arg, 1); -#endif - } - } - return __Pyx__PyObject_CallOneArg(func, arg); -} -#else -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_Pack(1, arg); - if (unlikely(!args)) return NULL; - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -#endif - -/* JoinPyUnicode */ -static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, - CYTHON_UNUSED Py_UCS4 max_char) { -#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - PyObject *result_uval; - int result_ukind; - Py_ssize_t i, char_pos; - void *result_udata; -#if CYTHON_PEP393_ENABLED - result_uval = PyUnicode_New(result_ulength, max_char); - if (unlikely(!result_uval)) return NULL; - result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; - result_udata = PyUnicode_DATA(result_uval); -#else - result_uval = PyUnicode_FromUnicode(NULL, result_ulength); - if (unlikely(!result_uval)) return NULL; - result_ukind = sizeof(Py_UNICODE); - result_udata = PyUnicode_AS_UNICODE(result_uval); -#endif - char_pos = 0; - for (i=0; i < value_count; i++) { - int ukind; - Py_ssize_t ulength; - void *udata; - PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); - if (unlikely(__Pyx_PyUnicode_READY(uval))) - goto bad; - ulength = __Pyx_PyUnicode_GET_LENGTH(uval); - if (unlikely(!ulength)) - continue; - if (unlikely(char_pos + ulength < 0)) - goto overflow; - ukind = __Pyx_PyUnicode_KIND(uval); - udata = __Pyx_PyUnicode_DATA(uval); - if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { - memcpy((char *)result_udata + char_pos * result_ukind, udata, (size_t) (ulength * result_ukind)); - } else { - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) - _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); - #else - Py_ssize_t j; - for (j=0; j < ulength; j++) { - Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); - __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); - } - #endif - } - char_pos += ulength; - } - return result_uval; -overflow: - PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); -bad: - Py_DECREF(result_uval); - return NULL; -#else - result_ulength++; - value_count++; - return PyUnicode_Join(__pyx_empty_unicode, value_tuple); -#endif -} - -/* RaiseTooManyValuesToUnpack */ -static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { - PyErr_Format(PyExc_ValueError, - "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); -} - -/* RaiseNeedMoreValuesToUnpack */ -static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { - PyErr_Format(PyExc_ValueError, - "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", - index, (index == 1) ? "" : "s"); -} - -/* IterFinish */ -static CYTHON_INLINE int __Pyx_IterFinish(void) { -#if CYTHON_FAST_THREAD_STATE - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* exc_type = tstate->curexc_type; - if (unlikely(exc_type)) { - if (likely(__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) { - PyObject *exc_value, *exc_tb; - exc_value = tstate->curexc_value; - exc_tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; - Py_DECREF(exc_type); - Py_XDECREF(exc_value); - Py_XDECREF(exc_tb); - return 0; - } else { - return -1; - } - } - return 0; -#else - if (unlikely(PyErr_Occurred())) { - if (likely(PyErr_ExceptionMatches(PyExc_StopIteration))) { - PyErr_Clear(); - return 0; - } else { - return -1; - } - } - return 0; -#endif -} - -/* UnpackItemEndCheck */ -static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { - if (unlikely(retval)) { - Py_DECREF(retval); - __Pyx_RaiseTooManyValuesError(expected); - return -1; - } else { - return __Pyx_IterFinish(); - } - return 0; -} - -/* PyErrFetchRestore */ -#if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - tmp_type = tstate->curexc_type; - tmp_value = tstate->curexc_value; - tmp_tb = tstate->curexc_traceback; - tstate->curexc_type = type; - tstate->curexc_value = value; - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - *type = tstate->curexc_type; - *value = tstate->curexc_value; - *tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -} -#endif - -/* RaiseException */ -#if PY_MAJOR_VERSION < 3 -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, - CYTHON_UNUSED PyObject *cause) { - __Pyx_PyThreadState_declare - Py_XINCREF(type); - if (!value || value == Py_None) - value = NULL; - else - Py_INCREF(value); - if (!tb || tb == Py_None) - tb = NULL; - else { - Py_INCREF(tb); - if (!PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto raise_error; - } - } - if (PyType_Check(type)) { -#if CYTHON_COMPILING_IN_PYPY - if (!value) { - Py_INCREF(Py_None); - value = Py_None; - } -#endif - PyErr_NormalizeException(&type, &value, &tb); - } else { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto raise_error; - } - value = type; - type = (PyObject*) Py_TYPE(type); - Py_INCREF(type); - if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto raise_error; - } - } - __Pyx_PyThreadState_assign - __Pyx_ErrRestore(type, value, tb); - return; -raise_error: - Py_XDECREF(value); - Py_XDECREF(type); - Py_XDECREF(tb); - return; -} -#else -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { - PyObject* owned_instance = NULL; - if (tb == Py_None) { - tb = 0; - } else if (tb && !PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto bad; - } - if (value == Py_None) - value = 0; - if (PyExceptionInstance_Check(type)) { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto bad; - } - value = type; - type = (PyObject*) Py_TYPE(value); - } else if (PyExceptionClass_Check(type)) { - PyObject *instance_class = NULL; - if (value && PyExceptionInstance_Check(value)) { - instance_class = (PyObject*) Py_TYPE(value); - if (instance_class != type) { - int is_subclass = PyObject_IsSubclass(instance_class, type); - if (!is_subclass) { - instance_class = NULL; - } else if (unlikely(is_subclass == -1)) { - goto bad; - } else { - type = instance_class; - } - } - } - if (!instance_class) { - PyObject *args; - if (!value) - args = PyTuple_New(0); - else if (PyTuple_Check(value)) { - Py_INCREF(value); - args = value; - } else - args = PyTuple_Pack(1, value); - if (!args) - goto bad; - owned_instance = PyObject_Call(type, args, NULL); - Py_DECREF(args); - if (!owned_instance) - goto bad; - value = owned_instance; - if (!PyExceptionInstance_Check(value)) { - PyErr_Format(PyExc_TypeError, - "calling %R should have returned an instance of " - "BaseException, not %R", - type, Py_TYPE(value)); - goto bad; - } - } - } else { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto bad; - } - if (cause) { - PyObject *fixed_cause; - if (cause == Py_None) { - fixed_cause = NULL; - } else if (PyExceptionClass_Check(cause)) { - fixed_cause = PyObject_CallObject(cause, NULL); - if (fixed_cause == NULL) - goto bad; - } else if (PyExceptionInstance_Check(cause)) { - fixed_cause = cause; - Py_INCREF(fixed_cause); - } else { - PyErr_SetString(PyExc_TypeError, - "exception causes must derive from " - "BaseException"); - goto bad; - } - PyException_SetCause(value, fixed_cause); - } - PyErr_SetObject(type, value); - if (tb) { -#if CYTHON_COMPILING_IN_PYPY - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); - Py_INCREF(tb); - PyErr_Restore(tmp_type, tmp_value, tb); - Py_XDECREF(tmp_tb); -#else - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* tmp_tb = tstate->curexc_traceback; - if (tb != tmp_tb) { - Py_INCREF(tb); - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_tb); - } -#endif - } -bad: - Py_XDECREF(owned_instance); - return; -} -#endif - -/* DictGetItem */ -#if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY -static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key) { - PyObject *value; - value = PyDict_GetItemWithError(d, key); - if (unlikely(!value)) { - if (!PyErr_Occurred()) { - if (unlikely(PyTuple_Check(key))) { - PyObject* args = PyTuple_Pack(1, key); - if (likely(args)) { - PyErr_SetObject(PyExc_KeyError, args); - Py_DECREF(args); - } - } else { - PyErr_SetObject(PyExc_KeyError, key); - } - } - return NULL; - } - Py_INCREF(value); - return value; -} -#endif - -/* PyDictVersioning */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; -} -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { - PyObject **dictptr = NULL; - Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; - if (offset) { -#if CYTHON_COMPILING_IN_CPYTHON - dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); -#else - dictptr = _PyObject_GetDictPtr(obj); -#endif - } - return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; -} -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) - return 0; - return obj_dict_version == __Pyx_get_object_dict_version(obj); -} -#endif - -/* GetModuleGlobalName */ -#if CYTHON_USE_DICT_VERSIONS -static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) -#else -static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) -#endif -{ - PyObject *result; -#if !CYTHON_AVOID_BORROWED_REFS -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 - result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } else if (unlikely(PyErr_Occurred())) { - return NULL; - } -#else - result = PyDict_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } -#endif -#else - result = PyObject_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } - PyErr_Clear(); -#endif - return __Pyx_GetBuiltinName(name); -} - -/* PyObjectCall2Args */ -static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { - PyObject *args, *result = NULL; - #if CYTHON_FAST_PYCALL - if (PyFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyFunction_FastCall(function, args, 2); - } - #endif - #if CYTHON_FAST_PYCCALL - if (__Pyx_PyFastCFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyCFunction_FastCall(function, args, 2); - } - #endif - args = PyTuple_New(2); - if (unlikely(!args)) goto done; - Py_INCREF(arg1); - PyTuple_SET_ITEM(args, 0, arg1); - Py_INCREF(arg2); - PyTuple_SET_ITEM(args, 1, arg2); - Py_INCREF(function); - result = __Pyx_PyObject_Call(function, args, NULL); - Py_DECREF(args); - Py_DECREF(function); -done: - return result; -} - -/* GetItemInt */ -static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { - PyObject *r; - if (!j) return NULL; - r = PyObject_GetItem(o, j); - Py_DECREF(j); - return r; -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyList_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { - PyObject *r = PyList_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyTuple_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS - if (is_list || PyList_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); - if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { - PyObject *r = PyList_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } - else if (PyTuple_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); - if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } else { - PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; - if (likely(m && m->sq_item)) { - if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { - Py_ssize_t l = m->sq_length(o); - if (likely(l >= 0)) { - i += l; - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - return NULL; - PyErr_Clear(); - } - } - return m->sq_item(o, i); - } - } -#else - if (is_list || PySequence_Check(o)) { - return PySequence_GetItem(o, i); - } -#endif - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -} - -/* None */ -static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { - PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); -} - -/* SetItemInt */ -static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { - int r; - if (!j) return -1; - r = PyObject_SetItem(o, j, v); - Py_DECREF(j); - return r; -} -static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, - CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS - if (is_list || PyList_CheckExact(o)) { - Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); - if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { - PyObject* old = PyList_GET_ITEM(o, n); - Py_INCREF(v); - PyList_SET_ITEM(o, n, v); - Py_DECREF(old); - return 1; - } - } else { - PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; - if (likely(m && m->sq_ass_item)) { - if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { - Py_ssize_t l = m->sq_length(o); - if (likely(l >= 0)) { - i += l; - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - return -1; - PyErr_Clear(); - } - } - return m->sq_ass_item(o, i, v); - } - } -#else -#if CYTHON_COMPILING_IN_PYPY - if (is_list || (PySequence_Check(o) && !PyDict_Check(o))) -#else - if (is_list || PySequence_Check(o)) -#endif - { - return PySequence_SetItem(o, i, v); - } -#endif - return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); -} - -/* PyUnicode_Unicode */ -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj) { - if (unlikely(obj == Py_None)) - obj = __pyx_kp_u_None; - return __Pyx_NewRef(obj); -} - -/* UnpackUnboundCMethod */ -static int __Pyx_TryUnpackUnboundCMethod(__Pyx_CachedCFunction* target) { - PyObject *method; - method = __Pyx_PyObject_GetAttrStr(target->type, *target->method_name); - if (unlikely(!method)) - return -1; - target->method = method; -#if CYTHON_COMPILING_IN_CPYTHON - #if PY_MAJOR_VERSION >= 3 - if (likely(__Pyx_TypeCheck(method, &PyMethodDescr_Type))) - #endif - { - PyMethodDescrObject *descr = (PyMethodDescrObject*) method; - target->func = descr->d_method->ml_meth; - target->flag = descr->d_method->ml_flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_STACKLESS); - } -#endif - return 0; -} - -/* CallUnboundCMethod1 */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg) { - if (likely(cfunc->func)) { - int flag = cfunc->flag; - if (flag == METH_O) { - return (*(cfunc->func))(self, arg); - } else if (PY_VERSION_HEX >= 0x030600B1 && flag == METH_FASTCALL) { - if (PY_VERSION_HEX >= 0x030700A0) { - return (*(__Pyx_PyCFunctionFast)(void*)(PyCFunction)cfunc->func)(self, &arg, 1); - } else { - return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, &arg, 1, NULL); - } - } else if (PY_VERSION_HEX >= 0x030700A0 && flag == (METH_FASTCALL | METH_KEYWORDS)) { - return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, &arg, 1, NULL); - } - } - return __Pyx__CallUnboundCMethod1(cfunc, self, arg); -} -#endif -static PyObject* __Pyx__CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg){ - PyObject *args, *result = NULL; - if (unlikely(!cfunc->func && !cfunc->method) && unlikely(__Pyx_TryUnpackUnboundCMethod(cfunc) < 0)) return NULL; -#if CYTHON_COMPILING_IN_CPYTHON - if (cfunc->func && (cfunc->flag & METH_VARARGS)) { - args = PyTuple_New(1); - if (unlikely(!args)) goto bad; - Py_INCREF(arg); - PyTuple_SET_ITEM(args, 0, arg); - if (cfunc->flag & METH_KEYWORDS) - result = (*(PyCFunctionWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, NULL); - else - result = (*cfunc->func)(self, args); - } else { - args = PyTuple_New(2); - if (unlikely(!args)) goto bad; - Py_INCREF(self); - PyTuple_SET_ITEM(args, 0, self); - Py_INCREF(arg); - PyTuple_SET_ITEM(args, 1, arg); - result = __Pyx_PyObject_Call(cfunc->method, args, NULL); - } -#else - args = PyTuple_Pack(2, self, arg); - if (unlikely(!args)) goto bad; - result = __Pyx_PyObject_Call(cfunc->method, args, NULL); -#endif -bad: - Py_XDECREF(args); - return result; -} - -/* PyObjectCallNoArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, NULL, 0); - } -#endif -#ifdef __Pyx_CyFunction_USED - if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) -#else - if (likely(PyCFunction_Check(func))) -#endif - { - if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { - return __Pyx_PyObject_CallMethO(func, NULL); - } - } - return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); -} -#endif - -/* PyObjectGetMethod */ -static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { - PyObject *attr; -#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP - PyTypeObject *tp = Py_TYPE(obj); - PyObject *descr; - descrgetfunc f = NULL; - PyObject **dictptr, *dict; - int meth_found = 0; - assert (*method == NULL); - if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { - attr = __Pyx_PyObject_GetAttrStr(obj, name); - goto try_unpack; - } - if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { - return 0; - } - descr = _PyType_Lookup(tp, name); - if (likely(descr != NULL)) { - Py_INCREF(descr); -#if PY_MAJOR_VERSION >= 3 - #ifdef __Pyx_CyFunction_USED - if (likely(PyFunction_Check(descr) || (Py_TYPE(descr) == &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) - #else - if (likely(PyFunction_Check(descr) || (Py_TYPE(descr) == &PyMethodDescr_Type))) - #endif -#else - #ifdef __Pyx_CyFunction_USED - if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) - #else - if (likely(PyFunction_Check(descr))) - #endif -#endif - { - meth_found = 1; - } else { - f = Py_TYPE(descr)->tp_descr_get; - if (f != NULL && PyDescr_IsData(descr)) { - attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); - Py_DECREF(descr); - goto try_unpack; - } - } - } - dictptr = _PyObject_GetDictPtr(obj); - if (dictptr != NULL && (dict = *dictptr) != NULL) { - Py_INCREF(dict); - attr = __Pyx_PyDict_GetItemStr(dict, name); - if (attr != NULL) { - Py_INCREF(attr); - Py_DECREF(dict); - Py_XDECREF(descr); - goto try_unpack; - } - Py_DECREF(dict); - } - if (meth_found) { - *method = descr; - return 1; - } - if (f != NULL) { - attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); - Py_DECREF(descr); - goto try_unpack; - } - if (descr != NULL) { - *method = descr; - return 0; - } - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(name)); -#endif - return 0; -#else - attr = __Pyx_PyObject_GetAttrStr(obj, name); - goto try_unpack; -#endif -try_unpack: -#if CYTHON_UNPACK_METHODS - if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { - PyObject *function = PyMethod_GET_FUNCTION(attr); - Py_INCREF(function); - Py_DECREF(attr); - *method = function; - return 1; - } -#endif - *method = attr; - return 0; -} - -/* PyObjectCallMethod0 */ -static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { - PyObject *method = NULL, *result = NULL; - int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); - if (likely(is_method)) { - result = __Pyx_PyObject_CallOneArg(method, obj); - Py_DECREF(method); - return result; - } - if (unlikely(!method)) goto bad; - result = __Pyx_PyObject_CallNoArg(method); - Py_DECREF(method); -bad: - return result; -} - -/* RaiseNoneIterError */ -static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { - PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); -} - -/* UnpackTupleError */ -static void __Pyx_UnpackTupleError(PyObject *t, Py_ssize_t index) { - if (t == Py_None) { - __Pyx_RaiseNoneNotIterableError(); - } else if (PyTuple_GET_SIZE(t) < index) { - __Pyx_RaiseNeedMoreValuesError(PyTuple_GET_SIZE(t)); - } else { - __Pyx_RaiseTooManyValuesError(index); - } -} - -/* UnpackTuple2 */ -static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( - PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, int decref_tuple) { - PyObject *value1 = NULL, *value2 = NULL; -#if CYTHON_COMPILING_IN_PYPY - value1 = PySequence_ITEM(tuple, 0); if (unlikely(!value1)) goto bad; - value2 = PySequence_ITEM(tuple, 1); if (unlikely(!value2)) goto bad; -#else - value1 = PyTuple_GET_ITEM(tuple, 0); Py_INCREF(value1); - value2 = PyTuple_GET_ITEM(tuple, 1); Py_INCREF(value2); -#endif - if (decref_tuple) { - Py_DECREF(tuple); - } - *pvalue1 = value1; - *pvalue2 = value2; - return 0; -#if CYTHON_COMPILING_IN_PYPY -bad: - Py_XDECREF(value1); - Py_XDECREF(value2); - if (decref_tuple) { Py_XDECREF(tuple); } - return -1; -#endif -} -static int __Pyx_unpack_tuple2_generic(PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, - int has_known_size, int decref_tuple) { - Py_ssize_t index; - PyObject *value1 = NULL, *value2 = NULL, *iter = NULL; - iternextfunc iternext; - iter = PyObject_GetIter(tuple); - if (unlikely(!iter)) goto bad; - if (decref_tuple) { Py_DECREF(tuple); tuple = NULL; } - iternext = Py_TYPE(iter)->tp_iternext; - value1 = iternext(iter); if (unlikely(!value1)) { index = 0; goto unpacking_failed; } - value2 = iternext(iter); if (unlikely(!value2)) { index = 1; goto unpacking_failed; } - if (!has_known_size && unlikely(__Pyx_IternextUnpackEndCheck(iternext(iter), 2))) goto bad; - Py_DECREF(iter); - *pvalue1 = value1; - *pvalue2 = value2; - return 0; -unpacking_failed: - if (!has_known_size && __Pyx_IterFinish() == 0) - __Pyx_RaiseNeedMoreValuesError(index); -bad: - Py_XDECREF(iter); - Py_XDECREF(value1); - Py_XDECREF(value2); - if (decref_tuple) { Py_XDECREF(tuple); } - return -1; -} - -/* dict_iter */ -static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* iterable, int is_dict, PyObject* method_name, - Py_ssize_t* p_orig_length, int* p_source_is_dict) { - is_dict = is_dict || likely(PyDict_CheckExact(iterable)); - *p_source_is_dict = is_dict; - if (is_dict) { -#if !CYTHON_COMPILING_IN_PYPY - *p_orig_length = PyDict_Size(iterable); - Py_INCREF(iterable); - return iterable; -#elif PY_MAJOR_VERSION >= 3 - static PyObject *py_items = NULL, *py_keys = NULL, *py_values = NULL; - PyObject **pp = NULL; - if (method_name) { - const char *name = PyUnicode_AsUTF8(method_name); - if (strcmp(name, "iteritems") == 0) pp = &py_items; - else if (strcmp(name, "iterkeys") == 0) pp = &py_keys; - else if (strcmp(name, "itervalues") == 0) pp = &py_values; - if (pp) { - if (!*pp) { - *pp = PyUnicode_FromString(name + 4); - if (!*pp) - return NULL; - } - method_name = *pp; - } - } -#endif - } - *p_orig_length = 0; - if (method_name) { - PyObject* iter; - iterable = __Pyx_PyObject_CallMethod0(iterable, method_name); - if (!iterable) - return NULL; -#if !CYTHON_COMPILING_IN_PYPY - if (PyTuple_CheckExact(iterable) || PyList_CheckExact(iterable)) - return iterable; -#endif - iter = PyObject_GetIter(iterable); - Py_DECREF(iterable); - return iter; - } - return PyObject_GetIter(iterable); -} -static CYTHON_INLINE int __Pyx_dict_iter_next( - PyObject* iter_obj, CYTHON_NCP_UNUSED Py_ssize_t orig_length, CYTHON_NCP_UNUSED Py_ssize_t* ppos, - PyObject** pkey, PyObject** pvalue, PyObject** pitem, int source_is_dict) { - PyObject* next_item; -#if !CYTHON_COMPILING_IN_PYPY - if (source_is_dict) { - PyObject *key, *value; - if (unlikely(orig_length != PyDict_Size(iter_obj))) { - PyErr_SetString(PyExc_RuntimeError, "dictionary changed size during iteration"); - return -1; - } - if (unlikely(!PyDict_Next(iter_obj, ppos, &key, &value))) { - return 0; - } - if (pitem) { - PyObject* tuple = PyTuple_New(2); - if (unlikely(!tuple)) { - return -1; - } - Py_INCREF(key); - Py_INCREF(value); - PyTuple_SET_ITEM(tuple, 0, key); - PyTuple_SET_ITEM(tuple, 1, value); - *pitem = tuple; - } else { - if (pkey) { - Py_INCREF(key); - *pkey = key; - } - if (pvalue) { - Py_INCREF(value); - *pvalue = value; - } - } - return 1; - } else if (PyTuple_CheckExact(iter_obj)) { - Py_ssize_t pos = *ppos; - if (unlikely(pos >= PyTuple_GET_SIZE(iter_obj))) return 0; - *ppos = pos + 1; - next_item = PyTuple_GET_ITEM(iter_obj, pos); - Py_INCREF(next_item); - } else if (PyList_CheckExact(iter_obj)) { - Py_ssize_t pos = *ppos; - if (unlikely(pos >= PyList_GET_SIZE(iter_obj))) return 0; - *ppos = pos + 1; - next_item = PyList_GET_ITEM(iter_obj, pos); - Py_INCREF(next_item); - } else -#endif - { - next_item = PyIter_Next(iter_obj); - if (unlikely(!next_item)) { - return __Pyx_IterFinish(); - } - } - if (pitem) { - *pitem = next_item; - } else if (pkey && pvalue) { - if (__Pyx_unpack_tuple2(next_item, pkey, pvalue, source_is_dict, source_is_dict, 1)) - return -1; - } else if (pkey) { - *pkey = next_item; - } else { - *pvalue = next_item; - } - return 1; -} - -/* WriteUnraisableException */ -static void __Pyx_WriteUnraisable(const char *name, CYTHON_UNUSED int clineno, - CYTHON_UNUSED int lineno, CYTHON_UNUSED const char *filename, - int full_traceback, CYTHON_UNUSED int nogil) { - PyObject *old_exc, *old_val, *old_tb; - PyObject *ctx; - __Pyx_PyThreadState_declare -#ifdef WITH_THREAD - PyGILState_STATE state; - if (nogil) - state = PyGILState_Ensure(); -#ifdef _MSC_VER - else state = (PyGILState_STATE)-1; -#endif -#endif - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&old_exc, &old_val, &old_tb); - if (full_traceback) { - Py_XINCREF(old_exc); - Py_XINCREF(old_val); - Py_XINCREF(old_tb); - __Pyx_ErrRestore(old_exc, old_val, old_tb); - PyErr_PrintEx(1); - } - #if PY_MAJOR_VERSION < 3 - ctx = PyString_FromString(name); - #else - ctx = PyUnicode_FromString(name); - #endif - __Pyx_ErrRestore(old_exc, old_val, old_tb); - if (!ctx) { - PyErr_WriteUnraisable(Py_None); - } else { - PyErr_WriteUnraisable(ctx); - Py_DECREF(ctx); - } -#ifdef WITH_THREAD - if (nogil) - PyGILState_Release(state); -#endif -} - -/* ObjectGetItem */ -#if CYTHON_USE_TYPE_SLOTS -static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) { - PyObject *runerr; - Py_ssize_t key_value; - PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence; - if (unlikely(!(m && m->sq_item))) { - PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name); - return NULL; - } - key_value = __Pyx_PyIndex_AsSsize_t(index); - if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { - return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); - } - if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { - PyErr_Clear(); - PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name); - } - return NULL; -} -static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) { - PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping; - if (likely(m && m->mp_subscript)) { - return m->mp_subscript(obj, key); - } - return __Pyx_PyObject_GetIndex(obj, key); -} -#endif - -/* PyObject_GenericGetAttrNoDict */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, attr_name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(attr_name)); -#endif - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { - PyObject *descr; - PyTypeObject *tp = Py_TYPE(obj); - if (unlikely(!PyString_Check(attr_name))) { - return PyObject_GenericGetAttr(obj, attr_name); - } - assert(!tp->tp_dictoffset); - descr = _PyType_Lookup(tp, attr_name); - if (unlikely(!descr)) { - return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); - } - Py_INCREF(descr); - #if PY_MAJOR_VERSION < 3 - if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) - #endif - { - descrgetfunc f = Py_TYPE(descr)->tp_descr_get; - if (unlikely(f)) { - PyObject *res = f(descr, obj, (PyObject *)tp); - Py_DECREF(descr); - return res; - } - } - return descr; -} -#endif - -/* PyObject_GenericGetAttr */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { - if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { - return PyObject_GenericGetAttr(obj, attr_name); - } - return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); -} -#endif - -/* SetVTable */ -static int __Pyx_SetVtable(PyObject *dict, void *vtable) { -#if PY_VERSION_HEX >= 0x02070000 - PyObject *ob = PyCapsule_New(vtable, 0, 0); -#else - PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); -#endif - if (!ob) - goto bad; - if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) - goto bad; - Py_DECREF(ob); - return 0; -bad: - Py_XDECREF(ob); - return -1; -} - -/* PyErrExceptionMatches */ -#if CYTHON_FAST_THREAD_STATE -static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; icurexc_type; - if (exc_type == err) return 1; - if (unlikely(!exc_type)) return 0; - if (unlikely(PyTuple_Check(err))) - return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); - return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); -} -#endif - -/* PyObjectGetAttrStrNoError */ -static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - __Pyx_PyErr_Clear(); -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { - PyObject *result; -#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { - return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); - } -#endif - result = __Pyx_PyObject_GetAttrStr(obj, attr_name); - if (unlikely(!result)) { - __Pyx_PyObject_GetAttrStr_ClearAttributeError(); - } - return result; -} - -/* SetupReduce */ -static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { - int ret; - PyObject *name_attr; - name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name); - if (likely(name_attr)) { - ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); - } else { - ret = -1; - } - if (unlikely(ret < 0)) { - PyErr_Clear(); - ret = 0; - } - Py_XDECREF(name_attr); - return ret; -} -static int __Pyx_setup_reduce(PyObject* type_obj) { - int ret = 0; - PyObject *object_reduce = NULL; - PyObject *object_reduce_ex = NULL; - PyObject *reduce = NULL; - PyObject *reduce_ex = NULL; - PyObject *reduce_cython = NULL; - PyObject *setstate = NULL; - PyObject *setstate_cython = NULL; -#if CYTHON_USE_PYTYPE_LOOKUP - if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#else - if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#endif -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#else - object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#endif - reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; - if (reduce_ex == object_reduce_ex) { -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#else - object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#endif - reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; - if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { - reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); - if (likely(reduce_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (reduce == object_reduce || PyErr_Occurred()) { - goto __PYX_BAD; - } - setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); - if (!setstate) PyErr_Clear(); - if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { - setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); - if (likely(setstate_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (!setstate || PyErr_Occurred()) { - goto __PYX_BAD; - } - } - PyType_Modified((PyTypeObject*)type_obj); - } - } - goto __PYX_GOOD; -__PYX_BAD: - if (!PyErr_Occurred()) - PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); - ret = -1; -__PYX_GOOD: -#if !CYTHON_USE_PYTYPE_LOOKUP - Py_XDECREF(object_reduce); - Py_XDECREF(object_reduce_ex); -#endif - Py_XDECREF(reduce); - Py_XDECREF(reduce_ex); - Py_XDECREF(reduce_cython); - Py_XDECREF(setstate); - Py_XDECREF(setstate_cython); - return ret; -} - -/* Import */ -static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { - PyObject *empty_list = 0; - PyObject *module = 0; - PyObject *global_dict = 0; - PyObject *empty_dict = 0; - PyObject *list; - #if PY_MAJOR_VERSION < 3 - PyObject *py_import; - py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); - if (!py_import) - goto bad; - #endif - if (from_list) - list = from_list; - else { - empty_list = PyList_New(0); - if (!empty_list) - goto bad; - list = empty_list; - } - global_dict = PyModule_GetDict(__pyx_m); - if (!global_dict) - goto bad; - empty_dict = PyDict_New(); - if (!empty_dict) - goto bad; - { - #if PY_MAJOR_VERSION >= 3 - if (level == -1) { - if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, 1); - if (!module) { - if (!PyErr_ExceptionMatches(PyExc_ImportError)) - goto bad; - PyErr_Clear(); - } - } - level = 0; - } - #endif - if (!module) { - #if PY_MAJOR_VERSION < 3 - PyObject *py_level = PyInt_FromLong(level); - if (!py_level) - goto bad; - module = PyObject_CallFunctionObjArgs(py_import, - name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); - Py_DECREF(py_level); - #else - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, level); - #endif - } - } -bad: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_import); - #endif - Py_XDECREF(empty_list); - Py_XDECREF(empty_dict); - return module; -} - -/* ImportFrom */ -static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { - PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); - if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { - PyErr_Format(PyExc_ImportError, - #if PY_MAJOR_VERSION < 3 - "cannot import name %.230s", PyString_AS_STRING(name)); - #else - "cannot import name %S", name); - #endif - } - return value; -} - -/* CLineInTraceback */ -#ifndef CYTHON_CLINE_IN_TRACEBACK -static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { - PyObject *use_cline; - PyObject *ptype, *pvalue, *ptraceback; -#if CYTHON_COMPILING_IN_CPYTHON - PyObject **cython_runtime_dict; -#endif - if (unlikely(!__pyx_cython_runtime)) { - return c_line; - } - __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); -#if CYTHON_COMPILING_IN_CPYTHON - cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); - if (likely(cython_runtime_dict)) { - __PYX_PY_DICT_LOOKUP_IF_MODIFIED( - use_cline, *cython_runtime_dict, - __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) - } else -#endif - { - PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); - if (use_cline_obj) { - use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; - Py_DECREF(use_cline_obj); - } else { - PyErr_Clear(); - use_cline = NULL; - } - } - if (!use_cline) { - c_line = 0; - (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); - } - else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { - c_line = 0; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - return c_line; -} -#endif - -/* CodeObjectCache */ -static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { - int start = 0, mid = 0, end = count - 1; - if (end >= 0 && code_line > entries[end].code_line) { - return count; - } - while (start < end) { - mid = start + (end - start) / 2; - if (code_line < entries[mid].code_line) { - end = mid; - } else if (code_line > entries[mid].code_line) { - start = mid + 1; - } else { - return mid; - } - } - if (code_line <= entries[mid].code_line) { - return mid; - } else { - return mid + 1; - } -} -static PyCodeObject *__pyx_find_code_object(int code_line) { - PyCodeObject* code_object; - int pos; - if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { - return NULL; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { - return NULL; - } - code_object = __pyx_code_cache.entries[pos].code_object; - Py_INCREF(code_object); - return code_object; -} -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { - int pos, i; - __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; - if (unlikely(!code_line)) { - return; - } - if (unlikely(!entries)) { - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); - if (likely(entries)) { - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = 64; - __pyx_code_cache.count = 1; - entries[0].code_line = code_line; - entries[0].code_object = code_object; - Py_INCREF(code_object); - } - return; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { - PyCodeObject* tmp = entries[pos].code_object; - entries[pos].code_object = code_object; - Py_DECREF(tmp); - return; - } - if (__pyx_code_cache.count == __pyx_code_cache.max_count) { - int new_max = __pyx_code_cache.max_count + 64; - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( - __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); - if (unlikely(!entries)) { - return; - } - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = new_max; - } - for (i=__pyx_code_cache.count; i>pos; i--) { - entries[i] = entries[i-1]; - } - entries[pos].code_line = code_line; - entries[pos].code_object = code_object; - __pyx_code_cache.count++; - Py_INCREF(code_object); -} - -/* AddTraceback */ -#include "compile.h" -#include "frameobject.h" -#include "traceback.h" -static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( - const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = NULL; - PyObject *py_funcname = NULL; - #if PY_MAJOR_VERSION < 3 - PyObject *py_srcfile = NULL; - py_srcfile = PyString_FromString(filename); - if (!py_srcfile) goto bad; - #endif - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - funcname = PyUnicode_AsUTF8(py_funcname); - if (!funcname) goto bad; - #endif - } - else { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); - if (!py_funcname) goto bad; - #endif - } - #if PY_MAJOR_VERSION < 3 - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - #else - py_code = PyCode_NewEmpty(filename, funcname, py_line); - #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline - return py_code; -bad: - Py_XDECREF(py_funcname); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_srcfile); - #endif - return NULL; -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); - } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) goto bad; - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); - } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); -} - -/* CIntFromPyVerify */ -#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ - } - -/* CIntFromPy */ -static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(size_t) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (size_t) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (size_t) 0; - case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, digits[0]) - case 2: - if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 2 * PyLong_SHIFT) { - return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 3 * PyLong_SHIFT) { - return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 4 * PyLong_SHIFT) { - return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (size_t) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(size_t) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (size_t) 0; - case -1: __PYX_VERIFY_RETURN_INT(size_t, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, +digits[0]) - case -2: - if (8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { - return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - } -#endif - if (sizeof(size_t) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(size_t) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - size_t val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (size_t) -1; - } - } else { - size_t val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (size_t) -1; - val = __Pyx_PyInt_As_size_t(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to size_t"); - return (size_t) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to size_t"); - return (size_t) -1; -} - -/* CIntToPy */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint32_t(uint32_t value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(uint32_t) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(uint32_t) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(uint32_t) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(uint32_t) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(uint32_t), - little, !is_unsigned); - } -} - -/* CIntToPy */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); - } -} - -/* CIntFromPy */ -static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(uint32_t) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(uint32_t, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (uint32_t) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (uint32_t) 0; - case 1: __PYX_VERIFY_RETURN_INT(uint32_t, digit, digits[0]) - case 2: - if (8 * sizeof(uint32_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) >= 2 * PyLong_SHIFT) { - return (uint32_t) (((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(uint32_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) >= 3 * PyLong_SHIFT) { - return (uint32_t) (((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(uint32_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) >= 4 * PyLong_SHIFT) { - return (uint32_t) (((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (uint32_t) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(uint32_t) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (uint32_t) 0; - case -1: __PYX_VERIFY_RETURN_INT(uint32_t, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(uint32_t, digit, +digits[0]) - case -2: - if (8 * sizeof(uint32_t) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { - return (uint32_t) (((uint32_t)-1)*(((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(uint32_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { - return (uint32_t) ((((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { - return (uint32_t) (((uint32_t)-1)*(((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(uint32_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { - return (uint32_t) ((((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT) { - return (uint32_t) (((uint32_t)-1)*(((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(uint32_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT) { - return (uint32_t) ((((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); - } - } - break; - } -#endif - if (sizeof(uint32_t) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(uint32_t, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(uint32_t) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(uint32_t, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - uint32_t val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (uint32_t) -1; - } - } else { - uint32_t val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (uint32_t) -1; - val = __Pyx_PyInt_As_uint32_t(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to uint32_t"); - return (uint32_t) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to uint32_t"); - return (uint32_t) -1; -} - -/* CIntFromPy */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(int) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (int) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { - return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { - return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { - return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(int) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) - case -2: - if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - } -#endif - if (sizeof(int) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - int val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (int) -1; - } - } else { - int val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (int) -1; - val = __Pyx_PyInt_As_int(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to int"); - return (int) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to int"); - return (int) -1; -} - -/* CIntToPy */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint64_t(uint64_t value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const uint64_t neg_one = (uint64_t) -1, const_zero = (uint64_t) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(uint64_t) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(uint64_t) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(uint64_t) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(uint64_t) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(uint64_t) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(uint64_t), - little, !is_unsigned); - } -} - -/* CIntFromPy */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(long) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (long) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { - return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { - return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { - return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(long) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) - case -2: - if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - } -#endif - if (sizeof(long) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - long val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (long) -1; - } - } else { - long val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (long) -1; - val = __Pyx_PyInt_As_long(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to long"); - return (long) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to long"); - return (long) -1; -} - -/* FastTypeChecks */ -#if CYTHON_COMPILING_IN_CPYTHON -static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { - while (a) { - a = a->tp_base; - if (a == b) - return 1; - } - return b == &PyBaseObject_Type; -} -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (a == b) return 1; - mro = a->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(a, b); -} -#if PY_MAJOR_VERSION == 2 -static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { - PyObject *exception, *value, *tb; - int res; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&exception, &value, &tb); - res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - if (!res) { - res = PyObject_IsSubclass(err, exc_type2); - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - } - __Pyx_ErrRestore(exception, value, tb); - return res; -} -#else -static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { - int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; - if (!res) { - res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); - } - return res; -} -#endif -static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - assert(PyExceptionClass_Check(exc_type)); - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; itp_name); - if (cached_type) { - if (!PyType_Check((PyObject*)cached_type)) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s is not a type object", - type->tp_name); - goto bad; - } - if (cached_type->tp_basicsize != type->tp_basicsize) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s has the wrong size, try recompiling", - type->tp_name); - goto bad; - } - } else { - if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; - PyErr_Clear(); - if (PyType_Ready(type) < 0) goto bad; - if (PyObject_SetAttrString(fake_module, type->tp_name, (PyObject*) type) < 0) - goto bad; - Py_INCREF(type); - cached_type = type; - } -done: - Py_DECREF(fake_module); - return cached_type; -bad: - Py_XDECREF(cached_type); - cached_type = NULL; - goto done; -} - -/* GetTopmostException */ -#if CYTHON_USE_EXC_INFO_STACK -static _PyErr_StackItem * -__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) -{ - _PyErr_StackItem *exc_info = tstate->exc_info; - while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) && - exc_info->previous_item != NULL) - { - exc_info = exc_info->previous_item; - } - return exc_info; -} -#endif - -/* SaveResetException */ -#if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); - *type = exc_info->exc_type; - *value = exc_info->exc_value; - *tb = exc_info->exc_traceback; - #else - *type = tstate->exc_type; - *value = tstate->exc_value; - *tb = tstate->exc_traceback; - #endif - Py_XINCREF(*type); - Py_XINCREF(*value); - Py_XINCREF(*tb); -} -static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = type; - exc_info->exc_value = value; - exc_info->exc_traceback = tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = type; - tstate->exc_value = value; - tstate->exc_traceback = tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -#endif - -/* SwapException */ -#if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = *type; - exc_info->exc_value = *value; - exc_info->exc_traceback = *tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = *type; - tstate->exc_value = *value; - tstate->exc_traceback = *tb; - #endif - *type = tmp_type; - *value = tmp_value; - *tb = tmp_tb; -} -#else -static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); - PyErr_SetExcInfo(*type, *value, *tb); - *type = tmp_type; - *value = tmp_value; - *tb = tmp_tb; -} -#endif - -/* PyObjectCallMethod1 */ -static PyObject* __Pyx__PyObject_CallMethod1(PyObject* method, PyObject* arg) { - PyObject *result = __Pyx_PyObject_CallOneArg(method, arg); - Py_DECREF(method); - return result; -} -static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg) { - PyObject *method = NULL, *result; - int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); - if (likely(is_method)) { - result = __Pyx_PyObject_Call2Args(method, obj, arg); - Py_DECREF(method); - return result; - } - if (unlikely(!method)) return NULL; - return __Pyx__PyObject_CallMethod1(method, arg); -} - -/* CoroutineBase */ -#include -#include -#define __Pyx_Coroutine_Undelegate(gen) Py_CLEAR((gen)->yieldfrom) -static int __Pyx_PyGen__FetchStopIterationValue(CYTHON_UNUSED PyThreadState *__pyx_tstate, PyObject **pvalue) { - PyObject *et, *ev, *tb; - PyObject *value = NULL; - __Pyx_ErrFetch(&et, &ev, &tb); - if (!et) { - Py_XDECREF(tb); - Py_XDECREF(ev); - Py_INCREF(Py_None); - *pvalue = Py_None; - return 0; - } - if (likely(et == PyExc_StopIteration)) { - if (!ev) { - Py_INCREF(Py_None); - value = Py_None; - } -#if PY_VERSION_HEX >= 0x030300A0 - else if (Py_TYPE(ev) == (PyTypeObject*)PyExc_StopIteration) { - value = ((PyStopIterationObject *)ev)->value; - Py_INCREF(value); - Py_DECREF(ev); - } -#endif - else if (unlikely(PyTuple_Check(ev))) { - if (PyTuple_GET_SIZE(ev) >= 1) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - value = PyTuple_GET_ITEM(ev, 0); - Py_INCREF(value); -#else - value = PySequence_ITEM(ev, 0); -#endif - } else { - Py_INCREF(Py_None); - value = Py_None; - } - Py_DECREF(ev); - } - else if (!__Pyx_TypeCheck(ev, (PyTypeObject*)PyExc_StopIteration)) { - value = ev; - } - if (likely(value)) { - Py_XDECREF(tb); - Py_DECREF(et); - *pvalue = value; - return 0; - } - } else if (!__Pyx_PyErr_GivenExceptionMatches(et, PyExc_StopIteration)) { - __Pyx_ErrRestore(et, ev, tb); - return -1; - } - PyErr_NormalizeException(&et, &ev, &tb); - if (unlikely(!PyObject_TypeCheck(ev, (PyTypeObject*)PyExc_StopIteration))) { - __Pyx_ErrRestore(et, ev, tb); - return -1; - } - Py_XDECREF(tb); - Py_DECREF(et); -#if PY_VERSION_HEX >= 0x030300A0 - value = ((PyStopIterationObject *)ev)->value; - Py_INCREF(value); - Py_DECREF(ev); -#else - { - PyObject* args = __Pyx_PyObject_GetAttrStr(ev, __pyx_n_s_args); - Py_DECREF(ev); - if (likely(args)) { - value = PySequence_GetItem(args, 0); - Py_DECREF(args); - } - if (unlikely(!value)) { - __Pyx_ErrRestore(NULL, NULL, NULL); - Py_INCREF(Py_None); - value = Py_None; - } - } -#endif - *pvalue = value; - return 0; -} -static CYTHON_INLINE -void __Pyx_Coroutine_ExceptionClear(__Pyx_ExcInfoStruct *exc_state) { - PyObject *t, *v, *tb; - t = exc_state->exc_type; - v = exc_state->exc_value; - tb = exc_state->exc_traceback; - exc_state->exc_type = NULL; - exc_state->exc_value = NULL; - exc_state->exc_traceback = NULL; - Py_XDECREF(t); - Py_XDECREF(v); - Py_XDECREF(tb); -} -#define __Pyx_Coroutine_AlreadyRunningError(gen) (__Pyx__Coroutine_AlreadyRunningError(gen), (PyObject*)NULL) -static void __Pyx__Coroutine_AlreadyRunningError(CYTHON_UNUSED __pyx_CoroutineObject *gen) { - const char *msg; - if ((0)) { - #ifdef __Pyx_Coroutine_USED - } else if (__Pyx_Coroutine_Check((PyObject*)gen)) { - msg = "coroutine already executing"; - #endif - #ifdef __Pyx_AsyncGen_USED - } else if (__Pyx_AsyncGen_CheckExact((PyObject*)gen)) { - msg = "async generator already executing"; - #endif - } else { - msg = "generator already executing"; - } - PyErr_SetString(PyExc_ValueError, msg); -} -#define __Pyx_Coroutine_NotStartedError(gen) (__Pyx__Coroutine_NotStartedError(gen), (PyObject*)NULL) -static void __Pyx__Coroutine_NotStartedError(CYTHON_UNUSED PyObject *gen) { - const char *msg; - if ((0)) { - #ifdef __Pyx_Coroutine_USED - } else if (__Pyx_Coroutine_Check(gen)) { - msg = "can't send non-None value to a just-started coroutine"; - #endif - #ifdef __Pyx_AsyncGen_USED - } else if (__Pyx_AsyncGen_CheckExact(gen)) { - msg = "can't send non-None value to a just-started async generator"; - #endif - } else { - msg = "can't send non-None value to a just-started generator"; - } - PyErr_SetString(PyExc_TypeError, msg); -} -#define __Pyx_Coroutine_AlreadyTerminatedError(gen, value, closing) (__Pyx__Coroutine_AlreadyTerminatedError(gen, value, closing), (PyObject*)NULL) -static void __Pyx__Coroutine_AlreadyTerminatedError(CYTHON_UNUSED PyObject *gen, PyObject *value, CYTHON_UNUSED int closing) { - #ifdef __Pyx_Coroutine_USED - if (!closing && __Pyx_Coroutine_Check(gen)) { - PyErr_SetString(PyExc_RuntimeError, "cannot reuse already awaited coroutine"); - } else - #endif - if (value) { - #ifdef __Pyx_AsyncGen_USED - if (__Pyx_AsyncGen_CheckExact(gen)) - PyErr_SetNone(__Pyx_PyExc_StopAsyncIteration); - else - #endif - PyErr_SetNone(PyExc_StopIteration); - } -} -static -PyObject *__Pyx_Coroutine_SendEx(__pyx_CoroutineObject *self, PyObject *value, int closing) { - __Pyx_PyThreadState_declare - PyThreadState *tstate; - __Pyx_ExcInfoStruct *exc_state; - PyObject *retval; - assert(!self->is_running); - if (unlikely(self->resume_label == 0)) { - if (unlikely(value && value != Py_None)) { - return __Pyx_Coroutine_NotStartedError((PyObject*)self); - } - } - if (unlikely(self->resume_label == -1)) { - return __Pyx_Coroutine_AlreadyTerminatedError((PyObject*)self, value, closing); - } -#if CYTHON_FAST_THREAD_STATE - __Pyx_PyThreadState_assign - tstate = __pyx_tstate; -#else - tstate = __Pyx_PyThreadState_Current; -#endif - exc_state = &self->gi_exc_state; - if (exc_state->exc_type) { - #if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_PYSTON - #else - if (exc_state->exc_traceback) { - PyTracebackObject *tb = (PyTracebackObject *) exc_state->exc_traceback; - PyFrameObject *f = tb->tb_frame; - assert(f->f_back == NULL); - #if PY_VERSION_HEX >= 0x030B00A1 - f->f_back = PyThreadState_GetFrame(tstate); - #else - Py_XINCREF(tstate->frame); - f->f_back = tstate->frame; - #endif - } - #endif - } -#if CYTHON_USE_EXC_INFO_STACK - exc_state->previous_item = tstate->exc_info; - tstate->exc_info = exc_state; -#else - if (exc_state->exc_type) { - __Pyx_ExceptionSwap(&exc_state->exc_type, &exc_state->exc_value, &exc_state->exc_traceback); - } else { - __Pyx_Coroutine_ExceptionClear(exc_state); - __Pyx_ExceptionSave(&exc_state->exc_type, &exc_state->exc_value, &exc_state->exc_traceback); - } -#endif - self->is_running = 1; - retval = self->body((PyObject *) self, tstate, value); - self->is_running = 0; -#if CYTHON_USE_EXC_INFO_STACK - exc_state = &self->gi_exc_state; - tstate->exc_info = exc_state->previous_item; - exc_state->previous_item = NULL; - __Pyx_Coroutine_ResetFrameBackpointer(exc_state); -#endif - return retval; -} -static CYTHON_INLINE void __Pyx_Coroutine_ResetFrameBackpointer(__Pyx_ExcInfoStruct *exc_state) { - PyObject *exc_tb = exc_state->exc_traceback; - if (likely(exc_tb)) { -#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_PYSTON -#else - PyTracebackObject *tb = (PyTracebackObject *) exc_tb; - PyFrameObject *f = tb->tb_frame; - Py_CLEAR(f->f_back); -#endif - } -} -static CYTHON_INLINE -PyObject *__Pyx_Coroutine_MethodReturn(CYTHON_UNUSED PyObject* gen, PyObject *retval) { - if (unlikely(!retval)) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (!__Pyx_PyErr_Occurred()) { - PyObject *exc = PyExc_StopIteration; - #ifdef __Pyx_AsyncGen_USED - if (__Pyx_AsyncGen_CheckExact(gen)) - exc = __Pyx_PyExc_StopAsyncIteration; - #endif - __Pyx_PyErr_SetNone(exc); - } - } - return retval; -} -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03030000 && (defined(__linux__) || PY_VERSION_HEX >= 0x030600B3) -static CYTHON_INLINE -PyObject *__Pyx_PyGen_Send(PyGenObject *gen, PyObject *arg) { -#if PY_VERSION_HEX <= 0x030A00A1 - return _PyGen_Send(gen, arg); -#else - PyObject *result; - if (PyIter_Send((PyObject*)gen, arg ? arg : Py_None, &result) == PYGEN_RETURN) { - if (PyAsyncGen_CheckExact(gen)) { - assert(result == Py_None); - PyErr_SetNone(PyExc_StopAsyncIteration); - } - else if (result == Py_None) { - PyErr_SetNone(PyExc_StopIteration); - } - else { - _PyGen_SetStopIterationValue(result); - } - Py_CLEAR(result); - } - return result; -#endif -} -#endif -static CYTHON_INLINE -PyObject *__Pyx_Coroutine_FinishDelegation(__pyx_CoroutineObject *gen) { - PyObject *ret; - PyObject *val = NULL; - __Pyx_Coroutine_Undelegate(gen); - __Pyx_PyGen__FetchStopIterationValue(__Pyx_PyThreadState_Current, &val); - ret = __Pyx_Coroutine_SendEx(gen, val, 0); - Py_XDECREF(val); - return ret; -} -static PyObject *__Pyx_Coroutine_Send(PyObject *self, PyObject *value) { - PyObject *retval; - __pyx_CoroutineObject *gen = (__pyx_CoroutineObject*) self; - PyObject *yf = gen->yieldfrom; - if (unlikely(gen->is_running)) - return __Pyx_Coroutine_AlreadyRunningError(gen); - if (yf) { - PyObject *ret; - gen->is_running = 1; - #ifdef __Pyx_Generator_USED - if (__Pyx_Generator_CheckExact(yf)) { - ret = __Pyx_Coroutine_Send(yf, value); - } else - #endif - #ifdef __Pyx_Coroutine_USED - if (__Pyx_Coroutine_Check(yf)) { - ret = __Pyx_Coroutine_Send(yf, value); - } else - #endif - #ifdef __Pyx_AsyncGen_USED - if (__pyx_PyAsyncGenASend_CheckExact(yf)) { - ret = __Pyx_async_gen_asend_send(yf, value); - } else - #endif - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03030000 && (defined(__linux__) || PY_VERSION_HEX >= 0x030600B3) - if (PyGen_CheckExact(yf)) { - ret = __Pyx_PyGen_Send((PyGenObject*)yf, value == Py_None ? NULL : value); - } else - #endif - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03050000 && defined(PyCoro_CheckExact) && (defined(__linux__) || PY_VERSION_HEX >= 0x030600B3) - if (PyCoro_CheckExact(yf)) { - ret = __Pyx_PyGen_Send((PyGenObject*)yf, value == Py_None ? NULL : value); - } else - #endif - { - if (value == Py_None) - ret = Py_TYPE(yf)->tp_iternext(yf); - else - ret = __Pyx_PyObject_CallMethod1(yf, __pyx_n_s_send, value); - } - gen->is_running = 0; - if (likely(ret)) { - return ret; - } - retval = __Pyx_Coroutine_FinishDelegation(gen); - } else { - retval = __Pyx_Coroutine_SendEx(gen, value, 0); - } - return __Pyx_Coroutine_MethodReturn(self, retval); -} -static int __Pyx_Coroutine_CloseIter(__pyx_CoroutineObject *gen, PyObject *yf) { - PyObject *retval = NULL; - int err = 0; - #ifdef __Pyx_Generator_USED - if (__Pyx_Generator_CheckExact(yf)) { - retval = __Pyx_Coroutine_Close(yf); - if (!retval) - return -1; - } else - #endif - #ifdef __Pyx_Coroutine_USED - if (__Pyx_Coroutine_Check(yf)) { - retval = __Pyx_Coroutine_Close(yf); - if (!retval) - return -1; - } else - if (__Pyx_CoroutineAwait_CheckExact(yf)) { - retval = __Pyx_CoroutineAwait_Close((__pyx_CoroutineAwaitObject*)yf, NULL); - if (!retval) - return -1; - } else - #endif - #ifdef __Pyx_AsyncGen_USED - if (__pyx_PyAsyncGenASend_CheckExact(yf)) { - retval = __Pyx_async_gen_asend_close(yf, NULL); - } else - if (__pyx_PyAsyncGenAThrow_CheckExact(yf)) { - retval = __Pyx_async_gen_athrow_close(yf, NULL); - } else - #endif - { - PyObject *meth; - gen->is_running = 1; - meth = __Pyx_PyObject_GetAttrStr(yf, __pyx_n_s_close); - if (unlikely(!meth)) { - if (!PyErr_ExceptionMatches(PyExc_AttributeError)) { - PyErr_WriteUnraisable(yf); - } - PyErr_Clear(); - } else { - retval = PyObject_CallFunction(meth, NULL); - Py_DECREF(meth); - if (!retval) - err = -1; - } - gen->is_running = 0; - } - Py_XDECREF(retval); - return err; -} -static PyObject *__Pyx_Generator_Next(PyObject *self) { - __pyx_CoroutineObject *gen = (__pyx_CoroutineObject*) self; - PyObject *yf = gen->yieldfrom; - if (unlikely(gen->is_running)) - return __Pyx_Coroutine_AlreadyRunningError(gen); - if (yf) { - PyObject *ret; - gen->is_running = 1; - #ifdef __Pyx_Generator_USED - if (__Pyx_Generator_CheckExact(yf)) { - ret = __Pyx_Generator_Next(yf); - } else - #endif - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03030000 && (defined(__linux__) || PY_VERSION_HEX >= 0x030600B3) - if (PyGen_CheckExact(yf)) { - ret = __Pyx_PyGen_Send((PyGenObject*)yf, NULL); - } else - #endif - #ifdef __Pyx_Coroutine_USED - if (__Pyx_Coroutine_Check(yf)) { - ret = __Pyx_Coroutine_Send(yf, Py_None); - } else - #endif - ret = Py_TYPE(yf)->tp_iternext(yf); - gen->is_running = 0; - if (likely(ret)) { - return ret; - } - return __Pyx_Coroutine_FinishDelegation(gen); - } - return __Pyx_Coroutine_SendEx(gen, Py_None, 0); -} -static PyObject *__Pyx_Coroutine_Close_Method(PyObject *self, CYTHON_UNUSED PyObject *arg) { - return __Pyx_Coroutine_Close(self); -} -static PyObject *__Pyx_Coroutine_Close(PyObject *self) { - __pyx_CoroutineObject *gen = (__pyx_CoroutineObject *) self; - PyObject *retval, *raised_exception; - PyObject *yf = gen->yieldfrom; - int err = 0; - if (unlikely(gen->is_running)) - return __Pyx_Coroutine_AlreadyRunningError(gen); - if (yf) { - Py_INCREF(yf); - err = __Pyx_Coroutine_CloseIter(gen, yf); - __Pyx_Coroutine_Undelegate(gen); - Py_DECREF(yf); - } - if (err == 0) - PyErr_SetNone(PyExc_GeneratorExit); - retval = __Pyx_Coroutine_SendEx(gen, NULL, 1); - if (unlikely(retval)) { - const char *msg; - Py_DECREF(retval); - if ((0)) { - #ifdef __Pyx_Coroutine_USED - } else if (__Pyx_Coroutine_Check(self)) { - msg = "coroutine ignored GeneratorExit"; - #endif - #ifdef __Pyx_AsyncGen_USED - } else if (__Pyx_AsyncGen_CheckExact(self)) { -#if PY_VERSION_HEX < 0x03060000 - msg = "async generator ignored GeneratorExit - might require Python 3.6+ finalisation (PEP 525)"; -#else - msg = "async generator ignored GeneratorExit"; -#endif - #endif - } else { - msg = "generator ignored GeneratorExit"; - } - PyErr_SetString(PyExc_RuntimeError, msg); - return NULL; - } - raised_exception = PyErr_Occurred(); - if (likely(!raised_exception || __Pyx_PyErr_GivenExceptionMatches2(raised_exception, PyExc_GeneratorExit, PyExc_StopIteration))) { - if (raised_exception) PyErr_Clear(); - Py_INCREF(Py_None); - return Py_None; - } - return NULL; -} -static PyObject *__Pyx__Coroutine_Throw(PyObject *self, PyObject *typ, PyObject *val, PyObject *tb, - PyObject *args, int close_on_genexit) { - __pyx_CoroutineObject *gen = (__pyx_CoroutineObject *) self; - PyObject *yf = gen->yieldfrom; - if (unlikely(gen->is_running)) - return __Pyx_Coroutine_AlreadyRunningError(gen); - if (yf) { - PyObject *ret; - Py_INCREF(yf); - if (__Pyx_PyErr_GivenExceptionMatches(typ, PyExc_GeneratorExit) && close_on_genexit) { - int err = __Pyx_Coroutine_CloseIter(gen, yf); - Py_DECREF(yf); - __Pyx_Coroutine_Undelegate(gen); - if (err < 0) - return __Pyx_Coroutine_MethodReturn(self, __Pyx_Coroutine_SendEx(gen, NULL, 0)); - goto throw_here; - } - gen->is_running = 1; - if (0 - #ifdef __Pyx_Generator_USED - || __Pyx_Generator_CheckExact(yf) - #endif - #ifdef __Pyx_Coroutine_USED - || __Pyx_Coroutine_Check(yf) - #endif - ) { - ret = __Pyx__Coroutine_Throw(yf, typ, val, tb, args, close_on_genexit); - #ifdef __Pyx_Coroutine_USED - } else if (__Pyx_CoroutineAwait_CheckExact(yf)) { - ret = __Pyx__Coroutine_Throw(((__pyx_CoroutineAwaitObject*)yf)->coroutine, typ, val, tb, args, close_on_genexit); - #endif - } else { - PyObject *meth = __Pyx_PyObject_GetAttrStr(yf, __pyx_n_s_throw); - if (unlikely(!meth)) { - Py_DECREF(yf); - if (!PyErr_ExceptionMatches(PyExc_AttributeError)) { - gen->is_running = 0; - return NULL; - } - PyErr_Clear(); - __Pyx_Coroutine_Undelegate(gen); - gen->is_running = 0; - goto throw_here; - } - if (likely(args)) { - ret = PyObject_CallObject(meth, args); - } else { - ret = PyObject_CallFunctionObjArgs(meth, typ, val, tb, NULL); - } - Py_DECREF(meth); - } - gen->is_running = 0; - Py_DECREF(yf); - if (!ret) { - ret = __Pyx_Coroutine_FinishDelegation(gen); - } - return __Pyx_Coroutine_MethodReturn(self, ret); - } -throw_here: - __Pyx_Raise(typ, val, tb, NULL); - return __Pyx_Coroutine_MethodReturn(self, __Pyx_Coroutine_SendEx(gen, NULL, 0)); -} -static PyObject *__Pyx_Coroutine_Throw(PyObject *self, PyObject *args) { - PyObject *typ; - PyObject *val = NULL; - PyObject *tb = NULL; - if (!PyArg_UnpackTuple(args, (char *)"throw", 1, 3, &typ, &val, &tb)) - return NULL; - return __Pyx__Coroutine_Throw(self, typ, val, tb, args, 1); -} -static CYTHON_INLINE int __Pyx_Coroutine_traverse_excstate(__Pyx_ExcInfoStruct *exc_state, visitproc visit, void *arg) { - Py_VISIT(exc_state->exc_type); - Py_VISIT(exc_state->exc_value); - Py_VISIT(exc_state->exc_traceback); - return 0; -} -static int __Pyx_Coroutine_traverse(__pyx_CoroutineObject *gen, visitproc visit, void *arg) { - Py_VISIT(gen->closure); - Py_VISIT(gen->classobj); - Py_VISIT(gen->yieldfrom); - return __Pyx_Coroutine_traverse_excstate(&gen->gi_exc_state, visit, arg); -} -static int __Pyx_Coroutine_clear(PyObject *self) { - __pyx_CoroutineObject *gen = (__pyx_CoroutineObject *) self; - Py_CLEAR(gen->closure); - Py_CLEAR(gen->classobj); - Py_CLEAR(gen->yieldfrom); - __Pyx_Coroutine_ExceptionClear(&gen->gi_exc_state); -#ifdef __Pyx_AsyncGen_USED - if (__Pyx_AsyncGen_CheckExact(self)) { - Py_CLEAR(((__pyx_PyAsyncGenObject*)gen)->ag_finalizer); - } -#endif - Py_CLEAR(gen->gi_code); - Py_CLEAR(gen->gi_frame); - Py_CLEAR(gen->gi_name); - Py_CLEAR(gen->gi_qualname); - Py_CLEAR(gen->gi_modulename); - return 0; -} -static void __Pyx_Coroutine_dealloc(PyObject *self) { - __pyx_CoroutineObject *gen = (__pyx_CoroutineObject *) self; - PyObject_GC_UnTrack(gen); - if (gen->gi_weakreflist != NULL) - PyObject_ClearWeakRefs(self); - if (gen->resume_label >= 0) { - PyObject_GC_Track(self); -#if PY_VERSION_HEX >= 0x030400a1 && CYTHON_USE_TP_FINALIZE - if (PyObject_CallFinalizerFromDealloc(self)) -#else - Py_TYPE(gen)->tp_del(self); - if (Py_REFCNT(self) > 0) -#endif - { - return; - } - PyObject_GC_UnTrack(self); - } -#ifdef __Pyx_AsyncGen_USED - if (__Pyx_AsyncGen_CheckExact(self)) { - /* We have to handle this case for asynchronous generators - right here, because this code has to be between UNTRACK - and GC_Del. */ - Py_CLEAR(((__pyx_PyAsyncGenObject*)self)->ag_finalizer); - } -#endif - __Pyx_Coroutine_clear(self); - PyObject_GC_Del(gen); -} -static void __Pyx_Coroutine_del(PyObject *self) { - PyObject *error_type, *error_value, *error_traceback; - __pyx_CoroutineObject *gen = (__pyx_CoroutineObject *) self; - __Pyx_PyThreadState_declare - if (gen->resume_label < 0) { - return; - } -#if !CYTHON_USE_TP_FINALIZE - assert(self->ob_refcnt == 0); - __Pyx_SET_REFCNT(self, 1); -#endif - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&error_type, &error_value, &error_traceback); -#ifdef __Pyx_AsyncGen_USED - if (__Pyx_AsyncGen_CheckExact(self)) { - __pyx_PyAsyncGenObject *agen = (__pyx_PyAsyncGenObject*)self; - PyObject *finalizer = agen->ag_finalizer; - if (finalizer && !agen->ag_closed) { - PyObject *res = __Pyx_PyObject_CallOneArg(finalizer, self); - if (unlikely(!res)) { - PyErr_WriteUnraisable(self); - } else { - Py_DECREF(res); - } - __Pyx_ErrRestore(error_type, error_value, error_traceback); - return; - } - } -#endif - if (unlikely(gen->resume_label == 0 && !error_value)) { -#ifdef __Pyx_Coroutine_USED -#ifdef __Pyx_Generator_USED - if (!__Pyx_Generator_CheckExact(self)) -#endif - { - PyObject_GC_UnTrack(self); -#if PY_MAJOR_VERSION >= 3 || defined(PyErr_WarnFormat) - if (unlikely(PyErr_WarnFormat(PyExc_RuntimeWarning, 1, "coroutine '%.50S' was never awaited", gen->gi_qualname) < 0)) - PyErr_WriteUnraisable(self); -#else - {PyObject *msg; - char *cmsg; - #if CYTHON_COMPILING_IN_PYPY - msg = NULL; - cmsg = (char*) "coroutine was never awaited"; - #else - char *cname; - PyObject *qualname; - qualname = gen->gi_qualname; - cname = PyString_AS_STRING(qualname); - msg = PyString_FromFormat("coroutine '%.50s' was never awaited", cname); - if (unlikely(!msg)) { - PyErr_Clear(); - cmsg = (char*) "coroutine was never awaited"; - } else { - cmsg = PyString_AS_STRING(msg); - } - #endif - if (unlikely(PyErr_WarnEx(PyExc_RuntimeWarning, cmsg, 1) < 0)) - PyErr_WriteUnraisable(self); - Py_XDECREF(msg);} -#endif - PyObject_GC_Track(self); - } -#endif - } else { - PyObject *res = __Pyx_Coroutine_Close(self); - if (unlikely(!res)) { - if (PyErr_Occurred()) - PyErr_WriteUnraisable(self); - } else { - Py_DECREF(res); - } - } - __Pyx_ErrRestore(error_type, error_value, error_traceback); -#if !CYTHON_USE_TP_FINALIZE - assert(Py_REFCNT(self) > 0); - if (--self->ob_refcnt == 0) { - return; - } - { - Py_ssize_t refcnt = Py_REFCNT(self); - _Py_NewReference(self); - __Pyx_SET_REFCNT(self, refcnt); - } -#if CYTHON_COMPILING_IN_CPYTHON - assert(PyType_IS_GC(Py_TYPE(self)) && - _Py_AS_GC(self)->gc.gc_refs != _PyGC_REFS_UNTRACKED); - _Py_DEC_REFTOTAL; -#endif -#ifdef COUNT_ALLOCS - --Py_TYPE(self)->tp_frees; - --Py_TYPE(self)->tp_allocs; -#endif -#endif -} -static PyObject * -__Pyx_Coroutine_get_name(__pyx_CoroutineObject *self, CYTHON_UNUSED void *context) -{ - PyObject *name = self->gi_name; - if (unlikely(!name)) name = Py_None; - Py_INCREF(name); - return name; -} -static int -__Pyx_Coroutine_set_name(__pyx_CoroutineObject *self, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__name__ must be set to a string object"); - return -1; - } - tmp = self->gi_name; - Py_INCREF(value); - self->gi_name = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_Coroutine_get_qualname(__pyx_CoroutineObject *self, CYTHON_UNUSED void *context) -{ - PyObject *name = self->gi_qualname; - if (unlikely(!name)) name = Py_None; - Py_INCREF(name); - return name; -} -static int -__Pyx_Coroutine_set_qualname(__pyx_CoroutineObject *self, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__qualname__ must be set to a string object"); - return -1; - } - tmp = self->gi_qualname; - Py_INCREF(value); - self->gi_qualname = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_Coroutine_get_frame(__pyx_CoroutineObject *self, CYTHON_UNUSED void *context) -{ - PyObject *frame = self->gi_frame; - if (!frame) { - if (unlikely(!self->gi_code)) { - Py_RETURN_NONE; - } - frame = (PyObject *) PyFrame_New( - PyThreadState_Get(), /*PyThreadState *tstate,*/ - (PyCodeObject*) self->gi_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (unlikely(!frame)) - return NULL; - self->gi_frame = frame; - } - Py_INCREF(frame); - return frame; -} -static __pyx_CoroutineObject *__Pyx__Coroutine_New( - PyTypeObject* type, __pyx_coroutine_body_t body, PyObject *code, PyObject *closure, - PyObject *name, PyObject *qualname, PyObject *module_name) { - __pyx_CoroutineObject *gen = PyObject_GC_New(__pyx_CoroutineObject, type); - if (unlikely(!gen)) - return NULL; - return __Pyx__Coroutine_NewInit(gen, body, code, closure, name, qualname, module_name); -} -static __pyx_CoroutineObject *__Pyx__Coroutine_NewInit( - __pyx_CoroutineObject *gen, __pyx_coroutine_body_t body, PyObject *code, PyObject *closure, - PyObject *name, PyObject *qualname, PyObject *module_name) { - gen->body = body; - gen->closure = closure; - Py_XINCREF(closure); - gen->is_running = 0; - gen->resume_label = 0; - gen->classobj = NULL; - gen->yieldfrom = NULL; - gen->gi_exc_state.exc_type = NULL; - gen->gi_exc_state.exc_value = NULL; - gen->gi_exc_state.exc_traceback = NULL; -#if CYTHON_USE_EXC_INFO_STACK - gen->gi_exc_state.previous_item = NULL; -#endif - gen->gi_weakreflist = NULL; - Py_XINCREF(qualname); - gen->gi_qualname = qualname; - Py_XINCREF(name); - gen->gi_name = name; - Py_XINCREF(module_name); - gen->gi_modulename = module_name; - Py_XINCREF(code); - gen->gi_code = code; - gen->gi_frame = NULL; - PyObject_GC_Track(gen); - return gen; -} - -/* PatchModuleWithCoroutine */ -static PyObject* __Pyx_Coroutine_patch_module(PyObject* module, const char* py_code) { -#if defined(__Pyx_Generator_USED) || defined(__Pyx_Coroutine_USED) - int result; - PyObject *globals, *result_obj; - globals = PyDict_New(); if (unlikely(!globals)) goto ignore; - result = PyDict_SetItemString(globals, "_cython_coroutine_type", - #ifdef __Pyx_Coroutine_USED - (PyObject*)__pyx_CoroutineType); - #else - Py_None); - #endif - if (unlikely(result < 0)) goto ignore; - result = PyDict_SetItemString(globals, "_cython_generator_type", - #ifdef __Pyx_Generator_USED - (PyObject*)__pyx_GeneratorType); - #else - Py_None); - #endif - if (unlikely(result < 0)) goto ignore; - if (unlikely(PyDict_SetItemString(globals, "_module", module) < 0)) goto ignore; - if (unlikely(PyDict_SetItemString(globals, "__builtins__", __pyx_b) < 0)) goto ignore; - result_obj = PyRun_String(py_code, Py_file_input, globals, globals); - if (unlikely(!result_obj)) goto ignore; - Py_DECREF(result_obj); - Py_DECREF(globals); - return module; -ignore: - Py_XDECREF(globals); - PyErr_WriteUnraisable(module); - if (unlikely(PyErr_WarnEx(PyExc_RuntimeWarning, "Cython module failed to patch module with custom type", 1) < 0)) { - Py_DECREF(module); - module = NULL; - } -#else - py_code++; -#endif - return module; -} - -/* PatchGeneratorABC */ -#ifndef CYTHON_REGISTER_ABCS -#define CYTHON_REGISTER_ABCS 1 -#endif -#if defined(__Pyx_Generator_USED) || defined(__Pyx_Coroutine_USED) -static PyObject* __Pyx_patch_abc_module(PyObject *module); -static PyObject* __Pyx_patch_abc_module(PyObject *module) { - module = __Pyx_Coroutine_patch_module( - module, "" -"if _cython_generator_type is not None:\n" -" try: Generator = _module.Generator\n" -" except AttributeError: pass\n" -" else: Generator.register(_cython_generator_type)\n" -"if _cython_coroutine_type is not None:\n" -" try: Coroutine = _module.Coroutine\n" -" except AttributeError: pass\n" -" else: Coroutine.register(_cython_coroutine_type)\n" - ); - return module; -} -#endif -static int __Pyx_patch_abc(void) { -#if defined(__Pyx_Generator_USED) || defined(__Pyx_Coroutine_USED) - static int abc_patched = 0; - if (CYTHON_REGISTER_ABCS && !abc_patched) { - PyObject *module; - module = PyImport_ImportModule((PY_MAJOR_VERSION >= 3) ? "collections.abc" : "collections"); - if (!module) { - PyErr_WriteUnraisable(NULL); - if (unlikely(PyErr_WarnEx(PyExc_RuntimeWarning, - ((PY_MAJOR_VERSION >= 3) ? - "Cython module failed to register with collections.abc module" : - "Cython module failed to register with collections module"), 1) < 0)) { - return -1; - } - } else { - module = __Pyx_patch_abc_module(module); - abc_patched = 1; - if (unlikely(!module)) - return -1; - Py_DECREF(module); - } - module = PyImport_ImportModule("backports_abc"); - if (module) { - module = __Pyx_patch_abc_module(module); - Py_XDECREF(module); - } - if (!module) { - PyErr_Clear(); - } - } -#else - if ((0)) __Pyx_Coroutine_patch_module(NULL, NULL); -#endif - return 0; -} - -/* Generator */ -static PyMethodDef __pyx_Generator_methods[] = { - {"send", (PyCFunction) __Pyx_Coroutine_Send, METH_O, - (char*) PyDoc_STR("send(arg) -> send 'arg' into generator,\nreturn next yielded value or raise StopIteration.")}, - {"throw", (PyCFunction) __Pyx_Coroutine_Throw, METH_VARARGS, - (char*) PyDoc_STR("throw(typ[,val[,tb]]) -> raise exception in generator,\nreturn next yielded value or raise StopIteration.")}, - {"close", (PyCFunction) __Pyx_Coroutine_Close_Method, METH_NOARGS, - (char*) PyDoc_STR("close() -> raise GeneratorExit inside generator.")}, - {0, 0, 0, 0} -}; -static PyMemberDef __pyx_Generator_memberlist[] = { - {(char *) "gi_running", T_BOOL, offsetof(__pyx_CoroutineObject, is_running), READONLY, NULL}, - {(char*) "gi_yieldfrom", T_OBJECT, offsetof(__pyx_CoroutineObject, yieldfrom), READONLY, - (char*) PyDoc_STR("object being iterated by 'yield from', or None")}, - {(char*) "gi_code", T_OBJECT, offsetof(__pyx_CoroutineObject, gi_code), READONLY, NULL}, - {0, 0, 0, 0, 0} -}; -static PyGetSetDef __pyx_Generator_getsets[] = { - {(char *) "__name__", (getter)__Pyx_Coroutine_get_name, (setter)__Pyx_Coroutine_set_name, - (char*) PyDoc_STR("name of the generator"), 0}, - {(char *) "__qualname__", (getter)__Pyx_Coroutine_get_qualname, (setter)__Pyx_Coroutine_set_qualname, - (char*) PyDoc_STR("qualified name of the generator"), 0}, - {(char *) "gi_frame", (getter)__Pyx_Coroutine_get_frame, NULL, - (char*) PyDoc_STR("Frame of the generator"), 0}, - {0, 0, 0, 0, 0} -}; -static PyTypeObject __pyx_GeneratorType_type = { - PyVarObject_HEAD_INIT(0, 0) - "generator", - sizeof(__pyx_CoroutineObject), - 0, - (destructor) __Pyx_Coroutine_dealloc, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_HAVE_FINALIZE, - 0, - (traverseproc) __Pyx_Coroutine_traverse, - 0, - 0, - offsetof(__pyx_CoroutineObject, gi_weakreflist), - 0, - (iternextfunc) __Pyx_Generator_Next, - __pyx_Generator_methods, - __pyx_Generator_memberlist, - __pyx_Generator_getsets, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, -#if CYTHON_USE_TP_FINALIZE - 0, -#else - __Pyx_Coroutine_del, -#endif - 0, -#if CYTHON_USE_TP_FINALIZE - __Pyx_Coroutine_del, -#elif PY_VERSION_HEX >= 0x030400a1 - 0, -#endif -#if PY_VERSION_HEX >= 0x030800b1 - 0, -#endif -#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 - 0, -#endif -#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 - 0, -#endif -}; -static int __pyx_Generator_init(void) { - __pyx_GeneratorType_type.tp_getattro = __Pyx_PyObject_GenericGetAttrNoDict; - __pyx_GeneratorType_type.tp_iter = PyObject_SelfIter; - __pyx_GeneratorType = __Pyx_FetchCommonType(&__pyx_GeneratorType_type); - if (unlikely(!__pyx_GeneratorType)) { - return -1; - } - return 0; -} - -/* CheckBinaryVersion */ -static int __Pyx_check_binary_version(void) { - char ctversion[4], rtversion[4]; - PyOS_snprintf(ctversion, 4, "%d.%d", PY_MAJOR_VERSION, PY_MINOR_VERSION); - PyOS_snprintf(rtversion, 4, "%s", Py_GetVersion()); - if (ctversion[0] != rtversion[0] || ctversion[2] != rtversion[2]) { - char message[200]; - PyOS_snprintf(message, sizeof(message), - "compiletime version %s of module '%.100s' " - "does not match runtime version %s", - ctversion, __Pyx_MODULE_NAME, rtversion); - return PyErr_WarnEx(NULL, message, 1); - } - return 0; -} - -/* InitStrings */ -static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { - while (t->p) { - #if PY_MAJOR_VERSION < 3 - if (t->is_unicode) { - *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); - } else if (t->intern) { - *t->p = PyString_InternFromString(t->s); - } else { - *t->p = PyString_FromStringAndSize(t->s, t->n - 1); - } - #else - if (t->is_unicode | t->is_str) { - if (t->intern) { - *t->p = PyUnicode_InternFromString(t->s); - } else if (t->encoding) { - *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); - } else { - *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); - } - } else { - *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); - } - #endif - if (!*t->p) - return -1; - if (PyObject_Hash(*t->p) == -1) - return -1; - ++t; - } - return 0; -} - -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { - return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); -} -static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { - Py_ssize_t ignore; - return __Pyx_PyObject_AsStringAndSize(o, &ignore); -} -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT -#if !CYTHON_PEP393_ENABLED -static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - char* defenc_c; - PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); - if (!defenc) return NULL; - defenc_c = PyBytes_AS_STRING(defenc); -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - { - char* end = defenc_c + PyBytes_GET_SIZE(defenc); - char* c; - for (c = defenc_c; c < end; c++) { - if ((unsigned char) (*c) >= 128) { - PyUnicode_AsASCIIString(o); - return NULL; - } - } - } -#endif - *length = PyBytes_GET_SIZE(defenc); - return defenc_c; -} -#else -static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - if (likely(PyUnicode_IS_ASCII(o))) { - *length = PyUnicode_GET_LENGTH(o); - return PyUnicode_AsUTF8(o); - } else { - PyUnicode_AsASCIIString(o); - return NULL; - } -#else - return PyUnicode_AsUTF8AndSize(o, length); -#endif -} -#endif -#endif -static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT - if ( -#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - __Pyx_sys_getdefaultencoding_not_ascii && -#endif - PyUnicode_Check(o)) { - return __Pyx_PyUnicode_AsStringAndSize(o, length); - } else -#endif -#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) - if (PyByteArray_Check(o)) { - *length = PyByteArray_GET_SIZE(o); - return PyByteArray_AS_STRING(o); - } else -#endif - { - char* result; - int r = PyBytes_AsStringAndSize(o, &result, length); - if (unlikely(r < 0)) { - return NULL; - } else { - return result; - } - } -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { - int is_true = x == Py_True; - if (is_true | (x == Py_False) | (x == Py_None)) return is_true; - else return PyObject_IsTrue(x); -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { - int retval; - if (unlikely(!x)) return -1; - retval = __Pyx_PyObject_IsTrue(x); - Py_DECREF(x); - return retval; -} -static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { -#if PY_MAJOR_VERSION >= 3 - if (PyLong_Check(result)) { - if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, - "__int__ returned non-int (type %.200s). " - "The ability to return an instance of a strict subclass of int " - "is deprecated, and may be removed in a future version of Python.", - Py_TYPE(result)->tp_name)) { - Py_DECREF(result); - return NULL; - } - return result; - } -#endif - PyErr_Format(PyExc_TypeError, - "__%.4s__ returned non-%.4s (type %.200s)", - type_name, type_name, Py_TYPE(result)->tp_name); - Py_DECREF(result); - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { -#if CYTHON_USE_TYPE_SLOTS - PyNumberMethods *m; -#endif - const char *name = NULL; - PyObject *res = NULL; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x) || PyLong_Check(x))) -#else - if (likely(PyLong_Check(x))) -#endif - return __Pyx_NewRef(x); -#if CYTHON_USE_TYPE_SLOTS - m = Py_TYPE(x)->tp_as_number; - #if PY_MAJOR_VERSION < 3 - if (m && m->nb_int) { - name = "int"; - res = m->nb_int(x); - } - else if (m && m->nb_long) { - name = "long"; - res = m->nb_long(x); - } - #else - if (likely(m && m->nb_int)) { - name = "int"; - res = m->nb_int(x); - } - #endif -#else - if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { - res = PyNumber_Int(x); - } -#endif - if (likely(res)) { -#if PY_MAJOR_VERSION < 3 - if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { -#else - if (unlikely(!PyLong_CheckExact(res))) { -#endif - return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); - } - } - else if (!PyErr_Occurred()) { - PyErr_SetString(PyExc_TypeError, - "an integer is required"); - } - return res; -} -static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { - Py_ssize_t ival; - PyObject *x; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(b))) { - if (sizeof(Py_ssize_t) >= sizeof(long)) - return PyInt_AS_LONG(b); - else - return PyInt_AsSsize_t(b); - } -#endif - if (likely(PyLong_CheckExact(b))) { - #if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)b)->ob_digit; - const Py_ssize_t size = Py_SIZE(b); - if (likely(__Pyx_sst_abs(size) <= 1)) { - ival = likely(size) ? digits[0] : 0; - if (size == -1) ival = -ival; - return ival; - } else { - switch (size) { - case 2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - } - } - #endif - return PyLong_AsSsize_t(b); - } - x = PyNumber_Index(b); - if (!x) return -1; - ival = PyInt_AsSsize_t(x); - Py_DECREF(x); - return ival; -} -static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { - if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { - return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); -#if PY_MAJOR_VERSION < 3 - } else if (likely(PyInt_CheckExact(o))) { - return PyInt_AS_LONG(o); -#endif - } else { - Py_ssize_t ival; - PyObject *x; - x = PyNumber_Index(o); - if (!x) return -1; - ival = PyInt_AsLong(x); - Py_DECREF(x); - return ival; - } -} -static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { - return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); -} -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { - return PyInt_FromSize_t(ival); -} - - -#endif /* Py_PYTHON_H */ diff --git a/opendbc/can/parser_pyx.so b/opendbc/can/parser_pyx.so index c3adc3ded..09b524d18 100755 Binary files a/opendbc/can/parser_pyx.so and b/opendbc/can/parser_pyx.so differ diff --git a/opendbc/generator/gm/gm_global_a_powertrain.dbc b/opendbc/generator/gm/gm_global_a_powertrain.dbc index 22acc2f8c..a453db41f 100644 --- a/opendbc/generator/gm/gm_global_a_powertrain.dbc +++ b/opendbc/generator/gm/gm_global_a_powertrain.dbc @@ -243,6 +243,11 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX +BO_ 967 EVDriveMode: 4 XXX + SG_ SinglePedalModeActive : 7|1@0+ (1,0) [0|1] "" XXX + SG_ SinglePedalModeRisingEdge : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SinglePedalModeFallingEdge : 22|1@0+ (1,0) [0|1] "" XXX + BO_ 977 ECMCruiseControl: 8 K20_ECM SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO diff --git a/opendbc/generator/honda/_bosch_2018.dbc b/opendbc/generator/honda/_bosch_2018.dbc index 916be7feb..bf981781d 100644 --- a/opendbc/generator/honda/_bosch_2018.dbc +++ b/opendbc/generator/honda/_bosch_2018.dbc @@ -187,7 +187,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY @@ -208,7 +208,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY diff --git a/opendbc/generator/honda/_bosch_adas_2018.dbc b/opendbc/generator/honda/_bosch_adas_2018.dbc index 41c8d1669..dc8def55c 100644 --- a/opendbc/generator/honda/_bosch_adas_2018.dbc +++ b/opendbc/generator/honda/_bosch_adas_2018.dbc @@ -35,7 +35,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY diff --git a/opendbc/generator/honda/_nidec_common.dbc b/opendbc/generator/honda/_nidec_common.dbc index 433f03622..142508911 100644 --- a/opendbc/generator/honda/_nidec_common.dbc +++ b/opendbc/generator/honda/_nidec_common.dbc @@ -67,7 +67,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY diff --git a/opendbc/generator/honda/honda_civic_ex_2022_can.dbc b/opendbc/generator/honda/honda_civic_ex_2022_can.dbc index 47c46460e..c0f4cfca1 100644 --- a/opendbc/generator/honda/honda_civic_ex_2022_can.dbc +++ b/opendbc/generator/honda/honda_civic_ex_2022_can.dbc @@ -19,6 +19,12 @@ BO_ 432 STANDSTILL: 7 VSA SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_FAULT : 22|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + BO_ 456 ACC_CONTROL: 8 XXX SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX SG_ IDLESTOP_ALLOW : 8|1@0+ (1,0) [0|1] "" XXX @@ -33,6 +39,11 @@ BO_ 456 ACC_CONTROL: 8 XXX SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX +BO_ 467 CRUISE_FAULT_STATUS: 8 XXX + SG_ CRUISE_FAULT : 3|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + BO_ 829 LKAS_HUD: 8 ADAS SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY @@ -44,7 +55,7 @@ BO_ 829 LKAS_HUD: 8 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY @@ -70,6 +81,7 @@ BO_ 254913108 LKAS_HUD_2: 8 ADAS SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX +CM_ 446 "If exists, describes cruise faults and what the PCM uses for brake press detection."; CM_ SG_ 456 IDLESTOP_ALLOW "allows car to turn off engine at a standstill"; CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2"; diff --git a/opendbc/generator/honda/honda_crv_executive_2016_can.dbc b/opendbc/generator/honda/honda_crv_executive_2016_can.dbc index 3941ac79d..a10c36da5 100644 --- a/opendbc/generator/honda/honda_crv_executive_2016_can.dbc +++ b/opendbc/generator/honda/honda_crv_executive_2016_can.dbc @@ -26,7 +26,7 @@ BO_ 404 STEERING_CONTROL: 4 EON SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 22|7@0+ (1,0) [0|127] "" EPS SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS diff --git a/opendbc/generator/honda/honda_crv_touring_2016_can.dbc b/opendbc/generator/honda/honda_crv_touring_2016_can.dbc index 9a9d08be1..b607a4ffe 100644 --- a/opendbc/generator/honda/honda_crv_touring_2016_can.dbc +++ b/opendbc/generator/honda/honda_crv_touring_2016_can.dbc @@ -21,7 +21,7 @@ BO_ 404 STEERING_CONTROL: 4 EON SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 22|7@0+ (1,0) [0|127] "" EPS SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS diff --git a/opendbc/generator/subaru/subaru_global_2017.dbc b/opendbc/generator/subaru/subaru_global_2017.dbc index d6ec5e81c..0d358aea0 100644 --- a/opendbc/generator/subaru/subaru_global_2017.dbc +++ b/opendbc/generator/subaru/subaru_global_2017.dbc @@ -53,10 +53,22 @@ BO_ 576 CruiseControl: 8 XXX SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX +BO_ 803 INFOTAINMENT_STATUS: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_Blue_Lines : 15|4@0+ (1,0) [0|15] "" XXX + SG_ Signal1 : 19|4@0+ (1,0) [0|15] "" XXX + SG_ LKAS_State_Infotainment : 22|3@0+ (1,0) [0|7] "" XXX + SG_ Signal2 : 24|1@0+ (1,0) [0|1] "" XXX + CM_ SG_ 545 Cruise_Throttle "RPM-like output signal"; CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set"; CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance"; CM_ SG_ 545 Cruise_Soft_Disable "Eyesight Temporary disable, sets CruiseControl Activated = 0"; CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM"; CM_ SG_ 546 Signal3 "0 when cruise_activated = 1"; +CM_ SG_ 803 Signal1 "Seems to be static, set only on some cars"; +CM_ SG_ 803 Signal2 "Seems to be static, set only on some cars"; +VAL_ 803 LKAS_Blue_Lines 0 "no modifier" 2 "changes lines to blue"; +VAL_ 803 LKAS_State_Infotainment 0 "none" 2 "Obstacle Detected" 3 "Keep Hands On Wheel" 4 "Keep Hands On Wheel Off"; VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6"; diff --git a/opendbc/generator/toyota/_toyota_2017.dbc b/opendbc/generator/toyota/_toyota_2017.dbc index 1bb2857b6..1e30a5ae6 100644 --- a/opendbc/generator/toyota/_toyota_2017.dbc +++ b/opendbc/generator/toyota/_toyota_2017.dbc @@ -396,7 +396,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; -CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; +CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; diff --git a/opendbc/gm_global_a_powertrain_generated.dbc b/opendbc/gm_global_a_powertrain_generated.dbc index 916a0a254..d83f035dc 100644 --- a/opendbc/gm_global_a_powertrain_generated.dbc +++ b/opendbc/gm_global_a_powertrain_generated.dbc @@ -263,6 +263,11 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX +BO_ 967 EVDriveMode: 4 XXX + SG_ SinglePedalModeActive : 7|1@0+ (1,0) [0|1] "" XXX + SG_ SinglePedalModeRisingEdge : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SinglePedalModeFallingEdge : 22|1@0+ (1,0) [0|1] "" XXX + BO_ 977 ECMCruiseControl: 8 K20_ECM SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO diff --git a/opendbc/honda_accord_2018_can_generated.dbc b/opendbc/honda_accord_2018_can_generated.dbc index d1a84ac80..85947333d 100644 --- a/opendbc/honda_accord_2018_can_generated.dbc +++ b/opendbc/honda_accord_2018_can_generated.dbc @@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY @@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY @@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY diff --git a/opendbc/honda_civic_ex_2022_can_generated.dbc b/opendbc/honda_civic_ex_2022_can_generated.dbc index b72f9aa6b..f696d13b4 100644 --- a/opendbc/honda_civic_ex_2022_can_generated.dbc +++ b/opendbc/honda_civic_ex_2022_can_generated.dbc @@ -375,7 +375,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY @@ -396,7 +396,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY @@ -445,6 +445,12 @@ BO_ 432 STANDSTILL: 7 VSA SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON +BO_ 446 BRAKE_MODULE: 3 VSA + SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_FAULT : 22|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX + BO_ 456 ACC_CONTROL: 8 XXX SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX SG_ IDLESTOP_ALLOW : 8|1@0+ (1,0) [0|1] "" XXX @@ -459,6 +465,11 @@ BO_ 456 ACC_CONTROL: 8 XXX SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX +BO_ 467 CRUISE_FAULT_STATUS: 8 XXX + SG_ CRUISE_FAULT : 3|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + BO_ 829 LKAS_HUD: 8 ADAS SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY @@ -470,7 +481,7 @@ BO_ 829 LKAS_HUD: 8 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY @@ -496,6 +507,7 @@ BO_ 254913108 LKAS_HUD_2: 8 ADAS SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX +CM_ 446 "If exists, describes cruise faults and what the PCM uses for brake press detection."; CM_ SG_ 456 IDLESTOP_ALLOW "allows car to turn off engine at a standstill"; CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2"; diff --git a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc index 349fd2f9e..75ba176a8 100644 --- a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc +++ b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc @@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY @@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY @@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY diff --git a/opendbc/honda_civic_touring_2016_can_generated.dbc b/opendbc/honda_civic_touring_2016_can_generated.dbc index 9be63fe36..47205cb24 100644 --- a/opendbc/honda_civic_touring_2016_can_generated.dbc +++ b/opendbc/honda_civic_touring_2016_can_generated.dbc @@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY diff --git a/opendbc/honda_clarity_hybrid_2018_can_generated.dbc b/opendbc/honda_clarity_hybrid_2018_can_generated.dbc index 0e703e572..5e5cf294f 100644 --- a/opendbc/honda_clarity_hybrid_2018_can_generated.dbc +++ b/opendbc/honda_clarity_hybrid_2018_can_generated.dbc @@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY diff --git a/opendbc/honda_crv_ex_2017_can_generated.dbc b/opendbc/honda_crv_ex_2017_can_generated.dbc index 345d94819..9f3dc0fba 100644 --- a/opendbc/honda_crv_ex_2017_can_generated.dbc +++ b/opendbc/honda_crv_ex_2017_can_generated.dbc @@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY @@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY @@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY diff --git a/opendbc/honda_crv_executive_2016_can_generated.dbc b/opendbc/honda_crv_executive_2016_can_generated.dbc index a00563215..272cf5dd3 100644 --- a/opendbc/honda_crv_executive_2016_can_generated.dbc +++ b/opendbc/honda_crv_executive_2016_can_generated.dbc @@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY @@ -306,7 +306,7 @@ BO_ 404 STEERING_CONTROL: 4 EON SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 22|7@0+ (1,0) [0|127] "" EPS SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS diff --git a/opendbc/honda_crv_touring_2016_can_generated.dbc b/opendbc/honda_crv_touring_2016_can_generated.dbc index d56746bc2..164844215 100644 --- a/opendbc/honda_crv_touring_2016_can_generated.dbc +++ b/opendbc/honda_crv_touring_2016_can_generated.dbc @@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY @@ -308,7 +308,7 @@ BO_ 404 STEERING_CONTROL: 4 EON SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 22|7@0+ (1,0) [0|127] "" EPS SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS diff --git a/opendbc/honda_fit_ex_2018_can_generated.dbc b/opendbc/honda_fit_ex_2018_can_generated.dbc index b1900455c..1a80a9d4e 100644 --- a/opendbc/honda_fit_ex_2018_can_generated.dbc +++ b/opendbc/honda_fit_ex_2018_can_generated.dbc @@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY diff --git a/opendbc/honda_fit_hybrid_2018_can_generated.dbc b/opendbc/honda_fit_hybrid_2018_can_generated.dbc index 53b3070a4..68d603734 100644 --- a/opendbc/honda_fit_hybrid_2018_can_generated.dbc +++ b/opendbc/honda_fit_hybrid_2018_can_generated.dbc @@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY diff --git a/opendbc/honda_insight_ex_2019_can_generated.dbc b/opendbc/honda_insight_ex_2019_can_generated.dbc index 095774203..ccbf25bfc 100644 --- a/opendbc/honda_insight_ex_2019_can_generated.dbc +++ b/opendbc/honda_insight_ex_2019_can_generated.dbc @@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY @@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY @@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY diff --git a/opendbc/honda_odyssey_exl_2018_generated.dbc b/opendbc/honda_odyssey_exl_2018_generated.dbc index 1afefeee1..bb33513b2 100644 --- a/opendbc/honda_odyssey_exl_2018_generated.dbc +++ b/opendbc/honda_odyssey_exl_2018_generated.dbc @@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY diff --git a/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc b/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc index 5ee66d2ca..b5664d9e7 100644 --- a/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc +++ b/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc @@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY diff --git a/opendbc/hyundai_2015_ccan.dbc b/opendbc/hyundai_2015_ccan.dbc index 0c86beb95..fc1e17390 100644 --- a/opendbc/hyundai_2015_ccan.dbc +++ b/opendbc/hyundai_2015_ccan.dbc @@ -295,7 +295,7 @@ BO_ 399 EMS_H12: 8 EMS SG_ CF_Ems_FCopen : 59|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX SG_ CF_Ems_ActEcoAct : 60|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU SG_ CF_Ems_EngRunNorm : 61|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,IBOX,TCU - SG_ CF_Ems_IsgStat2 : 62|2@1+ (2.0,0.0) [0.0|3.0] "" CLU,IBOX,TCU + SG_ CF_Ems_IsgStat2 : 62|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX,TCU BO_ 1419 LCA11: 8 LCA SG_ CF_Lca_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU diff --git a/opendbc/nissan_xterra_2011.dbc b/opendbc/nissan_xterra_2011.dbc index 259103ce1..1e7bd4c4a 100644 --- a/opendbc/nissan_xterra_2011.dbc +++ b/opendbc/nissan_xterra_2011.dbc @@ -35,24 +35,62 @@ BS_: BU_: XXX -BO_ 505 ENGINE_2: 8 XXX +BO_ 2 STEERING: 5 XXX + SG_ COUNTER : 35|4@0+ (1,0) [0|255] "" XXX + SG_ STEERING_ANGLE : 0|16@1- (0.1,0) [0|65535] "deg" XXX + SG_ POWER_STEER_RATE : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 505 ENGINE_1: 8 XXX SG_ RPM : 16|16@1+ (0.125,0) [0|45000] "R/min" XXX SG_ FAN_REQ : 6|2@1+ (1,0) [0|3] "" XXX SG_ AC_REQ : 3|1@1+ (1,0) [0|1] "" XXX -BO_ 573 ENGINE_1: 8 XXX +BO_ 561 ENGINE_2: 8 XXX + SG_ Pedal_position : 16|8@1+ (0.5,0) [0|200] "%" XXX + +BO_ 563 ENGINE_7: 8 XXX + SG_ CLT : 0|8@1+ (0.366666,0) [0|255] "C" XXX + SG_ RPMlow : 32|8@1+ (3.15,0) [0|45000] "R/min" XXX + SG_ RPMhi : 56|8@1+ (3.15,0) [0|45000] "R/min" XXX + +BO_ 573 ENGINE_3: 8 XXX SG_ Pedal_position : 8|8@1+ (0.392,0) [0|255] "%" XXX + SG_ Throttle_position_capped : 16|8@1+ (0.392,0) [0|255] "%" XXX SG_ RPM : 24|16@1+ (3.15,0) [0|45000] "R/min" XXX + SG_ CLT : 56|8@1+ (0.366666,0) [0|255] "C" XXX + +BO_ 574 ENGINE_4: 8 XXX + SG_ Throttle_position_inverted : 16|8@1+ (0.392,0) [0|255] "%" XXX + SG_ EstimatedTorque : 24|16@1+ (0.1,0) [0|45000] "nM" XXX + SG_ Throttle_position : 48|8@1+ (0.392,0) [0|255] "%" XXX + +BO_ 595 TCU_1: 8 XXX + SG_ SHAFT_1_SPEED : 32|16@1+ (1,0) [0|45000] "r/min" XXX + SG_ SHAFT_2_SPEED : 48|16@1+ (1,0) [0|45000] "r/min" XXX BO_ 640 SPEED: 8 XXX - SG_ SPEED : 32|16@1+ (0.01,0) [0|45000] "" XXX + SG_ SPEED : 32|16@1+ (0.01,0) [0|45000] "km/h" XXX + +BO_ 644 ABS_1: 8 XXX + SG_ WHEEL_1 : 0|16@1+ (0.01,0) [0|45000] "km/h" XXX + SG_ WHEEL_2 : 15|16@1+ (0.01,0) [0|45000] "km/h" XXX + +BO_ 645 ABS_2: 8 XXX + SG_ WHEEL_3 : 0|16@1+ (0.01,0) [0|45000] "km/h" XXX + SG_ WHEEL_4 : 15|16@1+ (0.01,0) [0|45000] "km/h" XXX + +BO_ 852 SPEED_BREAK: 8 XXX + SG_ BREAK_LIGHT : 52|1@0+ (1,0) [0|3] "" XXX + SG_ SPEED_MPH : 7|16@0+ (0.0066,0) [0|65535] "mph" XXX + SG_ TCS_OFF : 38|1@0+ (1,0) [0|255] "" XXX BO_ 861 BCM: 8 XXX -BO_ 1361 ENGINE_3: 8 XXX +BO_ 1361 ENGINE_5: 8 XXX SG_ CLT : 0|8@1+ (1,-45) [-45|150] "" XXX -BO_ 1408 ENGINE_4: 8 XXX +BO_ 1408 ENGINE_6: 8 XXX + SG_ RPM : 7|16@0+ (1.5,0) [0|65535] "" XXX SG_ OIL_TEMP : 32|8@1+ (1,-40) [-40|150] "" XXX BO_ 1477 MILEAGE: 8 XXX \ No newline at end of file diff --git a/opendbc/requirements.txt b/opendbc/requirements.txt index 3c0ce4591..62b29a25a 100644 --- a/opendbc/requirements.txt +++ b/opendbc/requirements.txt @@ -1,8 +1,8 @@ -Cython==0.29.14 -flake8==3.7.9 -Jinja2==3.0.3 -numpy==1.21.0 -pycapnp==1.0.0 -pylint==2.15.4 -pyyaml==5.4 +Cython==0.29.34 +flake8==6.0.0 +Jinja2==3.1.2 +numpy==1.24.2 +pycapnp==1.3.0 +pylint==2.17.2 +pyyaml==6.0 scons diff --git a/opendbc/subaru_global_2017_generated.dbc b/opendbc/subaru_global_2017_generated.dbc index d0b47a2c6..b572d1b64 100644 --- a/opendbc/subaru_global_2017_generated.dbc +++ b/opendbc/subaru_global_2017_generated.dbc @@ -316,10 +316,22 @@ BO_ 576 CruiseControl: 8 XXX SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX +BO_ 803 INFOTAINMENT_STATUS: 8 XXX + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX + SG_ LKAS_Blue_Lines : 15|4@0+ (1,0) [0|15] "" XXX + SG_ Signal1 : 19|4@0+ (1,0) [0|15] "" XXX + SG_ LKAS_State_Infotainment : 22|3@0+ (1,0) [0|7] "" XXX + SG_ Signal2 : 24|1@0+ (1,0) [0|1] "" XXX + CM_ SG_ 545 Cruise_Throttle "RPM-like output signal"; CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set"; CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance"; CM_ SG_ 545 Cruise_Soft_Disable "Eyesight Temporary disable, sets CruiseControl Activated = 0"; CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM"; CM_ SG_ 546 Signal3 "0 when cruise_activated = 1"; +CM_ SG_ 803 Signal1 "Seems to be static, set only on some cars"; +CM_ SG_ 803 Signal2 "Seems to be static, set only on some cars"; +VAL_ 803 LKAS_Blue_Lines 0 "no modifier" 2 "changes lines to blue"; +VAL_ 803 LKAS_State_Infotainment 0 "none" 2 "Obstacle Detected" 3 "Keep Hands On Wheel" 4 "Keep Hands On Wheel Off"; VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6"; diff --git a/opendbc/toyota_new_mc_pt_generated.dbc b/opendbc/toyota_new_mc_pt_generated.dbc index 7ad8ce5ad..5bea7440b 100644 --- a/opendbc/toyota_new_mc_pt_generated.dbc +++ b/opendbc/toyota_new_mc_pt_generated.dbc @@ -446,7 +446,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; -CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; +CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; diff --git a/opendbc/toyota_nodsu_pt_generated.dbc b/opendbc/toyota_nodsu_pt_generated.dbc index 4a85f621c..f3c5025f6 100644 --- a/opendbc/toyota_nodsu_pt_generated.dbc +++ b/opendbc/toyota_nodsu_pt_generated.dbc @@ -448,7 +448,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; -CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; +CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; diff --git a/opendbc/toyota_tnga_k_pt_generated.dbc b/opendbc/toyota_tnga_k_pt_generated.dbc index 5e4a9c3d6..e88f8b7f1 100644 --- a/opendbc/toyota_tnga_k_pt_generated.dbc +++ b/opendbc/toyota_tnga_k_pt_generated.dbc @@ -446,7 +446,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; -CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; +CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; diff --git a/opendbc/vw_golf_mk4.dbc b/opendbc/vw_golf_mk4.dbc index 8e1bb6360..eb8f6c959 100644 --- a/opendbc/vw_golf_mk4.dbc +++ b/opendbc/vw_golf_mk4.dbc @@ -770,23 +770,36 @@ BO_ 1340 Fahrwerk_1: 1 XXX SG_ Ansteuererung_Fahrzeugniveau : 0|4@1+ (1,0) [0|15] "" XXX BO_ 1472 EPB_1: 8 XXX - SG_ Textmeldungen_EPB : 52|4@1+ (1,0) [0|0] "" XXX - SG_ Aufmerksamkeits_Gtong_EPB : 51|1@1+ (1,0) [0|0] "" XXX - SG_ Fehler_Gong_EBP : 50|1@1+ (1,0) [0|0] "" XXX - SG_ Warnton_EPB : 49|1@1+ (1,0) [0|0] "" XXX - SG_ Funktionslampe_EPB : 48|1@1+ (1,0) [0|0] "" XXX - SG_ Frei_EPB_1_1 : 33|15@1+ (1,0) [0|0] "" XXX - SG_ Fehlerspeichereintrag_EPB : 32|1@1+ (1,0) [0|0] "" XXX - SG_ Neigungswinkel : 24|8@1+ (1,-128) [-128|127] "g" XXX - SG_ Verzoegerungsanforderung__EPB_ : 24|8@1+ (0.5,0) [0|255] "g" XXX - SG_ Status_Neigungswinkelgeber : 15|1@1+ (1,0) [0|0] "" XXX - SG_ Schalterinfo_Parkbremse : 13|2@1+ (1,0) [0|0] "" XXX - SG_ Erreichte_Spannkraft : 8|5@1+ (1,0) [0|30] "kN" XXX - SG_ Checksumme_Parkbremse : 8|8@1+ (1,0) [0|255] "" XXX - SG_ Schalterstatus_Parkbremse : 7|1@1+ (1,0) [0|0] "" XXX - SG_ Status_Parkbremse : 6|1@1+ (1,0) [0|0] "" XXX - SG_ Fehlerstatus_Parkbremse : 4|2@1+ (1,0) [0|0] "" XXX - SG_ Zaehler_Parkbremse : 0|4@1+ (1,0) [0|0] "" XXX + SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX + SG_ COUNTER : 0|4@1+ (1,0) [0|15] "" XXX + SG_ EP1__Text : 52|4@1+ (1,0) [0|8] "" Vector__XXX + SG_ EP1_Failure_gelb : 51|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Failure_BKL : 50|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Warnton : 49|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Fkt_Lampe : 48|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EP1_Freigabe_Ver : 33|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Failureeintr : 32|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Neig_winkel : 16|8@1+ (1,-128) [-128|127] "g" XXX + SG_ EP1_Verzoegerung : 24|8@1+ (0.048,-7.968) [-7.968|4.224] "g" XXX + SG_ EP1_Sta_NWS : 15|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Schalterinfo : 13|2@1+ (1,0) [0|3] "" XXX + SG_ EP1_Spannkraft : 8|5@1+ (1,0) [0|30] "kN" XXX + SG_ EP1_Sta_Schalter : 7|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Sta_EPB : 6|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Failure_Sta : 4|2@1+ (1,0) [0|3] "" XXX + SG_ EP1_AutoHold_zul : 34|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_AutoHold_active : 35|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_SleepInd : 36|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Status_Kl_15 : 37|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Lampe_AutoP : 38|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Bremslicht : 39|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Warnton1 : 40|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_Warnton2 : 41|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_AnfShLock : 42|1@1+ (1,0) [0|1] "" XXX + SG_ EPB_Autoholdlampe : 43|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_KuppModBer : 45|2@1+ (1,0) [0|3] "" XXX + SG_ EP1_HydrHalten : 47|1@1+ (1,0) [0|1] "" XXX + SG_ EP1_QualNeigWi : 44|1@1+ (1,0) [0|1] "" XXX BO_ 1326 Diag_Lenkhilfe: 3 XXX SG_ Werkstattcode__Diag_ : 16|8@1+ (1,0) [0|0] "" XXX diff --git a/opendbc/vw_mqb_2010.dbc b/opendbc/vw_mqb_2010.dbc index f1adeab84..8806e0011 100644 --- a/opendbc/vw_mqb_2010.dbc +++ b/opendbc/vw_mqb_2010.dbc @@ -1211,18 +1211,19 @@ BO_ 1602 WIV_01: 8 Motor_Diesel_MQB SG_ WIV_W_min : 48|7@1+ (1000,0) [0|127000] "Unit_KiloMeter" Gateway_MQB SG_ WIV_W_max : 56|7@1+ (1000,0) [0|127000] "Unit_KiloMeter" Gateway_MQB -BO_ 294 HCA_01: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|255] "" XXX - SG_ SET_ME_0X3 : 12|4@1+ (1,0) [0|15] "" XXX - SG_ Assist_Torque : 16|14@1+ (1,0) [0|300] "Nm" XXX - SG_ Assist_Requested : 30|1@1+ (1,0) [0|1] "" XXX - SG_ Assist_VZ : 31|1@1+ (1,0) [0|1] "" XXX - SG_ HCA_Available : 32|1@1+ (1,0) [0|1] "" XXX - SG_ HCA_Standby : 33|1@1+ (1,0) [0|1] "" XXX - SG_ HCA_Active : 34|1@1+ (1,0) [0|1] "" XXX - SG_ SET_ME_0XFE : 40|8@1+ (1,0) [0|255] "" XXX - SG_ SET_ME_0X07 : 48|8@1+ (1,0) [0|255] "" XXX +BO_ 294 HCA_01: 8 Frontsensorik + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ HCA_01_Vib_Freq : 12|4@1+ (1,15) [15|30] "Unit_Hertz" Vector__XXX + SG_ HCA_01_LM_Offset : 16|9@1+ (1,0) [0|511] "Unit_centiNewtoMeter" Vector__XXX + SG_ EA_ACC_Sollstatus : 25|2@1+ (1,0) [0|3] "" Frontradar + SG_ EA_Ruckprofil : 27|3@1+ (1,0) [0|7] "" Vector__XXX + SG_ HCA_01_Sendestatus : 30|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ HCA_01_LM_OffSign : 31|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ HCA_01_Status_HCA : 32|4@1+ (1,0) [0|15] "" Vector__XXX + SG_ HCA_01_Vib_Amp : 36|4@1+ (0.2,0) [0|3] "Unit_NewtoMeter" Vector__XXX + SG_ EA_Ruckfreigabe : 40|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ EA_ACC_Wunschgeschwindigkeit : 41|10@1+ (0.32,0) [0|327.04] "Unit_KiloMeterPerHour" Frontradar BO_ 159 LH_EPS_03: 8 XXX SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX @@ -1420,12 +1421,16 @@ CM_ SG_ 159 EPS_VZ_Lenkmoment "Steering input by driver, direction"; CM_ SG_ 159 EPS_Berechneter_LW "Raw steering angle, degrees"; CM_ SG_ 159 EPS_VZ_BLW "Raw steering angle, direction"; CM_ SG_ 173 COUNTERXX "Message not renamed to COUNTER because J533 rate-limiting makes it look like messages are being lost"; -CM_ SG_ 294 SET_ME_0X3 "May be zero when sent by older cameras"; -CM_ SG_ 294 SET_ME_0X07 "May be zero when sent by older cameras"; -CM_ SG_ 294 SET_ME_0XFE "May be zero when sent by older cameras"; -CM_ SG_ 294 Assist_Torque "Heading control input, torque"; -CM_ SG_ 294 Assist_VZ "Heading control input, direction (sign)"; -CM_ SG_ 294 HCA_Available "Must be 1 for steering rack to accept HCA commands"; +CM_ SG_ 294 HCA_01_Vib_Freq "Frequenz der Lenkradvibration"; +CM_ SG_ 294 HCA_01_LM_Offset "Von HCA angefordertes Lenkmoment (Betrag)"; +CM_ SG_ 294 EA_ACC_Sollstatus "Status-Anforderung ACC von Emergency Alert. Statuswechsel bei Flanke. Solange Wert=1, wird EA_ACC_Wunschgeschwindigkeit übernommen. Wert=2 führt zu Zustand ¿ACC_GRA_passiv¿"; +CM_ SG_ 294 EA_Ruckprofil "Emergency Alert Anforderung an ESP, welcher Ruck verwendet werden soll. Eine Umsetzung der Ruckanforderung im ESP erfolgt nur mit gesetztem Bit 'EA_Ruckfreigabe'."; +CM_ SG_ 294 HCA_01_Sendestatus "Gibt den Sendestatus der HCA_01 an (notwendig für IL-Unterstützung)"; +CM_ SG_ 294 HCA_01_LM_OffSign "Vorzeichen des HCA-Lenkmoments"; +CM_ SG_ 294 HCA_01_Status_HCA "Statusinformation vom HCA und Manoevrierassistent für Handshakemechanismus mit der Lenkung"; +CM_ SG_ 294 HCA_01_Vib_Amp "Momentenamplitude der Lenkradvibration"; +CM_ SG_ 294 EA_Ruckfreigabe "Emergency Alert Freigabit für die Warnruck-Anforderung an das ESP"; +CM_ SG_ 294 EA_ACC_Wunschgeschwindigkeit "Emergency Alert Anforderung neue Wunschgeschwindigkeit"; CM_ SG_ 302 ACC_Hold_Request "Active request for ABS brake hold in ACC_Hold_Type"; CM_ SG_ 302 ACC_Boost_Request "Hybrid engine start related"; CM_ SG_ 302 ACC_Freewheel_Request "Active request for DSG sailing/coasting in ACC_Freewheel_Type"; @@ -1475,6 +1480,13 @@ CM_ SG_ 1720 KBI_Variante_USA "In diesem Signal wird die HW-Variante des Kombis VAL_ 159 EPS_HCA_Status 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active" ; VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 13 "T" 14 "T" ; VAL_ 288 TSK_Status 0 "init" 1 "disabled" 2 "enabled" 3 "regulating" 4 "accel_pedal_override" 5 "brake_only" 6 "temp_fault" 7 "perm_fault" ; +VAL_ 294 EA_ACC_Sollstatus 0 "Init" 1 "ACC_aktivieren" 2 "ACC_deaktivieren" ; +VAL_ 294 EA_Ruckprofil 0 "Init" 1 "Profil_1" 2 "Profil_2" 3 "Profil_3" 4 "Profil_4" 5 "Profil_5" 6 "Profil_6" 7 "Profil_7" ; +VAL_ 294 HCA_01_Sendestatus 0 "HCA_sendet_mit_1000ms" 1 "HCA_sendet_mit_20ms" ; +VAL_ 294 HCA_01_LM_OffSign 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen" ; +VAL_ 294 HCA_01_Status_HCA 0 "deaktiviert" 1 "reserviert" 2 "reserviert" 3 "funktionsbereit" 4 "reserviert" 5 "HCA_Momenteneingriff_1" 6 "MA_Aktiv" 7 "HCA_Momenteneingriff_2" 8 "reserviert" 9 "reserviert" 10 "reserviert" 11 "reserviert" 12 "reserviert" 13 "reserviert" 14 "reserviert" 15 "reserviert" ; +VAL_ 294 EA_Ruckfreigabe 0 "keine_Freigabe" 1 "Freigabe" ; +VAL_ 294 EA_ACC_Wunschgeschwindigkeit 1023 "Init" ; VAL_ 780 ACC_Wunschgeschw_02 1023 "keine_Anzeige" ; VAL_ 780 ACC_Status_Prim_Anz 0 "Symbol nicht beleuchtet" 1 "Farbe 1 (typisch 'gruen')" 2 "Farbe 2 (typisch 'rot')" 3 "Farbe 3 (typisch 'gelb')" ; VAL_ 780 ACC_Abstandsindex 0 "Sonderanzeige_graue_Fahrbahn" 1022 "Sonderanzeige_graue_Fahrbahn" 1023 "Sonderanzeige_Fahrbahn_mit_gruenem_roten_Bereich" ; diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 44002b85c..72dbc26b4 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index ece3707d7..a6196c220 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/python/__init__.py b/panda/python/__init__.py index 45e1c5005..bb8e6c901 100644 --- a/panda/python/__init__.py +++ b/panda/python/__init__.py @@ -183,21 +183,31 @@ class Panda: HW_TYPE_TRES = b'\x09' CAN_PACKET_VERSION = 4 - HEALTH_PACKET_VERSION = 11 + HEALTH_PACKET_VERSION = 14 CAN_HEALTH_PACKET_VERSION = 4 # dp - 2 extra "B" at the end: # "usb_power_mode": a[23], # "torque_interceptor_detected": a[24], - HEALTH_STRUCT = struct.Struct(" bool: - dfu_serial = PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type) + def recover(self, timeout: Optional[int] = 60, reset: bool = True) -> bool: + dfu_serial = self.get_dfu_serial() if reset: self.reset(enter_bootstub=True) @@ -561,8 +572,12 @@ class Panda: "interrupt_load": a[20], "fan_power": a[21], "safety_rx_checks_invalid": a[22], - "usb_power_mode": a[23], - "torque_interceptor_detected": a[24], + "spi_checksum_error_count": a[23], + "fan_stall_count": a[24], + "sbu1_voltage_mV": a[25], + "sbu2_voltage_mV": a[26], + "usb_power_mode": a[27], + "torque_interceptor_detected": a[28], } @ensure_can_health_packet_version @@ -617,9 +632,9 @@ class Panda: @staticmethod def get_signature_from_firmware(fn) -> bytes: - f = open(fn, 'rb') - f.seek(-128, 2) # Seek from end of file - return f.read(128) + with open(fn, 'rb') as f: + f.seek(-128, 2) # Seek from end of file + return f.read(128) def get_signature(self) -> bytes: part_1 = self._handle.controlRead(Panda.REQUEST_IN, 0xd3, 0, 0, 0x40) @@ -681,6 +696,9 @@ class Panda: """ return self._serial + def get_dfu_serial(self): + return PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type) + def get_uid(self): """ Returns the UID from the MCU diff --git a/panda/python/config.py b/panda/python/config.py deleted file mode 100644 index 56940ed72..000000000 --- a/panda/python/config.py +++ /dev/null @@ -1,19 +0,0 @@ -import os - -BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../") - -BOOTSTUB_ADDRESS = 0x8000000 - -BLOCK_SIZE_FX = 0x800 -APP_ADDRESS_FX = 0x8004000 -SECTOR_SIZES_FX = [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)] -DEVICE_SERIAL_NUMBER_ADDR_FX = 0x1FFF79C0 -DEFAULT_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed") -DEFAULT_BOOTSTUB_FN = os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin") - -BLOCK_SIZE_H7 = 0x400 -APP_ADDRESS_H7 = 0x8020000 -SECTOR_SIZES_H7 = [0x20000 for _ in range(7)] # there is an 8th sector, but we use that for the provisioning chunk, so don't program over that! -DEVICE_SERIAL_NUMBER_ADDR_H7 = 0x080FFFC0 -DEFAULT_H7_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda_h7.bin.signed") -DEFAULT_H7_BOOTSTUB_FN = os.path.join(BASEDIR, "board", "obj", "bootstub.panda_h7.bin") diff --git a/panda/python/dfu.py b/panda/python/dfu.py index 15e018c5b..f724bf15d 100644 --- a/panda/python/dfu.py +++ b/panda/python/dfu.py @@ -27,6 +27,7 @@ class PandaDFU: def usb_connect(dfu_serial: Optional[str]) -> Optional[STBootloaderUSBHandle]: handle = None context = usb1.USBContext() + context.open() for device in context.getDeviceList(skip_on_error=True): if device.getVendorID() == 0x0483 and device.getProductID() == 0xdf11: try: @@ -64,15 +65,15 @@ class PandaDFU: @staticmethod def usb_list() -> List[str]: - context = usb1.USBContext() dfu_serials = [] try: - for device in context.getDeviceList(skip_on_error=True): - if device.getVendorID() == 0x0483 and device.getProductID() == 0xdf11: - try: - dfu_serials.append(device.open().getASCIIStringDescriptor(3)) - except Exception: - pass + with usb1.USBContext() as context: + for device in context.getDeviceList(skip_on_error=True): + if device.getVendorID() == 0x0483 and device.getProductID() == 0xdf11: + try: + dfu_serials.append(device.open().getASCIIStringDescriptor(3)) + except Exception: + pass except Exception: pass return dfu_serials diff --git a/panda/python/spi.py b/panda/python/spi.py index 0ff15c3bc..c753bf4dd 100644 --- a/panda/python/spi.py +++ b/panda/python/spi.py @@ -28,7 +28,7 @@ CHECKSUM_START = 0xAB MIN_ACK_TIMEOUT_MS = 100 MAX_XFER_RETRY_COUNT = 5 -USB_MAX_SIZE = 0x40 +XFER_SIZE = 1000 DEV_PATH = "/dev/spidev0.0" @@ -58,7 +58,7 @@ class SpiDevice: """ Provides locked, thread-safe access to a panda's SPI interface. """ - def __init__(self, speed=30000000): + def __init__(self, speed): if not os.path.exists(DEV_PATH): raise PandaSpiUnavailable(f"SPI device not found: {DEV_PATH}") if spidev is None: @@ -87,7 +87,9 @@ class PandaSpiHandle(BaseHandle): A class that mimics a libusb1 handle for panda SPI communications. """ def __init__(self): - self.dev = SpiDevice() + # 50MHz is the max of the 845. older rev comma three + # may not support the full 50MHz + self.dev = SpiDevice(50000000) # helpers def _calc_checksum(self, data: List[int]) -> int: @@ -96,12 +98,12 @@ class PandaSpiHandle(BaseHandle): cksum ^= b return cksum - def _wait_for_ack(self, spi, ack_val: int, timeout: int) -> None: + def _wait_for_ack(self, spi, ack_val: int, timeout: int, tx: int) -> None: timeout_s = max(MIN_ACK_TIMEOUT_MS, timeout) * 1e-3 start = time.monotonic() while (timeout == 0) or ((time.monotonic() - start) < timeout_s): - dat = spi.xfer2(b"\x12")[0] + dat = spi.xfer2([tx, ])[0] if dat == NACK: raise PandaSpiNackResponse elif dat == ack_val: @@ -123,7 +125,7 @@ class PandaSpiHandle(BaseHandle): spi.xfer2(packet) logging.debug("- waiting for header ACK") - self._wait_for_ack(spi, HACK, timeout) + self._wait_for_ack(spi, HACK, timeout, 0x11) # send data logging.debug("- sending data") @@ -131,7 +133,7 @@ class PandaSpiHandle(BaseHandle): spi.xfer2(packet) logging.debug("- waiting for data ACK") - self._wait_for_ack(spi, DACK, timeout) + self._wait_for_ack(spi, DACK, timeout, 0x13) # get response length, then response response_len_bytes = bytes(spi.xfer2(b"\x00" * 2)) @@ -147,7 +149,7 @@ class PandaSpiHandle(BaseHandle): return dat[:-1] except PandaSpiException as e: exc = e - logging.debug("SPI transfer failed, %d retries left", n, exc_info=True) + logging.debug("SPI transfer failed, %d retries left", MAX_XFER_RETRY_COUNT - n - 1, exc_info=True) raise exc # libusb1 functions @@ -165,17 +167,17 @@ class PandaSpiHandle(BaseHandle): # TODO: implement these properly def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int: with self.dev.acquire() as spi: - for x in range(math.ceil(len(data) / USB_MAX_SIZE)): - self._transfer(spi, endpoint, data[USB_MAX_SIZE*x:USB_MAX_SIZE*(x+1)], timeout) + for x in range(math.ceil(len(data) / XFER_SIZE)): + self._transfer(spi, endpoint, data[XFER_SIZE*x:XFER_SIZE*(x+1)], timeout) return len(data) def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes: ret: List[int] = [] with self.dev.acquire() as spi: - for _ in range(math.ceil(length / USB_MAX_SIZE)): - d = self._transfer(spi, endpoint, [], timeout, max_rx_len=USB_MAX_SIZE) + for _ in range(math.ceil(length / XFER_SIZE)): + d = self._transfer(spi, endpoint, [], timeout, max_rx_len=XFER_SIZE) ret += d - if len(d) < USB_MAX_SIZE: + if len(d) < XFER_SIZE: break return bytes(ret) @@ -199,7 +201,7 @@ class STBootloaderSPIHandle(BaseSTBootloaderHandle): spi.xfer([self.SYNC, ]) try: self._get_ack(spi) - except PandaSpiNackResponse: + except (PandaSpiNackResponse, PandaSpiMissingAck): # NACK ok here, will only ACK the first time pass @@ -220,13 +222,13 @@ class STBootloaderSPIHandle(BaseSTBootloaderHandle): elif data != self.ACK: raise PandaSpiMissingAck - def _cmd(self, cmd: int, data: Optional[List[bytes]] = None, read_bytes: int = 0, predata=None) -> bytes: + def _cmd_no_retry(self, cmd: int, data: Optional[List[bytes]] = None, read_bytes: int = 0, predata=None) -> bytes: ret = b"" with self.dev.acquire() as spi: # sync + command spi.xfer([self.SYNC, ]) spi.xfer([cmd, cmd ^ 0xFF]) - self._get_ack(spi) + self._get_ack(spi, timeout=0.1) # "predata" - for commands that send the first data without a checksum if predata is not None: @@ -250,6 +252,16 @@ class STBootloaderSPIHandle(BaseSTBootloaderHandle): return bytes(ret) + def _cmd(self, cmd: int, data: Optional[List[bytes]] = None, read_bytes: int = 0, predata=None) -> bytes: + exc = PandaSpiException() + for n in range(MAX_XFER_RETRY_COUNT): + try: + return self._cmd_no_retry(cmd, data, read_bytes, predata) + except PandaSpiException as e: + exc = e + logging.debug("SPI transfer failed, %d retries left", MAX_XFER_RETRY_COUNT - n - 1, exc_info=True) + raise exc + def _checksum(self, data: bytes) -> bytes: if len(data) == 1: ret = data[0] ^ 0xFF diff --git a/panda/python/uds.py b/panda/python/uds.py index 5bf35088e..f727b7507 100644 --- a/panda/python/uds.py +++ b/panda/python/uds.py @@ -141,6 +141,12 @@ class DYNAMIC_DEFINITION_TYPE(IntEnum): DEFINE_BY_MEMORY_ADDRESS = 2 CLEAR_DYNAMICALLY_DEFINED_DATA_IDENTIFIER = 3 +class ISOTP_FRAME_TYPE(IntEnum): + SINGLE = 0 + FIRST = 1 + CONSECUTIVE = 2 + FLOW = 3 + class DynamicSourceDefinition(NamedTuple): data_identifier: int position: int @@ -438,38 +444,41 @@ class IsoTpMessage(): timeout = self.timeout start_time = time.monotonic() - updated = False + rx_in_progress = False try: while True: for msg in self._can_client.recv(): - self._isotp_rx_next(msg) + frame_type = self._isotp_rx_next(msg) start_time = time.monotonic() - updated = True + rx_in_progress = frame_type == ISOTP_FRAME_TYPE.CONSECUTIVE if self.tx_done and self.rx_done: - return self.rx_dat, updated + return self.rx_dat, False # no timeout indicates non-blocking if timeout == 0: - return None, updated + return None, rx_in_progress if time.monotonic() - start_time > timeout: raise MessageTimeoutError("timeout waiting for response") finally: if self.debug and self.rx_dat: print(f"ISO-TP: RESPONSE - {hex(self._can_client.rx_addr)} 0x{bytes.hex(self.rx_dat)}") - def _isotp_rx_next(self, rx_data: bytes) -> None: - # single rx_frame - if rx_data[0] >> 4 == 0x0: + def _isotp_rx_next(self, rx_data: bytes) -> ISOTP_FRAME_TYPE: + # ISO 15765-2 specifies an eight byte CAN frame for ISO-TP communication + assert len(rx_data) == self.max_len, f"isotp - rx: invalid CAN frame length: {len(rx_data)}" + + if rx_data[0] >> 4 == ISOTP_FRAME_TYPE.SINGLE: self.rx_len = rx_data[0] & 0xFF + assert self.rx_len < self.max_len, f"isotp - rx: invalid single frame length: {self.rx_len}" self.rx_dat = rx_data[1:1 + self.rx_len] self.rx_idx = 0 self.rx_done = True if self.debug: print(f"ISO-TP: RX - single frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}") - return + return ISOTP_FRAME_TYPE.SINGLE - # first rx_frame - if rx_data[0] >> 4 == 0x1: + elif rx_data[0] >> 4 == ISOTP_FRAME_TYPE.FIRST: self.rx_len = ((rx_data[0] & 0x0F) << 8) + rx_data[1] + assert self.max_len <= self.rx_len, f"isotp - rx: invalid first frame length: {self.rx_len}" self.rx_dat = rx_data[2:] self.rx_idx = 0 self.rx_done = False @@ -479,10 +488,9 @@ class IsoTpMessage(): print(f"ISO-TP: TX - flow control continue - {hex(self._can_client.tx_addr)}") # send flow control message self._can_client.send([self.flow_control_msg]) - return + return ISOTP_FRAME_TYPE.FIRST - # consecutive rx frame - if rx_data[0] >> 4 == 0x2: + elif rx_data[0] >> 4 == ISOTP_FRAME_TYPE.CONSECUTIVE: assert not self.rx_done, "isotp - rx: consecutive frame with no active frame" self.rx_idx += 1 assert self.rx_idx & 0xF == rx_data[0] & 0xF, "isotp - rx: invalid consecutive frame index" @@ -495,10 +503,9 @@ class IsoTpMessage(): self._can_client.send([self.flow_control_msg]) if self.debug: print(f"ISO-TP: RX - consecutive frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}") - return + return ISOTP_FRAME_TYPE.CONSECUTIVE - # flow control - if rx_data[0] >> 4 == 0x3: + elif rx_data[0] >> 4 == ISOTP_FRAME_TYPE.FLOW: assert not self.tx_done, "isotp - rx: flow control with no active frame" assert rx_data[0] != 0x32, "isotp - rx: flow-control overflow/abort" assert rx_data[0] == 0x30 or rx_data[0] == 0x31, "isotp - rx: flow-control transfer state indicator invalid" @@ -512,7 +519,7 @@ class IsoTpMessage(): # first frame = 6 bytes, each consecutive frame = 7 bytes num_bytes = self.max_len - 1 - start = 6 + self.tx_idx * num_bytes + start = self.max_len - 2 + self.tx_idx * num_bytes count = rx_data[1] end = start + count * num_bytes if count > 0 else self.tx_len tx_msgs = [] @@ -531,9 +538,16 @@ class IsoTpMessage(): # wait (do nothing until next flow control message) if self.debug: print(f"ISO-TP: TX - flow control wait - {hex(self._can_client.tx_addr)}") + return ISOTP_FRAME_TYPE.FLOW + + # 4-15 - reserved + else: + raise Exception(f"isotp - rx: invalid frame type: {rx_data[0] >> 4}") + FUNCTIONAL_ADDRS = [0x7DF, 0x18DB33F1] + def get_rx_addr_for_tx_addr(tx_addr, rx_offset=0x8): if tx_addr in FUNCTIONAL_ADDRS: return None @@ -551,15 +565,16 @@ def get_rx_addr_for_tx_addr(tx_addr, rx_offset=0x8): class UdsClient(): - def __init__(self, panda, tx_addr: int, rx_addr: int = None, bus: int = 0, timeout: float = 1, debug: bool = False, - tx_timeout: float = 1, response_pending_timeout: float = 10): + def __init__(self, panda, tx_addr: int, rx_addr: int = None, bus: int = 0, sub_addr: int = None, timeout: float = 1, + debug: bool = False, tx_timeout: float = 1, response_pending_timeout: float = 10): self.bus = bus self.tx_addr = tx_addr self.rx_addr = rx_addr if rx_addr is not None else get_rx_addr_for_tx_addr(tx_addr) + self.sub_addr = sub_addr self.timeout = timeout self.debug = debug can_send_with_timeout = partial(panda.can_send, timeout=int(tx_timeout*1000)) - self._can_client = CanClient(can_send_with_timeout, panda.can_recv, self.tx_addr, self.rx_addr, self.bus, debug=self.debug) + self._can_client = CanClient(can_send_with_timeout, panda.can_recv, self.tx_addr, self.rx_addr, self.bus, self.sub_addr, debug=self.debug) self.response_pending_timeout = response_pending_timeout # generic uds request @@ -571,7 +586,8 @@ class UdsClient(): req += data # send request, wait for response - isotp_msg = IsoTpMessage(self._can_client, timeout=self.timeout, debug=self.debug) + max_len = 8 if self.sub_addr is None else 7 + isotp_msg = IsoTpMessage(self._can_client, timeout=self.timeout, debug=self.debug, max_len=max_len) isotp_msg.send(req) response_pending = False while True: diff --git a/rednose/helpers/ekf_sym_pyx.cpp b/rednose/helpers/ekf_sym_pyx.cpp deleted file mode 100644 index df548f6e0..000000000 --- a/rednose/helpers/ekf_sym_pyx.cpp +++ /dev/null @@ -1,28140 +0,0 @@ -/* Generated by Cython 0.29.26 */ - -/* BEGIN: Cython Metadata -{ - "distutils": { - "depends": [ - "rednose/helpers/ekf_sym.h" - ], - "language": "c++", - "name": "helpers.ekf_sym_pyx", - "sources": [ - "/data/openpilot/rednose/helpers/ekf_sym_pyx.pyx" - ] - }, - "module_name": "helpers.ekf_sym_pyx" -} -END: Cython Metadata */ - -#ifndef PY_SSIZE_T_CLEAN -#define PY_SSIZE_T_CLEAN -#endif /* PY_SSIZE_T_CLEAN */ -#include "Python.h" -#ifndef Py_PYTHON_H - #error Python headers needed to compile C extensions, please install development version of Python. -#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) - #error Cython requires Python 2.6+ or Python 3.3+. -#else -#define CYTHON_ABI "0_29_26" -#define CYTHON_HEX_VERSION 0x001D1AF0 -#define CYTHON_FUTURE_DIVISION 1 -#include -#ifndef offsetof - #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) -#endif -#if !defined(WIN32) && !defined(MS_WINDOWS) - #ifndef __stdcall - #define __stdcall - #endif - #ifndef __cdecl - #define __cdecl - #endif - #ifndef __fastcall - #define __fastcall - #endif -#endif -#ifndef DL_IMPORT - #define DL_IMPORT(t) t -#endif -#ifndef DL_EXPORT - #define DL_EXPORT(t) t -#endif -#define __PYX_COMMA , -#ifndef HAVE_LONG_LONG - #if PY_VERSION_HEX >= 0x02070000 - #define HAVE_LONG_LONG - #endif -#endif -#ifndef PY_LONG_LONG - #define PY_LONG_LONG LONG_LONG -#endif -#ifndef Py_HUGE_VAL - #define Py_HUGE_VAL HUGE_VAL -#endif -#ifdef PYPY_VERSION - #define CYTHON_COMPILING_IN_PYPY 1 - #define CYTHON_COMPILING_IN_PYSTON 0 - #define CYTHON_COMPILING_IN_CPYTHON 0 - #undef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 0 - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #if PY_VERSION_HEX < 0x03050000 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #elif !defined(CYTHON_USE_ASYNC_SLOTS) - #define CYTHON_USE_ASYNC_SLOTS 1 - #endif - #undef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 0 - #undef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 0 - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #undef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 1 - #undef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 0 - #undef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 0 - #undef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 0 - #undef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL 0 - #undef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT 0 - #undef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE 0 - #undef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS 0 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 -#elif defined(PYSTON_VERSION) - #define CYTHON_COMPILING_IN_PYPY 0 - #define CYTHON_COMPILING_IN_PYSTON 1 - #define CYTHON_COMPILING_IN_CPYTHON 0 - #ifndef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 1 - #endif - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #undef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 0 - #ifndef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 1 - #endif - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #ifndef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 0 - #endif - #ifndef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 1 - #endif - #ifndef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 1 - #endif - #undef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 0 - #undef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL 0 - #undef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT 0 - #undef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE 0 - #undef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS 0 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 -#else - #define CYTHON_COMPILING_IN_PYPY 0 - #define CYTHON_COMPILING_IN_PYSTON 0 - #define CYTHON_COMPILING_IN_CPYTHON 1 - #ifndef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 1 - #endif - #if PY_VERSION_HEX < 0x02070000 - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #elif !defined(CYTHON_USE_PYTYPE_LOOKUP) - #define CYTHON_USE_PYTYPE_LOOKUP 1 - #endif - #if PY_MAJOR_VERSION < 3 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #elif !defined(CYTHON_USE_ASYNC_SLOTS) - #define CYTHON_USE_ASYNC_SLOTS 1 - #endif - #if PY_VERSION_HEX < 0x02070000 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #elif !defined(CYTHON_USE_PYLONG_INTERNALS) - #define CYTHON_USE_PYLONG_INTERNALS 1 - #endif - #ifndef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 1 - #endif - #ifndef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 1 - #endif - #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #elif !defined(CYTHON_USE_UNICODE_WRITER) - #define CYTHON_USE_UNICODE_WRITER 1 - #endif - #ifndef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 0 - #endif - #ifndef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 1 - #endif - #ifndef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 1 - #endif - #ifndef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 1 - #endif - #ifndef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) - #endif - #ifndef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) - #endif - #ifndef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) - #endif - #ifndef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) - #endif - #ifndef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) - #endif -#endif -#if !defined(CYTHON_FAST_PYCCALL) -#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) -#endif -#if CYTHON_USE_PYLONG_INTERNALS - #if PY_MAJOR_VERSION < 3 - #include "longintrepr.h" - #endif - #undef SHIFT - #undef BASE - #undef MASK - #ifdef SIZEOF_VOID_P - enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; - #endif -#endif -#ifndef __has_attribute - #define __has_attribute(x) 0 -#endif -#ifndef __has_cpp_attribute - #define __has_cpp_attribute(x) 0 -#endif -#ifndef CYTHON_RESTRICT - #if defined(__GNUC__) - #define CYTHON_RESTRICT __restrict__ - #elif defined(_MSC_VER) && _MSC_VER >= 1400 - #define CYTHON_RESTRICT __restrict - #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L - #define CYTHON_RESTRICT restrict - #else - #define CYTHON_RESTRICT - #endif -#endif -#ifndef CYTHON_UNUSED -# if defined(__GNUC__) -# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -#endif -#ifndef CYTHON_MAYBE_UNUSED_VAR -# if defined(__cplusplus) - template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } -# else -# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) -# endif -#endif -#ifndef CYTHON_NCP_UNUSED -# if CYTHON_COMPILING_IN_CPYTHON -# define CYTHON_NCP_UNUSED -# else -# define CYTHON_NCP_UNUSED CYTHON_UNUSED -# endif -#endif -#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) -#ifdef _MSC_VER - #ifndef _MSC_STDINT_H_ - #if _MSC_VER < 1300 - typedef unsigned char uint8_t; - typedef unsigned int uint32_t; - #else - typedef unsigned __int8 uint8_t; - typedef unsigned __int32 uint32_t; - #endif - #endif -#else - #include -#endif -#ifndef CYTHON_FALLTHROUGH - #if defined(__cplusplus) && __cplusplus >= 201103L - #if __has_cpp_attribute(fallthrough) - #define CYTHON_FALLTHROUGH [[fallthrough]] - #elif __has_cpp_attribute(clang::fallthrough) - #define CYTHON_FALLTHROUGH [[clang::fallthrough]] - #elif __has_cpp_attribute(gnu::fallthrough) - #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] - #endif - #endif - #ifndef CYTHON_FALLTHROUGH - #if __has_attribute(fallthrough) - #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) - #else - #define CYTHON_FALLTHROUGH - #endif - #endif - #if defined(__clang__ ) && defined(__apple_build_version__) - #if __apple_build_version__ < 7000000 - #undef CYTHON_FALLTHROUGH - #define CYTHON_FALLTHROUGH - #endif - #endif -#endif - -#ifndef __cplusplus - #error "Cython files generated with the C++ option must be compiled with a C++ compiler." -#endif -#ifndef CYTHON_INLINE - #if defined(__clang__) - #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) - #else - #define CYTHON_INLINE inline - #endif -#endif -template -void __Pyx_call_destructor(T& x) { - x.~T(); -} -template -class __Pyx_FakeReference { - public: - __Pyx_FakeReference() : ptr(NULL) { } - __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } - T *operator->() { return ptr; } - T *operator&() { return ptr; } - operator T&() { return *ptr; } - template bool operator ==(U other) { return *ptr == other; } - template bool operator !=(U other) { return *ptr != other; } - private: - T *ptr; -}; - -#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) - #define Py_OptimizeFlag 0 -#endif -#define __PYX_BUILD_PY_SSIZE_T "n" -#define CYTHON_FORMAT_SSIZE_T "z" -#if PY_MAJOR_VERSION < 3 - #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) - #define __Pyx_DefaultClassType PyClass_Type -#else - #define __Pyx_BUILTIN_MODULE_NAME "builtins" - #define __Pyx_DefaultClassType PyType_Type -#if PY_VERSION_HEX >= 0x030B00A1 - static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, - PyObject *code, PyObject *c, PyObject* n, PyObject *v, - PyObject *fv, PyObject *cell, PyObject* fn, - PyObject *name, int fline, PyObject *lnos) { - PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; - PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; - const char *fn_cstr=NULL; - const char *name_cstr=NULL; - PyCodeObject* co=NULL; - PyObject *type, *value, *traceback; - PyErr_Fetch(&type, &value, &traceback); - if (!(kwds=PyDict_New())) goto end; - if (!(argcount=PyLong_FromLong(a))) goto end; - if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; - if (!(posonlyargcount=PyLong_FromLong(0))) goto end; - if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; - if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; - if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; - if (!(nlocals=PyLong_FromLong(l))) goto end; - if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; - if (!(stacksize=PyLong_FromLong(s))) goto end; - if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; - if (!(flags=PyLong_FromLong(f))) goto end; - if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; - if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; - if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; - if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; - if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; - if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here - if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; - Py_XDECREF((PyObject*)co); - co = (PyCodeObject*)call_result; - call_result = NULL; - if (0) { - cleanup_code_too: - Py_XDECREF((PyObject*)co); - co = NULL; - } - end: - Py_XDECREF(kwds); - Py_XDECREF(argcount); - Py_XDECREF(posonlyargcount); - Py_XDECREF(kwonlyargcount); - Py_XDECREF(nlocals); - Py_XDECREF(stacksize); - Py_XDECREF(replace); - Py_XDECREF(call_result); - Py_XDECREF(empty); - if (type) { - PyErr_Restore(type, value, traceback); - } - return co; - } -#else - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) -#endif - #define __Pyx_DefaultClassType PyType_Type -#endif -#ifndef Py_TPFLAGS_CHECKTYPES - #define Py_TPFLAGS_CHECKTYPES 0 -#endif -#ifndef Py_TPFLAGS_HAVE_INDEX - #define Py_TPFLAGS_HAVE_INDEX 0 -#endif -#ifndef Py_TPFLAGS_HAVE_NEWBUFFER - #define Py_TPFLAGS_HAVE_NEWBUFFER 0 -#endif -#ifndef Py_TPFLAGS_HAVE_FINALIZE - #define Py_TPFLAGS_HAVE_FINALIZE 0 -#endif -#ifndef METH_STACKLESS - #define METH_STACKLESS 0 -#endif -#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) - #ifndef METH_FASTCALL - #define METH_FASTCALL 0x80 - #endif - typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); - typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, - Py_ssize_t nargs, PyObject *kwnames); -#else - #define __Pyx_PyCFunctionFast _PyCFunctionFast - #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords -#endif -#if CYTHON_FAST_PYCCALL -#define __Pyx_PyFastCFunction_Check(func)\ - ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) -#else -#define __Pyx_PyFastCFunction_Check(func) 0 -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) - #define PyObject_Malloc(s) PyMem_Malloc(s) - #define PyObject_Free(p) PyMem_Free(p) - #define PyObject_Realloc(p) PyMem_Realloc(p) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 - #define PyMem_RawMalloc(n) PyMem_Malloc(n) - #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) - #define PyMem_RawFree(p) PyMem_Free(p) -#endif -#if CYTHON_COMPILING_IN_PYSTON - #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) -#else - #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) -#endif -#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#elif PY_VERSION_HEX >= 0x03060000 - #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() -#elif PY_VERSION_HEX >= 0x03000000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#else - #define __Pyx_PyThreadState_Current _PyThreadState_Current -#endif -#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) -#include "pythread.h" -#define Py_tss_NEEDS_INIT 0 -typedef int Py_tss_t; -static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { - *key = PyThread_create_key(); - return 0; -} -static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { - Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); - *key = Py_tss_NEEDS_INIT; - return key; -} -static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { - PyObject_Free(key); -} -static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { - return *key != Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { - PyThread_delete_key(*key); - *key = Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { - return PyThread_set_key_value(*key, value); -} -static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { - return PyThread_get_key_value(*key); -} -#endif -#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) -#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) -#else -#define __Pyx_PyDict_NewPresized(n) PyDict_New() -#endif -#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION - #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) -#else - #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS -#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) -#else -#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) -#endif -#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) - #define CYTHON_PEP393_ENABLED 1 - #if defined(PyUnicode_IS_READY) - #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ - 0 : _PyUnicode_Ready((PyObject *)(op))) - #else - #define __Pyx_PyUnicode_READY(op) (0) - #endif - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) - #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) - #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) - #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) - #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) - #endif - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) - #endif -#else - #define CYTHON_PEP393_ENABLED 0 - #define PyUnicode_1BYTE_KIND 1 - #define PyUnicode_2BYTE_KIND 2 - #define PyUnicode_4BYTE_KIND 4 - #define __Pyx_PyUnicode_READY(op) (0) - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) - #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) - #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) - #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) -#endif -#if CYTHON_COMPILING_IN_PYPY - #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) -#else - #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ - PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) - #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) - #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) - #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) -#endif -#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) -#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? 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-value : value) -#endif -static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); -static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); -#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s)) -#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) -#define __Pyx_PyBytes_FromString PyBytes_FromString -#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); -#if PY_MAJOR_VERSION < 3 - #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString - #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize -#else - #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString - #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize -#endif -#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) -#define __Pyx_PyObject_AsWritableString(s) ((char*) __Pyx_PyObject_AsString(s)) -#define __Pyx_PyObject_AsWritableSString(s) ((signed char*) __Pyx_PyObject_AsString(s)) -#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*) __Pyx_PyObject_AsString(s)) -#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) -#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) -#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) -#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) -#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) -#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) -#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) -static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) { - const Py_UNICODE *u_end = u; - while (*u_end++) ; - return (size_t)(u_end - u - 1); -} -#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) -#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode -#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode -#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) -#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) -static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); -static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); -static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); -static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); -#define __Pyx_PySequence_Tuple(obj)\ - (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) -static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); -static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); -#if CYTHON_ASSUME_SAFE_MACROS -#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) -#else -#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) -#endif -#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) -#if PY_MAJOR_VERSION >= 3 -#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) -#else -#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) -#endif -#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x)) -#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII -static int __Pyx_sys_getdefaultencoding_not_ascii; -static int __Pyx_init_sys_getdefaultencoding_params(void) { - PyObject* sys; - PyObject* default_encoding = NULL; - PyObject* ascii_chars_u = NULL; - PyObject* ascii_chars_b = NULL; - const char* default_encoding_c; - sys = PyImport_ImportModule("sys"); - if (!sys) goto bad; - default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); - Py_DECREF(sys); - if (!default_encoding) goto bad; - default_encoding_c = PyBytes_AsString(default_encoding); - if (!default_encoding_c) goto bad; - if (strcmp(default_encoding_c, "ascii") == 0) { - __Pyx_sys_getdefaultencoding_not_ascii = 0; - } else { - char ascii_chars[128]; - int c; - for (c = 0; c < 128; c++) { - ascii_chars[c] = c; - } - __Pyx_sys_getdefaultencoding_not_ascii = 1; - ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); - if (!ascii_chars_u) goto bad; - ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); - if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { - PyErr_Format( - PyExc_ValueError, - "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", - default_encoding_c); - goto bad; - } - Py_DECREF(ascii_chars_u); - Py_DECREF(ascii_chars_b); - } - Py_DECREF(default_encoding); - return 0; -bad: - Py_XDECREF(default_encoding); - Py_XDECREF(ascii_chars_u); 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- #define __Pyx_TraceFrameInit(codeobj)\ - if (codeobj) __pyx_frame_code = (PyCodeObject*) codeobj; -#if PY_VERSION_HEX >= 0x030b00a2 - #define __Pyx_IsTracing(tstate, check_tracing, check_funcs)\ - (unlikely((tstate)->cframe->use_tracing) &&\ - (!(check_tracing) || !(tstate)->tracing) &&\ - (!(check_funcs) || (tstate)->c_profilefunc || (CYTHON_TRACE && (tstate)->c_tracefunc))) - #define __Pyx_EnterTracing(tstate) PyThreadState_EnterTracing(tstate) - #define __Pyx_LeaveTracing(tstate) PyThreadState_LeaveTracing(tstate) -#elif PY_VERSION_HEX >= 0x030a00b1 - #define __Pyx_IsTracing(tstate, check_tracing, check_funcs)\ - (unlikely((tstate)->cframe->use_tracing) &&\ - (!(check_tracing) || !(tstate)->tracing) &&\ - (!(check_funcs) || (tstate)->c_profilefunc || (CYTHON_TRACE && (tstate)->c_tracefunc))) - #define __Pyx_EnterTracing(tstate)\ - do { tstate->tracing++; tstate->cframe->use_tracing = 0; } while (0) - #define __Pyx_LeaveTracing(tstate)\ - do {\ - tstate->tracing--;\ - tstate->cframe->use_tracing = ((CYTHON_TRACE && tstate->c_tracefunc != NULL)\ - || tstate->c_profilefunc != NULL);\ - } while (0) -#else - #define __Pyx_IsTracing(tstate, check_tracing, check_funcs)\ - (unlikely((tstate)->use_tracing) &&\ - (!(check_tracing) || !(tstate)->tracing) &&\ - (!(check_funcs) || (tstate)->c_profilefunc || (CYTHON_TRACE && (tstate)->c_tracefunc))) - #define __Pyx_EnterTracing(tstate)\ - do { tstate->tracing++; tstate->use_tracing = 0; } while (0) - #define __Pyx_LeaveTracing(tstate)\ - do {\ - tstate->tracing--;\ - tstate->use_tracing = ((CYTHON_TRACE && tstate->c_tracefunc != NULL)\ - || tstate->c_profilefunc != NULL);\ - } while (0) -#endif - #ifdef WITH_THREAD - #define __Pyx_TraceCall(funcname, srcfile, firstlineno, nogil, goto_error)\ - if (nogil) {\ - if (CYTHON_TRACE_NOGIL) {\ - PyThreadState *tstate;\ - PyGILState_STATE state = PyGILState_Ensure();\ - tstate = __Pyx_PyThreadState_Current;\ - if (__Pyx_IsTracing(tstate, 1, 1)) {\ - __Pyx_use_tracing = __Pyx_TraceSetupAndCall(&__pyx_frame_code, &__pyx_frame, tstate, funcname, srcfile, firstlineno);\ - }\ - PyGILState_Release(state);\ - if (unlikely(__Pyx_use_tracing < 0)) goto_error;\ - }\ - } else {\ - PyThreadState* tstate = PyThreadState_GET();\ - if (__Pyx_IsTracing(tstate, 1, 1)) {\ - __Pyx_use_tracing = __Pyx_TraceSetupAndCall(&__pyx_frame_code, &__pyx_frame, tstate, funcname, srcfile, firstlineno);\ - if (unlikely(__Pyx_use_tracing < 0)) goto_error;\ - }\ - } - #else - #define __Pyx_TraceCall(funcname, srcfile, firstlineno, nogil, goto_error)\ - { PyThreadState* tstate = PyThreadState_GET();\ - if (__Pyx_IsTracing(tstate, 1, 1)) {\ - __Pyx_use_tracing = __Pyx_TraceSetupAndCall(&__pyx_frame_code, &__pyx_frame, tstate, funcname, srcfile, firstlineno);\ - if (unlikely(__Pyx_use_tracing < 0)) goto_error;\ - }\ - } - #endif - #define __Pyx_TraceException()\ - if (likely(!__Pyx_use_tracing)); else {\ - PyThreadState* tstate = __Pyx_PyThreadState_Current;\ - if (__Pyx_IsTracing(tstate, 0, 1)) {\ - __Pyx_EnterTracing(tstate);\ - PyObject *exc_info = __Pyx_GetExceptionTuple(tstate);\ - if (exc_info) {\ - if (CYTHON_TRACE && tstate->c_tracefunc)\ - tstate->c_tracefunc(\ - tstate->c_traceobj, __pyx_frame, PyTrace_EXCEPTION, exc_info);\ - tstate->c_profilefunc(\ - tstate->c_profileobj, __pyx_frame, PyTrace_EXCEPTION, exc_info);\ - Py_DECREF(exc_info);\ - }\ - __Pyx_LeaveTracing(tstate);\ - }\ - } - static void __Pyx_call_return_trace_func(PyThreadState *tstate, PyFrameObject *frame, PyObject *result) { - PyObject *type, *value, *traceback; - __Pyx_ErrFetchInState(tstate, &type, &value, &traceback); - __Pyx_EnterTracing(tstate); - if (CYTHON_TRACE && tstate->c_tracefunc) - tstate->c_tracefunc(tstate->c_traceobj, frame, PyTrace_RETURN, result); - if (tstate->c_profilefunc) - tstate->c_profilefunc(tstate->c_profileobj, frame, PyTrace_RETURN, result); - CYTHON_FRAME_DEL(frame); - __Pyx_LeaveTracing(tstate); - __Pyx_ErrRestoreInState(tstate, type, value, traceback); - } - #ifdef WITH_THREAD - #define __Pyx_TraceReturn(result, nogil)\ - if (likely(!__Pyx_use_tracing)); else {\ - if (nogil) {\ - if (CYTHON_TRACE_NOGIL) {\ - PyThreadState *tstate;\ - PyGILState_STATE state = PyGILState_Ensure();\ - tstate = __Pyx_PyThreadState_Current;\ - if (__Pyx_IsTracing(tstate, 0, 0)) {\ - __Pyx_call_return_trace_func(tstate, __pyx_frame, (PyObject*)result);\ - }\ - PyGILState_Release(state);\ - }\ - } else {\ - PyThreadState* tstate = __Pyx_PyThreadState_Current;\ - if (__Pyx_IsTracing(tstate, 0, 0)) {\ - __Pyx_call_return_trace_func(tstate, __pyx_frame, (PyObject*)result);\ - }\ - }\ - } - #else - #define __Pyx_TraceReturn(result, nogil)\ - if (likely(!__Pyx_use_tracing)); else {\ - PyThreadState* tstate = __Pyx_PyThreadState_Current;\ - if (__Pyx_IsTracing(tstate, 0, 0)) {\ - __Pyx_call_return_trace_func(tstate, __pyx_frame, (PyObject*)result);\ - }\ - } - #endif - static PyCodeObject *__Pyx_createFrameCodeObject(const char *funcname, const char *srcfile, int firstlineno); - static int __Pyx_TraceSetupAndCall(PyCodeObject** code, PyFrameObject** frame, PyThreadState* tstate, const char *funcname, const char *srcfile, int firstlineno); -#else - #define __Pyx_TraceDeclarations - #define __Pyx_TraceFrameInit(codeobj) - #define __Pyx_TraceCall(funcname, srcfile, firstlineno, nogil, goto_error) if ((1)); else goto_error; - #define __Pyx_TraceException() - #define __Pyx_TraceReturn(result, nogil) -#endif -#if CYTHON_TRACE - static int __Pyx_call_line_trace_func(PyThreadState *tstate, PyFrameObject *frame, int lineno) { - int ret; - PyObject *type, *value, *traceback; - __Pyx_ErrFetchInState(tstate, &type, &value, &traceback); - __Pyx_PyFrame_SetLineNumber(frame, lineno); - __Pyx_EnterTracing(tstate); - ret = tstate->c_tracefunc(tstate->c_traceobj, frame, PyTrace_LINE, NULL); - __Pyx_LeaveTracing(tstate); - if (likely(!ret)) { - __Pyx_ErrRestoreInState(tstate, type, value, traceback); - } else { - Py_XDECREF(type); - Py_XDECREF(value); - Py_XDECREF(traceback); - } - return ret; - } - #ifdef WITH_THREAD - #define __Pyx_TraceLine(lineno, nogil, goto_error)\ - if (likely(!__Pyx_use_tracing)); else {\ - if (nogil) {\ - if (CYTHON_TRACE_NOGIL) {\ - int ret = 0;\ - PyThreadState *tstate;\ - PyGILState_STATE state = PyGILState_Ensure();\ - tstate = __Pyx_PyThreadState_Current;\ - if (__Pyx_IsTracing(tstate, 0, 0) && tstate->c_tracefunc && __pyx_frame->f_trace) {\ - ret = __Pyx_call_line_trace_func(tstate, __pyx_frame, lineno);\ - }\ - PyGILState_Release(state);\ - if (unlikely(ret)) goto_error;\ - }\ - } else {\ - PyThreadState* tstate = __Pyx_PyThreadState_Current;\ - if (__Pyx_IsTracing(tstate, 0, 0) && tstate->c_tracefunc && __pyx_frame->f_trace) {\ - int ret = __Pyx_call_line_trace_func(tstate, __pyx_frame, lineno);\ - if (unlikely(ret)) goto_error;\ - }\ - }\ - } - #else - #define __Pyx_TraceLine(lineno, nogil, goto_error)\ - if (likely(!__Pyx_use_tracing)); else {\ - PyThreadState* tstate = __Pyx_PyThreadState_Current;\ - if (__Pyx_IsTracing(tstate, 0, 0) && tstate->c_tracefunc && __pyx_frame->f_trace) {\ - int ret = __Pyx_call_line_trace_func(tstate, __pyx_frame, lineno);\ - if (unlikely(ret)) goto_error;\ - }\ - } - #endif -#else - #define __Pyx_TraceLine(lineno, nogil, goto_error) if ((1)); else goto_error; -#endif - -/* PyDictVersioning.proto */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) -#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) -#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ - (version_var) = __PYX_GET_DICT_VERSION(dict);\ - (cache_var) = (value); -#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ - static PY_UINT64_T __pyx_dict_version = 0;\ - static PyObject *__pyx_dict_cached_value = NULL;\ - if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ - (VAR) = __pyx_dict_cached_value;\ - } else {\ - (VAR) = __pyx_dict_cached_value = (LOOKUP);\ - __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ - }\ -} -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); -#else -#define __PYX_GET_DICT_VERSION(dict) (0) -#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) -#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); -#endif - -/* GetModuleGlobalName.proto */ -#if CYTHON_USE_DICT_VERSIONS -#define __Pyx_GetModuleGlobalName(var, name) {\ - static PY_UINT64_T __pyx_dict_version = 0;\ - static PyObject *__pyx_dict_cached_value = NULL;\ - (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ - (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ - __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ -} -#define __Pyx_GetModuleGlobalNameUncached(var, name) {\ - PY_UINT64_T __pyx_dict_version;\ - PyObject *__pyx_dict_cached_value;\ - (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ -} -static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); -#else -#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) -#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) -static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); -#endif - -/* PyObjectCall.proto */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); -#else -#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) -#endif - -/* PyCFunctionFastCall.proto */ -#if CYTHON_FAST_PYCCALL -static CYTHON_INLINE PyObject *__Pyx_PyCFunction_FastCall(PyObject *func, PyObject **args, Py_ssize_t nargs); -#else -#define __Pyx_PyCFunction_FastCall(func, args, nargs) (assert(0), NULL) -#endif - -/* PyFunctionFastCall.proto */ -#if CYTHON_FAST_PYCALL -#define __Pyx_PyFunction_FastCall(func, args, nargs)\ - __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) -#if 1 || PY_VERSION_HEX < 0x030600B1 -static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); -#else -#define __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs) _PyFunction_FastCallDict(func, args, nargs, kwargs) -#endif -#define __Pyx_BUILD_ASSERT_EXPR(cond)\ - (sizeof(char [1 - 2*!(cond)]) - 1) -#ifndef Py_MEMBER_SIZE -#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) -#endif -#if CYTHON_FAST_PYCALL - static size_t __pyx_pyframe_localsplus_offset = 0; - #include "frameobject.h" - #define __Pxy_PyFrame_Initialize_Offsets()\ - ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ - (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) - #define __Pyx_PyFrame_GetLocalsplus(frame)\ - (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) -#endif // CYTHON_FAST_PYCALL -#endif - -/* PyObjectCall2Args.proto */ -static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); - -/* PyObjectCallMethO.proto */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); -#endif - -/* PyObjectCallOneArg.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); - -/* ExtTypeTest.proto */ -static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); - -/* MemviewSliceInit.proto */ -#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d -#define __Pyx_MEMVIEW_DIRECT 1 -#define __Pyx_MEMVIEW_PTR 2 -#define __Pyx_MEMVIEW_FULL 4 -#define __Pyx_MEMVIEW_CONTIG 8 -#define __Pyx_MEMVIEW_STRIDED 16 -#define __Pyx_MEMVIEW_FOLLOW 32 -#define __Pyx_IS_C_CONTIG 1 -#define __Pyx_IS_F_CONTIG 2 -static int __Pyx_init_memviewslice( - struct __pyx_memoryview_obj *memview, - int ndim, - __Pyx_memviewslice *memviewslice, - int memview_is_new_reference); -static CYTHON_INLINE int __pyx_add_acquisition_count_locked( - __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); -static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( - __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); -#define __pyx_get_slice_count_pointer(memview) (memview->acquisition_count_aligned_p) -#define __pyx_get_slice_count(memview) (*__pyx_get_slice_count_pointer(memview)) -#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) -#define __PYX_XDEC_MEMVIEW(slice, have_gil) __Pyx_XDEC_MEMVIEW(slice, have_gil, __LINE__) -static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); -static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *, int, int); - -/* RaiseArgTupleInvalid.proto */ -static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, - Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); - -/* RaiseDoubleKeywords.proto */ -static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); - -/* ParseKeywords.proto */ -static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject **argnames[],\ - PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args,\ - const char* function_name); - -/* ArgTypeTest.proto */ -#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ - ((likely((Py_TYPE(obj) == type) | (none_allowed && (obj == Py_None)))) ? 1 :\ - __Pyx__ArgTypeTest(obj, type, name, exact)) -static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); - -/* IsLittleEndian.proto */ -static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); - -/* BufferFormatCheck.proto */ -static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); -static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, - __Pyx_BufFmt_StackElem* stack, - __Pyx_TypeInfo* type); - -/* BufferGetAndValidate.proto */ -#define __Pyx_GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)\ - ((obj == Py_None || obj == NULL) ?\ - (__Pyx_ZeroBuffer(buf), 0) :\ - __Pyx__GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)) -static int __Pyx__GetBufferAndValidate(Py_buffer* buf, PyObject* obj, - __Pyx_TypeInfo* dtype, int flags, int nd, int cast, __Pyx_BufFmt_StackElem* stack); -static void __Pyx_ZeroBuffer(Py_buffer* buf); -static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info); -static Py_ssize_t __Pyx_minusones[] = { -1, -1, -1, -1, -1, -1, -1, -1 }; -static Py_ssize_t __Pyx_zeros[] = { 0, 0, 0, 0, 0, 0, 0, 0 }; - -/* ListCompAppend.proto */ -#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS -static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { - PyListObject* L = (PyListObject*) list; - Py_ssize_t len = Py_SIZE(list); - if (likely(L->allocated > len)) { - Py_INCREF(x); - PyList_SET_ITEM(list, len, x); - __Pyx_SET_SIZE(list, len + 1); - return 0; - } - return PyList_Append(list, x); -} -#else -#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) -#endif - -/* BufferFallbackError.proto */ -static void __Pyx_RaiseBufferFallbackError(void); - -/* GetItemInt.proto */ -#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ - (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ - __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ - (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ - __Pyx_GetItemInt_Generic(o, to_py_func(i)))) -#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ - (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ - __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ - (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - int wraparound, int boundscheck); -#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ - (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ - __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ - (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - int wraparound, int boundscheck); -static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, - int is_list, int wraparound, int boundscheck); - -/* PyObjectCallNoArg.proto */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); -#else -#define __Pyx_PyObject_CallNoArg(func) __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL) -#endif - -/* RaiseException.proto */ -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); - -/* WriteUnraisableException.proto */ -static void __Pyx_WriteUnraisable(const char *name, int clineno, - int lineno, const char *filename, - int full_traceback, int nogil); - -/* GetTopmostException.proto */ -#if CYTHON_USE_EXC_INFO_STACK -static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); -#endif - -/* SaveResetException.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); -#else -#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) -#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) -#endif - -/* PyErrExceptionMatches.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) -static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); -#else -#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) -#endif - -/* GetException.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) -static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#else -static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); -#endif - -/* IncludeStringH.proto */ -#include - -/* BytesEquals.proto */ -static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); - -/* UnicodeEquals.proto */ -static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); - -/* StrEquals.proto */ -#if PY_MAJOR_VERSION >= 3 -#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals -#else -#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals -#endif - -/* None.proto */ -static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); - -/* UnaryNegOverflows.proto */ -#define UNARY_NEG_WOULD_OVERFLOW(x)\ - (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) - -static CYTHON_UNUSED int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ -static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ -/* GetAttr.proto */ -static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); - -/* ObjectGetItem.proto */ -#if CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key); -#else -#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) -#endif - -/* decode_c_string_utf16.proto */ -static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { - int byteorder = 0; - return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); -} -static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { - int byteorder = -1; - return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); -} -static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { - int byteorder = 1; - return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); -} - -/* decode_c_string.proto */ -static CYTHON_INLINE PyObject* __Pyx_decode_c_string( - const char* cstring, Py_ssize_t start, Py_ssize_t stop, - const char* encoding, const char* errors, - PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); - -/* GetAttr3.proto */ -static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); - -/* RaiseTooManyValuesToUnpack.proto */ -static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); - -/* RaiseNeedMoreValuesToUnpack.proto */ -static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); - -/* RaiseNoneIterError.proto */ -static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); - -/* SwapException.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#else -static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); -#endif - -/* Import.proto */ -static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); - -/* FastTypeChecks.proto */ -#if CYTHON_COMPILING_IN_CPYTHON -#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); -#else -#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) -#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) -#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) -#endif -#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) - -static CYTHON_UNUSED int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ -/* PyIntBinop.proto */ -#if !CYTHON_COMPILING_IN_PYPY -static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check); -#else -#define __Pyx_PyInt_AddObjC(op1, op2, intval, inplace, zerodivision_check)\ - (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2)) -#endif - -/* ListExtend.proto */ -static CYTHON_INLINE int __Pyx_PyList_Extend(PyObject* L, PyObject* v) { -#if CYTHON_COMPILING_IN_CPYTHON - PyObject* none = _PyList_Extend((PyListObject*)L, v); - if (unlikely(!none)) - return -1; - Py_DECREF(none); - return 0; -#else - return PyList_SetSlice(L, PY_SSIZE_T_MAX, PY_SSIZE_T_MAX, v); -#endif -} - -/* ListAppend.proto */ -#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS -static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { - PyListObject* L = (PyListObject*) list; - Py_ssize_t len = Py_SIZE(list); - if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { - Py_INCREF(x); - PyList_SET_ITEM(list, len, x); - __Pyx_SET_SIZE(list, len + 1); - return 0; - } - return PyList_Append(list, x); -} -#else -#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) -#endif - -/* None.proto */ -static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); - -/* None.proto */ -static CYTHON_INLINE long __Pyx_div_long(long, long); - -/* ImportFrom.proto */ -static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); - -/* HasAttr.proto */ -static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); - -/* StringJoin.proto */ -#if PY_MAJOR_VERSION < 3 -#define __Pyx_PyString_Join __Pyx_PyBytes_Join -#define __Pyx_PyBaseString_Join(s, v) (PyUnicode_CheckExact(s) ? PyUnicode_Join(s, v) : __Pyx_PyBytes_Join(s, v)) -#else -#define __Pyx_PyString_Join PyUnicode_Join -#define __Pyx_PyBaseString_Join PyUnicode_Join -#endif -#if CYTHON_COMPILING_IN_CPYTHON - #if PY_MAJOR_VERSION < 3 - #define __Pyx_PyBytes_Join _PyString_Join - #else - #define __Pyx_PyBytes_Join _PyBytes_Join - #endif -#else -static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values); -#endif - -/* PyObject_Unicode.proto */ -#if PY_MAJOR_VERSION >= 3 -#define __Pyx_PyObject_Unicode(obj)\ - (likely(PyUnicode_CheckExact(obj)) ? __Pyx_NewRef(obj) : PyObject_Str(obj)) -#else -#define __Pyx_PyObject_Unicode(obj)\ - (likely(PyUnicode_CheckExact(obj)) ? __Pyx_NewRef(obj) : PyObject_Unicode(obj)) -#endif - -/* PyObject_GenericGetAttrNoDict.proto */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); -#else -#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr -#endif - -/* PyObject_GenericGetAttr.proto */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); -#else -#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr -#endif - -/* PyObjectGetAttrStrNoError.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); - -/* SetupReduce.proto */ -static int __Pyx_setup_reduce(PyObject* type_obj); - -/* SetVTable.proto */ -static int __Pyx_SetVtable(PyObject *dict, void *vtable); - -/* TypeImport.proto */ -#ifndef __PYX_HAVE_RT_ImportType_proto -#define __PYX_HAVE_RT_ImportType_proto -enum __Pyx_ImportType_CheckSize { - __Pyx_ImportType_CheckSize_Error = 0, - __Pyx_ImportType_CheckSize_Warn = 1, - __Pyx_ImportType_CheckSize_Ignore = 2 -}; -static PyTypeObject *__Pyx_ImportType(PyObject* module, const char *module_name, const char *class_name, size_t size, enum __Pyx_ImportType_CheckSize check_size); -#endif - -/* CLineInTraceback.proto */ -#ifdef CYTHON_CLINE_IN_TRACEBACK -#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) -#else -static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); -#endif - -/* CodeObjectCache.proto */ -typedef struct { - PyCodeObject* code_object; - int code_line; -} __Pyx_CodeObjectCacheEntry; -struct __Pyx_CodeObjectCache { - int count; - int max_count; - __Pyx_CodeObjectCacheEntry* entries; -}; -static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; -static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); -static PyCodeObject *__pyx_find_code_object(int code_line); -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); - -/* AddTraceback.proto */ -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename); - -#if PY_MAJOR_VERSION < 3 - static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); - static void __Pyx_ReleaseBuffer(Py_buffer *view); -#else - #define __Pyx_GetBuffer PyObject_GetBuffer - #define __Pyx_ReleaseBuffer PyBuffer_Release -#endif - - -/* BufferStructDeclare.proto */ -typedef struct { - Py_ssize_t shape, strides, suboffsets; -} __Pyx_Buf_DimInfo; -typedef struct { - size_t refcount; - Py_buffer pybuffer; -} __Pyx_Buffer; -typedef struct { - __Pyx_Buffer *rcbuffer; - char *data; - __Pyx_Buf_DimInfo diminfo[8]; -} __Pyx_LocalBuf_ND; - -/* MemviewSliceIsContig.proto */ -static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); - -/* OverlappingSlices.proto */ -static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, - __Pyx_memviewslice *slice2, - int ndim, size_t itemsize); - -/* Capsule.proto */ -static CYTHON_INLINE PyObject *__pyx_capsule_create(void *p, const char *sig); - -/* GCCDiagnostics.proto */ -#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) -#define __Pyx_HAS_GCC_DIAGNOSTIC -#endif - -/* TypeInfoCompare.proto */ -static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); - -/* MemviewSliceValidateAndInit.proto */ -static int __Pyx_ValidateAndInit_memviewslice( - int *axes_specs, - int c_or_f_flag, - int buf_flags, - int ndim, - __Pyx_TypeInfo *dtype, - __Pyx_BufFmt_StackElem stack[], - __Pyx_memviewslice *memviewslice, - PyObject *original_obj); - -/* ObjectToMemviewSlice.proto */ -static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dsds_double(PyObject *, int writable_flag); - -/* MemviewDtypeToObject.proto */ -static CYTHON_INLINE PyObject *__pyx_memview_get_double(const char *itemp); -static CYTHON_INLINE int __pyx_memview_set_double(const char *itemp, PyObject *obj); - -/* ObjectToMemviewSlice.proto */ -static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_double(PyObject *, int writable_flag); - -/* CppExceptionConversion.proto */ -#ifndef __Pyx_CppExn2PyErr -#include -#include -#include -#include -static void __Pyx_CppExn2PyErr() { - try { - if (PyErr_Occurred()) - ; // let the latest Python exn pass through and ignore the current one - else - throw; - } catch (const std::bad_alloc& exn) { - PyErr_SetString(PyExc_MemoryError, exn.what()); - } catch (const std::bad_cast& exn) { - PyErr_SetString(PyExc_TypeError, exn.what()); - } catch (const std::bad_typeid& exn) { - PyErr_SetString(PyExc_TypeError, exn.what()); - } catch (const std::domain_error& exn) { - PyErr_SetString(PyExc_ValueError, exn.what()); - } catch (const std::invalid_argument& exn) { - PyErr_SetString(PyExc_ValueError, exn.what()); - } catch (const std::ios_base::failure& exn) { - PyErr_SetString(PyExc_IOError, exn.what()); - } catch (const std::out_of_range& exn) { - PyErr_SetString(PyExc_IndexError, exn.what()); - } catch (const std::overflow_error& exn) { - PyErr_SetString(PyExc_OverflowError, exn.what()); - } catch (const std::range_error& exn) { - PyErr_SetString(PyExc_ArithmeticError, exn.what()); - } catch (const std::underflow_error& exn) { - PyErr_SetString(PyExc_ArithmeticError, exn.what()); - } catch (const std::exception& exn) { - PyErr_SetString(PyExc_RuntimeError, exn.what()); - } - catch (...) - { - PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); - } -} -#endif - -/* RealImag.proto */ -#if CYTHON_CCOMPLEX - #ifdef __cplusplus - #define __Pyx_CREAL(z) ((z).real()) - #define __Pyx_CIMAG(z) ((z).imag()) - #else - #define __Pyx_CREAL(z) (__real__(z)) - #define __Pyx_CIMAG(z) (__imag__(z)) - #endif -#else - #define __Pyx_CREAL(z) ((z).real) - #define __Pyx_CIMAG(z) ((z).imag) -#endif -#if defined(__cplusplus) && CYTHON_CCOMPLEX\ - && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) - #define __Pyx_SET_CREAL(z,x) ((z).real(x)) - #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) -#else - #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) - #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) -#endif - -/* Arithmetic.proto */ -#if CYTHON_CCOMPLEX - #define __Pyx_c_eq_float(a, b) ((a)==(b)) - #define __Pyx_c_sum_float(a, b) ((a)+(b)) - #define __Pyx_c_diff_float(a, b) ((a)-(b)) - #define __Pyx_c_prod_float(a, b) ((a)*(b)) - #define __Pyx_c_quot_float(a, b) ((a)/(b)) - #define __Pyx_c_neg_float(a) (-(a)) - #ifdef __cplusplus - #define __Pyx_c_is_zero_float(z) ((z)==(float)0) - #define __Pyx_c_conj_float(z) (::std::conj(z)) - #if 1 - #define __Pyx_c_abs_float(z) (::std::abs(z)) - #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) - #endif - #else - #define __Pyx_c_is_zero_float(z) ((z)==0) - #define __Pyx_c_conj_float(z) (conjf(z)) - #if 1 - #define __Pyx_c_abs_float(z) (cabsf(z)) - #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) - #endif - #endif -#else - static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); - static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); - #if 1 - static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); - #endif -#endif - -/* Arithmetic.proto */ -#if CYTHON_CCOMPLEX - #define __Pyx_c_eq_double(a, b) ((a)==(b)) - #define __Pyx_c_sum_double(a, b) ((a)+(b)) - #define __Pyx_c_diff_double(a, b) ((a)-(b)) - #define __Pyx_c_prod_double(a, b) ((a)*(b)) - #define __Pyx_c_quot_double(a, b) ((a)/(b)) - #define __Pyx_c_neg_double(a) (-(a)) - #ifdef __cplusplus - #define __Pyx_c_is_zero_double(z) ((z)==(double)0) - #define __Pyx_c_conj_double(z) (::std::conj(z)) - #if 1 - #define __Pyx_c_abs_double(z) (::std::abs(z)) - #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) - #endif - #else - #define __Pyx_c_is_zero_double(z) ((z)==0) - #define __Pyx_c_conj_double(z) (conj(z)) - #if 1 - #define __Pyx_c_abs_double(z) (cabs(z)) - #define __Pyx_c_pow_double(a, b) (cpow(a, b)) - #endif - #endif -#else - static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); - static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); - #if 1 - static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); - #endif -#endif - -/* MemviewSliceCopyTemplate.proto */ -static __Pyx_memviewslice -__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, - const char *mode, int ndim, - size_t sizeof_dtype, int contig_flag, - int dtype_is_object); - -/* TypeInfoToFormat.proto */ -struct __pyx_typeinfo_string { - char string[3]; -}; -static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type); - -/* CIntFromPy.proto */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); - -/* CIntFromPy.proto */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); - -/* CIntFromPy.proto */ -static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); - -/* CheckBinaryVersion.proto */ -static int __Pyx_check_binary_version(void); - -/* InitStrings.proto */ -static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); - -static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ -static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ -static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ -static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ -static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ -static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ -static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ - -/* Module declarations from 'cython.view' */ -static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ - -/* Module declarations from 'cython' */ - -/* Module declarations from 'libc.string' */ - -/* Module declarations from 'libcpp.string' */ - -/* Module declarations from 'libcpp.vector' */ - -/* Module declarations from 'libcpp' */ - -/* Module declarations from 'cpython.buffer' */ - -/* Module declarations from 'libc.stdio' */ - -/* Module declarations from '__builtin__' */ - -/* Module declarations from 'cpython.type' */ -static PyTypeObject *__pyx_ptype_7cpython_4type_type = 0; - -/* Module declarations from 'cpython' */ - -/* Module declarations from 'cpython.object' */ - -/* Module declarations from 'cpython.ref' */ - -/* Module declarations from 'cpython.mem' */ - -/* Module declarations from 'numpy' */ - -/* Module declarations from 'numpy' */ -static PyTypeObject *__pyx_ptype_5numpy_dtype = 0; -static PyTypeObject *__pyx_ptype_5numpy_flatiter = 0; -static PyTypeObject *__pyx_ptype_5numpy_broadcast = 0; -static PyTypeObject *__pyx_ptype_5numpy_ndarray = 0; -static PyTypeObject *__pyx_ptype_5numpy_generic = 0; -static PyTypeObject *__pyx_ptype_5numpy_number = 0; -static PyTypeObject *__pyx_ptype_5numpy_integer = 0; -static PyTypeObject *__pyx_ptype_5numpy_signedinteger = 0; -static PyTypeObject *__pyx_ptype_5numpy_unsignedinteger = 0; -static PyTypeObject *__pyx_ptype_5numpy_inexact = 0; -static PyTypeObject *__pyx_ptype_5numpy_floating = 0; -static PyTypeObject *__pyx_ptype_5numpy_complexfloating = 0; -static PyTypeObject *__pyx_ptype_5numpy_flexible = 0; -static PyTypeObject *__pyx_ptype_5numpy_character = 0; -static PyTypeObject *__pyx_ptype_5numpy_ufunc = 0; - -/* Module declarations from 'helpers.ekf_sym_pyx' */ -static PyTypeObject *__pyx_ptype_7helpers_11ekf_sym_pyx_EKF_sym_pyx = 0; -static PyTypeObject *__pyx_array_type = 0; -static PyTypeObject *__pyx_MemviewEnum_type = 0; -static PyTypeObject *__pyx_memoryview_type = 0; -static PyTypeObject *__pyx_memoryviewslice_type = 0; -static PyObject *generic = 0; -static PyObject *strided = 0; -static PyObject *indirect = 0; -static PyObject *contiguous = 0; -static PyObject *indirect_contiguous = 0; -static int __pyx_memoryview_thread_locks_used; -static PyThread_type_lock __pyx_memoryview_thread_locks[8]; -static PyArrayObject *__pyx_f_7helpers_11ekf_sym_pyx_matrix_to_numpy(Eigen::Matrix); /*proto*/ -static PyArrayObject *__pyx_f_7helpers_11ekf_sym_pyx_vector_to_numpy(Eigen::VectorXd); /*proto*/ -static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ -static std::vector __pyx_convert_vector_from_py_int(PyObject *); /*proto*/ -static std::vector __pyx_convert_vector_from_py_std_3a__3a_string(PyObject *); /*proto*/ -static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ -static void *__pyx_align_pointer(void *, size_t); /*proto*/ -static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ -static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ -static PyObject *_unellipsify(PyObject *, int); /*proto*/ -static PyObject *assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ -static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ -static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ -static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ -static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ -static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ -static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ -static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ -static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ -static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ -static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ -static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ -static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ -static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ -static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ -static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ -static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ -static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ -static int __pyx_memoryview_err_dim(PyObject *, char *, int); /*proto*/ -static int __pyx_memoryview_err(PyObject *, char *); /*proto*/ -static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ -static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ -static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ -static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ -static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ -static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ -static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ -static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ -static PyObject *__pyx_format_from_typeinfo(__Pyx_TypeInfo *); /*proto*/ -static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; -static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float64_t = { "float64_t", NULL, sizeof(__pyx_t_5numpy_float64_t), { 0 }, 0, 'R', 0, 0 }; -#define __Pyx_MODULE_NAME "helpers.ekf_sym_pyx" -extern int __pyx_module_is_main_helpers__ekf_sym_pyx; -int __pyx_module_is_main_helpers__ekf_sym_pyx = 0; - -/* Implementation of 'helpers.ekf_sym_pyx' */ -static PyObject *__pyx_builtin_NotImplementedError; -static PyObject *__pyx_builtin_TypeError; -static PyObject *__pyx_builtin_ImportError; -static PyObject *__pyx_builtin_ValueError; -static PyObject *__pyx_builtin_MemoryError; -static PyObject *__pyx_builtin_enumerate; -static PyObject *__pyx_builtin_range; -static PyObject *__pyx_builtin_Ellipsis; -static PyObject *__pyx_builtin_id; -static PyObject *__pyx_builtin_IndexError; -static const char __pyx_k_C[] = "C"; -static const char __pyx_k_N[] = "N"; -static const char __pyx_k_O[] = "O"; -static const char __pyx_k_P[] = "P"; -static const char __pyx_k_Q[] = "Q"; -static const char __pyx_k_R[] = "R"; -static const char __pyx_k_T[] = "T{"; - static const char __pyx_k_c[] = "c"; - static const char __pyx_k_s[] = "(%s)"; - static const char __pyx_k_t[] = "t"; - static const char __pyx_k_x[] = "x"; - static const char __pyx_k_z[] = "z"; - static const char __pyx_k_id[] = "id"; - static const char __pyx_k_np[] = "np"; - static const char __pyx_k__29[] = "^"; - static const char __pyx_k__30[] = ""; - static const char __pyx_k__31[] = ":"; -static const char __pyx_k__32[] = "}"; -static const char __pyx_k__33[] = ","; -static const char __pyx_k_nan[] = "nan"; -static const char __pyx_k_new[] = "__new__"; -static const char __pyx_k_obj[] = "obj"; -static const char __pyx_k_val[] = "val"; -static const char __pyx_k_base[] = "base"; -static const char __pyx_k_copy[] = "copy"; -static const char __pyx_k_covs[] = "covs"; -static const char __pyx_k_dict[] = "__dict__"; -static const char __pyx_k_join[] = "join"; -static const char __pyx_k_kind[] = "kind"; -static const char __pyx_k_main[] = "__main__"; -static const char __pyx_k_mode[] = "mode"; -static const char __pyx_k_name[] = "name"; -static const char __pyx_k_ndim[] = "ndim"; -static const char __pyx_k_pack[] = "pack"; -static const char __pyx_k_size[] = "size"; -static const char __pyx_k_step[] = "step"; -static const char __pyx_k_stop[] = "stop"; -static const char __pyx_k_test[] = "__test__"; -static const char __pyx_k_utf8[] = "utf8"; -static const char __pyx_k_ASCII[] = "ASCII"; -static const char __pyx_k_class[] = "__class__"; -static const char __pyx_k_dtype[] = "dtype"; -static const char __pyx_k_error[] = "error"; -static const char __pyx_k_flags[] = "flags"; -static const char __pyx_k_numpy[] = "numpy"; -static const char __pyx_k_order[] = "order"; -static const char __pyx_k_range[] = "range"; -static const char __pyx_k_shape[] = "shape"; -static const char __pyx_k_start[] = "start"; -static const char __pyx_k_state[] = "state"; -static const char __pyx_k_double[] = "double"; -static const char __pyx_k_encode[] = "encode"; -static const char __pyx_k_format[] = "format"; -static const char __pyx_k_import[] = "__import__"; -static const char __pyx_k_logger[] = "logger"; -static const char __pyx_k_name_2[] = "__name__"; -static const char __pyx_k_pickle[] = "pickle"; -static const char __pyx_k_reduce[] = "__reduce__"; -static const char __pyx_k_struct[] = "struct"; -static const char __pyx_k_unpack[] = "unpack"; -static const char __pyx_k_update[] = "update"; -static const char __pyx_k_asarray[] = "asarray"; -static const char __pyx_k_augment[] = "augment"; -static const char __pyx_k_fortran[] = "fortran"; -static const char __pyx_k_gen_dir[] = "gen_dir"; -static const char __pyx_k_memview[] = "memview"; -static const char __pyx_k_Ellipsis[] = "Ellipsis"; -static const char __pyx_k_dim_main[] = "dim_main"; -static const char __pyx_k_getstate[] = "__getstate__"; -static const char __pyx_k_itemsize[] = "itemsize"; -static const char __pyx_k_pyx_type[] = "__pyx_type"; -static const char __pyx_k_setstate[] = "__setstate__"; -static const char __pyx_k_P_initial[] = "P_initial"; -static const char __pyx_k_TypeError[] = "TypeError"; -static const char __pyx_k_enumerate[] = "enumerate"; -static const char __pyx_k_estimates[] = "estimates"; -static const char __pyx_k_pyx_state[] = "__pyx_state"; -static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; -static const char __pyx_k_x_initial[] = "x_initial"; -static const char __pyx_k_IndexError[] = "IndexError"; -static const char __pyx_k_ValueError[] = "ValueError"; -static const char __pyx_k_extra_args[] = "extra_args"; -static const char __pyx_k_global_var[] = "global_var"; -static const char __pyx_k_norm_quats[] = "norm_quats"; -static const char __pyx_k_pyx_result[] = "__pyx_result"; -static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; -static const char __pyx_k_EKF_sym_pyx[] = "EKF_sym_pyx"; -static const char __pyx_k_ImportError[] = "ImportError"; -static const char __pyx_k_MemoryError[] = "MemoryError"; -static const char __pyx_k_PickleError[] = "PickleError"; -static const char __pyx_k_dim_augment[] = "dim_augment"; -static const char __pyx_k_filter_time[] = "filter_time"; -static const char __pyx_k_global_vars[] = "global_vars"; -static const char __pyx_k_maha_thresh[] = "maha_thresh"; -static const char __pyx_k_dim_main_err[] = "dim_main_err"; -static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; -static const char __pyx_k_stringsource[] = "stringsource"; -static const char __pyx_k_pyx_getbuffer[] = "__pyx_getbuffer"; -static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; -static const char __pyx_k_max_rewind_age[] = "max_rewind_age"; -static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; -static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; -static const char __pyx_k_dim_augment_err[] = "dim_augment_err"; -static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; -static const char __pyx_k_maha_test_kinds[] = "maha_test_kinds"; -static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; -static const char __pyx_k_quaternion_idxs[] = "quaternion_idxs"; -static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; -static const char __pyx_k_ascontiguousarray[] = "ascontiguousarray"; -static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; -static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; -static const char __pyx_k_strided_and_direct[] = ""; -static const char __pyx_k_NotImplementedError[] = "NotImplementedError"; -static const char __pyx_k_strided_and_indirect[] = ""; -static const char __pyx_k_contiguous_and_direct[] = ""; -static const char __pyx_k_MemoryView_of_r_object[] = ""; -static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; -static const char __pyx_k_contiguous_and_indirect[] = ""; -static const char __pyx_k_Cannot_index_with_type_s[] = "Cannot index with type '%s'"; -static const char __pyx_k_Invalid_shape_in_axis_d_d[] = "Invalid shape in axis %d: %d."; -static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; -static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; -static const char __pyx_k_strided_and_direct_or_indirect[] = ""; -static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; -static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; -static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; -static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; -static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; -static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; -static const char __pyx_k_Incompatible_checksums_s_vs_0xb0[] = "Incompatible checksums (%s vs 0xb068931 = (name))"; -static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; -static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got %s"; -static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis %d)"; -static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; -static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension %d (got %d and %d)"; -static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; -static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; -static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; -static PyObject *__pyx_n_s_ASCII; -static PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; -static PyObject *__pyx_n_u_C; -static PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; 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-static PyObject *__pyx_n_s_P_initial; -static PyObject *__pyx_n_s_PickleError; -static PyObject *__pyx_n_s_Q; -static PyObject *__pyx_n_s_R; -static PyObject *__pyx_kp_b_T; -static PyObject *__pyx_n_s_TypeError; -static PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; -static PyObject *__pyx_n_s_ValueError; -static PyObject *__pyx_n_s_View_MemoryView; -static PyObject *__pyx_kp_b__29; -static PyObject *__pyx_kp_b__30; -static PyObject *__pyx_kp_b__31; -static PyObject *__pyx_kp_b__32; -static PyObject *__pyx_kp_u__33; -static PyObject *__pyx_n_s_allocate_buffer; -static PyObject *__pyx_n_s_asarray; -static PyObject *__pyx_n_s_ascontiguousarray; -static PyObject *__pyx_n_s_augment; -static PyObject *__pyx_n_s_base; -static PyObject *__pyx_n_s_c; -static PyObject *__pyx_n_u_c; -static PyObject *__pyx_n_s_class; -static PyObject *__pyx_n_s_cline_in_traceback; -static PyObject *__pyx_kp_s_contiguous_and_direct; -static PyObject *__pyx_kp_s_contiguous_and_indirect; -static PyObject *__pyx_n_s_copy; -static PyObject *__pyx_n_s_covs; -static PyObject *__pyx_n_s_dict; -static PyObject *__pyx_n_s_dim_augment; -static PyObject *__pyx_n_s_dim_augment_err; -static PyObject *__pyx_n_s_dim_main; -static PyObject *__pyx_n_s_dim_main_err; -static PyObject *__pyx_n_s_double; -static PyObject *__pyx_n_s_dtype; -static PyObject *__pyx_n_s_dtype_is_object; -static PyObject *__pyx_n_s_encode; -static PyObject *__pyx_n_s_enumerate; -static PyObject *__pyx_n_s_error; -static PyObject *__pyx_n_s_estimates; -static PyObject *__pyx_n_s_extra_args; -static PyObject *__pyx_n_s_filter_time; -static PyObject *__pyx_n_s_flags; -static PyObject *__pyx_n_s_format; -static PyObject *__pyx_n_s_fortran; -static PyObject *__pyx_n_u_fortran; -static PyObject *__pyx_n_s_gen_dir; -static PyObject *__pyx_n_s_getstate; -static PyObject *__pyx_n_s_global_var; -static PyObject *__pyx_n_s_global_vars; -static PyObject *__pyx_kp_s_got_differing_extents_in_dimensi; -static PyObject *__pyx_n_s_id; -static PyObject *__pyx_n_s_import; 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/* proto */ -static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_2init_state(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, PyArrayObject *__pyx_v_state, PyArrayObject *__pyx_v_covs, PyObject *__pyx_v_filter_time); /* proto */ -static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_4state(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_6covs(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_8set_filter_time(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, double __pyx_v_t); /* proto */ -static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_10get_filter_time(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_12set_global(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, PyObject *__pyx_v_global_var, double __pyx_v_val); /* proto */ -static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_14reset_rewind(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_16predict(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, double __pyx_v_t); /* proto */ -static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_18predict_and_update_batch(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, double __pyx_v_t, int __pyx_v_kind, PyObject *__pyx_v_z, PyObject *__pyx_v_R, PyObject *__pyx_v_extra_args, bool __pyx_v_augment); /* proto */ -static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_20augment(CYTHON_UNUSED struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_22get_augment_times(CYTHON_UNUSED struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_24rts_smooth(CYTHON_UNUSED struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_estimates, CYTHON_UNUSED PyObject *__pyx_v_norm_quats); /* proto */ -static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_26maha_test(CYTHON_UNUSED struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_x, CYTHON_UNUSED PyObject *__pyx_v_P, CYTHON_UNUSED PyObject *__pyx_v_kind, CYTHON_UNUSED PyObject *__pyx_v_z, CYTHON_UNUSED PyObject *__pyx_v_R, CYTHON_UNUSED PyObject *__pyx_v_extra_args, CYTHON_UNUSED PyObject *__pyx_v_maha_thresh); /* proto */ -static void __pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_28__dealloc__(struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_30__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_32__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ -static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ -static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ -static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ -static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ -static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ -static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ -static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ -static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ -static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ -static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ -static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ -static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ -static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ -static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ -static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15View_dot_MemoryView_16_memoryviewslice_4base___get__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ -static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ -static PyObject *__pyx_tp_new_7helpers_11ekf_sym_pyx_EKF_sym_pyx(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ -static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ -static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ -static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ -static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ -static PyObject *__pyx_float_0_95; -static PyObject *__pyx_int_0; -static PyObject *__pyx_int_1; -static PyObject *__pyx_int_184977713; -static PyObject *__pyx_int_neg_1; -static PyObject *__pyx_k_; -static PyObject *__pyx_k__2; -static PyObject *__pyx_k__3; -static PyObject *__pyx_k__4; -static PyObject *__pyx_k__5; -static PyObject *__pyx_tuple__6; -static PyObject *__pyx_tuple__7; -static PyObject *__pyx_tuple__8; -static PyObject *__pyx_tuple__9; -static PyObject *__pyx_slice__24; -static PyObject *__pyx_tuple__10; -static PyObject *__pyx_tuple__11; -static PyObject *__pyx_tuple__12; -static PyObject *__pyx_tuple__13; -static PyObject *__pyx_tuple__14; -static PyObject *__pyx_tuple__15; -static PyObject *__pyx_tuple__16; 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- /* "View.MemoryView":1168 - * ndim - 1, itemsize) - * src_data += src_stride - * dst_data += dst_stride # <<<<<<<<<<<<<< - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, - */ - __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); - } - } - __pyx_L3:; - - /* "View.MemoryView":1140 - * - * @cython.cdivision(True) - * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< - * char *dst_data, Py_ssize_t *dst_strides, - * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, - */ - - /* function exit code */ -} - -/* "View.MemoryView":1170 - * dst_data += dst_stride - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< - * __Pyx_memviewslice *dst, - * int ndim, size_t itemsize) nogil: - */ - -static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { - __Pyx_TraceDeclarations - int __pyx_lineno = 0; - const char *__pyx_filename = NULL; - 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(PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); -#else - dictptr = _PyObject_GetDictPtr(obj); -#endif - } - return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; -} -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) - return 0; - return obj_dict_version == __Pyx_get_object_dict_version(obj); -} -#endif - -/* GetModuleGlobalName */ -#if CYTHON_USE_DICT_VERSIONS -static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) -#else -static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) -#endif -{ - PyObject *result; -#if !CYTHON_AVOID_BORROWED_REFS -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 - result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } else if (unlikely(PyErr_Occurred())) { - return NULL; - } -#else - result = PyDict_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } -#endif -#else - result = PyObject_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } - PyErr_Clear(); -#endif - return __Pyx_GetBuiltinName(name); -} - -/* PyObjectCall */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { - PyObject *result; - ternaryfunc call = Py_TYPE(func)->tp_call; - if (unlikely(!call)) - return PyObject_Call(func, arg, kw); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = (*call)(func, arg, kw); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyCFunctionFastCall */ -#if CYTHON_FAST_PYCCALL -static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { - PyCFunctionObject *func = (PyCFunctionObject*)func_obj; - PyCFunction meth = PyCFunction_GET_FUNCTION(func); - PyObject *self = PyCFunction_GET_SELF(func); - int flags = PyCFunction_GET_FLAGS(func); - assert(PyCFunction_Check(func)); - assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); - assert(nargs >= 0); - assert(nargs == 0 || args != NULL); - /* _PyCFunction_FastCallDict() must not be called with an exception set, - because it may clear it (directly or indirectly) and so the - caller loses its exception */ - assert(!PyErr_Occurred()); - if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { - return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); - } else { - return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); - } -} -#endif - -/* PyFunctionFastCall */ -#if CYTHON_FAST_PYCALL -static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, - PyObject *globals) { - PyFrameObject *f; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject **fastlocals; - Py_ssize_t i; - PyObject *result; - assert(globals != NULL); - /* XXX Perhaps we should create a specialized - PyFrame_New() that doesn't take locals, but does - take builtins without sanity checking them. - */ - assert(tstate != NULL); - f = PyFrame_New(tstate, co, globals, NULL); - if (f == NULL) { - return NULL; - } - fastlocals = __Pyx_PyFrame_GetLocalsplus(f); - for (i = 0; i < na; i++) { - Py_INCREF(*args); - fastlocals[i] = *args++; - } - result = PyEval_EvalFrameEx(f,0); - ++tstate->recursion_depth; - Py_DECREF(f); - --tstate->recursion_depth; - return result; -} -#if 1 || PY_VERSION_HEX < 0x030600B1 -static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { - PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); - PyObject *globals = PyFunction_GET_GLOBALS(func); - PyObject *argdefs = PyFunction_GET_DEFAULTS(func); - PyObject *closure; -#if PY_MAJOR_VERSION >= 3 - PyObject *kwdefs; -#endif - PyObject *kwtuple, **k; - PyObject **d; - Py_ssize_t nd; - Py_ssize_t nk; - PyObject *result; - assert(kwargs == NULL || PyDict_Check(kwargs)); - nk = kwargs ? PyDict_Size(kwargs) : 0; - if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { - return NULL; - } - if ( -#if PY_MAJOR_VERSION >= 3 - co->co_kwonlyargcount == 0 && -#endif - likely(kwargs == NULL || nk == 0) && - co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { - if (argdefs == NULL && co->co_argcount == nargs) { - result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); - goto done; - } - else if (nargs == 0 && argdefs != NULL - && co->co_argcount == Py_SIZE(argdefs)) { - /* function called with no arguments, but all parameters have - a default value: use default values as arguments .*/ - args = &PyTuple_GET_ITEM(argdefs, 0); - result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); - goto done; - } - } - if (kwargs != NULL) { - Py_ssize_t pos, i; - kwtuple = PyTuple_New(2 * nk); - if (kwtuple == NULL) { - result = NULL; - goto done; - } - k = &PyTuple_GET_ITEM(kwtuple, 0); - pos = i = 0; - while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { - Py_INCREF(k[i]); - Py_INCREF(k[i+1]); - i += 2; - } - nk = i / 2; - } - else { - kwtuple = NULL; - k = NULL; - } - closure = PyFunction_GET_CLOSURE(func); -#if PY_MAJOR_VERSION >= 3 - kwdefs = PyFunction_GET_KW_DEFAULTS(func); -#endif - if (argdefs != NULL) { - d = &PyTuple_GET_ITEM(argdefs, 0); - nd = Py_SIZE(argdefs); - } - else { - d = NULL; - nd = 0; - } -#if PY_MAJOR_VERSION >= 3 - result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, kwdefs, closure); -#else - result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, closure); -#endif - Py_XDECREF(kwtuple); -done: - Py_LeaveRecursiveCall(); - return result; -} -#endif -#endif - -/* PyObjectCall2Args */ -static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { - PyObject *args, *result = NULL; - #if CYTHON_FAST_PYCALL - if (PyFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyFunction_FastCall(function, args, 2); - } - #endif - #if CYTHON_FAST_PYCCALL - if (__Pyx_PyFastCFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyCFunction_FastCall(function, args, 2); - } - #endif - args = PyTuple_New(2); - if (unlikely(!args)) goto done; - Py_INCREF(arg1); - PyTuple_SET_ITEM(args, 0, arg1); - Py_INCREF(arg2); - PyTuple_SET_ITEM(args, 1, arg2); - Py_INCREF(function); - result = __Pyx_PyObject_Call(function, args, NULL); - Py_DECREF(args); - Py_DECREF(function); -done: - return result; -} - -/* PyObjectCallMethO */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { - PyObject *self, *result; - PyCFunction cfunc; - cfunc = PyCFunction_GET_FUNCTION(func); - self = PyCFunction_GET_SELF(func); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = cfunc(self, arg); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallOneArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_New(1); - if (unlikely(!args)) return NULL; - Py_INCREF(arg); - PyTuple_SET_ITEM(args, 0, arg); - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, &arg, 1); - } -#endif - if (likely(PyCFunction_Check(func))) { - if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { - return __Pyx_PyObject_CallMethO(func, arg); -#if CYTHON_FAST_PYCCALL - } else if (__Pyx_PyFastCFunction_Check(func)) { - return __Pyx_PyCFunction_FastCall(func, &arg, 1); -#endif - } - } - return __Pyx__PyObject_CallOneArg(func, arg); -} -#else -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_Pack(1, arg); - if (unlikely(!args)) return NULL; - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -#endif - -/* ExtTypeTest */ -static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { - if (unlikely(!type)) { - PyErr_SetString(PyExc_SystemError, "Missing type object"); - return 0; - } - if (likely(__Pyx_TypeCheck(obj, type))) - return 1; - PyErr_Format(PyExc_TypeError, "Cannot convert %.200s to %.200s", - Py_TYPE(obj)->tp_name, type->tp_name); - return 0; -} - -/* MemviewSliceInit */ -static int -__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, - int ndim, - __Pyx_memviewslice *memviewslice, - int memview_is_new_reference) -{ - __Pyx_RefNannyDeclarations - int i, retval=-1; - Py_buffer *buf = &memview->view; - __Pyx_RefNannySetupContext("init_memviewslice", 0); - if (unlikely(memviewslice->memview || memviewslice->data)) { - PyErr_SetString(PyExc_ValueError, - "memviewslice is already initialized!"); - goto fail; - } - if (buf->strides) { - for (i = 0; i < ndim; i++) { - memviewslice->strides[i] = buf->strides[i]; - } - } else { - Py_ssize_t stride = buf->itemsize; - for (i = ndim - 1; i >= 0; i--) { - memviewslice->strides[i] = stride; - stride *= buf->shape[i]; - } - } - for (i = 0; i < ndim; i++) { - memviewslice->shape[i] = buf->shape[i]; - if (buf->suboffsets) { - memviewslice->suboffsets[i] = buf->suboffsets[i]; - } else { - memviewslice->suboffsets[i] = -1; - } - } - memviewslice->memview = memview; - memviewslice->data = (char *)buf->buf; - if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { - Py_INCREF(memview); - } - retval = 0; - goto no_fail; -fail: - memviewslice->memview = 0; - memviewslice->data = 0; - retval = -1; -no_fail: - __Pyx_RefNannyFinishContext(); - return retval; -} -#ifndef Py_NO_RETURN -#define Py_NO_RETURN -#endif -static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { - va_list vargs; - char msg[200]; -#ifdef HAVE_STDARG_PROTOTYPES - va_start(vargs, fmt); -#else - va_start(vargs); -#endif - vsnprintf(msg, 200, fmt, vargs); - va_end(vargs); - Py_FatalError(msg); -} -static CYTHON_INLINE int -__pyx_add_acquisition_count_locked(__pyx_atomic_int *acquisition_count, - PyThread_type_lock lock) -{ - int result; - PyThread_acquire_lock(lock, 1); - result = (*acquisition_count)++; - PyThread_release_lock(lock); - return result; -} -static CYTHON_INLINE int -__pyx_sub_acquisition_count_locked(__pyx_atomic_int *acquisition_count, - PyThread_type_lock lock) -{ - int result; - PyThread_acquire_lock(lock, 1); - result = (*acquisition_count)--; - PyThread_release_lock(lock); - return result; -} -static CYTHON_INLINE void -__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) -{ - int first_time; - struct __pyx_memoryview_obj *memview = memslice->memview; - if (unlikely(!memview || (PyObject *) memview == Py_None)) - return; - if (unlikely(__pyx_get_slice_count(memview) < 0)) - __pyx_fatalerror("Acquisition count is %d (line %d)", - __pyx_get_slice_count(memview), lineno); - first_time = __pyx_add_acquisition_count(memview) == 0; - if (unlikely(first_time)) { - if (have_gil) { - Py_INCREF((PyObject *) memview); - } else { - PyGILState_STATE _gilstate = PyGILState_Ensure(); - Py_INCREF((PyObject *) memview); - PyGILState_Release(_gilstate); - } - } -} -static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *memslice, - int have_gil, int lineno) { - int last_time; - struct __pyx_memoryview_obj *memview = memslice->memview; - if (unlikely(!memview || (PyObject *) memview == Py_None)) { - memslice->memview = NULL; - return; - } - if (unlikely(__pyx_get_slice_count(memview) <= 0)) - __pyx_fatalerror("Acquisition count is %d (line %d)", - __pyx_get_slice_count(memview), lineno); - last_time = __pyx_sub_acquisition_count(memview) == 1; - memslice->data = NULL; - if (unlikely(last_time)) { - if (have_gil) { - Py_CLEAR(memslice->memview); - } else { - PyGILState_STATE _gilstate = PyGILState_Ensure(); - Py_CLEAR(memslice->memview); - PyGILState_Release(_gilstate); - } - } else { - memslice->memview = NULL; - } -} - -/* RaiseArgTupleInvalid */ -static void __Pyx_RaiseArgtupleInvalid( - const char* func_name, - int exact, - Py_ssize_t num_min, - Py_ssize_t num_max, - Py_ssize_t num_found) -{ - Py_ssize_t num_expected; - const char *more_or_less; - if (num_found < num_min) { - num_expected = num_min; - more_or_less = "at least"; - } else { - num_expected = num_max; - more_or_less = "at most"; - } - if (exact) { - more_or_less = "exactly"; - } - PyErr_Format(PyExc_TypeError, - "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", - func_name, more_or_less, num_expected, - (num_expected == 1) ? "" : "s", num_found); -} - -/* RaiseDoubleKeywords */ -static void __Pyx_RaiseDoubleKeywordsError( - const char* func_name, - PyObject* kw_name) -{ - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION >= 3 - "%s() got multiple values for keyword argument '%U'", func_name, kw_name); - #else - "%s() got multiple values for keyword argument '%s'", func_name, - PyString_AsString(kw_name)); - #endif -} - -/* ParseKeywords */ -static int __Pyx_ParseOptionalKeywords( - PyObject *kwds, - PyObject **argnames[], - PyObject *kwds2, - PyObject *values[], - Py_ssize_t num_pos_args, - const char* function_name) -{ - PyObject *key = 0, *value = 0; - Py_ssize_t pos = 0; - PyObject*** name; - PyObject*** first_kw_arg = argnames + num_pos_args; - while (PyDict_Next(kwds, &pos, &key, &value)) { - name = first_kw_arg; - while (*name && (**name != key)) name++; - if (*name) { - values[name-argnames] = value; - continue; - } - name = first_kw_arg; - #if PY_MAJOR_VERSION < 3 - if (likely(PyString_Check(key))) { - while (*name) { - if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) - && _PyString_Eq(**name, key)) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - if ((**argname == key) || ( - (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) - && _PyString_Eq(**argname, key))) { - goto arg_passed_twice; - } - argname++; - } - } - } else - #endif - if (likely(PyUnicode_Check(key))) { - while (*name) { - int cmp = (**name == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**name, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - int cmp = (**argname == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**argname, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) goto arg_passed_twice; - argname++; - } - } - } else - goto invalid_keyword_type; - if (kwds2) { - if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; - } else { - goto invalid_keyword; - } - } - return 0; -arg_passed_twice: - __Pyx_RaiseDoubleKeywordsError(function_name, key); - goto bad; -invalid_keyword_type: - PyErr_Format(PyExc_TypeError, - "%.200s() keywords must be strings", function_name); - goto bad; -invalid_keyword: - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION < 3 - "%.200s() got an unexpected keyword argument '%.200s'", - function_name, PyString_AsString(key)); - #else - "%s() got an unexpected keyword argument '%U'", - function_name, key); - #endif -bad: - return -1; -} - -/* ArgTypeTest */ -static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) -{ - if (unlikely(!type)) { - PyErr_SetString(PyExc_SystemError, "Missing type object"); - return 0; - } - else if (exact) { - #if PY_MAJOR_VERSION == 2 - if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; - #endif - } - else { - if (likely(__Pyx_TypeCheck(obj, type))) return 1; - } - PyErr_Format(PyExc_TypeError, - "Argument '%.200s' has incorrect type (expected %.200s, got %.200s)", - name, type->tp_name, Py_TYPE(obj)->tp_name); - return 0; -} - -/* IsLittleEndian */ -static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) -{ - union { - uint32_t u32; - uint8_t u8[4]; - } S; - S.u32 = 0x01020304; - return S.u8[0] == 4; -} - -/* BufferFormatCheck */ -static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, - __Pyx_BufFmt_StackElem* stack, - __Pyx_TypeInfo* type) { - stack[0].field = &ctx->root; - stack[0].parent_offset = 0; - ctx->root.type = type; - ctx->root.name = "buffer dtype"; - ctx->root.offset = 0; - ctx->head = stack; - ctx->head->field = &ctx->root; - ctx->fmt_offset = 0; - ctx->head->parent_offset = 0; - ctx->new_packmode = '@'; - ctx->enc_packmode = '@'; - ctx->new_count = 1; - ctx->enc_count = 0; - ctx->enc_type = 0; - ctx->is_complex = 0; - ctx->is_valid_array = 0; - ctx->struct_alignment = 0; - while (type->typegroup == 'S') { - ++ctx->head; - ctx->head->field = type->fields; - ctx->head->parent_offset = 0; - type = type->fields->type; - } -} -static int __Pyx_BufFmt_ParseNumber(const char** ts) { - int count; - const char* t = *ts; - if (*t < '0' || *t > '9') { - return -1; - } else { - count = *t++ - '0'; - while (*t >= '0' && *t <= '9') { - count *= 10; - count += *t++ - '0'; - } - } - *ts = t; - return count; -} -static int __Pyx_BufFmt_ExpectNumber(const char **ts) { - int number = __Pyx_BufFmt_ParseNumber(ts); - if (number == -1) - PyErr_Format(PyExc_ValueError,\ - "Does not understand character buffer dtype format string ('%c')", **ts); - return number; -} -static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { - PyErr_Format(PyExc_ValueError, - "Unexpected format string character: '%c'", ch); -} -static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { - switch (ch) { - case '?': return "'bool'"; - case 'c': return "'char'"; - case 'b': return "'signed char'"; - case 'B': return "'unsigned char'"; - case 'h': return "'short'"; - case 'H': return "'unsigned short'"; - case 'i': return "'int'"; - case 'I': return "'unsigned int'"; - case 'l': return "'long'"; - case 'L': return "'unsigned long'"; - case 'q': return "'long long'"; - case 'Q': return "'unsigned long long'"; - case 'f': return (is_complex ? "'complex float'" : "'float'"); - case 'd': return (is_complex ? "'complex double'" : "'double'"); - case 'g': return (is_complex ? "'complex long double'" : "'long double'"); - case 'T': return "a struct"; - case 'O': return "Python object"; - case 'P': return "a pointer"; - case 's': case 'p': return "a string"; - case 0: return "end"; - default: return "unparseable format string"; - } -} -static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return 2; - case 'i': case 'I': case 'l': case 'L': return 4; - case 'q': case 'Q': return 8; - case 'f': return (is_complex ? 8 : 4); - case 'd': return (is_complex ? 16 : 8); - case 'g': { - PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); - return 0; - } - case 'O': case 'P': return sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(short); - case 'i': case 'I': return sizeof(int); - case 'l': case 'L': return sizeof(long); - #ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(PY_LONG_LONG); - #endif - case 'f': return sizeof(float) * (is_complex ? 2 : 1); - case 'd': return sizeof(double) * (is_complex ? 2 : 1); - case 'g': return sizeof(long double) * (is_complex ? 2 : 1); - case 'O': case 'P': return sizeof(void*); - default: { - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } - } -} -typedef struct { char c; short x; } __Pyx_st_short; -typedef struct { char c; int x; } __Pyx_st_int; -typedef struct { char c; long x; } __Pyx_st_long; -typedef struct { char c; float x; } __Pyx_st_float; -typedef struct { char c; double x; } __Pyx_st_double; -typedef struct { char c; long double x; } __Pyx_st_longdouble; -typedef struct { char c; void *x; } __Pyx_st_void_p; -#ifdef HAVE_LONG_LONG -typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; -#endif -static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, CYTHON_UNUSED int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); - case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); - case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); -#ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); -#endif - case 'f': return sizeof(__Pyx_st_float) - sizeof(float); - case 'd': return sizeof(__Pyx_st_double) - sizeof(double); - case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); - case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -/* These are for computing the padding at the end of the struct to align - on the first member of the struct. This will probably the same as above, - but we don't have any guarantees. - */ -typedef struct { short x; char c; } __Pyx_pad_short; -typedef struct { int x; char c; } __Pyx_pad_int; -typedef struct { long x; char c; } __Pyx_pad_long; -typedef struct { float x; char c; } __Pyx_pad_float; -typedef struct { double x; char c; } __Pyx_pad_double; -typedef struct { long double x; char c; } __Pyx_pad_longdouble; -typedef struct { void *x; char c; } __Pyx_pad_void_p; -#ifdef HAVE_LONG_LONG -typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; -#endif -static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, CYTHON_UNUSED int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); - case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); - case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); -#ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); -#endif - case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); - case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); - case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); - case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { - switch (ch) { - case 'c': - return 'H'; - case 'b': case 'h': case 'i': - case 'l': case 'q': case 's': case 'p': - return 'I'; - case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': - return 'U'; - case 'f': case 'd': case 'g': - return (is_complex ? 'C' : 'R'); - case 'O': - return 'O'; - case 'P': - return 'P'; - default: { - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } - } -} -static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { - if (ctx->head == NULL || ctx->head->field == &ctx->root) { - const char* expected; - const char* quote; - if (ctx->head == NULL) { - expected = "end"; - quote = ""; - } else { - expected = ctx->head->field->type->name; - quote = "'"; - } - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch, expected %s%s%s but got %s", - quote, expected, quote, - __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); - } else { - __Pyx_StructField* field = ctx->head->field; - __Pyx_StructField* parent = (ctx->head - 1)->field; - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", - field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), - parent->type->name, field->name); - } -} -static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { - char group; - size_t size, offset, arraysize = 1; - if (ctx->enc_type == 0) return 0; - if (ctx->head->field->type->arraysize[0]) { - int i, ndim = 0; - if (ctx->enc_type == 's' || ctx->enc_type == 'p') { - ctx->is_valid_array = ctx->head->field->type->ndim == 1; - ndim = 1; - if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { - PyErr_Format(PyExc_ValueError, - "Expected a dimension of size %zu, got %zu", - ctx->head->field->type->arraysize[0], ctx->enc_count); - return -1; - } - } - if (!ctx->is_valid_array) { - PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", - ctx->head->field->type->ndim, ndim); - return -1; - } - for (i = 0; i < ctx->head->field->type->ndim; i++) { - arraysize *= ctx->head->field->type->arraysize[i]; - } - ctx->is_valid_array = 0; - ctx->enc_count = 1; - } - group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); - do { - __Pyx_StructField* field = ctx->head->field; - __Pyx_TypeInfo* type = field->type; - if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { - size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); - } else { - size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); - } - if (ctx->enc_packmode == '@') { - size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); - size_t align_mod_offset; - if (align_at == 0) return -1; - align_mod_offset = ctx->fmt_offset % align_at; - if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; - if (ctx->struct_alignment == 0) - ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, - ctx->is_complex); - } - if (type->size != size || type->typegroup != group) { - if (type->typegroup == 'C' && type->fields != NULL) { - size_t parent_offset = ctx->head->parent_offset + field->offset; - ++ctx->head; - ctx->head->field = type->fields; - ctx->head->parent_offset = parent_offset; - continue; - } - if ((type->typegroup == 'H' || group == 'H') && type->size == size) { - } else { - __Pyx_BufFmt_RaiseExpected(ctx); - return -1; - } - } - offset = ctx->head->parent_offset + field->offset; - if (ctx->fmt_offset != offset) { - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", - (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); - return -1; - } - ctx->fmt_offset += size; - if (arraysize) - ctx->fmt_offset += (arraysize - 1) * size; - --ctx->enc_count; - while (1) { - if (field == &ctx->root) { - ctx->head = NULL; - if (ctx->enc_count != 0) { - __Pyx_BufFmt_RaiseExpected(ctx); - return -1; - } - break; - } - ctx->head->field = ++field; - if (field->type == NULL) { - --ctx->head; - field = ctx->head->field; - continue; - } else if (field->type->typegroup == 'S') { - size_t parent_offset = ctx->head->parent_offset + field->offset; - if (field->type->fields->type == NULL) continue; - field = field->type->fields; - ++ctx->head; - ctx->head->field = field; - ctx->head->parent_offset = parent_offset; - break; - } else { - break; - } - } - } while (ctx->enc_count); - ctx->enc_type = 0; - ctx->is_complex = 0; - return 0; -} -static PyObject * -__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) -{ - const char *ts = *tsp; - int i = 0, number, ndim; - ++ts; - if (ctx->new_count != 1) { - PyErr_SetString(PyExc_ValueError, - "Cannot handle repeated arrays in format string"); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ndim = ctx->head->field->type->ndim; - while (*ts && *ts != ')') { - switch (*ts) { - case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; - default: break; - } - number = __Pyx_BufFmt_ExpectNumber(&ts); - if (number == -1) return NULL; - if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) - return PyErr_Format(PyExc_ValueError, - "Expected a dimension of size %zu, got %d", - ctx->head->field->type->arraysize[i], number); - if (*ts != ',' && *ts != ')') - return PyErr_Format(PyExc_ValueError, - "Expected a comma in format string, got '%c'", *ts); - if (*ts == ',') ts++; - i++; - } - if (i != ndim) - return PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", - ctx->head->field->type->ndim, i); - if (!*ts) { - PyErr_SetString(PyExc_ValueError, - "Unexpected end of format string, expected ')'"); - return NULL; - } - ctx->is_valid_array = 1; - ctx->new_count = 1; - *tsp = ++ts; - return Py_None; -} -static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { - int got_Z = 0; - while (1) { - switch(*ts) { - case 0: - if (ctx->enc_type != 0 && ctx->head == NULL) { - __Pyx_BufFmt_RaiseExpected(ctx); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - if (ctx->head != NULL) { - __Pyx_BufFmt_RaiseExpected(ctx); - return NULL; - } - return ts; - case ' ': - case '\r': - case '\n': - ++ts; - break; - case '<': - if (!__Pyx_Is_Little_Endian()) { - PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); - return NULL; - } - ctx->new_packmode = '='; - ++ts; - break; - case '>': - case '!': - if (__Pyx_Is_Little_Endian()) { - PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); - return NULL; - } - ctx->new_packmode = '='; - ++ts; - break; - case '=': - case '@': - case '^': - ctx->new_packmode = *ts++; - break; - case 'T': - { - const char* ts_after_sub; - size_t i, struct_count = ctx->new_count; - size_t struct_alignment = ctx->struct_alignment; - ctx->new_count = 1; - ++ts; - if (*ts != '{') { - PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_type = 0; - ctx->enc_count = 0; - ctx->struct_alignment = 0; - ++ts; - ts_after_sub = ts; - for (i = 0; i != struct_count; ++i) { - ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); - if (!ts_after_sub) return NULL; - } - ts = ts_after_sub; - if (struct_alignment) ctx->struct_alignment = struct_alignment; - } - break; - case '}': - { - size_t alignment = ctx->struct_alignment; - ++ts; - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_type = 0; - if (alignment && ctx->fmt_offset % alignment) { - ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); - } - } - return ts; - case 'x': - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->fmt_offset += ctx->new_count; - ctx->new_count = 1; - ctx->enc_count = 0; - ctx->enc_type = 0; - ctx->enc_packmode = ctx->new_packmode; - ++ts; - break; - case 'Z': - got_Z = 1; - ++ts; - if (*ts != 'f' && *ts != 'd' && *ts != 'g') { - __Pyx_BufFmt_RaiseUnexpectedChar('Z'); - return NULL; - } - CYTHON_FALLTHROUGH; - case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': - case 'l': case 'L': case 'q': case 'Q': - case 'f': case 'd': case 'g': - case 'O': case 'p': - if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && - (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { - ctx->enc_count += ctx->new_count; - ctx->new_count = 1; - got_Z = 0; - ++ts; - break; - } - CYTHON_FALLTHROUGH; - case 's': - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_count = ctx->new_count; - ctx->enc_packmode = ctx->new_packmode; - ctx->enc_type = *ts; - ctx->is_complex = got_Z; - ++ts; - ctx->new_count = 1; - got_Z = 0; - break; - case ':': - ++ts; - while(*ts != ':') ++ts; - ++ts; - break; - case '(': - if (!__pyx_buffmt_parse_array(ctx, &ts)) return NULL; - break; - default: - { - int number = __Pyx_BufFmt_ExpectNumber(&ts); - if (number == -1) return NULL; - ctx->new_count = (size_t)number; - } - } - } -} - -/* BufferGetAndValidate */ - static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { - if (unlikely(info->buf == NULL)) return; - if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; - __Pyx_ReleaseBuffer(info); -} -static void __Pyx_ZeroBuffer(Py_buffer* buf) { - buf->buf = NULL; - buf->obj = NULL; - buf->strides = __Pyx_zeros; - buf->shape = __Pyx_zeros; - buf->suboffsets = __Pyx_minusones; -} -static int __Pyx__GetBufferAndValidate( - Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, - int nd, int cast, __Pyx_BufFmt_StackElem* stack) -{ - buf->buf = NULL; - if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { - __Pyx_ZeroBuffer(buf); - return -1; - } - if (unlikely(buf->ndim != nd)) { - PyErr_Format(PyExc_ValueError, - "Buffer has wrong number of dimensions (expected %d, got %d)", - nd, buf->ndim); - goto fail; - } - if (!cast) { - __Pyx_BufFmt_Context ctx; - __Pyx_BufFmt_Init(&ctx, stack, dtype); - if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; - } - if (unlikely((size_t)buf->itemsize != dtype->size)) { - PyErr_Format(PyExc_ValueError, - "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", - buf->itemsize, (buf->itemsize > 1) ? "s" : "", - dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); - goto fail; - } - if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; - return 0; -fail:; - __Pyx_SafeReleaseBuffer(buf); - return -1; -} - -/* BufferFallbackError */ - static void __Pyx_RaiseBufferFallbackError(void) { - PyErr_SetString(PyExc_ValueError, - "Buffer acquisition failed on assignment; and then reacquiring the old buffer failed too!"); -} - -/* GetItemInt */ - static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { - PyObject *r; - if (!j) return NULL; - r = PyObject_GetItem(o, j); - Py_DECREF(j); - return r; -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyList_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { - PyObject *r = PyList_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyTuple_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS - if (is_list || PyList_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); - if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { - PyObject *r = PyList_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } - else if (PyTuple_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); - if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } else { - PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; - if (likely(m && m->sq_item)) { - if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { - Py_ssize_t l = m->sq_length(o); - if (likely(l >= 0)) { - i += l; - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - return NULL; - PyErr_Clear(); - } - } - return m->sq_item(o, i); - } - } -#else - if (is_list || PySequence_Check(o)) { - return PySequence_GetItem(o, i); - } -#endif - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -} - -/* PyObjectCallNoArg */ - #if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, NULL, 0); - } -#endif -#ifdef __Pyx_CyFunction_USED - if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) -#else - if (likely(PyCFunction_Check(func))) -#endif - { - if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { - return __Pyx_PyObject_CallMethO(func, NULL); - } - } - return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); -} -#endif - -/* RaiseException */ - #if PY_MAJOR_VERSION < 3 -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, - CYTHON_UNUSED PyObject *cause) { - __Pyx_PyThreadState_declare - Py_XINCREF(type); - if (!value || value == Py_None) - value = NULL; - else - Py_INCREF(value); - if (!tb || tb == Py_None) - tb = NULL; - else { - Py_INCREF(tb); - if (!PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto raise_error; - } - } - if (PyType_Check(type)) { -#if CYTHON_COMPILING_IN_PYPY - if (!value) { - Py_INCREF(Py_None); - value = Py_None; - } -#endif - PyErr_NormalizeException(&type, &value, &tb); - } else { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto raise_error; - } - value = type; - type = (PyObject*) Py_TYPE(type); - Py_INCREF(type); - if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto raise_error; - } - } - __Pyx_PyThreadState_assign - __Pyx_ErrRestore(type, value, tb); - return; -raise_error: - Py_XDECREF(value); - Py_XDECREF(type); - Py_XDECREF(tb); - return; -} -#else -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { - PyObject* owned_instance = NULL; - if (tb == Py_None) { - tb = 0; - } else if (tb && !PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto bad; - } - if (value == Py_None) - value = 0; - if (PyExceptionInstance_Check(type)) { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto bad; - } - value = type; - type = (PyObject*) Py_TYPE(value); - } else if (PyExceptionClass_Check(type)) { - PyObject *instance_class = NULL; - if (value && PyExceptionInstance_Check(value)) { - instance_class = (PyObject*) Py_TYPE(value); - if (instance_class != type) { - int is_subclass = PyObject_IsSubclass(instance_class, type); - if (!is_subclass) { - instance_class = NULL; - } else if (unlikely(is_subclass == -1)) { - goto bad; - } else { - type = instance_class; - } - } - } - if (!instance_class) { - PyObject *args; - if (!value) - args = PyTuple_New(0); - else if (PyTuple_Check(value)) { - Py_INCREF(value); - args = value; - } else - args = PyTuple_Pack(1, value); - if (!args) - goto bad; - owned_instance = PyObject_Call(type, args, NULL); - Py_DECREF(args); - if (!owned_instance) - goto bad; - value = owned_instance; - if (!PyExceptionInstance_Check(value)) { - PyErr_Format(PyExc_TypeError, - "calling %R should have returned an instance of " - "BaseException, not %R", - type, Py_TYPE(value)); - goto bad; - } - } - } else { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto bad; - } - if (cause) { - PyObject *fixed_cause; - if (cause == Py_None) { - fixed_cause = NULL; - } else if (PyExceptionClass_Check(cause)) { - fixed_cause = PyObject_CallObject(cause, NULL); - if (fixed_cause == NULL) - goto bad; - } else if (PyExceptionInstance_Check(cause)) { - fixed_cause = cause; - Py_INCREF(fixed_cause); - } else { - PyErr_SetString(PyExc_TypeError, - "exception causes must derive from " - "BaseException"); - goto bad; - } - PyException_SetCause(value, fixed_cause); - } - PyErr_SetObject(type, value); - if (tb) { -#if CYTHON_COMPILING_IN_PYPY - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); - Py_INCREF(tb); - PyErr_Restore(tmp_type, tmp_value, tb); - Py_XDECREF(tmp_tb); -#else - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* tmp_tb = tstate->curexc_traceback; - if (tb != tmp_tb) { - Py_INCREF(tb); - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_tb); - } -#endif - } -bad: - Py_XDECREF(owned_instance); - return; -} -#endif - -/* WriteUnraisableException */ - static void __Pyx_WriteUnraisable(const char *name, CYTHON_UNUSED int clineno, - CYTHON_UNUSED int lineno, CYTHON_UNUSED const char *filename, - int full_traceback, CYTHON_UNUSED int nogil) { - PyObject *old_exc, *old_val, *old_tb; - PyObject *ctx; - __Pyx_PyThreadState_declare -#ifdef WITH_THREAD - PyGILState_STATE state; - if (nogil) - state = PyGILState_Ensure(); -#ifdef _MSC_VER - else state = (PyGILState_STATE)-1; -#endif -#endif - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&old_exc, &old_val, &old_tb); - if (full_traceback) { - Py_XINCREF(old_exc); - Py_XINCREF(old_val); - Py_XINCREF(old_tb); - __Pyx_ErrRestore(old_exc, old_val, old_tb); - PyErr_PrintEx(1); - } - #if PY_MAJOR_VERSION < 3 - ctx = PyString_FromString(name); - #else - ctx = PyUnicode_FromString(name); - #endif - __Pyx_ErrRestore(old_exc, old_val, old_tb); - if (!ctx) { - PyErr_WriteUnraisable(Py_None); - } else { - PyErr_WriteUnraisable(ctx); - Py_DECREF(ctx); - } -#ifdef WITH_THREAD - if (nogil) - PyGILState_Release(state); -#endif -} - -/* GetTopmostException */ - #if CYTHON_USE_EXC_INFO_STACK -static _PyErr_StackItem * -__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) -{ - _PyErr_StackItem *exc_info = tstate->exc_info; - while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) && - exc_info->previous_item != NULL) - { - exc_info = exc_info->previous_item; - } - return exc_info; -} -#endif - -/* SaveResetException */ - #if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); - *type = exc_info->exc_type; - *value = exc_info->exc_value; - *tb = exc_info->exc_traceback; - #else - *type = tstate->exc_type; - *value = tstate->exc_value; - *tb = tstate->exc_traceback; - #endif - Py_XINCREF(*type); - Py_XINCREF(*value); - Py_XINCREF(*tb); -} -static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = type; - exc_info->exc_value = value; - exc_info->exc_traceback = tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = type; - tstate->exc_value = value; - tstate->exc_traceback = tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -#endif - -/* PyErrExceptionMatches */ - #if CYTHON_FAST_THREAD_STATE -static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; icurexc_type; - if (exc_type == err) return 1; - if (unlikely(!exc_type)) return 0; - if (unlikely(PyTuple_Check(err))) - return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); - return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); -} -#endif - -/* GetException */ - #if CYTHON_FAST_THREAD_STATE -static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) -#else -static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) -#endif -{ - PyObject *local_type, *local_value, *local_tb; -#if CYTHON_FAST_THREAD_STATE - PyObject *tmp_type, *tmp_value, *tmp_tb; - local_type = tstate->curexc_type; - local_value = tstate->curexc_value; - local_tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -#else - PyErr_Fetch(&local_type, &local_value, &local_tb); -#endif - PyErr_NormalizeException(&local_type, &local_value, &local_tb); -#if CYTHON_FAST_THREAD_STATE - if (unlikely(tstate->curexc_type)) -#else - if (unlikely(PyErr_Occurred())) -#endif - goto bad; - #if PY_MAJOR_VERSION >= 3 - if (local_tb) { - if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) - goto bad; - } - #endif - Py_XINCREF(local_tb); - Py_XINCREF(local_type); - Py_XINCREF(local_value); - *type = local_type; - *value = local_value; - *tb = local_tb; -#if CYTHON_FAST_THREAD_STATE - #if CYTHON_USE_EXC_INFO_STACK - { - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = local_type; - exc_info->exc_value = local_value; - exc_info->exc_traceback = local_tb; - } - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = local_type; - tstate->exc_value = local_value; - tstate->exc_traceback = local_tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -#else - PyErr_SetExcInfo(local_type, local_value, local_tb); -#endif - return 0; -bad: - *type = 0; - *value = 0; - *tb = 0; - Py_XDECREF(local_type); - Py_XDECREF(local_value); - Py_XDECREF(local_tb); - return -1; -} - -/* BytesEquals */ - static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { -#if CYTHON_COMPILING_IN_PYPY - return PyObject_RichCompareBool(s1, s2, equals); -#else - if (s1 == s2) { - return (equals == Py_EQ); - } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { - const char *ps1, *ps2; - Py_ssize_t length = PyBytes_GET_SIZE(s1); - if (length != PyBytes_GET_SIZE(s2)) - return (equals == Py_NE); - ps1 = PyBytes_AS_STRING(s1); - ps2 = PyBytes_AS_STRING(s2); - if (ps1[0] != ps2[0]) { - return (equals == Py_NE); - } else if (length == 1) { - return (equals == Py_EQ); - } else { - int result; -#if CYTHON_USE_UNICODE_INTERNALS - Py_hash_t hash1, hash2; - hash1 = ((PyBytesObject*)s1)->ob_shash; - hash2 = ((PyBytesObject*)s2)->ob_shash; - if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { - return (equals == Py_NE); - } -#endif - result = memcmp(ps1, ps2, (size_t)length); - return (equals == Py_EQ) ? (result == 0) : (result != 0); - } - } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { - return (equals == Py_NE); - } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { - return (equals == Py_NE); - } else { - int result; - PyObject* py_result = PyObject_RichCompare(s1, s2, equals); - if (!py_result) - return -1; - result = __Pyx_PyObject_IsTrue(py_result); - Py_DECREF(py_result); - return result; - } -#endif -} - -/* UnicodeEquals */ - static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { -#if CYTHON_COMPILING_IN_PYPY - return PyObject_RichCompareBool(s1, s2, equals); -#else -#if PY_MAJOR_VERSION < 3 - PyObject* owned_ref = NULL; -#endif - int s1_is_unicode, s2_is_unicode; - if (s1 == s2) { - goto return_eq; - } - s1_is_unicode = PyUnicode_CheckExact(s1); - s2_is_unicode = PyUnicode_CheckExact(s2); -#if PY_MAJOR_VERSION < 3 - if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { - owned_ref = PyUnicode_FromObject(s2); - if (unlikely(!owned_ref)) - return -1; - s2 = owned_ref; - s2_is_unicode = 1; - } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { - owned_ref = PyUnicode_FromObject(s1); - if (unlikely(!owned_ref)) - return -1; - s1 = owned_ref; - s1_is_unicode = 1; - } else if (((!s2_is_unicode) & (!s1_is_unicode))) { - return __Pyx_PyBytes_Equals(s1, s2, equals); - } -#endif - if (s1_is_unicode & s2_is_unicode) { - Py_ssize_t length; - int kind; - void *data1, *data2; - if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) - return -1; - length = __Pyx_PyUnicode_GET_LENGTH(s1); - if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { - goto return_ne; - } -#if CYTHON_USE_UNICODE_INTERNALS - { - Py_hash_t hash1, hash2; - #if CYTHON_PEP393_ENABLED - hash1 = ((PyASCIIObject*)s1)->hash; - hash2 = ((PyASCIIObject*)s2)->hash; - #else - hash1 = ((PyUnicodeObject*)s1)->hash; - hash2 = ((PyUnicodeObject*)s2)->hash; - #endif - if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { - goto return_ne; - } - } -#endif - kind = __Pyx_PyUnicode_KIND(s1); - if (kind != __Pyx_PyUnicode_KIND(s2)) { - goto return_ne; - } - data1 = __Pyx_PyUnicode_DATA(s1); - data2 = __Pyx_PyUnicode_DATA(s2); - if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { - goto return_ne; - } else if (length == 1) { - goto return_eq; - } else { - int result = memcmp(data1, data2, (size_t)(length * kind)); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_EQ) ? (result == 0) : (result != 0); - } - } else if ((s1 == Py_None) & s2_is_unicode) { - goto return_ne; - } else if ((s2 == Py_None) & s1_is_unicode) { - goto return_ne; - } else { - int result; - PyObject* py_result = PyObject_RichCompare(s1, s2, equals); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - if (!py_result) - return -1; - result = __Pyx_PyObject_IsTrue(py_result); - Py_DECREF(py_result); - return result; - } -return_eq: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_EQ); -return_ne: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_NE); -#endif -} - -/* None */ - static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { - Py_ssize_t q = a / b; - Py_ssize_t r = a - q*b; - q -= ((r != 0) & ((r ^ b) < 0)); - return q; -} - -/* GetAttr */ - static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { -#if CYTHON_USE_TYPE_SLOTS -#if PY_MAJOR_VERSION >= 3 - if (likely(PyUnicode_Check(n))) -#else - if (likely(PyString_Check(n))) -#endif - return __Pyx_PyObject_GetAttrStr(o, n); -#endif - return PyObject_GetAttr(o, n); -} - -/* ObjectGetItem */ - #if CYTHON_USE_TYPE_SLOTS -static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) { - PyObject *runerr; - Py_ssize_t key_value; - PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence; - if (unlikely(!(m && m->sq_item))) { - PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name); - return NULL; - } - key_value = __Pyx_PyIndex_AsSsize_t(index); - if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { - return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); - } - if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { - PyErr_Clear(); - PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name); - } - return NULL; -} -static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) { - PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping; - if (likely(m && m->mp_subscript)) { - return m->mp_subscript(obj, key); - } - return __Pyx_PyObject_GetIndex(obj, key); -} -#endif - -/* decode_c_string */ - static CYTHON_INLINE PyObject* __Pyx_decode_c_string( - const char* cstring, Py_ssize_t start, Py_ssize_t stop, - const char* encoding, const char* errors, - PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { - Py_ssize_t length; - if (unlikely((start < 0) | (stop < 0))) { - size_t slen = strlen(cstring); - if (unlikely(slen > (size_t) PY_SSIZE_T_MAX)) { - PyErr_SetString(PyExc_OverflowError, - "c-string too long to convert to Python"); - return NULL; - } - length = (Py_ssize_t) slen; - if (start < 0) { - start += length; - if (start < 0) - start = 0; - } - if (stop < 0) - stop += length; - } - if (unlikely(stop <= start)) - return __Pyx_NewRef(__pyx_empty_unicode); - length = stop - start; - cstring += start; - if (decode_func) { - return decode_func(cstring, length, errors); - } else { - return PyUnicode_Decode(cstring, length, encoding, errors); - } -} - -/* GetAttr3 */ - static PyObject *__Pyx_GetAttr3Default(PyObject *d) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - return NULL; - __Pyx_PyErr_Clear(); - Py_INCREF(d); - return d; -} -static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { - PyObject *r = __Pyx_GetAttr(o, n); - return (likely(r)) ? r : __Pyx_GetAttr3Default(d); -} - -/* RaiseTooManyValuesToUnpack */ - static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { - PyErr_Format(PyExc_ValueError, - "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); -} - -/* RaiseNeedMoreValuesToUnpack */ - static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { - PyErr_Format(PyExc_ValueError, - "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", - index, (index == 1) ? "" : "s"); -} - -/* RaiseNoneIterError */ - static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { - PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); -} - -/* SwapException */ - #if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = *type; - exc_info->exc_value = *value; - exc_info->exc_traceback = *tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = *type; - tstate->exc_value = *value; - tstate->exc_traceback = *tb; - #endif - *type = tmp_type; - *value = tmp_value; - *tb = tmp_tb; -} -#else -static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); - PyErr_SetExcInfo(*type, *value, *tb); - *type = tmp_type; - *value = tmp_value; - *tb = tmp_tb; -} -#endif - -/* Import */ - static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { - PyObject *empty_list = 0; - PyObject *module = 0; - PyObject *global_dict = 0; - PyObject *empty_dict = 0; - PyObject *list; - #if PY_MAJOR_VERSION < 3 - PyObject *py_import; - py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); - if (!py_import) - goto bad; - #endif - if (from_list) - list = from_list; - else { - empty_list = PyList_New(0); - if (!empty_list) - goto bad; - list = empty_list; - } - global_dict = PyModule_GetDict(__pyx_m); - if (!global_dict) - goto bad; - empty_dict = PyDict_New(); - if (!empty_dict) - goto bad; - { - #if PY_MAJOR_VERSION >= 3 - if (level == -1) { - if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, 1); - if (!module) { - if (!PyErr_ExceptionMatches(PyExc_ImportError)) - goto bad; - PyErr_Clear(); - } - } - level = 0; - } - #endif - if (!module) { - #if PY_MAJOR_VERSION < 3 - PyObject *py_level = PyInt_FromLong(level); - if (!py_level) - goto bad; - module = PyObject_CallFunctionObjArgs(py_import, - name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); - Py_DECREF(py_level); - #else - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, level); - #endif - } - } -bad: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_import); - #endif - Py_XDECREF(empty_list); - Py_XDECREF(empty_dict); - return module; -} - -/* FastTypeChecks */ - #if CYTHON_COMPILING_IN_CPYTHON -static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { - while (a) { - a = a->tp_base; - if (a == b) - return 1; - } - return b == &PyBaseObject_Type; -} -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (a == b) return 1; - mro = a->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(a, b); -} -#if PY_MAJOR_VERSION == 2 -static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { - PyObject *exception, *value, *tb; - int res; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&exception, &value, &tb); - res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - if (!res) { - res = PyObject_IsSubclass(err, exc_type2); - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - } - __Pyx_ErrRestore(exception, value, tb); - return res; -} -#else -static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { - int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; - if (!res) { - res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); - } - return res; -} -#endif -static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - assert(PyExceptionClass_Check(exc_type)); - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; i= 0 || (x^b) >= 0)) - return PyInt_FromLong(x); - return PyLong_Type.tp_as_number->nb_add(op1, op2); - } - #endif - #if CYTHON_USE_PYLONG_INTERNALS - if (likely(PyLong_CheckExact(op1))) { - const long b = intval; - long a, x; -#ifdef HAVE_LONG_LONG - const PY_LONG_LONG llb = intval; - PY_LONG_LONG lla, llx; -#endif - const digit* digits = ((PyLongObject*)op1)->ob_digit; - const Py_ssize_t size = Py_SIZE(op1); - if (likely(__Pyx_sst_abs(size) <= 1)) { - a = likely(size) ? digits[0] : 0; - if (size == -1) a = -a; - } else { - switch (size) { - case -2: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 2: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case -3: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 3: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case -4: - if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 4: - if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - default: return PyLong_Type.tp_as_number->nb_add(op1, op2); - } - } - x = a + b; - return PyLong_FromLong(x); -#ifdef HAVE_LONG_LONG - long_long: - llx = lla + llb; - return PyLong_FromLongLong(llx); -#endif - - - } - #endif - if (PyFloat_CheckExact(op1)) { - const long b = intval; - double a = PyFloat_AS_DOUBLE(op1); - double result; - PyFPE_START_PROTECT("add", return NULL) - result = ((double)a) + (double)b; - PyFPE_END_PROTECT(result) - return PyFloat_FromDouble(result); - } - return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); -} -#endif - -/* None */ - static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { - PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); -} - -/* None */ - static CYTHON_INLINE long __Pyx_div_long(long a, long b) { - long q = a / b; - long r = a - q*b; - q -= ((r != 0) & ((r ^ b) < 0)); - return q; -} - -/* ImportFrom */ - static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { - PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); - if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { - PyErr_Format(PyExc_ImportError, - #if PY_MAJOR_VERSION < 3 - "cannot import name %.230s", PyString_AS_STRING(name)); - #else - "cannot import name %S", name); - #endif - } - return value; -} - -/* HasAttr */ - static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { - PyObject *r; - if (unlikely(!__Pyx_PyBaseString_Check(n))) { - PyErr_SetString(PyExc_TypeError, - "hasattr(): attribute name must be string"); - return -1; - } - r = __Pyx_GetAttr(o, n); - if (unlikely(!r)) { - PyErr_Clear(); - return 0; - } else { - Py_DECREF(r); - return 1; - } -} - -/* StringJoin */ - #if !CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values) { - return PyObject_CallMethodObjArgs(sep, __pyx_n_s_join, values, NULL); -} -#endif - -/* PyObject_GenericGetAttrNoDict */ - #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, attr_name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(attr_name)); -#endif - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { - PyObject *descr; - PyTypeObject *tp = Py_TYPE(obj); - if (unlikely(!PyString_Check(attr_name))) { - return PyObject_GenericGetAttr(obj, attr_name); - } - assert(!tp->tp_dictoffset); - descr = _PyType_Lookup(tp, attr_name); - if (unlikely(!descr)) { - return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); - } - Py_INCREF(descr); - #if PY_MAJOR_VERSION < 3 - if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) - #endif - { - descrgetfunc f = Py_TYPE(descr)->tp_descr_get; - if (unlikely(f)) { - PyObject *res = f(descr, obj, (PyObject *)tp); - Py_DECREF(descr); - return res; - } - } - return descr; -} -#endif - -/* PyObject_GenericGetAttr */ - #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { - if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { - return PyObject_GenericGetAttr(obj, attr_name); - } - return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); -} -#endif - -/* PyObjectGetAttrStrNoError */ - static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - __Pyx_PyErr_Clear(); -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { - PyObject *result; -#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { - return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); - } -#endif - result = __Pyx_PyObject_GetAttrStr(obj, attr_name); - if (unlikely(!result)) { - __Pyx_PyObject_GetAttrStr_ClearAttributeError(); - } - return result; -} - -/* SetupReduce */ - static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { - int ret; - PyObject *name_attr; - name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name_2); - if (likely(name_attr)) { - ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); - } else { - ret = -1; - } - if (unlikely(ret < 0)) { - PyErr_Clear(); - ret = 0; - } - Py_XDECREF(name_attr); - return ret; -} -static int __Pyx_setup_reduce(PyObject* type_obj) { - int ret = 0; - PyObject *object_reduce = NULL; - PyObject *object_reduce_ex = NULL; - PyObject *reduce = NULL; - PyObject *reduce_ex = NULL; - PyObject *reduce_cython = NULL; - PyObject *setstate = NULL; - PyObject *setstate_cython = NULL; -#if CYTHON_USE_PYTYPE_LOOKUP - if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#else - if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#endif -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#else - object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#endif - reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; - if (reduce_ex == object_reduce_ex) { -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#else - object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#endif - reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; - if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { - reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); - if (likely(reduce_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (reduce == object_reduce || PyErr_Occurred()) { - goto __PYX_BAD; - } - setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); - if (!setstate) PyErr_Clear(); - if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { - setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); - if (likely(setstate_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (!setstate || PyErr_Occurred()) { - goto __PYX_BAD; - } - } - PyType_Modified((PyTypeObject*)type_obj); - } - } - goto __PYX_GOOD; -__PYX_BAD: - if (!PyErr_Occurred()) - PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); - ret = -1; -__PYX_GOOD: -#if !CYTHON_USE_PYTYPE_LOOKUP - Py_XDECREF(object_reduce); - Py_XDECREF(object_reduce_ex); -#endif - Py_XDECREF(reduce); - Py_XDECREF(reduce_ex); - Py_XDECREF(reduce_cython); - Py_XDECREF(setstate); - Py_XDECREF(setstate_cython); - return ret; -} - -/* SetVTable */ - static int __Pyx_SetVtable(PyObject *dict, void *vtable) { -#if PY_VERSION_HEX >= 0x02070000 - PyObject *ob = PyCapsule_New(vtable, 0, 0); -#else - PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); -#endif - if (!ob) - goto bad; - if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) - goto bad; - Py_DECREF(ob); - return 0; -bad: - Py_XDECREF(ob); - return -1; -} - -/* TypeImport */ - #ifndef __PYX_HAVE_RT_ImportType -#define __PYX_HAVE_RT_ImportType -static PyTypeObject *__Pyx_ImportType(PyObject *module, const char *module_name, const char *class_name, - size_t size, enum __Pyx_ImportType_CheckSize check_size) -{ - PyObject *result = 0; - char warning[200]; - Py_ssize_t basicsize; -#ifdef Py_LIMITED_API - PyObject *py_basicsize; -#endif - result = PyObject_GetAttrString(module, class_name); - if (!result) - goto bad; - if (!PyType_Check(result)) { - PyErr_Format(PyExc_TypeError, - "%.200s.%.200s is not a type object", - module_name, class_name); - goto bad; - } -#ifndef Py_LIMITED_API - basicsize = ((PyTypeObject *)result)->tp_basicsize; -#else - py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); - if (!py_basicsize) - goto bad; - basicsize = PyLong_AsSsize_t(py_basicsize); - Py_DECREF(py_basicsize); - py_basicsize = 0; - if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) - goto bad; -#endif - if ((size_t)basicsize < size) { - PyErr_Format(PyExc_ValueError, - "%.200s.%.200s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - goto bad; - } - if (check_size == __Pyx_ImportType_CheckSize_Error && (size_t)basicsize != size) { - PyErr_Format(PyExc_ValueError, - "%.200s.%.200s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - goto bad; - } - else if (check_size == __Pyx_ImportType_CheckSize_Warn && (size_t)basicsize > size) { - PyOS_snprintf(warning, sizeof(warning), - "%s.%s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; - } - return (PyTypeObject *)result; -bad: - Py_XDECREF(result); - return NULL; -} -#endif - -/* CLineInTraceback */ - #ifndef CYTHON_CLINE_IN_TRACEBACK -static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { - PyObject *use_cline; - PyObject *ptype, *pvalue, *ptraceback; -#if CYTHON_COMPILING_IN_CPYTHON - PyObject **cython_runtime_dict; -#endif - if (unlikely(!__pyx_cython_runtime)) { - return c_line; - } - __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); -#if CYTHON_COMPILING_IN_CPYTHON - cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); - if (likely(cython_runtime_dict)) { - __PYX_PY_DICT_LOOKUP_IF_MODIFIED( - use_cline, *cython_runtime_dict, - __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) - } else -#endif - { - PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); - if (use_cline_obj) { - use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; - Py_DECREF(use_cline_obj); - } else { - PyErr_Clear(); - use_cline = NULL; - } - } - if (!use_cline) { - c_line = 0; - (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); - } - else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { - c_line = 0; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - return c_line; -} -#endif - -/* CodeObjectCache */ - static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { - int start = 0, mid = 0, end = count - 1; - if (end >= 0 && code_line > entries[end].code_line) { - return count; - } - while (start < end) { - mid = start + (end - start) / 2; - if (code_line < entries[mid].code_line) { - end = mid; - } else if (code_line > entries[mid].code_line) { - start = mid + 1; - } else { - return mid; - } - } - if (code_line <= entries[mid].code_line) { - return mid; - } else { - return mid + 1; - } -} -static PyCodeObject *__pyx_find_code_object(int code_line) { - PyCodeObject* code_object; - int pos; - if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { - return NULL; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { - return NULL; - } - code_object = __pyx_code_cache.entries[pos].code_object; - Py_INCREF(code_object); - return code_object; -} -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { - int pos, i; - __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; - if (unlikely(!code_line)) { - return; - } - if (unlikely(!entries)) { - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); - if (likely(entries)) { - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = 64; - __pyx_code_cache.count = 1; - entries[0].code_line = code_line; - entries[0].code_object = code_object; - Py_INCREF(code_object); - } - return; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { - PyCodeObject* tmp = entries[pos].code_object; - entries[pos].code_object = code_object; - Py_DECREF(tmp); - return; - } - if (__pyx_code_cache.count == __pyx_code_cache.max_count) { - int new_max = __pyx_code_cache.max_count + 64; - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( - __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); - if (unlikely(!entries)) { - return; - } - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = new_max; - } - for (i=__pyx_code_cache.count; i>pos; i--) { - entries[i] = entries[i-1]; - } - entries[pos].code_line = code_line; - entries[pos].code_object = code_object; - __pyx_code_cache.count++; - Py_INCREF(code_object); -} - -/* AddTraceback */ - #include "compile.h" -#include "frameobject.h" -#include "traceback.h" -static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( - const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = NULL; - PyObject *py_funcname = NULL; - #if PY_MAJOR_VERSION < 3 - PyObject *py_srcfile = NULL; - py_srcfile = PyString_FromString(filename); - if (!py_srcfile) goto bad; - #endif - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - funcname = PyUnicode_AsUTF8(py_funcname); - if (!funcname) goto bad; - #endif - } - else { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); - if (!py_funcname) goto bad; - #endif - } - #if PY_MAJOR_VERSION < 3 - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - #else - py_code = PyCode_NewEmpty(filename, funcname, py_line); - #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline - return py_code; -bad: - Py_XDECREF(py_funcname); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_srcfile); - #endif - return NULL; -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); - } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) goto bad; - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); - } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); -} - -#if PY_MAJOR_VERSION < 3 -static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { - if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); - if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); - if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); - PyErr_Format(PyExc_TypeError, "'%.200s' does not have the buffer interface", Py_TYPE(obj)->tp_name); - return -1; -} -static void __Pyx_ReleaseBuffer(Py_buffer *view) { - PyObject *obj = view->obj; - if (!obj) return; - if (PyObject_CheckBuffer(obj)) { - PyBuffer_Release(view); - return; - } - if ((0)) {} - view->obj = NULL; - Py_DECREF(obj); -} -#endif - - - /* MemviewSliceIsContig */ - static int -__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) -{ - int i, index, step, start; - Py_ssize_t itemsize = mvs.memview->view.itemsize; - if (order == 'F') { - step = 1; - start = 0; - } else { - step = -1; - start = ndim - 1; - } - for (i = 0; i < ndim; i++) { - index = start + step * i; - if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) - return 0; - itemsize *= mvs.shape[index]; - } - return 1; -} - -/* OverlappingSlices */ - static void -__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, - void **out_start, void **out_end, - int ndim, size_t itemsize) -{ - char *start, *end; - int i; - start = end = slice->data; - for (i = 0; i < ndim; i++) { - Py_ssize_t stride = slice->strides[i]; - Py_ssize_t extent = slice->shape[i]; - if (extent == 0) { - *out_start = *out_end = start; - return; - } else { - if (stride > 0) - end += stride * (extent - 1); - else - start += stride * (extent - 1); - } - } - *out_start = start; - *out_end = end + itemsize; -} -static int -__pyx_slices_overlap(__Pyx_memviewslice *slice1, - __Pyx_memviewslice *slice2, - int ndim, size_t itemsize) -{ - void *start1, *end1, *start2, *end2; - __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); - __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); - return (start1 < end2) && (start2 < end1); -} - -/* Capsule */ - static CYTHON_INLINE PyObject * -__pyx_capsule_create(void *p, CYTHON_UNUSED const char *sig) -{ - PyObject *cobj; -#if PY_VERSION_HEX >= 0x02070000 - cobj = PyCapsule_New(p, sig, NULL); -#else - cobj = PyCObject_FromVoidPtr(p, NULL); -#endif - return cobj; -} - -/* CIntFromPyVerify */ - #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ - } - -/* TypeInfoCompare */ - static int -__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) -{ - int i; - if (!a || !b) - return 0; - if (a == b) - return 1; - if (a->size != b->size || a->typegroup != b->typegroup || - a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { - if (a->typegroup == 'H' || b->typegroup == 'H') { - return a->size == b->size; - } else { - return 0; - } - } - if (a->ndim) { - for (i = 0; i < a->ndim; i++) - if (a->arraysize[i] != b->arraysize[i]) - return 0; - } - if (a->typegroup == 'S') { - if (a->flags != b->flags) - return 0; - if (a->fields || b->fields) { - if (!(a->fields && b->fields)) - return 0; - for (i = 0; a->fields[i].type && b->fields[i].type; i++) { - __Pyx_StructField *field_a = a->fields + i; - __Pyx_StructField *field_b = b->fields + i; - if (field_a->offset != field_b->offset || - !__pyx_typeinfo_cmp(field_a->type, field_b->type)) - return 0; - } - return !a->fields[i].type && !b->fields[i].type; - } - } - return 1; -} - -/* MemviewSliceValidateAndInit */ - static int -__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) -{ - if (buf->shape[dim] <= 1) - return 1; - if (buf->strides) { - if (spec & __Pyx_MEMVIEW_CONTIG) { - if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { - if (unlikely(buf->strides[dim] != sizeof(void *))) { - PyErr_Format(PyExc_ValueError, - "Buffer is not indirectly contiguous " - "in dimension %d.", dim); - goto fail; - } - } else if (unlikely(buf->strides[dim] != buf->itemsize)) { - PyErr_SetString(PyExc_ValueError, - "Buffer and memoryview are not contiguous " - "in the same dimension."); - goto fail; - } - } - if (spec & __Pyx_MEMVIEW_FOLLOW) { - Py_ssize_t stride = buf->strides[dim]; - if (stride < 0) - stride = -stride; - if (unlikely(stride < buf->itemsize)) { - PyErr_SetString(PyExc_ValueError, - "Buffer and memoryview are not contiguous " - "in the same dimension."); - goto fail; - } - } - } else { - if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { - PyErr_Format(PyExc_ValueError, - "C-contiguous buffer is not contiguous in " - "dimension %d", dim); - goto fail; - } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { - PyErr_Format(PyExc_ValueError, - "C-contiguous buffer is not indirect in " - "dimension %d", dim); - goto fail; - } else if (unlikely(buf->suboffsets)) { - PyErr_SetString(PyExc_ValueError, - "Buffer exposes suboffsets but no strides"); - goto fail; - } - } - return 1; -fail: - return 0; -} -static int -__pyx_check_suboffsets(Py_buffer *buf, int dim, CYTHON_UNUSED int ndim, int spec) -{ - if (spec & __Pyx_MEMVIEW_DIRECT) { - if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { - PyErr_Format(PyExc_ValueError, - "Buffer not compatible with direct access " - "in dimension %d.", dim); - goto fail; - } - } - if (spec & __Pyx_MEMVIEW_PTR) { - if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { - PyErr_Format(PyExc_ValueError, - "Buffer is not indirectly accessible " - "in dimension %d.", dim); - goto fail; - } - } - return 1; -fail: - return 0; -} -static int -__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) -{ - int i; - if (c_or_f_flag & __Pyx_IS_F_CONTIG) { - Py_ssize_t stride = 1; - for (i = 0; i < ndim; i++) { - if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { - PyErr_SetString(PyExc_ValueError, - "Buffer not fortran contiguous."); - goto fail; - } - stride = stride * buf->shape[i]; - } - } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { - Py_ssize_t stride = 1; - for (i = ndim - 1; i >- 1; i--) { - if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { - PyErr_SetString(PyExc_ValueError, - "Buffer not C contiguous."); - goto fail; - } - stride = stride * buf->shape[i]; - } - } - return 1; -fail: - return 0; -} -static int __Pyx_ValidateAndInit_memviewslice( - int *axes_specs, - int c_or_f_flag, - int buf_flags, - int ndim, - __Pyx_TypeInfo *dtype, - __Pyx_BufFmt_StackElem stack[], - __Pyx_memviewslice *memviewslice, - PyObject *original_obj) -{ - struct __pyx_memoryview_obj *memview, *new_memview; - __Pyx_RefNannyDeclarations - Py_buffer *buf; - int i, spec = 0, retval = -1; - __Pyx_BufFmt_Context ctx; - int from_memoryview = __pyx_memoryview_check(original_obj); - __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); - if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) - original_obj)->typeinfo)) { - memview = (struct __pyx_memoryview_obj *) original_obj; - new_memview = NULL; - } else { - memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( - original_obj, buf_flags, 0, dtype); - new_memview = memview; - if (unlikely(!memview)) - goto fail; - } - buf = &memview->view; - if (unlikely(buf->ndim != ndim)) { - PyErr_Format(PyExc_ValueError, - "Buffer has wrong number of dimensions (expected %d, got %d)", - ndim, buf->ndim); - goto fail; - } - if (new_memview) { - __Pyx_BufFmt_Init(&ctx, stack, dtype); - if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; - } - if (unlikely((unsigned) buf->itemsize != dtype->size)) { - PyErr_Format(PyExc_ValueError, - "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " - "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", - buf->itemsize, - (buf->itemsize > 1) ? "s" : "", - dtype->name, - dtype->size, - (dtype->size > 1) ? "s" : ""); - goto fail; - } - if (buf->len > 0) { - for (i = 0; i < ndim; i++) { - spec = axes_specs[i]; - if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) - goto fail; - if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) - goto fail; - } - if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) - goto fail; - } - if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, - new_memview != NULL) == -1)) { - goto fail; - } - retval = 0; - goto no_fail; -fail: - Py_XDECREF(new_memview); - retval = -1; -no_fail: - __Pyx_RefNannyFinishContext(); - return retval; -} - -/* ObjectToMemviewSlice */ - static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dsds_double(PyObject *obj, int writable_flag) { - __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; - __Pyx_BufFmt_StackElem stack[1]; - int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; - int retcode; - if (obj == Py_None) { - result.memview = (struct __pyx_memoryview_obj *) Py_None; - return result; - } - retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, - PyBUF_RECORDS_RO | writable_flag, 2, - &__Pyx_TypeInfo_double, stack, - &result, obj); - if (unlikely(retcode == -1)) - goto __pyx_fail; - return result; -__pyx_fail: - result.memview = NULL; - result.data = NULL; - return result; -} - -/* MemviewDtypeToObject */ - static CYTHON_INLINE PyObject *__pyx_memview_get_double(const char *itemp) { - return (PyObject *) PyFloat_FromDouble(*(double *) itemp); -} -static CYTHON_INLINE int __pyx_memview_set_double(const char *itemp, PyObject *obj) { - double value = __pyx_PyFloat_AsDouble(obj); - if ((value == (double)-1) && PyErr_Occurred()) - return 0; - *(double *) itemp = value; - return 1; -} - -/* ObjectToMemviewSlice */ - static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_double(PyObject *obj, int writable_flag) { - __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; - __Pyx_BufFmt_StackElem stack[1]; - int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; - int retcode; - if (obj == Py_None) { - result.memview = (struct __pyx_memoryview_obj *) Py_None; - return result; - } - retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, - PyBUF_RECORDS_RO | writable_flag, 1, - &__Pyx_TypeInfo_double, stack, - &result, obj); - if (unlikely(retcode == -1)) - goto __pyx_fail; - return result; -__pyx_fail: - result.memview = NULL; - result.data = NULL; - return result; -} - -/* Declarations */ - #if CYTHON_CCOMPLEX - #ifdef __cplusplus - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - return ::std::complex< float >(x, y); - } - #else - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - return x + y*(__pyx_t_float_complex)_Complex_I; - } - #endif -#else - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - __pyx_t_float_complex z; - z.real = x; - z.imag = y; - return z; - } -#endif - -/* Arithmetic */ - #if CYTHON_CCOMPLEX -#else - static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - return (a.real == b.real) && (a.imag == b.imag); - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real + b.real; - z.imag = a.imag + b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real - b.real; - z.imag = a.imag - b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real * b.real - a.imag * b.imag; - z.imag = a.real * b.imag + a.imag * b.real; - return z; - } - #if 1 - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - if (b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); - } else if (fabsf(b.real) >= fabsf(b.imag)) { - if (b.real == 0 && b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); - } else { - float r = b.imag / b.real; - float s = (float)(1.0) / (b.real + b.imag * r); - return __pyx_t_float_complex_from_parts( - (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); - } - } else { - float r = b.real / b.imag; - float s = (float)(1.0) / (b.imag + b.real * r); - return __pyx_t_float_complex_from_parts( - (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); - } - } - #else - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - if (b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); - } else { - float denom = b.real * b.real + b.imag * b.imag; - return __pyx_t_float_complex_from_parts( - (a.real * b.real + a.imag * b.imag) / denom, - (a.imag * b.real - a.real * b.imag) / denom); - } - } - #endif - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { - __pyx_t_float_complex z; - z.real = -a.real; - z.imag = -a.imag; - return z; - } - static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { - return (a.real == 0) && (a.imag == 0); - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { - __pyx_t_float_complex z; - z.real = a.real; - z.imag = -a.imag; - return z; - } - #if 1 - static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { - #if !defined(HAVE_HYPOT) || defined(_MSC_VER) - return sqrtf(z.real*z.real + z.imag*z.imag); - #else - return hypotf(z.real, z.imag); - #endif - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - float r, lnr, theta, z_r, z_theta; - if (b.imag == 0 && b.real == (int)b.real) { - if (b.real < 0) { - float denom = a.real * a.real + a.imag * a.imag; - a.real = a.real / denom; - a.imag = -a.imag / denom; - b.real = -b.real; - } - switch ((int)b.real) { - case 0: - z.real = 1; - z.imag = 0; - return z; - case 1: - return a; - case 2: - return __Pyx_c_prod_float(a, a); - case 3: - z = __Pyx_c_prod_float(a, a); - return __Pyx_c_prod_float(z, a); - case 4: - z = __Pyx_c_prod_float(a, a); - return __Pyx_c_prod_float(z, z); - } - } - if (a.imag == 0) { - if (a.real == 0) { - return a; - } else if (b.imag == 0) { - z.real = powf(a.real, b.real); - z.imag = 0; - return z; - } else if (a.real > 0) { - r = a.real; - theta = 0; - } else { - r = -a.real; - theta = atan2f(0.0, -1.0); - } - } else { - r = __Pyx_c_abs_float(a); - theta = atan2f(a.imag, a.real); - } - lnr = logf(r); - z_r = expf(lnr * b.real - theta * b.imag); - z_theta = theta * b.real + lnr * b.imag; - z.real = z_r * cosf(z_theta); - z.imag = z_r * sinf(z_theta); - return z; - } - #endif -#endif - -/* Declarations */ - #if CYTHON_CCOMPLEX - #ifdef __cplusplus - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - return ::std::complex< double >(x, y); - } - #else - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - return x + y*(__pyx_t_double_complex)_Complex_I; - } - #endif -#else - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - __pyx_t_double_complex z; - z.real = x; - z.imag = y; - return z; - } -#endif - -/* Arithmetic */ - #if CYTHON_CCOMPLEX -#else - static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - return (a.real == b.real) && (a.imag == b.imag); - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real + b.real; - z.imag = a.imag + b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real - b.real; - z.imag = a.imag - b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real * b.real - a.imag * b.imag; - z.imag = a.real * b.imag + a.imag * b.real; - return z; - } - #if 1 - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - if (b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); - } else if (fabs(b.real) >= fabs(b.imag)) { - if (b.real == 0 && b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); - } else { - double r = b.imag / b.real; - double s = (double)(1.0) / (b.real + b.imag * r); - return __pyx_t_double_complex_from_parts( - (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); - } - } else { - double r = b.real / b.imag; - double s = (double)(1.0) / (b.imag + b.real * r); - return __pyx_t_double_complex_from_parts( - (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); - } - } - #else - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - if (b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); - } else { - double denom = b.real * b.real + b.imag * b.imag; - return __pyx_t_double_complex_from_parts( - (a.real * b.real + a.imag * b.imag) / denom, - (a.imag * b.real - a.real * b.imag) / denom); - } - } - #endif - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { - __pyx_t_double_complex z; - z.real = -a.real; - z.imag = -a.imag; - return z; - } - static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { - return (a.real == 0) && (a.imag == 0); - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { - __pyx_t_double_complex z; - z.real = a.real; - z.imag = -a.imag; - return z; - } - #if 1 - static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { - #if !defined(HAVE_HYPOT) || defined(_MSC_VER) - return sqrt(z.real*z.real + z.imag*z.imag); - #else - return hypot(z.real, z.imag); - #endif - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - double r, lnr, theta, z_r, z_theta; - if (b.imag == 0 && b.real == (int)b.real) { - if (b.real < 0) { - double denom = a.real * a.real + a.imag * a.imag; - a.real = a.real / denom; - a.imag = -a.imag / denom; - b.real = -b.real; - } - switch ((int)b.real) { - case 0: - z.real = 1; - z.imag = 0; - return z; - case 1: - return a; - case 2: - return __Pyx_c_prod_double(a, a); - case 3: - z = __Pyx_c_prod_double(a, a); - return __Pyx_c_prod_double(z, a); - case 4: - z = __Pyx_c_prod_double(a, a); - return __Pyx_c_prod_double(z, z); - } - } - if (a.imag == 0) { - if (a.real == 0) { - return a; - } else if (b.imag == 0) { - z.real = pow(a.real, b.real); - z.imag = 0; - return z; - } else if (a.real > 0) { - r = a.real; - theta = 0; - } else { - r = -a.real; - theta = atan2(0.0, -1.0); - } - } else { - r = __Pyx_c_abs_double(a); - theta = atan2(a.imag, a.real); - } - lnr = log(r); - z_r = exp(lnr * b.real - theta * b.imag); - z_theta = theta * b.real + lnr * b.imag; - z.real = z_r * cos(z_theta); - z.imag = z_r * sin(z_theta); - return z; - } - #endif -#endif - -/* MemviewSliceCopyTemplate */ - static __Pyx_memviewslice -__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, - const char *mode, int ndim, - size_t sizeof_dtype, int contig_flag, - int dtype_is_object) -{ - __Pyx_RefNannyDeclarations - int i; - __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; - struct __pyx_memoryview_obj *from_memview = from_mvs->memview; - Py_buffer *buf = &from_memview->view; - PyObject *shape_tuple = NULL; - PyObject *temp_int = NULL; - struct __pyx_array_obj *array_obj = NULL; - struct __pyx_memoryview_obj *memview_obj = NULL; - __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); - for (i = 0; i < ndim; i++) { - if (unlikely(from_mvs->suboffsets[i] >= 0)) { - PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " - "indirect dimensions (axis %d)", i); - goto fail; - } - } - shape_tuple = PyTuple_New(ndim); - if (unlikely(!shape_tuple)) { - goto fail; - } - __Pyx_GOTREF(shape_tuple); - for(i = 0; i < ndim; i++) { - temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); - if(unlikely(!temp_int)) { - goto fail; - } else { - PyTuple_SET_ITEM(shape_tuple, i, temp_int); - temp_int = NULL; - } - } - array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); - if (unlikely(!array_obj)) { - goto fail; - } - __Pyx_GOTREF(array_obj); - memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( - (PyObject *) array_obj, contig_flag, - dtype_is_object, - from_mvs->memview->typeinfo); - if (unlikely(!memview_obj)) - goto fail; - if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) - goto fail; - if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, - dtype_is_object) < 0)) - goto fail; - goto no_fail; -fail: - __Pyx_XDECREF(new_mvs.memview); - new_mvs.memview = NULL; - new_mvs.data = NULL; -no_fail: - __Pyx_XDECREF(shape_tuple); - __Pyx_XDECREF(temp_int); - __Pyx_XDECREF(array_obj); - __Pyx_RefNannyFinishContext(); - return new_mvs; -} - -/* TypeInfoToFormat */ - static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type) { - struct __pyx_typeinfo_string result = { {0} }; - char *buf = (char *) result.string; - size_t size = type->size; - switch (type->typegroup) { - case 'H': - *buf = 'c'; - break; - case 'I': - case 'U': - if (size == 1) - *buf = (type->is_unsigned) ? 'B' : 'b'; - else if (size == 2) - *buf = (type->is_unsigned) ? 'H' : 'h'; - else if (size == 4) - *buf = (type->is_unsigned) ? 'I' : 'i'; - else if (size == 8) - *buf = (type->is_unsigned) ? 'Q' : 'q'; - break; - case 'P': - *buf = 'P'; - break; - case 'C': - { - __Pyx_TypeInfo complex_type = *type; - complex_type.typegroup = 'R'; - complex_type.size /= 2; - *buf++ = 'Z'; - *buf = __Pyx_TypeInfoToFormat(&complex_type).string[0]; - break; - } - case 'R': - if (size == 4) - *buf = 'f'; - else if (size == 8) - *buf = 'd'; - else - *buf = 'g'; - break; - } - return result; -} - -/* CIntFromPy */ - static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(int) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (int) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { - return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { - return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { - return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(int) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) - case -2: - if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - } -#endif - if (sizeof(int) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - int val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (int) -1; - } - } else { - int val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (int) -1; - val = __Pyx_PyInt_As_int(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to int"); - return (int) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to int"); - return (int) -1; -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); - } -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(int) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(int) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(int) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(int), - little, !is_unsigned); - } -} - -/* CIntFromPy */ - static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(long) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (long) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { - return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { - return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { - return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(long) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) - case -2: - if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - } -#endif - if (sizeof(long) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - long val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (long) -1; - } - } else { - long val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (long) -1; - val = __Pyx_PyInt_As_long(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to long"); - return (long) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to long"); - return (long) -1; -} - -/* CIntFromPy */ - static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const char neg_one = (char) -1, const_zero = (char) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(char) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (char) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (char) 0; - case 1: __PYX_VERIFY_RETURN_INT(char, digit, digits[0]) - case 2: - if (8 * sizeof(char) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 2 * PyLong_SHIFT) { - return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(char) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 3 * PyLong_SHIFT) { - return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(char) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 4 * PyLong_SHIFT) { - return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (char) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(char) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(char) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (char) 0; - case -1: __PYX_VERIFY_RETURN_INT(char, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(char, digit, +digits[0]) - case -2: - if (8 * sizeof(char) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { - return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(char) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { - return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { - return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(char) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { - return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { - return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(char) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { - return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - } -#endif - if (sizeof(char) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(char) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - char val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (char) -1; - } - } else { - char val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (char) -1; - val = __Pyx_PyInt_As_char(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to char"); - return (char) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to char"); - return (char) -1; -} - -/* CheckBinaryVersion */ - static int __Pyx_check_binary_version(void) { - char ctversion[4], rtversion[4]; - PyOS_snprintf(ctversion, 4, "%d.%d", PY_MAJOR_VERSION, PY_MINOR_VERSION); - PyOS_snprintf(rtversion, 4, "%s", Py_GetVersion()); - if (ctversion[0] != rtversion[0] || ctversion[2] != rtversion[2]) { - char message[200]; - PyOS_snprintf(message, sizeof(message), - "compiletime version %s of module '%.100s' " - "does not match runtime version %s", - ctversion, __Pyx_MODULE_NAME, rtversion); - return PyErr_WarnEx(NULL, message, 1); - } - return 0; -} - -/* InitStrings */ - static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { - while (t->p) { - #if PY_MAJOR_VERSION < 3 - if (t->is_unicode) { - *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); - } else if (t->intern) { - *t->p = PyString_InternFromString(t->s); - } else { - *t->p = PyString_FromStringAndSize(t->s, t->n - 1); - } - #else - if (t->is_unicode | t->is_str) { - if (t->intern) { - *t->p = PyUnicode_InternFromString(t->s); - } else if (t->encoding) { - *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); - } else { - *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); - } - } else { - *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); - } - #endif - if (!*t->p) - return -1; - if (PyObject_Hash(*t->p) == -1) - return -1; - ++t; - } - return 0; -} - -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { - return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); -} -static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { - Py_ssize_t ignore; - return __Pyx_PyObject_AsStringAndSize(o, &ignore); -} -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT -#if !CYTHON_PEP393_ENABLED -static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - char* defenc_c; - PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); - if (!defenc) return NULL; - defenc_c = PyBytes_AS_STRING(defenc); -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - { - char* end = defenc_c + PyBytes_GET_SIZE(defenc); - char* c; - for (c = defenc_c; c < end; c++) { - if ((unsigned char) (*c) >= 128) { - PyUnicode_AsASCIIString(o); - return NULL; - } - } - } -#endif - *length = PyBytes_GET_SIZE(defenc); - return defenc_c; -} -#else -static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - if (likely(PyUnicode_IS_ASCII(o))) { - *length = PyUnicode_GET_LENGTH(o); - return PyUnicode_AsUTF8(o); - } else { - PyUnicode_AsASCIIString(o); - return NULL; - } -#else - return PyUnicode_AsUTF8AndSize(o, length); -#endif -} -#endif -#endif -static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT - if ( -#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - __Pyx_sys_getdefaultencoding_not_ascii && -#endif - PyUnicode_Check(o)) { - return __Pyx_PyUnicode_AsStringAndSize(o, length); - } else -#endif -#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) - if (PyByteArray_Check(o)) { - *length = PyByteArray_GET_SIZE(o); - return PyByteArray_AS_STRING(o); - } else -#endif - { - char* result; - int r = PyBytes_AsStringAndSize(o, &result, length); - if (unlikely(r < 0)) { - return NULL; - } else { - return result; - } - } -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { - int is_true = x == Py_True; - if (is_true | (x == Py_False) | (x == Py_None)) return is_true; - else return PyObject_IsTrue(x); -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { - int retval; - if (unlikely(!x)) return -1; - retval = __Pyx_PyObject_IsTrue(x); - Py_DECREF(x); - return retval; -} -static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { -#if PY_MAJOR_VERSION >= 3 - if (PyLong_Check(result)) { - if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, - "__int__ returned non-int (type %.200s). " - "The ability to return an instance of a strict subclass of int " - "is deprecated, and may be removed in a future version of Python.", - Py_TYPE(result)->tp_name)) { - Py_DECREF(result); - return NULL; - } - return result; - } -#endif - PyErr_Format(PyExc_TypeError, - "__%.4s__ returned non-%.4s (type %.200s)", - type_name, type_name, Py_TYPE(result)->tp_name); - Py_DECREF(result); - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { -#if CYTHON_USE_TYPE_SLOTS - PyNumberMethods *m; -#endif - const char *name = NULL; - PyObject *res = NULL; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x) || PyLong_Check(x))) -#else - if (likely(PyLong_Check(x))) -#endif - return __Pyx_NewRef(x); -#if CYTHON_USE_TYPE_SLOTS - m = Py_TYPE(x)->tp_as_number; - #if PY_MAJOR_VERSION < 3 - if (m && m->nb_int) { - name = "int"; - res = m->nb_int(x); - } - else if (m && m->nb_long) { - name = "long"; - res = m->nb_long(x); - } - #else - if (likely(m && m->nb_int)) { - name = "int"; - res = m->nb_int(x); - } - #endif -#else - if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { - res = PyNumber_Int(x); - } -#endif - if (likely(res)) { -#if PY_MAJOR_VERSION < 3 - if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { -#else - if (unlikely(!PyLong_CheckExact(res))) { -#endif - return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); - } - } - else if (!PyErr_Occurred()) { - PyErr_SetString(PyExc_TypeError, - "an integer is required"); - } - return res; -} -static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { - Py_ssize_t ival; - PyObject *x; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(b))) { - if (sizeof(Py_ssize_t) >= sizeof(long)) - return PyInt_AS_LONG(b); - else - return PyInt_AsSsize_t(b); - } -#endif - if (likely(PyLong_CheckExact(b))) { - #if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)b)->ob_digit; - const Py_ssize_t size = Py_SIZE(b); - if (likely(__Pyx_sst_abs(size) <= 1)) { - ival = likely(size) ? digits[0] : 0; - if (size == -1) ival = -ival; - return ival; - } else { - switch (size) { - case 2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - } - } - #endif - return PyLong_AsSsize_t(b); - } - x = PyNumber_Index(b); - if (!x) return -1; - ival = PyInt_AsSsize_t(x); - Py_DECREF(x); - return ival; -} -static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { - if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { - return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); -#if PY_MAJOR_VERSION < 3 - } else if (likely(PyInt_CheckExact(o))) { - return PyInt_AS_LONG(o); -#endif - } else { - Py_ssize_t ival; - PyObject *x; - x = PyNumber_Index(o); - if (!x) return -1; - ival = PyInt_AsLong(x); - Py_DECREF(x); - return ival; - } -} -static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { - return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); -} -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { - return PyInt_FromSize_t(ival); -} - - -#endif /* Py_PYTHON_H */ diff --git a/rednose/helpers/ekf_sym_pyx.so b/rednose/helpers/ekf_sym_pyx.so index bdc8e8383..7a728eb32 100755 Binary files a/rednose/helpers/ekf_sym_pyx.so and b/rednose/helpers/ekf_sym_pyx.so differ diff --git a/rednose/templates/compute_pos.c b/rednose/templates/compute_pos.c deleted file mode 100644 index 742c7d618..000000000 --- a/rednose/templates/compute_pos.c +++ /dev/null @@ -1,52 +0,0 @@ -#include -#include -#include - -typedef Eigen::Matrix R3M; -typedef Eigen::Matrix R1M; -typedef Eigen::Matrix O1M; -typedef Eigen::Matrix M3D; - -void gauss_newton(double *in_x, double *in_poses, double *in_img_positions) { - - double res[KDIM*2] = {0}; - double jac[KDIM*6] = {0}; - - O1M x(in_x); - O1M delta; - int counter = 0; - while ((delta.squaredNorm() > 0.0001 and counter < 30) or counter == 0){ - res_fun(in_x, in_poses, in_img_positions, res); - jac_fun(in_x, in_poses, in_img_positions, jac); - R1M E(res); R3M J(jac); - delta = (J.transpose()*J).inverse() * J.transpose() * E; - x = x - delta; - memcpy(in_x, x.data(), 3 * sizeof(double)); - counter = counter + 1; - } -} - - -void compute_pos(double *to_c, double *poses, double *img_positions, double *param, double *pos) { - param[0] = img_positions[KDIM*2-2]; - param[1] = img_positions[KDIM*2-1]; - param[2] = 0.1; - gauss_newton(param, poses, img_positions); - - Eigen::Quaterniond q; - q.w() = poses[KDIM*7-4]; - q.x() = poses[KDIM*7-3]; - q.y() = poses[KDIM*7-2]; - q.z() = poses[KDIM*7-1]; - M3D RC(to_c); - Eigen::Matrix3d R = q.normalized().toRotationMatrix(); - Eigen::Matrix3d rot = R * RC.transpose(); - - pos[0] = param[0]/param[2]; - pos[1] = param[1]/param[2]; - pos[2] = 1.0/param[2]; - O1M ecef_offset(poses + KDIM*7-7); - O1M ecef_output(pos); - ecef_output = rot*ecef_output + ecef_offset; - memcpy(pos, ecef_output.data(), 3 * sizeof(double)); -} diff --git a/rednose/templates/ekf_c.c b/rednose/templates/ekf_c.c deleted file mode 100644 index 3b4acdfe3..000000000 --- a/rednose/templates/ekf_c.c +++ /dev/null @@ -1,123 +0,0 @@ -#include -#include - -typedef Eigen::Matrix DDM; -typedef Eigen::Matrix EEM; -typedef Eigen::Matrix DEM; - -void predict(double *in_x, double *in_P, double *in_Q, double dt) { - typedef Eigen::Matrix RRM; - - double nx[DIM] = {0}; - double in_F[EDIM*EDIM] = {0}; - - // functions from sympy - f_fun(in_x, dt, nx); - F_fun(in_x, dt, in_F); - - - EEM F(in_F); - EEM P(in_P); - EEM Q(in_Q); - - RRM F_main = F.topLeftCorner(MEDIM, MEDIM); - P.topLeftCorner(MEDIM, MEDIM) = (F_main * P.topLeftCorner(MEDIM, MEDIM)) * F_main.transpose(); - P.topRightCorner(MEDIM, EDIM - MEDIM) = F_main * P.topRightCorner(MEDIM, EDIM - MEDIM); - P.bottomLeftCorner(EDIM - MEDIM, MEDIM) = P.bottomLeftCorner(EDIM - MEDIM, MEDIM) * F_main.transpose(); - - P = P + dt*Q; - - // copy out state - memcpy(in_x, nx, DIM * sizeof(double)); - memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); -} - -// note: extra_args dim only correct when null space projecting -// otherwise 1 -template -void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, double *in_z, double *in_R, double *in_ea, double MAHA_THRESHOLD) { - typedef Eigen::Matrix ZZM; - typedef Eigen::Matrix ZDM; - typedef Eigen::Matrix XEM; - //typedef Eigen::Matrix EZM; - typedef Eigen::Matrix X1M; - typedef Eigen::Matrix XXM; - - double in_hx[ZDIM] = {0}; - double in_H[ZDIM * DIM] = {0}; - double in_H_mod[EDIM * DIM] = {0}; - double delta_x[EDIM] = {0}; - double x_new[DIM] = {0}; - - - // state x, P - Eigen::Matrix z(in_z); - EEM P(in_P); - ZZM pre_R(in_R); - - // functions from sympy - h_fun(in_x, in_ea, in_hx); - H_fun(in_x, in_ea, in_H); - ZDM pre_H(in_H); - - // get y (y = z - hx) - Eigen::Matrix pre_y(in_hx); pre_y = z - pre_y; - X1M y; XXM H; XXM R; - if (Hea_fun){ - typedef Eigen::Matrix ZAM; - double in_Hea[ZDIM * EADIM] = {0}; - Hea_fun(in_x, in_ea, in_Hea); - ZAM Hea(in_Hea); - XXM A = Hea.transpose().fullPivLu().kernel(); - - - y = A.transpose() * pre_y; - H = A.transpose() * pre_H; - R = A.transpose() * pre_R * A; - } else { - y = pre_y; - H = pre_H; - R = pre_R; - } - // get modified H - H_mod_fun(in_x, in_H_mod); - DEM H_mod(in_H_mod); - XEM H_err = H * H_mod; - - // Do mahalobis distance test - if (MAHA_TEST){ - XXM a = (H_err * P * H_err.transpose() + R).inverse(); - double maha_dist = y.transpose() * a * y; - if (maha_dist > MAHA_THRESHOLD){ - R = 1.0e16 * R; - } - } - - // Outlier resilient weighting - double weight = 1;//(1.5)/(1 + y.squaredNorm()/R.sum()); - - // kalman gains and I_KH - XXM S = ((H_err * P) * H_err.transpose()) + R/weight; - XEM KT = S.fullPivLu().solve(H_err * P.transpose()); - //EZM K = KT.transpose(); TODO: WHY DOES THIS NOT COMPILE? - //EZM K = S.fullPivLu().solve(H_err * P.transpose()).transpose(); - //std::cout << "Here is the matrix rot:\n" << K << std::endl; - EEM I_KH = Eigen::Matrix::Identity() - (KT.transpose() * H_err); - - // update state by injecting dx - Eigen::Matrix dx(delta_x); - dx = (KT.transpose() * y); - memcpy(delta_x, dx.data(), EDIM * sizeof(double)); - err_fun(in_x, delta_x, x_new); - Eigen::Matrix x(x_new); - - // update cov - P = ((I_KH * P) * I_KH.transpose()) + ((KT.transpose() * R) * KT); - - // copy out state - memcpy(in_x, x.data(), DIM * sizeof(double)); - memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); - memcpy(in_z, y.data(), y.rows() * sizeof(double)); -} - - diff --git a/rednose/templates/feature_handler.c b/rednose/templates/feature_handler.c deleted file mode 100644 index 9c580c2ea..000000000 --- a/rednose/templates/feature_handler.c +++ /dev/null @@ -1,56 +0,0 @@ -bool sane(double track [K + 1][5]) { - double diffs_x [K-1]; - double diffs_y [K-1]; - int i; - for (i = 0; i < K-1; i++) { - diffs_x[i] = fabs(track[i+2][2] - track[i+1][2]); - diffs_y[i] = fabs(track[i+2][3] - track[i+1][3]); - } - for (i = 1; i < K-1; i++) { - if (((diffs_x[i] > 0.05 or diffs_x[i-1] > 0.05) and - (diffs_x[i] > 2*diffs_x[i-1] or - diffs_x[i] < .5*diffs_x[i-1])) or - ((diffs_y[i] > 0.05 or diffs_y[i-1] > 0.05) and - (diffs_y[i] > 2*diffs_y[i-1] or - diffs_y[i] < .5*diffs_y[i-1]))){ - return false; - } - } - return true; -} - -void merge_features(double *tracks, double *features, long long *empty_idxs) { - double feature_arr [3000][5]; - memcpy(feature_arr, features, 3000 * 5 * sizeof(double)); - double track_arr [6000][K + 1][5]; - memcpy(track_arr, tracks, (K+1) * 6000 * 5 * sizeof(double)); - int match; - int empty_idx = 0; - int idx; - for (int i = 0; i < 3000; i++) { - match = feature_arr[i][4]; - if (track_arr[match][0][1] == match and track_arr[match][0][2] == 0){ - track_arr[match][0][0] = track_arr[match][0][0] + 1; - track_arr[match][0][1] = feature_arr[i][1]; - track_arr[match][0][2] = 1; - idx = track_arr[match][0][0]; - memcpy(track_arr[match][idx], feature_arr[i], 5 * sizeof(double)); - if (idx == K){ - // label complete - track_arr[match][0][3] = 1; - if (sane(track_arr[match])){ - // label valid - track_arr[match][0][4] = 1; - } - } - } else { - // gen new track with this feature - track_arr[empty_idxs[empty_idx]][0][0] = 1; - track_arr[empty_idxs[empty_idx]][0][1] = feature_arr[i][1]; - track_arr[empty_idxs[empty_idx]][0][2] = 1; - memcpy(track_arr[empty_idxs[empty_idx]][1], feature_arr[i], 5 * sizeof(double)); - empty_idx = empty_idx + 1; - } - } - memcpy(tracks, track_arr, (K+1) * 6000 * 5 * sizeof(double)); -} diff --git a/scripts/panda_flash.sh b/scripts/panda_flash.sh deleted file mode 100755 index 393430021..000000000 --- a/scripts/panda_flash.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/usr/bin/env sh - -DFU_UTIL="dfu-util" -/data/openpilot/selfdrive/ui/qt/spinner & -python -c "from panda import Panda; Panda().flash('/data/openpilot/panda/board/obj/panda.bin.signed')" -killall spinner & diff --git a/scripts/panda_recovery.sh b/scripts/panda_recovery.sh deleted file mode 100755 index bef77b9a1..000000000 --- a/scripts/panda_recovery.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env sh - -DFU_UTIL="dfu-util" - -DEFAULT_FW_FN="/data/openpilot/panda/board/obj/panda.bin.signed" - -/data/openpilot/selfdrive/ui/qt/spinner & -pkill -f boardd -python -c "from panda import Panda; Panda().reset(enter_bootstub=True); Panda().reset(enter_bootloader=True)" || true -sleep 1 -echo "\n\n\nUpdating panda.bin..." -$DFU_UTIL -d 0483:df11 -a 0 -s 0x08004000 -D $DEFAULT_FW_FN -echo "\n\n\nUpdating bootstub.panda.bin..." -$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D /data/openpilot/panda/board/obj/bootstub.panda.bin -sleep 1 -echo -n 1 > /data/params/d/DoReboot diff --git a/scripts/ssh_key/id_rsa b/scripts/ssh_key/id_rsa deleted file mode 100644 index 3f269afe2..000000000 --- a/scripts/ssh_key/id_rsa +++ /dev/null @@ -1,28 +0,0 @@ ------BEGIN RSA PRIVATE KEY----- -MIIEvAIBADANBgkqhkiG9w0BAQEFAASCBKYwggSiAgEAAoIBAQC+iXXq30Tq+J5N -Kat3KWHCzcmwZ55nGh6WggAqECa5CasBlM9VeROpVu3beA+5h0MibRgbD4DMtVXB -t6gEvZ8nd04E7eLA9LTZyFDZ7SkSOVj4oXOQsT0GnJmKrASW5KslTWqVzTfo2XCt -Z+004ikLxmyFeBO8NOcErW1pa8gFdQDToH9FrA7kgysic/XVESTOoe7XlzRoe/eZ -acEQ+jtnmFd21A4aEADkk00Ahjr0uKaJiLUAPatxs2icIXWpgYtfqqtaKF23wSt6 -1OTu6cAwXbOWr3m+IUSRUO0IRzEIQS3z1jfd1svgzSgSSwZ1Lhj4AoKxIEAIc8qJ -rO4uymCJAgMBAAECggEBAISFevxHGdoL3Z5xkw6oO5SQKO2GxEeVhRzNgmu/HA+q -x8OryqD6O1CWY4037kft6iWxlwiLOdwna2P25ueVM3LxqdQH2KS4DmlCx+kq6FwC -gv063fQPMhC9LpWimvaQSPEC7VUPjQlo4tPY6sTTYBUOh0A1ihRm/x7juKuQCWix -Cq8C/DVnB1X4mGj+W3nJc5TwVJtgJbbiBrq6PWrhvB/3qmkxHRL7dU2SBb2iNRF1 -LLY30dJx/cD73UDKNHrlrsjk3UJc29Mp4/MladKvUkRqNwlYxSuAtJV0nZ3+iFkL -s3adSTHdJpClQer45R51rFDlVsDz2ZBpb/hRNRoGDuECgYEA6A1EixLq7QYOh3cb -Xhyh3W4kpVvA/FPfKH1OMy3ONOD/Y9Oa+M/wthW1wSoRL2n+uuIW5OAhTIvIEivj -6bAZsTT3twrvOrvYu9rx9aln4p8BhyvdjeW4kS7T8FP5ol6LoOt2sTP3T1LOuJPO -uQvOjlKPKIMh3c3RFNWTnGzMPa0CgYEA0jNiPLxP3A2nrX0keKDI+VHuvOY88gdh -0W5BuLMLovOIDk9aQFIbBbMuW1OTjHKv9NK+Lrw+YbCFqOGf1dU/UN5gSyE8lX/Q -FsUGUqUZx574nJZnOIcy3ONOnQLcvHAQToLFAGUd7PWgP3CtHkt9hEv2koUwL4vo -ikTP1u9Gkc0CgYEA2apoWxPZrY963XLKBxNQecYxNbLFaWq67t3rFnKm9E8BAICi -4zUaE5J1tMVi7Vi9iks9Ml9SnNyZRQJKfQ+kaebHXbkyAaPmfv+26rqHKboA0uxA -nDOZVwXX45zBkp6g1sdHxJx8JLoGEnkC9eyvSi0C//tRLx86OhLErXwYcNkCf1it -VMRKrWYoXJTUNo6tRhvodM88UnnIo3u3CALjhgU4uC1RTMHV4ZCGBwiAOb8GozSl -s5YD1E1iKwEULloHnK6BIh6P5v8q7J6uf/xdqoKMjlWBHgq6/roxKvkSPA1DOZ3l -jTadcgKFnRUmc+JT9p/ZbCxkA/ALFg8++G+0ghECgYA8vG3M/utweLvq4RI7l7U7 -b+i2BajfK2OmzNi/xugfeLjY6k2tfQGRuv6ppTjehtji2uvgDWkgjJUgPfZpir3I -RsVMUiFgloWGHETOy0Qvc5AwtqTJFLTD1Wza2uBilSVIEsg6Y83Gickh+ejOmEsY -6co17RFaAZHwGfCFFjO76Q== ------END RSA PRIVATE KEY----- diff --git a/scripts/ssh_key/setup_keys b/scripts/ssh_key/setup_keys deleted file mode 100644 index 52a3cabb4..000000000 --- a/scripts/ssh_key/setup_keys +++ /dev/null @@ -1 +0,0 @@ -from="10.0.0.0/8,172.16.0.0/12,192.168.0.0/16" ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC+iXXq30Tq+J5NKat3KWHCzcmwZ55nGh6WggAqECa5CasBlM9VeROpVu3beA+5h0MibRgbD4DMtVXBt6gEvZ8nd04E7eLA9LTZyFDZ7SkSOVj4oXOQsT0GnJmKrASW5KslTWqVzTfo2XCtZ+004ikLxmyFeBO8NOcErW1pa8gFdQDToH9FrA7kgysic/XVESTOoe7XlzRoe/eZacEQ+jtnmFd21A4aEADkk00Ahjr0uKaJiLUAPatxs2icIXWpgYtfqqtaKF23wSt61OTu6cAwXbOWr3m+IUSRUO0IRzEIQS3z1jfd1svgzSgSSwZ1Lhj4AoKxIEAIc8qJrO4uymCJ public diff --git a/scripts/sshkey_installer.py b/scripts/sshkey_installer.py deleted file mode 100755 index 1413cd8da..000000000 --- a/scripts/sshkey_installer.py +++ /dev/null @@ -1,18 +0,0 @@ -#!/usr/bin/env python3 -import os - -if __name__ == "__main__": - install_key = False - if os.path.isfile("/EON"): - os.system("setprop persist.neos.ssh 1") - os.system("echo -n 1 > /data/params/d/SshEnabled") - if not os.path.isfile("/data/params/d/GithubSshKeys"): - install_key = True - else: - with open('/data/params/d/GithubSshKeys') as f: - if f.read().strip() == "": - install_key = True - - if install_key: - os.system("echo -n openpilot > /data/params/d/GithubUsername") - os.system("cp /data/openpilot/scripts/ssh_key/setup_keys /data/params/d/GithubSshKeys") diff --git a/selfdrive/assets/images/triangle.svg b/selfdrive/assets/images/triangle.svg index 39bc56c69..9320269bd 100644 --- a/selfdrive/assets/images/triangle.svg +++ b/selfdrive/assets/images/triangle.svg @@ -21,12 +21,12 @@ rdf:about=""> image/svg+xml + rdf:resource="http://purl.org/dc/dcmitype/StillImage" /> + id="defs6" /> diff --git a/selfdrive/assets/img_driver_face.png b/selfdrive/assets/img_driver_face.png index ddde478cd..e2d943e53 100644 Binary files a/selfdrive/assets/img_driver_face.png and b/selfdrive/assets/img_driver_face.png differ diff --git a/selfdrive/assets/img_driver_face_qcom.png b/selfdrive/assets/img_driver_face_qcom.png new file mode 100644 index 000000000..ddde478cd Binary files /dev/null and b/selfdrive/assets/img_driver_face_qcom.png differ diff --git a/selfdrive/assets/img_turn_left_icon.png 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selfdrive/assets/training/step8.png rename to selfdrive/assets/training_legacy/step8.png diff --git a/selfdrive/assets/training/step9.png b/selfdrive/assets/training_legacy/step9.png similarity index 100% rename from selfdrive/assets/training/step9.png rename to selfdrive/assets/training_legacy/step9.png diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 2874206ac..245242336 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -517,6 +517,11 @@ def getSshAuthorizedKeys() -> str: return Params().get("GithubSshKeys", encoding='utf8') or '' +@dispatcher.add_method +def getGithubUsername() -> str: + return Params().get("GithubUsername", encoding='utf8') or '' + + @dispatcher.add_method def getSimInfo(): return HARDWARE.get_sim_info() diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py index b87619273..32bc92059 100755 --- a/selfdrive/athena/registration.py +++ b/selfdrive/athena/registration.py @@ -85,22 +85,15 @@ def register(show_spinner=False) -> Optional[str]: backoff = min(backoff + 1, 15) time.sleep(backoff) - time_diff = time.monotonic() - start_time - if time_diff > 29 and show_spinner: - timeout = 30 - time_diff - spinner.update(f"registering device ({timeout}) - serial: {serial}, IMEI: ({imei1}, {imei2})") - - # go unregistered device - if time.monotonic() - start_time > 30 and show_spinner: - dongle_id = UNREGISTERED_DONGLE_ID - break + if time.monotonic() - start_time > 60 and show_spinner: + spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})") if show_spinner: spinner.close() if dongle_id: params.put("DongleId", dongle_id) - # set_offroad_alert("Offroad_UnofficialHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC) + set_offroad_alert("Offroad_UnofficialHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC) return dongle_id diff --git a/selfdrive/boardd/boardd b/selfdrive/boardd/boardd index b101c5574..2af4efc94 100755 Binary files a/selfdrive/boardd/boardd and b/selfdrive/boardd/boardd differ diff --git a/selfdrive/boardd/boardd_api_impl.cpp b/selfdrive/boardd/boardd_api_impl.cpp deleted file mode 100644 index 814e8a01d..000000000 --- a/selfdrive/boardd/boardd_api_impl.cpp +++ /dev/null @@ -1,3655 +0,0 @@ -/* Generated by Cython 0.29.26 */ - -/* BEGIN: Cython Metadata -{ - "distutils": { - "depends": [], - "language": "c++", - "name": "selfdrive.boardd.boardd_api_impl", - "sources": [ - "/data/openpilot/selfdrive/boardd/boardd_api_impl.pyx" - ] - }, - "module_name": "selfdrive.boardd.boardd_api_impl" -} -END: Cython Metadata */ - -#ifndef PY_SSIZE_T_CLEAN -#define PY_SSIZE_T_CLEAN -#endif /* PY_SSIZE_T_CLEAN */ -#include "Python.h" -#ifndef Py_PYTHON_H - #error Python headers needed to compile C extensions, please install development version of Python. -#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) - #error Cython requires Python 2.6+ or Python 3.3+. -#else -#define CYTHON_ABI "0_29_26" -#define CYTHON_HEX_VERSION 0x001D1AF0 -#define CYTHON_FUTURE_DIVISION 1 -#include -#ifndef offsetof - #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) -#endif -#if !defined(WIN32) && !defined(MS_WINDOWS) - #ifndef __stdcall - #define __stdcall - #endif - #ifndef __cdecl - #define __cdecl - #endif - #ifndef __fastcall - #define __fastcall - #endif -#endif -#ifndef DL_IMPORT - #define DL_IMPORT(t) t -#endif -#ifndef DL_EXPORT - #define DL_EXPORT(t) t -#endif -#define __PYX_COMMA , -#ifndef HAVE_LONG_LONG - #if PY_VERSION_HEX >= 0x02070000 - #define HAVE_LONG_LONG - #endif -#endif -#ifndef PY_LONG_LONG - #define PY_LONG_LONG LONG_LONG -#endif -#ifndef Py_HUGE_VAL - #define Py_HUGE_VAL HUGE_VAL -#endif -#ifdef PYPY_VERSION - #define CYTHON_COMPILING_IN_PYPY 1 - #define CYTHON_COMPILING_IN_PYSTON 0 - #define CYTHON_COMPILING_IN_CPYTHON 0 - #undef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 0 - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #if PY_VERSION_HEX < 0x03050000 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #elif !defined(CYTHON_USE_ASYNC_SLOTS) - #define CYTHON_USE_ASYNC_SLOTS 1 - #endif - #undef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 0 - #undef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 0 - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #undef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 1 - #undef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 0 - #undef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 0 - #undef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 0 - #undef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL 0 - #undef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT 0 - #undef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE 0 - #undef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS 0 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 -#elif defined(PYSTON_VERSION) - #define CYTHON_COMPILING_IN_PYPY 0 - #define CYTHON_COMPILING_IN_PYSTON 1 - #define CYTHON_COMPILING_IN_CPYTHON 0 - #ifndef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 1 - #endif - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #undef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 0 - #ifndef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 1 - #endif - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #ifndef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 0 - #endif - #ifndef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 1 - #endif - #ifndef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 1 - #endif - #undef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 0 - #undef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL 0 - #undef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT 0 - #undef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE 0 - #undef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS 0 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 -#else - #define CYTHON_COMPILING_IN_PYPY 0 - #define CYTHON_COMPILING_IN_PYSTON 0 - #define CYTHON_COMPILING_IN_CPYTHON 1 - #ifndef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 1 - #endif - #if PY_VERSION_HEX < 0x02070000 - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #elif !defined(CYTHON_USE_PYTYPE_LOOKUP) - #define CYTHON_USE_PYTYPE_LOOKUP 1 - #endif - #if PY_MAJOR_VERSION < 3 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #elif !defined(CYTHON_USE_ASYNC_SLOTS) - #define CYTHON_USE_ASYNC_SLOTS 1 - #endif - #if PY_VERSION_HEX < 0x02070000 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #elif !defined(CYTHON_USE_PYLONG_INTERNALS) - #define CYTHON_USE_PYLONG_INTERNALS 1 - #endif - #ifndef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 1 - #endif - #ifndef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 1 - #endif - #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #elif !defined(CYTHON_USE_UNICODE_WRITER) - #define CYTHON_USE_UNICODE_WRITER 1 - #endif - #ifndef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 0 - #endif - #ifndef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 1 - #endif - #ifndef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 1 - #endif - #ifndef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 1 - #endif - #ifndef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1) - #endif - #ifndef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000) - #endif - #ifndef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1) - #endif - #ifndef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1) - #endif - #ifndef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3) - #endif -#endif -#if !defined(CYTHON_FAST_PYCCALL) -#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) -#endif -#if CYTHON_USE_PYLONG_INTERNALS - #if PY_MAJOR_VERSION < 3 - #include "longintrepr.h" - #endif - #undef SHIFT - #undef BASE - #undef MASK - #ifdef SIZEOF_VOID_P - enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; - #endif -#endif -#ifndef __has_attribute - #define __has_attribute(x) 0 -#endif -#ifndef __has_cpp_attribute - #define __has_cpp_attribute(x) 0 -#endif -#ifndef CYTHON_RESTRICT - #if defined(__GNUC__) - #define CYTHON_RESTRICT __restrict__ - #elif defined(_MSC_VER) && _MSC_VER >= 1400 - #define CYTHON_RESTRICT __restrict - #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L - #define CYTHON_RESTRICT restrict - #else - #define CYTHON_RESTRICT - #endif -#endif -#ifndef CYTHON_UNUSED -# if defined(__GNUC__) -# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -#endif -#ifndef CYTHON_MAYBE_UNUSED_VAR -# if defined(__cplusplus) - template void CYTHON_MAYBE_UNUSED_VAR( const T& ) { } -# else -# define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x) -# endif -#endif -#ifndef CYTHON_NCP_UNUSED -# if CYTHON_COMPILING_IN_CPYTHON -# define CYTHON_NCP_UNUSED -# else -# define CYTHON_NCP_UNUSED CYTHON_UNUSED -# endif -#endif -#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) -#ifdef _MSC_VER - #ifndef _MSC_STDINT_H_ - #if _MSC_VER < 1300 - typedef unsigned char uint8_t; - typedef unsigned int uint32_t; - #else - typedef unsigned __int8 uint8_t; - typedef unsigned __int32 uint32_t; - #endif - #endif -#else - #include -#endif -#ifndef CYTHON_FALLTHROUGH - #if defined(__cplusplus) && __cplusplus >= 201103L - #if __has_cpp_attribute(fallthrough) - #define CYTHON_FALLTHROUGH [[fallthrough]] - #elif __has_cpp_attribute(clang::fallthrough) - #define CYTHON_FALLTHROUGH [[clang::fallthrough]] - #elif __has_cpp_attribute(gnu::fallthrough) - #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] - #endif - #endif - #ifndef CYTHON_FALLTHROUGH - #if __has_attribute(fallthrough) - #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) - #else - #define CYTHON_FALLTHROUGH - #endif - #endif - #if defined(__clang__ ) && defined(__apple_build_version__) - #if __apple_build_version__ < 7000000 - #undef CYTHON_FALLTHROUGH - #define CYTHON_FALLTHROUGH - #endif - #endif -#endif - -#ifndef __cplusplus - #error "Cython files generated with the C++ option must be compiled with a C++ compiler." -#endif -#ifndef CYTHON_INLINE - #if defined(__clang__) - #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) - #else - #define CYTHON_INLINE inline - #endif -#endif -template -void __Pyx_call_destructor(T& x) { - x.~T(); -} -template -class __Pyx_FakeReference { - public: - __Pyx_FakeReference() : ptr(NULL) { } - __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } - T *operator->() { return ptr; } - T *operator&() { return ptr; } - operator T&() { return *ptr; } - template bool operator ==(U other) { return *ptr == other; } - template bool operator !=(U other) { return *ptr != other; } - private: - T *ptr; -}; - -#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) - #define Py_OptimizeFlag 0 -#endif -#define __PYX_BUILD_PY_SSIZE_T "n" -#define CYTHON_FORMAT_SSIZE_T "z" -#if PY_MAJOR_VERSION < 3 - #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) - #define __Pyx_DefaultClassType PyClass_Type -#else - #define __Pyx_BUILTIN_MODULE_NAME "builtins" - #define __Pyx_DefaultClassType PyType_Type -#if PY_VERSION_HEX >= 0x030B00A1 - static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, - PyObject *code, PyObject *c, PyObject* n, PyObject *v, - PyObject *fv, PyObject *cell, PyObject* fn, - PyObject *name, int fline, PyObject *lnos) { - PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; - PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; - const char *fn_cstr=NULL; - const char *name_cstr=NULL; - PyCodeObject* co=NULL; - PyObject *type, *value, *traceback; - PyErr_Fetch(&type, &value, &traceback); - if (!(kwds=PyDict_New())) goto end; - if (!(argcount=PyLong_FromLong(a))) goto end; - if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; - if (!(posonlyargcount=PyLong_FromLong(0))) goto end; - if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; - if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; - if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; - if (!(nlocals=PyLong_FromLong(l))) goto end; - if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; - if (!(stacksize=PyLong_FromLong(s))) goto end; - if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; - if (!(flags=PyLong_FromLong(f))) goto end; - if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; - if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; - if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; - if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; - if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; - if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here - if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; - Py_XDECREF((PyObject*)co); - co = (PyCodeObject*)call_result; - call_result = NULL; - if (0) { - cleanup_code_too: - Py_XDECREF((PyObject*)co); - co = NULL; - } - end: - Py_XDECREF(kwds); - Py_XDECREF(argcount); - Py_XDECREF(posonlyargcount); - Py_XDECREF(kwonlyargcount); - Py_XDECREF(nlocals); - Py_XDECREF(stacksize); - Py_XDECREF(replace); - Py_XDECREF(call_result); - Py_XDECREF(empty); - if (type) { - PyErr_Restore(type, value, traceback); - } - return co; - } -#else - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) -#endif - #define __Pyx_DefaultClassType PyType_Type -#endif -#ifndef Py_TPFLAGS_CHECKTYPES - #define Py_TPFLAGS_CHECKTYPES 0 -#endif -#ifndef Py_TPFLAGS_HAVE_INDEX - #define Py_TPFLAGS_HAVE_INDEX 0 -#endif -#ifndef Py_TPFLAGS_HAVE_NEWBUFFER - #define Py_TPFLAGS_HAVE_NEWBUFFER 0 -#endif -#ifndef Py_TPFLAGS_HAVE_FINALIZE - #define Py_TPFLAGS_HAVE_FINALIZE 0 -#endif -#ifndef METH_STACKLESS - #define METH_STACKLESS 0 -#endif -#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) - #ifndef METH_FASTCALL - #define METH_FASTCALL 0x80 - #endif - typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); - typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, - Py_ssize_t nargs, PyObject *kwnames); -#else - #define __Pyx_PyCFunctionFast _PyCFunctionFast - #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords -#endif -#if CYTHON_FAST_PYCCALL -#define __Pyx_PyFastCFunction_Check(func)\ - ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) -#else -#define __Pyx_PyFastCFunction_Check(func) 0 -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) - #define PyObject_Malloc(s) PyMem_Malloc(s) - #define PyObject_Free(p) PyMem_Free(p) - #define PyObject_Realloc(p) PyMem_Realloc(p) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 - #define PyMem_RawMalloc(n) PyMem_Malloc(n) - #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) - #define PyMem_RawFree(p) PyMem_Free(p) -#endif -#if CYTHON_COMPILING_IN_PYSTON - #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) -#else - #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) -#endif -#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#elif PY_VERSION_HEX >= 0x03060000 - #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() -#elif PY_VERSION_HEX >= 0x03000000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#else - #define __Pyx_PyThreadState_Current _PyThreadState_Current -#endif -#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) -#include "pythread.h" -#define Py_tss_NEEDS_INIT 0 -typedef int Py_tss_t; -static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { - *key = PyThread_create_key(); - return 0; -} -static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { - Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); - *key = Py_tss_NEEDS_INIT; - return key; -} -static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { - PyObject_Free(key); -} -static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { - return *key != Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { - PyThread_delete_key(*key); - *key = Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { - return PyThread_set_key_value(*key, value); -} -static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { - return PyThread_get_key_value(*key); -} -#endif -#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) -#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) -#else -#define __Pyx_PyDict_NewPresized(n) PyDict_New() -#endif -#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION - #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) -#else - #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS -#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) -#else -#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) -#endif -#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) - #define CYTHON_PEP393_ENABLED 1 - #if defined(PyUnicode_IS_READY) - #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ - 0 : _PyUnicode_Ready((PyObject *)(op))) - #else - #define __Pyx_PyUnicode_READY(op) (0) - #endif - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) - #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) - #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) - #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) - #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? 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- PyObject *py_funcname = NULL; - #if PY_MAJOR_VERSION < 3 - PyObject *py_srcfile = NULL; - py_srcfile = PyString_FromString(filename); - if (!py_srcfile) goto bad; - #endif - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - funcname = PyUnicode_AsUTF8(py_funcname); - if (!funcname) goto bad; - #endif - } - else { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); - if (!py_funcname) goto bad; - #endif - } - #if PY_MAJOR_VERSION < 3 - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - #else - py_code = PyCode_NewEmpty(filename, funcname, py_line); - #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline - return py_code; -bad: - Py_XDECREF(py_funcname); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_srcfile); - #endif - return NULL; -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); - } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) goto bad; - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); - } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); -} - -/* CIntFromPyVerify */ -#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ - } - -/* CIntToPy */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); - } -} - -/* CIntFromPy */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(long) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (long) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { - return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { - return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { - return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(long) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) - case -2: - if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - } -#endif - if (sizeof(long) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - long val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (long) -1; - } - } else { - long val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (long) -1; - val = __Pyx_PyInt_As_long(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to long"); - return (long) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to long"); - return (long) -1; -} - -/* CIntFromPy */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(int) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (int) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { - return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { - return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { - return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(int) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) - case -2: - if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - } -#endif - if (sizeof(int) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - int val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (int) -1; - } - } else { - int val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (int) -1; - val = __Pyx_PyInt_As_int(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to int"); - return (int) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to int"); - return (int) -1; -} - -/* FastTypeChecks */ -#if CYTHON_COMPILING_IN_CPYTHON -static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { - while (a) { - a = a->tp_base; - if (a == b) - return 1; - } - return b == &PyBaseObject_Type; -} -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (a == b) return 1; - mro = a->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(a, b); -} -#if PY_MAJOR_VERSION == 2 -static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { - PyObject *exception, *value, *tb; - int res; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&exception, &value, &tb); - res = exc_type1 ? 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digits[0] : 0; - if (size == -1) ival = -ival; - return ival; - } else { - switch (size) { - case 2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - } - } - #endif - return PyLong_AsSsize_t(b); - } - x = PyNumber_Index(b); - if (!x) return -1; - ival = PyInt_AsSsize_t(x); - Py_DECREF(x); - return ival; -} -static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { - if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { - return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); -#if PY_MAJOR_VERSION < 3 - } else if (likely(PyInt_CheckExact(o))) { - return PyInt_AS_LONG(o); -#endif - } else { - Py_ssize_t ival; - PyObject *x; - x = PyNumber_Index(o); - if (!x) return -1; - ival = PyInt_AsLong(x); - Py_DECREF(x); - return ival; - } -} -static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { - return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); -} -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { - return PyInt_FromSize_t(ival); -} - - -#endif /* Py_PYTHON_H */ diff --git a/selfdrive/boardd/boardd_api_impl.so b/selfdrive/boardd/boardd_api_impl.so index c3893bc78..dac8384d5 100755 Binary files a/selfdrive/boardd/boardd_api_impl.so and b/selfdrive/boardd/boardd_api_impl.so differ diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index 2797d41bd..fb859d3a5 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -75,7 +75,6 @@ public: std::optional get_serial(); void set_power_saving(bool power_saving); void enable_deepsleep(); - void set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode); void send_heartbeat(bool engaged); void set_can_speed_kbps(uint16_t bus, uint16_t speed); void set_data_speed_kbps(uint16_t bus, uint16_t speed); @@ -83,13 +82,14 @@ public: void can_send(capnp::List::Reader can_data_list); bool can_receive(std::vector& out_vec); void can_reset_communications(); - // dp + #ifdef QCOM + void set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode); void set_pigeon_baud(int baud); bool has_gps = true; - // dp - passthru for pigeon int control_write(uint8_t request, uint16_t param1, uint16_t param2); int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length); int bulk_write(unsigned char endpoint, unsigned char* data, int length); + #endif protected: // for unit tests diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h index 506b96b37..f93d29217 100644 --- a/selfdrive/boardd/panda_comms.h +++ b/selfdrive/boardd/panda_comms.h @@ -1,8 +1,9 @@ #pragma once -#include #include #include +#include +#include #include #ifndef __APPLE__ diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index f292b921c..23c31f856 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -26,7 +26,7 @@ def flash_panda(panda_serial: str) -> Panda: panda = Panda(panda_serial) fw_signature = get_expected_signature(panda) - internal_panda = panda.is_internal() and not panda.bootstub + internal_panda = panda.is_internal() panda_version = "bootstub" if panda.bootstub else panda.get_version() panda_signature = b"" if panda.bootstub else panda.get_signature() @@ -39,7 +39,7 @@ def flash_panda(panda_serial: str) -> Panda: if panda.bootstub: bootstub_version = panda.get_version() - cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}") + cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. {bootstub_version=}, {internal_panda=}") if internal_panda: HARDWARE.recover_internal_panda() panda.recover(reset=(not internal_panda)) @@ -76,10 +76,13 @@ def panda_sort_cmp(a: Panda, b: Panda): def main() -> NoReturn: + count = 0 first_run = True params = Params() while True: + count += 1 + cloudlog.event("pandad.flash_and_connect", count=count) try: params.remove("PandaSignatures") @@ -92,7 +95,7 @@ def main() -> NoReturn: panda_serials = Panda.list() if len(panda_serials) == 0: if first_run: - cloudlog.info("Resetting internal panda") + cloudlog.info("No pandas found, resetting internal panda") HARDWARE.reset_internal_panda() time.sleep(2) # wait to come back up continue @@ -115,6 +118,14 @@ def main() -> NoReturn: cloudlog.info(f"Resetting panda {panda.get_usb_serial()}") panda.reset() + # Ensure internal panda is present if expected + internal_pandas = [panda for panda in pandas if panda.is_internal()] + if HARDWARE.has_internal_panda() and len(internal_pandas) == 0: + cloudlog.error("Internal panda is missing, resetting") + HARDWARE.reset_internal_panda() + time.sleep(2) # wait to come back up + continue + # sort pandas to have deterministic order pandas.sort(key=cmp_to_key(panda_sort_cmp)) panda_serials = list(map(lambda p: p.get_usb_serial(), pandas)) # type: ignore diff --git a/selfdrive/boardd/set_time.py b/selfdrive/boardd/set_time.py index 7d17be4de..2159eba5e 100755 --- a/selfdrive/boardd/set_time.py +++ b/selfdrive/boardd/set_time.py @@ -1,11 +1,9 @@ #!/usr/bin/env python3 -import datetime import os -import struct -import usb1 +import datetime +from panda import Panda -REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE -MIN_DATE = datetime.datetime(year=2021, month=4, day=1) +MIN_DATE = datetime.datetime(year=2023, month=4, day=1) def set_time(logger): sys_time = datetime.datetime.today() @@ -14,24 +12,27 @@ def set_time(logger): return try: - ctx = usb1.USBContext() - dev = ctx.openByVendorIDAndProductID(0xbbaa, 0xddcc) - if dev is None: - logger.info("No panda found") + ps = Panda.list() + if len(ps) == 0: + logger.error("Failed to set time, no pandas found") return - # Set system time from panda RTC time - dat = dev.controlRead(REQUEST_IN, 0xa0, 0, 0, 8) - a = struct.unpack("HBBBBBB", dat) - panda_time = datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6]) - if panda_time > MIN_DATE: - logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'") - os.system(f"TZ=UTC date -s '{panda_time}'") + for s in ps: + with Panda(serial=s) as p: + if not p.is_internal(): + continue + + # Set system time from panda RTC time + panda_time = p.get_datetime() + if panda_time > MIN_DATE: + logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'") + os.system(f"TZ=UTC date -s '{panda_time}'") + break except Exception: - logger.warn("Failed to fetch time from panda") + logger.exception("Failed to fetch time from panda") if __name__ == "__main__": import logging - logging.basicConfig(level=logging.INFO) + logging.basicConfig(level=logging.DEBUG) set_time(logging) diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py index d614f0b12..6217561bd 100755 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -40,8 +40,9 @@ class TestBoardd(unittest.TestCase): sm.update(1000) num_pandas = len(sm['pandaStates']) - if TICI: - self.assertGreater(num_pandas, 1, "connect another panda for multipanda tests") + expected_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1 + self.assertEqual(num_pandas, expected_pandas, "connected pandas ({num_pandas}) doesn't match expected panda count ({expected_pandas}). \ + connect another panda for multipanda tests.") # boardd blocks on CarVin and CarParams cp = car.CarParams.new_message() diff --git a/laika/lib/__init__.py b/selfdrive/camerad/__init__.py similarity index 100% rename from laika/lib/__init__.py rename to selfdrive/camerad/__init__.py diff --git a/system/camerad/camerad b/selfdrive/camerad/camerad similarity index 50% rename from system/camerad/camerad rename to selfdrive/camerad/camerad index 0abc544dc..80864b7cd 100755 Binary files a/system/camerad/camerad and b/selfdrive/camerad/camerad differ diff --git a/selfdrive/camerad/cameras/camera_common.h b/selfdrive/camerad/cameras/camera_common.h new file mode 100644 index 000000000..aaaac4f4f --- /dev/null +++ b/selfdrive/camerad/cameras/camera_common.h @@ -0,0 +1,140 @@ +#pragma once + +#include +#include +#include +#include + +#include "cereal/messaging/messaging.h" +#include "cereal/visionipc/visionbuf.h" +#include "cereal/visionipc/visionipc.h" +#include "cereal/visionipc/visionipc_server.h" +#include "selfdrive/camerad/transforms/rgb_to_yuv.h" +#include "common/mat.h" +#include "common/queue.h" +#include "common/swaglog.h" +#include "common/visionimg.h" +#include "system/hardware/hw.h" + +#define CAMERA_ID_IMX298 0 +#define CAMERA_ID_IMX179 1 +#define CAMERA_ID_S5K3P8SP 2 +#define CAMERA_ID_OV8865 3 +#define CAMERA_ID_IMX298_FLIPPED 4 +#define CAMERA_ID_OV10640 5 +#define CAMERA_ID_LGC920 6 +#define CAMERA_ID_LGC615 7 +#define CAMERA_ID_AR0231 8 +#define CAMERA_ID_OX03C10 9 +#define CAMERA_ID_MAX 10 + +const int UI_BUF_COUNT = 4; +const int YUV_BUFFER_COUNT = 100; + +enum CameraType { + RoadCam = 0, + DriverCam, + WideRoadCam +}; + +// TODO: remove these once all the internal tools are moved to vipc +const bool env_send_driver = getenv("SEND_DRIVER") != NULL; +const bool env_send_road = getenv("SEND_ROAD") != NULL; +const bool env_send_wide_road = getenv("SEND_WIDE_ROAD") != NULL; + +// for debugging +const bool env_disable_road = getenv("DISABLE_ROAD") != NULL; +const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL; +const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL; +const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL; +const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL; + +typedef void (*release_cb)(void *cookie, int buf_idx); + +typedef struct CameraInfo { + uint32_t frame_width, frame_height; + uint32_t frame_stride; + bool bayer; + int bayer_flip; + bool hdr; + uint32_t frame_offset = 0; + uint32_t extra_height = 0; + int registers_offset = -1; + int stats_offset = -1; +} CameraInfo; + +typedef struct FrameMetadata { + uint32_t frame_id; + unsigned int frame_length; + + // Timestamps + uint64_t timestamp_sof; // only set on tici + uint64_t timestamp_eof; + + // Exposure + unsigned int integ_lines; + bool high_conversion_gain; + float gain; + float measured_grey_fraction; + float target_grey_fraction; + + float processing_time; +} FrameMetadata; + +typedef struct CameraExpInfo { + int op_id; + float grey_frac; +} CameraExpInfo; + +struct MultiCameraState; +class CameraState; +class Debayer; + +class CameraBuf { +private: + VisionIpcServer *vipc_server; + CameraState *camera_state; + Debayer *debayer = nullptr; + std::unique_ptr rgb2yuv; + VisionStreamType rgb_type, yuv_type; + int cur_buf_idx; + SafeQueue safe_queue; + int frame_buf_count; + release_cb release_callback; + +public: + cl_command_queue q; + FrameMetadata cur_frame_data; + VisionBuf *cur_rgb_buf; + VisionBuf *cur_yuv_buf; + VisionBuf *cur_camera_buf; + std::unique_ptr camera_bufs; + std::unique_ptr camera_bufs_metadata; + int rgb_width, rgb_height, rgb_stride; + + mat3 yuv_transform; + + CameraBuf() = default; + ~CameraBuf(); + void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type, release_cb release_callback=nullptr); + bool acquire(); + void release(); + void queue(size_t buf_idx); +}; + +typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt); + +void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c); +kj::Array get_frame_image(const CameraBuf *b); +kj::Array get_raw_frame_image(const CameraBuf *b); +float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip); +std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback); + +void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx); +void cameras_open(MultiCameraState *s); +void cameras_run(MultiCameraState *s); +void cameras_close(MultiCameraState *s); +void camera_autoexposure(CameraState *s, float grey_frac); +void camerad_thread(); + +int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK); diff --git a/system/camerad/cameras/camera_qcom.h b/selfdrive/camerad/cameras/camera_qcom.h similarity index 96% rename from system/camerad/cameras/camera_qcom.h rename to selfdrive/camerad/cameras/camera_qcom.h index f4aeeb11d..38ede31e4 100644 --- a/system/camerad/cameras/camera_qcom.h +++ b/selfdrive/camerad/cameras/camera_qcom.h @@ -6,8 +6,8 @@ #include "cereal/messaging/messaging.h" #include "cereal/visionipc/visionbuf.h" -#include "system/camerad/cameras/camera_common.h" -#include "system/camerad/imgproc/utils.h" +#include "selfdrive/camerad/cameras/camera_common.h" +#include "selfdrive/camerad/imgproc/utils.h" #include "third_party/linux/include/msm_cam_sensor.h" #include "third_party/linux/include/msmb_camera.h" #include "third_party/linux/include/msmb_isp.h" diff --git a/selfdrive/camerad/cameras/camera_util.h b/selfdrive/camerad/cameras/camera_util.h new file mode 100644 index 000000000..e408f6c0e --- /dev/null +++ b/selfdrive/camerad/cameras/camera_util.h @@ -0,0 +1,30 @@ +#pragma once + +#include +#include +#include +#include + +#include + +std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1); +int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle); +int device_control(int fd, int op_code, int session_handle, int dev_handle); +int do_cam_control(int fd, int op_code, void *handle, int size); +void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, + int mmu_hdl = 0, int mmu_hdl2 = 0); +void release(int video0_fd, uint32_t handle); + +class MemoryManager { + public: + void init(int _video0_fd) { video0_fd = _video0_fd; } + void *alloc(int len, uint32_t *handle); + void free(void *ptr); + ~MemoryManager(); + private: + std::mutex lock; + std::map handle_lookup; + std::map size_lookup; + std::map > cached_allocations; + int video0_fd; +}; diff --git a/system/camerad/cameras/debayer.cl b/selfdrive/camerad/cameras/debayer.cl similarity index 100% rename from system/camerad/cameras/debayer.cl rename to selfdrive/camerad/cameras/debayer.cl diff --git a/system/camerad/cameras/sensor_i2c.h b/selfdrive/camerad/cameras/sensor_i2c.h similarity index 100% rename from system/camerad/cameras/sensor_i2c.h rename to selfdrive/camerad/cameras/sensor_i2c.h diff --git a/selfdrive/camerad/imgproc/conv.cl b/selfdrive/camerad/imgproc/conv.cl new file mode 100644 index 000000000..a7115ae76 --- /dev/null +++ b/selfdrive/camerad/imgproc/conv.cl @@ -0,0 +1,110 @@ +// const __constant float3 rgb_weights = (0.299, 0.587, 0.114); // opencv rgb2gray weights +// const __constant float3 bgr_weights = (0.114, 0.587, 0.299); // bgr2gray weights + +// convert input rgb image to single channel then conv +__kernel void rgb2gray_conv2d( + const __global uchar * input, + __global short * output, + __constant short * filter, + __local uchar3 * cached +) +{ + const int rowOffset = get_global_id(1) * IMAGE_W; + const int my = get_global_id(0) + rowOffset; + + const int localRowLen = TWICE_HALF_FILTER_SIZE + get_local_size(0); + const int localRowOffset = ( get_local_id(1) + HALF_FILTER_SIZE ) * localRowLen; + const int myLocal = localRowOffset + get_local_id(0) + HALF_FILTER_SIZE; + + // cache local pixels + cached[ myLocal ].x = input[ my * 3 ]; // r + cached[ myLocal ].y = input[ my * 3 + 1]; // g + cached[ myLocal ].z = input[ my * 3 + 2]; // b + + // pad + if ( + get_global_id(0) < HALF_FILTER_SIZE || + get_global_id(0) > IMAGE_W - HALF_FILTER_SIZE - 1 || + get_global_id(1) < HALF_FILTER_SIZE || + get_global_id(1) > IMAGE_H - HALF_FILTER_SIZE - 1 + ) + { + barrier(CLK_LOCAL_MEM_FENCE); + return; + } + else + { + int localColOffset = -1; + int globalColOffset = -1; + + // cache extra + if ( get_local_id(0) < HALF_FILTER_SIZE ) + { + localColOffset = get_local_id(0); + globalColOffset = -HALF_FILTER_SIZE; + + cached[ localRowOffset + get_local_id(0) ].x = input[ my * 3 - HALF_FILTER_SIZE * 3 ]; + cached[ localRowOffset + get_local_id(0) ].y = input[ my * 3 - HALF_FILTER_SIZE * 3 + 1]; + cached[ localRowOffset + get_local_id(0) ].z = input[ my * 3 - HALF_FILTER_SIZE * 3 + 2]; + } + else if ( get_local_id(0) >= get_local_size(0) - HALF_FILTER_SIZE ) + { + localColOffset = get_local_id(0) + TWICE_HALF_FILTER_SIZE; + globalColOffset = HALF_FILTER_SIZE; + + cached[ myLocal + HALF_FILTER_SIZE ].x = input[ my * 3 + HALF_FILTER_SIZE * 3 ]; + cached[ myLocal + HALF_FILTER_SIZE ].y = input[ my * 3 + HALF_FILTER_SIZE * 3 + 1]; + cached[ myLocal + HALF_FILTER_SIZE ].z = input[ my * 3 + HALF_FILTER_SIZE * 3 + 2]; + } + + + if ( get_local_id(1) < HALF_FILTER_SIZE ) + { + cached[ get_local_id(1) * localRowLen + get_local_id(0) + HALF_FILTER_SIZE ].x = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 ]; + cached[ get_local_id(1) * localRowLen + get_local_id(0) + HALF_FILTER_SIZE ].y = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + 1]; + cached[ get_local_id(1) * localRowLen + get_local_id(0) + HALF_FILTER_SIZE ].z = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + 2]; + if (localColOffset > 0) + { + cached[ get_local_id(1) * localRowLen + localColOffset ].x = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3]; + cached[ get_local_id(1) * localRowLen + localColOffset ].y = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3 + 1]; + cached[ get_local_id(1) * localRowLen + localColOffset ].z = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3 + 2]; + } + } + else if ( get_local_id(1) >= get_local_size(1) -HALF_FILTER_SIZE ) + { + int offset = ( get_local_id(1) + TWICE_HALF_FILTER_SIZE ) * localRowLen; + cached[ offset + get_local_id(0) + HALF_FILTER_SIZE ].x = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 ]; + cached[ offset + get_local_id(0) + HALF_FILTER_SIZE ].y = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + 1]; + cached[ offset + get_local_id(0) + HALF_FILTER_SIZE ].z = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + 2]; + if (localColOffset > 0) + { + cached[ offset + localColOffset ].x = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3]; + cached[ offset + localColOffset ].y = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3 + 1]; + cached[ offset + localColOffset ].z = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3 + 2]; + } + } + + // sync + barrier(CLK_LOCAL_MEM_FENCE); + + // perform convolution + int fIndex = 0; + short sum = 0; + + for (int r = -HALF_FILTER_SIZE; r <= HALF_FILTER_SIZE; r++) + { + int curRow = r * localRowLen; + for (int c = -HALF_FILTER_SIZE; c <= HALF_FILTER_SIZE; c++, fIndex++) + { + if (!FLIP_RB){ + // sum += dot(rgb_weights, cached[ myLocal + curRow + c ]) * filter[ fIndex ]; + sum += (cached[ myLocal + curRow + c ].x / 3 + cached[ myLocal + curRow + c ].y / 2 + cached[ myLocal + curRow + c ].z / 9) * filter[ fIndex ]; + } else { + // sum += dot(bgr_weights, cached[ myLocal + curRow + c ]) * filter[ fIndex ]; + sum += (cached[ myLocal + curRow + c ].x / 9 + cached[ myLocal + curRow + c ].y / 2 + cached[ myLocal + curRow + c ].z / 3) * filter[ fIndex ]; + } + } + } + output[my] = sum; + } +} \ No newline at end of file diff --git a/selfdrive/camerad/imgproc/pool.cl b/selfdrive/camerad/imgproc/pool.cl new file mode 100644 index 000000000..d674b5f36 --- /dev/null +++ b/selfdrive/camerad/imgproc/pool.cl @@ -0,0 +1,34 @@ +// calculate variance in each subregion +__kernel void var_pool( + const __global char * input, + __global ushort * output // should not be larger than 128*128 so uint16 +) +{ + const int xidx = get_global_id(0) + ROI_X_MIN; + const int yidx = get_global_id(1) + ROI_Y_MIN; + + const int size = X_PITCH * Y_PITCH; + + float fsum = 0; + char mean, max; + + for (int i = 0; i < size; i++) { + int x_offset = i % X_PITCH; + int y_offset = i / X_PITCH; + fsum += input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X]; + max = input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X]>max ? input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X]:max; + } + + mean = convert_char_rte(fsum / size); + + float fvar = 0; + for (int i = 0; i < size; i++) { + int x_offset = i % X_PITCH; + int y_offset = i / X_PITCH; + fvar += (input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X] - mean) * (input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X] - mean); + } + + fvar = fvar / size; + + output[(xidx-ROI_X_MIN)+(yidx-ROI_Y_MIN)*(ROI_X_MAX-ROI_X_MIN+1)] = convert_ushort_rte(5 * fvar + convert_float_rte(max)); +} \ No newline at end of file diff --git a/selfdrive/camerad/imgproc/utils.h b/selfdrive/camerad/imgproc/utils.h new file mode 100644 index 000000000..94323b15c --- /dev/null +++ b/selfdrive/camerad/imgproc/utils.h @@ -0,0 +1,37 @@ +#pragma once + +#include +#include +#include + +#include "common/clutil.h" + +#define NUM_SEGMENTS_X 8 +#define NUM_SEGMENTS_Y 6 + +#define ROI_X_MIN 1 +#define ROI_X_MAX 6 +#define ROI_Y_MIN 2 +#define ROI_Y_MAX 3 + +#define LM_THRESH 120 +#define LM_PREC_THRESH 0.9 // 90 perc is blur +#define CONV_LOCAL_WORKSIZE 16 + +class LapConv { +public: + LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int rgb_stride, int filter_size); + ~LapConv(); + uint16_t Update(cl_command_queue q, const uint8_t *rgb_buf, const int roi_id); + +private: + cl_mem roi_cl, result_cl, filter_cl; + cl_program prg; + cl_kernel krnl; + const int width, height; + const int rgb_stride; + std::vector roi_buf; + std::vector result_buf; +}; + +bool is_blur(const uint16_t *lapmap, const size_t size); diff --git a/selfdrive/dragonpilot/controls_0813/lib/__init__.py b/selfdrive/camerad/snapshot/__init__.py similarity index 100% rename from selfdrive/dragonpilot/controls_0813/lib/__init__.py rename to selfdrive/camerad/snapshot/__init__.py diff --git a/selfdrive/camerad/snapshot/snapshot.py b/selfdrive/camerad/snapshot/snapshot.py new file mode 100755 index 000000000..ff7b6b737 --- /dev/null +++ b/selfdrive/camerad/snapshot/snapshot.py @@ -0,0 +1,124 @@ +#!/usr/bin/env python3 +import subprocess +import time + +import numpy as np +from PIL import Image +from typing import List + +import cereal.messaging as messaging +from cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionStreamType # pylint: disable=no-name-in-module, import-error +from common.params import Params +from common.realtime import DT_MDL +from system.hardware import TICI, PC +from selfdrive.controls.lib.alertmanager import set_offroad_alert +from selfdrive.manager.process_config import managed_processes + +LM_THRESH = 120 # defined in system/camerad/imgproc/utils.h + +VISION_STREAMS = { + "roadCameraState": VisionStreamType.VISION_STREAM_RGB_ROAD, + "driverCameraState": VisionStreamType.VISION_STREAM_RGB_DRIVER, + "wideRoadCameraState": VisionStreamType.VISION_STREAM_RGB_WIDE_ROAD, +} + + +def jpeg_write(fn, dat): + img = Image.fromarray(dat) + img.save(fn, "JPEG") + + +def extract_image(buf, w, h, stride): + img = np.hstack([buf[i * stride:i * stride + 3 * w] for i in range(h)]) + b = img[::3].reshape(h, w) + g = img[1::3].reshape(h, w) + r = img[2::3].reshape(h, w) + return np.dstack([r, g, b]) + + +def rois_in_focus(lapres: List[float]) -> float: + return sum(1. / len(lapres) for sharpness in lapres if sharpness >= LM_THRESH) + + +def get_snapshots(frame="roadCameraState", front_frame="driverCameraState", focus_perc_threshold=0.): + sockets = [s for s in (frame, front_frame) if s is not None] + sm = messaging.SubMaster(sockets) + vipc_clients = {s: VisionIpcClient("camerad", VISION_STREAMS[s], True) for s in sockets} + + # wait 4 sec from camerad startup for focus and exposure + while sm[sockets[0]].frameId < int(4. / DT_MDL): + sm.update() + + for client in vipc_clients.values(): + client.connect(True) + + # wait for focus + start_t = time.monotonic() + while time.monotonic() - start_t < 10: + sm.update(100) + if min(sm.rcv_frame.values()) > 1 and rois_in_focus(sm[frame].sharpnessScore) >= focus_perc_threshold: + break + + # grab images + rear, front = None, None + if frame is not None: + c = vipc_clients[frame] + rear = extract_image(c.recv(), c.width, c.height, c.stride) + if front_frame is not None: + c = vipc_clients[front_frame] + front = extract_image(c.recv(), c.width, c.height, c.stride) + return rear, front + + +def snapshot(): + params = Params() + + if (not params.get_bool("IsOffroad")) or params.get_bool("IsTakingSnapshot"): + print("Already taking snapshot") + return None, None + + front_camera_allowed = params.get_bool("RecordFront") + params.put_bool("IsTakingSnapshot", True) + set_offroad_alert("Offroad_IsTakingSnapshot", True) + time.sleep(2.0) # Give thermald time to read the param, or if just started give camerad time to start + + # Check if camerad is already started + try: + subprocess.check_call(["pgrep", "camerad"]) + print("Camerad already running") + params.put_bool("IsTakingSnapshot", False) + params.remove("Offroad_IsTakingSnapshot") + return None, None + except subprocess.CalledProcessError: + pass + + try: + # Allow testing on replay on PC + if not PC: + managed_processes['camerad'].start() + + frame = "wideRoadCameraState" if TICI else "roadCameraState" + front_frame = "driverCameraState" if front_camera_allowed else None + focus_perc_threshold = 0. if TICI else 10 / 12. + + rear, front = get_snapshots(frame, front_frame, focus_perc_threshold) + finally: + managed_processes['camerad'].stop() + params.put_bool("IsTakingSnapshot", False) + set_offroad_alert("Offroad_IsTakingSnapshot", False) + + if not front_camera_allowed: + front = None + + return rear, front + + +if __name__ == "__main__": + pic, fpic = snapshot() + if pic is not None: + print(pic.shape) + jpeg_write("/tmp/back.jpg", pic) + if fpic is not None: + jpeg_write("/tmp/front.jpg", fpic) + else: + print("Error taking snapshot") diff --git a/selfdrive/camerad/test/.gitignore b/selfdrive/camerad/test/.gitignore new file mode 100644 index 000000000..44cd0b273 --- /dev/null +++ b/selfdrive/camerad/test/.gitignore @@ -0,0 +1 @@ +jpegs/ diff --git a/selfdrive/camerad/test/ae_gray_test.h b/selfdrive/camerad/test/ae_gray_test.h new file mode 100644 index 000000000..fb54cd958 --- /dev/null +++ b/selfdrive/camerad/test/ae_gray_test.h @@ -0,0 +1,18 @@ +#pragma once + +#define W 240 +#define H 160 + +#define TONE_SPLITS 3 + +float gts[TONE_SPLITS*TONE_SPLITS*TONE_SPLITS*TONE_SPLITS] = { + 0.917969,0.917969,0.375000,0.917969,0.375000,0.375000,0.187500,0.187500,0.187500,0.917969, + 0.375000,0.375000,0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750, + 0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.917969,0.375000,0.375000, + 0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750,0.093750,0.093750, + 0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750, + 0.093750,0.093750,0.093750,0.093750,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, + 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, + 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, + 0.000000 +}; diff --git a/selfdrive/camerad/test/check_skips.py b/selfdrive/camerad/test/check_skips.py new file mode 100755 index 000000000..0814ce44f --- /dev/null +++ b/selfdrive/camerad/test/check_skips.py @@ -0,0 +1,27 @@ +#!/usr/bin/env python3 +# type: ignore +import cereal.messaging as messaging + +all_sockets = ['roadCameraState', 'driverCameraState', 'wideRoadCameraState'] +prev_id = [None,None,None] +this_id = [None,None,None] +dt = [None,None,None] +num_skipped = [0,0,0] + +if __name__ == "__main__": + sm = messaging.SubMaster(all_sockets) + while True: + sm.update() + + for i in range(len(all_sockets)): + if not sm.updated[all_sockets[i]]: + continue + this_id[i] = sm[all_sockets[i]].frameId + if prev_id[i] is None: + prev_id[i] = this_id[i] + continue + dt[i] = this_id[i] - prev_id[i] + if dt[i] != 1: + num_skipped[i] += dt[i] - 1 + print(all_sockets[i] ,dt[i] - 1, num_skipped[i]) + prev_id[i] = this_id[i] diff --git a/selfdrive/camerad/test/frame_test.py b/selfdrive/camerad/test/frame_test.py new file mode 100755 index 000000000..39198e19d --- /dev/null +++ b/selfdrive/camerad/test/frame_test.py @@ -0,0 +1,37 @@ +#!/usr/bin/env python3 +import numpy as np +import cereal.messaging as messaging +from PIL import ImageFont, ImageDraw, Image + +font = ImageFont.truetype("arial", size=72) +def get_frame(idx): + img = np.zeros((874, 1164, 3), np.uint8) + img[100:400, 100:100+(idx % 10) * 100] = 255 + + # big number + im2 = Image.new("RGB", (200, 200)) + draw = ImageDraw.Draw(im2) + draw.text((10, 100), "%02d" % idx, font=font) + img[400:600, 400:600] = np.array(im2.getdata()).reshape((200, 200, 3)) + return img.tostring() + +if __name__ == "__main__": + from common.realtime import Ratekeeper + rk = Ratekeeper(20) + + pm = messaging.PubMaster(['roadCameraState']) + frm = [get_frame(x) for x in range(30)] + idx = 0 + while 1: + print("send %d" % idx) + dat = messaging.new_message('roadCameraState') + dat.valid = True + dat.frame = { + "frameId": idx, + "image": frm[idx % len(frm)], + } + pm.send('roadCameraState', dat) + + idx += 1 + rk.keep_time() + #time.sleep(1.0) diff --git a/selfdrive/camerad/test/get_thumbnails_for_segment.py b/selfdrive/camerad/test/get_thumbnails_for_segment.py new file mode 100755 index 000000000..898377b11 --- /dev/null +++ b/selfdrive/camerad/test/get_thumbnails_for_segment.py @@ -0,0 +1,32 @@ +#!/usr/bin/env python3 + +import os + +from tqdm import tqdm + +from common.file_helpers import mkdirs_exists_ok +from tools.lib.logreader import LogReader +from tools.lib.route import Route + +import argparse + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("route", help="The route name") + parser.add_argument("segment", type=int, help="The index of the segment") + args = parser.parse_args() + + out_path = os.path.join("jpegs", f"{args.route.replace('|', '_')}_{args.segment}") + mkdirs_exists_ok(out_path) + + r = Route(args.route) + path = r.log_paths()[args.segment] or r.qlog_paths()[args.segment] + lr = list(LogReader(path)) + + for msg in tqdm(lr): + if msg.which() == 'thumbnail': + with open(os.path.join(out_path, f"{msg.thumbnail.frameId}.jpg"), 'wb') as f: + f.write(msg.thumbnail.thumbnail) + elif msg.which() == 'navThumbnail': + with open(os.path.join(out_path, f"nav_{msg.navThumbnail.frameId}.jpg"), 'wb') as f: + f.write(msg.navThumbnail.thumbnail) diff --git a/selfdrive/camerad/test/stress_restart.sh b/selfdrive/camerad/test/stress_restart.sh new file mode 100755 index 000000000..0445dcba7 --- /dev/null +++ b/selfdrive/camerad/test/stress_restart.sh @@ -0,0 +1,9 @@ +#!/bin/sh +cd .. +while :; do + ./camerad & + pid="$!" + sleep 2 + kill -2 $pid + wait $pid +done diff --git a/selfdrive/camerad/test/test_camerad.py b/selfdrive/camerad/test/test_camerad.py new file mode 100755 index 000000000..f03c531b2 --- /dev/null +++ b/selfdrive/camerad/test/test_camerad.py @@ -0,0 +1,92 @@ +#!/usr/bin/env python3 +import time +import unittest +import numpy as np +from collections import defaultdict + +import cereal.messaging as messaging +from cereal import log +from cereal.services import service_list +from selfdrive.manager.process_config import managed_processes +from system.hardware import TICI + +TEST_TIMESPAN = 30 +LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts + log.FrameData.ImageSensor.ox03c10: 1.0} # OXs react to out-of-sync at next frame +FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0, + log.FrameData.ImageSensor.ox03c10: 1.0} + +CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') + + +class TestCamerad(unittest.TestCase): + @classmethod + def setUpClass(cls): + if not TICI: + raise unittest.SkipTest + + # run camerad and record logs + managed_processes['camerad'].start() + time.sleep(3) + socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS} + + cls.logs = defaultdict(list) + start_time = time.monotonic() + while time.monotonic()- start_time < TEST_TIMESPAN: + for cam, s in socks.items(): + cls.logs[cam] += messaging.drain_sock(s) + time.sleep(0.2) + managed_processes['camerad'].stop() + + cls.log_by_frame_id = defaultdict(list) + cls.sensor_type = None + for cam, msgs in cls.logs.items(): + if cls.sensor_type is None: + cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw + expected_frames = service_list[cam].frequency * TEST_TIMESPAN + assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}" + + dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/service_list[cam].frequency) + assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}" + + for m in msgs: + cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m) + + # strip beginning and end + for _ in range(3): + mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys()) + del cls.log_by_frame_id[mn] + del cls.log_by_frame_id[mx] + + @classmethod + def tearDownClass(cls): + managed_processes['camerad'].stop() + + def test_frame_skips(self): + skips = {} + frame_ids = self.log_by_frame_id.keys() + for frame_id in range(min(frame_ids), max(frame_ids)): + seen_cams = [msg.which() for msg in self.log_by_frame_id[frame_id]] + skip_cams = set(CAMERAS) - set(seen_cams) + if len(skip_cams): + skips[frame_id] = skip_cams + assert len(skips) == 0, f"Found frame skips, missing cameras for the following frames: {skips}" + + def test_frame_sync(self): + frame_times = {frame_id: [getattr(m, m.which()).timestampSof for m in msgs] for frame_id, msgs in self.log_by_frame_id.items()} + diffs = {frame_id: (max(ts) - min(ts))/1e6 for frame_id, ts in frame_times.items()} + + def get_desc(fid, diff): + cam_times = [(m.which(), getattr(m, m.which()).timestampSof/1e6) for m in self.log_by_frame_id[fid]] + return (diff, cam_times) + laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE[self.sensor_type]} + + def in_tol(diff): + return 50 - LAG_FRAME_TOLERANCE[self.sensor_type] < diff and diff < 50 + LAG_FRAME_TOLERANCE[self.sensor_type] + if len(laggy_frames) != 0 and all( in_tol(laggy_frames[lf][0]) for lf in laggy_frames): + print("TODO: handle camera out of sync") + else: + assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}" + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/camerad/test/test_exposure.py b/selfdrive/camerad/test/test_exposure.py new file mode 100755 index 000000000..201b205c4 --- /dev/null +++ b/selfdrive/camerad/test/test_exposure.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python3 +import time +import unittest +import numpy as np + +from selfdrive.test.helpers import with_processes +from system.camerad.snapshot.snapshot import get_snapshots + +TEST_TIME = 45 +REPEAT = 5 + +class TestCamerad(unittest.TestCase): + @classmethod + def setUpClass(cls): + pass + + def _numpy_rgb2gray(self, im): + ret = np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8) + return ret + + def _is_exposure_okay(self, i, med_mean=np.array([[0.2,0.4],[0.2,0.6]])): + h, w = i.shape[:2] + i = i[h//10:9*h//10,w//10:9*w//10] + med_ex, mean_ex = med_mean + i = self._numpy_rgb2gray(i) + i_median = np.median(i) / 255. + i_mean = np.mean(i) / 255. + print([i_median, i_mean]) + return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1] + + @with_processes(['camerad']) + def test_camera_operation(self): + passed = 0 + start = time.time() + while time.time() - start < TEST_TIME and passed < REPEAT: + rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState") + wpic, _ = get_snapshots(frame="wideRoadCameraState") + + res = self._is_exposure_okay(rpic) + res = res and self._is_exposure_okay(dpic) + res = res and self._is_exposure_okay(wpic) + + if passed > 0 and not res: + passed = -passed # fails test if any failure after first sus + break + + passed += int(res) + time.sleep(2) + self.assertGreaterEqual(passed, REPEAT) + +if __name__ == "__main__": + unittest.main() diff --git a/system/camerad/transforms/rgb_to_yuv.cl b/selfdrive/camerad/transforms/rgb_to_yuv.cl similarity index 100% rename from system/camerad/transforms/rgb_to_yuv.cl rename to selfdrive/camerad/transforms/rgb_to_yuv.cl diff --git a/system/camerad/transforms/rgb_to_yuv.h b/selfdrive/camerad/transforms/rgb_to_yuv.h similarity index 100% rename from system/camerad/transforms/rgb_to_yuv.h rename to selfdrive/camerad/transforms/rgb_to_yuv.h diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index 850a3538a..4d583bada 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -8,7 +8,7 @@ from selfdrive.car.body.values import SPEED_FROM_RPM class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.notCar = True ret.carName = "body" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)] diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 40a8c85a6..f71bfe887 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -4,7 +4,7 @@ from typing import Dict, List from cereal import car from common.params import Params from common.basedir import BASEDIR -# from system.version import is_comma_remote, is_tested_branch +from system.version import is_comma_remote, is_tested_branch from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN @@ -13,16 +13,11 @@ from system.swaglog import cloudlog import cereal.messaging as messaging from selfdrive.car import gen_empty_fingerprint -import threading -import requests -import time -import selfdrive.sentry as sentry - EventName = car.CarEvent.EventName def get_startup_event(car_recognized, controller_available, fw_seen): - if True: #is_comma_remote() and is_tested_branch(): # pylint: disable=abstract-class-instantiated + if is_comma_remote() and is_tested_branch(): event = EventName.startup else: event = EventName.startupMaster @@ -89,10 +84,10 @@ def fingerprint(logcan, sendcan, num_pandas): dp_car_assigned = Params().get('dp_car_assigned', encoding='utf8') if not fixed_fingerprint and dp_car_assigned is not None: - car_selected = dp_car_assigned.strip() - fixed_fingerprint = car_selected + fixed_fingerprint = dp_car_assigned.strip() + skip_fw_query = True - if not fixed_fingerprint and not skip_fw_query: + if not skip_fw_query: # Vin query only reliably works through OBDII bus = 1 @@ -188,41 +183,6 @@ def fingerprint(logcan, sendcan, num_pandas): fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, error=True) return car_fingerprint, finger, vin, car_fw, source, exact_match -#dp -def is_connected_to_internet(timeout=5): - try: - requests.get("https://sentry.io", timeout=timeout) - return True - except Exception: - return False - - -def crash_log(candidate): - no_internet = 0 - while True: - if is_connected_to_internet(): - sentry.capture_warning("fingerprinted %s" % candidate) - break - else: - no_internet += 1 - if no_internet >= 2: - break - time.sleep(600) - - -def crash_log2(fingerprints, fw): - no_internet = 0 - while True: - if is_connected_to_internet(): - sentry.capture_warning("car doesn't match any fingerprints: %s" % fingerprints) - sentry.capture_warning("car doesn't match any fw: %s" % fw) - break - else: - no_internet += 1 - if no_internet >= 2: - break - time.sleep(600) - def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas) @@ -231,20 +191,11 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): cloudlog.event("car doesn't match any fingerprints", fingerprints=fingerprints, error=True) candidate = "mock" - y = threading.Thread(target=crash_log2, args=(fingerprints,car_fw,)) - y.start() + CarInterface, CarController, CarState = interfaces[candidate] + CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False) + CP.carVin = vin + CP.carFw = car_fw + CP.fingerprintSource = source + CP.fuzzyFingerprint = not exact_match - x = threading.Thread(target=crash_log, args=(candidate,)) - x.start() - - try: - CarInterface, CarController, CarState = interfaces[candidate] - CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed) - CP.carVin = vin - CP.carFw = car_fw - CP.fingerprintSource = source - CP.fuzzyFingerprint = not exact_match - - return CarInterface(CP, CarController, CarState), CP - except KeyError: - return None, None + return CarInterface(CP, CarController, CarState), CP diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index cd987d974..22b207388 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -8,7 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "chrysler" ret.dashcamOnly = candidate in RAM_HD @@ -78,9 +78,6 @@ class CarInterface(CarInterfaceBase): else: raise ValueError(f"Unsupported car: {candidate}") - CarInterfaceBase.dp_lat_tune_collection(candidate, ret.latTuneCollection) - CarInterfaceBase.configure_dp_tune(ret.lateralTuning, ret.latTuneCollection) - if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED: # TODO: allow these cars to steer down to 13 m/s if already engaged. ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged. diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 8799f073c..a9d1a528c 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -67,7 +67,7 @@ class ChryslerCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"), CAR.PACIFICA_2018_HYBRID: None, # same platforms - CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"), + CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"), CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"), CAR.PACIFICA_2020: [ ChryslerCarInfo("Chrysler Pacifica 2019-20"), @@ -127,6 +127,9 @@ FINGERPRINTS = { # Based on "8190c7275a24557b|2020-02-24--09-57-23" { 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, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 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, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 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, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 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, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8 + }, + { + 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, 450: 8, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 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, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 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, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 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, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 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, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2018: 8, 2020: 8, 2026: 8, 2028: 8 }], CAR.JEEP_CHEROKEE: [{ 55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 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, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index c0fb4420d..fa95b03fd 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -117,8 +117,20 @@ def split_name(name: str) -> Tuple[str, str, str]: @dataclass class CarInfo: + # make + model + model years name: str + + # Example for Toyota Corolla MY20 + # requirements: Lane Tracing Assist (LTA) and Dynamic Radar Cruise Control (DRCC) + # US Market reference: "All", since all Corolla in the US come standard with LTA and DRCC + + # the simplest description of the requirements for the US market package: str + + # the minimum compatibility requirements for this model, regardless + # of market. can be a package, trim, or list of features + requirements: Optional[str] = None + video_link: Optional[str] = None footnotes: List[Enum] = field(default_factory=list) min_steer_speed: Optional[float] = None diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index 86bae91b0..868f12cdb 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -55,6 +55,10 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que can_packets = messaging.drain_sock(logcan, wait_for_one=True) for packet in can_packets: for msg in packet.can: + if not len(msg.dat): + cloudlog.warning("ECU addr scan: skipping empty remote frame") + continue + subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0] if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr): if debug: diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 99072ae97..edce3418b 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -2,13 +2,26 @@ from cereal import car from common.numpy_fast import clip from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_angle_limits -from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \ +from selfdrive.car.ford.fordcan import create_acc_msg, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \ create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams +LongCtrlState = car.CarControl.Actuators.LongControlState VisualAlert = car.CarControl.HUDControl.VisualAlert +def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw): + # No blending at low speed due to lack of torque wind-up and inaccurate current curvature + if v_ego_raw > 9: + apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR, + current_curvature + CarControllerParams.CURVATURE_ERROR) + + # Curvature rate limit after driver torque limit + apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams) + + return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX) + + class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP @@ -43,17 +56,16 @@ class CarController: can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True)) ### lateral control ### - # send steering commands at 20Hz + # send steer msg at 20Hz if (self.frame % CarControllerParams.STEER_STEP) == 0: if CC.latActive: - # apply limits to curvature and clip to signal range - apply_curvature = apply_std_steer_angle_limits(actuators.curvature, self.apply_curvature_last, CS.out.vEgo, CarControllerParams) - apply_curvature = clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX) + # apply rate limits, curvature error limit, and clip to signal range + current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1) + apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw) else: apply_curvature = 0. self.apply_curvature_last = apply_curvature - can_sends.append(create_lka_msg(self.packer)) if self.CP.carFingerprint in CANFD_CARS: # TODO: extended mode @@ -63,29 +75,29 @@ class CarController: else: can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.)) + # send lka msg at 33Hz + if (self.frame % CarControllerParams.LKA_STEP) == 0: + can_sends.append(create_lka_msg(self.packer)) + ### longitudinal control ### - # send acc command at 50Hz + # send acc msg at 50Hz if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0: accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) - precharge_brake = accel < -0.1 - if accel > -0.5: - gas = accel - decel = False - else: + gas = accel + decel = accel < 0.0 + if accel < -0.5: gas = -5.0 - decel = True - can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel)) + stopping = CC.actuators.longControlState == LongCtrlState.stopping + can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, decel, stopping)) ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) - - # send lkas ui command at 1Hz or if ui state changes + # send lkas ui msg at 1Hz or if ui state changes if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) - - # send acc ui command at 20Hz or if ui state changes + # send acc ui msg at 5Hz or if ui state changes if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: can_sends.append(create_acc_ui_msg(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values)) diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 21af1062f..9b8e96622 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -48,6 +48,7 @@ class CarState(CarStateBase): ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5) ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0 ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3 + ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2) # gear if self.CP.transmissionType == TransmissionType.automatic: diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index 594d50f59..81e08c367 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -19,7 +19,7 @@ def create_lka_msg(packer): This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout. - Frequency is 20Hz. + Frequency is 33Hz. """ return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {}) @@ -97,7 +97,7 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values) -def create_acc_command(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool): +def create_acc_msg(packer, long_active: bool, gas: float, accel: float, decel: bool, stopping: bool): """ Creates a CAN message for the Ford ACC Command. @@ -111,12 +111,48 @@ def create_acc_command(packer, long_active: bool, gas: float, accel: float, prec "AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2 "Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes "AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2 - "AccBrkPrchg_B_Rq": 1 if precharge_brake else 0, # Pre-charge brake request: 0=No, 1=Yes + "AccResumEnbl_B_Rq": 1 if long_active else 0, + "AccBrkPrchg_B_Rq": 1 if decel else 0, # Pre-charge brake request: 0=No, 1=Yes "AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active + "AccStopStat_B_Rq": 1 if stopping else 0, } return packer.make_can_msg("ACCDATA", CANBUS.main, values) +def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict): + """ + Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status. + + Stock functionality is maintained by passing through unmodified signals. + + Frequency is 5Hz. + """ + + # Tja_D_Stat + if enabled: + if hud_control.leftLaneDepart: + status = 3 # ActiveInterventionLeft + elif hud_control.rightLaneDepart: + status = 4 # ActiveInterventionRight + else: + status = 2 # Active + elif main_on: + if hud_control.leftLaneDepart: + status = 5 # ActiveWarningLeft + elif hud_control.rightLaneDepart: + status = 6 # ActiveWarningRight + else: + status = 1 # Standby + else: + status = 0 # Off + + values = { + **stock_values, + "Tja_D_Stat": status, + } + return packer.make_can_msg("ACCDATA_3", CANBUS.main, values) + + def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict): """ Creates a CAN message for the Ford IPC IPMA/LKAS status. @@ -158,8 +194,7 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, else: lines = 30 # LA_Off - # TODO: use level 1 for no sound when less severe? - hands_on_wheel_dsply = 2 if steer_alert else 0 + hands_on_wheel_dsply = 1 if steer_alert else 0 values = { **stock_values, @@ -169,46 +204,14 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, return packer.make_can_msg("IPMA_Data", CANBUS.main, values) -def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict): - """ - Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status. - - Stock functionality is maintained by passing through unmodified signals. - - Frequency is 20Hz. - """ - - # Tja_D_Stat - if enabled: - if hud_control.leftLaneDepart: - status = 3 # ActiveInterventionLeft - elif hud_control.rightLaneDepart: - status = 4 # ActiveInterventionRight - else: - status = 2 # Active - elif main_on: - if hud_control.leftLaneDepart: - status = 5 # ActiveWarningLeft - elif hud_control.rightLaneDepart: - status = 6 # ActiveWarningRight - else: - status = 1 # Standby - else: - status = 0 # Off - - values = { - **stock_values, - "Tja_D_Stat": status, - } - return packer.make_can_msg("ACCDATA_3", CANBUS.main, values) - - def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False, bus: int = CANBUS.camera): """ Creates a CAN message for the Ford SCCM buttons/switches. Includes cruise control buttons, turn lights and more. + + Frequency is 10Hz. """ values = { diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 34f60fd37..01c5dd377 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -11,12 +11,14 @@ GearShifter = car.CarState.GearShifter class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "ford" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] - # These cars are dashcam only until the port is finished - ret.dashcamOnly = True + # These cars are dashcam only for lack of test coverage. + # Once a user confirms each car works and a test route is + # added to selfdrive/car/tests/routes.py, we can remove it from this list. + ret.dashcamOnly = candidate in {CAR.FOCUS_MK4, CAR.MAVERICK_MK1} ret.radarUnavailable = True ret.steerControlType = car.CarParams.SteerControlType.angle @@ -51,12 +53,9 @@ class CarInterface(CarInterfaceBase): else: raise ValueError(f"Unsupported car: {candidate}") - CarInterfaceBase.dp_lat_tune_collection(candidate, ret.latTuneCollection) - CarInterfaceBase.configure_dp_tune(ret.lateralTuning, ret.latTuneCollection) - # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 found_ecus = [fw.ecu for fw in car_fw] - if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0]: + if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0] or docs: ret.transmissionType = TransmissionType.automatic else: ret.transmissionType = TransmissionType.manual diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 50c7d9398..00cbb7de0 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -12,25 +12,23 @@ Ecu = car.CarParams.Ecu class CarControllerParams: - # Messages: Lane_Assist_Data1, LateralMotionControl - STEER_STEP = 5 - # Message: ACCDATA - ACC_CONTROL_STEP = 2 - # Message: IPMA_Data - LKAS_UI_STEP = 100 - # Message: ACCDATA_3 - ACC_UI_STEP = 5 - # Message: Steering_Data_FD1, but send twice as fast - BUTTONS_STEP = 10 / 2 + STEER_STEP = 5 # LateralMotionControl, 20Hz + LKA_STEP = 3 # Lane_Assist_Data1, 33Hz + ACC_CONTROL_STEP = 2 # ACCDATA, 50Hz + LKAS_UI_STEP = 100 # IPMA_Data, 1Hz + ACC_UI_STEP = 20 # ACCDATA_3, 5Hz + BUTTONS_STEP = 5 # Steering_Data_FD1, 10Hz, but send twice as fast CURVATURE_MAX = 0.02 # Max curvature for steering command, m^-1 STEER_DRIVER_ALLOWANCE = 1.0 # Driver intervention threshold, Nm # Curvature rate limits - # TODO: unify field names used by curvature and angle control cars - # ~2 m/s^3 up, ~-3 m/s^3 down - ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.004, 0.00044, 0.00016]) - ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.006, 0.00066, 0.00024]) + # The curvature signal is limited to 0.003 to 0.009 m^-1/sec by the EPS depending on speed and direction + # Limit to ~2 m/s^3 up, ~3 m/s^3 down at 75 mph + # Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.0002, 0.0001]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015]) + CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s ACCEL_MAX = 2.0 # m/s^s max acceleration ACCEL_MIN = -3.5 # m/s^s max deceleration @@ -74,17 +72,20 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"), CAR.ESCAPE_MK4: [ FordCarInfo("Ford Escape 2020-22"), - FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"), - FordCarInfo("Ford Kuga 2020-21", "Driver Assistance Pack"), - FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Driver Assistance Pack"), + FordCarInfo("Ford Escape Hybrid 2020-22"), + FordCarInfo("Ford Escape Plug-in Hybrid 2021-22"), + FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"), + FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"), + FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"), ], CAR.EXPLORER_MK6: [ FordCarInfo("Ford Explorer 2020-22"), + FordCarInfo("Ford Explorer Hybrid 2020-22"), FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"), FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"), ], - CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"), - CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022", "Co-Pilot360 Assist"), + CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"), + CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"), } FW_QUERY_CONFIG = FwQueryConfig( @@ -150,6 +151,7 @@ FW_VERSIONS = { b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.shiftByWire, 0x732, None): [ @@ -217,6 +219,7 @@ FW_VERSIONS = { ], (Ecu.abs, 0x760, None): [ b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -228,6 +231,7 @@ FW_VERSIONS = { b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.shiftByWire, 0x732, None): [ b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index f85b7f6b7..1c0d5003e 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -221,6 +221,10 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand brand_matches = get_brand_ecu_matches(ecu_rx_addrs) for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True): + # Skip this brand if there are no matching present ECUs + if not len(brand_matches[brand]): + continue + car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress) all_car_fw.extend(car_fw) # Try to match using FW returned from this brand only diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 376cc3646..ff578da98 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -1,13 +1,14 @@ #!/usr/bin/env python3 from cereal import car -from math import fabs +from math import fabs, exp from panda import Panda from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus -from selfdrive.car.interfaces import CarInterfaceBase +from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD +from selfdrive.controls.lib.drive_helpers import get_friction ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -45,11 +46,33 @@ class CarInterface(CarInterfaceBase): return CarInterfaceBase.get_steer_feedforward_default @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def torque_from_lateral_accel_bolt(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning, + lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float: + friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation) + + def sig(val): + return 1 / (1 + exp(-val)) - 0.5 + + # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves + # An important thing to consider is that the slope at 0 should be > 0 (ideally >1) + # This has big effect on the stability about 0 (noise when going straight) + # ToDo: To generalize to other GMs, explore tanh function as the nonlinear + a, b, c, _ = [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178] # weights computed offline + + steer_torque = (sig(lateral_accel_value * a) * b) + (lateral_accel_value * c) + return float(steer_torque) + friction + + def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: + if self.CP.carFingerprint == CAR.BOLT_EUV: + return self.torque_from_lateral_accel_bolt + else: + return self.torque_from_lateral_accel_linear + + @staticmethod + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "gm" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] ret.autoResumeSng = False - use_off_car_defaults = len(fingerprint[0]) == 0 # Pick sensible carParams during offline doc generation/CI jobs if candidate in EV_CAR: ret.transmissionType = TransmissionType.direct @@ -74,7 +97,6 @@ class CarInterface(CarInterfaceBase): # Tuning for experimental long ret.longitudinalTuning.kpV = [2.0, 1.5] ret.longitudinalTuning.kiV = [0.72] - ret.stopAccel = -2.0 ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling ret.vEgoStopping = 0.25 ret.vEgoStarting = 0.25 @@ -87,7 +109,7 @@ class CarInterface(CarInterfaceBase): else: # ASCM, OBD-II harness ret.openpilotLongitudinalControl = True ret.networkLocation = NetworkLocation.gateway - ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not use_off_car_defaults + ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs ret.pcmCruise = False # stock non-adaptive cruise control is kept off # supports stop and go, but initial engage must (conservatively) be above 18mph ret.minEnableSpeed = 18 * CV.MPH_TO_MS @@ -97,9 +119,6 @@ class CarInterface(CarInterfaceBase): ret.longitudinalTuning.kpV = [2.4, 1.5] ret.longitudinalTuning.kiV = [0.36] - CarInterfaceBase.dp_lat_tune_collection(candidate, ret.latTuneCollection) - CarInterfaceBase.configure_dp_tune(ret.lateralTuning, ret.latTuneCollection) - # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. @@ -215,15 +234,12 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.TRAILBLAZER: - ret.mass = 1365. + STD_CARGO_KG + ret.mass = 1345. + STD_CARGO_KG ret.wheelbase = 2.64 - ret.steerRatio = 16.5 - ret.centerToFront = ret.wheelbase * 0.38 # FIXME: Need to tune more. + ret.steerRatio = 16.8 + ret.centerToFront = ret.wheelbase * 0.4 tire_stiffness_factor = 1.0 - ret.steerActuatorDelay = 0.18 - ret.minSteerSpeed = -1. - ret.minEnableSpeed = -1. # engage speed is decided by pcm - ret.autoResumeSng = True + ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 8f0f33ab6..bc2858a66 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -14,8 +14,8 @@ class CarControllerParams: STEER_STEP = 3 # Active control frames per command (~33hz) INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz) STEER_DELTA_UP = 10 # Delta rates require review due to observed EPS weakness - STEER_DELTA_DOWN = 25 - STEER_DRIVER_ALLOWANCE = 50 + STEER_DELTA_DOWN = 15 + STEER_DRIVER_ALLOWANCE = 65 STEER_DRIVER_MULTIPLIER = 4 STEER_DRIVER_FACTOR = 100 NEAR_STOP_BRAKE_PHASE = 0.5 # m/s @@ -73,7 +73,7 @@ class CAR: BOLT_EUV = "CHEVROLET BOLT EUV 2022" SILVERADO = "CHEVROLET SILVERADO 1500 2020" EQUINOX = "CHEVROLET EQUINOX 2019" - TRAILBLAZER = "CHEVROLET TRAILBLAZER 2022" + TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021" class Footnote(Enum): @@ -106,17 +106,15 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"), CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), CAR.BOLT_EUV: [ - GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"), + GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"), GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"), ], CAR.SILVERADO: [ GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"), - GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE"), + GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"), ], CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"), - CAR.TRAILBLAZER: [ - GMCarInfo("Chevrolet Trailblazer 2022", "RS Trim with Adaptive Cruise Control Package"), - ], + CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"), } @@ -211,8 +209,11 @@ FINGERPRINTS = { { 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7 }], - CAR.TRAILBLAZER: [{ - 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7 + # Trailblazer also matches as a Silverado, so comment out to avoid conflicts. + # TODO: split with FW versions + CAR.TRAILBLAZER: [ + { + # 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8 }], } diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 3976f898d..347c16c86 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -1,13 +1,12 @@ from collections import namedtuple from cereal import car -from common.conversions import Conversions as CV from common.numpy_fast import clip, interp from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from selfdrive.car import create_gas_interceptor_command from selfdrive.car.honda import hondacan -from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams, CAR +from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams from selfdrive.controls.lib.drive_helpers import rate_limit VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -117,6 +116,7 @@ class CarController: self.brake_last = 0. self.apply_brake_last = 0 self.last_pump_ts = 0. + self.stopping_counter = 0 self.accel = 0.0 self.speed = 0.0 @@ -124,10 +124,11 @@ class CarController: self.brake = 0.0 self.last_steer = 0.0 - def update(self, CC, CS, now_nanos, dragonconf): + def update(self, CC, CS, now_nanos): actuators = CC.actuators hud_control = CC.hudControl - hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH if hud_control.speedVisible else 255 + conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric) + hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255 pcm_cancel_cmd = CC.cruiseControl.cancel if CC.longActive: @@ -161,7 +162,7 @@ class CarController: can_sends = [] # tester present - w/ no response (keeps radar disabled) - if self.CP.carFingerprint in HONDA_BOSCH and self.CP.openpilotLongitudinalControl: + if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl: if self.frame % 10 == 0: can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1)) @@ -205,10 +206,7 @@ class CarController: if pcm_cancel_cmd: can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, self.CP.carFingerprint)) elif CC.cruiseControl.resume: - if CS.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CRV_HYBRID_BSM) and CS.hud_lead == 1: - can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, CS.CP.carFingerprint)) - else: - can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, self.CP.carFingerprint)) + can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, self.CP.carFingerprint)) else: # Send gas and brake commands. @@ -220,14 +218,13 @@ class CarController: self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V) stopping = actuators.longControlState == LongCtrlState.stopping + self.stopping_counter = self.stopping_counter + 1 if stopping else 0 can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas, - stopping, self.CP.carFingerprint)) + self.stopping_counter, self.CP.carFingerprint)) else: apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0) apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1)) pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts) - if self.CP.carFingerprint == CAR.ODYSSEY_HYBRID: - pump_on = True pcm_override = True can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on, diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index d3b90fb7d..bcc239c2d 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -5,7 +5,7 @@ from common.conversions import Conversions as CV from common.numpy_fast import interp from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.honda.hondacan import get_pt_bus +from selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS from selfdrive.car.interfaces import CarStateBase @@ -42,9 +42,6 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): ("CRUISE_SETTING", "SCM_BUTTONS"), ("ACC_STATUS", "POWERTRAIN_DATA"), ("MAIN_ON", main_on_sig_msg), - #dp - ("ENGINE_RPM", "POWERTRAIN_DATA"), - ("HUD_LEAD", "ACC_HUD"), ] checks = [ @@ -60,7 +57,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): ("STEER_MOTOR_TORQUE", 0), # TODO: not on every car ] - if CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.ODYSSEY_HYBRID): + if CP.carFingerprint == CAR.ODYSSEY_CHN: checks += [ ("SCM_FEEDBACK", 25), ("SCM_BUTTONS", 50), @@ -71,7 +68,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): ("SCM_BUTTONS", 25), ] - if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CRV_HYBRID_BSM): + if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E): checks.append((gearbox_msg, 50)) else: checks.append((gearbox_msg, 100)) @@ -80,7 +77,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): signals.append(("BRAKE_PRESSED", "BRAKE_MODULE")) checks.append(("BRAKE_MODULE", 50)) - if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.ODYSSEY_HYBRID}): + if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}): signals.append(("EPB_STATE", "EPB_STATUS")) checks.append(("EPB_STATUS", 50)) @@ -92,8 +89,6 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): ("CRUISE_SPEED", "ACC_HUD"), ("ACCEL_COMMAND", "ACC_CONTROL"), ("AEB_STATUS", "ACC_CONTROL"), - #dp - ("BRAKE_LIGHTS", "ACC_CONTROL"), ] checks += [ ("ACC_HUD", 10), @@ -103,12 +98,12 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): signals += [("CRUISE_SPEED_PCM", "CRUISE"), ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS")] - if CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.ODYSSEY_HYBRID): + if CP.carFingerprint == CAR.ODYSSEY_CHN: checks.append(("CRUISE_PARAMS", 10)) else: checks.append(("CRUISE_PARAMS", 50)) - if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.CRV_HYBRID_BSM): + if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK")) elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS")) @@ -125,19 +120,15 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR")) checks.append(("GAS_SENSOR", 50)) - if CP.openpilotLongitudinalControl: - if CP.carFingerprint in (CAR.ODYSSEY_HYBRID,): - signals += [ - ("BRAKE_ERROR_1", "BRAKE_ERROR"), - ("BRAKE_ERROR_2", "BRAKE_ERROR") - ] - checks.append(("BRAKE_ERROR", 100)) - else: - signals += [ - ("BRAKE_ERROR_1", "STANDSTILL"), - ("BRAKE_ERROR_2", "STANDSTILL") - ] - checks.append(("STANDSTILL", 50)) + if CP.carFingerprint in HONDA_BOSCH_RADARLESS: + signals.append(("CRUISE_FAULT", "CRUISE_FAULT_STATUS")) + checks.append(("CRUISE_FAULT_STATUS", 50)) + elif CP.openpilotLongitudinalControl: + signals += [ + ("BRAKE_ERROR_1", "STANDSTILL"), + ("BRAKE_ERROR_2", "STANDSTILL") + ] + checks.append(("STANDSTILL", 50)) return signals, checks @@ -162,8 +153,6 @@ class CarState(CarStateBase): self.brake_switch_active = False self.cruise_setting = 0 self.v_cruise_pcm_prev = 0 - self.engineRPM = 0 - self.hud_lead = 0 # When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX) @@ -190,7 +179,7 @@ class CarState(CarStateBase): # panda checks if the signal is non-zero ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5 # TODO: find a common signal across all cars - if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.CRV_HYBRID_BSM): + if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"]) @@ -205,11 +194,10 @@ class CarState(CarStateBase): # NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2") - if self.CP.openpilotLongitudinalControl: - if self.CP.carFingerprint in (CAR.ODYSSEY_HYBRID,): - self.brake_error = cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_1"] or cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_2"] - else: - self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"] + if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: + self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"] + elif self.CP.openpilotLongitudinalControl: + self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"] ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0 ret.wheelSpeeds = self.get_wheel_speeds( @@ -236,11 +224,9 @@ class CarState(CarStateBase): ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk( 250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"]) ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1 - #dp - self.engineRPM = cp.vl["POWERTRAIN_DATA"]['ENGINE_RPM'] # TODO: set for all cars - if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.ODYSSEY_HYBRID}): + if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}): ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0 gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"]) @@ -265,8 +251,7 @@ class CarState(CarStateBase): ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0 ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252. - # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting - conversion = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS + conversion = get_cruise_speed_conversion(self.CP.carFingerprint, self.is_metric) # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this. ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion self.v_cruise_pcm_prev = ret.cruiseState.speed @@ -292,21 +277,11 @@ class CarState(CarStateBase): ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0 ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"]) - # afa feature - self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD'] - # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models if self.CP.carFingerprint in (CAR.PILOT, CAR.RIDGELINE): if ret.brake > 0.1: ret.brakePressed = True - if self.CP.carFingerprint in HONDA_BOSCH and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: - ret.brakeLightsDEPRECATED = bool(ret.brakePressed or ret.brake > 0.4 or ret.parkingBrake) - if not self.CP.openpilotLongitudinalControl: - ret.brakeLightsDEPRECATED = ret.brakeLightsDEPRECATED or cp.vl["ACC_CONTROL"]['BRAKE_LIGHTS'] != 0 - else: - ret.brakeLightsDEPRECATED = bool(ret.brakePressed) - if self.CP.carFingerprint in HONDA_BOSCH: # TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: @@ -323,7 +298,7 @@ class CarState(CarStateBase): if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: self.lkas_hud = cp_cam.vl["LKAS_HUD"] - if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, CAR.CRV_HYBRID_BSM,): + if self.CP.enableBsm: # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0 # more info here: https://github.com/commaai/openpilot/pull/1867 ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1 @@ -370,7 +345,7 @@ class CarState(CarStateBase): @staticmethod def get_body_can_parser(CP): - if CP.enableBsm and CP.carFingerprint in (CAR.CRV_5G, CAR.CRV_HYBRID_BSM,): + if CP.enableBsm: signals = [("BSM_ALERT", "BSM_STATUS_RIGHT"), ("BSM_ALERT", "BSM_STATUS_LEFT")] diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 17681444a..1fe0a1376 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -21,6 +21,11 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False): return 0 +def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float: + # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting + return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS + + def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake): # TODO: do we loose pressure if we keep pump off for long? brakelights = apply_brake > 0 @@ -46,7 +51,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_ return packer.make_can_msg("BRAKE_COMMAND", bus, values) -def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_fingerprint): +def create_acc_commands(packer, enabled, active, accel, gas, stopping_counter, car_fingerprint): commands = [] bus = get_pt_bus(car_fingerprint) min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0] @@ -55,30 +60,39 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge gas_command = gas if active and accel > min_gas_accel else -30000 accel_command = accel if active else 0 braking = 1 if active and accel < min_gas_accel else 0 - standstill = 1 if active and stopping else 0 - standstill_release = 1 if active and not stopping else 0 + standstill = 1 if active and stopping_counter > 0 else 0 + standstill_release = 1 if active and stopping_counter == 0 else 0 + # common ACC_CONTROL values acc_control_values = { - # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1 - "CONTROL_ON": control_on, - "GAS_COMMAND": gas_command, # used for gas - "ACCEL_COMMAND": accel_command, # used for brakes - "BRAKE_LIGHTS": braking, - "BRAKE_REQUEST": braking, - "STANDSTILL": standstill, - "STANDSTILL_RELEASE": standstill_release, + 'ACCEL_COMMAND': accel_command, + 'STANDSTILL': standstill, } + + if car_fingerprint in HONDA_BOSCH_RADARLESS: + acc_control_values.update({ + "CONTROL_ON": enabled, + "IDLESTOP_ALLOW": stopping_counter > 200, # allow idle stop after 4 seconds (50 Hz) + }) + else: + acc_control_values.update({ + # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1 + "CONTROL_ON": control_on, + "GAS_COMMAND": gas_command, # used for gas + "BRAKE_LIGHTS": braking, + "BRAKE_REQUEST": braking, + "STANDSTILL_RELEASE": standstill_release, + }) + acc_control_on_values = { + "SET_TO_3": 0x03, + "CONTROL_ON": enabled, + "SET_TO_FF": 0xff, + "SET_TO_75": 0x75, + "SET_TO_30": 0x30, + } + commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values)) + commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values)) - - acc_control_on_values = { - "SET_TO_3": 0x03, - "CONTROL_ON": enabled, - "SET_TO_FF": 0xff, - "SET_TO_75": 0x75, - "SET_TO_30": 0x30, - } - commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values)) - return commands diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index eea1f4443..65deab740 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -7,7 +7,6 @@ from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, Honda from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.disable_ecu import disable_ecu -from common.params import Params ButtonType = car.CarState.ButtonEvent.Type @@ -32,19 +31,17 @@ class CarInterface(CarInterfaceBase): return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS) @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "honda" if candidate in HONDA_BOSCH: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)] ret.radarUnavailable = True - - if candidate not in HONDA_BOSCH_RADARLESS: - # Disable the radar and let openpilot control longitudinal - # WARNING: THIS DISABLES AEB! - ret.experimentalLongitudinalAvailable = True - ret.openpilotLongitudinalControl = experimental_long - + # Disable the radar and let openpilot control longitudinal + # WARNING: THIS DISABLES AEB! + # If Bosch radarless, this blocks ACC messages from the camera + ret.experimentalLongitudinalAvailable = True + ret.openpilotLongitudinalControl = experimental_long ret.pcmCruise = not ret.openpilotLongitudinalControl else: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)] @@ -53,15 +50,7 @@ class CarInterface(CarInterfaceBase): ret.pcmCruise = not ret.enableGasInterceptor - # dp - attempt to disable op long - params = Params() - if int(params.get("dp_atl").decode('utf-8')) == 1: - ret.openpilotLongitudinalControl = False - # update pcmCruise again - if candidate in HONDA_BOSCH: - ret.pcmCruise = True - - if candidate in (CAR.CRV_5G, CAR.CRV_HYBRID_BSM): + if candidate == CAR.CRV_5G: ret.enableBsm = 0x12f8bfa7 in fingerprint[0] # Detect Bosch cars with new HUD msgs @@ -84,6 +73,8 @@ class CarInterface(CarInterfaceBase): ret.longitudinalTuning.kpV = [0.25] ret.longitudinalTuning.kiV = [0.05] ret.longitudinalActuatorDelayUpperBound = 0.5 # s + if candidate in HONDA_BOSCH_RADARLESS: + ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN # stock uses -4.0 m/s^2 once stopped but limited by safety model else: # default longitudinal tuning for all hondas ret.longitudinalTuning.kpBP = [0., 5., 35.] @@ -173,7 +164,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.677 ret.wheelSpeedFactor = 1.025 - elif candidate in (CAR.CRV_HYBRID, CAR.CRV_HYBRID_BSM): + elif candidate == CAR.CRV_HYBRID: ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg ret.wheelbase = 2.66 ret.centerToFront = ret.wheelbase * 0.41 @@ -202,15 +193,18 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] - elif candidate == CAR.HRV: + elif candidate in (CAR.HRV, CAR.HRV_3G): ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.61 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 15.2 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] tire_stiffness_factor = 0.5 - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] - ret.wheelSpeedFactor = 1.025 + if candidate == CAR.HRV: + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] + ret.wheelSpeedFactor = 1.025 + else: + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning elif candidate == CAR.ACURA_RDX: ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG @@ -230,14 +224,14 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] tire_stiffness_factor = 0.677 - elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.ODYSSEY_HYBRID): + elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN): ret.mass = 1900. + STD_CARGO_KG ret.wheelbase = 3.00 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 14.35 # as spec tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] - if candidate in (CAR.ODYSSEY_CHN, CAR.ODYSSEY_HYBRID): + if candidate == CAR.ODYSSEY_CHN: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end else: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end @@ -298,7 +292,7 @@ class CarInterface(CarInterfaceBase): # 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. Otherwise, add 0.5 mph margin to not # conflict with PCM acc - stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY_HYBRID}) or ret.enableGasInterceptor + stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS # TODO: start from empirically derived lateral slip stiffness for the civic and scale by @@ -309,26 +303,6 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.8 - params.put("dp_lateral_steer_rate_cost", "0.5") - if params.get_bool('dp_honda_eps_mod'): - if candidate == CAR.CIVIC: - # tuned by a-tao - ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096, 8000], [0, 4096, 4096]] - elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL): - ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] #2.5 default mod #Tuned by TMG - elif candidate in (CAR.ACCORD, CAR.ACCORDH): - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] - elif candidate == CAR.CRV_5G: - ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]] #tuned by Titanminer (8000) - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]] - elif candidate in (CAR.CRV_HYBRID, CAR.CRV_HYBRID_BSM): - ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0x0, 0xB5, 0x161, 0x2D6, 0x4C0, 0x70D, 0xC42, 0x1058, 0x2C00], [0x0, 0x160, 0x1F0, 0x2E0, 0x378, 0x4A0, 0x5F0, 0x804, 0xF00]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]] #still needs to finish tuning for the new car - ret.lateralTuning.pid.kf = 0.00004 - - CarInterfaceBase.dp_lat_tune_collection(candidate, ret.latTuneCollection) - CarInterfaceBase.configure_dp_tune(ret.lateralTuning, ret.latTuneCollection) return ret @staticmethod @@ -340,9 +314,6 @@ class CarInterface(CarInterfaceBase): def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam, self.cp_body) - #dp - ret.engineRPM = self.CS.engineRPM - buttonEvents = [] if self.CS.cruise_buttons != self.CS.prev_cruise_buttons: @@ -383,4 +354,4 @@ class CarInterface(CarInterfaceBase): # pass in a car.CarControl # to be called @ 100hz def apply(self, c, now_nanos): - return self.CC.update(c, self.CS, now_nanos, self.dragonconf) + return self.CC.update(c, self.CS, now_nanos) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index fcc84c803..951d3c821 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -84,13 +84,12 @@ class CAR: CRV_5G = "HONDA CR-V 2017" CRV_EU = "HONDA CR-V EU 2016" CRV_HYBRID = "HONDA CR-V HYBRID 2019" - CRV_HYBRID_BSM = "HONDA CR-V HYBRID 2019 w/ BSM" FIT = "HONDA FIT 2018" FREED = "HONDA FREED 2020" HRV = "HONDA HRV 2019" + HRV_3G = "HONDA HR-V 2023" ODYSSEY = "HONDA ODYSSEY 2018" ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019" - ODYSSEY_HYBRID = "HONDA ODYSSEY HYBRID CHN 2022" ACURA_RDX = "ACURA RDX 2018" ACURA_RDX_3G = "ACURA RDX 2020" PILOT = "HONDA PILOT 2017" @@ -118,19 +117,19 @@ class HondaCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.ACCORD: [ - HondaCarInfo("Honda Accord 2018-22", "All", "https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), + HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), ], CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"), CAR.CIVIC_BOSCH: [ - HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS), + HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS), ], CAR.CIVIC_BOSCH_DIESEL: None, # same platform CAR.CIVIC_2022: [ - HondaCarInfo("Honda Civic 2022", "All"), - HondaCarInfo("Honda Civic Hatchback 2022", "All"), + HondaCarInfo("Honda Civic 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), + HondaCarInfo("Honda Civic Hatchback 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), ], CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), @@ -140,16 +139,16 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"), CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"), CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey - CAR.ODYSSEY_HYBRID: HondaCarInfo("Honda Odyssey hybrid china 2022", min_steer_speed=0. * CV.MPH_TO_MS), CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.PILOT: [ HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS), ], - CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS), CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), } @@ -199,8 +198,6 @@ FW_QUERY_CONFIG = FwQueryConfig( ) FW_VERSIONS = { - CAR.CRV_HYBRID_BSM: {(Ecu.vsa, 0xfff, None): [b'\x00']}, - CAR.ODYSSEY_HYBRID: {(Ecu.vsa, 0xfff, None): [b'\x00']}, CAR.ACCORD: { (Ecu.programmedFuelInjection, 0x18da10f1, None): [ b'37805-6A0-8720\x00\x00', @@ -1251,6 +1248,7 @@ FW_VERSIONS = { b'37805-5YF-A750\x00\x00', b'37805-5YF-A850\x00\x00', b'37805-5YF-A870\x00\x00', + b'37805-5YF-AD20\x00\x00', b'37805-5YF-C210\x00\x00', b'37805-5YF-C220\x00\x00', b'37805-5YF-C410\000\000', @@ -1259,16 +1257,20 @@ FW_VERSIONS = { (Ecu.vsa, 0x18da28f1, None): [ b'57114-TJB-A030\x00\x00', b'57114-TJB-A040\x00\x00', + b'57114-TJB-A120\x00\x00', ], (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36802-TJB-A040\x00\x00', b'36802-TJB-A050\x00\x00', + b'36802-TJB-A540\x00\x00', ], (Ecu.fwdCamera, 0x18dab5f1, None): [ b'36161-TJB-A040\x00\x00', + b'36161-TJB-A530\x00\x00', ], (Ecu.shiftByWire, 0x18da0bf1, None): [ b'54008-TJB-A520\x00\x00', + b'54008-TJB-A530\x00\x00', ], (Ecu.transmission, 0x18da1ef1, None): [ b'28102-5YK-A610\x00\x00', @@ -1276,6 +1278,7 @@ FW_VERSIONS = { b'28102-5YK-A630\x00\x00', b'28102-5YK-A700\x00\x00', b'28102-5YK-A711\x00\x00', + b'28102-5YK-A800\x00\x00', b'28102-5YL-A620\x00\x00', b'28102-5YL-A700\x00\x00', b'28102-5YL-A711\x00\x00', @@ -1287,6 +1290,7 @@ FW_VERSIONS = { b'78109-TJB-AB10\x00\x00', b'78109-TJB-AD10\x00\x00', b'78109-TJB-AF10\x00\x00', + b'78109-TJB-AQ20\x00\x00', b'78109-TJB-AR10\x00\x00', b'78109-TJB-AS10\000\000', b'78109-TJB-AU10\x00\x00', @@ -1298,22 +1302,26 @@ FW_VERSIONS = { ], (Ecu.srs, 0x18da53f1, None): [ b'77959-TJB-A040\x00\x00', + b'77959-TJB-A120\x00\x00', b'77959-TJB-A210\x00\x00', ], (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ b'46114-TJB-A040\x00\x00', b'46114-TJB-A050\x00\x00', b'46114-TJB-A060\x00\x00', + b'46114-TJB-A120\x00\x00', ], (Ecu.gateway, 0x18daeff1, None): [ b'38897-TJB-A040\x00\x00', b'38897-TJB-A110\x00\x00', b'38897-TJB-A120\x00\x00', + b'38897-TJB-A220\x00\x00', ], (Ecu.eps, 0x18da30f1, None): [ b'39990-TJB-A030\x00\x00', b'39990-TJB-A040\x00\x00', - b'39990-TJB-A130\x00\x00' + b'39990-TJB-A070\x00\x00', + b'39990-TJB-A130\x00\x00', ], }, CAR.RIDGELINE: { @@ -1413,6 +1421,32 @@ FW_VERSIONS = { b'78109-THW-A110\x00\x00', ], }, + CAR.HRV_3G: { + (Ecu.eps, 0x18DA30F1, None): [ + b'39990-3W0-A030\x00\x00', + ], + (Ecu.gateway, 0x18DAEFF1, None): [ + b'38897-3W1-A010\x00\x00', + ], + (Ecu.srs, 0x18DA53F1, None): [ + b'77959-3V0-A820\x00\x00', + ], + (Ecu.combinationMeter, 0x18DA60F1, None): [ + b'78108-3V1-A220\x00\x00', + ], + (Ecu.vsa, 0x18DA28F1, None): [ + b'57114-3W0-A040\x00\x00', + ], + (Ecu.transmission, 0x18DA1EF1, None): [ + b'28101-6EH-A010\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18DA10F1, None): [ + b'37805-6CT-A710\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18DA2BF1, None): [ + b'46114-3W0-A020\x00\x00', + ], + }, CAR.ACURA_ILX: { (Ecu.gateway, 0x18daeff1, None): [ b'38897-TX6-A010\x00\x00', @@ -1528,13 +1562,12 @@ DBC = { CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'), CAR.CRV_HYBRID: dbc_dict('honda_accord_2018_can_generated', None), - CAR.CRV_HYBRID_BSM: dbc_dict('honda_accord_2018_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None), CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), - CAR.ODYSSEY_HYBRID: dbc_dict('honda_odyssey_hybrid_2022_china_can_generated', 'acura_ilx_2016_nidec'), CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None), @@ -1550,8 +1583,8 @@ STEER_THRESHOLD = { HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY} HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN, - CAR.ODYSSEY_HYBRID, CAR.PILOT, CAR.RIDGELINE} + CAR.PILOT, CAR.RIDGELINE} HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, - CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.CRV_HYBRID_BSM} -HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G} -HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022} + CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G} +HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G} +HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G} diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 51d111545..ac74d2cc5 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -5,6 +5,7 @@ from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.hyundai import hyundaicanfd, hyundaican +from selfdrive.car.hyundai.hyundaicanfd import CanBus from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -44,6 +45,7 @@ def process_hud_alert(enabled, fingerprint, hud_control): class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP + self.CAN = CanBus(CP) self.params = CarControllerParams(CP) self.packer = CANPacker(dbc_name) self.angle_limit_counter = 0 @@ -85,12 +87,12 @@ class CarController: # for longitudinal control, either radar or ADAS driving ECU addr, bus = 0x7d0, 0 if self.CP.flags & HyundaiFlags.CANFD_HDA2.value: - addr, bus = 0x730, 5 + addr, bus = 0x730, self.CAN.ECAN can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus]) # for blinkers if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: - can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 5]) + can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN]) # >90 degree steering fault prevention # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault @@ -112,25 +114,25 @@ class CarController: hda2_long = hda2 and self.CP.openpilotLongitudinalControl # steering control - can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.latActive, lat_active, apply_steer)) + can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, lat_active, apply_steer)) # disable LFA on HDA2 if self.frame % 5 == 0 and hda2: - can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4)) + can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4)) # LFA and HDA icons if self.frame % 5 == 0 and (not hda2 or hda2_long): - can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.latActive)) + can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled)) # blinkers if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: - can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, CC.leftBlinker, CC.rightBlinker)) + can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker)) if self.CP.openpilotLongitudinalControl: if hda2: - can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame)) + can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame)) if self.frame % 2 == 0: - can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override, + can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override, set_speed_in_units)) self.accel_last = accel else: @@ -139,11 +141,11 @@ class CarController: # cruise cancel if CC.cruiseControl.cancel: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: - can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, CS.cruise_info)) + can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CAN, CS.cruise_info)) self.last_button_frame = self.frame else: for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.CANCEL)) + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL)) self.last_button_frame = self.frame # cruise standstill resume @@ -153,11 +155,11 @@ class CarController: pass else: for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL)) + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL)) self.last_button_frame = self.frame else: can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active, - torque_fault, CS.lkas11, sys_warning, sys_state, CC.latActive, + torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, left_lane_warning, right_lane_warning)) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 209871785..cec2c3e69 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -6,8 +6,8 @@ from cereal import car from common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine -from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus -from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams +from selfdrive.car.hyundai.hyundaicanfd import CanBus +from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams from selfdrive.car.interfaces import CarStateBase PREV_BUTTON_SAMPLES = 8 @@ -27,9 +27,9 @@ class CarState(CarStateBase): "GEAR_SHIFTER" if CP.carFingerprint in CANFD_CAR: self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"] - elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]: + elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"] - elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]: + elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]: self.shifter_values = can_define.dv["TCU12"]["CUR_GR"] else: # preferred and elect gear methods use same definition self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] @@ -89,8 +89,6 @@ class CarState(CarStateBase): 50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"]) ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"] ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"] - #dp - ret.engineRPM = cp.vl["TCU_DCT13"]['Cluster_Engine_RPM'] ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5) ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0 @@ -112,8 +110,6 @@ class CarState(CarStateBase): ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1 ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED - #dp - ret.brakeLightsDEPRECATED = bool(cp.vl["TCS13"]["BrakeLight"] or ret.brakePressed or ret.brakeHoldActive or ret.parkingBrake) if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR): if self.CP.carFingerprint in HYBRID_CAR: @@ -127,11 +123,11 @@ class CarState(CarStateBase): # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, # as this seems to be standard over all cars, but is not the preferred method. - if self.CP.carFingerprint in FEATURES["use_cluster_gears"]: + if self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: gear = cp.vl["CLU15"]["CF_Clu_Gear"] - elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]: + elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]: gear = cp.vl["TCU12"]["CUR_GR"] - elif self.CP.carFingerprint in FEATURES["use_elect_gears"]: + elif self.CP.carFingerprint in CAN_GEARS["use_elect_gears"]: gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"] else: gear = cp.vl["LVR12"]["CF_Lvr_Gear"] @@ -292,9 +288,6 @@ class CarState(CarStateBase): ("SAS_Angle", "SAS11"), ("SAS_Speed", "SAS11"), - #dp - ("Cluster_Engine_RPM", "TCU_DCT13"), - ("BrakeLight", "TCS13"), ] checks = [ # address, frequency @@ -309,7 +302,6 @@ class CarState(CarStateBase): ("CGW4", 5), ("WHL_SPD11", 50), ("SAS11", 100), - ("TCU_DCT13", 100), ] if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR: @@ -362,12 +354,12 @@ class CarState(CarStateBase): ("EMS16", 100), ] - if CP.carFingerprint in FEATURES["use_cluster_gears"]: + if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: signals.append(("CF_Clu_Gear", "CLU15")) - elif CP.carFingerprint in FEATURES["use_tcu_gears"]: + elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]: signals.append(("CUR_GR", "TCU12")) checks.append(("TCU12", 100)) - elif CP.carFingerprint in FEATURES["use_elect_gears"]: + elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]: signals.append(("Elect_Gear_Shifter", "ELECT_GEAR")) checks.append(("ELECT_GEAR", 20)) else: @@ -524,7 +516,7 @@ class CarState(CarStateBase): ("ACCELERATOR_BRAKE_ALT", 100), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_e_can_bus(CP)) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).ECAN) @staticmethod def get_cam_can_parser_canfd(CP): @@ -551,4 +543,4 @@ class CarState(CarStateBase): ("SCC_CONTROL", 50), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).CAM) diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index af7239571..3717a4590 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -1,14 +1,44 @@ +import math + from common.numpy_fast import clip from selfdrive.car.hyundai.values import HyundaiFlags -def get_e_can_bus(CP): - # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars - # have a different harness than the HDA1 and non-HDA variants in order to split - # a different bus, since the steering is done by different ECUs. - return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4 + +class CanBus: + def __init__(self, CP, hda2=None, fingerprint=None): + if CP is None: + assert None not in (hda2, fingerprint) + num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4) + else: + hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value + num = len(CP.safetyConfigs) + + # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars + # have a different harness than the HDA1 and non-HDA variants in order to split + # a different bus, since the steering is done by different ECUs. + self._a, self._e = 1, 0 + if hda2: + self._a, self._e = 0, 1 + + offset = 4*(num - 1) + self._a += offset + self._e += offset + self._cam = 2 + offset + + @property + def ECAN(self): + return self._e + + @property + def ACAN(self): + return self._a + + @property + def CAM(self): + return self._cam -def create_steering_messages(packer, CP, enabled, lat_active, apply_steer): +def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer): ret = [] @@ -26,45 +56,45 @@ def create_steering_messages(packer, CP, enabled, lat_active, apply_steer): if CP.flags & HyundaiFlags.CANFD_HDA2: if CP.openpilotLongitudinalControl: - ret.append(packer.make_can_msg("LFA", 5, values)) - ret.append(packer.make_can_msg("LKAS", 4, values)) + ret.append(packer.make_can_msg("LFA", CAN.ECAN, values)) + ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values)) else: - ret.append(packer.make_can_msg("LFA", 4, values)) + ret.append(packer.make_can_msg("LFA", CAN.ECAN, values)) return ret -def create_cam_0x2a4(packer, camera_values): +def create_cam_0x2a4(packer, CAN, camera_values): camera_values.update({ "BYTE7": 0, }) - return packer.make_can_msg("CAM_0x2a4", 4, camera_values) + return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, camera_values) -def create_buttons(packer, CP, cnt, btn): +def create_buttons(packer, CP, CAN, cnt, btn): values = { "COUNTER": cnt, "SET_ME_1": 1, "CRUISE_BUTTONS": btn, } - bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 6 + bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM return packer.make_can_msg("CRUISE_BUTTONS", bus, values) -def create_acc_cancel(packer, CP, cruise_info_copy): +def create_acc_cancel(packer, CAN, cruise_info_copy): values = cruise_info_copy values.update({ "ACCMode": 4, }) - return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values) + return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values) -def create_lfahda_cluster(packer, CP, enabled): +def create_lfahda_cluster(packer, CAN, enabled): values = { "HDA_ICON": 1 if enabled else 0, "LFA_ICON": 2 if enabled else 0, } - return packer.make_can_msg("LFAHDA_CLUSTER", get_e_can_bus(CP), values) + return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values) -def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_override, set_speed): +def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed): jerk = 5 jn = jerk / 50 if not enabled or gas_override: @@ -92,15 +122,15 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove "DISTANCE_SETTING": 4, } - return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values) + return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values) -def create_spas_messages(packer, frame, left_blink, right_blink): +def create_spas_messages(packer, CAN, frame, left_blink, right_blink): ret = [] values = { } - ret.append(packer.make_can_msg("SPAS1", 5, values)) + ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values)) blink = 0 if left_blink: @@ -110,12 +140,12 @@ def create_spas_messages(packer, frame, left_blink, right_blink): values = { "BLINKER_CONTROL": blink, } - ret.append(packer.make_can_msg("SPAS2", 5, values)) + ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values)) return ret -def create_adrv_messages(packer, frame): +def create_adrv_messages(packer, CAN, frame): # messages needed to car happy after disabling # the ADAS Driving ECU to do longitudinal control @@ -123,7 +153,7 @@ def create_adrv_messages(packer, frame): values = { } - ret.append(packer.make_can_msg("ADRV_0x51", 4, values)) + ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values)) if frame % 2 == 0: values = { @@ -133,7 +163,7 @@ def create_adrv_messages(packer, frame): 'SET_ME_FC': 0xfc, 'SET_ME_9': 0x9, } - ret.append(packer.make_can_msg("ADRV_0x160", 5, values)) + ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values)) if frame % 5 == 0: values = { @@ -142,25 +172,25 @@ def create_adrv_messages(packer, frame): 'SET_ME_TMP_F': 0xf, 'SET_ME_TMP_F_2': 0xf, } - ret.append(packer.make_can_msg("ADRV_0x1ea", 5, values)) + ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values)) values = { 'SET_ME_E1': 0xe1, 'SET_ME_3A': 0x3a, } - ret.append(packer.make_can_msg("ADRV_0x200", 5, values)) + ret.append(packer.make_can_msg("ADRV_0x200", CAN.ECAN, values)) if frame % 20 == 0: values = { 'SET_ME_15': 0x15, } - ret.append(packer.make_can_msg("ADRV_0x345", 5, values)) + ret.append(packer.make_can_msg("ADRV_0x345", CAN.ECAN, values)) if frame % 100 == 0: values = { 'SET_ME_22': 0x22, 'SET_ME_41': 0x41, } - ret.append(packer.make_can_msg("ADRV_0x1da", 5, values)) + ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values)) return ret diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 97ad0ff80..59d7319de 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -2,13 +2,12 @@ from cereal import car from panda import Panda from common.conversions import Conversions as CV -from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus +from selfdrive.car.hyundai.hyundaicanfd import CanBus from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.disable_ecu import disable_ecu -from common.params import Params Ecu = car.CarParams.Ecu ButtonType = car.CarState.ButtonEvent.Type @@ -20,7 +19,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "hyundai" ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None @@ -29,17 +28,20 @@ class CarInterface(CarInterfaceBase): # added to selfdrive/car/tests/routes.py, we can remove it from this list. ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, } + hda2 = Ecu.adas in [fw.ecu for fw in car_fw] + CAN = CanBus(None, hda2, fingerprint) + if candidate in CANFD_CAR: # detect HDA2 with ADAS Driving ECU - if Ecu.adas in [fw.ecu for fw in car_fw]: + if hda2: ret.flags |= HyundaiFlags.CANFD_HDA2.value else: # non-HDA2 - if 0x1cf not in fingerprint[4]: + if 0x1cf not in fingerprint[CAN.ECAN]: ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value # ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead - if 0x130 not in fingerprint[4]: - if 0x40 not in fingerprint[4]: + if 0x130 not in fingerprint[CAN.ECAN]: + if 0x40 not in fingerprint[CAN.ECAN]: ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value else: ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value @@ -137,10 +139,10 @@ class CarInterface(CarInterfaceBase): ret.mass = 1985. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable - elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN): - ret.mass = 3452. * CV.LB_TO_KG + STD_CARGO_KG # average of all the cars + elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN): + ret.mass = 3543. * CV.LB_TO_KG + STD_CARGO_KG # average of all the cars ret.wheelbase = 2.7 - ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec + ret.steerRatio = 13.6 # average of all the cars tire_stiffness_factor = 0.385 if candidate == CAR.KIA_NIRO_PHEV: ret.minSteerSpeed = 32 * CV.MPH_TO_MS @@ -227,6 +229,10 @@ class CarInterface(CarInterfaceBase): ret.mass = 2200 ret.wheelbase = 3.15 ret.steerRatio = 12.069 + elif candidate == CAR.GENESIS_GV80: + ret.mass = 2258. + STD_CARGO_KG + ret.wheelbase = 2.95 + ret.steerRatio = 14.14 # *** longitudinal control *** if candidate in CANFD_CAR: @@ -238,9 +244,6 @@ class CarInterface(CarInterfaceBase): ret.longitudinalTuning.kiV = [0.0] ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR) ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable - params = Params() - if int(params.get("dp_atl").decode('utf-8')) == 1: - ret.openpilotLongitudinalControl = False ret.pcmCruise = not ret.openpilotLongitudinalControl ret.stoppingControl = True @@ -252,25 +255,23 @@ class CarInterface(CarInterfaceBase): # *** feature detection *** if candidate in CANFD_CAR: - ret.enableBsm = 0x1e5 in fingerprint[get_e_can_bus(ret)] + ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN] else: ret.enableBsm = 0x58b in fingerprint[0] # *** panda safety config *** - CarInterfaceBase.dp_lat_tune_collection(candidate, ret.latTuneCollection) - CarInterfaceBase.configure_dp_tune(ret.lateralTuning, ret.latTuneCollection) - - # panda safety config if candidate in CANFD_CAR: - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), - get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)] + cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ] + if CAN.ECAN >= 4: + cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput)) + ret.safetyConfigs = cfgs if ret.flags & HyundaiFlags.CANFD_HDA2: - ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS: - ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC: - ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC else: if candidate in LEGACY_SAFETY_MODE_CAR: # these cars require a special panda safety mode due to missing counters and checksums in the messages @@ -298,7 +299,6 @@ class CarInterface(CarInterfaceBase): # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) - params.put("dp_lateral_steer_rate_cost", "0.5") return ret @staticmethod @@ -306,12 +306,12 @@ class CarInterface(CarInterfaceBase): if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value): addr, bus = 0x7d0, 0 if CP.flags & HyundaiFlags.CANFD_HDA2.value: - addr, bus = 0x730, 5 + addr, bus = 0x730, CanBus(CP).ECAN disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01') # for blinkers if CP.flags & HyundaiFlags.ENABLE_BLINKERS: - disable_ecu(logcan, sendcan, bus=5, addr=0x7B1, com_cont_req=b'\x28\x83\x01') + disable_ecu(logcan, sendcan, bus=CanBus(CP.ECAN), addr=0x7B1, com_cont_req=b'\x28\x83\x01') def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index bb26d6832..1ad8896b9 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -100,6 +100,7 @@ class CAR: KIA_K5_2021 = "KIA K5 2021" KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020" KIA_NIRO_EV = "KIA NIRO EV 2020" + KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN" KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN" @@ -124,6 +125,7 @@ class CAR: GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN" GENESIS_G80 = "GENESIS G80 2017" GENESIS_G90 = "GENESIS G90 2017" + GENESIS_GV80 = "GENESIS GV80 2023" class Footnote(Enum): @@ -160,23 +162,23 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c), CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness=Harness.hyundai_h), CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c), - CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", "All", harness=Harness.hyundai_h), + CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", harness=Harness.hyundai_h), CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b), CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g), CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness=Harness.hyundai_o), CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i), # TODO: check packages CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d), - CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", "https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l), + CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l), CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l), CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l), - CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", "https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a), + CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a), CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e), CAR.TUCSON: [ HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l), HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l), ], CAR.PALISADE: [ - HyundaiCarInfo("Hyundai Palisade 2020-22", "All", "https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), + HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), HyundaiCarInfo("Kia Telluride 2020-22", "All", harness=Harness.hyundai_h), ], CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e), @@ -190,26 +192,29 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Hyundai Tucson 2022", harness=Harness.hyundai_n), HyundaiCarInfo("Hyundai Tucson 2023", "All", harness=Harness.hyundai_n), ], - CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n), + CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", harness=Harness.hyundai_n), CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", harness=Harness.hyundai_n), # Kia - CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), + CAR.KIA_FORTE: [ + HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), + HyundaiCarInfo("Kia Forte 2023", harness=Harness.hyundai_e), + ], CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a), CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness=Harness.hyundai_a), CAR.KIA_NIRO_EV: [ - HyundaiCarInfo("Kia Niro EV 2019", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), - HyundaiCarInfo("Kia Niro EV 2020", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), - HyundaiCarInfo("Kia Niro EV 2021", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), - HyundaiCarInfo("Kia Niro EV 2022", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), + HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), + HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), ], + CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", harness=Harness.hyundai_a), CAR.KIA_NIRO_PHEV: [ HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", harness=Harness.hyundai_d), ], CAR.KIA_NIRO_HEV_2021: [ - HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f), # TODO: could be hyundai_d, verify - HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Niro Hybrid 2021-22", harness=Harness.hyundai_f), # TODO: 2021 could be hyundai_d, verify ], CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", harness=Harness.hyundai_a), CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b), # TODO: may support 2016, 2018 @@ -221,7 +226,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a), CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness=Harness.hyundai_n), CAR.KIA_SORENTO: [ - HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), + HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e), ], CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness=Harness.hyundai_k), @@ -232,8 +237,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), CAR.KIA_EV6: [ HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", harness=Harness.hyundai_p), - HyundaiCarInfo("Kia EV6 (without HDA II) 2022", "Highway Driving Assist", harness=Harness.hyundai_l), - HyundaiCarInfo("Kia EV6 (with HDA II) 2022", "Highway Driving Assist II", harness=Harness.hyundai_p) + HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_l), + HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_p) ], # Genesis @@ -246,6 +251,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l), CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", harness=Harness.hyundai_h), CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c), + CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", harness=Harness.hyundai_m), } class Buttons: @@ -383,14 +389,14 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [HYUNDAI_VERSION_REQUEST_ALT], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.parking], + whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac], bus=0, auxiliary=True, ), Request( [HYUNDAI_VERSION_REQUEST_ALT], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.parking], + whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac], bus=1, auxiliary=True, obd_multiplexing=False, @@ -398,7 +404,7 @@ FW_QUERY_CONFIG = FwQueryConfig( ], extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms - (Ecu.parking, 0x7b1, None), # ADAS Parking ECU (may exist on all platforms) + (Ecu.parkingAdas, 0x7b1, None), # ADAS Parking ECU (may exist on all platforms) (Ecu.hvac, 0x7b3, None), # HVAC Control Assembly (Ecu.cornerRadar, 0x7b7, None), ], @@ -453,6 +459,7 @@ FW_VERSIONS = { b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2200 ', b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', b'\xf1\x00AEhe SCC F-CUP 1.00 1.02 99110-G2100 ', + b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101', @@ -540,7 +547,6 @@ FW_VERSIONS = { b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', b'\xf1\x00DN89110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ', - b'\xf1\x8799110L0000\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', @@ -549,6 +555,7 @@ FW_VERSIONS = { b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300', + b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100', b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', @@ -572,6 +579,7 @@ FW_VERSIONS = { b'HM6M2_0a0_BD0', b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B', b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00', + b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00', b'\xf1\x81HM6M1_0a0_G20', ], (Ecu.eps, 0x7d4, None): [ @@ -591,6 +599,7 @@ FW_VERSIONS = { b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422', @@ -778,7 +787,6 @@ FW_VERSIONS = { CAR.SANTA_FE_2022: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', - b'\xf1\x8799110S1500\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', ], (Ecu.abs, 0x7d1, None): [ @@ -792,6 +800,7 @@ FW_VERSIONS = { b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0', ], (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81HM6M1_0a0_H00', b'\xf1\x82TACVN5GMI3XXXH0A', b'\xf1\x82TMBZN5TMD3XXXG2E', b'\xf1\x82TACVN5GSI3XXXH0A', @@ -812,6 +821,7 @@ FW_VERSIONS = { b'\xf1\x00TMA MFC AT USA LHD 1.00 1.01 99211-S2500 210205', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc', b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NSA\xf3\xf4Uj', b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', b'\xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', @@ -911,18 +921,23 @@ FW_VERSIONS = { CAR.KIA_STINGER_2022: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CK__ SCC F-CUP 1.00 1.00 99110-J5500 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5500 ', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81HM6M1_0a0_H00', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503', + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5300 4C2CL503', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CK MFC AT AUS RHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT KOR LHD 1.00 1.00 99211-J5500 210622', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6', + b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2', ], }, CAR.PALISADE: { @@ -1054,11 +1069,23 @@ FW_VERSIONS = { ], }, CAR.GENESIS_G70: { - (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', ], - (Ecu.engine, 0x7e0, None): [b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.eps, 0x7d4, None): [b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', ], - (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', ], - (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', + b'\xf1\x00IK__ SCC F-CUP 1.00 1.01 96400-G9100 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', + b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', + ], }, CAR.GENESIS_G70_2020: { (Ecu.eps, 0x7d4, None): [ @@ -1135,21 +1162,27 @@ FW_VERSIONS = { b'\xf1\x00BD MDPS C 1.00 1.02 56310-XX000 4BD2C102', b'\xf1\x00BD MDPS C 1.00 1.08 56310/M6300 4BDDC108', b'\xf1\x00BD MDPS C 1.00 1.08 56310M6300\x00 4BDDC108', + b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103', ], (Ecu.fwdCamera, 0x7C4, None): [ b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', + b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744', ], (Ecu.fwdRadar, 0x7D0, None): [ b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ', + b'\xf1\x00BDPE_SCC FHCUPC 1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\x01TBDM1NU06F200H01', b'391182B945\x00', + b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00', b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00', b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3", ], @@ -1292,6 +1325,15 @@ FW_VERSIONS = { b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.03 95740-Q4000 180821', ], }, + CAR.KIA_NIRO_EV_2ND_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SG2EMFC AT EUR LHD 1.01 1.09 99211-AT000 220801', + b'\xf1\x00SG2EMFC AT USA LHD 1.01 1.09 99211-AT000 220801', + ], + }, CAR.KIA_NIRO_PHEV: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00', @@ -1473,25 +1515,30 @@ FW_VERSIONS = { b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.05 99210-AA000 210930', b'\xf1\000CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819', b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.07 99210-AA000 220426', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.08 99210-AA000 220728', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.09 99210-AA000 221108', ], (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\000CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', + b'\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103', b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103', b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102', + b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa', b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\000\000\000\000', b'\xf1\x816U3K3051\000\000\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa', b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00', + b'\xf1\x006U3L0_C2\x00\x006U3K9051\x00\x00HCN0G16NS1\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00', ] }, CAR.KONA_HEV: { @@ -1582,6 +1629,7 @@ FW_VERSIONS = { b'\xf1\x00CV1 MFC AT EUR RHD 1.00 1.00 99210-CV100 220630', b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630', b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.04 99210-CV000 210823', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.05 99210-CV000 211027', b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328', ], }, @@ -1602,9 +1650,12 @@ FW_VERSIONS = { }, CAR.TUCSON_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X', ], (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', ], }, @@ -1613,13 +1664,16 @@ FW_VERSIONS = { b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', + b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', ], }, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665', b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665', ], (Ecu.fwdRadar, 0x7d0, None): [ @@ -1644,6 +1698,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ', b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ', + b'\xf1\x00NQ5__ 1.01 1.03 99110-P1000 ', ], }, CAR.GENESIS_GV70_1ST_GEN: { @@ -1685,6 +1740,14 @@ FW_VERSIONS = { b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', ], }, + CAR.GENESIS_GV80: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JX1 MFC AT USA LHD 1.00 1.02 99211-T6110 220513', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JX1_ SCC FHCUP 1.00 1.01 99110-T6100 ', + ], + }, } CHECKSUM = { @@ -1692,23 +1755,23 @@ CHECKSUM = { "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS], } -FEATURES = { +CAN_GEARS = { # which message has the gear "use_cluster_gears": {CAR.ELANTRA, CAR.KONA}, "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020}, } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN} +CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, CAR.GENESIS_GV80} # The radar does SCC on these cars when HDA I, rather than the camera -CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN} +CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80} # The camera does SCC on these cars, rather than the radar CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN} # these cars use a different gas signal -EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN} +EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, @@ -1771,4 +1834,6 @@ DBC = { CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None), + CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), + CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index cd971abdc..de05721f0 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -8,14 +8,12 @@ from cereal import car from common.basedir import BASEDIR from common.conversions import Conversions as CV from common.kalman.simple_kalman import KF1D -from common.numpy_fast import clip, interp +from common.numpy_fast import clip from common.realtime import DT_CTRL from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness -from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone +from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction from selfdrive.controls.lib.events import Events from selfdrive.controls.lib.vehicle_model import VehicleModel -from common.params import Params -from selfdrive.car.lat_controller_helper import configure_pid_tune, configure_lqr_tune ButtonType = car.CarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter @@ -66,6 +64,7 @@ class CarInterfaceBase(ABC): self.frame = 0 self.steering_unpressed = 0 self.low_speed_alert = False + self.no_steer_warning = False self.silent_steer_warning = True self.v_ego_cluster_seen = False @@ -85,10 +84,6 @@ class CarInterfaceBase(ABC): if CarController is not None: self.CC = CarController(self.cp.dbc_name, CP, self.VM) - # dp - self.dp_last_cruise_actual_enabled = False - self.dragonconf = None - @staticmethod def get_pid_accel_limits(CP, current_speed, cruise_speed): return ACCEL_MIN, ACCEL_MAX @@ -98,12 +93,12 @@ class CarInterfaceBase(ABC): """ Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints. """ - return cls.get_params(candidate, gen_empty_fingerprint(), list(), False) + return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False) @classmethod - def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool): + def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool): ret = CarInterfaceBase.get_std_params(candidate) - ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long) + ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs) # Set common params using fields set by the car interface # TODO: get actual value, for now starting with reasonable value for @@ -120,7 +115,7 @@ class CarInterfaceBase(ABC): @staticmethod @abstractmethod - def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool): + def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool): raise NotImplementedError @staticmethod @@ -137,15 +132,11 @@ class CarInterfaceBase(ABC): return self.get_steer_feedforward_default @staticmethod - def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation): + def torque_from_lateral_accel_linear(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning, + lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float: # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction) - friction_interp = interp( - apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), - [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], - [-torque_params.friction, torque_params.friction] - ) - friction = friction_interp if friction_compensation else 0.0 - return (lateral_accel_value / torque_params.latAccelFactor) + friction + friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation) + return (lateral_accel_value / float(torque_params.latAccelFactor)) + friction def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: return self.torque_from_lateral_accel_linear @@ -201,53 +192,11 @@ class CarInterfaceBase(ABC): tune.torque.latAccelOffset = 0.0 tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg - @staticmethod - def configure_dp_tune(stock, collection): - try: - dp_lateral_tune = int(Params().get("dp_lateral_tune").decode('utf-8')) - except: - dp_lateral_tune = 0 - - stock_tune = 0 - if stock.which() == 'pid': - stock_tune = 1 - collection.pid = stock.pid - elif stock.which() == 'lqr': - stock_tune = 2 - collection.lqr = stock.lqr - elif stock.which() == 'torque': - stock_tune = 3 - collection.torque = stock.torque - elif stock.which() == 'indi': - stock_tune = 4 - - if dp_lateral_tune > 0 and dp_lateral_tune != stock_tune: - if dp_lateral_tune == 1 and collection.pid is not None: - stock.pid = collection.pid - elif dp_lateral_tune == 2 and collection.lqr is not None: - stock.lqr = collection.lqr - elif dp_lateral_tune == 3 and collection.torque is not None: - stock.torque = collection.torque - - @staticmethod - def dp_lat_tune_collection(candidate, collection, steering_angle_deadzone_deg=0.0, use_steering_angle=True): - for i in range(1, 4): - # pid - car specific - if i == 1: - configure_pid_tune(candidate, collection) - # lqr - all uses RAV4 one - elif i == 2: - configure_lqr_tune(candidate, collection) - # torque - car specific as per lookup table - elif i == 3: - CarInterfaceBase.configure_torque_tune(candidate, collection, steering_angle_deadzone_deg, use_steering_angle) - @abstractmethod def _update(self, c: car.CarControl) -> car.CarState: pass - def update(self, c: car.CarControl, can_strings: List[bytes], dragonconf) -> car.CarState: - self.dragonconf = dragonconf + def update(self, c: car.CarControl, can_strings: List[bytes]) -> car.CarState: # parse can for cp in self.can_parsers: if cp is not None: @@ -305,7 +254,7 @@ class CarInterfaceBase(ABC): events.add(EventName.stockFcw) if cs_out.stockAeb: events.add(EventName.stockAeb) - if self.dragonconf.dpSpeedCheck and cs_out.vEgo > MAX_CTRL_SPEED: + if cs_out.vEgo > MAX_CTRL_SPEED: events.add(EventName.speedTooHigh) if cs_out.cruiseState.nonAdaptive: events.add(EventName.wrongCruiseMode) @@ -330,13 +279,19 @@ class CarInterfaceBase(ABC): # Handle permanent and temporary steering faults self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1 if cs_out.steerFaultTemporary: - # if the user overrode recently, show a less harsh alert - if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL): - self.silent_steer_warning = True - events.add(EventName.steerTempUnavailableSilent) + if cs_out.steeringPressed and (not self.CS.out.steerFaultTemporary or self.no_steer_warning): + self.no_steer_warning = True else: - events.add(EventName.steerTempUnavailable) + self.no_steer_warning = False + + # if the user overrode recently, show a less harsh alert + if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL): + self.silent_steer_warning = True + events.add(EventName.steerTempUnavailableSilent) + else: + events.add(EventName.steerTempUnavailable) else: + self.no_steer_warning = False self.silent_steer_warning = False if cs_out.steerFaultPermanent: events.add(EventName.steerUnavailable) diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index d9c658a14..965d2e183 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -60,7 +60,7 @@ class IsoTpParallelQuery: return msgs def _drain_rx(self): - messaging.drain_sock(self.logcan) + messaging.drain_sock_raw(self.logcan) self.msg_buffer = defaultdict(list) def _create_isotp_msg(self, tx_addr, sub_addr, rx_addr): @@ -100,18 +100,16 @@ class IsoTpParallelQuery: while True: self.rx() - if all(request_done.values()): - break - for tx_addr, msg in msgs.items(): try: - dat, updated = msg.recv() + dat, rx_in_progress = msg.recv() except Exception: cloudlog.exception(f"Error processing UDS response: {tx_addr}") request_done[tx_addr] = True continue - if updated: + # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses + if rx_in_progress: response_timeouts[tx_addr] = time.monotonic() + timeout if not dat: @@ -123,6 +121,7 @@ class IsoTpParallelQuery: if response_valid: if counter + 1 < len(self.request): + response_timeouts[tx_addr] = time.monotonic() + timeout msg.send(self.request[counter + 1]) request_counter[tx_addr] += 1 else: @@ -132,18 +131,21 @@ class IsoTpParallelQuery: error_code = dat[2] if len(dat) > 2 else -1 if error_code == 0x78: response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout - if self.debug: - cloudlog.warning(f"iso-tp query response pending: {tx_addr}") + cloudlog.error(f"iso-tp query response pending: {tx_addr}") else: - response_timeouts[tx_addr] = 0 request_done[tx_addr] = True cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}") + # Mark request done if address timed out cur_time = time.monotonic() - if cur_time - max(response_timeouts.values()) > 0: - for tx_addr in msgs: + for tx_addr in response_timeouts: + if cur_time - response_timeouts[tx_addr] > 0: if request_counter[tx_addr] > 0 and not request_done[tx_addr]: cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}") + request_done[tx_addr] = True + + # Break if all requests are done (finished or timed out) + if all(request_done.values()): break if cur_time - start_time > total_timeout: diff --git a/selfdrive/car/lat_controller_helper.py b/selfdrive/car/lat_controller_helper.py deleted file mode 100644 index f40710def..000000000 --- a/selfdrive/car/lat_controller_helper.py +++ /dev/null @@ -1,225 +0,0 @@ -''' - -dp - we create a separate controller helper to restore PID/LQR steering tune. -''' - -from selfdrive.car.tunes import set_lat_tune, LatTunes -from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.car.hyundai.values import CAR as HYUNDAI -from selfdrive.car.volkswagen.values import CAR as VW -from selfdrive.car.subaru.values import CAR as SUBARU - -from common.params import Params - -def configure_pid_tune(candidate, tune): - # toyota - if candidate == TOYOTA.PRIUS: - # indi only - pass - elif candidate == TOYOTA.PRIUS_V: - # lqr only - pass - elif candidate in (TOYOTA.RAV4, TOYOTA.RAV4H): - # lqr only - pass - elif candidate == TOYOTA.COROLLA: - set_lat_tune(tune, LatTunes.PID_A) - elif candidate in (TOYOTA.LEXUS_RX, TOYOTA.LEXUS_RXH, TOYOTA.LEXUS_RX_TSS2, TOYOTA.LEXUS_RXH_TSS2): - set_lat_tune(tune, LatTunes.PID_C) - elif candidate in (TOYOTA.CHR, TOYOTA.CHRH, TOYOTA.CHR_TSS2): - set_lat_tune(tune, LatTunes.PID_F) - elif candidate in (TOYOTA.CAMRY, TOYOTA.CAMRYH, TOYOTA.CAMRY_TSS2, TOYOTA.CAMRYH_TSS2): - if candidate not in (TOYOTA.CAMRY_TSS2, TOYOTA.CAMRYH_TSS2): - set_lat_tune(tune, LatTunes.PID_C) - elif candidate in (TOYOTA.HIGHLANDER, TOYOTA.HIGHLANDERH, TOYOTA.HIGHLANDER_TSS2, TOYOTA.HIGHLANDERH_TSS2): - set_lat_tune(tune, LatTunes.PID_G) - elif candidate in (TOYOTA.AVALON, TOYOTA.AVALON_2019, TOYOTA.AVALONH_2019, TOYOTA.AVALON_TSS2, TOYOTA.AVALONH_TSS2): - set_lat_tune(tune, LatTunes.PID_H) - elif candidate in (TOYOTA.RAV4_TSS2, TOYOTA.RAV4_TSS2_2022, TOYOTA.RAV4H_TSS2, TOYOTA.RAV4H_TSS2_2022): - # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. - if Params().get_bool("dp_toyota_rav4_tss2_tune"): - set_lat_tune(tune, LatTunes.PID_I) - else: - set_lat_tune(tune, LatTunes.PID_D) - elif candidate in (TOYOTA.COROLLA_TSS2, TOYOTA.COROLLAH_TSS2): - set_lat_tune(tune, LatTunes.PID_D) - elif candidate in (TOYOTA.LEXUS_ES_TSS2, TOYOTA.LEXUS_ESH_TSS2, TOYOTA.LEXUS_ESH): - set_lat_tune(tune, LatTunes.PID_D) - elif candidate == TOYOTA.SIENNA: - set_lat_tune(tune, LatTunes.PID_J) - elif candidate in (TOYOTA.LEXUS_IS, TOYOTA.LEXUS_RC): - set_lat_tune(tune, LatTunes.PID_L) - elif candidate == TOYOTA.LEXUS_CTH: - set_lat_tune(tune, LatTunes.PID_M) - elif candidate in (TOYOTA.LEXUS_NX, TOYOTA.LEXUS_NXH, TOYOTA.LEXUS_NX_TSS2, TOYOTA.LEXUS_NXH_TSS2): - set_lat_tune(tune, LatTunes.PID_C) - elif candidate == TOYOTA.PRIUS_TSS2: - set_lat_tune(tune, LatTunes.PID_N) - elif candidate == TOYOTA.MIRAI: - set_lat_tune(tune, LatTunes.PID_C) - elif candidate in (TOYOTA.ALPHARD_TSS2, TOYOTA.ALPHARDH_TSS2): - set_lat_tune(tune, LatTunes.PID_J) - - # hyundai - elif candidate in (HYUNDAI.SANTA_FE, HYUNDAI.SANTA_FE_2022, HYUNDAI.SANTA_FE_HEV_2022, HYUNDAI.SANTA_FE_PHEV_2022): - set_lat_tune(tune, LatTunes.PID_HYUNDAI_D) - elif candidate in (HYUNDAI.SONATA, HYUNDAI.SONATA_HYBRID): - set_lat_tune(tune, LatTunes.PID_HYUNDAI_A) - elif candidate == HYUNDAI.SONATA_LF: - set_lat_tune(tune, LatTunes.PID_HYUNDAI_A) - elif candidate == HYUNDAI.PALISADE: - set_lat_tune(tune, LatTunes.PID_HYUNDAI_C) - elif candidate == HYUNDAI.ELANTRA: - set_lat_tune(tune, LatTunes.PID_HYUNDAI_B) - elif candidate == HYUNDAI.ELANTRA_2021: - set_lat_tune(tune, LatTunes.PID_HYUNDAI_A) - elif candidate == HYUNDAI.ELANTRA_HEV_2021: - set_lat_tune(tune, LatTunes.PID_HYUNDAI_A) - elif candidate == HYUNDAI.HYUNDAI_GENESIS: - # indi only - pass - elif candidate in (HYUNDAI.KONA, HYUNDAI.KONA_EV, HYUNDAI.KONA_HEV): - set_lat_tune(tune, LatTunes.PID_HYUNDAI_A) - elif candidate in (HYUNDAI.IONIQ, HYUNDAI.IONIQ_EV_LTD, HYUNDAI.IONIQ_EV_2020, HYUNDAI.IONIQ_PHEV, HYUNDAI.IONIQ_HEV_2022): - set_lat_tune(tune, LatTunes.PID_HYUNDAI_B) - elif candidate == HYUNDAI.IONIQ_PHEV_2019: - # indi only - pass - elif candidate == HYUNDAI.VELOSTER: - set_lat_tune(tune, LatTunes.PID_HYUNDAI_A) - - # Kia - elif candidate == HYUNDAI.KIA_SORENTO: - set_lat_tune(tune, LatTunes.PID_HYUNDAI_A) - elif candidate in (HYUNDAI.KIA_NIRO_EV, HYUNDAI.KIA_NIRO_HEV_2021): - set_lat_tune(tune, LatTunes.PID_HYUNDAI_B) - elif candidate == HYUNDAI.KIA_SELTOS: - # indi only - pass - elif candidate == HYUNDAI.KIA_OPTIMA_H: - set_lat_tune(tune, LatTunes.PID_HYUNDAI_A) - elif candidate == HYUNDAI.KIA_STINGER: - set_lat_tune(tune, LatTunes.PID_HYUNDAI_A) - elif candidate == HYUNDAI.KIA_FORTE: - set_lat_tune(tune, LatTunes.PID_HYUNDAI_A) - elif candidate == HYUNDAI.KIA_CEED: - set_lat_tune(tune, LatTunes.PID_HYUNDAI_A) - elif candidate == HYUNDAI.KIA_K5_2021: - set_lat_tune(tune, LatTunes.PID_HYUNDAI_A) - - # Genesis - elif candidate == HYUNDAI.GENESIS_G70: - # indi only - pass - elif candidate == HYUNDAI.GENESIS_G70_2020: - set_lat_tune(tune, LatTunes.PID_HYUNDAI_E) - elif candidate == HYUNDAI.GENESIS_G80: - set_lat_tune(tune, LatTunes.PID_HYUNDAI_F) - elif candidate == HYUNDAI.GENESIS_G90: - set_lat_tune(tune, LatTunes.PID_HYUNDAI_G) - - # VW - elif candidate == VW.ARTEON_MK1: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.ATLAS_MK1: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.GOLF_MK7: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.JETTA_MK7: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.PASSAT_MK8: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.PASSAT_NMS: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.POLO_MK6: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.SHARAN_MK2: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.TAOS_MK1: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.TCROSS_MK1: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.TIGUAN_MK2: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.TOURAN_MK2: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.TRANSPORTER_T61: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.TROC_MK1: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.AUDI_A3_MK3: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.AUDI_Q2_MK1: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.AUDI_Q3_MK2: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.SEAT_ATECA_MK1: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.SEAT_LEON_MK3: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.SKODA_KAMIQ_MK1: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.SKODA_KAROQ_MK1: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.SKODA_KODIAQ_MK1: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.SKODA_OCTAVIA_MK3: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.SKODA_SCALA_MK1: - set_lat_tune(tune, LatTunes.PID_VW) - elif candidate == VW.SKODA_SUPERB_MK3: - set_lat_tune(tune, LatTunes.PID_VW) - - # subaru - elif candidate == SUBARU.ASCENT: - set_lat_tune(tune, LatTunes.PID_SUBARU_A) - elif candidate == SUBARU.IMPREZA: - set_lat_tune(tune, LatTunes.PID_SUBARU_B) - elif candidate == SUBARU.IMPREZA_2020: - set_lat_tune(tune, LatTunes.PID_SUBARU_C) - elif candidate == SUBARU.FORESTER: - set_lat_tune(tune, LatTunes.PID_SUBARU_D) - elif candidate in (SUBARU.OUTBACK, SUBARU.LEGACY): - # torque only - pass - elif candidate in (SUBARU.FORESTER_PREGLOBAL, SUBARU.OUTBACK_PREGLOBAL_2018): - set_lat_tune(tune, LatTunes.PID_SUBARU_E) - elif candidate == SUBARU.LEGACY_PREGLOBAL: - set_lat_tune(tune, LatTunes.PID_SUBARU_F) - elif candidate == SUBARU.OUTBACK_PREGLOBAL: - set_lat_tune(tune, LatTunes.PID_SUBARU_E) - - -''' -from RAV4 -''' -def configure_lqr_tune(candidate, tune): - tune.init('lqr') - tune.lqr.scale = 1500.0 - tune.lqr.ki = 0.05 - - tune.lqr.a = [0., 1., -0.22619643, 1.21822268] - tune.lqr.b = [-1.92006585e-04, 3.95603032e-05] - tune.lqr.c = [1., 0.] - tune.lqr.k = [-110.73572306, 451.22718255] - tune.lqr.l = [0.3233671, 0.3185757] - tune.lqr.dcGain = 0.002237852961363602 - -# ''' -# directly copy from CarInterface.configure_torque_tune -# ''' -# def config_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True): -# try: -# params = get_torque_params(candidate) -# -# tune.init('torque') -# tune.torque.useSteeringAngle = use_steering_angle -# tune.torque.kp = 1.0 -# tune.torque.kf = 1.0 -# tune.torque.ki = 0.1 -# tune.torque.friction = params['FRICTION'] -# tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR'] -# tune.torque.latAccelOffset = 0.0 -# tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg -# except: -# pass diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 3ab829444..443116bc1 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -4,7 +4,6 @@ from common.conversions import Conversions as CV from selfdrive.car.mazda.values import CAR, LKAS_LIMITS from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase -from common.params import Params ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -12,12 +11,12 @@ EventName = car.CarEvent.EventName class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "mazda" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)] ret.radarUnavailable = True - ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021) and not Params().get_bool('dp_mazda_dashcam_bypass') + ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021) ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.8 @@ -45,9 +44,6 @@ class CarInterface(CarInterfaceBase): if candidate not in (CAR.CX5_2022, ): ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS - CarInterfaceBase.dp_lat_tune_collection(candidate, ret.latTuneCollection) - CarInterfaceBase.configure_dp_tune(ret.lateralTuning, ret.latTuneCollection) - ret.centerToFront = ret.wheelbase * 0.41 # TODO: start from empirically derived lateral slip stiffness for the civic and scale by @@ -66,7 +62,7 @@ class CarInterface(CarInterfaceBase): if self.CS.lkas_disabled: events.add(EventName.lkasDisabled) - elif self.dragonconf.dpMazdaSteerAlert and self.CS.low_speed_alert: + elif self.CS.low_speed_alert: events.add(EventName.belowSteerSpeed) ret.events = events.to_msg() diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 598b598a1..8f993e265 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -258,11 +258,14 @@ FW_VERSIONS = { CAR.MAZDA6: { (Ecu.eps, 0x730, None): [ b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GFBC-3210X-A-00\000\000\000\000\000\000\000\000\000', ], (Ecu.engine, 0x7e0, None): [ + b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX4F-188K2-D\000\000\000\000\000\000\000\000\000\000\000\000', b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -270,13 +273,16 @@ FW_VERSIONS = { ], (Ecu.abs, 0x760, None): [ b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GDDM-437K2-A\000\000\000\000\000\000\000\000\000\000\000\000', ], (Ecu.fwdCamera, 0x706, None): [ b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-P\000\000\000\000\000\000\000\000\000\000\000\000', ], (Ecu.transmission, 0x7e1, None): [ + b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYH3-21PS1-D\000\000\000\000\000\000\000\000\000\000\000\000', b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], @@ -291,6 +297,7 @@ FW_VERSIONS = { b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXGW-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 13210c86d..1c74aef1f 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -19,7 +19,7 @@ class CarInterface(CarInterfaceBase): self.prev_speed = 0. @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "mock" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)] ret.mass = 1700. diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 45c3dd720..73493a974 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -26,13 +26,11 @@ class CarController: can_sends = [] ### STEER ### - lkas_hud_msg = CS.lkas_hud_msg - lkas_hud_info_msg = CS.lkas_hud_info_msg steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0 if CC.latActive: # windup slower - apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams) + apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CarControllerParams) # Max torque from driver before EPS will give up and not apply torque if not bool(CS.out.steeringPressed): @@ -65,14 +63,14 @@ class CarController: can_sends.append(nissancan.create_steering_control( self.packer, apply_angle, self.frame, CC.enabled, self.lkas_max_torque)) - if lkas_hud_msg and lkas_hud_info_msg: + if self.CP.carFingerprint != CAR.ALTIMA: if self.frame % 2 == 0: can_sends.append(nissancan.create_lkas_hud_msg( - self.packer, lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) if self.frame % 50 == 0: can_sends.append(nissancan.create_lkas_hud_info_msg( - self.packer, lkas_hud_info_msg, steer_hud_alert + self.packer, CS.lkas_hud_info_msg, steer_hud_alert )) new_actuators = actuators.copy() diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index d6b6d17d5..bbba92dde 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -14,8 +14,8 @@ class CarState(CarStateBase): super().__init__(CP) can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) - self.lkas_hud_msg = None - self.lkas_hud_info_msg = None + self.lkas_hud_msg = {} + self.lkas_hud_info_msg = {} self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES) self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"] diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 263bb7a28..573dff9f0 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -8,7 +8,7 @@ from selfdrive.car.nissan.values import CAR class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "nissan" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)] ret.autoResumeSng = False @@ -36,9 +36,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.824 ret.centerToFront = ret.wheelbase * 0.44 - CarInterfaceBase.dp_lat_tune_collection(candidate, ret.latTuneCollection) - CarInterfaceBase.configure_dp_tune(ret.lateralTuning, ret.latTuneCollection) - return ret # returns a car.CarState diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index e9af828e2..d0f0aa93c 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -39,7 +39,7 @@ class NissanCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = { CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"), - CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22", video_link="https://youtu.be/vaMbtAh_0cY"), + CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"), CAR.LEAF_IC: None, # same platforms CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"), CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness=Harness.nissan_b), @@ -126,18 +126,22 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x707, None): [ b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80', + b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', ], (Ecu.abs, 0x740, None): [ b'476605SH1D', b'476605SK2A', + b'476605SD2E', ], (Ecu.eps, 0x742, None): [ b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80', b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80', + b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80', ], (Ecu.gateway, 0x18dad0f1, None): [ b'284U25SH3A', b'284U25SK2D', + b'284U25SF0C', ], }, CAR.XTRAIL: { diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index a6dbf4a39..c4246b380 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -1,7 +1,7 @@ from opendbc.can.packer import CANPacker from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.subaru import subarucan -from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams +from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams, SubaruFlags class CarController: @@ -10,9 +10,10 @@ class CarController: self.apply_steer_last = 0 self.frame = 0 - self.es_lkas_cnt = -1 + self.es_lkas_state_cnt = -1 self.es_distance_cnt = -1 self.es_dashstatus_cnt = -1 + self.infotainmentstatus_cnt = -1 self.cruise_button_prev = 0 self.last_cancel_frame = 0 @@ -79,11 +80,15 @@ class CarController: can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg)) self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"] - if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]: - can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, - hud_control.leftLaneVisible, hud_control.rightLaneVisible, - hud_control.leftLaneDepart, hud_control.rightLaneDepart)) - self.es_lkas_cnt = CS.es_lkas_msg["COUNTER"] + if self.es_lkas_state_cnt != CS.es_lkas_state_msg["COUNTER"]: + can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert, + hud_control.leftLaneVisible, hud_control.rightLaneVisible, + hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + self.es_lkas_state_cnt = CS.es_lkas_state_msg["COUNTER"] + + if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT and self.infotainmentstatus_cnt != CS.es_infotainmentstatus_msg["COUNTER"]: + can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert)) + self.infotainmentstatus_cnt = CS.es_infotainmentstatus_msg["COUNTER"] new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index ba873c48d..9d7b0a65c 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine from common.conversions import Conversions as CV from selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS +from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags class CarState(CarStateBase): @@ -77,11 +77,13 @@ class CarState(CarStateBase): ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1 ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3 ret.stockFcw = cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2 - self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) + self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"]) self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"]) + if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: + self.es_infotainmentstatus_msg = copy.copy(cp_cam.vl["INFOTAINMENT_STATUS"]) return ret @@ -248,7 +250,7 @@ class CarState(CarStateBase): ] else: signals = [ - ("Counter", "ES_DashStatus"), + ("COUNTER", "ES_DashStatus"), ("PCB_Off", "ES_DashStatus"), ("LDW_Off", "ES_DashStatus"), ("Signal1", "ES_DashStatus"), @@ -256,7 +258,7 @@ class CarState(CarStateBase): ("LKAS_State_Msg", "ES_DashStatus"), ("Signal2", "ES_DashStatus"), ("Cruise_Soft_Disable", "ES_DashStatus"), - ("EyeSight_Status_Msg", "ES_DashStatus"), + ("Cruise_Status_Msg", "ES_DashStatus"), ("Signal3", "ES_DashStatus"), ("Cruise_Distance", "ES_DashStatus"), ("Signal4", "ES_DashStatus"), @@ -301,6 +303,15 @@ class CarState(CarStateBase): signals += CarState.get_global_es_distance_signals()[0] checks += CarState.get_global_es_distance_signals()[1] + if CP.flags & SubaruFlags.SEND_INFOTAINMENT: + signals += [ + ("LKAS_State_Infotainment", "INFOTAINMENT_STATUS"), + ("LKAS_Blue_Lines", "INFOTAINMENT_STATUS"), + ("Signal1", "INFOTAINMENT_STATUS"), + ("Signal2", "INFOTAINMENT_STATUS"), + ] + checks.append(("INFOTAINMENT_STATUS", 10)) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) @staticmethod diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index f8027a61f..8cd3239a0 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -3,19 +3,22 @@ from cereal import car from panda import Panda from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS -from common.params import Params +from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "subaru" ret.radarUnavailable = True ret.dashcamOnly = candidate in PREGLOBAL_CARS ret.autoResumeSng = False + # Detect infotainment message sent from the camera + if candidate not in PREGLOBAL_CARS and 0x323 in fingerprint[2]: + ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value + if candidate in PREGLOBAL_CARS: ret.enableBsm = 0x25c in fingerprint[0] ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)] @@ -102,9 +105,6 @@ class CarInterface(CarInterfaceBase): else: raise ValueError(f"unknown car: {candidate}") - CarInterfaceBase.dp_lat_tune_collection(candidate, ret.latTuneCollection) - CarInterfaceBase.configure_dp_tune(ret.lateralTuning, ret.latTuneCollection) - Params().put("dp_lateral_steer_rate_cost", "0.7") return ret # returns a car.CarState diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index d83b639a4..3b498d3f7 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -3,6 +3,7 @@ from cereal import car VisualAlert = car.CarControl.HUDControl.VisualAlert + def create_steering_control(packer, apply_steer): values = { "LKAS_Output": apply_steer, @@ -11,9 +12,11 @@ def create_steering_control(packer, apply_steer): } return packer.make_can_msg("ES_LKAS", 0, values) + def create_steering_status(packer): return packer.make_can_msg("ES_LKAS_State", 0, {}) + def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd): values = copy.copy(es_distance_msg) values["COUNTER"] = (values["COUNTER"] + 1) % 0x10 @@ -21,9 +24,9 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd): values["Cruise_Cancel"] = 1 return packer.make_can_msg("ES_Distance", bus, values) -def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): - values = copy.copy(es_lkas_msg) +def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): + values = copy.copy(es_lkas_state_msg) # Filter the stock LKAS "Keep hands on wheel" alert if values["LKAS_Alert_Msg"] == 1: @@ -52,36 +55,52 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_ # Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW) if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0: if left_lane_depart: - values["LKAS_Alert"] = 12 # Left lane departure dash alert + values["LKAS_Alert"] = 12 # Left lane departure dash alert elif right_lane_depart: - values["LKAS_Alert"] = 11 # Right lane departure dash alert + values["LKAS_Alert"] = 11 # Right lane departure dash alert - if enabled: - values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines - values["LKAS_Dash_State"] = 2 # Green enabled indicator - else: - values["LKAS_Dash_State"] = 0 # LKAS Not enabled + values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines + values["LKAS_Dash_State"] = 2 if enabled else 0 # Green enabled indicator values["LKAS_Left_Line_Visible"] = int(left_line) values["LKAS_Right_Line_Visible"] = int(right_line) return packer.make_can_msg("ES_LKAS_State", 0, values) + def create_es_dashstatus(packer, dashstatus_msg): values = copy.copy(dashstatus_msg) # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts - if values["LKAS_State_Msg"] in [2, 3]: + if values["LKAS_State_Msg"] in (2, 3): values["LKAS_State_Msg"] = 0 return packer.make_can_msg("ES_DashStatus", 0, values) + +def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert): + # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts + if infotainmentstatus_msg["LKAS_State_Infotainment"] in (3, 4): + infotainmentstatus_msg["LKAS_State_Infotainment"] = 0 + + # Show Keep hands on wheel alert for openpilot steerRequired alert + if visual_alert == VisualAlert.steerRequired: + infotainmentstatus_msg["LKAS_State_Infotainment"] = 3 + + # Show Obstacle Detected for fcw + if visual_alert == VisualAlert.fcw: + infotainmentstatus_msg["LKAS_State_Infotainment"] = 2 + + return packer.make_can_msg("INFOTAINMENT_STATUS", 0, infotainmentstatus_msg) + + # *** Subaru Pre-global *** def subaru_preglobal_checksum(packer, values, addr): dat = packer.make_can_msg(addr, 0, values)[2] return (sum(dat[:7])) % 256 + def create_preglobal_steering_control(packer, apply_steer): values = { "LKAS_Command": apply_steer, @@ -91,8 +110,8 @@ def create_preglobal_steering_control(packer, apply_steer): return packer.make_can_msg("ES_LKAS", 0, values) -def create_preglobal_es_distance(packer, cruise_button, es_distance_msg): +def create_preglobal_es_distance(packer, cruise_button, es_distance_msg): values = copy.copy(es_distance_msg) values["Cruise_Button"] = cruise_button diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 9c4447631..446f9be2a 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -1,5 +1,5 @@ from dataclasses import dataclass -from enum import Enum +from enum import Enum, IntFlag from typing import Dict, List, Union from cereal import car @@ -30,6 +30,10 @@ class CarControllerParams: self.STEER_MAX = 2047 +class SubaruFlags(IntFlag): + SEND_INFOTAINMENT = 1 + + class CAR: # Global platform ASCENT = "SUBARU ASCENT LIMITED 2019" @@ -185,6 +189,7 @@ FW_VERSIONS = { b'\x00\x00d\xdc\x00\x00\x00\x00', b'\x00\x00dd\x00\x00\x00\x00', b'\x00\x00c\xf4\x1f@ \x07', + b'\x00\x00e\x1c\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xaa\x61\x66\x73\x07', @@ -205,6 +210,8 @@ FW_VERSIONS = { b'\xc5!dr\x07', b'\xaa!aw\x07', b'\xaa!av\x07', + b'\xaa\x01bt\x07', + b'\xc5!ap\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xe3\xe5\x46\x31\x00', @@ -220,6 +227,7 @@ FW_VERSIONS = { b'\xe4\xf5\002\000\000', b'\xe3\xd0\x081\x00', b'\xe3\xf5\x06\x00\x00', + b'\xe3\xd5\x161\x00', ], }, CAR.IMPREZA_2020: { @@ -239,7 +247,7 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x787, None): [ b'\000\000eb\037@ \"', - b'\000\000e\x8f\037@ )', + b'\x00\x00e\x8f\x1f@ )', b'\x00\x00eq\x1f@ "', b'\x00\x00eq\x00\x00\x00\x00', b'\x00\x00e\x8f\x00\x00\x00\x00', @@ -254,6 +262,7 @@ FW_VERSIONS = { b'\xca!fp\x07', b'\xf3"f@\x07', b'\xe6!fp\x07', + b'\xf3"fp\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xe6\xf5\004\000\000', @@ -274,6 +283,7 @@ FW_VERSIONS = { b'\xa3 \x14\x01', b'\xf1\x00\xbb\r\x05', b'\xa3 \x18&\x00', + b'\xa3 \x19&\x00', ], (Ecu.eps, 0x746, None): [ b'\x8d\xc0\x04\x00', @@ -286,6 +296,8 @@ FW_VERSIONS = { b'\xf1\x00\xac\x02\x00', b'\x00\x00e!\x00\x00\x00\x00', b'\x00\x00e\x97\x00\x00\x00\x00', + b'\x00\x00e^\x1f@ !', + b'\x00\x00e^\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xb6"`A\x07', @@ -303,6 +315,7 @@ FW_VERSIONS = { b'\x1a\xf6B`\x00', b'\x1a\xf6b0\x00', b'\x1a\xe6B1\x00', + b'\x1a\xe6F1\x00', ], }, CAR.FORESTER_PREGLOBAL: { @@ -470,6 +483,7 @@ FW_VERSIONS = { b'\xa1 "\t\x01', b'\xa1 \x08\x02', b'\xa1 \x06\x02', + b'\xa1 \x07\x02', b'\xa1 \x08\x00', b'\xa1 "\t\x00', ], @@ -481,6 +495,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x787, None): [ b'\x00\x00eJ\x00\x1f@ \x19\x00', b'\000\000e\x80\000\037@ \031\000', + b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', b'\x00\x00e\x9a\x00\x1f@ 1\x00', b'\x00\x00eJ\x00\x00\x00\x00\x00\x00', ], @@ -490,6 +505,7 @@ FW_VERSIONS = { b'\xde"`0\a', b'\xf1\x82\xbc,\xa0q\a', b'\xf1\x82\xe3,\xa0@\x07', + b'\xe2"`0\x07', b'\xe2"`p\x07', b'\xf1\x82\xe2,\xa0@\x07', b'\xbc"`q\x07', @@ -501,6 +517,7 @@ FW_VERSIONS = { b'\xa5\xfe\xf6@\x00', b'\xa7\x8e\xf40\x00', b'\xf1\x82\xa7\xf6D@\x00', + b'\xa7\xf6D@\x00', b'\xa7\xfe\xf4@\x00', ], }, diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index 70d49896c..afd3fb3be 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -8,7 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "tesla" # There is no safe way to do steer blending with user torque, diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index ac8213e4c..7198218d6 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -6,9 +6,9 @@ from parameterized import parameterized from cereal import car from selfdrive.car import gen_empty_fingerprint -from selfdrive.car.fingerprints import all_known_cars from selfdrive.car.car_helpers import interfaces -from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS +from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS, all_known_cars + class TestCarInterfaces(unittest.TestCase): @@ -25,7 +25,7 @@ class TestCarInterfaces(unittest.TestCase): car_fw = [] - car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False) + car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False, docs=False) car_interface = CarInterface(car_params, CarController, CarState) assert car_params assert car_interface @@ -51,7 +51,7 @@ class TestCarInterfaces(unittest.TestCase): elif tune.which() == 'torque': self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0) - self.assertTrue(not math.isnan(tune.torque.friction)) + self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0) elif tune.which() == 'indi': self.assertTrue(len(tune.indi.outerLoopGainV)) diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 75051316f..afd4624a8 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -27,12 +27,13 @@ FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan] COMMA BODY: [.nan, 1000, .nan] # Totally new cars -RAM 1500 5TH GEN: [2.0, 2.0, 0.0] -RAM HD 5TH GEN: [1.4, 1.4, 0.0] +RAM 1500 5TH GEN: [2.0, 2.0, 0.05] +RAM HD 5TH GEN: [1.4, 1.4, 0.05] SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11] CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694] CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05] CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112] +CHEVROLET TRAILBLAZER 2021: [1.33, 1.9, 0.16] CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1] VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1] @@ -44,9 +45,12 @@ KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1] GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1] KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1] KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12] +KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14] +GENESIS GV80 2023: [2.5, 2.5, 0.1] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] # Manually checked HONDA CIVIC 2022: [2.5, 1.2, 0.15] +HONDA HR-V 2023: [2.5, 1.2, 0.2] diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 13e00b209..5ea84e559 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -12,6 +12,7 @@ TOYOTA C-HR HYBRID 2018: TOYOTA C-HR 2018 TOYOTA C-HR HYBRID 2022: TOYOTA C-HR 2021 LEXUS IS 2018: LEXUS NX 2018 LEXUS CT HYBRID 2018 : LEXUS NX 2018 +LEXUS ES 2018: TOYOTA CAMRY HYBRID 2018 LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018 LEXUS NX HYBRID 2020: LEXUS NX 2020 LEXUS RC 2020: LEXUS NX 2020 @@ -49,14 +50,12 @@ HONDA CR-V EU 2016: HONDA CR-V 2016 HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019 HONDA E 2020: HONDA CIVIC (BOSCH) 2019 HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018 -HONDA ODYSSEY HYBRID CHN 2022: HONDA ODYSSEY 2018 BUICK LACROSSE 2017: CHEVROLET VOLT PREMIER 2017 BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017 CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017 CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017 CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017 -CHEVROLET TRAILBLAZER 2022: CHEVROLET VOLT PREMIER 2017 HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017 SKODA FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 87a50fc46..290fcfa10 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -9,7 +9,6 @@ from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, UNSUPPORTED_DSU_CAR from opendbc.can.packer import CANPacker from common.conversions import Conversions as CV -from common.params import Params VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -20,6 +19,7 @@ MAX_STEER_RATE_FRAMES = 18 # tx control frames needed before torque can be cut # EPS allows user torque above threshold for 50 frames before permanently faulting MAX_USER_TORQUE = 500 +# rick - toyota auto lock / unlock GearShifter = car.CarState.GearShifter UNLOCK_CMD = b'\x40\x05\x30\x11\x00\x40\x00\x00' LOCK_CMD = b'\x40\x05\x30\x11\x00\x80\x00\x00' @@ -36,33 +36,15 @@ class CarController: self.standstill_req = False self.steer_rate_counter = 0 - self.steer_rate_counter = 0 - self.packer = CANPacker(dbc_name) self.gas = 0 self.accel = 0 - # dp - self.dp_toyota_sng = False + self.dp_auto_lock_gear_prev = GearShifter.park + self.dp_auto_lock_once = False - self.dp_toyota_auto_lock = False - self.dp_toyota_auto_unlock = False - self.last_gear = GearShifter.park - self.lock_once = False - self.lat_controller_type = None - self.lat_controller_type_prev = None - def update(self, CC, CS, now_nanos, dragonconf): - if dragonconf is not None: - self.dp_toyota_sng = dragonconf.dpToyotaSng - self.dp_toyota_auto_lock = dragonconf.dpToyotaAutoLock - self.dp_toyota_auto_unlock = dragonconf.dpToyotaAutoUnlock - self.lat_controller_type = CC.latController - if self.lat_controller_type != self.lat_controller_type_prev: - self.torque_rate_limits.update(CC.latController) - self.lat_controller_type_prev = self.lat_controller_type - - self.dp_toyota_change5speed = Params().get_bool("dp_toyota_change5speed") + def update(self, CC, CS, now_nanos): actuators = CC.actuators hud_control = CC.hudControl pcm_cancel_cmd = CC.cruiseControl.cancel @@ -120,7 +102,6 @@ class CarController: if CS.pcm_acc_status != 8: # pcm entered standstill or it's disabled self.standstill_req = False - self.standstill_req = False if self.dp_toyota_sng else self.standstill_req self.last_steer = apply_steer self.last_standstill = CS.out.standstill @@ -130,17 +111,15 @@ class CarController: # dp - door auto lock / unlock logic # thanks to AlexandreSato & cydia2020 # https://github.com/AlexandreSato/animalpilot/blob/personal/doors.py - if self.dp_toyota_auto_lock or self.dp_toyota_auto_unlock: + if not CS.out.doorOpen: gear = CS.out.gearShifter - if self.last_gear != gear and gear == GearShifter.park: - if self.dp_toyota_auto_unlock: + if gear == GearShifter.park and self.dp_auto_lock_gear_prev != gear: can_sends.append(make_can_msg(0x750, UNLOCK_CMD, 0)) - if self.dp_toyota_auto_lock: - self.lock_once = False - elif self.dp_toyota_auto_lock and not CS.out.doorOpen and gear == GearShifter.drive and not self.lock_once and CS.out.vEgo >= LOCK_AT_SPEED: + self.dp_auto_lock_once = False + elif gear == GearShifter.drive and not self.dp_auto_lock_once and CS.out.vEgo >= LOCK_AT_SPEED: can_sends.append(make_can_msg(0x750, LOCK_CMD, 0)) - self.lock_once = True - self.last_gear = gear + self.dp_auto_lock_once = True + self.dp_auto_lock_gear_prev = gear # *** control msgs *** # print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor) @@ -165,10 +144,10 @@ class CarController: if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: can_sends.append(create_acc_cancel_command(self.packer)) elif self.CP.openpilotLongitudinalControl: - can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, CS.distance, self.dp_toyota_change5speed)) + can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type)) self.accel = pcm_accel_cmd else: - can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, CS.distance, self.dp_toyota_change5speed)) + can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type)) if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl: # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd. @@ -195,7 +174,7 @@ class CarController: if self.frame % 20 == 0 or send_ui: can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, - hud_control.rightLaneDepart, CC.latActive, CS.lkas_hud)) + hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud)) if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu: can_sends.append(create_fcw_command(self.packer, fcw_alert)) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 5322340b9..68adc2ee5 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -10,22 +10,6 @@ from opendbc.can.parser import CANParser from selfdrive.car.interfaces import CarStateBase from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR -from common.params import Params, put_nonblocking -import time -from math import floor - -# dp -DP_ACCEL_ECO = 0 -DP_ACCEL_NORMAL = 1 -DP_ACCEL_SPORT = 2 - -_TRAFFIC_SINGAL_MAP = { - 1: "kph", - 36: "mph", - 65: "No overtake", - 66: "No overtake" -} - class CarState(CarStateBase): def __init__(self, CP): @@ -41,31 +25,11 @@ class CarState(CarStateBase): # Need to apply an offset as soon as the steering angle measurements are both received self.accurate_steer_angle_seen = False self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False) - self._init_traffic_signals() self.low_speed_lockout = False self.acc_type = 1 self.lkas_hud = {} - #dp - self.dp_sig_check = False - self.dp_sig_sport_on_seen = True - self.dp_sig_econ_on_seen = True - self.dp_accel_profile = None - self.dp_accel_profile_prev = None - self.dp_accel_profile_init = False - self.dp_toyota_ap_btn_link = Params().get_bool('dp_toyota_ap_btn_link') - self.read_distance_lines = 0 - self.read_distance_lines_init = False - self.distance = 0 - self.dp_toyota_fp_btn_link = Params().get_bool('dp_toyota_fp_btn_link') - - # zss - self.dp_toyota_zss = Params().get_bool('dp_toyota_zss') - self.dp_zss_compute = False - self.dp_zss_cruise_active_last = False - self.dp_zss_angle_offset = 0. - def update(self, cp, cp_cam): ret = car.CarState.new_message() @@ -75,8 +39,7 @@ class CarState(CarStateBase): ret.parkingBrake = cp.vl["BODY_CONTROL_STATE"]["PARKING_BRAKE"] == 1 ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0 - #ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1 - ret.brakeLightsDEPRECATED = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0) + ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1 if self.CP.enableGasInterceptor: ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2 ret.gasPressed = ret.gas > 805 @@ -114,81 +77,10 @@ class CarState(CarStateBase): ret.steeringAngleOffsetDeg = self.angle_offset.x ret.steeringAngleDeg = torque_sensor_angle_deg - self.angle_offset.x - # dp - toyota zss - if self.dp_toyota_zss: - zorro_steer = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"] - # only compute zss offset when acc is active - if bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"]) and not self.dp_zss_cruise_active_last: - self.dp_zss_compute = True # cruise was just activated, so allow offset to be recomputed - self.dp_zss_cruise_active_last = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"]) - - # compute zss offset - if self.dp_zss_compute: - if abs(ret.steeringAngleDeg) > 1e-3 and abs(zorro_steer) > 1e-3: - self.dp_toyota_zss = False - self.dp_zss_angle_offset = zorro_steer - ret.steeringAngleDeg - # apply offset - ret.steeringAngleDeg = zorro_steer - self.dp_zss_angle_offset - ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"] can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"]) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) - - #dp: Thank you Arne (acceleration) - if self.dp_toyota_ap_btn_link: - sport_on_sig = 'SPORT_ON_2' if self.CP.carFingerprint in (CAR.RAV4_TSS2, CAR.LEXUS_ES_TSS2, CAR.HIGHLANDER_TSS2) else 'SPORT_ON' - # check signal once - if not self.dp_sig_check: - self.dp_sig_check = True - # sport on - try: - sport_on = cp.vl["GEAR_PACKET"][sport_on_sig] - except KeyError: - sport_on = 0 - self.dp_sig_sport_on_seen = False - # econ on - try: - econ_on = cp.vl["GEAR_PACKET"]['ECON_ON'] - except KeyError: - econ_on = 0 - self.dp_sig_econ_on_seen = False - else: - sport_on = cp.vl["GEAR_PACKET"][sport_on_sig] if self.dp_sig_sport_on_seen else 0 - econ_on = cp.vl["GEAR_PACKET"]['ECON_ON'] if self.dp_sig_econ_on_seen else 0 - - if sport_on == 0 and econ_on == 0: - self.dp_accel_profile = DP_ACCEL_NORMAL - elif sport_on == 1: - self.dp_accel_profile = DP_ACCEL_SPORT - elif econ_on == 1: - self.dp_accel_profile = DP_ACCEL_ECO - - # if init is false, we sync profile with whatever mode we have on car - if not self.dp_accel_profile_init or self.dp_accel_profile != self.dp_accel_profile_prev: - put_nonblocking('dp_accel_profile', str(self.dp_accel_profile)) - put_nonblocking('dp_last_modified',str(floor(time.time()))) - self.dp_accel_profile_init = True - self.dp_accel_profile_prev = self.dp_accel_profile - - # distance button - - #dp: Thank you Arne (distance button) - if self.dp_toyota_fp_btn_link: - if not self.read_distance_lines_init or self.read_distance_lines != cp.vl["PCM_CRUISE_SM"]['DISTANCE_LINES']: - self.read_distance_lines_init = True - self.read_distance_lines = cp.vl["PCM_CRUISE_SM"]['DISTANCE_LINES'] - put_nonblocking('dp_following_profile', str(int(max(self.read_distance_lines - 1, 0)))) # Skipping one profile toyota mid is weird. - put_nonblocking('dp_last_modified',str(floor(time.time()))) - - if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR): - self.distance = cp_cam.vl["ACC_CONTROL"]['DISTANCE'] - elif self.CP.carFingerprint in [CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.HIGHLANDER]: - self.distance = cp.vl["SDSU"]['FD_BUTTON'] - - #dp - ret.engineRPM = cp.vl["ENGINE_RPM"]['RPM'] - ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1 ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2 @@ -223,7 +115,8 @@ class CarState(CarStateBase): cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR): - self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"] + if not (self.CP.flags & ToyotaFlags.SMART_DSU.value): + self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"] ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"]) # some TSS2 cars have low speed lockout permanently set, so ignore on those cars @@ -254,89 +147,8 @@ class CarState(CarStateBase): if self.CP.carFingerprint != CAR.PRIUS_V: self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"]) - self._update_traffic_signals(cp_cam) - ret.cruiseState.speedLimit = self._calculate_speed_limit() - return ret - def _init_traffic_signals(self): - self._tsgn1 = None - self._spdval1 = None - self._splsgn1 = None - self._tsgn2 = None - self._splsgn2 = None - self._tsgn3 = None - self._splsgn3 = None - self._tsgn4 = None - self._splsgn4 = None - - def _update_traffic_signals(self, cp_cam): - # Print out car signals for traffic signal detection - tsgn1 = cp_cam.vl["RSA1"]['TSGN1'] - spdval1 = cp_cam.vl["RSA1"]['SPDVAL1'] - splsgn1 = cp_cam.vl["RSA1"]['SPLSGN1'] - tsgn2 = cp_cam.vl["RSA1"]['TSGN2'] - splsgn2 = cp_cam.vl["RSA1"]['SPLSGN2'] - tsgn3 = cp_cam.vl["RSA2"]['TSGN3'] - splsgn3 = cp_cam.vl["RSA2"]['SPLSGN3'] - tsgn4 = cp_cam.vl["RSA2"]['TSGN4'] - splsgn4 = cp_cam.vl["RSA2"]['SPLSGN4'] - - has_changed = tsgn1 != self._tsgn1 \ - or spdval1 != self._spdval1 \ - or splsgn1 != self._splsgn1 \ - or tsgn2 != self._tsgn2 \ - or splsgn2 != self._splsgn2 \ - or tsgn3 != self._tsgn3 \ - or splsgn3 != self._splsgn3 \ - or tsgn4 != self._tsgn4 \ - or splsgn4 != self._splsgn4 - - self._tsgn1 = tsgn1 - self._spdval1 = spdval1 - self._splsgn1 = splsgn1 - self._tsgn2 = tsgn2 - self._splsgn2 = splsgn2 - self._tsgn3 = tsgn3 - self._splsgn3 = splsgn3 - self._tsgn4 = tsgn4 - self._splsgn4 = splsgn4 - - if not has_changed: - return - - print('---- TRAFFIC SIGNAL UPDATE -----') - if tsgn1 is not None and tsgn1 != 0: - print(f'TSGN1: {self._traffic_signal_description(tsgn1)}') - if spdval1 is not None and spdval1 != 0: - print(f'SPDVAL1: {spdval1}') - if splsgn1 is not None and splsgn1 != 0: - print(f'SPLSGN1: {splsgn1}') - if tsgn2 is not None and tsgn2 != 0: - print(f'TSGN2: {self._traffic_signal_description(tsgn2)}') - if splsgn2 is not None and splsgn2 != 0: - print(f'SPLSGN2: {splsgn2}') - if tsgn3 is not None and tsgn3 != 0: - print(f'TSGN3: {self._traffic_signal_description(tsgn3)}') - if splsgn3 is not None and splsgn3 != 0: - print(f'SPLSGN3: {splsgn3}') - if tsgn4 is not None and tsgn4 != 0: - print(f'TSGN4: {self._traffic_signal_description(tsgn4)}') - if splsgn4 is not None and splsgn4 != 0: - print(f'SPLSGN4: {splsgn4}') - print('------------------------') - - def _traffic_signal_description(self, tsgn): - desc = _TRAFFIC_SINGAL_MAP.get(int(tsgn)) - return f'{tsgn}: {desc}' if desc is not None else f'{tsgn}' - - def _calculate_speed_limit(self): - if self._tsgn1 == 1: - return self._spdval1 * CV.KPH_TO_MS - if self._tsgn1 == 36: - return self._spdval1 * CV.MPH_TO_MS - return 0 - @staticmethod def get_can_parser(CP): signals = [ @@ -356,7 +168,7 @@ class CarState(CarStateBase): ("PARKING_BRAKE", "BODY_CONTROL_STATE"), ("UNITS", "BODY_CONTROL_STATE_2"), ("TC_DISABLED", "ESP_CONTROL"), - #("BRAKE_HOLD_ACTIVE", "ESP_CONTROL"), + ("BRAKE_HOLD_ACTIVE", "ESP_CONTROL"), ("STEER_FRACTION", "STEER_ANGLE_SENSOR"), ("STEER_RATE", "STEER_ANGLE_SENSOR"), ("CRUISE_ACTIVE", "PCM_CRUISE"), @@ -370,12 +182,6 @@ class CarState(CarStateBase): ("TURN_SIGNALS", "BLINKERS_STATE"), ("LKA_STATE", "EPS_STATUS"), ("AUTO_HIGH_BEAM", "LIGHT_STALK"), - #dp - ("SPORT_ON", "GEAR_PACKET"), - ("ECON_ON", "GEAR_PACKET"), - ("RPM", "ENGINE_RPM"), - ("BRAKE_LIGHTS_ACC", "ESP_CONTROL"), - ("DISTANCE_LINES", "PCM_CRUISE_SM"), ] checks = [ @@ -392,8 +198,6 @@ class CarState(CarStateBase): ("PCM_CRUISE", 33), ("PCM_CRUISE_SM", 1), ("STEER_TORQUE_SENSOR", 50), - #dp - ("ENGINE_RPM", 100), ] if CP.flags & ToyotaFlags.HYBRID: @@ -402,16 +206,6 @@ class CarState(CarStateBase): else: signals.append(("GAS_PEDAL", "GAS_PEDAL")) checks.append(("GAS_PEDAL", 33)) - #arne - if CP.carFingerprint in [CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.HIGHLANDER]: - signals.append(("FD_BUTTON", "SDSU", 0)) - #dp acceleration - if CP.carFingerprint in (CAR.RAV4_TSS2, CAR.LEXUS_ES_TSS2, CAR.HIGHLANDER_TSS2): - signals.append(("SPORT_ON_2", "GEAR_PACKET")) - - if CP.carFingerprint in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.CHR_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.RAV4H_TSS2, CAR.MIRAI, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.CHRH): - signals.append(("SPORT_ON", "GEAR_PACKET")) - signals.append(("ECON_ON", "GEAR_PACKET")) if CP.carFingerprint in UNSUPPORTED_DSU_CAR: signals.append(("MAIN_ON", "DSU_CRUISE")) @@ -442,12 +236,17 @@ class CarState(CarStateBase): checks.append(("BSM", 1)) if CP.carFingerprint in RADAR_ACC_CAR: + if not CP.flags & ToyotaFlags.SMART_DSU.value: + signals += [ + ("ACC_TYPE", "ACC_CONTROL"), + ] + checks += [ + ("ACC_CONTROL", 33), + ] signals += [ - ("ACC_TYPE", "ACC_CONTROL"), ("FCW", "ACC_HUD"), ] checks += [ - ("ACC_CONTROL", 33), ("ACC_HUD", 1), ] @@ -460,34 +259,12 @@ class CarState(CarStateBase): ("PRE_COLLISION", 33), ] - # dp - add zss signal check - if Params().get_bool('dp_toyota_zss'): - signals += [("ZORRO_STEER", "SECONDARY_STEER_ANGLE", 0)] - checks += [("SECONDARY_STEER_ANGLE", 0)] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) @staticmethod def get_cam_can_parser(CP): - # Include traffic signal, single - signals = [ - ("TSGN1", "RSA1", 0), - ("SPDVAL1", "RSA1", 0), - ("SPLSGN1", "RSA1", 0), - ("TSGN2", "RSA1", 0), - ("SPLSGN2", "RSA1", 0), - ("TSGN3", "RSA2", 0), - ("SPLSGN3", "RSA2", 0), - ("TSGN4", "RSA2", 0), - ("SPLSGN4", "RSA2", 0), - ] - - # use steering message to check if panda is connected to frc - checks = [ - ("RSA1", 0), - ("RSA2", 0), - ] - + signals = [] + checks = [] if CP.carFingerprint != CAR.PRIUS_V: signals += [ @@ -507,15 +284,11 @@ class CarState(CarStateBase): ("FORCE", "PRE_COLLISION"), ("ACC_TYPE", "ACC_CONTROL"), ("FCW", "ACC_HUD"), - #dp - ("DISTANCE_LINES", "PCM_CRUISE_SM"), - ("DISTANCE", "ACC_CONTROL"), ] checks += [ ("PRE_COLLISION", 33), ("ACC_CONTROL", 33), ("ACC_HUD", 1), - ("PCM_CRUISE_SM", 0), ] return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index c75c05543..c222363d1 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -3,10 +3,9 @@ from cereal import car from common.conversions import Conversions as CV from panda import Panda from selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ - MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR + MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase -from common.params import Params EventName = car.CarEvent.EventName @@ -17,7 +16,7 @@ class CarInterface(CarInterfaceBase): return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "toyota" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)] ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate] @@ -39,7 +38,6 @@ class CarInterface(CarInterfaceBase): stop_and_go = False - params = Params() if candidate == CAR.PRIUS: stop_and_go = True ret.wheelbase = 2.70 @@ -47,14 +45,10 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG # Only give steer angle deadzone to for bad angle sensor prius - if params.get_bool("dp_toyota_prius_bad_angle_tune"): - ret.steerActuatorDelay = 0.25 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2) - else: - for fw in car_fw: - if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': - ret.steerActuatorDelay = 0.25 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2) + for fw in car_fw: + if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': + ret.steerActuatorDelay = 0.25 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2) elif candidate == CAR.PRIUS_V: stop_and_go = True @@ -144,8 +138,9 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG - elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH): - stop_and_go = True + elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2): + if candidate not in (CAR.LEXUS_ES,): # TODO: LEXUS_ES may have sng + stop_and_go = True ret.wheelbase = 2.8702 ret.steerRatio = 16.0 # not optimized tire_stiffness_factor = 0.444 # not optimized yet @@ -199,9 +194,6 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.444 ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG - CarInterfaceBase.dp_lat_tune_collection(candidate, ret.latTuneCollection, steering_angle_deadzone_deg = 0.0) - CarInterfaceBase.configure_dp_tune(ret.lateralTuning, ret.latTuneCollection) - ret.centerToFront = ret.wheelbase * 0.44 # TODO: start from empirically derived lateral slip stiffness for the civic and scale by @@ -210,22 +202,20 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor=tire_stiffness_factor) ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR - # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it - smartDsu = 0x2FF in fingerprint[0] - # In TSS2 cars the camera does long control + + # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it + if 0x2FF in fingerprint[0]: + ret.flags |= ToyotaFlags.SMART_DSU.value + + # In TSS2 cars, the camera does long control found_ecus = [fw.ecu for fw in car_fw] - ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not smartDsu + ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not (ret.flags & ToyotaFlags.SMART_DSU) ret.enableGasInterceptor = 0x201 in fingerprint[0] + # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected") - ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) + ret.openpilotLongitudinalControl = bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR - if int(Params().get("dp_atl").decode('utf-8')) == 1: - ret.openpilotLongitudinalControl = False - - if candidate == CAR.CHR_TSS2: - ret.enableBsm = True - if not ret.openpilotLongitudinalControl: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL @@ -244,19 +234,12 @@ class CarInterface(CarInterfaceBase): if candidate in TSS2_CAR or ret.enableGasInterceptor: tune.kpBP = [0., 5., 20.] tune.kpV = [1.3, 1.0, 0.7] - tune.kiBP = [0., 3., 4., 5., 12., 20., 23., 40.] - tune.kiV = [.08, .16, .26, .215, .20, .166, .1, .006] + tune.kiBP = [0., 5., 12., 20., 27.] + tune.kiV = [.35, .23, .20, .17, .1] if candidate in TSS2_CAR: - #ret.vEgoStopping = 0.3 # car is near 0.1 to 0.2 when car starts requesting stopping accel - ret.vEgoStarting = 0.1 # needs to be > or == vEgoStopping - #ret.stopAccel = -0.1 # Toyota requests -0.4 when stopped - ret.stoppingDecelRate = 0.04 # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4 - #ret.longitudinalActuatorDelayLowerBound = 0.3 - #ret.longitudinalActuatorDelayUpperBound = 0.3 - ### stock ### - #ret.vEgoStopping = 0.25 - #ret.vEgoStarting = 0.25 - #ret.stoppingDecelRate = 0.3 # reach stopping target smoothly + ret.vEgoStopping = 0.25 + ret.vEgoStarting = 0.25 + ret.stoppingDecelRate = 0.3 # reach stopping target smoothly else: tune.kpBP = [0., 5., 35.] tune.kiBP = [0., 35.] @@ -293,4 +276,4 @@ class CarInterface(CarInterfaceBase): # pass in a car.CarControl # to be called @ 100hz def apply(self, c, now_nanos): - return self.CC.update(c, self.CS, now_nanos, self.dragonconf) + return self.CC.update(c, self.CS, now_nanos) diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index ba6d0438e..a78b70608 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -27,17 +27,17 @@ def create_lta_steer_command(packer, steer, steer_req, raw_cnt): return packer.make_can_msg("STEERING_LTA", 0, values) -def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, distance, dp_toyota_change5speed): +def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type): # TODO: find the exact canceling bit that does not create a chime values = { "ACCEL_CMD": accel, "ACC_TYPE": acc_type, - "DISTANCE": distance, + "DISTANCE": 0, "MINI_CAR": lead, "PERMIT_BRAKING": 1, "RELEASE_STANDSTILL": not standstill_req, "CANCEL_REQ": pcm_cancel, - "ALLOW_LONG_PRESS": 2 if dp_toyota_change5speed else 1, + "ALLOW_LONG_PRESS": 1, } return packer.make_can_msg("ACC_CONTROL", 0, values) diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py deleted file mode 100644 index c3f8cf734..000000000 --- a/selfdrive/car/toyota/tunes.py +++ /dev/null @@ -1,129 +0,0 @@ -#!/usr/bin/env python3 -from enum import Enum - -class LongTunes(Enum): - TSS2 = 0 - TSS = 1 - -class LatTunes(Enum): - INDI_PRIUS = 0 - LQR_RAV4 = 1 - PID_A = 2 - PID_B = 3 - PID_C = 4 - PID_D = 5 - PID_E = 6 - PID_F = 7 - PID_G = 8 - PID_I = 9 - PID_H = 10 - PID_J = 11 - PID_K = 12 - PID_L = 13 - PID_M = 14 - PID_N = 15 - - INDI_PRIUS_TSS2 = 16 - - -###### LONG ###### -def set_long_tune(tune, name): - # Improved longitudinal tune - if name == LongTunes.TSS2: - tune.deadzoneBP = [0., 8.05] - tune.deadzoneV = [.0, .14] - tune.kpBP = [0., 5., 20., 30.] - tune.kpV = [1.3, 1.0, 0.7, 0.1] - #really smooth (make it toggleable) - #tune.kiBP = [0., 0.07, 5, 8, 11., 18., 20., 24., 33.] - #tune.kiV = [.001, .01, .1, .18, .21, .22, .23, .22, .001] - #okay ish - #tune.kiBP = [0., 11., 17., 20., 24., 30., 33., 40.] - #tune.kiV = [.001, .21, .22, .23, .22, .1, .001, .0001] - tune.kiBP = [0., 6., 8., 11., 30., 33., 40.] - tune.kiV = [.001, .07, .15, .2, .2, .01, .0001] - # Default longitudinal tune - elif name == LongTunes.TSS: - tune.deadzoneBP = [0., 9.] - tune.deadzoneV = [.0, .15] - tune.kpBP = [0., 5., 35.] - tune.kiBP = [0., 35.] - tune.kpV = [3.6, 2.4, 1.5] - tune.kiV = [0.54, 0.36] - else: - raise NotImplementedError('This longitudinal tune does not exist') - - -###### LAT ###### -def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True): - - if name == LatTunes.INDI_PRIUS_TSS2: - tune.init('indi') - #tune.indi.innerLoopGainBP = [20, 24, 30] - #tune.indi.innerLoopGainV = [7.25, 7.5, 9] - #tune.indi.outerLoopGainBP = [20, 24, 30] - #tune.indi.outerLoopGainV = [6, 7.25, 6] - #tune.indi.timeConstantBP = [20, 24] - #tune.indi.timeConstantV = [2.0, 2.2] - #tune.indi.actuatorEffectivenessBP = [20, 24] - #tune.indi.actuatorEffectivenessV = [2, 3] - tune.indi.innerLoopGainBP = [0.] - tune.indi.innerLoopGainV = [15] - tune.indi.outerLoopGainBP = [0.] - tune.indi.outerLoopGainV = [17] - tune.indi.timeConstantBP = [0.] - tune.indi.timeConstantV = [4.5] - tune.indi.actuatorEffectivenessBP = [0.] - tune.indi.actuatorEffectivenessV = [15] - elif 'PID' in str(name): - tune.init('pid') - tune.pid.kiBP = [0.0] - tune.pid.kpBP = [0.0] - if name == LatTunes.PID_A: - tune.pid.kpV = [0.2] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00003 - elif name == LatTunes.PID_C: - tune.pid.kpV = [0.6] - tune.pid.kiV = [0.1] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_D: - tune.pid.kpV = [0.6] - tune.pid.kiV = [0.1] - tune.pid.kf = 0.00007818594 - elif name == LatTunes.PID_F: - tune.pid.kpV = [0.723] - tune.pid.kiV = [0.0428] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_G: - tune.pid.kpV = [0.18] - tune.pid.kiV = [0.015] - tune.pid.kf = 0.00012 - elif name == LatTunes.PID_H: - tune.pid.kpV = [0.17] - tune.pid.kiV = [0.03] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_I: - tune.pid.kpV = [0.15] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00004 - elif name == LatTunes.PID_J: - tune.pid.kpV = [0.19] - tune.pid.kiV = [0.02] - tune.pid.kf = 0.00007818594 - elif name == LatTunes.PID_L: - tune.pid.kpV = [0.3] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_M: - tune.pid.kpV = [0.3] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00007 - elif name == LatTunes.PID_N: - tune.pid.kpV = [0.35] - tune.pid.kiV = [0.15] - tune.pid.kf = 0.00007818594 - else: - raise NotImplementedError('This PID tune does not exist') - else: - raise NotImplementedError('This lateral tune does not exist') diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index a712ee04a..ddcdbab78 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -23,10 +23,7 @@ class CarControllerParams: STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor def __init__(self, CP): - self.update(CP.lateralTuning.which) - - def update(self, tune): - if tune == 'torque': + if CP.lateralTuning.which == 'torque': self.STEER_DELTA_UP = 15 # 1.0s time to peak torque self.STEER_DELTA_DOWN = 25 # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50) else: @@ -36,6 +33,7 @@ class CarControllerParams: class ToyotaFlags(IntFlag): HYBRID = 1 + SMART_DSU = 2 class CAR: @@ -79,6 +77,7 @@ class CAR: # Lexus LEXUS_CTH = "LEXUS CT HYBRID 2018" + LEXUS_ES = "LEXUS ES 2018" LEXUS_ESH = "LEXUS ES HYBRID 2018" LEXUS_ES_TSS2 = "LEXUS ES 2019" LEXUS_ESH_TSS2 = "LEXUS ES HYBRID 2019" @@ -143,7 +142,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"), CAR.PRIUS: [ - ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", "https://www.youtube.com/watch?v=8zopPJI8XQ0"), + ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ], @@ -157,7 +156,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota RAV4 2017-18") ], CAR.RAV4H: [ - ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", "https://youtu.be/LhT5VzJVfNI?t=26"), + ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"), ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26") ], CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), @@ -171,6 +170,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { # Lexus CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"), + CAR.LEXUS_ES: ToyotaCarInfo("Lexus ES 2017-18"), CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"), CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"), CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"), @@ -195,23 +195,24 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { # (addr, cars, bus, 1/freq*100, vl) STATIC_DSU_MSGS = [ (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), - (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'), - (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), - (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), - (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), + (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'), + (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), + (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), + (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), - (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), + (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), - (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), + (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), - (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), + (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'), + (0x366, (CAR.LEXUS_ES,), 0, 20, b'\x00\x95\x07\xfe\x08\x05\x00'), (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'), - (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), - (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), + (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), + (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), ] TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01' @@ -330,6 +331,7 @@ FW_VERSIONS = { CAR.AVALON_TSS2: { (Ecu.abs, 0x7b0, None): [ b'\x01F152607240\x00\x00\x00\x00\x00\x00', + b'\x01F152607250\x00\x00\x00\x00\x00\x00', b'\x01F152607280\x00\x00\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ @@ -337,6 +339,7 @@ FW_VERSIONS = { ], (Ecu.engine, 0x700, None): [ b'\x01896630742000\x00\x00\x00\x00', + b'\x01896630743000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F6201200\x00\x00\x00\x00', @@ -546,6 +549,7 @@ FW_VERSIONS = { b'\x018966306Q5000\x00\x00\x00\x00', b'\x018966306Q9000\x00\x00\x00\x00', b'\x018966306R3000\x00\x00\x00\x00', + b'\x018966306R8000\x00\x00\x00\x00', b'\x018966306T3100\x00\x00\x00\x00', b'\x018966306T3200\x00\x00\x00\x00', b'\x018966306T4000\x00\x00\x00\x00', @@ -558,6 +562,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F0602200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F0602300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', @@ -730,22 +735,28 @@ FW_VERSIONS = { ], }, CAR.CHRH_TSS2: { - (Ecu.eps, 0x7a1, None): [ - b'8965B10092\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152610041\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ - b'\x0189663F438000\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 15): [ - b'\x018821FF410500\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 109): [ - b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00', - ], - }, + (Ecu.eps, 0x7a1, None): [ + b'8965B10092\x00\x00\x00\x00\x00\x00', + b'8965B10091\x00\x00\x00\x00\x00\x00', + b'8965B10111\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152610041\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x0189663F438000\x00\x00\x00\x00', + b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 15): [ + b'\x018821FF410500\x00\x00\x00\x00', + b'\x018821FF410300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 109): [ + b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00', + b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00', + ], + }, CAR.COROLLA: { (Ecu.engine, 0x7e0, None): [ b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00', @@ -913,6 +924,7 @@ FW_VERSIONS = { b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966312Q3100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x038966312L7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00', b'\x038966312N1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', @@ -923,6 +935,7 @@ FW_VERSIONS = { b'8965B12451\x00\x00\x00\x00\x00\x00', b'8965B16011\x00\x00\x00\x00\x00\x00', b'8965B16101\x00\x00\x00\x00\x00\x00', + b'8965B16170\x00\x00\x00\x00\x00\x00', b'8965B76012\x00\x00\x00\x00\x00\x00', b'8965B76050\x00\x00\x00\x00\x00\x00', b'\x018965B12350\x00\x00\x00\x00\x00\x00', @@ -950,6 +963,7 @@ FW_VERSIONS = { b'F152612D00\x00\x00\x00\x00\x00\x00', b'F152616011\x00\x00\x00\x00\x00\x00', b'F152616060\x00\x00\x00\x00\x00\x00', + b'F152616030\x00\x00\x00\x00\x00\x00', b'F152642540\x00\x00\x00\x00\x00\x00', b'F152676293\x00\x00\x00\x00\x00\x00', b'F152676303\x00\x00\x00\x00\x00\x00', @@ -1062,6 +1076,7 @@ FW_VERSIONS = { b'\x01896630E62200\x00\x00\x00\x00', b'\x01896630E64100\x00\x00\x00\x00', b'\x01896630E64200\x00\x00\x00\x00', + b'\x01896630E64400\x00\x00\x00\x00', b'\x01896630EB1000\x00\x00\x00\x00', b'\x01896630EB1100\x00\x00\x00\x00', b'\x01896630EB1200\x00\x00\x00\x00', @@ -1104,6 +1119,7 @@ FW_VERSIONS = { b'\x01F152648J4000\x00\x00\x00\x00', b'\x01F152648J5000\x00\x00\x00\x00', b'\x01F152648J6000\x00\x00\x00\x00', + b'\x01F15264872700\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x01896630E67000\x00\x00\x00\x00', @@ -1721,6 +1737,26 @@ FW_VERSIONS = { b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, + CAR.LEXUS_ES: { + (Ecu.engine, 0x7e0, None): [ + b'\x02333R0000\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152606202\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881513309500\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B33502\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4701200\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F3302200\x00\x00\x00\x00', + ], + }, CAR.LEXUS_ESH: { (Ecu.engine, 0x7e0, None): [ b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', @@ -1988,6 +2024,8 @@ FW_VERSIONS = { b'\x01896634D12100\x00\x00\x00\x00', b'\x01896634D43000\x00\x00\x00\x00', b'\x01896634D44000\x00\x00\x00\x00', + b'\x018966348X0000\x00\x00\x00\x00', + b'\x01896630ED5000\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'\x01F15260E031\x00\x00\x00\x00\x00\x00', @@ -2013,11 +2051,12 @@ FW_VERSIONS = { }, CAR.LEXUS_RXH_TSS2: { (Ecu.engine, 0x7e0, None): [ + b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F152648831\x00\x00\x00\x00\x00\x00', @@ -2150,6 +2189,7 @@ DBC = { CAR.RAV4_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None), CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), diff --git a/selfdrive/car/tunes.py b/selfdrive/car/tunes.py deleted file mode 100644 index 69ac84579..000000000 --- a/selfdrive/car/tunes.py +++ /dev/null @@ -1,181 +0,0 @@ -#!/usr/bin/env python3 -from enum import Enum - -class LatTunes(Enum): - #TOYOTA - INDI_PRIUS = 0 - LQR_RAV4 = 1 - PID_A = 2 - PID_B = 3 - PID_C = 4 - PID_D = 5 - PID_E = 6 - PID_F = 7 - PID_G = 8 - PID_I = 9 - PID_H = 10 - PID_J = 11 - PID_K = 12 - PID_L = 13 - PID_M = 14 - PID_N = 15 - INDI_PRIUS_TSS2 = 16 - - #HKG - PID_HYUNDAI_A = 17 - PID_HYUNDAI_B = 18 - PID_HYUNDAI_C = 19 - PID_HYUNDAI_D = 20 - PID_HYUNDAI_E = 21 - PID_HYUNDAI_F = 22 - PID_HYUNDAI_G = 23 - - #VW - PID_VW = 24 - - #SUBARU - PID_SUBARU_A = 25 - PID_SUBARU_B = 26 - PID_SUBARU_C = 27 - PID_SUBARU_D = 28 - PID_SUBARU_E = 29 - PID_SUBARU_F = 30 - -###### LAT ###### -def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True): - - #TODO: add toggle for sepcial prius_tss2 indi - if name == LatTunes.INDI_PRIUS_TSS2: - tune.init('indi') - #tune.indi.innerLoopGainBP = [20, 24, 30] - #tune.indi.innerLoopGainV = [7.25, 7.5, 9] - #tune.indi.outerLoopGainBP = [20, 24, 30] - #tune.indi.outerLoopGainV = [6, 7.25, 6] - #tune.indi.timeConstantBP = [20, 24] - #tune.indi.timeConstantV = [2.0, 2.2] - #tune.indi.actuatorEffectivenessBP = [20, 24] - #tune.indi.actuatorEffectivenessV = [2, 3] - tune.indi.innerLoopGainBP = [0.] - tune.indi.innerLoopGainV = [15] - tune.indi.outerLoopGainBP = [0.] - tune.indi.outerLoopGainV = [17] - tune.indi.timeConstantBP = [0.] - tune.indi.timeConstantV = [4.5] - tune.indi.actuatorEffectivenessBP = [0.] - tune.indi.actuatorEffectivenessV = [15] - elif 'PID' in str(name): - tune.init('pid') - tune.pid.kiBP = [0.0] - tune.pid.kpBP = [0.0] - if name == LatTunes.PID_A: - tune.pid.kpV = [0.2] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00003 - elif name == LatTunes.PID_C: - tune.pid.kpV = [0.6] - tune.pid.kiV = [0.1] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_D: - tune.pid.kpV = [0.6] - tune.pid.kiV = [0.1] - tune.pid.kf = 0.00007818594 - elif name == LatTunes.PID_F: - tune.pid.kpV = [0.723] - tune.pid.kiV = [0.0428] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_G: - tune.pid.kpV = [0.18] - tune.pid.kiV = [0.015] - tune.pid.kf = 0.00012 - elif name == LatTunes.PID_H: - tune.pid.kpV = [0.17] - tune.pid.kiV = [0.03] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_I: - tune.pid.kpV = [0.15] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00004 - elif name == LatTunes.PID_J: - tune.pid.kpV = [0.19] - tune.pid.kiV = [0.02] - tune.pid.kf = 0.00007818594 - elif name == LatTunes.PID_L: - tune.pid.kpV = [0.3] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_M: - tune.pid.kpV = [0.3] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00007 - elif name == LatTunes.PID_N: - tune.pid.kpV = [0.35] - tune.pid.kiV = [0.15] - tune.pid.kf = 0.00007818594 - - # hyundai - elif name == LatTunes.PID_HYUNDAI_A: - tune.pid.kf = 0.00005 - tune.pid.kiBP, tune.pid.kpBP = [[0.], [0.]] - tune.pid.kpV, tune.pid.kiV = [[0.25], [0.05]] - elif name == LatTunes.PID_HYUNDAI_B: - tune.pid.kf = 0.00006 - tune.pid.kiBP, tune.pid.kpBP = [[0.], [0.]] - tune.pid.kpV, tune.pid.kiV = [[0.25], [0.05]] - elif name == LatTunes.PID_HYUNDAI_C: - tune.pid.kf = 0.00005 - tune.pid.kiBP, tune.pid.kpBP = [[0.], [0.]] - tune.pid.kpV, tune.pid.kiV = [[0.3], [0.05]] - elif name == LatTunes.PID_HYUNDAI_D: - tune.pid.kf = 0.00005 - tune.pid.kiBP, tune.pid.kpBP = [[9., 22.], [9., 22.]] - tune.pid.kpV, tune.pid.kiV = [[0.2, 0.35], [0.05, 0.09]] - elif name == LatTunes.PID_HYUNDAI_E: - tune.pid.kf = 0. - tune.pid.kiBP, tune.pid.kpBP = [[0.], [0.]] - tune.pid.kpV, tune.pid.kiV = [[0.112], [0.004]] - elif name == LatTunes.PID_HYUNDAI_F: - tune.pid.kf = 0.00005 - tune.pid.kiBP, tune.pid.kpBP = [[0.], [0.]] - tune.pid.kpV, tune.pid.kiV = [[0.16], [0.01]] - elif name == LatTunes.PID_HYUNDAI_G: - tune.pid.kiBP, tune.pid.kpBP = [[0.], [0.]] - tune.pid.kpV, tune.pid.kiV = [[0.16], [0.01]] - - # vw - elif name == LatTunes.PID_VW: - tune.pid.kpBP = [0.] - tune.pid.kiBP = [0.] - tune.pid.kf = 0.00006 - tune.pid.kpV = [0.6] - tune.pid.kiV = [0.2] - - # subaru - elif name == LatTunes.PID_SUBARU_A: - tune.pid.kf = 0.00003 - tune.pid.kiBP, tune.pid.kpBP = [[0., 20.], [0., 20.]] - tune.pid.kpV, tune.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]] - elif name == LatTunes.PID_SUBARU_B: - tune.pid.kf = 0.00005 - tune.pid.kiBP, tune.pid.kpBP = [[0., 20.], [0., 20.]] - tune.pid.kpV, tune.pid.kiV = [[0.2, 0.3], [0.02, 0.03]] - elif name == LatTunes.PID_SUBARU_C: - tune.pid.kf = 0.00005 - tune.pid.kiBP, tune.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] - tune.pid.kpV, tune.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]] - elif name == LatTunes.PID_SUBARU_D: - tune.pid.kf = 0.000038 - tune.pid.kiBP, tune.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] - tune.pid.kpV, tune.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]] - elif name == LatTunes.PID_SUBARU_E: - tune.pid.kf = 0.000039 - tune.pid.kiBP, tune.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]] - tune.pid.kpV, tune.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]] - elif name == LatTunes.PID_SUBARU_F: - tune.pid.kf = 0.00005 - tune.pid.kiBP, tune.pid.kpBP = [[0., 20.], [0., 20.]] - tune.pid.kpV, tune.pid.kiV = [[0.1, 0.2], [0.01, 0.02]] - - else: - raise NotImplementedError('This PID tune does not exist') - else: - raise NotImplementedError('This lateral tune does not exist') diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index d6aa4a4d2..c17b63245 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -5,7 +5,7 @@ from common.conversions import Conversions as CV from common.realtime import DT_CTRL from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.volkswagen import mqbcan, pqcan -from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams, STANDING_RESUME_SPAM_CARS +from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -85,7 +85,7 @@ class CarController: hud_alert = 0 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw): hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"] - can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.latActive, + can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled, CS.out.steeringPressed, hud_alert, hud_control)) if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl: @@ -99,17 +99,11 @@ class CarController: # **** Stock ACC Button Controls **************************************** # - if self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last: # send just after stock - standing_resume_spam = CS.out.cruiseState.standstill and self.CP.carFingerprint in STANDING_RESUME_SPAM_CARS - spam_window = self.frame % 50 < 25 # 0.25 second gap between virtual button presses - - press_cancel = CC.cruiseControl.cancel - press_resume = CC.cruiseControl.resume or (standing_resume_spam and spam_window) - - if press_cancel or press_resume: - counter = (CS.gra_stock_values["COUNTER"] + 1) % 16 - can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, counter, - cancel=press_cancel, resume=press_resume)) + gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last + if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume): + counter = (CS.gra_stock_values["COUNTER"] + 1) % 16 + can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, counter, + cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume)) new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index d1dc236dc..f3cd2808a 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -67,8 +67,6 @@ class CarState(CarStateBase): brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"]) ret.brakePressed = brake_pedal_pressed or brake_pressure_detected ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"]) # FIXME: need to include an EPB check as well - #dp - ret.brakeLightsDEPRECATED = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck'] or ret.brakePressed or ret.parkingBrake) # Update gear and/or clutch position data. if trans_type == TransmissionType.automatic: @@ -301,8 +299,6 @@ class CarState(CarStateBase): ("GRA_Tip_Stufe_2", "GRA_ACC_01"), # unknown related to stalk type ("GRA_ButtonTypeInfo", "GRA_ACC_01"), # unknown related to stalk type ("COUNTER", "GRA_ACC_01"), # GRA_ACC_01 CAN message counter - #dp - ("ESP_Status_Bremsdruck", "ESP_05"), # Brakes applied ] checks = [ diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 068135433..874b85e68 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -4,7 +4,6 @@ from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter -from common.params import Params ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -22,18 +21,16 @@ class CarInterface(CarInterfaceBase): self.cp_ext = self.cp_cam @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "volkswagen" ret.radarUnavailable = True - use_off_car_defaults = len(fingerprint[0]) == 0 # Pick sensible carParams during offline doc generation/CI jobs - if candidate in PQ_CARS: # Set global PQ35/PQ46/NMS parameters ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)] ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1 - if 0x440 in fingerprint[0] or use_off_car_defaults: # Getriebe_1 + if 0x440 in fingerprint[0] or docs: # Getriebe_1 ret.transmissionType = TransmissionType.automatic else: ret.transmissionType = TransmissionType.manual @@ -56,7 +53,7 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)] ret.enableBsm = 0x30F in fingerprint[0] # SWA_01 - if 0xAD in fingerprint[0] or use_off_car_defaults: # Getriebe_11 + if 0xAD in fingerprint[0] or docs: # Getriebe_11 ret.transmissionType = TransmissionType.automatic elif 0x187 in fingerprint[0]: # EV_Gearshift ret.transmissionType = TransmissionType.direct @@ -81,12 +78,8 @@ class CarInterface(CarInterfaceBase): # Global longitudinal tuning defaults, can be overridden per-vehicle - dp_atl = int(Params().get("dp_atl").decode('utf-8')) - if dp_atl == 1: - ret.openpilotLongitudinalControl = False - - ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or use_off_car_defaults - if experimental_long and dp_atl != 1: + ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs + if experimental_long: # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required. ret.openpilotLongitudinalControl = True ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL @@ -223,9 +216,6 @@ class CarInterface(CarInterfaceBase): else: raise ValueError(f"unsupported car {candidate}") - CarInterfaceBase.dp_lat_tune_collection(candidate, ret.latTuneCollection) - CarInterfaceBase.configure_dp_tune(ret.lateralTuning, ret.latTuneCollection) - ret.autoResumeSng = ret.minEnableSpeed == -1 ret.centerToFront = ret.wheelbase * 0.45 return ret diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index 30a51f6fe..b461fd02a 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -1,14 +1,11 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled): values = { - "SET_ME_0X3": 0x3, - "Assist_Torque": abs(apply_steer), - "Assist_Requested": lkas_enabled, - "Assist_VZ": 1 if apply_steer < 0 else 0, - "HCA_Available": 1, - "HCA_Standby": not lkas_enabled, - "HCA_Active": lkas_enabled, - "SET_ME_0XFE": 0xFE, - "SET_ME_0X07": 0x07, + "HCA_01_Status_HCA": 5 if lkas_enabled else 3, + "HCA_01_LM_Offset": abs(apply_steer), + "HCA_01_LM_OffSign": 1 if apply_steer < 0 else 0, + "HCA_01_Vib_Freq": 18, + "HCA_01_Sendestatus": 1 if lkas_enabled else 0, + "EA_ACC_Wunschgeschwindigkeit": 327.36, } return packer.make_can_msg("HCA_01", bus, values) @@ -56,18 +53,18 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active): return acc_control_value(main_switch_on, acc_faulted, long_active) -def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold): +def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold): commands = [] acc_06_values = { "ACC_Typ": acc_type, "ACC_Status_ACC": acc_control, - "ACC_StartStopp_Info": enabled, - "ACC_Sollbeschleunigung_02": accel if enabled else 3.01, + "ACC_StartStopp_Info": acc_enabled, + "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01, "ACC_zul_Regelabw_unten": 0.2, # TODO: dynamic adjustment of comfort-band "ACC_zul_Regelabw_oben": 0.2, # TODO: dynamic adjustment of comfort-band - "ACC_neg_Sollbeschl_Grad_02": 4.0 if enabled else 0, # TODO: dynamic adjustment of jerk limits - "ACC_pos_Sollbeschl_Grad_02": 4.0 if enabled else 0, # TODO: dynamic adjustment of jerk limits + "ACC_neg_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0, # TODO: dynamic adjustment of jerk limits + "ACC_pos_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0, # TODO: dynamic adjustment of jerk limits "ACC_Anfahren": starting, "ACC_Anhalten": stopping, } @@ -84,9 +81,9 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, acc_07_values = { "ACC_Anhalteweg": 0.75 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) - "ACC_Freilauf_Info": 2 if enabled else 0, + "ACC_Freilauf_Info": 2 if acc_enabled else 0, "ACC_Folgebeschl": 3.02, # Not using secondary controller accel unless and until we understand its impact - "ACC_Sollbeschleunigung_02": accel if enabled else 3.01, + "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01, "ACC_Anforderung_HMS": acc_hold_type, "ACC_Anfahren": starting, "ACC_Anhalten": stopping, diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index 84200c292..bac3ca121 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -59,17 +59,18 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active): return hud_status -def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold): +def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold): commands = [] values = { "ACS_Sta_ADR": acc_control, - "ACS_StSt_Info": acc_control != 1, + "ACS_StSt_Info": acc_enabled, "ACS_Typ_ACC": acc_type, "ACS_Anhaltewunsch": acc_type == 1 and stopping, - "ACS_Sollbeschl": accel if acc_control == 1 else 3.01, - "ACS_zul_Regelabw": 0.2 if acc_control == 1 else 1.27, - "ACS_max_AendGrad": 3.0 if acc_control == 1 else 5.08, + "ACS_FreigSollB": acc_enabled, + "ACS_Sollbeschl": accel if acc_enabled else 3.01, + "ACS_zul_Regelabw": 0.2 if acc_enabled else 1.27, + "ACS_max_AendGrad": 3.0 if acc_enabled else 5.08, } commands.append(packer.make_can_msg("ACC_System", bus, values)) @@ -83,9 +84,9 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance "ACA_Zeitluecke": 2, "ACA_V_Wunsch": set_speed, "ACA_gemZeitl": lead_distance, - # TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke - # display/display-prio handling probably needed to stop confusing the instrument cluster - # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint + "ACA_PrioDisp": 3, + # TODO: restore dynamic pop-to-foreground/highlight behavior with ACA_PrioDisp and ACA_AnzDisplay + # TODO: ACA_kmh_mph handling probably needed to resolve rounding errors in displayed setpoint } return packer.make_can_msg("ACC_GRA_Anzeige", bus, values) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index b79e82fe7..3c9605399 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -138,15 +138,8 @@ class CAR: SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants -# CARs based on the PQ35/PQ46/NMS platforms and using PQ-style CAN messaging (default is MQB) PQ_CARS = {CAR.PASSAT_NMS, CAR.SHARAN_MK2} -# CARs that benefit from continuous Resume spam at a stop, effectively upgrading stock FtS to SnG -# Appears to be MQB-A0s and the Transporter family -# TODO: try to determine this from ABS firmware instead -STANDING_RESUME_SPAM_CARS = {CAR.POLO_MK6, CAR.TCROSS_MK1, CAR.TROC_MK1, CAR.SKODA_KAMIQ_MK1, - CAR.SKODA_SCALA_MK1, CAR.TRANSPORTER_T61} - DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None)) for car_type in PQ_CARS: @@ -221,8 +214,8 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { ], CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22"), CAR.POLO_MK6: [ - VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_MQB_A0]), - VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_MQB_A0]), + VWCarInfo("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]), + VWCarInfo("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]), ], CAR.SHARAN_MK2: [ VWCarInfo("Volkswagen Sharan 2018-22"), @@ -230,7 +223,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { ], CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022"), CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]), - CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2018-23"), + CAR.TIGUAN_MK2: [ + VWCarInfo("Volkswagen Tiguan 2018-23"), + VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"), + ], CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"), CAR.TRANSPORTER_T61: [ VWCarInfo("Volkswagen Caravelle 2020"), @@ -296,6 +292,7 @@ FW_QUERY_CONFIG = FwQueryConfig( FW_VERSIONS = { CAR.ARTEON_MK1: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x873G0906259M \xf1\x890003', b'\xf1\x873G0906259F \xf1\x890004', b'\xf1\x873G0906259N \xf1\x890004', b'\xf1\x873G0906259P \xf1\x890001', @@ -303,18 +300,21 @@ FW_VERSIONS = { b'\xf1\x873G0906259G \xf1\x890004', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870DL300014C \xf1\x893704', b'\xf1\x8709G927158L \xf1\x893611', b'\xf1\x870GC300011L \xf1\x891401', b'\xf1\x870GC300014M \xf1\x892802', b'\xf1\x870GC300040P \xf1\x891401', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00', b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800', @@ -394,6 +394,7 @@ FW_VERSIONS = { b'\xf1\x8704E906016A \xf1\x897697', b'\xf1\x8704E906016AD\xf1\x895758', b'\xf1\x8704E906016CE\xf1\x899096', + b'\xf1\x8704E906016CH\xf1\x899226', b'\xf1\x8704E906023AG\xf1\x891726', b'\xf1\x8704E906023BN\xf1\x894518', b'\xf1\x8704E906024K \xf1\x896811', @@ -404,6 +405,7 @@ FW_VERSIONS = { b'\xf1\x8704L906021DT\xf1\x895520', b'\xf1\x8704L906021DT\xf1\x898127', b'\xf1\x8704L906021N \xf1\x895518', + b'\xf1\x8704L906021N \xf1\x898138', b'\xf1\x8704L906026BN\xf1\x891197', b'\xf1\x8704L906026BP\xf1\x897608', b'\xf1\x8704L906026NF\xf1\x899528', @@ -449,7 +451,9 @@ FW_VERSIONS = { b'\xf1\x870CW300044T \xf1\x895245', b'\xf1\x870CW300045 \xf1\x894531', b'\xf1\x870CW300047D \xf1\x895261', + b'\xf1\x870CW300047E \xf1\x895261', b'\xf1\x870CW300048J \xf1\x890611', + b'\xf1\x870CW300049H \xf1\x890905', b'\xf1\x870D9300012 \xf1\x894904', b'\xf1\x870D9300012 \xf1\x894913', b'\xf1\x870D9300012 \xf1\x894937', @@ -543,6 +547,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101', b'\xf1\x875Q0907567J \xf1\x890396\xf1\x82\x0101', + b'\xf1\x875Q0907567L \xf1\x890098\xf1\x82\x0101', b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\x0101', b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101', b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101', @@ -612,6 +617,7 @@ FW_VERSIONS = { b'\xf1\x8704L906026FP\xf1\x892012', b'\xf1\x8704L906026GA\xf1\x892013', b'\xf1\x8704L906026KD\xf1\x894798', + b'\xf1\x873G0906259B \xf1\x890002', b'\xf1\x873G0906264 \xf1\x890004', ], (Ecu.transmission, 0x7e1, None): [ @@ -622,7 +628,9 @@ FW_VERSIONS = { b'\xf1\x870D9300041A \xf1\x894801', b'\xf1\x870DD300045T \xf1\x891601', b'\xf1\x870DL300011H \xf1\x895201', + b'\xf1\x870CW300042H \xf1\x891601', b'\xf1\x870GC300042H \xf1\x891404', + b'\xf1\x870D9300018C \xf1\x895297', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111', @@ -630,7 +638,9 @@ FW_VERSIONS = { b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311', b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111', b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211', + b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e5915005914001305701311052900', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900', + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900', b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900', b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111', ], @@ -643,6 +653,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600', ], (Ecu.fwdRadar, 0x757, None): [ @@ -677,17 +688,24 @@ FW_VERSIONS = { CAR.POLO_MK6: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704C906025H \xf1\x895177', + b'\xf1\x8705C906032J \xf1\x891702', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300042D \xf1\x891612', b'\xf1\x870CW300050D \xf1\x891908', + b'\xf1\x870CW300051G \xf1\x891909', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14', b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14', + b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1384830511110516041405820599841215391471', ], (Ecu.eps, 0x712, None): [ b'\xf1\x872Q1909144M \xf1\x896041', + b'\xf1\x872Q2909144AB\xf1\x896050', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572R \xf1\x890372', ], }, @@ -749,11 +767,13 @@ FW_VERSIONS = { b'\xf1\x8704L906027G \xf1\x899893', b'\xf1\x875N0906259 \xf1\x890002', b'\xf1\x875NA906259H \xf1\x890002', + b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', b'\xf1\x8783A907115B \xf1\x890005', b'\xf1\x8783A907115F \xf1\x890002', b'\xf1\x8783A907115G \xf1\x890001', b'\xf1\x8783A907115K \xf1\x890001', + b'\xf1\x8704E906024AP\xf1\x891461', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158DT\xf1\x893698', @@ -764,15 +784,18 @@ FW_VERSIONS = { b'\xf1\x870D9300043 \xf1\x895202', b'\xf1\x870DL300011N \xf1\x892001', b'\xf1\x870DL300011N \xf1\x892012', + b'\xf1\x870DL300012M \xf1\x892107', b'\xf1\x870DL300012P \xf1\x892103', b'\xf1\x870DL300013A \xf1\x893005', b'\xf1\x870DL300013G \xf1\x892119', b'\xf1\x870DL300013G \xf1\x892120', b'\xf1\x870DL300014C \xf1\x893703', + b'\xf1\x870DD300046K \xf1\x892302', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100', b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100', + b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100', b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100', @@ -780,9 +803,11 @@ FW_VERSIONS = { b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100', b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100', b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100', + b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600', b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1', @@ -792,6 +817,7 @@ FW_VERSIONS = { b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1', b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1', b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', @@ -821,18 +847,24 @@ FW_VERSIONS = { }, CAR.TRANSPORTER_T61: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704L906056AG\xf1\x899970', + b'\xf1\x8704L906056AL\xf1\x899970', b'\xf1\x8704L906057AP\xf1\x891186', b'\xf1\x8704L906057N \xf1\x890413', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870BT300012G \xf1\x893102', b'\xf1\x870BT300012E \xf1\x893105', + b'\xf1\x870BT300046R \xf1\x893102', ], (Ecu.srs, 0x715, None): [ - b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\02316170411110411--04041704161611152S1411', + b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411', + b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704171711152S1411', b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x0532380518A2', + b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2', b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\005323A5519A2', ], (Ecu.fwdRadar, 0x757, None): [ @@ -844,9 +876,11 @@ FW_VERSIONS = { b'\xf1\x8705E906018AT\xf1\x899640', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300050J \xf1\x891911', b'\xf1\x870CW300051M \xf1\x891925', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1311110012333300314240681152119333463100', b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1152119333613100', ], (Ecu.eps, 0x712, None): [ @@ -873,6 +907,7 @@ FW_VERSIONS = { b'\xf1\x878V0906264B \xf1\x890003', b'\xf1\x878V0907115B \xf1\x890007', b'\xf1\x878V0907404A \xf1\x890005', + b'\xf1\x875G0906259D \xf1\x890002', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300044T \xf1\x895245', @@ -880,6 +915,7 @@ FW_VERSIONS = { b'\xf1\x870D9300012 \xf1\x894912', b'\xf1\x870D9300012 \xf1\x894931', b'\xf1\x870D9300012K \xf1\x894513', + b'\xf1\x870D9300013B \xf1\x894902', b'\xf1\x870D9300013B \xf1\x894931', b'\xf1\x870D9300041N \xf1\x894512', b'\xf1\x870D9300043T \xf1\x899699', @@ -917,11 +953,13 @@ FW_VERSIONS = { b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00803A0', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0503G0G803A0', b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\00516G00804A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516G00804A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521G00807A1', ], (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\00101', - b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\00101', + b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\x0101', + b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', + b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x875Q0907572H \xf1\x890620', b'\xf1\x875Q0907572P \xf1\x890682', @@ -950,14 +988,17 @@ FW_VERSIONS = { b'\xf1\x8705L906022M \xf1\x890901', b'\xf1\x8783A906259 \xf1\x890001', b'\xf1\x8783A906259 \xf1\x890005', + b'\xf1\x8783A906259F \xf1\x890001', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158CN\xf1\x893608', + b'\xf1\x8709G927158GP\xf1\x893937', b'\xf1\x870GC300045D \xf1\x892802', b'\xf1\x870GC300046F \xf1\x892701', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655BF\xf1\x890403\xf1\x82\x1321211111211200311121232152219321422111', + b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218C219321532111', b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111224118A119321532111', b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111237116A119321532111', ], @@ -965,8 +1006,10 @@ FW_VERSIONS = { b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800', b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1', + b'\xf1\x875TA907145D \xf1\x891051\xf1\x82\x001PG60A1P7N', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572R \xf1\x890372', b'\xf1\x872Q0907572T \xf1\x890383', ], @@ -1087,6 +1130,7 @@ FW_VERSIONS = { b'\xf1\x8704L906026HT\xf1\x893617', b'\xf1\x8783A907115E \xf1\x890001', b'\xf1\x8705E906018DJ\xf1\x890915', + b'\xf1\x8705E906018DJ\xf1\x891903', b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', ], @@ -1189,15 +1233,19 @@ FW_VERSIONS = { b'\xf1\x8704L906026FP\xf1\x891196', b'\xf1\x8704L906026KB\xf1\x894071', b'\xf1\x8704L906026KD\xf1\x894798', + b'\xf1\x8704L906026MT\xf1\x893076', b'\xf1\x873G0906259 \xf1\x890004', b'\xf1\x873G0906259B \xf1\x890002', + b'\xf1\x873G0906259L \xf1\x890003', b'\xf1\x873G0906264A \xf1\x890002', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300042H \xf1\x891601', b'\xf1\x870D9300011T \xf1\x894801', b'\xf1\x870D9300012 \xf1\x894940', + b'\xf1\x870D9300013A \xf1\x894905', b'\xf1\x870D9300041H \xf1\x894905', + b'\xf1\x870GC300014M \xf1\x892801', b'\xf1\x870GC300043 \xf1\x892301', b'\xf1\x870D9300043F \xf1\x895202', ], @@ -1207,6 +1255,7 @@ FW_VERSIONS = { b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111', b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100', b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', @@ -1214,11 +1263,14 @@ FW_VERSIONS = { b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700', b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x873Q0907572B \xf1\x890192', b'\xf1\x873Q0907572B \xf1\x890194', b'\xf1\x873Q0907572C \xf1\x890195', + b'\xf1\x875Q0907572R \xf1\x890771', + b'\xf1\x875Q0907572S \xf1\x890780', ], }, } diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 885bba5fa..03311037d 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -16,20 +16,18 @@ from system.version import is_release_branch, get_short_branch from selfdrive.boardd.boardd import can_list_to_can_capnp from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can from selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET -from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature, V_CRUISE_UNSET +from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature from selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED from selfdrive.controls.lib.longcontrol import LongControl from selfdrive.controls.lib.latcontrol_pid import LatControlPID from selfdrive.controls.lib.latcontrol_indi import LatControlINDI from selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD from selfdrive.controls.lib.latcontrol_torque import LatControlTorque -from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR from selfdrive.controls.lib.events import Events, ET from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.locationd.calibrationd import Calibration from system.hardware import HARDWARE, TICI -from selfdrive.manager.process_config import managed_processes SOFT_DISABLE_TIME = 3 # seconds LDW_MIN_SPEED = 31 * CV.MPH_TO_MS @@ -38,9 +36,12 @@ LANE_DEPARTURE_THRESHOLD = 0.1 REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ NOSENSOR = "NOSENSOR" in os.environ -IGNORE_PROCESSES = {"uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "statsd", "mapd", "navd", "gpxd", - "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad"} | \ - {k for k, v in managed_processes.items() if not v.enabled} +IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"} + +NO_IR_CTRL = os.path.isfile('/data/media/0/no_ir_ctrl') +if NO_IR_CTRL: + IGNORE_PROCESSES |= {'driverCameraState', 'driverMonitoringState'} +NO_FAN_CTRL = os.path.isfile('/data/media/0/no_fan_ctrl') ThermalStatus = log.DeviceState.ThermalStatus State = log.ControlsState.OpenpilotState @@ -63,46 +64,43 @@ class Controls: def __init__(self, sm=None, pm=None, can_sock=None, CI=None): config_realtime_process(4 if TICI else 3, Priority.CTRL_HIGH) + self.dp_no_ir_ctrl = NO_IR_CTRL + # Ensure the current branch is cached, otherwise the first iteration of controlsd lags self.branch = get_short_branch("") - # dp - self.params = Params() - self.dp_jetson = self.params.get_bool('dp_jetson') - try: - self.dp_lat_version = int(self.params.get('dp_lateral_version').decode('utf8')) - except: - self.dp_lat_version = 0 - # Setup sockets self.pm = pm if self.pm is None: self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState', 'carControl', 'carEvents', 'carParams']) - self.camera_packets = ["roadCameraState"] + if self.dp_no_ir_ctrl: + self.camera_packets = ["roadCameraState"] + else: + self.camera_packets = ["roadCameraState", "driverCameraState"] self.can_sock = can_sock if can_sock is None: - can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100 + can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20 self.can_sock = messaging.sub_sock('can', timeout=can_timeout) - # self.log_sock = messaging.sub_sock('androidLog') + self.log_sock = messaging.sub_sock('androidLog') - # self.params = Params() + self.params = Params() self.sm = sm if self.sm is None: ignore = ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] - if self.params.get_bool('WideCameraOnly'): - ignore += ['roadCameraState'] - if self.dp_jetson: + if self.dp_no_ir_ctrl: ignore += ['driverCameraState', 'driverMonitoringState'] + # if self.params.get_bool('WideCameraOnly'): + # ignore += ['roadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', - 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'dragonConf', 'testJoystick'] + self.camera_packets, - ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan','testJoystick', 'dragonConf']) + 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets, + ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan', 'testJoystick']) if CI is None: # wait for one pandaState and one CAN packet @@ -123,22 +121,7 @@ class Controls: if not self.disengage_on_accelerator: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - # dp - self.sm['dragonConf'].dpAtl = int(self.params.get('dp_atl', encoding='utf8')) - if self.sm['dragonConf'].dpAtl: - self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALKA - self.dp_temp_check = self.params.get_bool('dp_temp_check') - self.dp_lateral_road_edge_detected = False - # alt lat ctrl - self.sm['dragonConf'].dpLateralAlt = False - self.sm['dragonConf'].dpLateralAltCtrl = 0 - self.sm['dragonConf'].dpLateralAltSpeed = 80 - self.dp_lateral_alt_v_cruise_kph = 0 - self.dp_lateral_alt_v_cruise_kph_prev = 0 - self.dp_lateral_alt_active = False - self.local_trip_min_total = float(self.params.get("local_trip_min_total", encoding='utf8')) - self.local_trip_meter_total = float(self.params.get("local_trip_meter_total", encoding='utf8')) - self.local_trip_count_added = False + self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALKA # read params self.is_metric = self.params.get_bool("IsMetric") @@ -187,11 +170,6 @@ class Controls: self.LaC = LatControlINDI(self.CP, self.CI) elif self.CP.lateralTuning.which() == 'torque': self.LaC = LatControlTorque(self.CP, self.CI) - elif self.CP.lateralTuning.which() == 'lqr': - self.LaC = LatControlLQR(self.CP, self.CI) - - # dp, keep the original LaC for alt lac ctrl - self.LaC_default = self.LaC self.initialized = False self.state = State.disabled @@ -222,8 +200,8 @@ class Controls: self.startup_event = get_startup_event(car_recognized, controller_available, len(self.CP.carFw) > 0) - # if not sounds_available: - # self.events.add(EventName.soundsUnavailable, static=True) + if not sounds_available: + self.events.add(EventName.soundsUnavailable, static=True) if not car_recognized: self.events.add(EventName.carUnrecognized, static=True) if len(self.CP.carFw) > 0: @@ -240,43 +218,6 @@ class Controls: self.rk = Ratekeeper(100, print_delay_threshold=None) self.prof = Profiler(False) # off by default - def dp_update_lat_controller(self): - if self.sm['dragonConf'].dpLateralAlt: - self.dp_lateral_alt_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - # when cruise set speed changed - if self.dp_lateral_alt_v_cruise_kph != self.dp_lateral_alt_v_cruise_kph_prev: - # when set speed below config speed or set speed equal unset speed, fallback to default - if self.dp_lateral_alt_v_cruise_kph == V_CRUISE_UNSET or self.dp_lateral_alt_v_cruise_kph < self.sm['dragonConf'].dpLateralAltSpeed: - self.dp_lateral_alt_active = False - if type(self.LaC) != type(self.LaC_default): - # set lateralTuning back - if isinstance(self.LaC_default, LatControlPID): - self.CP.lateralTuning.pid = self.CP.latTuneCollection.pid - elif isinstance(self.LaC_default, LatControlLQR): - self.CP.lateralTuning.lqr = self.CP.latTuneCollection.lqr - elif isinstance(self.LaC_default, LatControlTorque): - self.CP.lateralTuning.torque = self.CP.latTuneCollection.torque - # set LaC back - self.LaC = self.LaC_default - self.LaC.reset() - # when set speed >= config speed - else: - # save current status - if type(self.LaC) == type(self.LaC_default): - self.LaC_default = self.LaC - self.dp_lateral_alt_active = True - if getattr(self.CP.latTuneCollection.pid, 'kpV') and self.sm['dragonConf'].dpLateralAltCtrl == 1 and not isinstance(self.LaC, LatControlPID): - self.CP.lateralTuning.pid = self.CP.latTuneCollection.pid - self.LaC = LatControlPID(self.CP, self.CI) - elif self.sm['dragonConf'].dpLateralAltCtrl == 2 and not isinstance(self.LaC, LatControlLQR): - self.CP.lateralTuning.lqr = self.CP.latTuneCollection.lqr - self.LaC = LatControlLQR(self.CP, self.CI) - elif self.sm['dragonConf'].dpLateralAltCtrl == 3 and not isinstance(self.LaC, LatControlTorque): - self.CP.lateralTuning.torque = self.CP.latTuneCollection.torque - self.LaC = LatControlTorque(self.CP, self.CI) - self.LaC.reset() - self.dp_lateral_alt_v_cruise_kph_prev = self.dp_lateral_alt_v_cruise_kph - def set_initial_state(self): if REPLAY: controls_state = Params().get("ReplayControlsState") @@ -323,16 +264,15 @@ class Controls: if CS.gasPressed: self.events.add(EventName.gasPressedOverride) - if not self.CP.notCar and not self.dp_jetson: + if not self.CP.notCar and not self.dp_no_ir_ctrl: self.events.add_from_msg(self.sm['driverMonitoringState'].events) - self.events.add_from_msg(self.sm['longitudinalPlan'].eventsDEPRECATED) # Add car events, ignore if CAN isn't valid if CS.canValid: self.events.add_from_msg(CS.events) # Create events for temperature, disk space, and memory - if self.dp_temp_check and self.sm['deviceState'].thermalStatus >= ThermalStatus.red: + if self.sm['deviceState'].thermalStatus >= ThermalStatus.red: self.events.add(EventName.overheat) if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION: # under 7% of space free no enable allowed @@ -347,9 +287,10 @@ class Controls: # self.events.add(EventName.highCpuUsage) # Alert if fan isn't spinning for 5 seconds - if self.sm['peripheralState'].pandaType in (PandaType.uno, PandaType.dos): - if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50: - if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0: + if not NO_FAN_CTRL and self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown: + if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50: + # allow enough time for the fan controller in the panda to recover from stalls + if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0: self.events.add(EventName.fanMalfunction) else: self.last_functional_fan_frame = self.sm.frame @@ -364,24 +305,10 @@ class Controls: # Handle lane change if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange: - self.dp_lateral_road_edge_detected = self.sm['dragonConf'].dpLateralRoadEdgeDetected direction = self.sm['lateralPlan'].laneChangeDirection if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \ (CS.rightBlindspot and direction == LaneChangeDirection.right): self.events.add(EventName.laneChangeBlocked) - #dp - elif self.dp_lateral_road_edge_detected: - md = self.sm['modelV2'] - left_road_edge = -md.roadEdges[0].y[0] - right_road_edge = md.roadEdges[1].y[0] - if (((left_road_edge < 3.5) and direction == LaneChangeDirection.left) or \ - ((right_road_edge < 3.5) and direction == LaneChangeDirection.right)): - self.events.add(EventName.laneChangeBlocked) - else: - if direction == LaneChangeDirection.left: - self.events.add(EventName.preLaneChangeLeft) - else: - self.events.add(EventName.preLaneChangeRight) else: if direction == LaneChangeDirection.left: self.events.add(EventName.preLaneChangeLeft) @@ -420,8 +347,8 @@ class Controls: self.events.add(EventName.cameraMalfunction) elif not self.sm.all_freq_ok(self.camera_packets): self.events.add(EventName.cameraFrameRate) - # if self.rk.lagging: - # self.events.add(EventName.controlsdLagging) + if self.rk.lagging: + self.events.add(EventName.controlsdLagging) if len(self.sm['radarState'].radarErrors) or not self.sm.all_checks(['radarState']): self.events.add(EventName.radarFault) if not self.sm.valid['pandaStates']: @@ -481,24 +408,23 @@ class Controls: if planner_fcw or model_fcw: self.events.add(EventName.fcw) - # for m in messaging.drain_sock(self.log_sock, wait_for_one=False): - # try: - # msg = m.androidLog.message - # if any(err in msg for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED")): - # csid = msg.split("CSID:")[-1].split(" ")[0] - # evt = CSID_MAP.get(csid, None) - # if evt is not None: - # self.events.add(evt) - # except UnicodeDecodeError: - # pass + for m in messaging.drain_sock(self.log_sock, wait_for_one=False): + try: + msg = m.androidLog.message + if any(err in msg for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED")): + csid = msg.split("CSID:")[-1].split(" ")[0] + evt = CSID_MAP.get(csid, None) + if evt is not None: + self.events.add(evt) + except UnicodeDecodeError: + pass # TODO: fix simulator if not SIMULATION: - # dp - since we are supporting old devices, lets stop warning about GPS signals - # if not NOSENSOR: - # if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000): - # # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes - # self.events.add(EventName.noGps) + if not NOSENSOR: + if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000): + # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes + self.events.add(EventName.noGps) if self.sm['modelV2'].frameDropPerc > 20: self.events.add(EventName.modeldLagging) @@ -510,7 +436,7 @@ class Controls: # Update carState from CAN can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True) - CS = self.CI.update(self.CC, can_strs, self.sm['dragonConf']) + CS = self.CI.update(self.CC, can_strs) if len(can_strs) and REPLAY: self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime @@ -547,26 +473,13 @@ class Controls: self.mismatch_counter += 1 self.distance_traveled += CS.vEgo * DT_CTRL - # dp - local trip log - self.local_trip_meter_total += CS.vEgo * DT_CTRL - if not self.local_trip_count_added: - if self.local_trip_meter_total > 0: - put_nonblocking("local_trip_count_total", str(float(self.params.get("local_trip_count_total").decode('utf-8')) + 1)) - self.local_trip_count_added = True - # every 30 secs - if self.local_trip_count_added and self.sm.frame % int(30. / DT_CTRL) == 0: - put_nonblocking("local_trip_meter_total", str(round(self.local_trip_meter_total, 2))) - put_nonblocking("local_trip_min_total", str(self.local_trip_min_total + 0.5)) return CS def state_transition(self, CS): """Compute conditional state transitions and execute actions on state transitions""" - # dp - toyota speed override here - # dp - @todo may apply to other makes in the future? - dp_override_speed = self.sm['dragonConf'].dpToyotaCruiseOverrideSpeed if self.sm['dragonConf'].dpToyotaCruiseOverride else False - self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric, dp_override_speed) + self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric) # decrement the soft disable timer at every step, as it's reset on # entrance in SOFT_DISABLING state @@ -658,7 +571,6 @@ class Controls: sr = max(lp.steerRatio, 0.1) self.VM.update_params(x, sr) - self.dp_update_lat_controller() # Update Torque Params if self.CP.lateralTuning.which() == 'torque': torque_params = self.sm['liveTorqueParameters'] @@ -671,20 +583,16 @@ class Controls: CC = car.CarControl.new_message() CC.enabled = self.enabled - # dp - keep the current lat controller type - CC.latController = self.CP.lateralTuning.which() # Check which actuators can be enabled standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ (not standstill or self.joystick_mode) CC.longActive = self.enabled and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl - if not standstill and CS.cruiseState.available and self.sm['dragonConf'].dpAtl > 0: + if not standstill and CS.cruiseState.available: if self.sm['liveCalibration'].calStatus != Calibration.CALIBRATED: pass - elif CS.steerFaultTemporary: - pass - elif CS.steerFaultPermanent: + elif CS.steerFaultTemporary or CS.steerFaultPermanent: pass elif CS.gearShifter == car.CarState.GearShifter.reverse: pass @@ -701,18 +609,7 @@ class Controls: if CS.leftBlinker or CS.rightBlinker: self.last_blinker_frame = self.sm.frame - # dp - manual lane change - if self.sm['dragonConf'].dpLateralLcManual: - speed = CS.vEgo * CV.MS_TO_MPH - if self.sm['dragonConf'].dpLateralMode == 1 and speed >= self.sm['dragonConf'].dpLcMinMph: - pass - # we use "or" here in case dpLcAutoMinMph is smaller than dpLcMinMph - elif self.sm['dragonConf'].dpLateralMode == 2 and (speed >= self.sm['dragonConf'].dpLcMinMph or speed >= self.sm['dragonConf'].dpLcAutoMinMph): - pass - else: - if CC.latActive: - self.events.add(EventName.manualSteeringRequiredBlinkersOn) - CC.latActive = False + # State specific actions if not CC.latActive: @@ -730,7 +627,7 @@ class Controls: self.desired_curvature, self.desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo, lat_plan.psis, lat_plan.curvatures, - lat_plan.curvatureRates, self.dp_lat_version) + lat_plan.curvatureRates) actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, self.last_actuators, self.steer_limited, self.desired_curvature, self.desired_curvature_rate, self.sm['liveLocationKalman']) @@ -831,8 +728,8 @@ class Controls: if len(desire_prediction) and ldw_allowed: right_lane_visible = model_v2.laneLineProbs[2] > 0.5 left_lane_visible = model_v2.laneLineProbs[1] > 0.5 - l_lane_change_prob = desire_prediction[Desire.laneChangeLeft - 1] - r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1] + l_lane_change_prob = desire_prediction[Desire.laneChangeLeft] + r_lane_change_prob = desire_prediction[Desire.laneChangeRight] lane_lines = model_v2.laneLines l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET)) @@ -868,6 +765,9 @@ class Controls: else: self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2 + if self.dp_no_ir_ctrl: + self.sm['driverMonitoringState'].awarenessStatus = 1. + force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \ (self.state == State.softDisabling) @@ -915,8 +815,6 @@ class Controls: lat_tuning = self.CP.lateralTuning.which() if self.joystick_mode: controlsState.lateralControlState.debugState = lac_log - elif lat_tuning == 'lqr': - controlsState.lateralControlState.lqrState = lac_log elif self.CP.steerControlType == car.CarParams.SteerControlType.angle: controlsState.lateralControlState.angleState = lac_log elif lat_tuning == 'pid': @@ -926,7 +824,6 @@ class Controls: elif lat_tuning == 'indi': controlsState.lateralControlState.indiState = lac_log - controlsState.dpLateralAltActive = self.dp_lateral_alt_active self.pm.send('controlsState', dat) # carState @@ -964,11 +861,7 @@ class Controls: self.prof.checkpoint("Ratekeeper", ignore=True) self.is_metric = self.params.get_bool("IsMetric") - if self.CP.openpilotLongitudinalControl: - if self.sm['dragonConf'].dpE2EConditional: - self.experimental_mode = self.sm['longitudinalPlan'].dpE2EIsBlended - else: - self.experimental_mode = self.params.get_bool("ExperimentalMode") + self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl # Sample data from sockets and get a carState CS = self.data_sample() diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index a45da946e..4790b8f0e 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -1,6 +1,6 @@ from cereal import log from common.conversions import Conversions as CV -from common.realtime import DT_MDL, sec_since_boot +from common.realtime import DT_MDL LaneChangeState = log.LateralPlan.LaneChangeState LaneChangeDirection = log.LateralPlan.LaneChangeDirection @@ -40,28 +40,10 @@ class DesireHelper: self.prev_one_blinker = False self.desire = log.LateralPlan.Desire.none - # dp - self.dp_lc_auto_done = False - self.dp_lc_auto_delay_start_sec = None - self.dp_lateral_mode = 1 # 0 = blinker mode (should we remove?), 1 = assist lane change, 2 = auto lane change - self.dp_lc_min_mph = LANE_CHANGE_SPEED_MIN - self.dp_lc_auto_min_mph = LANE_CHANGE_SPEED_MIN + 10 - self.dp_lc_auto_delay = 3 # secs - self.dp_lateral_road_edge_detected = False - - def update(self, carstate, lateral_active, lane_change_prob, dragonconf, md): - # dp - sync with dragonConf - self.dp_lateral_mode = dragonconf.dpLateralMode - self.dp_lc_min_mph = dragonconf.dpLcMinMph * CV.MPH_TO_MS - self.dp_lc_auto_min_mph = dragonconf.dpLcAutoMinMph * CV.MPH_TO_MS - self.dp_lc_auto_min_mph = self.dp_lc_min_mph if self.dp_lc_auto_min_mph < self.dp_lc_min_mph else self.dp_lc_auto_min_mph - self.dp_lc_auto_delay = dragonconf.dpLcAutoDelay - self.dp_lateral_road_edge_detected = dragonconf.dpLateralRoadEdgeDetected - + def update(self, carstate, lateral_active, lane_change_prob): v_ego = carstate.vEgo one_blinker = carstate.leftBlinker != carstate.rightBlinker - below_lane_change_speed = v_ego < self.dp_lc_min_mph - below_alc_speed = v_ego < self.dp_lc_auto_min_mph + below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX: self.lane_change_state = LaneChangeState.off @@ -72,9 +54,6 @@ class DesireHelper: self.lane_change_state = LaneChangeState.preLaneChange self.lane_change_ll_prob = 1.0 - self.dp_lc_auto_done = False - self.dp_lc_auto_delay_start_sec = None - # LaneChangeState.preLaneChange elif self.lane_change_state == LaneChangeState.preLaneChange: # Set lane change direction @@ -85,30 +64,12 @@ class DesireHelper: ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right)) - if self.dp_lateral_mode == 2: - if self.dp_lc_auto_delay_start_sec is None: - self.dp_lc_auto_delay_start_sec = sec_since_boot() - else: - if one_blinker and not below_alc_speed and (not self.dp_lc_auto_done) and \ - (sec_since_boot() - self.dp_lc_auto_delay_start_sec >= self.dp_lc_auto_delay): - torque_applied = True - blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right)) - #dp - if self.dp_lateral_road_edge_detected: - left_road_edge = -md.roadEdges[0].y[0] - right_road_edge = md.roadEdges[1].y[0] - - road_edge_detected = (((left_road_edge < 3.5) and self.lane_change_direction == LaneChangeDirection.left) or - ((right_road_edge < 3.5) and self.lane_change_direction == LaneChangeDirection.right)) - else: - road_edge_detected = False - if not one_blinker or below_lane_change_speed: self.lane_change_state = LaneChangeState.off - elif torque_applied and not blindspot_detected and not road_edge_detected: + elif torque_applied and not blindspot_detected: self.lane_change_state = LaneChangeState.laneChangeStarting # LaneChangeState.laneChangeStarting @@ -132,8 +93,6 @@ class DesireHelper: else: self.lane_change_state = LaneChangeState.off - self.dp_lc_auto_done = True - if self.lane_change_state in (LaneChangeState.off, LaneChangeState.preLaneChange): self.lane_change_timer = 0.0 else: diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index b91ab71ec..ec9f7a347 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -4,8 +4,7 @@ from cereal import car from common.conversions import Conversions as CV from common.numpy_fast import clip, interp from common.realtime import DT_MDL -from selfdrive.modeld.constants import T_IDXS -from system.hardware import TICI +from selfdrive.legacy_modeld.constants import T_IDXS # WARNING: this value was determined based on the model's training distribution, # model predictions above this speed can be unpredictable @@ -14,17 +13,13 @@ V_CRUISE_MIN = 8 V_CRUISE_MAX = 145 V_CRUISE_UNSET = 255 V_CRUISE_INITIAL = 40 -V_CRUISE_INITIAL_EXPERIMENTAL_MODE = V_CRUISE_INITIAL if not TICI else 105 +V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105 IMPERIAL_INCREMENT = 1.6 # should be CV.MPH_TO_KPH, but this causes rounding errors MIN_SPEED = 1.0 CONTROL_N = 17 CAR_ROTATION_RADIUS = 0.0 -# dp - needed for 0813/0816 controller -LAT_MPC_N = 16 -LON_MPC_N = 32 - # EU guidelines MAX_LATERAL_JERK = 5.0 @@ -40,19 +35,6 @@ CRUISE_INTERVAL_SIGN = { ButtonType.decelCruise: -1, } -# Constants for Limit controllers. -LIMIT_ADAPT_ACC = -0.8 # (closer to zero ealier it decel) m/s^2 Ideal acceleration for the adapting (braking) phase when approaching speed limits. -LIMIT_MIN_ACC = -1.4 # m/s^2 Maximum deceleration allowed for limit controllers to provide. -LIMIT_MAX_ACC = 1.0 # m/s^2 Maximum acelration allowed for limit controllers to provide while active. -LIMIT_MIN_SPEED = 8.33 # m/s, Minimum speed limit to provide as solution on limit controllers. -LIMIT_SPEED_OFFSET_TH = -1. # m/s Maximum offset between speed limit and current speed for adapting state. -LIMIT_MAX_MAP_DATA_AGE = 10. # s Maximum time to hold to map data, then consider it invalid inside limits controllers. - -# dp - used in some lateral planners -class MPC_COST_LAT: - PATH = 1.0 - HEADING = 1.0 - STEER_RATE = 1.0 class VCruiseHelper: def __init__(self, CP): @@ -62,15 +44,12 @@ class VCruiseHelper: self.v_cruise_kph_last = 0 self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0} self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers} - self.dp_override_v_cruise_kph = V_CRUISE_UNSET - self.dp_override_cruise_speed_last = V_CRUISE_UNSET - self.dp_override_enabled_last = False @property def v_cruise_initialized(self): return self.v_cruise_kph != V_CRUISE_UNSET - def update_v_cruise(self, CS, enabled, is_metric, dp_override_speed): + def update_v_cruise(self, CS, enabled, is_metric): self.v_cruise_kph_last = self.v_cruise_kph if CS.cruiseState.available: @@ -80,26 +59,9 @@ class VCruiseHelper: self.v_cruise_cluster_kph = self.v_cruise_kph self.update_button_timers(CS, enabled) else: - if dp_override_speed: - if enabled and not self.dp_override_enabled_last: - if CS.cruiseState.speed * CV.MS_TO_KPH < dp_override_speed: - self.dp_override_v_cruise_kph = clip(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_MIN, V_CRUISE_MAX) - else: - self.dp_override_v_cruise_kph = V_CRUISE_UNSET - - # when we have an override_speed, use it - if self.dp_override_v_cruise_kph != V_CRUISE_UNSET: - self.v_cruise_kph = self.dp_override_v_cruise_kph - self.v_cruise_cluster_kph = self.dp_override_v_cruise_kph - else: - self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH - self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH - - self.dp_override_cruise_speed_last = CS.cruiseState.speed - self.dp_override_enabled_last = enabled - + self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH + self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH else: - self.dp_override_v_cruise_kph = V_CRUISE_UNSET self.v_cruise_kph = V_CRUISE_UNSET self.v_cruise_cluster_kph = V_CRUISE_UNSET @@ -178,6 +140,7 @@ class VCruiseHelper: self.v_cruise_cluster_kph = self.v_cruise_kph + def apply_deadzone(error, deadzone): if error > deadzone: error -= deadzone @@ -198,11 +161,7 @@ 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_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates, dp_lat_version): - if dp_lat_version == 1: # 0813 - return get_0813_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates) - elif dp_lat_version == 2: # 0816 - return get_0816_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates) +def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): if len(psis) != CONTROL_N: psis = [0.0]*CONTROL_N curvatures = [0.0]*CONTROL_N @@ -233,68 +192,11 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates, dp_ return safe_desired_curvature, safe_desired_curvature_rate -def get_0813_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): - if len(psis) != CONTROL_N: - psis = [0.0]*CONTROL_N - curvatures = [0.0]*CONTROL_N - curvature_rates = [0.0]*CONTROL_N - - # TODO this needs more thought, use .2s extra for now to estimate other delays - delay = CP.steerActuatorDelay + .2 - current_curvature = curvatures[0] - psi = interp(delay, T_IDXS[:CONTROL_N], psis) - desired_curvature_rate = curvature_rates[0] - - # MPC can plan to turn the wheel and turn back before t_delay. This means - # in high delay cases some corrections never even get commanded. So just use - # psi to calculate a simple linearization of desired curvature - curvature_diff_from_psi = psi / (max(v_ego, 1e-1) * delay) - current_curvature - desired_curvature = current_curvature + 2 * curvature_diff_from_psi - - v_ego = max(v_ego, 0.1) - max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) - safe_desired_curvature_rate = clip(desired_curvature_rate, - -max_curvature_rate, - max_curvature_rate) - safe_desired_curvature = clip(desired_curvature, - current_curvature - max_curvature_rate * DT_MDL, - current_curvature + max_curvature_rate * DT_MDL) - - return safe_desired_curvature, safe_desired_curvature_rate - -def get_0816_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): - if len(psis) != CONTROL_N: - psis = [0.0]*CONTROL_N - curvatures = [0.0]*CONTROL_N - curvature_rates = [0.0]*CONTROL_N - v_ego = max(MIN_SPEED, v_ego) - - # TODO this needs more thought, use .2s extra for now to estimate other delays - delay = CP.steerActuatorDelay + .2 - - # MPC can plan to turn the wheel and turn back before t_delay. This means - # in high delay cases some corrections never even get commanded. So just use - # psi to calculate a simple linearization of desired curvature - current_curvature_desired = curvatures[0] - psi = interp(delay, T_IDXS[:CONTROL_N], psis) - average_curvature_desired = psi / (v_ego * delay) - desired_curvature = 2 * average_curvature_desired - current_curvature_desired - - # This is the "desired rate of the setpoint" not an actual desired rate - desired_curvature_rate = curvature_rates[0] - max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755 - safe_desired_curvature_rate = clip(desired_curvature_rate, - -max_curvature_rate, - max_curvature_rate) - safe_desired_curvature = clip(desired_curvature, - current_curvature_desired - max_curvature_rate * DT_MDL, - current_curvature_desired + max_curvature_rate * DT_MDL) - - return safe_desired_curvature, safe_desired_curvature_rate - -def get_lane_laneless_mode(lll_prob, rll_prob, mode): - if lll_prob < 0.3 and rll_prob < 0.3: - mode = False - elif lll_prob > 0.5 or rll_prob > 0.5: - mode = True - return mode +def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float: + friction_interp = interp( + apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), + [-friction_threshold, friction_threshold], + [-torque_params.friction, torque_params.friction] + ) + friction = float(friction_interp) if friction_compensation else 0.0 + return friction diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 56555d908..c8c0057d8 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -334,15 +334,6 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%" return NormalPermanentAlert(_("Joystick Mode"), vals) -def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: - speedLimit = sm['longitudinalPlan'].speedLimit - speed = round(speedLimit * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)) - message = _("Adjusting to %(speed)s %(unit)s") % ({"speed": speed, "unit": (_("km/h") if metric else _("mph"))}) - return Alert( - message, - "", - AlertStatus.normal, AlertSize.small, - Priority.LOW, VisualAlert.none, AudibleAlert.none, 4.) EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { @@ -396,7 +387,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { }, EventName.cruiseMismatch: { - #ET.PERMANENT: ImmediateDisableAlert(_("openpilot failed to cancel cruise")), + #ET.PERMANENT: ImmediateDisableAlert("openpilot failed to cancel cruise"), }, # openpilot doesn't recognize the car. This switches openpilot into a @@ -542,10 +533,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { EventName.laneChangeBlocked: { ET.PERMANENT: Alert( - _("Car Detected in Blindspot or RoadEdge"), + _("Car Detected in Blindspot"), "", AlertStatus.userPrompt, AlertSize.small, - Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .2), + Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1), }, EventName.laneChange: { @@ -591,19 +582,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { # current GPS position. This alert is thrown when the localizer is reset # more often than expected. EventName.localizerMalfunction: { - # ET.PERMANENT: NormalPermanentAlert(_("Sensor Malfunction"), _("Hardware Malfunction")), - }, - - EventName.speedLimitActive: { - ET.WARNING: Alert( - "Cruise set to speed limit", - "", - AlertStatus.normal, AlertSize.small, - Priority.LOW, VisualAlert.none, AudibleAlert.none, 2.), - }, - - EventName.speedLimitValueChange: { - ET.WARNING: speed_limit_adjust_alert, + # ET.PERMANENT: NormalPermanentAlert("Sensor Malfunction", "Hardware Malfunction"), }, # ********** events that affect controls state transitions ********** @@ -622,7 +601,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { EventName.buttonCancel: { ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), - ET.NO_ENTRY: NoEntryAlert("Cancel Pressed"), + ET.NO_ENTRY: NoEntryAlert(_("Cancel Pressed")), }, EventName.brakeHold: { @@ -671,7 +650,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { }, EventName.resumeBlocked: { - ET.NO_ENTRY: NoEntryAlert("Press Set to Engage"), + ET.NO_ENTRY: NoEntryAlert(_("Press Set to Engage")), }, EventName.wrongCruiseMode: { @@ -684,6 +663,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert(_("Steering Temporarily Unavailable")), }, + EventName.steerTimeLimit: { + ET.SOFT_DISABLE: soft_disable_alert(_("Vehicle Steering Time Limit")), + ET.NO_ENTRY: NoEntryAlert(_("Vehicle Steering Time Limit")), + }, + EventName.outOfSpace: { ET.PERMANENT: out_of_space_alert, ET.NO_ENTRY: NoEntryAlert(_("Out of Storage")), @@ -723,7 +707,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { }, EventName.wrongGear: { - # ET.SOFT_DISABLE: user_soft_disable_alert(_("Gear not D")), + ET.SOFT_DISABLE: user_soft_disable_alert(_("Gear not D")), ET.NO_ENTRY: NoEntryAlert(_("Gear not D")), }, @@ -740,7 +724,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { EventName.calibrationIncomplete: { ET.PERMANENT: calibration_incomplete_alert, - ET.SOFT_DISABLE: soft_disable_alert(_("Calibration in Progress")), + ET.SOFT_DISABLE: soft_disable_alert(_("Device remount detected: recalibrating")), ET.NO_ENTRY: NoEntryAlert(_("Calibration in Progress")), }, @@ -826,8 +810,8 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { }, EventName.highCpuUsage: { - #ET.SOFT_DISABLE: soft_disable_alert(_("System Malfunction: Reboot Your Device")), - #ET.PERMANENT: NormalPermanentAlert(_("System Malfunction"), _("Reboot your Device")), + #ET.SOFT_DISABLE: soft_disable_alert("System Malfunction: Reboot Your Device"), + #ET.PERMANENT: NormalPermanentAlert("System Malfunction", "Reboot your Device"), ET.NO_ENTRY: high_cpu_usage_alert, }, @@ -837,10 +821,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert(_("Cruise Fault: Restart the Car")), }, - EventName.accFaultedTemp: { - ET.NO_ENTRY: NoEntryAlert("Cruise Temporarily Faulted"), - }, - EventName.controlsMismatch: { ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("Controls Mismatch")), ET.NO_ENTRY: NoEntryAlert(_("Controls Mismatch")), @@ -970,22 +950,4 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert(_("LKAS Disabled")), }, - # dp - use for atl alert - EventName.communityFeatureDisallowedDEPRECATED: { - ET.OVERRIDE_LATERAL: Alert( - "", - "", - AlertStatus.normal, AlertSize.none, - Priority.MID, VisualAlert.none, - AudibleAlert.disengage, .2), - }, - - # dp - use for manual lane change - EventName.manualSteeringRequiredBlinkersOn: { - ET.PERMANENT: Alert( - _("STEERING REQUIRED: Blinkers ON"), - "", - AlertStatus.normal, AlertSize.small, - Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, alert_rate=0.25), - }, } diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py index aedbb600f..91dd2e43e 100644 --- a/selfdrive/controls/lib/lane_planner.py +++ b/selfdrive/controls/lib/lane_planner.py @@ -1,29 +1,35 @@ +''' +This is the lane_planner from 0.8.16 + +reason I keep this as a separate file is that Nuclear Grade model released during 0.8.15 / 0.8.16. +So it could handle better with old planners. + +Note 1: This may not work in newer version. + +''' + import numpy as np from cereal import log from common.filter_simple import FirstOrderFilter from common.numpy_fast import interp from common.realtime import DT_MDL -from system.hardware import TICI, EON from system.swaglog import cloudlog +from selfdrive.hardware import EON TRAJECTORY_SIZE = 33 # camera offset is meters from center car to camera -# model path is in the frame of EON's camera. TICI is 0.1 m away, -# however the average measured path difference is 0.04 m -if TICI: - CAMERA_OFFSET = 0.04 - PATH_OFFSET = 0.04 -elif EON: +# model path is in the frame of the camera +if EON: CAMERA_OFFSET = -0.06 PATH_OFFSET = 0.0 else: - CAMERA_OFFSET = 0.0 - PATH_OFFSET = 0.0 + CAMERA_OFFSET = 0.04 + PATH_OFFSET = 0.04 class LanePlanner: - def __init__(self, wide_camera=False): + def __init__(self): self.ll_t = np.zeros((TRAJECTORY_SIZE,)) self.ll_x = np.zeros((TRAJECTORY_SIZE,)) self.lll_y = np.zeros((TRAJECTORY_SIZE,)) @@ -42,26 +48,8 @@ class LanePlanner: self.l_lane_change_prob = 0. self.r_lane_change_prob = 0. - self.camera_offset = -CAMERA_OFFSET if wide_camera else CAMERA_OFFSET - self.path_offset = -PATH_OFFSET if wide_camera else PATH_OFFSET - - self.dp_camera_offset = None - self.dp_path_offset = None - self.dp_wide_camera = wide_camera - - def update_dp_camera_offsets(self, camera_offset, path_offset): - if self.dp_camera_offset != camera_offset: - self.dp_camera_offset = camera_offset - camera_offset = -camera_offset - # from 0.04 to -0.04, difference is -0.08 - # so we can assume the distance between C3's 2 cameras is 8 cm - self.camera_offset = (camera_offset - 8) * 0.01 if self.dp_wide_camera else camera_offset * 0.01 - if self.dp_path_offset != path_offset: - self.dp_path_offset = path_offset - path_offset = -path_offset - # from 0.04 to -0.04, difference is -0.08 - # so we can assume the distance between C3's 2 cameras is 8 cm - self.path_offset = (path_offset - 8) * 0.01 if self.dp_wide_camera else path_offset * 0.01 + self.camera_offset = CAMERA_OFFSET + self.path_offset = PATH_OFFSET def parse_model(self, md): lane_lines = md.laneLines diff --git a/selfdrive/controls/lib/latcontrol_lqr.py b/selfdrive/controls/lib/latcontrol_lqr.py deleted file mode 100644 index a5f02e6ce..000000000 --- a/selfdrive/controls/lib/latcontrol_lqr.py +++ /dev/null @@ -1,85 +0,0 @@ -import math -import numpy as np - -from common.numpy_fast import clip -from common.realtime import DT_CTRL -from cereal import log -from selfdrive.controls.lib.latcontrol import LatControl - - -class LatControlLQR(LatControl): - def __init__(self, CP, CI): - super().__init__(CP, CI) - self.scale = CP.lateralTuning.lqr.scale - self.ki = CP.lateralTuning.lqr.ki - - self.A = np.array(CP.lateralTuning.lqr.a).reshape((2, 2)) - self.B = np.array(CP.lateralTuning.lqr.b).reshape((2, 1)) - self.C = np.array(CP.lateralTuning.lqr.c).reshape((1, 2)) - self.K = np.array(CP.lateralTuning.lqr.k).reshape((1, 2)) - self.L = np.array(CP.lateralTuning.lqr.l).reshape((2, 1)) - self.dc_gain = CP.lateralTuning.lqr.dcGain - - self.x_hat = np.array([[0], [0]]) - self.i_unwind_rate = 0.3 * DT_CTRL - self.i_rate = 1.0 * DT_CTRL - - self.reset() - - def reset(self): - super().reset() - self.i_lqr = 0.0 - - def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): - # def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate): - lqr_log = log.ControlsState.LateralLQRState.new_message() - - torque_scale = (0.45 + CS.vEgo / 60.0)**2 # Scale actuator model with speed - - # Subtract offset. Zero angle should correspond to zero torque - steering_angle_no_offset = CS.steeringAngleDeg - params.angleOffsetAverageDeg - - desired_angle = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)) - - instant_offset = params.angleOffsetDeg - params.angleOffsetAverageDeg - desired_angle += instant_offset # Only add offset that originates from vehicle model errors - lqr_log.steeringAngleDesiredDeg = desired_angle - - # Update Kalman filter - angle_steers_k = float(self.C.dot(self.x_hat)) - e = steering_angle_no_offset - angle_steers_k - self.x_hat = self.A.dot(self.x_hat) + self.B.dot(CS.steeringTorqueEps / torque_scale) + self.L.dot(e) - - if not active: - lqr_log.active = False - lqr_output = 0. - output_steer = 0. - self.reset() - else: - lqr_log.active = True - - # LQR - u_lqr = float(desired_angle / self.dc_gain - self.K.dot(self.x_hat)) - lqr_output = torque_scale * u_lqr / self.scale - - # Integrator - if CS.steeringPressed: - self.i_lqr -= self.i_unwind_rate * float(np.sign(self.i_lqr)) - else: - error = desired_angle - angle_steers_k - i = self.i_lqr + self.ki * self.i_rate * error - control = lqr_output + i - - if (error >= 0 and (control <= self.steer_max or i < 0.0)) or \ - (error <= 0 and (control >= -self.steer_max or i > 0.0)): - self.i_lqr = i - - output_steer = lqr_output + self.i_lqr - output_steer = clip(output_steer, -self.steer_max, self.steer_max) - - lqr_log.steeringAngleDeg = angle_steers_k - lqr_log.i = self.i_lqr - lqr_log.output = output_steer - lqr_log.lqrOutput = lqr_output - lqr_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited) - return output_steer, desired_angle, lqr_log diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 2f5609437..6550b1922 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -61,10 +61,12 @@ class LatControlTorque(LatControl): low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2 setpoint = desired_lateral_accel + low_speed_factor * desired_curvature measurement = actual_lateral_accel + low_speed_factor * actual_curvature - error = setpoint - measurement gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY - pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error, + torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params, setpoint, lateral_accel_deadzone, friction_compensation=False) + torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params, measurement, + lateral_accel_deadzone, friction_compensation=False) + pid_log.error = torque_from_setpoint - torque_from_measurement ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params, desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True) diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c deleted file mode 100644 index 688df9dd8..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c +++ /dev/null @@ -1,33809 +0,0 @@ -/* Generated by Cython 0.29.26 */ - 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(PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ - __Pyx_GetItemInt_Generic(o, to_py_func(i)))) -#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ - (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ - __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ - (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - int wraparound, int boundscheck); -#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ - (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ - __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ - (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - int wraparound, int boundscheck); -static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, - int is_list, int wraparound, int boundscheck); - -/* ObjectGetItem.proto */ -#if CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key); -#else -#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) -#endif - -/* PyIntBinop.proto */ -#if !CYTHON_COMPILING_IN_PYPY -static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check); -#else -#define __Pyx_PyInt_AddObjC(op1, op2, intval, inplace, zerodivision_check)\ - (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2)) -#endif - -/* BufferIndexError.proto */ -static void __Pyx_RaiseBufferIndexError(int axis); - -#define __Pyx_BufPtrStrided1d(type, buf, i0, s0) (type)((char*)buf + i0 * s0) -/* PyUnicode_Unicode.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj); - -/* GCCDiagnostics.proto */ -#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) -#define __Pyx_HAS_GCC_DIAGNOSTIC -#endif - -/* BuildPyUnicode.proto */ -static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, - int prepend_sign, char padding_char); - -/* CIntToPyUnicode.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); - -/* MemviewSliceInit.proto */ -#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d -#define __Pyx_MEMVIEW_DIRECT 1 -#define __Pyx_MEMVIEW_PTR 2 -#define __Pyx_MEMVIEW_FULL 4 -#define __Pyx_MEMVIEW_CONTIG 8 -#define __Pyx_MEMVIEW_STRIDED 16 -#define __Pyx_MEMVIEW_FOLLOW 32 -#define __Pyx_IS_C_CONTIG 1 -#define __Pyx_IS_F_CONTIG 2 -static int __Pyx_init_memviewslice( - struct __pyx_memoryview_obj *memview, - int ndim, - __Pyx_memviewslice *memviewslice, - int memview_is_new_reference); -static CYTHON_INLINE int __pyx_add_acquisition_count_locked( - __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); -static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( - __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); -#define __pyx_get_slice_count_pointer(memview) (memview->acquisition_count_aligned_p) -#define __pyx_get_slice_count(memview) (*__pyx_get_slice_count_pointer(memview)) -#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) -#define __PYX_XDEC_MEMVIEW(slice, have_gil) __Pyx_XDEC_MEMVIEW(slice, have_gil, __LINE__) -static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); -static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *, int, int); - -/* PyErrExceptionMatches.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) -static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); -#else -#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) -#endif - -/* StrEquals.proto */ -#if PY_MAJOR_VERSION >= 3 -#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals -#else -#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals -#endif - -/* None.proto */ -static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); - -/* UnaryNegOverflows.proto */ -#define UNARY_NEG_WOULD_OVERFLOW(x)\ - (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) - -static CYTHON_UNUSED int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ -static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ -/* GetAttr.proto */ -static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); - -/* decode_c_string_utf16.proto */ -static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { - int byteorder = 0; - return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); -} -static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { - int byteorder = -1; - return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); -} -static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { - int byteorder = 1; - return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); -} - -/* decode_c_string.proto */ -static CYTHON_INLINE PyObject* __Pyx_decode_c_string( - const char* cstring, Py_ssize_t start, Py_ssize_t stop, - const char* encoding, const char* errors, - PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); - -/* GetAttr3.proto */ -static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); - -/* SwapException.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#else -static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); -#endif - -/* FastTypeChecks.proto */ -#if CYTHON_COMPILING_IN_CPYTHON -#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); -#else -#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) -#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) -#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) -#endif -#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) - -static CYTHON_UNUSED int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ -/* ListCompAppend.proto */ -#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS -static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { - PyListObject* L = (PyListObject*) list; - Py_ssize_t len = Py_SIZE(list); - if (likely(L->allocated > len)) { - Py_INCREF(x); - PyList_SET_ITEM(list, len, x); - __Pyx_SET_SIZE(list, len + 1); - return 0; - } - return PyList_Append(list, x); -} -#else -#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) -#endif - -/* ListExtend.proto */ -static CYTHON_INLINE int __Pyx_PyList_Extend(PyObject* L, PyObject* v) { -#if CYTHON_COMPILING_IN_CPYTHON - PyObject* none = _PyList_Extend((PyListObject*)L, v); - if (unlikely(!none)) - return -1; - Py_DECREF(none); - return 0; -#else - return PyList_SetSlice(L, PY_SSIZE_T_MAX, PY_SSIZE_T_MAX, v); -#endif -} - -/* ListAppend.proto */ -#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS -static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { - PyListObject* L = (PyListObject*) list; - Py_ssize_t len = Py_SIZE(list); - if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { - Py_INCREF(x); - PyList_SET_ITEM(list, len, x); - __Pyx_SET_SIZE(list, len + 1); - return 0; - } - return PyList_Append(list, x); -} -#else -#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) -#endif - -/* None.proto */ -static CYTHON_INLINE long __Pyx_div_long(long, long); - -/* ImportFrom.proto */ -static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); - -/* HasAttr.proto */ -static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); - -/* PyObject_GenericGetAttrNoDict.proto */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); -#else -#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr -#endif - -/* PyObject_GenericGetAttr.proto */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); -#else -#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr -#endif - -/* PyObjectGetAttrStrNoError.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); - -/* SetupReduce.proto */ -static int __Pyx_setup_reduce(PyObject* type_obj); - -/* SetVTable.proto */ -static int __Pyx_SetVtable(PyObject *dict, void *vtable); - -/* TypeImport.proto */ -#ifndef __PYX_HAVE_RT_ImportType_proto -#define __PYX_HAVE_RT_ImportType_proto -enum __Pyx_ImportType_CheckSize { - __Pyx_ImportType_CheckSize_Error = 0, - __Pyx_ImportType_CheckSize_Warn = 1, - __Pyx_ImportType_CheckSize_Ignore = 2 -}; -static PyTypeObject *__Pyx_ImportType(PyObject* module, const char *module_name, const char *class_name, size_t size, enum __Pyx_ImportType_CheckSize check_size); -#endif - -/* CLineInTraceback.proto */ -#ifdef CYTHON_CLINE_IN_TRACEBACK -#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) -#else -static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); -#endif - -/* CodeObjectCache.proto */ -typedef struct { - PyCodeObject* code_object; - int code_line; -} __Pyx_CodeObjectCacheEntry; -struct __Pyx_CodeObjectCache { - int count; - int max_count; - __Pyx_CodeObjectCacheEntry* entries; -}; -static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; -static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); -static PyCodeObject *__pyx_find_code_object(int code_line); -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); - -/* AddTraceback.proto */ -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename); - -#if PY_MAJOR_VERSION < 3 - static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); - static void __Pyx_ReleaseBuffer(Py_buffer *view); -#else - #define __Pyx_GetBuffer PyObject_GetBuffer - #define __Pyx_ReleaseBuffer PyBuffer_Release -#endif - - -/* BufferStructDeclare.proto */ -typedef struct { - Py_ssize_t shape, strides, suboffsets; -} __Pyx_Buf_DimInfo; -typedef struct { - size_t refcount; - Py_buffer pybuffer; -} __Pyx_Buffer; -typedef struct { - __Pyx_Buffer *rcbuffer; - char *data; - __Pyx_Buf_DimInfo diminfo[8]; -} __Pyx_LocalBuf_ND; - -/* MemviewSliceIsContig.proto */ -static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); - -/* OverlappingSlices.proto */ -static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, - __Pyx_memviewslice *slice2, - int ndim, size_t itemsize); - -/* Capsule.proto */ -static CYTHON_INLINE PyObject *__pyx_capsule_create(void *p, const char *sig); - -/* TypeInfoCompare.proto */ -static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); - -/* MemviewSliceValidateAndInit.proto */ -static int __Pyx_ValidateAndInit_memviewslice( - int *axes_specs, - int c_or_f_flag, - int buf_flags, - int ndim, - __Pyx_TypeInfo *dtype, - __Pyx_BufFmt_StackElem stack[], - __Pyx_memviewslice *memviewslice, - PyObject *original_obj); - -/* ObjectToMemviewSlice.proto */ -static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dcd__double(PyObject *, int writable_flag); - -/* ObjectToMemviewSlice.proto */ -static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_unsigned_char(PyObject *, int writable_flag); - -/* RealImag.proto */ -#if CYTHON_CCOMPLEX - #ifdef __cplusplus - #define __Pyx_CREAL(z) ((z).real()) - #define __Pyx_CIMAG(z) ((z).imag()) - #else - #define __Pyx_CREAL(z) (__real__(z)) - #define __Pyx_CIMAG(z) (__imag__(z)) - #endif -#else - #define __Pyx_CREAL(z) ((z).real) - #define __Pyx_CIMAG(z) ((z).imag) -#endif -#if defined(__cplusplus) && CYTHON_CCOMPLEX\ - && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) - #define __Pyx_SET_CREAL(z,x) ((z).real(x)) - #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) -#else - #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) - #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) -#endif - -/* Arithmetic.proto */ -#if CYTHON_CCOMPLEX - #define __Pyx_c_eq_float(a, b) ((a)==(b)) - #define __Pyx_c_sum_float(a, b) ((a)+(b)) - #define __Pyx_c_diff_float(a, b) ((a)-(b)) - #define __Pyx_c_prod_float(a, b) ((a)*(b)) - #define __Pyx_c_quot_float(a, b) ((a)/(b)) - #define __Pyx_c_neg_float(a) (-(a)) - #ifdef __cplusplus - #define __Pyx_c_is_zero_float(z) ((z)==(float)0) - #define __Pyx_c_conj_float(z) (::std::conj(z)) - #if 1 - #define __Pyx_c_abs_float(z) (::std::abs(z)) - #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) - #endif - #else - #define __Pyx_c_is_zero_float(z) ((z)==0) - #define __Pyx_c_conj_float(z) (conjf(z)) - #if 1 - #define __Pyx_c_abs_float(z) (cabsf(z)) - #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) - #endif - #endif -#else - static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); - static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); - #if 1 - static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); - #endif -#endif - -/* Arithmetic.proto */ -#if CYTHON_CCOMPLEX - #define __Pyx_c_eq_double(a, b) ((a)==(b)) - #define __Pyx_c_sum_double(a, b) ((a)+(b)) - #define __Pyx_c_diff_double(a, b) ((a)-(b)) - #define __Pyx_c_prod_double(a, b) ((a)*(b)) - #define __Pyx_c_quot_double(a, b) ((a)/(b)) - #define __Pyx_c_neg_double(a) (-(a)) - #ifdef __cplusplus - #define __Pyx_c_is_zero_double(z) ((z)==(double)0) - #define __Pyx_c_conj_double(z) (::std::conj(z)) - #if 1 - #define __Pyx_c_abs_double(z) (::std::abs(z)) - #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) - #endif - #else - #define __Pyx_c_is_zero_double(z) ((z)==0) - #define __Pyx_c_conj_double(z) (conj(z)) - #if 1 - #define __Pyx_c_abs_double(z) (cabs(z)) - #define __Pyx_c_pow_double(a, b) (cpow(a, b)) - #endif - #endif -#else - static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); - static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); - #if 1 - static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); - #endif -#endif - -/* MemviewSliceCopyTemplate.proto */ -static __Pyx_memviewslice -__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, - const char *mode, int ndim, - size_t sizeof_dtype, int contig_flag, - int dtype_is_object); - -/* CIntFromPy.proto */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); - -/* CIntFromPy.proto */ -static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); - -/* CIntFromPy.proto */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); - -/* CIntFromPy.proto */ -static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); - -/* CheckBinaryVersion.proto */ -static int __Pyx_check_binary_version(void); - -/* InitStrings.proto */ -static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); - -static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ -static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ -static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ -static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ -static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ -static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ -static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ - -/* Module declarations from 'cython.view' */ - -/* Module declarations from 'cython' */ - -/* Module declarations from 'libc.string' */ - -/* Module declarations from 'libc.stdio' */ - -/* Module declarations from 'libc' */ - -/* Module declarations from 'acados_solver_common' */ - -/* Module declarations from 'acados_solver' */ - -/* Module declarations from 'cpython.buffer' */ - -/* Module declarations from '__builtin__' */ - -/* Module declarations from 'cpython.type' */ -static PyTypeObject *__pyx_ptype_7cpython_4type_type = 0; - -/* Module declarations from 'cpython' */ - -/* Module declarations from 'cpython.object' */ - -/* Module declarations from 'cpython.ref' */ - -/* Module declarations from 'cpython.mem' */ - -/* Module declarations from 'numpy' */ - -/* Module declarations from 'numpy' */ -static PyTypeObject *__pyx_ptype_5numpy_dtype = 0; -static PyTypeObject *__pyx_ptype_5numpy_flatiter = 0; -static PyTypeObject *__pyx_ptype_5numpy_broadcast = 0; -static PyTypeObject *__pyx_ptype_5numpy_ndarray = 0; 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/*proto*/ -static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ -static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ -static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ -static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ -static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ -static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ -static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ -static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ -static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ -static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ -static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ -static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ -static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ -static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ -static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ -static int __pyx_memoryview_err_dim(PyObject *, char *, int); /*proto*/ -static int __pyx_memoryview_err(PyObject *, char *); /*proto*/ -static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ -static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ -static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ -static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ -static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ -static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ -static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ -static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ -static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float64_t = { "float64_t", NULL, sizeof(__pyx_t_5numpy_float64_t), { 0 }, 0, 'R', 0, 0 }; -static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; -static __Pyx_TypeInfo __Pyx_TypeInfo_unsigned_char = { "unsigned char", NULL, sizeof(unsigned char), { 0 }, 0, IS_UNSIGNED(unsigned char) ? 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-static const char __pyx_k_n[] = "n"; -static const char __pyx_k_p[] = "p"; -static const char __pyx_k_r[] = "r"; -static const char __pyx_k_t[] = "t"; -static const char __pyx_k_u[] = "u"; -static const char __pyx_k_w[] = "w"; -static const char __pyx_k_x[] = "x"; -static const char __pyx_k_z[] = "z"; -static const char __pyx_k__4[] = "."; -static const char __pyx_k__5[] = ""; -static const char __pyx_k__6[] = "_"; -static const char __pyx_k_ex[] = "ex"; -static const char __pyx_k_id[] = "id"; -static const char __pyx_k_np[] = "np"; -static const char __pyx_k_os[] = "os"; -static const char __pyx_k_pi[] = "pi"; -static const char __pyx_k_sl[] = "sl"; -static const char __pyx_k_su[] = "su"; -static const char __pyx_k_SQP[] = "SQP"; -static const char __pyx_k__19[] = ")"; -static const char __pyx_k__22[] = ", "; -static const char __pyx_k_get[] = "get"; -static const char __pyx_k_lam[] = "lam"; -static const char __pyx_k_lbu[] = "lbu"; -static const char __pyx_k_lbx[] = "lbx"; -static const char __pyx_k_new[] = "__new__"; -static const char __pyx_k_obj[] = "obj"; -static const char __pyx_k_set[] = "set"; -static const char __pyx_k_t_2[] = "t_"; -static const char __pyx_k_u_2[] = "u_"; -static const char __pyx_k_ubu[] = "ubu"; -static const char __pyx_k_ubx[] = "ubx"; -static const char __pyx_k_x_2[] = "x_"; -static const char __pyx_k_z_2[] = "z_"; -static const char __pyx_k_None[] = "None"; -static const char __pyx_k_TODO[] = "TODO!"; -static const char __pyx_k_base[] = "base"; -static const char __pyx_k_dict[] = "__dict__"; -static const char __pyx_k_dump[] = "dump"; -static const char __pyx_k_exit[] = "__exit__"; -static const char __pyx_k_join[] = "join"; -static const char __pyx_k_json[] = "json"; -static const char __pyx_k_keys[] = "keys"; -static const char __pyx_k_load[] = "load"; -static const char __pyx_k_main[] = "__main__"; -static const char __pyx_k_mode[] = "mode"; -static const char __pyx_k_name[] = "name"; -static const char __pyx_k_ndim[] = "ndim"; -static const char __pyx_k_open[] = "open"; -static const char __pyx_k_pack[] = "pack"; -static const char __pyx_k_path[] = "path"; -static const char __pyx_k_pi_2[] = "pi_"; -static const char __pyx_k_size[] = "size"; -static const char __pyx_k_sl_2[] = "sl_"; -static const char __pyx_k_step[] = "step"; -static const char __pyx_k_stop[] = "stop"; -static const char __pyx_k_su_2[] = "su_"; -static const char __pyx_k_test[] = "__test__"; -static const char __pyx_k_yref[] = "yref"; -static const char __pyx_k_ASCII[] = "ASCII"; -static const char __pyx_k_alpha[] = "alpha"; -static const char __pyx_k_array[] = "array"; -static const char __pyx_k_class[] = "__class__"; -static const char __pyx_k_dtype[] = "dtype"; -static const char __pyx_k_enter[] = "__enter__"; -static const char __pyx_k_error[] = "error"; -static const char __pyx_k_field[] = "field"; -static const char __pyx_k_flags[] = "flags"; -static const char __pyx_k_index[] = "index"; -static const char __pyx_k_lam_2[] = "lam_"; -static const char __pyx_k_numpy[] = "numpy"; -static const char __pyx_k_order[] = "order"; -static const char __pyx_k_print[] = "print"; -static const char __pyx_k_range[] = "range"; -static const char __pyx_k_shape[] = "shape"; -static const char __pyx_k_split[] = "split"; -static const char __pyx_k_stage[] = "stage"; -static const char __pyx_k_start[] = "start"; -static const char __pyx_k_utf_8[] = "utf-8"; -static const char __pyx_k_value[] = "value_"; -static const char __pyx_k_y_ref[] = "y_ref"; -static const char __pyx_k_zeros[] = "zeros"; -static const char __pyx_k_encode[] = "encode"; -static const char __pyx_k_format[] = "format"; -static const char __pyx_k_getcwd[] = "getcwd"; -static const char __pyx_k_import[] = "__import__"; -static const char __pyx_k_indent[] = "indent"; -static const char __pyx_k_isfile[] = "isfile"; -static const char __pyx_k_json_2[] = ".json"; -static const char __pyx_k_name_2[] = "__name__"; -static const char __pyx_k_pickle[] = "pickle"; -static const char __pyx_k_qp_mu0[] = "qp_mu0"; -static const char __pyx_k_reduce[] = "__reduce__"; -static const char __pyx_k_res_eq[] = "res_eq"; -static const char __pyx_k_stat_m[] = "stat_m"; -static const char __pyx_k_stat_n[] = "stat_n"; -static const char __pyx_k_struct[] = "struct"; -static const char __pyx_k_tol_eq[] = "tol_eq"; -static const char __pyx_k_tolist[] = "tolist"; -static const char __pyx_k_unpack[] = "unpack"; -static const char __pyx_k_update[] = "update"; -static const char __pyx_k_utcnow[] = "utcnow"; -static const char __pyx_k_SQP_RTI[] = "SQP_RTI"; -static const char __pyx_k_default[] = "default"; -static const char __pyx_k_field_2[] = "field_"; -static const char __pyx_k_float64[] = "float64"; -static const char __pyx_k_fortran[] = "fortran"; -static const char __pyx_k_iterate[] = "iterate"; -static const char __pyx_k_memview[] = "memview"; -static const char __pyx_k_qp_iter[] = "qp_iter"; -static const char __pyx_k_time_qp[] = "time_qp"; -static const char __pyx_k_z_guess[] = "z_guess"; -static const char __pyx_k_Ellipsis[] = "Ellipsis"; -static const char __pyx_k_at_stage[] = "\" at stage "; -static const char __pyx_k_datetime[] = "datetime"; -static const char __pyx_k_filename[] = "filename"; -static const char __pyx_k_getstate[] = "__getstate__"; -static const char __pyx_k_itemsize[] = "itemsize"; -static const char __pyx_k_pyx_type[] = "__pyx_type"; -static const char __pyx_k_res_comp[] = "res_comp"; -static const char __pyx_k_res_ineq[] = "res_ineq"; -static const char __pyx_k_res_stat[] = "res_stat"; -static const char __pyx_k_setstate[] = "__setstate__"; -static const char __pyx_k_sqp_iter[] = "sqp_iter"; -static const char __pyx_k_strftime[] = "strftime"; -static const char __pyx_k_time_lin[] = "time_lin"; -static const char __pyx_k_time_reg[] = "time_reg"; -static const char __pyx_k_time_sim[] = "time_sim"; -static const char __pyx_k_time_tot[] = "time_tot"; -static const char __pyx_k_tol_comp[] = "tol_comp"; -static const char __pyx_k_tol_ineq[] = "tol_ineq"; -static const char __pyx_k_tol_stat[] = "tol_stat"; -static const char __pyx_k_you_have[] = " (you have "; -static const char __pyx_k_TypeError[] = "TypeError"; -static const char __pyx_k_alpha_min[] = "alpha_min"; -static const char __pyx_k_enumerate[] = "enumerate"; -static const char __pyx_k_for_field[] = " for field \""; -static const char __pyx_k_get_stats[] = "get_stats"; -static const char __pyx_k_overwrite[] = "overwrite"; -static const char __pyx_k_pyx_state[] = "__pyx_state"; -static const char __pyx_k_qp_tol_eq[] = "qp_tol_eq"; -static const char __pyx_k_recompute[] = "recompute"; -static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; -static const char __pyx_k_residuals[] = "residuals"; -static const char __pyx_k_rti_phase[] = "rti_phase"; -static const char __pyx_k_sort_keys[] = "sort_keys"; -static const char __pyx_k_time_glob[] = "time_glob"; -static const char __pyx_k_IndexError[] = "IndexError"; -static const char __pyx_k_ValueError[] = "ValueError"; -static const char __pyx_k_model_name[] = "model_name"; -static const char __pyx_k_pyx_result[] = "__pyx_result"; -static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; -static const char __pyx_k_qp_tau_min[] = "qp_tau_min"; -static const char __pyx_k_statistics[] = "statistics"; -static const char __pyx_k_xdot_guess[] = "xdot_guess"; -static const char __pyx_k_ImportError[] = "ImportError"; -static const char __pyx_k_MemoryError[] = "MemoryError"; -static const char __pyx_k_PickleError[] = "PickleError"; -static const char __pyx_k_print_level[] = "print_level"; -static const char __pyx_k_qp_tol_comp[] = "qp_tol_comp"; -static const char __pyx_k_qp_tol_ineq[] = "qp_tol_ineq"; -static const char __pyx_k_qp_tol_stat[] = "qp_tol_stat"; -static const char __pyx_k_step_length[] = "step_length"; -static const char __pyx_k_time_sim_ad[] = "time_sim_ad"; -static const char __pyx_k_time_sim_la[] = "time_sim_la"; -static const char __pyx_k_get_stat_int[] = "__get_stat_int"; -static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; -static const char __pyx_k_stringsource[] = "stringsource"; -static const char __pyx_k_Y_m_d_H_M_S_f[] = "%Y-%m-%d-%H:%M:%S.%f"; -static const char __pyx_k_get_residuals[] = "get_residuals"; -static const char __pyx_k_globalization[] = "globalization"; -static const char __pyx_k_pyx_getbuffer[] = "__pyx_getbuffer"; -static const char __pyx_k_qp_warm_start[] = "qp_warm_start"; -static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; -static const char __pyx_k_time_qp_xcond[] = "time_qp_xcond"; -static const char __pyx_k_asfortranarray[] = "asfortranarray"; -static const char __pyx_k_full_step_dual[] = "full_step_dual"; -static const char __pyx_k_with_dimension[] = " with dimension "; -static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; -static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; -static const char __pyx_k_alpha_reduction[] = "alpha_reduction"; -static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; -static const char __pyx_k_get_stat_double[] = "__get_stat_double"; -static const char __pyx_k_get_stat_matrix[] = "__get_stat_matrix"; -static const char __pyx_k_nlp_solver_type[] = "nlp_solver_type"; -static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; -static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; -static const char __pyx_k_ascontiguousarray[] = "ascontiguousarray"; -static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; -static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; -static const char __pyx_k_strided_and_direct[] = ""; -static const char __pyx_k_NotImplementedError[] = "NotImplementedError"; -static const char __pyx_k_get_pointers_solver[] = "__get_pointers_solver"; -static const char __pyx_k_initialize_t_slacks[] = "initialize_t_slacks"; -static const char __pyx_k_time_qp_solver_call[] = "time_qp_solver_call"; -static const char __pyx_k_warm_start_first_qp[] = "warm_start_first_qp"; -static const char __pyx_k_strided_and_indirect[] = ""; -static const char __pyx_k_AcadosOcpSolverCython[] = "AcadosOcpSolverCython"; -static const char __pyx_k_contiguous_and_direct[] = ""; -static const char __pyx_k_globalization_use_SOC[] = "globalization_use_SOC"; -static const char __pyx_k_MemoryView_of_r_object[] = ""; -static const char __pyx_k_eps_sufficient_descent[] = "eps_sufficient_descent"; -static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; -static const char __pyx_k_contiguous_and_indirect[] = ""; -static const char __pyx_k_with_dimension_you_have[] = "with dimension {} (you have {})"; -static const char __pyx_k_Cannot_index_with_type_s[] = "Cannot index with type '%s'"; -static const char __pyx_k_Invalid_shape_in_axis_d_d[] = "Invalid shape in axis %d: %d."; -static const char __pyx_k_stored_current_iterate_in[] = "stored current iterate in "; -static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; -static const char __pyx_k_store_iterate_locals_lambda[] = "store_iterate.."; -static const char __pyx_k_time_solution_sensitivities[] = "time_solution_sensitivities"; -static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; -static const char __pyx_k_strided_and_direct_or_indirect[] = ""; -static const char __pyx_k_AcadosOcpSolverCython_get_field[] = "AcadosOcpSolverCython.get(): field {} does not exist at final stage {}."; -static const char __pyx_k_AcadosOcpSolverCython_get_is_an[] = "AcadosOcpSolverCython.get(): {} is an invalid argument. \n Possible values are {}. Exiting."; -static const char __pyx_k_AcadosOcpSolverCython_get_stage[] = "AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}."; -static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; -static const char __pyx_k_AcadosOcpSolverCython_constraint[] = "AcadosOcpSolverCython.constraints_set(): mismatching dimension"; -static const char __pyx_k_AcadosOcpSolverCython_cost_set_m[] = "AcadosOcpSolverCython.cost_set(): mismatching dimension"; -static const char __pyx_k_AcadosOcpSolverCython_does_not_s[] = "AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature"; -static const char __pyx_k_AcadosOcpSolverCython_eval_param[] = "AcadosOcpSolverCython.eval_param_sens(): index must be Integer."; -static const char __pyx_k_AcadosOcpSolverCython_options_se[] = "AcadosOcpSolverCython.options_set() does not support field {}.\n Possible values are {}."; -static const char __pyx_k_AcadosOcpSolverCython_set_is_not[] = "AcadosOcpSolverCython.set(): {} is not a valid argument. \nPossible values are {}. Exiting."; -static const char __pyx_k_AcadosOcpSolverCython_set_mismat[] = "AcadosOcpSolverCython.set(): mismatching dimension for field \"{}\" "; -static const char __pyx_k_AcadosOcpSolverCython_solve_argu[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only values 0, 1, 2 for SQP-RTI-type solvers"; -static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; -static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; -static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; -static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; -static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; -static const char __pyx_k_Incompatible_checksums_s_vs_0xb0[] = "Incompatible checksums (%s vs 0xb068931 = (name))"; -static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; -static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got %s"; -static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis %d)"; -static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; -static const char __pyx_k_acados_template_acados_ocp_solve[] = "acados_template.acados_ocp_solver_pyx"; -static const char __pyx_k_alpha_values_are_not_available_f[] = "alpha values are not available for SQP_RTI"; -static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension %d (got %d and %d)"; -static const char __pyx_k_line_search_use_sufficient_desce[] = "line_search_use_sufficient_descent"; -static const char __pyx_k_load_iterate_failed_file_does_no[] = "load_iterate: failed, file does not exist: "; -static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; -static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; -static const char __pyx_k_solver_option_must_be_of_type_fl[] = "solver option {} must be of type float. You have {}."; -static const char __pyx_k_solver_option_must_be_of_type_in[] = "solver option {} must be of type int. You have {}."; -static const char __pyx_k_solver_option_must_be_of_type_st[] = "solver option {} must be of type str. You have {}."; -static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; -static const char __pyx_k_AcadosOcpSolverCython_does_not_s_2[] = "AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature"; -static const char __pyx_k_AcadosOcpSolverCython_eval_param_2[] = "AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: "; -static const char __pyx_k_AcadosOcpSolverCython_solve_argu_2[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only value 0 for SQP-type solvers"; -static PyObject *__pyx_n_s_ASCII; -static PyObject *__pyx_n_s_AcadosOcpSolverCython; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_constraint; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_cost_set_m; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param_2; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_field; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_is_an; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_stage; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_options_se; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_is_not; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_mismat; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu_2; -static PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; -static PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; -static PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; -static PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; -static PyObject *__pyx_kp_s_Cannot_index_with_type_s; -static PyObject *__pyx_n_s_Ellipsis; -static PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; -static PyObject *__pyx_n_u_F; -static PyObject *__pyx_n_s_ImportError; -static PyObject *__pyx_kp_s_Incompatible_checksums_s_vs_0xb0; -static PyObject *__pyx_n_s_IndexError; -static PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; -static PyObject *__pyx_kp_s_Invalid_mode_expected_c_or_fortr; -static PyObject *__pyx_kp_s_Invalid_shape_in_axis_d_d; -static PyObject *__pyx_n_s_MemoryError; -static PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; -static PyObject *__pyx_kp_s_MemoryView_of_r_object; -static PyObject *__pyx_n_s_N; -static PyObject *__pyx_kp_u_None; -static PyObject *__pyx_n_s_NotImplementedError; -static PyObject *__pyx_n_b_O; -static PyObject *__pyx_kp_s_Out_of_bounds_on_buffer_access_a; -static PyObject *__pyx_n_s_PickleError; -static PyObject *__pyx_n_u_SQP; -static PyObject *__pyx_n_u_SQP_RTI; -static PyObject *__pyx_kp_u_TODO; -static PyObject *__pyx_n_s_TypeError; -static PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; -static PyObject *__pyx_n_s_ValueError; -static PyObject *__pyx_n_s_View_MemoryView; -static PyObject *__pyx_kp_u_Y_m_d_H_M_S_f; -static PyObject *__pyx_kp_u__19; -static PyObject *__pyx_kp_u__22; -static PyObject *__pyx_kp_u__4; -static PyObject *__pyx_kp_u__5; -static PyObject *__pyx_n_u__6; -static PyObject *__pyx_n_s_acados_template_acados_ocp_solve; -static PyObject *__pyx_n_s_allocate_buffer; -static PyObject *__pyx_n_u_alpha; -static PyObject *__pyx_n_u_alpha_min; -static PyObject *__pyx_n_u_alpha_reduction; -static PyObject *__pyx_kp_u_alpha_values_are_not_available_f; -static PyObject *__pyx_n_s_array; -static PyObject *__pyx_n_s_ascontiguousarray; -static PyObject *__pyx_n_s_asfortranarray; -static PyObject *__pyx_kp_u_at_stage; -static PyObject *__pyx_n_s_base; -static PyObject *__pyx_n_s_c; -static PyObject *__pyx_n_u_c; -static PyObject *__pyx_n_s_class; -static PyObject *__pyx_n_s_cline_in_traceback; -static PyObject *__pyx_kp_s_contiguous_and_direct; -static PyObject *__pyx_kp_s_contiguous_and_indirect; -static PyObject *__pyx_n_s_datetime; -static PyObject *__pyx_n_s_default; -static PyObject *__pyx_n_s_dict; -static PyObject *__pyx_n_s_dtype; -static PyObject *__pyx_n_s_dtype_is_object; -static PyObject *__pyx_n_s_dump; -static PyObject *__pyx_n_s_encode; -static PyObject *__pyx_n_s_enter; -static PyObject *__pyx_n_s_enumerate; -static PyObject *__pyx_n_u_eps_sufficient_descent; -static PyObject *__pyx_n_s_error; -static PyObject *__pyx_n_u_ex; -static PyObject *__pyx_n_s_exit; -static PyObject *__pyx_n_s_field; -static PyObject *__pyx_n_s_field_2; -static PyObject *__pyx_n_s_filename; -static PyObject *__pyx_n_s_flags; -static PyObject *__pyx_n_s_float64; -static PyObject *__pyx_kp_u_for_field; -static PyObject *__pyx_n_s_format; -static PyObject *__pyx_n_s_fortran; -static PyObject *__pyx_n_u_fortran; -static PyObject *__pyx_n_u_full_step_dual; -static PyObject *__pyx_n_s_get; -static PyObject *__pyx_n_s_get_pointers_solver; -static PyObject *__pyx_n_s_get_residuals; -static PyObject *__pyx_n_s_get_stat_double; -static PyObject *__pyx_n_s_get_stat_int; -static PyObject *__pyx_n_s_get_stat_matrix; -static PyObject *__pyx_n_s_get_stats; -static PyObject *__pyx_n_s_getcwd; -static PyObject *__pyx_n_s_getstate; -static PyObject *__pyx_n_u_globalization; -static PyObject *__pyx_n_u_globalization_use_SOC; -static PyObject *__pyx_kp_s_got_differing_extents_in_dimensi; -static PyObject *__pyx_n_s_id; -static PyObject *__pyx_n_s_import; -static PyObject *__pyx_n_s_indent; -static PyObject *__pyx_n_s_index; -static PyObject *__pyx_n_u_initialize_t_slacks; -static PyObject *__pyx_n_s_isfile; -static PyObject *__pyx_n_s_itemsize; -static PyObject *__pyx_kp_s_itemsize_0_for_cython_array; -static PyObject *__pyx_n_u_iterate; -static PyObject *__pyx_n_s_join; -static PyObject *__pyx_n_s_json; -static PyObject *__pyx_kp_u_json_2; -static PyObject *__pyx_n_s_keys; -static PyObject *__pyx_n_u_lam; -static PyObject *__pyx_n_u_lam_2; -static PyObject *__pyx_n_u_lbu; -static PyObject *__pyx_n_u_lbx; -static PyObject *__pyx_n_u_line_search_use_sufficient_desce; -static PyObject *__pyx_n_s_load; -static PyObject *__pyx_kp_u_load_iterate_failed_file_does_no; -static PyObject *__pyx_n_s_m; -static PyObject *__pyx_n_s_main; -static PyObject *__pyx_n_s_memview; -static PyObject *__pyx_n_s_mode; -static PyObject *__pyx_n_s_model_name; -static PyObject *__pyx_n_s_n; -static PyObject *__pyx_n_s_name; -static PyObject *__pyx_n_s_name_2; -static PyObject *__pyx_n_s_ndim; -static PyObject *__pyx_n_s_new; -static PyObject *__pyx_n_s_nlp_solver_type; -static PyObject *__pyx_kp_s_no_default___reduce___due_to_non; -static PyObject *__pyx_n_s_np; -static PyObject *__pyx_n_s_numpy; -static PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; -static PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; -static PyObject *__pyx_n_s_obj; -static PyObject *__pyx_n_s_open; -static PyObject *__pyx_n_s_order; -static PyObject *__pyx_n_s_os; -static PyObject *__pyx_n_s_overwrite; -static PyObject *__pyx_n_u_p; -static PyObject *__pyx_n_s_pack; -static PyObject *__pyx_n_s_path; -static PyObject *__pyx_n_u_pi; -static PyObject *__pyx_n_u_pi_2; -static PyObject *__pyx_n_s_pickle; -static PyObject *__pyx_n_s_print; -static PyObject *__pyx_n_u_print_level; -static PyObject *__pyx_n_s_pyx_PickleError; -static PyObject *__pyx_n_s_pyx_checksum; -static PyObject *__pyx_n_s_pyx_getbuffer; -static PyObject *__pyx_n_s_pyx_result; -static PyObject *__pyx_n_s_pyx_state; -static PyObject *__pyx_n_s_pyx_type; -static PyObject *__pyx_n_s_pyx_unpickle_Enum; -static PyObject *__pyx_n_s_pyx_vtable; -static PyObject *__pyx_n_u_qp_iter; -static PyObject *__pyx_n_u_qp_mu0; -static PyObject *__pyx_n_u_qp_tau_min; -static PyObject *__pyx_n_u_qp_tol_comp; -static PyObject *__pyx_n_u_qp_tol_eq; -static PyObject *__pyx_n_u_qp_tol_ineq; -static PyObject *__pyx_n_u_qp_tol_stat; -static PyObject *__pyx_n_u_qp_warm_start; -static PyObject *__pyx_n_u_r; -static PyObject *__pyx_n_s_range; -static PyObject *__pyx_n_s_recompute; -static PyObject *__pyx_n_s_reduce; -static PyObject *__pyx_n_s_reduce_cython; -static PyObject *__pyx_n_s_reduce_ex; -static PyObject *__pyx_n_b_res_comp; -static PyObject *__pyx_n_b_res_eq; -static PyObject *__pyx_n_b_res_ineq; -static PyObject *__pyx_n_b_res_stat; -static PyObject *__pyx_n_u_residuals; -static PyObject *__pyx_n_u_rti_phase; -static PyObject *__pyx_n_s_set; -static PyObject *__pyx_n_s_setstate; -static PyObject *__pyx_n_s_setstate_cython; -static PyObject *__pyx_n_s_shape; -static PyObject *__pyx_n_s_size; -static PyObject *__pyx_n_u_sl; -static PyObject *__pyx_n_u_sl_2; -static PyObject *__pyx_kp_u_solver_option_must_be_of_type_fl; -static PyObject *__pyx_kp_u_solver_option_must_be_of_type_in; -static PyObject *__pyx_kp_u_solver_option_must_be_of_type_st; -static PyObject *__pyx_n_s_sort_keys; -static PyObject *__pyx_n_s_split; -static PyObject *__pyx_n_u_sqp_iter; -static PyObject *__pyx_n_s_stage; -static PyObject *__pyx_n_s_start; -static PyObject *__pyx_n_u_stat_m; -static PyObject *__pyx_n_u_stat_n; -static PyObject *__pyx_n_u_statistics; -static PyObject *__pyx_n_s_step; -static PyObject *__pyx_n_u_step_length; -static PyObject *__pyx_n_s_stop; -static PyObject *__pyx_n_s_store_iterate_locals_lambda; -static PyObject *__pyx_kp_u_stored_current_iterate_in; -static PyObject *__pyx_n_s_strftime; -static PyObject *__pyx_kp_s_strided_and_direct; -static PyObject *__pyx_kp_s_strided_and_direct_or_indirect; -static PyObject *__pyx_kp_s_strided_and_indirect; -static PyObject *__pyx_kp_s_stringsource; -static PyObject *__pyx_n_s_struct; -static PyObject *__pyx_n_u_su; -static PyObject *__pyx_n_u_su_2; -static PyObject *__pyx_n_u_t; -static PyObject *__pyx_n_u_t_2; -static PyObject *__pyx_n_s_test; -static PyObject *__pyx_n_u_time_glob; -static PyObject *__pyx_n_u_time_lin; -static PyObject *__pyx_n_u_time_qp; -static PyObject *__pyx_n_u_time_qp_solver_call; -static PyObject *__pyx_n_u_time_qp_xcond; -static PyObject *__pyx_n_u_time_reg; -static PyObject *__pyx_n_u_time_sim; -static PyObject *__pyx_n_u_time_sim_ad; -static PyObject *__pyx_n_u_time_sim_la; -static PyObject *__pyx_n_u_time_solution_sensitivities; -static PyObject *__pyx_n_u_time_tot; -static PyObject *__pyx_n_u_tol_comp; -static PyObject *__pyx_n_u_tol_eq; -static PyObject *__pyx_n_u_tol_ineq; -static PyObject *__pyx_n_u_tol_stat; -static PyObject *__pyx_n_s_tolist; -static PyObject *__pyx_n_u_u; -static PyObject *__pyx_n_u_u_2; -static PyObject *__pyx_n_u_ubu; -static PyObject *__pyx_n_u_ubx; -static PyObject *__pyx_kp_s_unable_to_allocate_array_data; -static PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; -static PyObject *__pyx_n_s_unpack; -static PyObject *__pyx_n_s_update; -static PyObject *__pyx_n_s_utcnow; -static PyObject *__pyx_kp_u_utf_8; -static PyObject *__pyx_n_s_value; -static PyObject *__pyx_n_u_w; -static PyObject *__pyx_n_u_warm_start_first_qp; -static PyObject *__pyx_kp_u_with_dimension; -static PyObject *__pyx_kp_u_with_dimension_you_have; -static PyObject *__pyx_n_b_x; -static PyObject *__pyx_n_u_x; -static PyObject *__pyx_n_u_x_2; -static PyObject *__pyx_n_u_xdot_guess; -static PyObject *__pyx_n_u_y_ref; -static PyObject *__pyx_kp_u_you_have; -static PyObject *__pyx_n_u_yref; -static PyObject *__pyx_n_u_z; -static PyObject *__pyx_n_u_z_2; -static PyObject *__pyx_n_u_z_guess; -static PyObject *__pyx_n_s_zeros; -static int __pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython___cinit__(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_model_name, PyObject *__pyx_v_nlp_solver_type, PyObject *__pyx_v_N); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_2__get_pointers_solver(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_4solve(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_6reset(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_8set_new_time_steps(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_new_time_steps); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_10update_qp_solver_cond_N(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_qp_solver_cond_N); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_12eval_param_sens(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_stage, PyObject *__pyx_v_field); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_14get(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_16print_statistics(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_lambda_funcdef_lambda(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_x); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_18store_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename, PyObject *__pyx_v_overwrite); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_20load_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_22get_stats(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_24__get_stat_int(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_26__get_stat_double(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_28__get_stat_matrix(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field, PyObject *__pyx_v_n, PyObject *__pyx_v_m); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_30get_cost(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_32get_residuals(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_recompute); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_34set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); 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} - __pyx_t_1 = ((__pyx_v_step < 0) != 0); - __pyx_t_2 = __pyx_t_1; - __pyx_L6_bool_binop_done:; - __pyx_v_negative_step = __pyx_t_2; - - /* "View.MemoryView":837 - * negative_step = have_step != 0 and step < 0 - * - * if have_step and step == 0: # <<<<<<<<<<<<<< - * _err_dim(ValueError, "Step may not be zero (axis %d)", dim) - * - */ - __pyx_t_1 = (__pyx_v_have_step != 0); - if (__pyx_t_1) { - } else { - __pyx_t_2 = __pyx_t_1; - goto __pyx_L9_bool_binop_done; - } - __pyx_t_1 = ((__pyx_v_step == 0) != 0); - __pyx_t_2 = __pyx_t_1; - __pyx_L9_bool_binop_done:; - if (__pyx_t_2) { - - /* "View.MemoryView":838 - * - * if have_step and step == 0: - * _err_dim(ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< - * - * - */ - __pyx_t_3 = __pyx_memoryview_err_dim(__pyx_builtin_ValueError, ((char *)"Step may not be zero (axis %d)"), __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 838, __pyx_L1_error) - - /* "View.MemoryView":837 - * negative_step = have_step != 0 and step < 0 - * - * if have_step and step == 0: # <<<<<<<<<<<<<< - * _err_dim(ValueError, "Step may not be zero (axis %d)", dim) - * - */ - } - - /* "View.MemoryView":841 - * - * - * if have_start: # <<<<<<<<<<<<<< - * if start < 0: - * start += shape - */ - __pyx_t_2 = (__pyx_v_have_start != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":842 - * - * if have_start: - * if start < 0: # <<<<<<<<<<<<<< - * start += shape - * if start < 0: - */ - __pyx_t_2 = ((__pyx_v_start < 0) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":843 - * if have_start: - * if start < 0: - * start += shape # <<<<<<<<<<<<<< - * if start < 0: - * start = 0 - */ - __pyx_v_start = (__pyx_v_start + __pyx_v_shape); - - /* "View.MemoryView":844 - * if start < 0: - * start += shape - * if start < 0: # <<<<<<<<<<<<<< - * start = 0 - * elif start >= shape: - */ - __pyx_t_2 = ((__pyx_v_start < 0) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":845 - * start += shape - * if start < 0: - * start = 0 # <<<<<<<<<<<<<< - * elif start >= shape: - * if negative_step: - */ - __pyx_v_start = 0; - - /* "View.MemoryView":844 - * if start < 0: - * start += shape - * if start < 0: # <<<<<<<<<<<<<< - * start = 0 - * elif start >= shape: - */ - } - - /* "View.MemoryView":842 - * - * if have_start: - * if start < 0: # <<<<<<<<<<<<<< - * start += shape - * if start < 0: - */ - goto __pyx_L12; - } - - /* "View.MemoryView":846 - * if start < 0: - * start = 0 - * elif start >= shape: # <<<<<<<<<<<<<< - * if negative_step: - * start = shape - 1 - */ - __pyx_t_2 = ((__pyx_v_start >= __pyx_v_shape) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":847 - * start = 0 - * elif start >= shape: - * if negative_step: # <<<<<<<<<<<<<< - * start = shape - 1 - * else: - */ - __pyx_t_2 = (__pyx_v_negative_step != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":848 - * elif start >= shape: - * if negative_step: - * start = shape - 1 # <<<<<<<<<<<<<< - * else: - * start = shape - */ - __pyx_v_start = (__pyx_v_shape - 1); - - /* "View.MemoryView":847 - * start = 0 - * elif start >= shape: - * if negative_step: # <<<<<<<<<<<<<< - * start = shape - 1 - * else: - */ - goto __pyx_L14; - } - - /* "View.MemoryView":850 - * start = shape - 1 - * else: - * start = shape # <<<<<<<<<<<<<< - * else: - * if negative_step: - */ - /*else*/ { - __pyx_v_start = __pyx_v_shape; - } - __pyx_L14:; - - /* "View.MemoryView":846 - * if start < 0: - * start = 0 - * elif start >= shape: # <<<<<<<<<<<<<< - * if negative_step: - * start = shape - 1 - */ - } - __pyx_L12:; - - /* "View.MemoryView":841 - * - * - * if have_start: # <<<<<<<<<<<<<< - * if start < 0: - * start += shape - */ - goto __pyx_L11; - } - - /* "View.MemoryView":852 - * start = shape - * else: - * if negative_step: # <<<<<<<<<<<<<< - * start = shape - 1 - * else: - */ - /*else*/ { - __pyx_t_2 = (__pyx_v_negative_step != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":853 - * else: - * if negative_step: - * start = shape - 1 # <<<<<<<<<<<<<< - * else: - * start = 0 - */ - __pyx_v_start = (__pyx_v_shape - 1); - 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* elif stop > shape: - */ - __pyx_t_2 = ((__pyx_v_stop < 0) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":861 - * stop += shape - * if stop < 0: - * stop = 0 # <<<<<<<<<<<<<< - * elif stop > shape: - * stop = shape - */ - __pyx_v_stop = 0; - - /* "View.MemoryView":860 - * if stop < 0: - * stop += shape - * if stop < 0: # <<<<<<<<<<<<<< - * stop = 0 - * elif stop > shape: - */ - } - - /* "View.MemoryView":858 - * - * if have_stop: - * if stop < 0: # <<<<<<<<<<<<<< - * stop += shape - * if stop < 0: - */ - goto __pyx_L17; - } - - /* "View.MemoryView":862 - * if stop < 0: - * stop = 0 - * elif stop > shape: # <<<<<<<<<<<<<< - * stop = shape - * else: - */ - __pyx_t_2 = ((__pyx_v_stop > __pyx_v_shape) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":863 - * stop = 0 - * elif stop > shape: - * stop = shape # <<<<<<<<<<<<<< - * else: - * if negative_step: - */ - __pyx_v_stop = __pyx_v_shape; - - /* "View.MemoryView":862 - * if stop < 0: - * stop = 0 - * elif stop > shape: # <<<<<<<<<<<<<< - 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int __pyx_t_3; - int __pyx_t_4; - - /* "View.MemoryView":1121 - * """ - * cdef int i - * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< - * cdef Py_ssize_t f_stride = 0 - * - */ - __pyx_v_c_stride = 0; - - /* "View.MemoryView":1122 - * cdef int i - * cdef Py_ssize_t c_stride = 0 - * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< - * - * for i in range(ndim - 1, -1, -1): - */ - __pyx_v_f_stride = 0; - - /* "View.MemoryView":1124 - * cdef Py_ssize_t f_stride = 0 - * - * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< - * if mslice.shape[i] > 1: - * c_stride = mslice.strides[i] - */ - for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { - __pyx_v_i = __pyx_t_1; - - /* "View.MemoryView":1125 - * - * for i in range(ndim - 1, -1, -1): - * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< - * c_stride = mslice.strides[i] - * break - */ - __pyx_t_2 = (((__pyx_v_mslice->shape[__pyx_v_i]) > 1) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1126 - * for i in range(ndim - 1, -1, -1): - * if mslice.shape[i] > 1: - * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< - * break - * - */ - __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); - - /* "View.MemoryView":1127 - * if mslice.shape[i] > 1: - * c_stride = mslice.strides[i] - * break # <<<<<<<<<<<<<< - * - * for i in range(ndim): - */ - goto __pyx_L4_break; - - /* "View.MemoryView":1125 - * - * for i in range(ndim - 1, -1, -1): - * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< - * c_stride = mslice.strides[i] - * break - */ - } - } - __pyx_L4_break:; - - /* "View.MemoryView":1129 - * break - * - * for i in range(ndim): # <<<<<<<<<<<<<< - * if mslice.shape[i] > 1: - * f_stride = mslice.strides[i] - */ - __pyx_t_1 = __pyx_v_ndim; - __pyx_t_3 = __pyx_t_1; - for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { - __pyx_v_i = __pyx_t_4; - - /* "View.MemoryView":1130 - * - * for i in range(ndim): - * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< - * f_stride = mslice.strides[i] - * break - */ - __pyx_t_2 = (((__pyx_v_mslice->shape[__pyx_v_i]) > 1) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1131 - * for i in range(ndim): - * if mslice.shape[i] > 1: - * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< - * break - * - */ - __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); - - /* "View.MemoryView":1132 - * if mslice.shape[i] > 1: - * f_stride = mslice.strides[i] - * break # <<<<<<<<<<<<<< - * - * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): - */ - goto __pyx_L7_break; - - /* "View.MemoryView":1130 - * - * for i in range(ndim): - * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< - * f_stride = mslice.strides[i] - * break - */ - } - } - __pyx_L7_break:; - - /* "View.MemoryView":1134 - * break - * - * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< - * return 'C' - * else: - */ - __pyx_t_2 = ((abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1135 - * - * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): - * return 'C' # <<<<<<<<<<<<<< - * else: - * return 'F' - */ - __pyx_r = 'C'; - goto __pyx_L0; - - /* "View.MemoryView":1134 - * break - * - * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< - * return 'C' - * else: - */ - } - - /* "View.MemoryView":1137 - * return 'C' - * else: - * return 'F' # <<<<<<<<<<<<<< - * - * @cython.cdivision(True) - */ - /*else*/ { - __pyx_r = 'F'; - goto __pyx_L0; - } - - /* "View.MemoryView":1116 - * - * @cname('__pyx_get_best_slice_order') - * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) nogil: # <<<<<<<<<<<<<< - * """ - * Figure out the best memory access order for a given slice. - */ - - /* function exit code */ - __pyx_L0:; - return __pyx_r; -} - -/* "View.MemoryView":1140 - * - * @cython.cdivision(True) - * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< - * char *dst_data, Py_ssize_t *dst_strides, - * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, - */ - -static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { - CYTHON_UNUSED Py_ssize_t __pyx_v_i; - CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; - Py_ssize_t __pyx_v_dst_extent; - Py_ssize_t __pyx_v_src_stride; - Py_ssize_t __pyx_v_dst_stride; - int __pyx_t_1; - int __pyx_t_2; - int __pyx_t_3; - Py_ssize_t __pyx_t_4; - Py_ssize_t __pyx_t_5; - Py_ssize_t __pyx_t_6; - - /* "View.MemoryView":1147 - * - * cdef Py_ssize_t i - * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< - * cdef Py_ssize_t dst_extent = dst_shape[0] - * cdef Py_ssize_t src_stride = src_strides[0] - */ - __pyx_v_src_extent = (__pyx_v_src_shape[0]); - - /* "View.MemoryView":1148 - * cdef Py_ssize_t i - * cdef Py_ssize_t src_extent = src_shape[0] - * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< - * cdef Py_ssize_t src_stride = src_strides[0] - * cdef Py_ssize_t dst_stride = dst_strides[0] - */ - __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); - - /* "View.MemoryView":1149 - * cdef Py_ssize_t src_extent = src_shape[0] - * cdef Py_ssize_t dst_extent = dst_shape[0] - * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< - * cdef Py_ssize_t dst_stride = dst_strides[0] - * - */ - __pyx_v_src_stride = (__pyx_v_src_strides[0]); - - /* "View.MemoryView":1150 - * cdef Py_ssize_t dst_extent = dst_shape[0] - * cdef Py_ssize_t src_stride = src_strides[0] - * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< - * - * if ndim == 1: - */ - __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); - - /* "View.MemoryView":1152 - * cdef Py_ssize_t dst_stride = dst_strides[0] - * - * if ndim == 1: # <<<<<<<<<<<<<< - * if (src_stride > 0 and dst_stride > 0 and - * src_stride == itemsize == dst_stride): - */ - __pyx_t_1 = ((__pyx_v_ndim == 1) != 0); - if (__pyx_t_1) { - - /* "View.MemoryView":1153 - * - * if ndim == 1: - * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< - * src_stride == itemsize == dst_stride): - * memcpy(dst_data, src_data, itemsize * dst_extent) - */ - __pyx_t_2 = ((__pyx_v_src_stride > 0) != 0); - if (__pyx_t_2) { - } else { - __pyx_t_1 = __pyx_t_2; - goto __pyx_L5_bool_binop_done; - } - __pyx_t_2 = ((__pyx_v_dst_stride > 0) != 0); - if (__pyx_t_2) { - } else { - __pyx_t_1 = __pyx_t_2; - goto __pyx_L5_bool_binop_done; - } - - /* "View.MemoryView":1154 - * if ndim == 1: - * if (src_stride > 0 and dst_stride > 0 and - * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< - * memcpy(dst_data, src_data, itemsize * dst_extent) - * else: - */ - __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); - if (__pyx_t_2) { - __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); - } - __pyx_t_3 = (__pyx_t_2 != 0); - __pyx_t_1 = __pyx_t_3; - __pyx_L5_bool_binop_done:; - - /* "View.MemoryView":1153 - * - * if ndim == 1: - * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< - * src_stride == itemsize == dst_stride): - * memcpy(dst_data, src_data, itemsize * dst_extent) - */ - if (__pyx_t_1) { - - /* "View.MemoryView":1155 - * if (src_stride > 0 and dst_stride > 0 and - * src_stride == itemsize == dst_stride): - 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*/ - (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); - - /* "View.MemoryView":1159 - * for i in range(dst_extent): - * memcpy(dst_data, src_data, itemsize) - * src_data += src_stride # <<<<<<<<<<<<<< - * dst_data += dst_stride - * else: - */ - __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); - - /* "View.MemoryView":1160 - * memcpy(dst_data, src_data, itemsize) - * src_data += src_stride - * dst_data += dst_stride # <<<<<<<<<<<<<< - * else: - * for i in range(dst_extent): - */ - __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); - } - } - __pyx_L4:; - - /* "View.MemoryView":1152 - * cdef Py_ssize_t dst_stride = dst_strides[0] - * - * if ndim == 1: # <<<<<<<<<<<<<< - * if (src_stride > 0 and dst_stride > 0 and - * src_stride == itemsize == dst_stride): - */ - goto __pyx_L3; - } - - /* "View.MemoryView":1162 - * dst_data += dst_stride - * else: - * for i in range(dst_extent): # <<<<<<<<<<<<<< - * _copy_strided_to_strided(src_data, src_strides + 1, - * dst_data, dst_strides + 1, - */ - /*else*/ { - __pyx_t_4 = __pyx_v_dst_extent; - __pyx_t_5 = __pyx_t_4; - for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { - __pyx_v_i = __pyx_t_6; - - /* "View.MemoryView":1163 - * else: - * for i in range(dst_extent): - * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< - * dst_data, dst_strides + 1, - * src_shape + 1, dst_shape + 1, - */ - _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); - - /* "View.MemoryView":1167 - * src_shape + 1, dst_shape + 1, - * ndim - 1, itemsize) - * src_data += src_stride # <<<<<<<<<<<<<< - * dst_data += dst_stride - * - */ - __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); - - /* "View.MemoryView":1168 - * ndim - 1, itemsize) - * src_data += src_stride - * dst_data += dst_stride # <<<<<<<<<<<<<< - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, - */ - __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); - } - } - __pyx_L3:; - - /* "View.MemoryView":1140 - * - * @cython.cdivision(True) - * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< - * char *dst_data, Py_ssize_t *dst_strides, - * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, - */ - - /* function exit code */ -} - -/* "View.MemoryView":1170 - * dst_data += dst_stride - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< - * __Pyx_memviewslice *dst, - * int ndim, size_t itemsize) nogil: - */ - -static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { - - /* "View.MemoryView":1173 - * __Pyx_memviewslice *dst, - * int ndim, size_t itemsize) nogil: - * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< - * src.shape, dst.shape, ndim, itemsize) - * - */ - _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); - - /* "View.MemoryView":1170 - * dst_data += dst_stride - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< - * __Pyx_memviewslice *dst, - * int ndim, size_t itemsize) nogil: - */ - - /* function exit code */ -} - -/* "View.MemoryView":1177 - * - * @cname('__pyx_memoryview_slice_get_size') - * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: # <<<<<<<<<<<<<< - * "Return the size of the memory occupied by the slice in number of bytes" - * cdef Py_ssize_t shape, size = src.memview.view.itemsize - */ - -static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { - Py_ssize_t __pyx_v_shape; - Py_ssize_t __pyx_v_size; - Py_ssize_t __pyx_r; - Py_ssize_t __pyx_t_1; - Py_ssize_t *__pyx_t_2; - Py_ssize_t *__pyx_t_3; - Py_ssize_t *__pyx_t_4; - - /* "View.MemoryView":1179 - * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: - * "Return the size of the memory occupied by the slice in number of bytes" - 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- if (unlikely(!result)) { - PyErr_Format(PyExc_NameError, -#if PY_MAJOR_VERSION >= 3 - "name '%U' is not defined", name); -#else - "name '%.200s' is not defined", PyString_AS_STRING(name)); -#endif - } - return result; -} - -/* RaiseArgTupleInvalid */ -static void __Pyx_RaiseArgtupleInvalid( - const char* func_name, - int exact, - Py_ssize_t num_min, - Py_ssize_t num_max, - Py_ssize_t num_found) -{ - Py_ssize_t num_expected; - const char *more_or_less; - if (num_found < num_min) { - num_expected = num_min; - more_or_less = "at least"; - } else { - num_expected = num_max; - more_or_less = "at most"; - } - if (exact) { - more_or_less = "exactly"; - } - PyErr_Format(PyExc_TypeError, - "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", - func_name, more_or_less, num_expected, - (num_expected == 1) ? "" : "s", num_found); -} - -/* RaiseDoubleKeywords */ -static void __Pyx_RaiseDoubleKeywordsError( - const char* func_name, - PyObject* kw_name) -{ - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION >= 3 - "%s() got multiple values for keyword argument '%U'", func_name, kw_name); - #else - "%s() got multiple values for keyword argument '%s'", func_name, - PyString_AsString(kw_name)); - #endif -} - -/* ParseKeywords */ -static int __Pyx_ParseOptionalKeywords( - PyObject *kwds, - PyObject **argnames[], - PyObject *kwds2, - PyObject *values[], - Py_ssize_t num_pos_args, - const char* function_name) -{ - PyObject *key = 0, *value = 0; - Py_ssize_t pos = 0; - PyObject*** name; - PyObject*** first_kw_arg = argnames + num_pos_args; - while (PyDict_Next(kwds, &pos, &key, &value)) { - name = first_kw_arg; - while (*name && (**name != key)) name++; - if (*name) { - values[name-argnames] = value; - continue; - } - name = first_kw_arg; - #if PY_MAJOR_VERSION < 3 - if (likely(PyString_Check(key))) { - while (*name) { - if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) - && _PyString_Eq(**name, key)) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - if ((**argname == key) || ( - (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) - && _PyString_Eq(**argname, key))) { - goto arg_passed_twice; - } - argname++; - } - } - } else - #endif - if (likely(PyUnicode_Check(key))) { - while (*name) { - int cmp = (**name == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**name, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - int cmp = (**argname == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**argname, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) goto arg_passed_twice; - argname++; - } - } - } else - goto invalid_keyword_type; - if (kwds2) { - if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; - } else { - goto invalid_keyword; - } - } - return 0; -arg_passed_twice: - __Pyx_RaiseDoubleKeywordsError(function_name, key); - goto bad; -invalid_keyword_type: - PyErr_Format(PyExc_TypeError, - "%.200s() keywords must be strings", function_name); - goto bad; -invalid_keyword: - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION < 3 - "%.200s() got an unexpected keyword argument '%.200s'", - function_name, PyString_AsString(key)); - #else - "%s() got an unexpected keyword argument '%U'", - function_name, key); - #endif -bad: - return -1; -} - -/* PyFunctionFastCall */ -#if CYTHON_FAST_PYCALL -static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, - PyObject *globals) { - PyFrameObject *f; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject **fastlocals; - Py_ssize_t i; - PyObject *result; - assert(globals != NULL); - /* XXX Perhaps we should create a specialized - PyFrame_New() that doesn't take locals, but does - take builtins without sanity checking them. - */ - assert(tstate != NULL); - f = PyFrame_New(tstate, co, globals, NULL); - if (f == NULL) { - return NULL; - } - fastlocals = __Pyx_PyFrame_GetLocalsplus(f); - for (i = 0; i < na; i++) { - Py_INCREF(*args); - fastlocals[i] = *args++; - } - result = PyEval_EvalFrameEx(f,0); - ++tstate->recursion_depth; - Py_DECREF(f); - --tstate->recursion_depth; - return result; -} -#if 1 || PY_VERSION_HEX < 0x030600B1 -static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { - PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); - PyObject *globals = PyFunction_GET_GLOBALS(func); - PyObject *argdefs = PyFunction_GET_DEFAULTS(func); - PyObject *closure; -#if PY_MAJOR_VERSION >= 3 - PyObject *kwdefs; -#endif - PyObject *kwtuple, **k; - PyObject **d; - Py_ssize_t nd; - Py_ssize_t nk; - PyObject *result; - assert(kwargs == NULL || PyDict_Check(kwargs)); - nk = kwargs ? PyDict_Size(kwargs) : 0; - if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { - return NULL; - } - if ( -#if PY_MAJOR_VERSION >= 3 - co->co_kwonlyargcount == 0 && -#endif - likely(kwargs == NULL || nk == 0) && - co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { - if (argdefs == NULL && co->co_argcount == nargs) { - result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); - goto done; - } - else if (nargs == 0 && argdefs != NULL - && co->co_argcount == Py_SIZE(argdefs)) { - /* function called with no arguments, but all parameters have - a default value: use default values as arguments .*/ - args = &PyTuple_GET_ITEM(argdefs, 0); - result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); - goto done; - } - } - if (kwargs != NULL) { - Py_ssize_t pos, i; - kwtuple = PyTuple_New(2 * nk); - if (kwtuple == NULL) { - result = NULL; - goto done; - } - k = &PyTuple_GET_ITEM(kwtuple, 0); - pos = i = 0; - while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { - Py_INCREF(k[i]); - Py_INCREF(k[i+1]); - i += 2; - } - nk = i / 2; - } - else { - kwtuple = NULL; - k = NULL; - } - closure = PyFunction_GET_CLOSURE(func); -#if PY_MAJOR_VERSION >= 3 - kwdefs = PyFunction_GET_KW_DEFAULTS(func); -#endif - if (argdefs != NULL) { - d = &PyTuple_GET_ITEM(argdefs, 0); - nd = Py_SIZE(argdefs); - } - else { - d = NULL; - nd = 0; - } -#if PY_MAJOR_VERSION >= 3 - result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, kwdefs, closure); -#else - result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, closure); -#endif - Py_XDECREF(kwtuple); -done: - Py_LeaveRecursiveCall(); - return result; -} -#endif -#endif - -/* PyObjectCall */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { - PyObject *result; - ternaryfunc call = Py_TYPE(func)->tp_call; - if (unlikely(!call)) - return PyObject_Call(func, arg, kw); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = (*call)(func, arg, kw); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallMethO */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { - PyObject *self, *result; - PyCFunction cfunc; - cfunc = PyCFunction_GET_FUNCTION(func); - self = PyCFunction_GET_SELF(func); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = cfunc(self, arg); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallNoArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, NULL, 0); - } -#endif -#ifdef __Pyx_CyFunction_USED - if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) -#else - if (likely(PyCFunction_Check(func))) -#endif - { - if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { - return __Pyx_PyObject_CallMethO(func, NULL); - } - } - return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); -} -#endif - -/* PyCFunctionFastCall */ -#if CYTHON_FAST_PYCCALL -static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { - PyCFunctionObject *func = (PyCFunctionObject*)func_obj; - PyCFunction meth = PyCFunction_GET_FUNCTION(func); - PyObject *self = PyCFunction_GET_SELF(func); - int flags = PyCFunction_GET_FLAGS(func); - assert(PyCFunction_Check(func)); - assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); - assert(nargs >= 0); - assert(nargs == 0 || args != NULL); - /* _PyCFunction_FastCallDict() must not be called with an exception set, - because it may clear it (directly or indirectly) and so the - caller loses its exception */ - assert(!PyErr_Occurred()); - if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { - return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); - } else { - return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); - } -} -#endif - -/* PyObjectCallOneArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_New(1); - if (unlikely(!args)) return NULL; - Py_INCREF(arg); - PyTuple_SET_ITEM(args, 0, arg); - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, &arg, 1); - } -#endif - if (likely(PyCFunction_Check(func))) { - if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { - return __Pyx_PyObject_CallMethO(func, arg); -#if CYTHON_FAST_PYCCALL - } else if (__Pyx_PyFastCFunction_Check(func)) { - return __Pyx_PyCFunction_FastCall(func, &arg, 1); -#endif - } - } - return __Pyx__PyObject_CallOneArg(func, arg); -} -#else -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_Pack(1, arg); - if (unlikely(!args)) return NULL; - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -#endif - -/* PyErrFetchRestore */ -#if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - tmp_type = tstate->curexc_type; - tmp_value = tstate->curexc_value; - tmp_tb = tstate->curexc_traceback; - tstate->curexc_type = type; - tstate->curexc_value = value; - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - *type = tstate->curexc_type; - *value = tstate->curexc_value; - *tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -} -#endif - -/* RaiseException */ -#if PY_MAJOR_VERSION < 3 -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, - CYTHON_UNUSED PyObject *cause) { - __Pyx_PyThreadState_declare - Py_XINCREF(type); - if (!value || value == Py_None) - value = NULL; - else - Py_INCREF(value); - if (!tb || tb == Py_None) - tb = NULL; - else { - Py_INCREF(tb); - if (!PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto raise_error; - } - } - if (PyType_Check(type)) { -#if CYTHON_COMPILING_IN_PYPY - if (!value) { - Py_INCREF(Py_None); - value = Py_None; - } -#endif - PyErr_NormalizeException(&type, &value, &tb); - } else { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto raise_error; - } - value = type; - type = (PyObject*) Py_TYPE(type); - Py_INCREF(type); - if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto raise_error; - } - } - __Pyx_PyThreadState_assign - __Pyx_ErrRestore(type, value, tb); - return; -raise_error: - Py_XDECREF(value); - Py_XDECREF(type); - Py_XDECREF(tb); - return; -} -#else -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { - PyObject* owned_instance = NULL; - if (tb == Py_None) { - tb = 0; - } else if (tb && !PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto bad; - } - if (value == Py_None) - value = 0; - if (PyExceptionInstance_Check(type)) { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto bad; - } - value = type; - type = (PyObject*) Py_TYPE(value); - } else if (PyExceptionClass_Check(type)) { - PyObject *instance_class = NULL; - if (value && PyExceptionInstance_Check(value)) { - instance_class = (PyObject*) Py_TYPE(value); - if (instance_class != type) { - int is_subclass = PyObject_IsSubclass(instance_class, type); - if (!is_subclass) { - instance_class = NULL; - } else if (unlikely(is_subclass == -1)) { - goto bad; - } else { - type = instance_class; - } - } - } - if (!instance_class) { - PyObject *args; - if (!value) - args = PyTuple_New(0); - else if (PyTuple_Check(value)) { - Py_INCREF(value); - args = value; - } else - args = PyTuple_Pack(1, value); - if (!args) - goto bad; - owned_instance = PyObject_Call(type, args, NULL); - Py_DECREF(args); - if (!owned_instance) - goto bad; - value = owned_instance; - if (!PyExceptionInstance_Check(value)) { - PyErr_Format(PyExc_TypeError, - "calling %R should have returned an instance of " - "BaseException, not %R", - type, Py_TYPE(value)); - goto bad; - } - } - } else { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto bad; - } - if (cause) { - PyObject *fixed_cause; - if (cause == Py_None) { - fixed_cause = NULL; - } else if (PyExceptionClass_Check(cause)) { - fixed_cause = PyObject_CallObject(cause, NULL); - if (fixed_cause == NULL) - goto bad; - } else if (PyExceptionInstance_Check(cause)) { - fixed_cause = cause; - Py_INCREF(fixed_cause); - } else { - PyErr_SetString(PyExc_TypeError, - "exception causes must derive from " - "BaseException"); - goto bad; - } - PyException_SetCause(value, fixed_cause); - } - PyErr_SetObject(type, value); - if (tb) { -#if CYTHON_COMPILING_IN_PYPY - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); - Py_INCREF(tb); - PyErr_Restore(tmp_type, tmp_value, tb); - Py_XDECREF(tmp_tb); -#else - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* tmp_tb = tstate->curexc_traceback; - if (tb != tmp_tb) { - Py_INCREF(tb); - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_tb); - } -#endif - } -bad: - Py_XDECREF(owned_instance); - return; -} -#endif - -/* PyObjectCall2Args */ -static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { - PyObject *args, *result = NULL; - #if CYTHON_FAST_PYCALL - if (PyFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyFunction_FastCall(function, args, 2); - } - #endif - #if CYTHON_FAST_PYCCALL - if (__Pyx_PyFastCFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyCFunction_FastCall(function, args, 2); - } - #endif - args = PyTuple_New(2); - if (unlikely(!args)) goto done; - Py_INCREF(arg1); - PyTuple_SET_ITEM(args, 0, arg1); - Py_INCREF(arg2); - PyTuple_SET_ITEM(args, 1, arg2); - Py_INCREF(function); - result = __Pyx_PyObject_Call(function, args, NULL); - Py_DECREF(args); - Py_DECREF(function); -done: - return result; -} - -/* JoinPyUnicode */ -static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, - CYTHON_UNUSED Py_UCS4 max_char) { -#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - PyObject *result_uval; - int result_ukind; - Py_ssize_t i, char_pos; - void *result_udata; -#if CYTHON_PEP393_ENABLED - result_uval = PyUnicode_New(result_ulength, max_char); - if (unlikely(!result_uval)) return NULL; - result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; - result_udata = PyUnicode_DATA(result_uval); -#else - result_uval = PyUnicode_FromUnicode(NULL, result_ulength); - if (unlikely(!result_uval)) return NULL; - result_ukind = sizeof(Py_UNICODE); - result_udata = PyUnicode_AS_UNICODE(result_uval); -#endif - char_pos = 0; - for (i=0; i < value_count; i++) { - int ukind; - Py_ssize_t ulength; - void *udata; - PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); - if (unlikely(__Pyx_PyUnicode_READY(uval))) - goto bad; - ulength = __Pyx_PyUnicode_GET_LENGTH(uval); - if (unlikely(!ulength)) - continue; - if (unlikely(char_pos + ulength < 0)) - goto overflow; - ukind = __Pyx_PyUnicode_KIND(uval); - udata = __Pyx_PyUnicode_DATA(uval); - if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { - memcpy((char *)result_udata + char_pos * result_ukind, udata, (size_t) (ulength * result_ukind)); - } else { - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) - _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); - #else - Py_ssize_t j; - for (j=0; j < ulength; j++) { - Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); - __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); - } - #endif - } - char_pos += ulength; - } - return result_uval; -overflow: - PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); -bad: - Py_DECREF(result_uval); - return NULL; -#else - result_ulength++; - value_count++; - return PyUnicode_Join(__pyx_empty_unicode, value_tuple); -#endif -} - -/* ArgTypeTest */ -static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) -{ - if (unlikely(!type)) { - PyErr_SetString(PyExc_SystemError, "Missing type object"); - return 0; - } - else if (exact) { - #if PY_MAJOR_VERSION == 2 - if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; - #endif - } - else { - if (likely(__Pyx_TypeCheck(obj, type))) return 1; - } - PyErr_Format(PyExc_TypeError, - "Argument '%.200s' has incorrect type (expected %.200s, got %.200s)", - name, type->tp_name, Py_TYPE(obj)->tp_name); - return 0; -} - -/* BytesEquals */ -static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { -#if CYTHON_COMPILING_IN_PYPY - return PyObject_RichCompareBool(s1, s2, equals); -#else - if (s1 == s2) { - return (equals == Py_EQ); - } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { - const char *ps1, *ps2; - Py_ssize_t length = PyBytes_GET_SIZE(s1); - if (length != PyBytes_GET_SIZE(s2)) - return (equals == Py_NE); - ps1 = PyBytes_AS_STRING(s1); - ps2 = PyBytes_AS_STRING(s2); - if (ps1[0] != ps2[0]) { - return (equals == Py_NE); - } else if (length == 1) { - return (equals == Py_EQ); - } else { - int result; -#if CYTHON_USE_UNICODE_INTERNALS - Py_hash_t hash1, hash2; - hash1 = ((PyBytesObject*)s1)->ob_shash; - hash2 = ((PyBytesObject*)s2)->ob_shash; - if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { - return (equals == Py_NE); - } -#endif - result = memcmp(ps1, ps2, (size_t)length); - return (equals == Py_EQ) ? (result == 0) : (result != 0); - } - } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { - return (equals == Py_NE); - } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { - return (equals == Py_NE); - } else { - int result; - PyObject* py_result = PyObject_RichCompare(s1, s2, equals); - if (!py_result) - return -1; - result = __Pyx_PyObject_IsTrue(py_result); - Py_DECREF(py_result); - return result; - } -#endif -} - -/* UnicodeEquals */ -static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { -#if CYTHON_COMPILING_IN_PYPY - return PyObject_RichCompareBool(s1, s2, equals); -#else -#if PY_MAJOR_VERSION < 3 - PyObject* owned_ref = NULL; -#endif - int s1_is_unicode, s2_is_unicode; - if (s1 == s2) { - goto return_eq; - } - s1_is_unicode = PyUnicode_CheckExact(s1); - s2_is_unicode = PyUnicode_CheckExact(s2); -#if PY_MAJOR_VERSION < 3 - if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { - owned_ref = PyUnicode_FromObject(s2); - if (unlikely(!owned_ref)) - return -1; - s2 = owned_ref; - s2_is_unicode = 1; - } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { - owned_ref = PyUnicode_FromObject(s1); - if (unlikely(!owned_ref)) - return -1; - s1 = owned_ref; - s1_is_unicode = 1; - } else if (((!s2_is_unicode) & (!s1_is_unicode))) { - return __Pyx_PyBytes_Equals(s1, s2, equals); - } -#endif - if (s1_is_unicode & s2_is_unicode) { - Py_ssize_t length; - int kind; - void *data1, *data2; - if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) - return -1; - length = __Pyx_PyUnicode_GET_LENGTH(s1); - if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { - goto return_ne; - } -#if CYTHON_USE_UNICODE_INTERNALS - { - Py_hash_t hash1, hash2; - #if CYTHON_PEP393_ENABLED - hash1 = ((PyASCIIObject*)s1)->hash; - hash2 = ((PyASCIIObject*)s2)->hash; - #else - hash1 = ((PyUnicodeObject*)s1)->hash; - hash2 = ((PyUnicodeObject*)s2)->hash; - #endif - if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { - goto return_ne; - } - } -#endif - kind = __Pyx_PyUnicode_KIND(s1); - if (kind != __Pyx_PyUnicode_KIND(s2)) { - goto return_ne; - } - data1 = __Pyx_PyUnicode_DATA(s1); - data2 = __Pyx_PyUnicode_DATA(s2); - if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { - goto return_ne; - } else if (length == 1) { - goto return_eq; - } else { - int result = memcmp(data1, data2, (size_t)(length * kind)); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_EQ) ? (result == 0) : (result != 0); - } - } else if ((s1 == Py_None) & s2_is_unicode) { - goto return_ne; - } else if ((s2 == Py_None) & s1_is_unicode) { - goto return_ne; - } else { - int result; - PyObject* py_result = PyObject_RichCompare(s1, s2, equals); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - if (!py_result) - return -1; - result = __Pyx_PyObject_IsTrue(py_result); - Py_DECREF(py_result); - return result; - } -return_eq: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_EQ); -return_ne: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_NE); -#endif -} - -/* PyDictVersioning */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; -} -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { - PyObject **dictptr = NULL; - Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; - if (offset) { -#if CYTHON_COMPILING_IN_CPYTHON - dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); -#else - dictptr = _PyObject_GetDictPtr(obj); -#endif - } - return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; -} -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) - return 0; - return obj_dict_version == __Pyx_get_object_dict_version(obj); -} -#endif - -/* GetModuleGlobalName */ -#if CYTHON_USE_DICT_VERSIONS -static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) -#else -static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) -#endif -{ - PyObject *result; -#if !CYTHON_AVOID_BORROWED_REFS -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 - result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } else if (unlikely(PyErr_Occurred())) { - return NULL; - } -#else - result = PyDict_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } -#endif -#else - result = PyObject_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } - PyErr_Clear(); -#endif - return __Pyx_GetBuiltinName(name); -} - -/* ExtTypeTest */ -static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { - if (unlikely(!type)) { - PyErr_SetString(PyExc_SystemError, "Missing type object"); - return 0; - } - if (likely(__Pyx_TypeCheck(obj, type))) - return 1; - PyErr_Format(PyExc_TypeError, "Cannot convert %.200s to %.200s", - Py_TYPE(obj)->tp_name, type->tp_name); - return 0; -} - -/* IsLittleEndian */ -static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) -{ - union { - uint32_t u32; - uint8_t u8[4]; - } S; - S.u32 = 0x01020304; - return S.u8[0] == 4; -} - -/* BufferFormatCheck */ -static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, - __Pyx_BufFmt_StackElem* stack, - __Pyx_TypeInfo* type) { - stack[0].field = &ctx->root; - stack[0].parent_offset = 0; - ctx->root.type = type; - ctx->root.name = "buffer dtype"; - ctx->root.offset = 0; - ctx->head = stack; - ctx->head->field = &ctx->root; - ctx->fmt_offset = 0; - ctx->head->parent_offset = 0; - ctx->new_packmode = '@'; - ctx->enc_packmode = '@'; - ctx->new_count = 1; - ctx->enc_count = 0; - ctx->enc_type = 0; - ctx->is_complex = 0; - ctx->is_valid_array = 0; - ctx->struct_alignment = 0; - while (type->typegroup == 'S') { - ++ctx->head; - ctx->head->field = type->fields; - ctx->head->parent_offset = 0; - type = type->fields->type; - } -} -static int __Pyx_BufFmt_ParseNumber(const char** ts) { - int count; - const char* t = *ts; - if (*t < '0' || *t > '9') { - return -1; - } else { - count = *t++ - '0'; - while (*t >= '0' && *t <= '9') { - count *= 10; - count += *t++ - '0'; - } - } - *ts = t; - return count; -} -static int __Pyx_BufFmt_ExpectNumber(const char **ts) { - int number = __Pyx_BufFmt_ParseNumber(ts); - if (number == -1) - PyErr_Format(PyExc_ValueError,\ - "Does not understand character buffer dtype format string ('%c')", **ts); - return number; -} -static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { - PyErr_Format(PyExc_ValueError, - "Unexpected format string character: '%c'", ch); -} -static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { - switch (ch) { - case '?': return "'bool'"; - case 'c': return "'char'"; - case 'b': return "'signed char'"; - case 'B': return "'unsigned char'"; - case 'h': return "'short'"; - case 'H': return "'unsigned short'"; - case 'i': return "'int'"; - case 'I': return "'unsigned int'"; - case 'l': return "'long'"; - case 'L': return "'unsigned long'"; - case 'q': return "'long long'"; - case 'Q': return "'unsigned long long'"; - case 'f': return (is_complex ? "'complex float'" : "'float'"); - case 'd': return (is_complex ? "'complex double'" : "'double'"); - case 'g': return (is_complex ? "'complex long double'" : "'long double'"); - case 'T': return "a struct"; - case 'O': return "Python object"; - case 'P': return "a pointer"; - case 's': case 'p': return "a string"; - case 0: return "end"; - default: return "unparseable format string"; - } -} -static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return 2; - case 'i': case 'I': case 'l': case 'L': return 4; - case 'q': case 'Q': return 8; - case 'f': return (is_complex ? 8 : 4); - case 'd': return (is_complex ? 16 : 8); - case 'g': { - PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); - return 0; - } - case 'O': case 'P': return sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(short); - case 'i': case 'I': return sizeof(int); - case 'l': case 'L': return sizeof(long); - #ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(PY_LONG_LONG); - #endif - case 'f': return sizeof(float) * (is_complex ? 2 : 1); - case 'd': return sizeof(double) * (is_complex ? 2 : 1); - case 'g': return sizeof(long double) * (is_complex ? 2 : 1); - case 'O': case 'P': return sizeof(void*); - default: { - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } - } -} -typedef struct { char c; short x; } __Pyx_st_short; -typedef struct { char c; int x; } __Pyx_st_int; -typedef struct { char c; long x; } __Pyx_st_long; -typedef struct { char c; float x; } __Pyx_st_float; -typedef struct { char c; double x; } __Pyx_st_double; -typedef struct { char c; long double x; } __Pyx_st_longdouble; -typedef struct { char c; void *x; } __Pyx_st_void_p; -#ifdef HAVE_LONG_LONG -typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; -#endif -static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, CYTHON_UNUSED int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); - case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); - case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); -#ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); -#endif - case 'f': return sizeof(__Pyx_st_float) - sizeof(float); - case 'd': return sizeof(__Pyx_st_double) - sizeof(double); - case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); - case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -/* These are for computing the padding at the end of the struct to align - on the first member of the struct. This will probably the same as above, - but we don't have any guarantees. - */ -typedef struct { short x; char c; } __Pyx_pad_short; -typedef struct { int x; char c; } __Pyx_pad_int; -typedef struct { long x; char c; } __Pyx_pad_long; -typedef struct { float x; char c; } __Pyx_pad_float; -typedef struct { double x; char c; } __Pyx_pad_double; -typedef struct { long double x; char c; } __Pyx_pad_longdouble; -typedef struct { void *x; char c; } __Pyx_pad_void_p; -#ifdef HAVE_LONG_LONG -typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; -#endif -static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, CYTHON_UNUSED int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); - case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); - case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); -#ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); -#endif - case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); - case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); - case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); - case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { - switch (ch) { - case 'c': - return 'H'; - case 'b': case 'h': case 'i': - case 'l': case 'q': case 's': case 'p': - return 'I'; - case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': - return 'U'; - case 'f': case 'd': case 'g': - return (is_complex ? 'C' : 'R'); - case 'O': - return 'O'; - case 'P': - return 'P'; - default: { - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } - } -} -static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { - if (ctx->head == NULL || ctx->head->field == &ctx->root) { - const char* expected; - const char* quote; - if (ctx->head == NULL) { - expected = "end"; - quote = ""; - } else { - expected = ctx->head->field->type->name; - quote = "'"; - } - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch, expected %s%s%s but got %s", - quote, expected, quote, - __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); - } else { - __Pyx_StructField* field = ctx->head->field; - __Pyx_StructField* parent = (ctx->head - 1)->field; - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", - field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), - parent->type->name, field->name); - } -} -static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { - char group; - size_t size, offset, arraysize = 1; - if (ctx->enc_type == 0) return 0; - if (ctx->head->field->type->arraysize[0]) { - int i, ndim = 0; - if (ctx->enc_type == 's' || ctx->enc_type == 'p') { - ctx->is_valid_array = ctx->head->field->type->ndim == 1; - ndim = 1; - if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { - PyErr_Format(PyExc_ValueError, - "Expected a dimension of size %zu, got %zu", - ctx->head->field->type->arraysize[0], ctx->enc_count); - return -1; - } - } - if (!ctx->is_valid_array) { - PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", - ctx->head->field->type->ndim, ndim); - return -1; - } - for (i = 0; i < ctx->head->field->type->ndim; i++) { - arraysize *= ctx->head->field->type->arraysize[i]; - } - ctx->is_valid_array = 0; - ctx->enc_count = 1; - } - group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); - do { - __Pyx_StructField* field = ctx->head->field; - __Pyx_TypeInfo* type = field->type; - if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { - size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); - } else { - size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); - } - if (ctx->enc_packmode == '@') { - size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); - size_t align_mod_offset; - if (align_at == 0) return -1; - align_mod_offset = ctx->fmt_offset % align_at; - if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; - if (ctx->struct_alignment == 0) - ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, - ctx->is_complex); - } - if (type->size != size || type->typegroup != group) { - if (type->typegroup == 'C' && type->fields != NULL) { - size_t parent_offset = ctx->head->parent_offset + field->offset; - ++ctx->head; - ctx->head->field = type->fields; - ctx->head->parent_offset = parent_offset; - continue; - } - if ((type->typegroup == 'H' || group == 'H') && type->size == size) { - } else { - __Pyx_BufFmt_RaiseExpected(ctx); - return -1; - } - } - offset = ctx->head->parent_offset + field->offset; - if (ctx->fmt_offset != offset) { - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", - (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); - return -1; - } - ctx->fmt_offset += size; - if (arraysize) - ctx->fmt_offset += (arraysize - 1) * size; - --ctx->enc_count; - while (1) { - if (field == &ctx->root) { - ctx->head = NULL; - if (ctx->enc_count != 0) { - __Pyx_BufFmt_RaiseExpected(ctx); - return -1; - } - break; - } - ctx->head->field = ++field; - if (field->type == NULL) { - --ctx->head; - field = ctx->head->field; - continue; - } else if (field->type->typegroup == 'S') { - size_t parent_offset = ctx->head->parent_offset + field->offset; - if (field->type->fields->type == NULL) continue; - field = field->type->fields; - ++ctx->head; - ctx->head->field = field; - ctx->head->parent_offset = parent_offset; - break; - } else { - break; - } - } - } while (ctx->enc_count); - ctx->enc_type = 0; - ctx->is_complex = 0; - return 0; -} -static PyObject * -__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) -{ - const char *ts = *tsp; - int i = 0, number, ndim; - ++ts; - if (ctx->new_count != 1) { - PyErr_SetString(PyExc_ValueError, - "Cannot handle repeated arrays in format string"); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ndim = ctx->head->field->type->ndim; - while (*ts && *ts != ')') { - switch (*ts) { - case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; - default: break; - } - number = __Pyx_BufFmt_ExpectNumber(&ts); - if (number == -1) return NULL; - if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) - return PyErr_Format(PyExc_ValueError, - "Expected a dimension of size %zu, got %d", - ctx->head->field->type->arraysize[i], number); - if (*ts != ',' && *ts != ')') - return PyErr_Format(PyExc_ValueError, - "Expected a comma in format string, got '%c'", *ts); - if (*ts == ',') ts++; - i++; - } - if (i != ndim) - return PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", - ctx->head->field->type->ndim, i); - if (!*ts) { - PyErr_SetString(PyExc_ValueError, - "Unexpected end of format string, expected ')'"); - return NULL; - } - ctx->is_valid_array = 1; - ctx->new_count = 1; - *tsp = ++ts; - return Py_None; -} -static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { - int got_Z = 0; - while (1) { - switch(*ts) { - case 0: - if (ctx->enc_type != 0 && ctx->head == NULL) { - __Pyx_BufFmt_RaiseExpected(ctx); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - if (ctx->head != NULL) { - __Pyx_BufFmt_RaiseExpected(ctx); - return NULL; - } - return ts; - case ' ': - case '\r': - case '\n': - ++ts; - break; - case '<': - if (!__Pyx_Is_Little_Endian()) { - PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); - return NULL; - } - ctx->new_packmode = '='; - ++ts; - break; - case '>': - case '!': - if (__Pyx_Is_Little_Endian()) { - PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); - return NULL; - } - ctx->new_packmode = '='; - ++ts; - break; - case '=': - case '@': - case '^': - ctx->new_packmode = *ts++; - break; - case 'T': - { - const char* ts_after_sub; - size_t i, struct_count = ctx->new_count; - size_t struct_alignment = ctx->struct_alignment; - ctx->new_count = 1; - ++ts; - if (*ts != '{') { - PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_type = 0; - ctx->enc_count = 0; - ctx->struct_alignment = 0; - ++ts; - ts_after_sub = ts; - for (i = 0; i != struct_count; ++i) { - ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); - if (!ts_after_sub) return NULL; - } - ts = ts_after_sub; - if (struct_alignment) ctx->struct_alignment = struct_alignment; - } - break; - case '}': - { - size_t alignment = ctx->struct_alignment; - ++ts; - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_type = 0; - if (alignment && ctx->fmt_offset % alignment) { - ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); - } - } - return ts; - case 'x': - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->fmt_offset += ctx->new_count; - ctx->new_count = 1; - ctx->enc_count = 0; - ctx->enc_type = 0; - ctx->enc_packmode = ctx->new_packmode; - ++ts; - break; - case 'Z': - got_Z = 1; - ++ts; - if (*ts != 'f' && *ts != 'd' && *ts != 'g') { - __Pyx_BufFmt_RaiseUnexpectedChar('Z'); - return NULL; - } - CYTHON_FALLTHROUGH; - case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': - case 'l': case 'L': case 'q': case 'Q': - case 'f': case 'd': case 'g': - case 'O': case 'p': - if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && - (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { - ctx->enc_count += ctx->new_count; - ctx->new_count = 1; - got_Z = 0; - ++ts; - break; - } - CYTHON_FALLTHROUGH; - case 's': - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_count = ctx->new_count; - ctx->enc_packmode = ctx->new_packmode; - ctx->enc_type = *ts; - ctx->is_complex = got_Z; - ++ts; - ctx->new_count = 1; - got_Z = 0; - break; - case ':': - ++ts; - while(*ts != ':') ++ts; - ++ts; - break; - case '(': - if (!__pyx_buffmt_parse_array(ctx, &ts)) return NULL; - break; - default: - { - int number = __Pyx_BufFmt_ExpectNumber(&ts); - if (number == -1) return NULL; - ctx->new_count = (size_t)number; - } - } - } -} - -/* BufferGetAndValidate */ - static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { - if (unlikely(info->buf == NULL)) return; - if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; - __Pyx_ReleaseBuffer(info); -} -static void __Pyx_ZeroBuffer(Py_buffer* buf) { - buf->buf = NULL; - buf->obj = NULL; - buf->strides = __Pyx_zeros; - buf->shape = __Pyx_zeros; - buf->suboffsets = __Pyx_minusones; -} -static int __Pyx__GetBufferAndValidate( - Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, - int nd, int cast, __Pyx_BufFmt_StackElem* stack) -{ - buf->buf = NULL; - if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { - __Pyx_ZeroBuffer(buf); - return -1; - } - if (unlikely(buf->ndim != nd)) { - PyErr_Format(PyExc_ValueError, - "Buffer has wrong number of dimensions (expected %d, got %d)", - nd, buf->ndim); - goto fail; - } - if (!cast) { - __Pyx_BufFmt_Context ctx; - __Pyx_BufFmt_Init(&ctx, stack, dtype); - if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; - } - if (unlikely((size_t)buf->itemsize != dtype->size)) { - PyErr_Format(PyExc_ValueError, - "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", - buf->itemsize, (buf->itemsize > 1) ? "s" : "", - dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); - goto fail; - } - if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; - return 0; -fail:; - __Pyx_SafeReleaseBuffer(buf); - return -1; -} - -/* Import */ - static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { - PyObject *empty_list = 0; - PyObject *module = 0; - PyObject *global_dict = 0; - PyObject *empty_dict = 0; - PyObject *list; - #if PY_MAJOR_VERSION < 3 - PyObject *py_import; - py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); - if (!py_import) - goto bad; - #endif - if (from_list) - list = from_list; - else { - empty_list = PyList_New(0); - if (!empty_list) - goto bad; - list = empty_list; - } - global_dict = PyModule_GetDict(__pyx_m); - if (!global_dict) - goto bad; - empty_dict = PyDict_New(); - if (!empty_dict) - goto bad; - { - #if PY_MAJOR_VERSION >= 3 - if (level == -1) { - if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, 1); - if (!module) { - if (!PyErr_ExceptionMatches(PyExc_ImportError)) - goto bad; - PyErr_Clear(); - } - } - level = 0; - } - #endif - if (!module) { - #if PY_MAJOR_VERSION < 3 - PyObject *py_level = PyInt_FromLong(level); - if (!py_level) - goto bad; - module = PyObject_CallFunctionObjArgs(py_import, - name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); - Py_DECREF(py_level); - #else - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, level); - #endif - } - } -bad: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_import); - #endif - Py_XDECREF(empty_list); - Py_XDECREF(empty_dict); - return module; -} - -/* SliceObject */ - static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice(PyObject* obj, - Py_ssize_t cstart, Py_ssize_t cstop, - PyObject** _py_start, PyObject** _py_stop, PyObject** _py_slice, - int has_cstart, int has_cstop, CYTHON_UNUSED int wraparound) { -#if CYTHON_USE_TYPE_SLOTS - PyMappingMethods* mp; -#if PY_MAJOR_VERSION < 3 - PySequenceMethods* ms = Py_TYPE(obj)->tp_as_sequence; - if (likely(ms && ms->sq_slice)) { - if (!has_cstart) { - if (_py_start && (*_py_start != Py_None)) { - cstart = __Pyx_PyIndex_AsSsize_t(*_py_start); - if ((cstart == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; - } else - cstart = 0; - } - if (!has_cstop) { - if (_py_stop && (*_py_stop != Py_None)) { - cstop = __Pyx_PyIndex_AsSsize_t(*_py_stop); - if ((cstop == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; - } else - cstop = PY_SSIZE_T_MAX; - } - if (wraparound && unlikely((cstart < 0) | (cstop < 0)) && likely(ms->sq_length)) { - Py_ssize_t l = ms->sq_length(obj); - if (likely(l >= 0)) { - if (cstop < 0) { - cstop += l; - if (cstop < 0) cstop = 0; - } - if (cstart < 0) { - cstart += l; - if (cstart < 0) cstart = 0; - } - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - goto bad; - PyErr_Clear(); - } - } - return ms->sq_slice(obj, cstart, cstop); - } -#endif - mp = Py_TYPE(obj)->tp_as_mapping; - if (likely(mp && mp->mp_subscript)) -#endif - { - PyObject* result; - PyObject *py_slice, *py_start, *py_stop; - if (_py_slice) { - py_slice = *_py_slice; - } else { - PyObject* owned_start = NULL; - PyObject* owned_stop = NULL; - if (_py_start) { - py_start = *_py_start; - } else { - if (has_cstart) { - owned_start = py_start = PyInt_FromSsize_t(cstart); - if (unlikely(!py_start)) goto bad; - } else - py_start = Py_None; - } - if (_py_stop) { - py_stop = *_py_stop; - } else { - if (has_cstop) { - owned_stop = py_stop = PyInt_FromSsize_t(cstop); - if (unlikely(!py_stop)) { - Py_XDECREF(owned_start); - goto bad; - } - } else - py_stop = Py_None; - } - py_slice = PySlice_New(py_start, py_stop, Py_None); - Py_XDECREF(owned_start); - Py_XDECREF(owned_stop); - if (unlikely(!py_slice)) goto bad; - } -#if CYTHON_USE_TYPE_SLOTS - result = mp->mp_subscript(obj, py_slice); -#else - result = PyObject_GetItem(obj, py_slice); -#endif - if (!_py_slice) { - Py_DECREF(py_slice); - } - return result; - } - PyErr_Format(PyExc_TypeError, - "'%.200s' object is unsliceable", Py_TYPE(obj)->tp_name); -bad: - return NULL; -} - -/* FetchCommonType */ - static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { - PyObject* fake_module; - PyTypeObject* cached_type = NULL; - fake_module = PyImport_AddModule((char*) "_cython_" CYTHON_ABI); - if (!fake_module) return NULL; - Py_INCREF(fake_module); - cached_type = (PyTypeObject*) PyObject_GetAttrString(fake_module, type->tp_name); - if (cached_type) { - if (!PyType_Check((PyObject*)cached_type)) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s is not a type object", - type->tp_name); - goto bad; - } - if (cached_type->tp_basicsize != type->tp_basicsize) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s has the wrong size, try recompiling", - type->tp_name); - goto bad; - } - } else { - if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; - PyErr_Clear(); - if (PyType_Ready(type) < 0) goto bad; - if (PyObject_SetAttrString(fake_module, type->tp_name, (PyObject*) type) < 0) - goto bad; - Py_INCREF(type); - cached_type = type; - } -done: - Py_DECREF(fake_module); - return cached_type; -bad: - Py_XDECREF(cached_type); - cached_type = NULL; - goto done; -} - -/* CythonFunctionShared */ - #include -static PyObject * -__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *closure) -{ - if (unlikely(op->func_doc == NULL)) { - if (op->func.m_ml->ml_doc) { -#if PY_MAJOR_VERSION >= 3 - op->func_doc = PyUnicode_FromString(op->func.m_ml->ml_doc); -#else - op->func_doc = PyString_FromString(op->func.m_ml->ml_doc); -#endif - if (unlikely(op->func_doc == NULL)) - return NULL; - } else { - Py_INCREF(Py_None); - return Py_None; - } - } - Py_INCREF(op->func_doc); - return op->func_doc; -} -static int -__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp = op->func_doc; - if (value == NULL) { - value = Py_None; - } - Py_INCREF(value); - op->func_doc = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - if (unlikely(op->func_name == NULL)) { -#if PY_MAJOR_VERSION >= 3 - op->func_name = PyUnicode_InternFromString(op->func.m_ml->ml_name); -#else - op->func_name = PyString_InternFromString(op->func.m_ml->ml_name); -#endif - if (unlikely(op->func_name == NULL)) - return NULL; - } - Py_INCREF(op->func_name); - return op->func_name; -} -static int -__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__name__ must be set to a string object"); - return -1; - } - tmp = op->func_name; - Py_INCREF(value); - op->func_name = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - Py_INCREF(op->func_qualname); - return op->func_qualname; -} -static int -__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__qualname__ must be set to a string object"); - return -1; - } - tmp = op->func_qualname; - Py_INCREF(value); - op->func_qualname = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_self(__pyx_CyFunctionObject *m, CYTHON_UNUSED void *closure) -{ - PyObject *self; - self = m->func_closure; - if (self == NULL) - self = Py_None; - Py_INCREF(self); - return self; -} -static PyObject * -__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - if (unlikely(op->func_dict == NULL)) { - op->func_dict = PyDict_New(); - if (unlikely(op->func_dict == NULL)) - return NULL; - } - Py_INCREF(op->func_dict); - return op->func_dict; -} -static int -__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; - if (unlikely(value == NULL)) { - PyErr_SetString(PyExc_TypeError, - "function's dictionary may not be deleted"); - return -1; - } - if (unlikely(!PyDict_Check(value))) { - PyErr_SetString(PyExc_TypeError, - "setting function's dictionary to a non-dict"); - return -1; - } - tmp = op->func_dict; - Py_INCREF(value); - op->func_dict = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - Py_INCREF(op->func_globals); - return op->func_globals; -} -static PyObject * -__Pyx_CyFunction_get_closure(CYTHON_UNUSED __pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - Py_INCREF(Py_None); - return Py_None; -} -static PyObject * -__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - PyObject* result = (op->func_code) ? op->func_code : Py_None; - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { - int result = 0; - PyObject *res = op->defaults_getter((PyObject *) op); - if (unlikely(!res)) - return -1; - #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - op->defaults_tuple = PyTuple_GET_ITEM(res, 0); - Py_INCREF(op->defaults_tuple); - op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); - Py_INCREF(op->defaults_kwdict); - #else - op->defaults_tuple = PySequence_ITEM(res, 0); - if (unlikely(!op->defaults_tuple)) result = -1; - else { - op->defaults_kwdict = PySequence_ITEM(res, 1); - if (unlikely(!op->defaults_kwdict)) result = -1; - } - #endif - Py_DECREF(res); - return result; -} -static int -__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { - PyObject* tmp; - if (!value) { - value = Py_None; - } else if (value != Py_None && !PyTuple_Check(value)) { - PyErr_SetString(PyExc_TypeError, - "__defaults__ must be set to a tuple object"); - return -1; - } - Py_INCREF(value); - tmp = op->defaults_tuple; - op->defaults_tuple = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { - PyObject* result = op->defaults_tuple; - if (unlikely(!result)) { - if (op->defaults_getter) { - if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; - result = op->defaults_tuple; - } else { - result = Py_None; - } - } - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { - PyObject* tmp; - if (!value) { - value = Py_None; - } else if (value != Py_None && !PyDict_Check(value)) { - PyErr_SetString(PyExc_TypeError, - "__kwdefaults__ must be set to a dict object"); - return -1; - } - Py_INCREF(value); - tmp = op->defaults_kwdict; - op->defaults_kwdict = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { - PyObject* result = op->defaults_kwdict; - if (unlikely(!result)) { - if (op->defaults_getter) { - if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; - result = op->defaults_kwdict; - } else { - result = Py_None; - } - } - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { - PyObject* tmp; - if (!value || value == Py_None) { - value = NULL; - } else if (!PyDict_Check(value)) { - PyErr_SetString(PyExc_TypeError, - "__annotations__ must be set to a dict object"); - return -1; - } - Py_XINCREF(value); - tmp = op->func_annotations; - op->func_annotations = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { - PyObject* result = op->func_annotations; - if (unlikely(!result)) { - result = PyDict_New(); - if (unlikely(!result)) return NULL; - op->func_annotations = result; - } - Py_INCREF(result); - return result; -} -static PyGetSetDef __pyx_CyFunction_getsets[] = { - {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, - {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, - {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, - {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, - {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, - {(char *) "__self__", (getter)__Pyx_CyFunction_get_self, 0, 0, 0}, - {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, - {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, - {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, - {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, - {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, - {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, - {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, - {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, - {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, - {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, - {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, - {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, - {0, 0, 0, 0, 0} -}; -static PyMemberDef __pyx_CyFunction_members[] = { - {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), PY_WRITE_RESTRICTED, 0}, - {0, 0, 0, 0, 0} -}; -static PyObject * -__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, CYTHON_UNUSED PyObject *args) -{ -#if PY_MAJOR_VERSION >= 3 - Py_INCREF(m->func_qualname); - return m->func_qualname; -#else - return PyString_FromString(m->func.m_ml->ml_name); -#endif -} -static PyMethodDef __pyx_CyFunction_methods[] = { - {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, - {0, 0, 0, 0} -}; -#if PY_VERSION_HEX < 0x030500A0 -#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) -#else -#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func.m_weakreflist) -#endif -static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, - PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { - if (unlikely(op == NULL)) - return NULL; - op->flags = flags; - __Pyx_CyFunction_weakreflist(op) = NULL; - op->func.m_ml = ml; - op->func.m_self = (PyObject *) op; - Py_XINCREF(closure); - op->func_closure = closure; - Py_XINCREF(module); - op->func.m_module = module; - op->func_dict = NULL; - op->func_name = NULL; - Py_INCREF(qualname); - op->func_qualname = qualname; - op->func_doc = NULL; - op->func_classobj = NULL; - op->func_globals = globals; - Py_INCREF(op->func_globals); - Py_XINCREF(code); - op->func_code = code; - op->defaults_pyobjects = 0; - op->defaults_size = 0; - op->defaults = NULL; - op->defaults_tuple = NULL; - op->defaults_kwdict = NULL; - op->defaults_getter = NULL; - op->func_annotations = NULL; - return (PyObject *) op; -} -static int -__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) -{ - Py_CLEAR(m->func_closure); - Py_CLEAR(m->func.m_module); - Py_CLEAR(m->func_dict); - Py_CLEAR(m->func_name); - Py_CLEAR(m->func_qualname); - Py_CLEAR(m->func_doc); - Py_CLEAR(m->func_globals); - Py_CLEAR(m->func_code); - Py_CLEAR(m->func_classobj); - Py_CLEAR(m->defaults_tuple); - Py_CLEAR(m->defaults_kwdict); - Py_CLEAR(m->func_annotations); - if (m->defaults) { - PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); - int i; - for (i = 0; i < m->defaults_pyobjects; i++) - Py_XDECREF(pydefaults[i]); - PyObject_Free(m->defaults); - m->defaults = NULL; - } - return 0; -} -static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) -{ - if (__Pyx_CyFunction_weakreflist(m) != NULL) - PyObject_ClearWeakRefs((PyObject *) m); - __Pyx_CyFunction_clear(m); - PyObject_GC_Del(m); -} -static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) -{ - PyObject_GC_UnTrack(m); - __Pyx__CyFunction_dealloc(m); -} -static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) -{ - Py_VISIT(m->func_closure); - Py_VISIT(m->func.m_module); - Py_VISIT(m->func_dict); - Py_VISIT(m->func_name); - Py_VISIT(m->func_qualname); - Py_VISIT(m->func_doc); - Py_VISIT(m->func_globals); - Py_VISIT(m->func_code); - Py_VISIT(m->func_classobj); - Py_VISIT(m->defaults_tuple); - Py_VISIT(m->defaults_kwdict); - if (m->defaults) { - PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); - int i; - for (i = 0; i < m->defaults_pyobjects; i++) - Py_VISIT(pydefaults[i]); - } - return 0; -} -static PyObject *__Pyx_CyFunction_descr_get(PyObject *func, PyObject *obj, PyObject *type) -{ -#if PY_MAJOR_VERSION < 3 - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - if (m->flags & __Pyx_CYFUNCTION_STATICMETHOD) { - Py_INCREF(func); - return func; - } - if (m->flags & __Pyx_CYFUNCTION_CLASSMETHOD) { - if (type == NULL) - type = (PyObject *)(Py_TYPE(obj)); - return __Pyx_PyMethod_New(func, type, (PyObject *)(Py_TYPE(type))); - } - if (obj == Py_None) - obj = NULL; -#endif - return __Pyx_PyMethod_New(func, obj, type); -} -static PyObject* -__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) -{ -#if PY_MAJOR_VERSION >= 3 - return PyUnicode_FromFormat("", - op->func_qualname, (void *)op); -#else - return PyString_FromFormat("", - PyString_AsString(op->func_qualname), (void *)op); -#endif -} -static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { - PyCFunctionObject* f = (PyCFunctionObject*)func; - PyCFunction meth = f->m_ml->ml_meth; - Py_ssize_t size; - switch (f->m_ml->ml_flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { - case METH_VARARGS: - if (likely(kw == NULL || PyDict_Size(kw) == 0)) - return (*meth)(self, arg); - break; - case METH_VARARGS | METH_KEYWORDS: - return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); - case METH_NOARGS: - if (likely(kw == NULL || PyDict_Size(kw) == 0)) { - size = PyTuple_GET_SIZE(arg); - if (likely(size == 0)) - return (*meth)(self, NULL); - PyErr_Format(PyExc_TypeError, - "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", - f->m_ml->ml_name, size); - return NULL; - } - break; - case METH_O: - if (likely(kw == NULL || PyDict_Size(kw) == 0)) { - size = PyTuple_GET_SIZE(arg); - if (likely(size == 1)) { - PyObject *result, *arg0; - #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - arg0 = PyTuple_GET_ITEM(arg, 0); - #else - arg0 = PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; - #endif - result = (*meth)(self, arg0); - #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) - Py_DECREF(arg0); - #endif - return result; - } - PyErr_Format(PyExc_TypeError, - "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", - f->m_ml->ml_name, size); - return NULL; - } - break; - default: - PyErr_SetString(PyExc_SystemError, "Bad call flags in " - "__Pyx_CyFunction_Call. METH_OLDARGS is no " - "longer supported!"); - return NULL; - } - PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", - f->m_ml->ml_name); - return NULL; -} -static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { - return __Pyx_CyFunction_CallMethod(func, ((PyCFunctionObject*)func)->m_self, arg, kw); -} -static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { - PyObject *result; - __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; - if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { - Py_ssize_t argc; - PyObject *new_args; - PyObject *self; - argc = PyTuple_GET_SIZE(args); - new_args = PyTuple_GetSlice(args, 1, argc); - if (unlikely(!new_args)) - return NULL; - self = PyTuple_GetItem(args, 0); - if (unlikely(!self)) { - Py_DECREF(new_args); - return NULL; - } - result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); - Py_DECREF(new_args); - } else { - result = __Pyx_CyFunction_Call(func, args, kw); - } - return result; -} -static PyTypeObject __pyx_CyFunctionType_type = { - PyVarObject_HEAD_INIT(0, 0) - "cython_function_or_method", - sizeof(__pyx_CyFunctionObject), - 0, - (destructor) __Pyx_CyFunction_dealloc, - 0, - 0, - 0, -#if PY_MAJOR_VERSION < 3 - 0, -#else - 0, -#endif - (reprfunc) __Pyx_CyFunction_repr, - 0, - 0, - 0, - 0, - __Pyx_CyFunction_CallAsMethod, - 0, - 0, - 0, - 0, - Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC, - 0, - (traverseproc) __Pyx_CyFunction_traverse, - (inquiry) __Pyx_CyFunction_clear, - 0, -#if PY_VERSION_HEX < 0x030500A0 - offsetof(__pyx_CyFunctionObject, func_weakreflist), -#else - offsetof(PyCFunctionObject, m_weakreflist), -#endif - 0, - 0, - __pyx_CyFunction_methods, - __pyx_CyFunction_members, - __pyx_CyFunction_getsets, - 0, - 0, - __Pyx_CyFunction_descr_get, - 0, - offsetof(__pyx_CyFunctionObject, func_dict), - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, -#if PY_VERSION_HEX >= 0x030400a1 - 0, -#endif -#if PY_VERSION_HEX >= 0x030800b1 - 0, -#endif -#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 - 0, -#endif -#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 - 0, -#endif -}; -static int __pyx_CyFunction_init(void) { - __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); - if (unlikely(__pyx_CyFunctionType == NULL)) { - return -1; - } - return 0; -} -static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults = PyObject_Malloc(size); - if (unlikely(!m->defaults)) - return PyErr_NoMemory(); - memset(m->defaults, 0, size); - m->defaults_pyobjects = pyobjects; - m->defaults_size = size; - return m->defaults; -} -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults_tuple = tuple; - Py_INCREF(tuple); -} -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults_kwdict = dict; - Py_INCREF(dict); -} -static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->func_annotations = dict; - Py_INCREF(dict); -} - -/* CythonFunction */ - static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, - PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { - PyObject *op = __Pyx_CyFunction_Init( - PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), - ml, flags, qualname, closure, module, globals, code - ); - if (likely(op)) { - PyObject_GC_Track(op); - } - return op; -} - -/* GetTopmostException */ - #if CYTHON_USE_EXC_INFO_STACK -static _PyErr_StackItem * -__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) -{ - _PyErr_StackItem *exc_info = tstate->exc_info; - while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) && - exc_info->previous_item != NULL) - { - exc_info = exc_info->previous_item; - } - return exc_info; -} -#endif - -/* SaveResetException */ - #if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); - *type = exc_info->exc_type; - *value = exc_info->exc_value; - *tb = exc_info->exc_traceback; - #else - *type = tstate->exc_type; - *value = tstate->exc_value; - *tb = tstate->exc_traceback; - #endif - Py_XINCREF(*type); - Py_XINCREF(*value); - Py_XINCREF(*tb); -} -static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = type; - exc_info->exc_value = value; - exc_info->exc_traceback = tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = type; - tstate->exc_value = value; - tstate->exc_traceback = tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -#endif - -/* GetException */ - #if CYTHON_FAST_THREAD_STATE -static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) -#else -static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) -#endif -{ - PyObject *local_type, *local_value, *local_tb; -#if CYTHON_FAST_THREAD_STATE - PyObject *tmp_type, *tmp_value, *tmp_tb; - local_type = tstate->curexc_type; - local_value = tstate->curexc_value; - local_tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -#else - PyErr_Fetch(&local_type, &local_value, &local_tb); -#endif - PyErr_NormalizeException(&local_type, &local_value, &local_tb); -#if CYTHON_FAST_THREAD_STATE - if (unlikely(tstate->curexc_type)) -#else - if (unlikely(PyErr_Occurred())) -#endif - goto bad; - #if PY_MAJOR_VERSION >= 3 - if (local_tb) { - if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) - goto bad; - } - #endif - Py_XINCREF(local_tb); - Py_XINCREF(local_type); - Py_XINCREF(local_value); - *type = local_type; - *value = local_value; - *tb = local_tb; -#if CYTHON_FAST_THREAD_STATE - #if CYTHON_USE_EXC_INFO_STACK - { - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = local_type; - exc_info->exc_value = local_value; - exc_info->exc_traceback = local_tb; - } - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = local_type; - tstate->exc_value = local_value; - tstate->exc_traceback = local_tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -#else - PyErr_SetExcInfo(local_type, local_value, local_tb); -#endif - return 0; -bad: - *type = 0; - *value = 0; - *tb = 0; - Py_XDECREF(local_type); - Py_XDECREF(local_value); - Py_XDECREF(local_tb); - return -1; -} - -/* IterFinish */ - static CYTHON_INLINE int __Pyx_IterFinish(void) { -#if CYTHON_FAST_THREAD_STATE - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* exc_type = tstate->curexc_type; - if (unlikely(exc_type)) { - if (likely(__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) { - PyObject *exc_value, *exc_tb; - exc_value = tstate->curexc_value; - exc_tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; - Py_DECREF(exc_type); - Py_XDECREF(exc_value); - Py_XDECREF(exc_tb); - return 0; - } else { - return -1; - } - } - return 0; -#else - if (unlikely(PyErr_Occurred())) { - if (likely(PyErr_ExceptionMatches(PyExc_StopIteration))) { - PyErr_Clear(); - return 0; - } else { - return -1; - } - } - return 0; -#endif -} - -/* PyObjectGetMethod */ - static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { - PyObject *attr; 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- } else { - f = Py_TYPE(descr)->tp_descr_get; - if (f != NULL && PyDescr_IsData(descr)) { - attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); - Py_DECREF(descr); - goto try_unpack; - } - } - } - dictptr = _PyObject_GetDictPtr(obj); - if (dictptr != NULL && (dict = *dictptr) != NULL) { - Py_INCREF(dict); - attr = __Pyx_PyDict_GetItemStr(dict, name); - if (attr != NULL) { - Py_INCREF(attr); - Py_DECREF(dict); - Py_XDECREF(descr); - goto try_unpack; - } - Py_DECREF(dict); - } - if (meth_found) { - *method = descr; - return 1; - } - if (f != NULL) { - attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); - Py_DECREF(descr); - goto try_unpack; - } - if (descr != NULL) { - *method = descr; - return 0; - } - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(name)); -#endif - return 0; -#else - attr = __Pyx_PyObject_GetAttrStr(obj, name); - goto try_unpack; -#endif -try_unpack: -#if CYTHON_UNPACK_METHODS - if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { - PyObject *function = PyMethod_GET_FUNCTION(attr); - Py_INCREF(function); - Py_DECREF(attr); - *method = function; - return 1; - } -#endif - *method = attr; - return 0; -} - -/* PyObjectCallMethod0 */ - static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { - PyObject *method = NULL, *result = NULL; - int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); - if (likely(is_method)) { - result = __Pyx_PyObject_CallOneArg(method, obj); - Py_DECREF(method); - return result; - } - if (unlikely(!method)) goto bad; - result = __Pyx_PyObject_CallNoArg(method); - Py_DECREF(method); -bad: - return result; -} - -/* RaiseNeedMoreValuesToUnpack */ - static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { - PyErr_Format(PyExc_ValueError, - "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", - index, (index == 1) ? "" : "s"); -} - -/* RaiseTooManyValuesToUnpack */ - static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { - PyErr_Format(PyExc_ValueError, - "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); -} - -/* UnpackItemEndCheck */ - static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { - if (unlikely(retval)) { - Py_DECREF(retval); - __Pyx_RaiseTooManyValuesError(expected); - return -1; - } else { - return __Pyx_IterFinish(); - } - return 0; -} - -/* RaiseNoneIterError */ - static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { - PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); -} - -/* UnpackTupleError */ - static void __Pyx_UnpackTupleError(PyObject *t, Py_ssize_t index) { - if (t == Py_None) { - __Pyx_RaiseNoneNotIterableError(); - } else if (PyTuple_GET_SIZE(t) < index) { - __Pyx_RaiseNeedMoreValuesError(PyTuple_GET_SIZE(t)); - } else { - __Pyx_RaiseTooManyValuesError(index); - } -} - -/* UnpackTuple2 */ - static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( - PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, int decref_tuple) { - PyObject *value1 = NULL, *value2 = NULL; -#if CYTHON_COMPILING_IN_PYPY - value1 = PySequence_ITEM(tuple, 0); if (unlikely(!value1)) goto bad; - value2 = PySequence_ITEM(tuple, 1); if (unlikely(!value2)) goto bad; -#else - value1 = PyTuple_GET_ITEM(tuple, 0); Py_INCREF(value1); - value2 = PyTuple_GET_ITEM(tuple, 1); Py_INCREF(value2); -#endif - if (decref_tuple) { - Py_DECREF(tuple); - } - *pvalue1 = value1; - *pvalue2 = value2; - return 0; -#if CYTHON_COMPILING_IN_PYPY -bad: - Py_XDECREF(value1); - Py_XDECREF(value2); - if (decref_tuple) { Py_XDECREF(tuple); } - return -1; -#endif -} -static int __Pyx_unpack_tuple2_generic(PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, - int has_known_size, int decref_tuple) { - Py_ssize_t index; - PyObject *value1 = NULL, *value2 = NULL, *iter = NULL; - iternextfunc iternext; - iter = PyObject_GetIter(tuple); - if (unlikely(!iter)) goto bad; - if (decref_tuple) { Py_DECREF(tuple); tuple = NULL; } - iternext = Py_TYPE(iter)->tp_iternext; - value1 = iternext(iter); if (unlikely(!value1)) { index = 0; goto unpacking_failed; } - value2 = iternext(iter); if (unlikely(!value2)) { index = 1; goto unpacking_failed; } - if (!has_known_size && unlikely(__Pyx_IternextUnpackEndCheck(iternext(iter), 2))) goto bad; - Py_DECREF(iter); - *pvalue1 = value1; - *pvalue2 = value2; - return 0; -unpacking_failed: - if (!has_known_size && __Pyx_IterFinish() == 0) - __Pyx_RaiseNeedMoreValuesError(index); -bad: - Py_XDECREF(iter); - Py_XDECREF(value1); - Py_XDECREF(value2); - if (decref_tuple) { Py_XDECREF(tuple); } - return -1; -} - -/* dict_iter */ - static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* iterable, int is_dict, PyObject* method_name, - Py_ssize_t* p_orig_length, int* p_source_is_dict) { - is_dict = is_dict || likely(PyDict_CheckExact(iterable)); - *p_source_is_dict = is_dict; - if (is_dict) { -#if !CYTHON_COMPILING_IN_PYPY - *p_orig_length = PyDict_Size(iterable); - Py_INCREF(iterable); - return iterable; -#elif PY_MAJOR_VERSION >= 3 - static PyObject *py_items = NULL, *py_keys = NULL, *py_values = NULL; - PyObject **pp = NULL; - if (method_name) { - const char *name = PyUnicode_AsUTF8(method_name); - if (strcmp(name, "iteritems") == 0) pp = &py_items; - else if (strcmp(name, "iterkeys") == 0) pp = &py_keys; - else if (strcmp(name, "itervalues") == 0) pp = &py_values; - if (pp) { - if (!*pp) { - *pp = PyUnicode_FromString(name + 4); - if (!*pp) - return NULL; - } - method_name = *pp; - } - } -#endif - } - *p_orig_length = 0; - if (method_name) { - PyObject* iter; - iterable = __Pyx_PyObject_CallMethod0(iterable, method_name); - if (!iterable) - return NULL; -#if !CYTHON_COMPILING_IN_PYPY - if (PyTuple_CheckExact(iterable) || PyList_CheckExact(iterable)) - return iterable; -#endif - iter = PyObject_GetIter(iterable); - Py_DECREF(iterable); - return iter; - } - return PyObject_GetIter(iterable); -} -static CYTHON_INLINE int __Pyx_dict_iter_next( - PyObject* iter_obj, CYTHON_NCP_UNUSED Py_ssize_t orig_length, CYTHON_NCP_UNUSED Py_ssize_t* ppos, - PyObject** pkey, PyObject** pvalue, PyObject** pitem, int source_is_dict) { - PyObject* next_item; -#if !CYTHON_COMPILING_IN_PYPY - if (source_is_dict) { - PyObject *key, *value; - if (unlikely(orig_length != PyDict_Size(iter_obj))) { - PyErr_SetString(PyExc_RuntimeError, "dictionary changed size during iteration"); - return -1; - } - if (unlikely(!PyDict_Next(iter_obj, ppos, &key, &value))) { - return 0; - } - if (pitem) { - PyObject* tuple = PyTuple_New(2); - if (unlikely(!tuple)) { - return -1; - } - Py_INCREF(key); - Py_INCREF(value); - PyTuple_SET_ITEM(tuple, 0, key); - PyTuple_SET_ITEM(tuple, 1, value); - *pitem = tuple; - } else { - if (pkey) { - Py_INCREF(key); - *pkey = key; - } - if (pvalue) { - Py_INCREF(value); - *pvalue = value; - } - } - return 1; - } else if (PyTuple_CheckExact(iter_obj)) { - Py_ssize_t pos = *ppos; - if (unlikely(pos >= PyTuple_GET_SIZE(iter_obj))) return 0; - *ppos = pos + 1; - next_item = PyTuple_GET_ITEM(iter_obj, pos); - Py_INCREF(next_item); - } else if (PyList_CheckExact(iter_obj)) { - Py_ssize_t pos = *ppos; - if (unlikely(pos >= PyList_GET_SIZE(iter_obj))) return 0; - *ppos = pos + 1; - next_item = PyList_GET_ITEM(iter_obj, pos); - Py_INCREF(next_item); - } else -#endif - { - next_item = PyIter_Next(iter_obj); - if (unlikely(!next_item)) { - return __Pyx_IterFinish(); - } - } - if (pitem) { - *pitem = next_item; - } else if (pkey && pvalue) { - if (__Pyx_unpack_tuple2(next_item, pkey, pvalue, source_is_dict, source_is_dict, 1)) - return -1; - } else if (pkey) { - *pkey = next_item; - } else { - *pvalue = next_item; - } - return 1; -} - -/* None */ - static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { - PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); -} - -/* GetItemInt */ - static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { - PyObject *r; - if (!j) return NULL; - r = PyObject_GetItem(o, j); - Py_DECREF(j); - return r; -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyList_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { - PyObject *r = PyList_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyTuple_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS - if (is_list || PyList_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); - if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { - PyObject *r = PyList_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } - else if (PyTuple_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); - if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } else { - PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; - if (likely(m && m->sq_item)) { - if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { - Py_ssize_t l = m->sq_length(o); - if (likely(l >= 0)) { - i += l; - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - return NULL; - PyErr_Clear(); - } - } - return m->sq_item(o, i); - } - } -#else - if (is_list || PySequence_Check(o)) { - return PySequence_GetItem(o, i); - } -#endif - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -} - -/* ObjectGetItem */ - #if CYTHON_USE_TYPE_SLOTS -static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) { - PyObject *runerr; - Py_ssize_t key_value; - PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence; - if (unlikely(!(m && m->sq_item))) { - PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name); - return NULL; - } - key_value = __Pyx_PyIndex_AsSsize_t(index); - if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { - return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); - } - if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { - PyErr_Clear(); - PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name); - } - return NULL; -} -static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) { - PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping; - if (likely(m && m->mp_subscript)) { - return m->mp_subscript(obj, key); - } - return __Pyx_PyObject_GetIndex(obj, key); -} -#endif - -/* PyIntBinop */ - #if !CYTHON_COMPILING_IN_PYPY -static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, CYTHON_UNUSED long intval, int inplace, int zerodivision_check) { - (void)inplace; - (void)zerodivision_check; - #if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(op1))) { - const long b = intval; - long x; - long a = PyInt_AS_LONG(op1); - x = (long)((unsigned long)a + b); - if (likely((x^a) >= 0 || (x^b) >= 0)) - return PyInt_FromLong(x); - return PyLong_Type.tp_as_number->nb_add(op1, op2); - } - #endif - #if CYTHON_USE_PYLONG_INTERNALS - if (likely(PyLong_CheckExact(op1))) { - const long b = intval; - long a, x; -#ifdef HAVE_LONG_LONG - const PY_LONG_LONG llb = intval; - PY_LONG_LONG lla, llx; -#endif - const digit* digits = ((PyLongObject*)op1)->ob_digit; - const Py_ssize_t size = Py_SIZE(op1); - if (likely(__Pyx_sst_abs(size) <= 1)) { - a = likely(size) ? digits[0] : 0; - if (size == -1) a = -a; - } else { - switch (size) { - case -2: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 2: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case -3: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 3: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case -4: - if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 4: - if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - default: return PyLong_Type.tp_as_number->nb_add(op1, op2); - } - } - x = a + b; - return PyLong_FromLong(x); -#ifdef HAVE_LONG_LONG - long_long: - llx = lla + llb; - return PyLong_FromLongLong(llx); -#endif - - - } - #endif - if (PyFloat_CheckExact(op1)) { - const long b = intval; - double a = PyFloat_AS_DOUBLE(op1); - double result; - PyFPE_START_PROTECT("add", return NULL) - result = ((double)a) + (double)b; - PyFPE_END_PROTECT(result) - return PyFloat_FromDouble(result); - } - return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); -} -#endif - -/* BufferIndexError */ - static void __Pyx_RaiseBufferIndexError(int axis) { - PyErr_Format(PyExc_IndexError, - "Out of bounds on buffer access (axis %d)", axis); -} - -/* PyUnicode_Unicode */ - static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj) { - if (unlikely(obj == Py_None)) - obj = __pyx_kp_u_None; - return __Pyx_NewRef(obj); -} - -/* CIntToDigits */ - static const char DIGIT_PAIRS_10[2*10*10+1] = { - "00010203040506070809" - "10111213141516171819" - "20212223242526272829" - "30313233343536373839" - "40414243444546474849" - "50515253545556575859" - "60616263646566676869" - "70717273747576777879" - "80818283848586878889" - "90919293949596979899" -}; -static const char DIGIT_PAIRS_8[2*8*8+1] = { - "0001020304050607" - "1011121314151617" - "2021222324252627" - "3031323334353637" - "4041424344454647" - "5051525354555657" - "6061626364656667" - "7071727374757677" -}; -static const char DIGITS_HEX[2*16+1] = { - "0123456789abcdef" - "0123456789ABCDEF" -}; - -/* BuildPyUnicode */ - static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, - int prepend_sign, char padding_char) { - PyObject *uval; - Py_ssize_t uoffset = ulength - clength; -#if CYTHON_USE_UNICODE_INTERNALS - Py_ssize_t i; -#if CYTHON_PEP393_ENABLED - void *udata; - uval = PyUnicode_New(ulength, 127); - if (unlikely(!uval)) return NULL; - udata = PyUnicode_DATA(uval); -#else - Py_UNICODE *udata; - uval = PyUnicode_FromUnicode(NULL, ulength); - if (unlikely(!uval)) return NULL; - udata = PyUnicode_AS_UNICODE(uval); -#endif - if (uoffset > 0) { - i = 0; - if (prepend_sign) { - __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); - i++; - } - for (; i < uoffset; i++) { - __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); - } - } - for (i=0; i < clength; i++) { - __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); - } -#else - { - PyObject *sign = NULL, *padding = NULL; - uval = NULL; - if (uoffset > 0) { - prepend_sign = !!prepend_sign; - if (uoffset > prepend_sign) { - padding = PyUnicode_FromOrdinal(padding_char); - if (likely(padding) && uoffset > prepend_sign + 1) { - PyObject *tmp; - PyObject *repeat = PyInt_FromSize_t(uoffset - prepend_sign); - if (unlikely(!repeat)) goto done_or_error; - tmp = PyNumber_Multiply(padding, repeat); - Py_DECREF(repeat); - Py_DECREF(padding); - padding = tmp; - } - if (unlikely(!padding)) goto done_or_error; - } - if (prepend_sign) { - sign = PyUnicode_FromOrdinal('-'); - if (unlikely(!sign)) goto done_or_error; - } - } - uval = PyUnicode_DecodeASCII(chars, clength, NULL); - if (likely(uval) && padding) { - PyObject *tmp = PyNumber_Add(padding, uval); - Py_DECREF(uval); - uval = tmp; - } - if (likely(uval) && sign) { - PyObject *tmp = PyNumber_Add(sign, uval); - Py_DECREF(uval); - uval = tmp; - } -done_or_error: - Py_XDECREF(padding); - Py_XDECREF(sign); - } -#endif - return uval; -} - -/* CIntToPyUnicode */ - static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { - char digits[sizeof(int)*3+2]; - char *dpos, *end = digits + sizeof(int)*3+2; - const char *hex_digits = DIGITS_HEX; - Py_ssize_t length, ulength; - int prepend_sign, last_one_off; - int remaining; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (format_char == 'X') { - hex_digits += 16; - format_char = 'x'; - } - remaining = value; - last_one_off = 0; - dpos = end; - do { - int digit_pos; - switch (format_char) { - case 'o': - digit_pos = abs((int)(remaining % (8*8))); - remaining = (int) (remaining / (8*8)); - dpos -= 2; - memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); - last_one_off = (digit_pos < 8); - break; - case 'd': - digit_pos = abs((int)(remaining % (10*10))); - remaining = (int) (remaining / (10*10)); - dpos -= 2; - memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); - last_one_off = (digit_pos < 10); - break; - case 'x': - *(--dpos) = hex_digits[abs((int)(remaining % 16))]; - remaining = (int) (remaining / 16); - break; - default: - assert(0); - break; - } - } while (unlikely(remaining != 0)); - if (last_one_off) { - assert(*dpos == '0'); - dpos++; - } - length = end - dpos; - ulength = length; - prepend_sign = 0; - if (!is_unsigned && value <= neg_one) { - if (padding_char == ' ' || width <= length + 1) { - *(--dpos) = '-'; - ++length; - } else { - prepend_sign = 1; - } - ++ulength; - } - if (width > ulength) { - ulength = width; - } - if (ulength == 1) { - return PyUnicode_FromOrdinal(*dpos); - } - return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); -} - -/* MemviewSliceInit */ - static int -__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, - int ndim, - __Pyx_memviewslice *memviewslice, - int memview_is_new_reference) -{ - __Pyx_RefNannyDeclarations - int i, retval=-1; - Py_buffer *buf = &memview->view; - __Pyx_RefNannySetupContext("init_memviewslice", 0); - if (unlikely(memviewslice->memview || memviewslice->data)) { - PyErr_SetString(PyExc_ValueError, - "memviewslice is already initialized!"); - goto fail; - } - if (buf->strides) { - for (i = 0; i < ndim; i++) { - memviewslice->strides[i] = buf->strides[i]; - } - } else { - Py_ssize_t stride = buf->itemsize; - for (i = ndim - 1; i >= 0; i--) { - memviewslice->strides[i] = stride; - stride *= buf->shape[i]; - } - } - for (i = 0; i < ndim; i++) { - memviewslice->shape[i] = buf->shape[i]; - if (buf->suboffsets) { - memviewslice->suboffsets[i] = buf->suboffsets[i]; - } else { - memviewslice->suboffsets[i] = -1; - } - } - memviewslice->memview = memview; - memviewslice->data = (char *)buf->buf; - if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { - Py_INCREF(memview); - } - retval = 0; - goto no_fail; -fail: - memviewslice->memview = 0; - memviewslice->data = 0; - retval = -1; -no_fail: - __Pyx_RefNannyFinishContext(); - return retval; -} -#ifndef Py_NO_RETURN -#define Py_NO_RETURN -#endif -static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { - va_list vargs; - char msg[200]; -#ifdef HAVE_STDARG_PROTOTYPES - va_start(vargs, fmt); -#else - va_start(vargs); -#endif - vsnprintf(msg, 200, fmt, vargs); - va_end(vargs); - Py_FatalError(msg); -} -static CYTHON_INLINE int -__pyx_add_acquisition_count_locked(__pyx_atomic_int *acquisition_count, - PyThread_type_lock lock) -{ - int result; - PyThread_acquire_lock(lock, 1); - result = (*acquisition_count)++; - PyThread_release_lock(lock); - return result; -} -static CYTHON_INLINE int -__pyx_sub_acquisition_count_locked(__pyx_atomic_int *acquisition_count, - PyThread_type_lock lock) -{ - int result; - PyThread_acquire_lock(lock, 1); - result = (*acquisition_count)--; - PyThread_release_lock(lock); - return result; -} -static CYTHON_INLINE void -__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) -{ - int first_time; - struct __pyx_memoryview_obj *memview = memslice->memview; - if (unlikely(!memview || (PyObject *) memview == Py_None)) - return; - if (unlikely(__pyx_get_slice_count(memview) < 0)) - __pyx_fatalerror("Acquisition count is %d (line %d)", - __pyx_get_slice_count(memview), lineno); - first_time = __pyx_add_acquisition_count(memview) == 0; - if (unlikely(first_time)) { - if (have_gil) { - Py_INCREF((PyObject *) memview); - } else { - PyGILState_STATE _gilstate = PyGILState_Ensure(); - Py_INCREF((PyObject *) memview); - PyGILState_Release(_gilstate); - } - } -} -static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *memslice, - int have_gil, int lineno) { - int last_time; - struct __pyx_memoryview_obj *memview = memslice->memview; - if (unlikely(!memview || (PyObject *) memview == Py_None)) { - memslice->memview = NULL; - return; - } - if (unlikely(__pyx_get_slice_count(memview) <= 0)) - __pyx_fatalerror("Acquisition count is %d (line %d)", - __pyx_get_slice_count(memview), lineno); - last_time = __pyx_sub_acquisition_count(memview) == 1; - memslice->data = NULL; - if (unlikely(last_time)) { - if (have_gil) { - Py_CLEAR(memslice->memview); - } else { - PyGILState_STATE _gilstate = PyGILState_Ensure(); - Py_CLEAR(memslice->memview); - PyGILState_Release(_gilstate); - } - } else { - memslice->memview = NULL; - } -} - -/* PyErrExceptionMatches */ - #if CYTHON_FAST_THREAD_STATE -static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; icurexc_type; - if (exc_type == err) return 1; - if (unlikely(!exc_type)) return 0; - if (unlikely(PyTuple_Check(err))) - return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); - return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); -} -#endif - -/* None */ - static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { - Py_ssize_t q = a / b; - Py_ssize_t r = a - q*b; - q -= ((r != 0) & ((r ^ b) < 0)); - return q; -} - -/* GetAttr */ - static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { -#if CYTHON_USE_TYPE_SLOTS -#if PY_MAJOR_VERSION >= 3 - if (likely(PyUnicode_Check(n))) -#else - if (likely(PyString_Check(n))) -#endif - return __Pyx_PyObject_GetAttrStr(o, n); -#endif - return PyObject_GetAttr(o, n); -} - -/* decode_c_string */ - static CYTHON_INLINE PyObject* __Pyx_decode_c_string( - const char* cstring, Py_ssize_t start, Py_ssize_t stop, - const char* encoding, const char* errors, - PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { - Py_ssize_t length; - if (unlikely((start < 0) | (stop < 0))) { - size_t slen = strlen(cstring); - if (unlikely(slen > (size_t) PY_SSIZE_T_MAX)) { - PyErr_SetString(PyExc_OverflowError, - "c-string too long to convert to Python"); - return NULL; - } - length = (Py_ssize_t) slen; - if (start < 0) { - start += length; - if (start < 0) - start = 0; - } - if (stop < 0) - stop += length; - } - if (unlikely(stop <= start)) - return __Pyx_NewRef(__pyx_empty_unicode); - length = stop - start; - cstring += start; - if (decode_func) { - return decode_func(cstring, length, errors); - } else { - return PyUnicode_Decode(cstring, length, encoding, errors); - } -} - -/* GetAttr3 */ - static PyObject *__Pyx_GetAttr3Default(PyObject *d) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - return NULL; - __Pyx_PyErr_Clear(); - Py_INCREF(d); - return d; -} -static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { - PyObject *r = __Pyx_GetAttr(o, n); - return (likely(r)) ? r : __Pyx_GetAttr3Default(d); -} - -/* SwapException */ - #if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = *type; - exc_info->exc_value = *value; - exc_info->exc_traceback = *tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = *type; - tstate->exc_value = *value; - tstate->exc_traceback = *tb; - #endif - *type = tmp_type; - *value = tmp_value; - *tb = tmp_tb; -} -#else -static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); - PyErr_SetExcInfo(*type, *value, *tb); - *type = tmp_type; - *value = tmp_value; - *tb = tmp_tb; -} -#endif - -/* FastTypeChecks */ - #if CYTHON_COMPILING_IN_CPYTHON -static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { - while (a) { - a = a->tp_base; - if (a == b) - return 1; - } - return b == &PyBaseObject_Type; -} -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (a == b) return 1; - mro = a->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(a, b); -} -#if PY_MAJOR_VERSION == 2 -static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { - PyObject *exception, *value, *tb; - int res; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&exception, &value, &tb); - res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - if (!res) { - res = PyObject_IsSubclass(err, exc_type2); - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - } - __Pyx_ErrRestore(exception, value, tb); - return res; -} -#else -static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { - int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; - if (!res) { - res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); - } - return res; -} -#endif -static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - assert(PyExceptionClass_Check(exc_type)); - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; i= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, attr_name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(attr_name)); -#endif - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { - PyObject *descr; - PyTypeObject *tp = Py_TYPE(obj); - if (unlikely(!PyString_Check(attr_name))) { - return PyObject_GenericGetAttr(obj, attr_name); - } - assert(!tp->tp_dictoffset); - descr = _PyType_Lookup(tp, attr_name); - if (unlikely(!descr)) { - return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); - } - Py_INCREF(descr); - #if PY_MAJOR_VERSION < 3 - if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) - #endif - { - descrgetfunc f = Py_TYPE(descr)->tp_descr_get; - if (unlikely(f)) { - PyObject *res = f(descr, obj, (PyObject *)tp); - Py_DECREF(descr); - return res; - } - } - return descr; -} -#endif - -/* PyObject_GenericGetAttr */ - #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { - if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { - return PyObject_GenericGetAttr(obj, attr_name); - } - return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); -} -#endif - -/* PyObjectGetAttrStrNoError */ - static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - __Pyx_PyErr_Clear(); -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { - PyObject *result; -#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { - return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); - } -#endif - result = __Pyx_PyObject_GetAttrStr(obj, attr_name); - if (unlikely(!result)) { - __Pyx_PyObject_GetAttrStr_ClearAttributeError(); - } - return result; -} - -/* SetupReduce */ - static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { - int ret; - PyObject *name_attr; - name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name_2); - if (likely(name_attr)) { - ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); - } else { - ret = -1; - } - if (unlikely(ret < 0)) { - PyErr_Clear(); - ret = 0; - } - Py_XDECREF(name_attr); - return ret; -} -static int __Pyx_setup_reduce(PyObject* type_obj) { - int ret = 0; - PyObject *object_reduce = NULL; - PyObject *object_reduce_ex = NULL; - PyObject *reduce = NULL; - PyObject *reduce_ex = NULL; - PyObject *reduce_cython = NULL; - PyObject *setstate = NULL; - PyObject *setstate_cython = NULL; -#if CYTHON_USE_PYTYPE_LOOKUP - if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#else - if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#endif -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#else - object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#endif - reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; - if (reduce_ex == object_reduce_ex) { -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#else - object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#endif - reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; - if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { - reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); - if (likely(reduce_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (reduce == object_reduce || PyErr_Occurred()) { - goto __PYX_BAD; - } - setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); - if (!setstate) PyErr_Clear(); - if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { - setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); - if (likely(setstate_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (!setstate || PyErr_Occurred()) { - goto __PYX_BAD; - } - } - PyType_Modified((PyTypeObject*)type_obj); - } - } - goto __PYX_GOOD; -__PYX_BAD: - if (!PyErr_Occurred()) - PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); - ret = -1; -__PYX_GOOD: -#if !CYTHON_USE_PYTYPE_LOOKUP - Py_XDECREF(object_reduce); - Py_XDECREF(object_reduce_ex); -#endif - Py_XDECREF(reduce); - Py_XDECREF(reduce_ex); - Py_XDECREF(reduce_cython); - Py_XDECREF(setstate); - Py_XDECREF(setstate_cython); - return ret; -} - -/* SetVTable */ - static int __Pyx_SetVtable(PyObject *dict, void *vtable) { -#if PY_VERSION_HEX >= 0x02070000 - PyObject *ob = PyCapsule_New(vtable, 0, 0); -#else - PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); -#endif - if (!ob) - goto bad; - if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) - goto bad; - Py_DECREF(ob); - return 0; -bad: - Py_XDECREF(ob); - return -1; -} - -/* TypeImport */ - #ifndef __PYX_HAVE_RT_ImportType -#define __PYX_HAVE_RT_ImportType -static PyTypeObject *__Pyx_ImportType(PyObject *module, const char *module_name, const char *class_name, - size_t size, enum __Pyx_ImportType_CheckSize check_size) -{ - PyObject *result = 0; - char warning[200]; - Py_ssize_t basicsize; -#ifdef Py_LIMITED_API - PyObject *py_basicsize; -#endif - result = PyObject_GetAttrString(module, class_name); - if (!result) - goto bad; - if (!PyType_Check(result)) { - PyErr_Format(PyExc_TypeError, - "%.200s.%.200s is not a type object", - module_name, class_name); - goto bad; - } -#ifndef Py_LIMITED_API - basicsize = ((PyTypeObject *)result)->tp_basicsize; -#else - py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); - if (!py_basicsize) - goto bad; - basicsize = PyLong_AsSsize_t(py_basicsize); - Py_DECREF(py_basicsize); - py_basicsize = 0; - if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) - goto bad; -#endif - if ((size_t)basicsize < size) { - PyErr_Format(PyExc_ValueError, - "%.200s.%.200s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - goto bad; - } - if (check_size == __Pyx_ImportType_CheckSize_Error && (size_t)basicsize != size) { - PyErr_Format(PyExc_ValueError, - "%.200s.%.200s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - goto bad; - } - else if (check_size == __Pyx_ImportType_CheckSize_Warn && (size_t)basicsize > size) { - PyOS_snprintf(warning, sizeof(warning), - "%s.%s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; - } - return (PyTypeObject *)result; -bad: - Py_XDECREF(result); - return NULL; -} -#endif - -/* CLineInTraceback */ - #ifndef CYTHON_CLINE_IN_TRACEBACK -static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { - PyObject *use_cline; - PyObject *ptype, *pvalue, *ptraceback; -#if CYTHON_COMPILING_IN_CPYTHON - PyObject **cython_runtime_dict; -#endif - if (unlikely(!__pyx_cython_runtime)) { - return c_line; - } - __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); -#if CYTHON_COMPILING_IN_CPYTHON - cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); - if (likely(cython_runtime_dict)) { - __PYX_PY_DICT_LOOKUP_IF_MODIFIED( - use_cline, *cython_runtime_dict, - __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) - } else -#endif - { - PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); - if (use_cline_obj) { - use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; - Py_DECREF(use_cline_obj); - } else { - PyErr_Clear(); - use_cline = NULL; - } - } - if (!use_cline) { - c_line = 0; - (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); - } - else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { - c_line = 0; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - return c_line; -} -#endif - -/* CodeObjectCache */ - static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { - int start = 0, mid = 0, end = count - 1; - if (end >= 0 && code_line > entries[end].code_line) { - return count; - } - while (start < end) { - mid = start + (end - start) / 2; - if (code_line < entries[mid].code_line) { - end = mid; - } else if (code_line > entries[mid].code_line) { - start = mid + 1; - } else { - return mid; - } - } - if (code_line <= entries[mid].code_line) { - return mid; - } else { - return mid + 1; - } -} -static PyCodeObject *__pyx_find_code_object(int code_line) { - PyCodeObject* code_object; - int pos; - if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { - return NULL; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { - return NULL; - } - code_object = __pyx_code_cache.entries[pos].code_object; - Py_INCREF(code_object); - return code_object; -} -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { - int pos, i; - __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; - if (unlikely(!code_line)) { - return; - } - if (unlikely(!entries)) { - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); - if (likely(entries)) { - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = 64; - __pyx_code_cache.count = 1; - entries[0].code_line = code_line; - entries[0].code_object = code_object; - Py_INCREF(code_object); - } - return; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { - PyCodeObject* tmp = entries[pos].code_object; - entries[pos].code_object = code_object; - Py_DECREF(tmp); - return; - } - if (__pyx_code_cache.count == __pyx_code_cache.max_count) { - int new_max = __pyx_code_cache.max_count + 64; - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( - __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); - if (unlikely(!entries)) { - return; - } - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = new_max; - } - for (i=__pyx_code_cache.count; i>pos; i--) { - entries[i] = entries[i-1]; - } - entries[pos].code_line = code_line; - entries[pos].code_object = code_object; - __pyx_code_cache.count++; - Py_INCREF(code_object); -} - -/* AddTraceback */ - #include "compile.h" -#include "frameobject.h" -#include "traceback.h" -static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( - const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = NULL; - PyObject *py_funcname = NULL; - #if PY_MAJOR_VERSION < 3 - PyObject *py_srcfile = NULL; - py_srcfile = PyString_FromString(filename); - if (!py_srcfile) goto bad; - #endif - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - funcname = PyUnicode_AsUTF8(py_funcname); - if (!funcname) goto bad; - #endif - } - else { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); - if (!py_funcname) goto bad; - #endif - } - #if PY_MAJOR_VERSION < 3 - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - #else - py_code = PyCode_NewEmpty(filename, funcname, py_line); - #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline - return py_code; -bad: - Py_XDECREF(py_funcname); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_srcfile); - #endif - return NULL; -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); - } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) goto bad; - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); - } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); -} - -#if PY_MAJOR_VERSION < 3 -static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { - if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); - if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); - if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); - PyErr_Format(PyExc_TypeError, "'%.200s' does not have the buffer interface", Py_TYPE(obj)->tp_name); - return -1; -} -static void __Pyx_ReleaseBuffer(Py_buffer *view) { - PyObject *obj = view->obj; - if (!obj) return; - if (PyObject_CheckBuffer(obj)) { - PyBuffer_Release(view); - return; - } - if ((0)) {} - view->obj = NULL; - Py_DECREF(obj); -} -#endif - - - /* MemviewSliceIsContig */ - static int -__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) -{ - int i, index, step, start; - Py_ssize_t itemsize = mvs.memview->view.itemsize; - if (order == 'F') { - step = 1; - start = 0; - } else { - step = -1; - start = ndim - 1; - } - for (i = 0; i < ndim; i++) { - index = start + step * i; - if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) - return 0; - itemsize *= mvs.shape[index]; - } - return 1; -} - -/* OverlappingSlices */ - static void -__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, - void **out_start, void **out_end, - int ndim, size_t itemsize) -{ - char *start, *end; - int i; - start = end = slice->data; - for (i = 0; i < ndim; i++) { - Py_ssize_t stride = slice->strides[i]; - Py_ssize_t extent = slice->shape[i]; - if (extent == 0) { - *out_start = *out_end = start; - return; - } else { - if (stride > 0) - end += stride * (extent - 1); - else - start += stride * (extent - 1); - } - } - *out_start = start; - *out_end = end + itemsize; -} -static int -__pyx_slices_overlap(__Pyx_memviewslice *slice1, - __Pyx_memviewslice *slice2, - int ndim, size_t itemsize) -{ - void *start1, *end1, *start2, *end2; - __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); - __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); - return (start1 < end2) && (start2 < end1); -} - -/* Capsule */ - static CYTHON_INLINE PyObject * -__pyx_capsule_create(void *p, CYTHON_UNUSED const char *sig) -{ - PyObject *cobj; -#if PY_VERSION_HEX >= 0x02070000 - cobj = PyCapsule_New(p, sig, NULL); -#else - cobj = PyCObject_FromVoidPtr(p, NULL); -#endif - return cobj; -} - -/* CIntFromPyVerify */ - #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ - } - -/* TypeInfoCompare */ - static int -__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) -{ - int i; - if (!a || !b) - return 0; - if (a == b) - return 1; - if (a->size != b->size || a->typegroup != b->typegroup || - a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { - if (a->typegroup == 'H' || b->typegroup == 'H') { - return a->size == b->size; - } else { - return 0; - } - } - if (a->ndim) { - for (i = 0; i < a->ndim; i++) - if (a->arraysize[i] != b->arraysize[i]) - return 0; - } - if (a->typegroup == 'S') { - if (a->flags != b->flags) - return 0; - if (a->fields || b->fields) { - if (!(a->fields && b->fields)) - return 0; - for (i = 0; a->fields[i].type && b->fields[i].type; i++) { - __Pyx_StructField *field_a = a->fields + i; - __Pyx_StructField *field_b = b->fields + i; - if (field_a->offset != field_b->offset || - !__pyx_typeinfo_cmp(field_a->type, field_b->type)) - return 0; - } - return !a->fields[i].type && !b->fields[i].type; - } - } - return 1; -} - -/* MemviewSliceValidateAndInit */ - static int -__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) -{ - if (buf->shape[dim] <= 1) - return 1; - if (buf->strides) { - if (spec & __Pyx_MEMVIEW_CONTIG) { - if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { - if (unlikely(buf->strides[dim] != sizeof(void *))) { - PyErr_Format(PyExc_ValueError, - "Buffer is not indirectly contiguous " - "in dimension %d.", dim); - goto fail; - } - } else if (unlikely(buf->strides[dim] != buf->itemsize)) { - PyErr_SetString(PyExc_ValueError, - "Buffer and memoryview are not contiguous " - "in the same dimension."); - goto fail; - } - } - if (spec & __Pyx_MEMVIEW_FOLLOW) { - Py_ssize_t stride = buf->strides[dim]; - if (stride < 0) - stride = -stride; - if (unlikely(stride < buf->itemsize)) { - PyErr_SetString(PyExc_ValueError, - "Buffer and memoryview are not contiguous " - "in the same dimension."); - goto fail; - } - } - } else { - if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { - PyErr_Format(PyExc_ValueError, - "C-contiguous buffer is not contiguous in " - "dimension %d", dim); - goto fail; - } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { - PyErr_Format(PyExc_ValueError, - "C-contiguous buffer is not indirect in " - "dimension %d", dim); - goto fail; - } else if (unlikely(buf->suboffsets)) { - PyErr_SetString(PyExc_ValueError, - "Buffer exposes suboffsets but no strides"); - goto fail; - } - } - return 1; -fail: - return 0; -} -static int -__pyx_check_suboffsets(Py_buffer *buf, int dim, CYTHON_UNUSED int ndim, int spec) -{ - if (spec & __Pyx_MEMVIEW_DIRECT) { - if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { - PyErr_Format(PyExc_ValueError, - "Buffer not compatible with direct access " - "in dimension %d.", dim); - goto fail; - } - } - if (spec & __Pyx_MEMVIEW_PTR) { - if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { - PyErr_Format(PyExc_ValueError, - "Buffer is not indirectly accessible " - "in dimension %d.", dim); - goto fail; - } - } - return 1; -fail: - return 0; -} -static int -__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) -{ - int i; - if (c_or_f_flag & __Pyx_IS_F_CONTIG) { - Py_ssize_t stride = 1; - for (i = 0; i < ndim; i++) { - if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { - PyErr_SetString(PyExc_ValueError, - "Buffer not fortran contiguous."); - goto fail; - } - stride = stride * buf->shape[i]; - } - } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { - Py_ssize_t stride = 1; - for (i = ndim - 1; i >- 1; i--) { - if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { - PyErr_SetString(PyExc_ValueError, - "Buffer not C contiguous."); - goto fail; - } - stride = stride * buf->shape[i]; - } - } - return 1; -fail: - return 0; -} -static int __Pyx_ValidateAndInit_memviewslice( - int *axes_specs, - int c_or_f_flag, - int buf_flags, - int ndim, - __Pyx_TypeInfo *dtype, - __Pyx_BufFmt_StackElem stack[], - __Pyx_memviewslice *memviewslice, - PyObject *original_obj) -{ - struct __pyx_memoryview_obj *memview, *new_memview; - __Pyx_RefNannyDeclarations - Py_buffer *buf; - int i, spec = 0, retval = -1; - __Pyx_BufFmt_Context ctx; - int from_memoryview = __pyx_memoryview_check(original_obj); - __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); - if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) - original_obj)->typeinfo)) { - memview = (struct __pyx_memoryview_obj *) original_obj; - new_memview = NULL; - } else { - memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( - original_obj, buf_flags, 0, dtype); - new_memview = memview; - if (unlikely(!memview)) - goto fail; - } - buf = &memview->view; - if (unlikely(buf->ndim != ndim)) { - PyErr_Format(PyExc_ValueError, - "Buffer has wrong number of dimensions (expected %d, got %d)", - ndim, buf->ndim); - goto fail; - } - if (new_memview) { - __Pyx_BufFmt_Init(&ctx, stack, dtype); - if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; - } - if (unlikely((unsigned) buf->itemsize != dtype->size)) { - PyErr_Format(PyExc_ValueError, - "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " - "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", - buf->itemsize, - (buf->itemsize > 1) ? "s" : "", - dtype->name, - dtype->size, - (dtype->size > 1) ? "s" : ""); - goto fail; - } - if (buf->len > 0) { - for (i = 0; i < ndim; i++) { - spec = axes_specs[i]; - if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) - goto fail; - if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) - goto fail; - } - if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) - goto fail; - } - if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, - new_memview != NULL) == -1)) { - goto fail; - } - retval = 0; - goto no_fail; -fail: - Py_XDECREF(new_memview); - retval = -1; -no_fail: - __Pyx_RefNannyFinishContext(); - return retval; -} - -/* ObjectToMemviewSlice */ - static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dcd__double(PyObject *obj, int writable_flag) { - __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; - __Pyx_BufFmt_StackElem stack[1]; - int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW) }; - int retcode; - if (obj == Py_None) { - result.memview = (struct __pyx_memoryview_obj *) Py_None; - return result; - } - retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_F_CONTIG, - (PyBUF_F_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 2, - &__Pyx_TypeInfo_double, stack, - &result, obj); - if (unlikely(retcode == -1)) - goto __pyx_fail; - return result; -__pyx_fail: - result.memview = NULL; - result.data = NULL; - return result; -} - -/* ObjectToMemviewSlice */ - static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_unsigned_char(PyObject *obj, int writable_flag) { - __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; - __Pyx_BufFmt_StackElem stack[1]; - int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) }; - int retcode; - if (obj == Py_None) { - result.memview = (struct __pyx_memoryview_obj *) Py_None; - return result; - } - retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG, - (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 1, - &__Pyx_TypeInfo_unsigned_char, stack, - &result, obj); - if (unlikely(retcode == -1)) - goto __pyx_fail; - return result; -__pyx_fail: - result.memview = NULL; - result.data = NULL; - return result; -} - -/* Declarations */ - #if CYTHON_CCOMPLEX - #ifdef __cplusplus - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - return ::std::complex< float >(x, y); - } - #else - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - return x + y*(__pyx_t_float_complex)_Complex_I; - } - #endif -#else - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - __pyx_t_float_complex z; - z.real = x; - z.imag = y; - return z; - } -#endif - -/* Arithmetic */ - #if CYTHON_CCOMPLEX -#else - static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - return (a.real == b.real) && (a.imag == b.imag); - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real + b.real; - z.imag = a.imag + b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real - b.real; - z.imag = a.imag - b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real * b.real - a.imag * b.imag; - z.imag = a.real * b.imag + a.imag * b.real; - return z; - } - #if 1 - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - if (b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); - } else if (fabsf(b.real) >= fabsf(b.imag)) { - if (b.real == 0 && b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); - } else { - float r = b.imag / b.real; - float s = (float)(1.0) / (b.real + b.imag * r); - return __pyx_t_float_complex_from_parts( - (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); - } - } else { - float r = b.real / b.imag; - float s = (float)(1.0) / (b.imag + b.real * r); - return __pyx_t_float_complex_from_parts( - (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); - } - } - #else - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - if (b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); - } else { - float denom = b.real * b.real + b.imag * b.imag; - return __pyx_t_float_complex_from_parts( - (a.real * b.real + a.imag * b.imag) / denom, - (a.imag * b.real - a.real * b.imag) / denom); - } - } - #endif - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { - __pyx_t_float_complex z; - z.real = -a.real; - z.imag = -a.imag; - return z; - } - static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { - return (a.real == 0) && (a.imag == 0); - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { - __pyx_t_float_complex z; - z.real = a.real; - z.imag = -a.imag; - return z; - } - #if 1 - static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { - #if !defined(HAVE_HYPOT) || defined(_MSC_VER) - return sqrtf(z.real*z.real + z.imag*z.imag); - #else - return hypotf(z.real, z.imag); - #endif - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - float r, lnr, theta, z_r, z_theta; - if (b.imag == 0 && b.real == (int)b.real) { - if (b.real < 0) { - float denom = a.real * a.real + a.imag * a.imag; - a.real = a.real / denom; - a.imag = -a.imag / denom; - b.real = -b.real; - } - switch ((int)b.real) { - case 0: - z.real = 1; - z.imag = 0; - return z; - case 1: - return a; - case 2: - return __Pyx_c_prod_float(a, a); - case 3: - z = __Pyx_c_prod_float(a, a); - return __Pyx_c_prod_float(z, a); - case 4: - z = __Pyx_c_prod_float(a, a); - return __Pyx_c_prod_float(z, z); - } - } - if (a.imag == 0) { - if (a.real == 0) { - return a; - } else if (b.imag == 0) { - z.real = powf(a.real, b.real); - z.imag = 0; - return z; - } else if (a.real > 0) { - r = a.real; - theta = 0; - } else { - r = -a.real; - theta = atan2f(0.0, -1.0); - } - } else { - r = __Pyx_c_abs_float(a); - theta = atan2f(a.imag, a.real); - } - lnr = logf(r); - z_r = expf(lnr * b.real - theta * b.imag); - z_theta = theta * b.real + lnr * b.imag; - z.real = z_r * cosf(z_theta); - z.imag = z_r * sinf(z_theta); - return z; - } - #endif -#endif - -/* Declarations */ - #if CYTHON_CCOMPLEX - #ifdef __cplusplus - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - return ::std::complex< double >(x, y); - } - #else - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - return x + y*(__pyx_t_double_complex)_Complex_I; - } - #endif -#else - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - __pyx_t_double_complex z; - z.real = x; - z.imag = y; - return z; - } -#endif - -/* Arithmetic */ - #if CYTHON_CCOMPLEX -#else - static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - return (a.real == b.real) && (a.imag == b.imag); - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real + b.real; - z.imag = a.imag + b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real - b.real; - z.imag = a.imag - b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real * b.real - a.imag * b.imag; - z.imag = a.real * b.imag + a.imag * b.real; - return z; - } - #if 1 - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - if (b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); - } else if (fabs(b.real) >= fabs(b.imag)) { - if (b.real == 0 && b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); - } else { - double r = b.imag / b.real; - double s = (double)(1.0) / (b.real + b.imag * r); - return __pyx_t_double_complex_from_parts( - (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); - } - } else { - double r = b.real / b.imag; - double s = (double)(1.0) / (b.imag + b.real * r); - return __pyx_t_double_complex_from_parts( - (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); - } - } - #else - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - if (b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); - } else { - double denom = b.real * b.real + b.imag * b.imag; - return __pyx_t_double_complex_from_parts( - (a.real * b.real + a.imag * b.imag) / denom, - (a.imag * b.real - a.real * b.imag) / denom); - } - } - #endif - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { - __pyx_t_double_complex z; - z.real = -a.real; - z.imag = -a.imag; - return z; - } - static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { - return (a.real == 0) && (a.imag == 0); - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { - __pyx_t_double_complex z; - z.real = a.real; - z.imag = -a.imag; - return z; - } - #if 1 - static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { - #if !defined(HAVE_HYPOT) || defined(_MSC_VER) - return sqrt(z.real*z.real + z.imag*z.imag); - #else - return hypot(z.real, z.imag); - #endif - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - double r, lnr, theta, z_r, z_theta; - if (b.imag == 0 && b.real == (int)b.real) { - if (b.real < 0) { - double denom = a.real * a.real + a.imag * a.imag; - a.real = a.real / denom; - a.imag = -a.imag / denom; - b.real = -b.real; - } - switch ((int)b.real) { - case 0: - z.real = 1; - z.imag = 0; - return z; - case 1: - return a; - case 2: - return __Pyx_c_prod_double(a, a); - case 3: - z = __Pyx_c_prod_double(a, a); - return __Pyx_c_prod_double(z, a); - case 4: - z = __Pyx_c_prod_double(a, a); - return __Pyx_c_prod_double(z, z); - } - } - if (a.imag == 0) { - if (a.real == 0) { - return a; - } else if (b.imag == 0) { - z.real = pow(a.real, b.real); - z.imag = 0; - return z; - } else if (a.real > 0) { - r = a.real; - theta = 0; - } else { - r = -a.real; - theta = atan2(0.0, -1.0); - } - } else { - r = __Pyx_c_abs_double(a); - theta = atan2(a.imag, a.real); - } - lnr = log(r); - z_r = exp(lnr * b.real - theta * b.imag); - z_theta = theta * b.real + lnr * b.imag; - z.real = z_r * cos(z_theta); - z.imag = z_r * sin(z_theta); - return z; - } - #endif -#endif - -/* MemviewSliceCopyTemplate */ - static __Pyx_memviewslice -__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, - const char *mode, int ndim, - size_t sizeof_dtype, int contig_flag, - int dtype_is_object) -{ - __Pyx_RefNannyDeclarations - int i; - __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; - struct __pyx_memoryview_obj *from_memview = from_mvs->memview; - Py_buffer *buf = &from_memview->view; - PyObject *shape_tuple = NULL; - PyObject *temp_int = NULL; - struct __pyx_array_obj *array_obj = NULL; - struct __pyx_memoryview_obj *memview_obj = NULL; - __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); - for (i = 0; i < ndim; i++) { - if (unlikely(from_mvs->suboffsets[i] >= 0)) { - PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " - "indirect dimensions (axis %d)", i); - goto fail; - } - } - shape_tuple = PyTuple_New(ndim); - if (unlikely(!shape_tuple)) { - goto fail; - } - __Pyx_GOTREF(shape_tuple); - for(i = 0; i < ndim; i++) { - temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); - if(unlikely(!temp_int)) { - goto fail; - } else { - PyTuple_SET_ITEM(shape_tuple, i, temp_int); - temp_int = NULL; - } - } - array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); - if (unlikely(!array_obj)) { - goto fail; - } - __Pyx_GOTREF(array_obj); - memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( - (PyObject *) array_obj, contig_flag, - dtype_is_object, - from_mvs->memview->typeinfo); - if (unlikely(!memview_obj)) - goto fail; - if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) - goto fail; - if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, - dtype_is_object) < 0)) - goto fail; - goto no_fail; -fail: - __Pyx_XDECREF(new_mvs.memview); - new_mvs.memview = NULL; - new_mvs.data = NULL; -no_fail: - __Pyx_XDECREF(shape_tuple); - __Pyx_XDECREF(temp_int); - __Pyx_XDECREF(array_obj); - __Pyx_RefNannyFinishContext(); - return new_mvs; -} - -/* CIntFromPy */ - static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(int) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (int) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { - return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { - return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { - return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(int) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) - case -2: - if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - } -#endif - if (sizeof(int) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - int val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (int) -1; - } - } else { - int val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (int) -1; - val = __Pyx_PyInt_As_int(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to int"); - return (int) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to int"); - return (int) -1; -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(int) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(int) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(int) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(int), - little, !is_unsigned); - } -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); - } -} - -/* CIntFromPy */ - static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(size_t) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (size_t) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (size_t) 0; - case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, digits[0]) - case 2: - if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 2 * PyLong_SHIFT) { - return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 3 * PyLong_SHIFT) { - return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 4 * PyLong_SHIFT) { - return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (size_t) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(size_t) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (size_t) 0; - case -1: __PYX_VERIFY_RETURN_INT(size_t, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, +digits[0]) - case -2: - if (8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { - return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - } -#endif - if (sizeof(size_t) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(size_t) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - size_t val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (size_t) -1; - } - } else { - size_t val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (size_t) -1; - val = __Pyx_PyInt_As_size_t(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to size_t"); - return (size_t) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to size_t"); - return (size_t) -1; -} - -/* CIntFromPy */ - static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(long) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (long) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { - return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { - return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { - return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(long) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) - case -2: - if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - } -#endif - if (sizeof(long) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - long val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (long) -1; - } - } else { - long val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (long) -1; - val = __Pyx_PyInt_As_long(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to long"); - return (long) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to long"); - return (long) -1; -} - -/* CIntFromPy */ - static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const char neg_one = (char) -1, const_zero = (char) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(char) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (char) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (char) 0; - case 1: __PYX_VERIFY_RETURN_INT(char, digit, digits[0]) - case 2: - if (8 * sizeof(char) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 2 * PyLong_SHIFT) { - return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(char) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 3 * PyLong_SHIFT) { - return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(char) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 4 * PyLong_SHIFT) { - return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (char) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(char) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(char) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (char) 0; - case -1: __PYX_VERIFY_RETURN_INT(char, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(char, digit, +digits[0]) - case -2: - if (8 * sizeof(char) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { - return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); 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- } - } - break; - case -4: - if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { - return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(char) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { - return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); 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- } else if (t->intern) { - *t->p = PyString_InternFromString(t->s); - } else { - *t->p = PyString_FromStringAndSize(t->s, t->n - 1); - } - #else - if (t->is_unicode | t->is_str) { - if (t->intern) { - *t->p = PyUnicode_InternFromString(t->s); - } else if (t->encoding) { - *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); - } else { - *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); - } - } else { - *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); - } - #endif - if (!*t->p) - return -1; - if (PyObject_Hash(*t->p) == -1) - return -1; - ++t; - } - return 0; -} - -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { - return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); -} -static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { - Py_ssize_t ignore; - return __Pyx_PyObject_AsStringAndSize(o, &ignore); -} -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT -#if !CYTHON_PEP393_ENABLED -static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - char* defenc_c; 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- } else -#endif -#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) - if (PyByteArray_Check(o)) { - *length = PyByteArray_GET_SIZE(o); - return PyByteArray_AS_STRING(o); - } else -#endif - { - char* result; - int r = PyBytes_AsStringAndSize(o, &result, length); - if (unlikely(r < 0)) { - return NULL; - } else { - return result; - } - } -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { - int is_true = x == Py_True; - if (is_true | (x == Py_False) | (x == Py_None)) return is_true; - else return PyObject_IsTrue(x); -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { - int retval; - if (unlikely(!x)) return -1; - retval = __Pyx_PyObject_IsTrue(x); - Py_DECREF(x); - return retval; -} -static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { -#if PY_MAJOR_VERSION >= 3 - if (PyLong_Check(result)) { - if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, - "__int__ returned non-int (type %.200s). " - "The ability to return an instance of a strict subclass of int " - "is deprecated, and may be removed in a future version of Python.", - Py_TYPE(result)->tp_name)) { - Py_DECREF(result); - return NULL; - } - return result; - } -#endif - PyErr_Format(PyExc_TypeError, - "__%.4s__ returned non-%.4s (type %.200s)", - type_name, type_name, Py_TYPE(result)->tp_name); - Py_DECREF(result); - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { -#if CYTHON_USE_TYPE_SLOTS - PyNumberMethods *m; -#endif - const char *name = NULL; - PyObject *res = NULL; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x) || PyLong_Check(x))) -#else - if (likely(PyLong_Check(x))) -#endif - return __Pyx_NewRef(x); -#if CYTHON_USE_TYPE_SLOTS - m = Py_TYPE(x)->tp_as_number; - #if PY_MAJOR_VERSION < 3 - if (m && m->nb_int) { - name = "int"; - res = m->nb_int(x); - } - else if (m && m->nb_long) { - name = "long"; - res = m->nb_long(x); - } - #else - if (likely(m && m->nb_int)) { - name = "int"; - res = m->nb_int(x); - } - #endif -#else - if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { - res = PyNumber_Int(x); - } -#endif - if (likely(res)) { -#if PY_MAJOR_VERSION < 3 - if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { -#else - if (unlikely(!PyLong_CheckExact(res))) { -#endif - return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); - } - } - else if (!PyErr_Occurred()) { - PyErr_SetString(PyExc_TypeError, - "an integer is required"); - } - return res; -} -static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { - Py_ssize_t ival; - PyObject *x; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(b))) { - if (sizeof(Py_ssize_t) >= sizeof(long)) - return PyInt_AS_LONG(b); - else - return PyInt_AsSsize_t(b); - } -#endif - if (likely(PyLong_CheckExact(b))) { - #if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)b)->ob_digit; - const Py_ssize_t size = Py_SIZE(b); - if (likely(__Pyx_sst_abs(size) <= 1)) { - ival = likely(size) ? digits[0] : 0; - if (size == -1) ival = -ival; - return ival; - } else { - switch (size) { - case 2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - } - } - #endif - return PyLong_AsSsize_t(b); - } - x = PyNumber_Index(b); - if (!x) return -1; - ival = PyInt_AsSsize_t(x); - Py_DECREF(x); - return ival; -} -static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { - if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { - return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); -#if PY_MAJOR_VERSION < 3 - } else if (likely(PyInt_CheckExact(o))) { - return PyInt_AS_LONG(o); -#endif - } else { - Py_ssize_t ival; - PyObject *x; - x = PyNumber_Index(o); - if (!x) return -1; - ival = PyInt_AsLong(x); - Py_DECREF(x); - return ival; - } -} -static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { - return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); -} -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { - return PyInt_FromSize_t(ival); -} - - -#endif /* Py_PYTHON_H */ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c deleted file mode 100644 index d0c541d3b..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c +++ /dev/null @@ -1,278 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ -// standard -#include -#include - -// acados -#include "acados_c/external_function_interface.h" -#include "acados_c/sim_interface.h" -#include "acados_c/external_function_interface.h" - -#include "acados/sim/sim_common.h" -#include "acados/utils/external_function_generic.h" -#include "acados/utils/print.h" - - -// example specific -#include "lat_model/lat_model.h" -#include "acados_sim_solver_lat.h" - - -// ** solver data ** - -sim_solver_capsule * lat_acados_sim_solver_create_capsule() -{ - void* capsule_mem = malloc(sizeof(sim_solver_capsule)); - sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem; - - return capsule; -} - - -int lat_acados_sim_solver_free_capsule(sim_solver_capsule * capsule) -{ - free(capsule); - return 0; -} - - -int lat_acados_sim_create(sim_solver_capsule * capsule) -{ - // initialize - const int nx = LAT_NX; - const int nu = LAT_NU; - const int nz = LAT_NZ; - const int np = LAT_NP; - bool tmp_bool; - - - double Tsim = 0.009765625; - - - // explicit ode - capsule->sim_forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); - capsule->sim_expl_ode_fun_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); - - capsule->sim_forw_vde_casadi->casadi_fun = &lat_expl_vde_forw; - capsule->sim_forw_vde_casadi->casadi_n_in = &lat_expl_vde_forw_n_in; - capsule->sim_forw_vde_casadi->casadi_n_out = &lat_expl_vde_forw_n_out; - capsule->sim_forw_vde_casadi->casadi_sparsity_in = &lat_expl_vde_forw_sparsity_in; - capsule->sim_forw_vde_casadi->casadi_sparsity_out = &lat_expl_vde_forw_sparsity_out; - capsule->sim_forw_vde_casadi->casadi_work = &lat_expl_vde_forw_work; - external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np); - - capsule->sim_expl_ode_fun_casadi->casadi_fun = &lat_expl_ode_fun; - capsule->sim_expl_ode_fun_casadi->casadi_n_in = &lat_expl_ode_fun_n_in; - capsule->sim_expl_ode_fun_casadi->casadi_n_out = &lat_expl_ode_fun_n_out; - capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &lat_expl_ode_fun_sparsity_in; - capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &lat_expl_ode_fun_sparsity_out; - capsule->sim_expl_ode_fun_casadi->casadi_work = &lat_expl_ode_fun_work; - external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np); - - - - // sim plan & config - sim_solver_plan_t plan; - plan.sim_solver = ERK; - - // create correct config based on plan - sim_config * lat_sim_config = sim_config_create(plan); - capsule->acados_sim_config = lat_sim_config; - - // sim dims - void *lat_sim_dims = sim_dims_create(lat_sim_config); - capsule->acados_sim_dims = lat_sim_dims; - sim_dims_set(lat_sim_config, lat_sim_dims, "nx", &nx); - sim_dims_set(lat_sim_config, lat_sim_dims, "nu", &nu); - sim_dims_set(lat_sim_config, lat_sim_dims, "nz", &nz); - - - // sim opts - sim_opts *lat_sim_opts = sim_opts_create(lat_sim_config, lat_sim_dims); - capsule->acados_sim_opts = lat_sim_opts; - int tmp_int = 3; - sim_opts_set(lat_sim_config, lat_sim_opts, "newton_iter", &tmp_int); - sim_collocation_type collocation_type = GAUSS_LEGENDRE; - sim_opts_set(lat_sim_config, lat_sim_opts, "collocation_type", &collocation_type); - - - tmp_int = 4; - sim_opts_set(lat_sim_config, lat_sim_opts, "num_stages", &tmp_int); - tmp_int = 1; - sim_opts_set(lat_sim_config, lat_sim_opts, "num_steps", &tmp_int); - tmp_bool = 0; - sim_opts_set(lat_sim_config, lat_sim_opts, "jac_reuse", &tmp_bool); - - - // sim in / out - sim_in *lat_sim_in = sim_in_create(lat_sim_config, lat_sim_dims); - capsule->acados_sim_in = lat_sim_in; - sim_out *lat_sim_out = sim_out_create(lat_sim_config, lat_sim_dims); - capsule->acados_sim_out = lat_sim_out; - - sim_in_set(lat_sim_config, lat_sim_dims, - lat_sim_in, "T", &Tsim); - - // model functions - lat_sim_config->model_set(lat_sim_in->model, - "expl_vde_for", capsule->sim_forw_vde_casadi); - lat_sim_config->model_set(lat_sim_in->model, - "expl_ode_fun", capsule->sim_expl_ode_fun_casadi); - - // sim solver - sim_solver *lat_sim_solver = sim_solver_create(lat_sim_config, - lat_sim_dims, lat_sim_opts); - capsule->acados_sim_solver = lat_sim_solver; - - - /* initialize parameter values */ - double* p = calloc(np, sizeof(double)); - - - lat_acados_sim_update_params(capsule, p, np); - free(p); - - - /* initialize input */ - // x - double x0[4]; - for (int ii = 0; ii < 4; ii++) - x0[ii] = 0.0; - - sim_in_set(lat_sim_config, lat_sim_dims, - lat_sim_in, "x", x0); - - - // u - double u0[1]; - for (int ii = 0; ii < 1; ii++) - u0[ii] = 0.0; - - sim_in_set(lat_sim_config, lat_sim_dims, - lat_sim_in, "u", u0); - - // S_forw - double S_forw[20]; - for (int ii = 0; ii < 20; ii++) - S_forw[ii] = 0.0; - for (int ii = 0; ii < 4; ii++) - S_forw[ii + ii * 4 ] = 1.0; - - - sim_in_set(lat_sim_config, lat_sim_dims, - lat_sim_in, "S_forw", S_forw); - - int status = sim_precompute(lat_sim_solver, lat_sim_in, lat_sim_out); - - return status; -} - - -int lat_acados_sim_solve(sim_solver_capsule *capsule) -{ - // integrate dynamics using acados sim_solver - int status = sim_solve(capsule->acados_sim_solver, - capsule->acados_sim_in, capsule->acados_sim_out); - if (status != 0) - printf("error in lat_acados_sim_solve()! Exiting.\n"); - - return status; -} - - -int lat_acados_sim_free(sim_solver_capsule *capsule) -{ - // free memory - sim_solver_destroy(capsule->acados_sim_solver); - sim_in_destroy(capsule->acados_sim_in); - sim_out_destroy(capsule->acados_sim_out); - sim_opts_destroy(capsule->acados_sim_opts); - sim_dims_destroy(capsule->acados_sim_dims); - sim_config_destroy(capsule->acados_sim_config); - - // free external function - external_function_param_casadi_free(capsule->sim_forw_vde_casadi); - external_function_param_casadi_free(capsule->sim_expl_ode_fun_casadi); - - return 0; -} - - -int lat_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np) -{ - int status = 0; - int casadi_np = LAT_NP; - - if (casadi_np != np) { - printf("lat_acados_sim_update_params: trying to set %i parameters for external functions." - " External function has %i parameters. Exiting.\n", np, casadi_np); - exit(1); - } - capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p); - capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p); - - return status; -} - -/* getters pointers to C objects*/ -sim_config * lat_acados_get_sim_config(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_config; -}; - -sim_in * lat_acados_get_sim_in(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_in; -}; - -sim_out * lat_acados_get_sim_out(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_out; -}; - -void * lat_acados_get_sim_dims(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_dims; -}; - -sim_opts * lat_acados_get_sim_opts(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_opts; -}; - -sim_solver * lat_acados_get_sim_solver(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_solver; -}; - diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c deleted file mode 100644 index 578d3d1b3..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c +++ /dev/null @@ -1,944 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -// standard -#include -#include -#include -// acados -// #include "acados/utils/print.h" -#include "acados_c/ocp_nlp_interface.h" -#include "acados_c/external_function_interface.h" - -// example specific -#include "lat_model/lat_model.h" - - - - -#include "lat_cost/lat_cost_y_fun.h" -#include "lat_cost/lat_cost_y_0_fun.h" -#include "lat_cost/lat_cost_y_e_fun.h" - -#include "acados_solver_lat.h" - -#define NX LAT_NX -#define NZ LAT_NZ -#define NU LAT_NU -#define NP LAT_NP -#define NBX LAT_NBX -#define NBX0 LAT_NBX0 -#define NBU LAT_NBU -#define NSBX LAT_NSBX -#define NSBU LAT_NSBU -#define NSH LAT_NSH -#define NSG LAT_NSG -#define NSPHI LAT_NSPHI -#define NSHN LAT_NSHN -#define NSGN LAT_NSGN -#define NSPHIN LAT_NSPHIN -#define NSBXN LAT_NSBXN -#define NS LAT_NS -#define NSN LAT_NSN -#define NG LAT_NG -#define NBXN LAT_NBXN -#define NGN LAT_NGN -#define NY0 LAT_NY0 -#define NY LAT_NY -#define NYN LAT_NYN -// #define N LAT_N -#define NH LAT_NH -#define NPHI LAT_NPHI -#define NHN LAT_NHN -#define NPHIN LAT_NPHIN -#define NR LAT_NR - - -// ** solver data ** - -lat_solver_capsule * lat_acados_create_capsule(void) -{ - void* capsule_mem = malloc(sizeof(lat_solver_capsule)); - lat_solver_capsule *capsule = (lat_solver_capsule *) capsule_mem; - - return capsule; -} - - -int lat_acados_free_capsule(lat_solver_capsule *capsule) -{ - free(capsule); - return 0; -} - - -int lat_acados_create(lat_solver_capsule* capsule) -{ - int N_shooting_intervals = LAT_N; - double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps - return lat_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps); -} - - -int lat_acados_update_time_steps(lat_solver_capsule* capsule, int N, double* new_time_steps) -{ - if (N != capsule->nlp_solver_plan->N) { - fprintf(stderr, "lat_acados_update_time_steps: given number of time steps (= %d) " \ - "differs from the currently allocated number of " \ - "time steps (= %d)!\n" \ - "Please recreate with new discretization and provide a new vector of time_stamps!\n", - N, capsule->nlp_solver_plan->N); - return 1; - } - - ocp_nlp_config * nlp_config = capsule->nlp_config; - ocp_nlp_dims * nlp_dims = capsule->nlp_dims; - ocp_nlp_in * nlp_in = capsule->nlp_in; - - for (int i = 0; i < N; i++) - { - ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]); - } - return 0; -} - -/** - * Internal function for lat_acados_create: step 1 - */ -void lat_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, const int N) -{ - assert(N == nlp_solver_plan->N); - - /************************************************ - * plan - ************************************************/ - nlp_solver_plan->nlp_solver = SQP_RTI; - - nlp_solver_plan->ocp_qp_solver_plan.qp_solver = PARTIAL_CONDENSING_HPIPM; - - nlp_solver_plan->nlp_cost[0] = NONLINEAR_LS; - for (int i = 1; i < N; i++) - nlp_solver_plan->nlp_cost[i] = NONLINEAR_LS; - - nlp_solver_plan->nlp_cost[N] = NONLINEAR_LS; - - for (int i = 0; i < N; i++) - { - nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL; - nlp_solver_plan->sim_solver_plan[i].sim_solver = ERK; - } - - for (int i = 0; i < N; i++) - {nlp_solver_plan->nlp_constraints[i] = BGH; - } - nlp_solver_plan->nlp_constraints[N] = BGH; -} - - -/** - * Internal function for lat_acados_create: step 2 - */ -ocp_nlp_dims* lat_acados_create_2_create_and_set_dimensions(lat_solver_capsule* capsule) -{ - ocp_nlp_plan_t* nlp_solver_plan = capsule->nlp_solver_plan; - const int N = nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - - /************************************************ - * dimensions - ************************************************/ - #define NINTNP1MEMS 17 - int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS ); - - int* nx = intNp1mem + (N+1)*0; - int* nu = intNp1mem + (N+1)*1; - int* nbx = intNp1mem + (N+1)*2; - int* nbu = intNp1mem + (N+1)*3; - int* nsbx = intNp1mem + (N+1)*4; - int* nsbu = intNp1mem + (N+1)*5; - int* nsg = intNp1mem + (N+1)*6; - int* nsh = intNp1mem + (N+1)*7; - int* nsphi = intNp1mem + (N+1)*8; - int* ns = intNp1mem + (N+1)*9; - int* ng = intNp1mem + (N+1)*10; - int* nh = intNp1mem + (N+1)*11; - int* nphi = intNp1mem + (N+1)*12; - int* nz = intNp1mem + (N+1)*13; - int* ny = intNp1mem + (N+1)*14; - int* nr = intNp1mem + (N+1)*15; - int* nbxe = intNp1mem + (N+1)*16; - - for (int i = 0; i < N+1; i++) - { - // common - nx[i] = NX; - nu[i] = NU; - nz[i] = NZ; - ns[i] = NS; - // cost - ny[i] = NY; - // constraints - nbx[i] = NBX; - nbu[i] = NBU; - nsbx[i] = NSBX; - nsbu[i] = NSBU; - nsg[i] = NSG; - nsh[i] = NSH; - nsphi[i] = NSPHI; - ng[i] = NG; - nh[i] = NH; - nphi[i] = NPHI; - nr[i] = NR; - nbxe[i] = 0; - } - - // for initial state - nbx[0] = NBX0; - nsbx[0] = 0; - ns[0] = NS - NSBX; - nbxe[0] = 4; - ny[0] = NY0; - - // terminal - common - nu[N] = 0; - nz[N] = 0; - ns[N] = NSN; - // cost - ny[N] = NYN; - // constraint - nbx[N] = NBXN; - nbu[N] = 0; - ng[N] = NGN; - nh[N] = NHN; - nphi[N] = NPHIN; - nr[N] = 0; - - nsbx[N] = NSBXN; - nsbu[N] = 0; - nsg[N] = NSGN; - nsh[N] = NSHN; - nsphi[N] = NSPHIN; - - /* create and set ocp_nlp_dims */ - ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config); - - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx); - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu); - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz); - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns); - - for (int i = 0; i <= N; i++) - { - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]); - } - ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]); - for (int i = 1; i < N; i++) - ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]); - - for (int i = 0; i < N; i++) - { - } - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]); - ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]); - free(intNp1mem); -return nlp_dims; -} - - -/** - * Internal function for lat_acados_create: step 3 - */ -void lat_acados_create_3_create_and_set_functions(lat_solver_capsule* capsule) -{ - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - - /************************************************ - * external functions - ************************************************/ - -#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \ - capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\ - capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \ - capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \ - capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \ - capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \ - capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \ - external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , 2); \ - }while(false) - - - - - // explicit ode - capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(forw_vde_casadi[i], lat_expl_vde_forw); - } - - capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(expl_ode_fun[i], lat_expl_ode_fun); - } - - - // nonlinear least squares function - MAP_CASADI_FNC(cost_y_0_fun, lat_cost_y_0_fun); - MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, lat_cost_y_0_fun_jac_ut_xt); - MAP_CASADI_FNC(cost_y_0_hess, lat_cost_y_0_hess); - // nonlinear least squares cost - capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(cost_y_fun[i], lat_cost_y_fun); - } - - capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], lat_cost_y_fun_jac_ut_xt); - } - - capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(cost_y_hess[i], lat_cost_y_hess); - } - // nonlinear least square function - MAP_CASADI_FNC(cost_y_e_fun, lat_cost_y_e_fun); - MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, lat_cost_y_e_fun_jac_ut_xt); - MAP_CASADI_FNC(cost_y_e_hess, lat_cost_y_e_hess); - -#undef MAP_CASADI_FNC -} - - -/** - * Internal function for lat_acados_create: step 4 - */ -void lat_acados_create_4_set_default_parameters(lat_solver_capsule* capsule) { - const int N = capsule->nlp_solver_plan->N; - // initialize parameters to nominal value - double* p = calloc(NP, sizeof(double)); - - for (int i = 0; i <= N; i++) { - lat_acados_update_params(capsule, i, p, NP); - } - free(p); -} - - -/** - * Internal function for lat_acados_create: step 5 - */ -void lat_acados_create_5_set_nlp_in(lat_solver_capsule* capsule, const int N, double* new_time_steps) -{ - assert(N == capsule->nlp_solver_plan->N); - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - - /************************************************ - * nlp_in - ************************************************/ -// ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims); -// capsule->nlp_in = nlp_in; - ocp_nlp_in * nlp_in = capsule->nlp_in; - - // set up time_steps - - - if (new_time_steps) { - lat_acados_update_time_steps(capsule, N, new_time_steps); - } else {// time_steps are different - double* time_steps = malloc(N*sizeof(double)); - time_steps[0] = 0.009765625; - time_steps[1] = 0.029296875; - time_steps[2] = 0.048828125; - time_steps[3] = 0.068359375; - time_steps[4] = 0.087890625; - time_steps[5] = 0.107421875; - time_steps[6] = 0.126953125; - time_steps[7] = 0.146484375; - time_steps[8] = 0.166015625; - time_steps[9] = 0.185546875; - time_steps[10] = 0.205078125; - time_steps[11] = 0.224609375; - time_steps[12] = 0.244140625; - time_steps[13] = 0.263671875; - time_steps[14] = 0.283203125; - time_steps[15] = 0.302734375; - lat_acados_update_time_steps(capsule, N, time_steps); - free(time_steps); - } - - /**** Dynamics ****/ - for (int i = 0; i < N; i++) - { - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]); - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]); - - } - - /**** Cost ****/ - double* W_0 = calloc(NY0*NY0, sizeof(double)); - // change only the non-zero elements: - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0); - free(W_0); - - double* yref_0 = calloc(NY0, sizeof(double)); - // change only the non-zero elements: - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0); - free(yref_0); - double* W = calloc(NY*NY, sizeof(double)); - // change only the non-zero elements: - - double* yref = calloc(NY, sizeof(double)); - // change only the non-zero elements: - - for (int i = 1; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref); - } - free(W); - free(yref); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess); - for (int i = 1; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]); - } - - // terminal cost - double* yref_e = calloc(NYN, sizeof(double)); - // change only the non-zero elements: - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e); - free(yref_e); - - double* W_e = calloc(NYN*NYN, sizeof(double)); - // change only the non-zero elements: - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e); - free(W_e); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess); - - - - /**** Constraints ****/ - - // bounds for initial stage - // x0 - int* idxbx0 = malloc(NBX0 * sizeof(int)); - idxbx0[0] = 0; - idxbx0[1] = 1; - idxbx0[2] = 2; - idxbx0[3] = 3; - - double* lubx0 = calloc(2*NBX0, sizeof(double)); - double* lbx0 = lubx0; - double* ubx0 = lubx0 + NBX0; - // change only the non-zero elements: - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); - free(idxbx0); - free(lubx0); - // idxbxe_0 - int* idxbxe_0 = malloc(4 * sizeof(int)); - - idxbxe_0[0] = 0; - idxbxe_0[1] = 1; - idxbxe_0[2] = 2; - idxbxe_0[3] = 3; - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0); - free(idxbxe_0); - - /* constraints that are the same for initial and intermediate */ - - - - - - - - - // x - int* idxbx = malloc(NBX * sizeof(int)); - - idxbx[0] = 2; - idxbx[1] = 3; - double* lubx = calloc(2*NBX, sizeof(double)); - double* lbx = lubx; - double* ubx = lubx + NBX; - - lbx[0] = -1.5707963267948966; - ubx[0] = 1.5707963267948966; - lbx[1] = -0.8726646259971648; - ubx[1] = 0.8726646259971648; - - for (int i = 1; i < N; i++) - { - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbx", idxbx); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbx", lbx); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubx", ubx); - } - free(idxbx); - free(lubx); - - - - - - - - /* terminal constraints */ - - - - - - - - - - - - - - - -} - - -/** - * Internal function for lat_acados_create: step 6 - */ -void lat_acados_create_6_set_opts(lat_solver_capsule* capsule) -{ - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - void *nlp_opts = capsule->nlp_opts; - - /************************************************ - * opts - ************************************************/ - - - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step");int full_step_dual = 0; - ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual); - - // set collocation type (relevant for implicit integrators) - sim_collocation_type collocation_type = GAUSS_LEGENDRE; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type); - - // set up sim_method_num_steps - // all sim_method_num_steps are identical - int sim_method_num_steps = 1; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps); - - // set up sim_method_num_stages - // all sim_method_num_stages are identical - int sim_method_num_stages = 4; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages); - - int newton_iter_val = 3; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val); - - - // set up sim_method_jac_reuse - bool tmp_bool = (bool) 0; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool); - - double nlp_solver_step_length = 1; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length); - - double levenberg_marquardt = 0; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt); - - /* options QP solver */ - int qp_solver_cond_N; - - const int qp_solver_cond_N_ori = 1; - qp_solver_cond_N = N < qp_solver_cond_N_ori ? N : qp_solver_cond_N_ori; // use the minimum value here - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N); - // set HPIPM mode: should be done before setting other QP solver options - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "BALANCE"); - - - - int qp_solver_iter_max = 1; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max); - -int print_level = 0; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level); - - - int ext_cost_num_hess = 0; -} - - -/** - * Internal function for lat_acados_create: step 7 - */ -void lat_acados_create_7_set_nlp_out(lat_solver_capsule* capsule) -{ - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - ocp_nlp_out* nlp_out = capsule->nlp_out; - - // initialize primal solution - double* xu0 = calloc(NX+NU, sizeof(double)); - double* x0 = xu0; - - // initialize with x0 - - - - double* u0 = xu0 + NX; - - for (int i = 0; i < N; i++) - { - // x0 - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0); - // u0 - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); - } - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0); - free(xu0); -} - - -/** - * Internal function for lat_acados_create: step 8 - */ -//void lat_acados_create_8_create_solver(lat_solver_capsule* capsule) -//{ -// capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); -//} - -/** - * Internal function for lat_acados_create: step 9 - */ -int lat_acados_create_9_precompute(lat_solver_capsule* capsule) { - int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); - - if (status != ACADOS_SUCCESS) { - printf("\nocp_nlp_precompute failed!\n\n"); - exit(1); - } - - return status; -} - - -int lat_acados_create_with_discretization(lat_solver_capsule* capsule, int N, double* new_time_steps) -{ - // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given. - if (N != LAT_N && !new_time_steps) { - fprintf(stderr, "lat_acados_create_with_discretization: new_time_steps is NULL " \ - "but the number of shooting intervals (= %d) differs from the number of " \ - "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \ - N, LAT_N); - return 1; - } - - // number of expected runtime parameters - capsule->nlp_np = NP; - - // 1) create and set nlp_solver_plan; create nlp_config - capsule->nlp_solver_plan = ocp_nlp_plan_create(N); - lat_acados_create_1_set_plan(capsule->nlp_solver_plan, N); - capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan); - - // 3) create and set dimensions - capsule->nlp_dims = lat_acados_create_2_create_and_set_dimensions(capsule); - lat_acados_create_3_create_and_set_functions(capsule); - - // 4) set default parameters in functions - lat_acados_create_4_set_default_parameters(capsule); - - // 5) create and set nlp_in - capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims); - lat_acados_create_5_set_nlp_in(capsule, N, new_time_steps); - - // 6) create and set nlp_opts - capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims); - lat_acados_create_6_set_opts(capsule); - - // 7) create and set nlp_out - // 7.1) nlp_out - capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); - // 7.2) sens_out - capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); - lat_acados_create_7_set_nlp_out(capsule); - - // 8) create solver - capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); - //lat_acados_create_8_create_solver(capsule); - - // 9) do precomputations - int status = lat_acados_create_9_precompute(capsule); - return status; -} - -/** - * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export. - */ -int lat_acados_update_qp_solver_cond_N(lat_solver_capsule* capsule, int qp_solver_cond_N) -{ - // 1) destroy solver - ocp_nlp_solver_destroy(capsule->nlp_solver); - - // 2) set new value for "qp_cond_N" - const int N = capsule->nlp_solver_plan->N; - if(qp_solver_cond_N > N) - printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N); - ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N); - - // 3) continue with the remaining steps from lat_acados_create_with_discretization(...): - // -> 8) create solver - capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); - - // -> 9) do precomputations - int status = lat_acados_create_9_precompute(capsule); - return status; -} - - -int lat_acados_reset(lat_solver_capsule* capsule) -{ - - // set initialization to all zeros - - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - ocp_nlp_out* nlp_out = capsule->nlp_out; - ocp_nlp_in* nlp_in = capsule->nlp_in; - ocp_nlp_solver* nlp_solver = capsule->nlp_solver; - - int nx, nu, nv, ns, nz, ni, dim; - - double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double)); - - for(int i=0; i reset memory - int qp_status; - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status); - if (qp_status == 3) - { - // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status); - ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out); - } - - free(buffer); - return 0; -} - - - - -int lat_acados_update_params(lat_solver_capsule* capsule, int stage, double *p, int np) -{ - int solver_status = 0; - - int casadi_np = 2; - if (casadi_np != np) { - printf("acados_update_params: trying to set %i parameters for external functions." - " External function has %i parameters. Exiting.\n", np, casadi_np); - exit(1); - } - const int N = capsule->nlp_solver_plan->N; - if (stage < N && stage >= 0) - { - capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p); - capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p); - - - // constraints - - - // cost - if (stage == 0) - { - capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p); - capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p); - capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p); - } - else // 0 < stage < N - { - capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p); - capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p); - capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p); - } - } - - else // stage == N - { - // terminal shooting node has no dynamics - // cost - capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p); - capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p); - capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p); - // constraints - - } - - - return solver_status; -} - - - -int lat_acados_solve(lat_solver_capsule* capsule) -{ - // solve NLP - int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); - - return solver_status; -} - - -int lat_acados_free(lat_solver_capsule* capsule) -{ - // before destroying, keep some info - const int N = capsule->nlp_solver_plan->N; - // free memory - ocp_nlp_solver_opts_destroy(capsule->nlp_opts); - ocp_nlp_in_destroy(capsule->nlp_in); - ocp_nlp_out_destroy(capsule->nlp_out); - ocp_nlp_out_destroy(capsule->sens_out); - ocp_nlp_solver_destroy(capsule->nlp_solver); - ocp_nlp_dims_destroy(capsule->nlp_dims); - ocp_nlp_config_destroy(capsule->nlp_config); - ocp_nlp_plan_destroy(capsule->nlp_solver_plan); - - /* free external function */ - // dynamics - for (int i = 0; i < N; i++) - { - external_function_param_casadi_free(&capsule->forw_vde_casadi[i]); - external_function_param_casadi_free(&capsule->expl_ode_fun[i]); - } - free(capsule->forw_vde_casadi); - free(capsule->expl_ode_fun); - - // cost - external_function_param_casadi_free(&capsule->cost_y_0_fun); - external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt); - external_function_param_casadi_free(&capsule->cost_y_0_hess); - for (int i = 0; i < N - 1; i++) - { - external_function_param_casadi_free(&capsule->cost_y_fun[i]); - external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]); - external_function_param_casadi_free(&capsule->cost_y_hess[i]); - } - free(capsule->cost_y_fun); - free(capsule->cost_y_fun_jac_ut_xt); - free(capsule->cost_y_hess); - external_function_param_casadi_free(&capsule->cost_y_e_fun); - external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt); - external_function_param_casadi_free(&capsule->cost_y_e_hess); - - // constraints - - return 0; -} - -ocp_nlp_in *lat_acados_get_nlp_in(lat_solver_capsule* capsule) { return capsule->nlp_in; } -ocp_nlp_out *lat_acados_get_nlp_out(lat_solver_capsule* capsule) { return capsule->nlp_out; } -ocp_nlp_out *lat_acados_get_sens_out(lat_solver_capsule* capsule) { return capsule->sens_out; } -ocp_nlp_solver *lat_acados_get_nlp_solver(lat_solver_capsule* capsule) { return capsule->nlp_solver; } -ocp_nlp_config *lat_acados_get_nlp_config(lat_solver_capsule* capsule) { return capsule->nlp_config; } -void *lat_acados_get_nlp_opts(lat_solver_capsule* capsule) { return capsule->nlp_opts; } -ocp_nlp_dims *lat_acados_get_nlp_dims(lat_solver_capsule* capsule) { return capsule->nlp_dims; } -ocp_nlp_plan_t *lat_acados_get_nlp_plan(lat_solver_capsule* capsule) { return capsule->nlp_solver_plan; } - - -void lat_acados_print_stats(lat_solver_capsule* capsule) -{ - int sqp_iter, stat_m, stat_n, tmp_int; - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter); - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n); - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m); - - - double stat[1200]; - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat); - - int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m; - printf("iter\tqp_stat\tqp_iter\n"); - for (int i = 0; i < nrow; i++) - { - for (int j = 0; j < stat_n + 1; j++) - { - tmp_int = (int) stat[i + j * nrow]; - printf("%d\t", tmp_int); - } - printf("\n"); - } -} - diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_sfunction_lat.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_sfunction_lat.c deleted file mode 100644 index 9294d2b70..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_sfunction_lat.c +++ /dev/null @@ -1,264 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -#define S_FUNCTION_NAME acados_solver_sfunction_lat -#define S_FUNCTION_LEVEL 2 - -#define MDL_START - -// acados -// #include "acados/utils/print.h" -#include "acados_c/sim_interface.h" -#include "acados_c/external_function_interface.h" - -// example specific -#include "lat_model/lat_model.h" -#include "acados_solver_lat.h" - -#include "simstruc.h" - -#define SAMPLINGTIME 0.009765625 - -static void mdlInitializeSizes (SimStruct *S) -{ - // specify the number of continuous and discrete states - ssSetNumContStates(S, 0); - ssSetNumDiscStates(S, 0);// specify the number of input ports - if ( !ssSetNumInputPorts(S, 8) ) - return; - - // specify the number of output ports - if ( !ssSetNumOutputPorts(S, 6) ) - return; - - // specify dimension information for the input ports - // lbx_0 - ssSetInputPortVectorDimension(S, 0, 4); - // ubx_0 - ssSetInputPortVectorDimension(S, 1, 4); - // parameters - ssSetInputPortVectorDimension(S, 2, (16+1) * 2); - // y_ref_0 - ssSetInputPortVectorDimension(S, 3, 5); - // y_ref - ssSetInputPortVectorDimension(S, 4, 75); - // y_ref_e - ssSetInputPortVectorDimension(S, 5, 3); - // lbx - ssSetInputPortVectorDimension(S, 6, 30); - // ubx - ssSetInputPortVectorDimension(S, 7, 30);/* specify dimension information for the OUTPUT ports */ - ssSetOutputPortVectorDimension(S, 0, 1 ); - ssSetOutputPortVectorDimension(S, 1, 1 ); - ssSetOutputPortVectorDimension(S, 2, 1 ); - ssSetOutputPortVectorDimension(S, 3, 4 ); // state at shooting node 1 - ssSetOutputPortVectorDimension(S, 4, 1); - ssSetOutputPortVectorDimension(S, 5, 1 ); - - // specify the direct feedthrough status - // should be set to 1 for all inputs used in mdlOutputs - ssSetInputPortDirectFeedThrough(S, 0, 1); - ssSetInputPortDirectFeedThrough(S, 1, 1); - ssSetInputPortDirectFeedThrough(S, 2, 1); - ssSetInputPortDirectFeedThrough(S, 3, 1); - ssSetInputPortDirectFeedThrough(S, 4, 1); - ssSetInputPortDirectFeedThrough(S, 5, 1); - ssSetInputPortDirectFeedThrough(S, 6, 1); - ssSetInputPortDirectFeedThrough(S, 7, 1); - - // one sample time - ssSetNumSampleTimes(S, 1); -} - - -#if defined(MATLAB_MEX_FILE) - -#define MDL_SET_INPUT_PORT_DIMENSION_INFO -#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO - -static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) -{ - if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) ) - return; -} - -static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) -{ - if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) ) - return; -} - -#endif /* MATLAB_MEX_FILE */ - - -static void mdlInitializeSampleTimes(SimStruct *S) -{ - ssSetSampleTime(S, 0, SAMPLINGTIME); - ssSetOffsetTime(S, 0, 0.0); -} - - -static void mdlStart(SimStruct *S) -{ - lat_solver_capsule *capsule = lat_acados_create_capsule(); - lat_acados_create(capsule); - - ssSetUserData(S, (void*)capsule); -} - - -static void mdlOutputs(SimStruct *S, int_T tid) -{ - lat_solver_capsule *capsule = ssGetUserData(S); - ocp_nlp_config *nlp_config = lat_acados_get_nlp_config(capsule); - ocp_nlp_dims *nlp_dims = lat_acados_get_nlp_dims(capsule); - ocp_nlp_in *nlp_in = lat_acados_get_nlp_in(capsule); - ocp_nlp_out *nlp_out = lat_acados_get_nlp_out(capsule); - - InputRealPtrsType in_sign; - - // local buffer - real_t buffer[5]; - - /* go through inputs */ - // lbx_0 - in_sign = ssGetInputPortRealSignalPtrs(S, 0); - for (int i = 0; i < 4; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", buffer); - // ubx_0 - in_sign = ssGetInputPortRealSignalPtrs(S, 1); - for (int i = 0; i < 4; i++) - buffer[i] = (double)(*in_sign[i]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer); - // parameters - stage-variant !!! - in_sign = ssGetInputPortRealSignalPtrs(S, 2); - - // update value of parameters - for (int ii = 0; ii <= 16; ii++) - { - for (int jj = 0; jj < 2; jj++) - buffer[jj] = (double)(*in_sign[ii*2+jj]); - lat_acados_update_params(capsule, ii, buffer, 2); - } - - - // y_ref_0 - in_sign = ssGetInputPortRealSignalPtrs(S, 3); - - for (int i = 0; i < 5; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", (void *) buffer); - - - // y_ref - for stages 1 to N-1 - in_sign = ssGetInputPortRealSignalPtrs(S, 4); - - for (int ii = 1; ii < 16; ii++) - { - for (int jj = 0; jj < 5; jj++) - buffer[jj] = (double)(*in_sign[(ii-1)*5+jj]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "yref", (void *) buffer); - } - - - // y_ref_e - in_sign = ssGetInputPortRealSignalPtrs(S, 5); - - for (int i = 0; i < 3; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 16, "yref", (void *) buffer); - // lbx - in_sign = ssGetInputPortRealSignalPtrs(S, 6); - for (int ii = 1; ii < 16; ii++) - { - for (int jj = 0; jj < 2; jj++) - buffer[jj] = (double)(*in_sign[(ii-1)*2+jj]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbx", (void *) buffer); - } - // ubx - in_sign = ssGetInputPortRealSignalPtrs(S, 7); - for (int ii = 1; ii < 16; ii++) - { - for (int jj = 0; jj < 2; jj++) - buffer[jj] = (double)(*in_sign[(ii-1)*2+jj]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubx", (void *) buffer); - } - - /* call solver */ - int rti_phase = 0; - ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "rti_phase", &rti_phase); - int acados_status = lat_acados_solve(capsule); - - - /* set outputs */ - // assign pointers to output signals - real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin; - int tmp_int; - out_u0 = ssGetOutputPortRealSignal(S, 0); - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "u", (void *) out_u0); - - - out_status = ssGetOutputPortRealSignal(S, 1); - *out_status = (real_t) acados_status; - out_KKT_res = ssGetOutputPortRealSignal(S, 2); - *out_KKT_res = (real_t) nlp_out->inf_norm_res; - out_x1 = ssGetOutputPortRealSignal(S, 3); - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 1, "x", (void *) out_x1); - out_cpu_time = ssGetOutputPortRealSignal(S, 4); - // get solution time - ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time); - out_sqp_iter = ssGetOutputPortRealSignal(S, 5); - // get sqp iter - ocp_nlp_get(nlp_config, capsule->nlp_solver, "sqp_iter", (void *) &tmp_int); - *out_sqp_iter = (real_t) tmp_int; - -} - -static void mdlTerminate(SimStruct *S) -{ - lat_solver_capsule *capsule = ssGetUserData(S); - - lat_acados_free(capsule); - lat_acados_free_capsule(capsule); -} - - -#ifdef MATLAB_MEX_FILE -#include "simulink.c" -#else -#include "cg_sfun.h" -#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c deleted file mode 100644 index 2bf2faf49..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c +++ /dev/null @@ -1,158 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_0_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; - -/* lat_cost_y_0_fun:(i0[4],i1,i2[2])->(o0[5]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=10.; - a1=(a0+a1); - a2=arg[0]? arg[0][2] : 0; - a2=(a1*a2); - if (res[0]!=0) res[0][1]=a2; - a2=arg[0]? arg[0][3] : 0; - a2=(a1*a2); - if (res[0]!=0) res[0][2]=a2; - a2=arg[1]? arg[1][0] : 0; - a1=(a1*a2); - if (res[0]!=0) res[0][3]=a1; - a1=1.0000000000000001e-01; - a0=(a0+a1); - a2=(a2/a0); - if (res[0]!=0) res[0][4]=a2; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_0_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c deleted file mode 100644 index 710eebe83..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c +++ /dev/null @@ -1,169 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_0_fun_jac_ut_xt_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; -static const casadi_int casadi_s4[13] = {5, 5, 0, 1, 2, 3, 4, 5, 2, 3, 4, 0, 0}; - -/* lat_cost_y_0_fun_jac_ut_xt:(i0[4],i1,i2[2])->(o0[5],o1[5x5,5nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=10.; - a1=(a0+a1); - a2=arg[0]? arg[0][2] : 0; - a2=(a1*a2); - if (res[0]!=0) res[0][1]=a2; - a2=arg[0]? arg[0][3] : 0; - a2=(a1*a2); - if (res[0]!=0) res[0][2]=a2; - a2=arg[1]? arg[1][0] : 0; - a3=(a1*a2); - if (res[0]!=0) res[0][3]=a3; - a3=1.0000000000000001e-01; - a0=(a0+a3); - a2=(a2/a0); - if (res[0]!=0) res[0][4]=a2; - a2=1.; - if (res[1]!=0) res[1][0]=a2; - if (res[1]!=0) res[1][1]=a1; - if (res[1]!=0) res[1][2]=a1; - if (res[1]!=0) res[1][3]=a1; - a0=(1./a0); - if (res[1]!=0) res[1][4]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_jac_ut_xt_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_jac_ut_xt_n_out(void) { return 2;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_0_fun_jac_ut_xt_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_jac_ut_xt_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_jac_ut_xt_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_jac_ut_xt_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_jac_ut_xt_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - case 1: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 2; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c deleted file mode 100644 index 15fdde7aa..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c +++ /dev/null @@ -1,143 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_0_hess_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; -static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s4[8] = {5, 5, 0, 0, 0, 0, 0, 0}; - -/* lat_cost_y_0_hess:(i0[4],i1,i2[5],i3[2])->(o0[5x5,0nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_hess_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_hess_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_0_hess_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_hess_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_hess_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_hess_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - case 3: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_hess_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c deleted file mode 100644 index 8008ef704..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c +++ /dev/null @@ -1,151 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_e_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[3] = {0, 0, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[7] = {3, 1, 0, 3, 0, 1, 2}; - -/* lat_cost_y_e_fun:(i0[4],i1[],i2[2])->(o0[3]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=10.; - a0=(a0+a1); - a1=arg[0]? arg[0][2] : 0; - a1=(a0*a1); - if (res[0]!=0) res[0][1]=a1; - a1=arg[0]? arg[0][3] : 0; - a0=(a0*a1); - if (res[0]!=0) res[0][2]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_e_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c deleted file mode 100644 index 28b8c574f..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c +++ /dev/null @@ -1,159 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_e_fun_jac_ut_xt_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[3] = {0, 0, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s4[9] = {4, 3, 0, 1, 2, 3, 1, 2, 3}; - -/* lat_cost_y_e_fun_jac_ut_xt:(i0[4],i1[],i2[2])->(o0[3],o1[4x3,3nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=10.; - a0=(a0+a1); - a1=arg[0]? arg[0][2] : 0; - a1=(a0*a1); - if (res[0]!=0) res[0][1]=a1; - a1=arg[0]? arg[0][3] : 0; - a1=(a0*a1); - if (res[0]!=0) res[0][2]=a1; - a1=1.; - if (res[1]!=0) res[1][0]=a1; - if (res[1]!=0) res[1][1]=a0; - if (res[1]!=0) res[1][2]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_jac_ut_xt_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_jac_ut_xt_n_out(void) { return 2;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_e_fun_jac_ut_xt_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_jac_ut_xt_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_jac_ut_xt_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_jac_ut_xt_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_jac_ut_xt_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - case 1: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 2; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c deleted file mode 100644 index 03230bfc7..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c +++ /dev/null @@ -1,143 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_e_hess_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[3] = {0, 0, 0}; -static const casadi_int casadi_s2[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s4[7] = {4, 4, 0, 0, 0, 0, 0}; - -/* lat_cost_y_e_hess:(i0[4],i1[],i2[3],i3[2])->(o0[4x4,0nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_hess_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_hess_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_e_hess_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_hess_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_hess_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_hess_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - case 3: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_hess_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c deleted file mode 100644 index 93075455a..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c +++ /dev/null @@ -1,158 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; - -/* lat_cost_y_fun:(i0[4],i1,i2[2])->(o0[5]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=10.; - a1=(a0+a1); - a2=arg[0]? arg[0][2] : 0; - a2=(a1*a2); - if (res[0]!=0) res[0][1]=a2; - a2=arg[0]? arg[0][3] : 0; - a2=(a1*a2); - if (res[0]!=0) res[0][2]=a2; - a2=arg[1]? arg[1][0] : 0; - a1=(a1*a2); - if (res[0]!=0) res[0][3]=a1; - a1=1.0000000000000001e-01; - a0=(a0+a1); - a2=(a2/a0); - if (res[0]!=0) res[0][4]=a2; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c deleted file mode 100644 index dc220bd46..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c +++ /dev/null @@ -1,169 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_fun_jac_ut_xt_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; -static const casadi_int casadi_s4[13] = {5, 5, 0, 1, 2, 3, 4, 5, 2, 3, 4, 0, 0}; - -/* lat_cost_y_fun_jac_ut_xt:(i0[4],i1,i2[2])->(o0[5],o1[5x5,5nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=10.; - a1=(a0+a1); - a2=arg[0]? arg[0][2] : 0; - a2=(a1*a2); - if (res[0]!=0) res[0][1]=a2; - a2=arg[0]? arg[0][3] : 0; - a2=(a1*a2); - if (res[0]!=0) res[0][2]=a2; - a2=arg[1]? arg[1][0] : 0; - a3=(a1*a2); - if (res[0]!=0) res[0][3]=a3; - a3=1.0000000000000001e-01; - a0=(a0+a3); - a2=(a2/a0); - if (res[0]!=0) res[0][4]=a2; - a2=1.; - if (res[1]!=0) res[1][0]=a2; - if (res[1]!=0) res[1][1]=a1; - if (res[1]!=0) res[1][2]=a1; - if (res[1]!=0) res[1][3]=a1; - a0=(1./a0); - if (res[1]!=0) res[1][4]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_jac_ut_xt_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_jac_ut_xt_n_out(void) { return 2;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_fun_jac_ut_xt_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_jac_ut_xt_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_jac_ut_xt_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_jac_ut_xt_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_jac_ut_xt_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - case 1: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 2; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c deleted file mode 100644 index 014cdd2e9..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c +++ /dev/null @@ -1,143 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_hess_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; -static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s4[8] = {5, 5, 0, 0, 0, 0, 0, 0}; - -/* lat_cost_y_hess:(i0[4],i1,i2[5],i3[2])->(o0[5x5,0nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_hess_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_hess_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_hess_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_hess_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_hess_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_hess_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_hess_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_hess_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_hess_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_hess_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_hess_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_hess_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_hess_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - case 3: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_hess_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c deleted file mode 100644 index 68c60a081..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c +++ /dev/null @@ -1,159 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_expl_ode_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; - -/* lat_expl_ode_fun:(i0[4],i1,i2[2])->(o0[4]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3, a4, a5; - a0=arg[2]? arg[2][0] : 0; - a1=arg[0]? arg[0][2] : 0; - a2=cos(a1); - a2=(a0*a2); - a3=arg[2]? arg[2][1] : 0; - a4=sin(a1); - a4=(a3*a4); - a5=arg[0]? arg[0][3] : 0; - a4=(a4*a5); - a2=(a2-a4); - if (res[0]!=0) res[0][0]=a2; - a2=sin(a1); - a0=(a0*a2); - a1=cos(a1); - a3=(a3*a1); - a3=(a3*a5); - a0=(a0+a3); - if (res[0]!=0) res[0][1]=a0; - if (res[0]!=0) res[0][2]=a5; - a5=arg[1]? arg[1][0] : 0; - if (res[0]!=0) res[0][3]=a5; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_ode_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_ode_fun_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_ode_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_expl_ode_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_ode_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_ode_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_ode_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_ode_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_adj.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_adj.c deleted file mode 100644 index c5e16ed68..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_adj.c +++ /dev/null @@ -1,181 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_expl_vde_adj_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; - -/* lat_expl_vde_adj:(i0[4],i1[4],i2,i3[2])->(o0[5]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3, a4, a5, a6, a7; - a0=0.; - if (res[0]!=0) res[0][0]=a0; - if (res[0]!=0) res[0][1]=a0; - a0=arg[0]? arg[0][2] : 0; - a1=cos(a0); - a2=arg[3]? arg[3][0] : 0; - a3=arg[1]? arg[1][1] : 0; - a4=(a2*a3); - a1=(a1*a4); - a4=sin(a0); - a5=arg[3]? arg[3][1] : 0; - a6=arg[0]? arg[0][3] : 0; - a7=(a6*a3); - a7=(a5*a7); - a4=(a4*a7); - a1=(a1-a4); - a4=cos(a0); - a7=arg[1]? arg[1][0] : 0; - a6=(a6*a7); - a6=(a5*a6); - a4=(a4*a6); - a1=(a1-a4); - a4=sin(a0); - a2=(a2*a7); - a4=(a4*a2); - a1=(a1-a4); - if (res[0]!=0) res[0][2]=a1; - a1=arg[1]? arg[1][2] : 0; - a4=cos(a0); - a4=(a5*a4); - a4=(a4*a3); - a1=(a1+a4); - a0=sin(a0); - a5=(a5*a0); - a5=(a5*a7); - a1=(a1-a5); - if (res[0]!=0) res[0][3]=a1; - a1=arg[1]? arg[1][3] : 0; - if (res[0]!=0) res[0][4]=a1; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_adj(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_adj_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_adj_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_expl_vde_adj_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_vde_adj_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_vde_adj_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_adj_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s0; - case 2: return casadi_s1; - case 3: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_adj_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c deleted file mode 100644 index af5992d3e..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c +++ /dev/null @@ -1,294 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_expl_vde_forw_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[23] = {4, 4, 0, 4, 8, 12, 16, 0, 1, 2, 3, 0, 1, 2, 3, 0, 1, 2, 3, 0, 1, 2, 3}; -static const casadi_int casadi_s2[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; - -/* lat_expl_vde_forw:(i0[4],i1[4x4],i2[4],i3,i4[2])->(o0[4],o1[4x4],o2[4]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a10, a11, a12, a13, a14, a15, a2, a3, a4, a5, a6, a7, a8, a9; - a0=arg[4]? arg[4][0] : 0; - a1=arg[0]? arg[0][2] : 0; - a2=cos(a1); - a2=(a0*a2); - a3=arg[4]? arg[4][1] : 0; - a4=sin(a1); - a4=(a3*a4); - a5=arg[0]? arg[0][3] : 0; - a6=(a4*a5); - a2=(a2-a6); - if (res[0]!=0) res[0][0]=a2; - a2=sin(a1); - a2=(a0*a2); - a6=cos(a1); - a6=(a3*a6); - a7=(a6*a5); - a2=(a2+a7); - if (res[0]!=0) res[0][1]=a2; - if (res[0]!=0) res[0][2]=a5; - a2=arg[3]? arg[3][0] : 0; - if (res[0]!=0) res[0][3]=a2; - a2=sin(a1); - a7=arg[1]? arg[1][2] : 0; - a8=(a2*a7); - a8=(a0*a8); - a9=cos(a1); - a10=(a9*a7); - a10=(a3*a10); - a10=(a5*a10); - a11=arg[1]? arg[1][3] : 0; - a12=(a4*a11); - a10=(a10+a12); - a8=(a8+a10); - a8=(-a8); - if (res[1]!=0) res[1][0]=a8; - a8=cos(a1); - a10=(a8*a7); - a10=(a0*a10); - a12=(a6*a11); - a13=sin(a1); - a7=(a13*a7); - a7=(a3*a7); - a7=(a5*a7); - a12=(a12-a7); - a10=(a10+a12); - if (res[1]!=0) res[1][1]=a10; - if (res[1]!=0) res[1][2]=a11; - a11=0.; - if (res[1]!=0) res[1][3]=a11; - a10=arg[1]? arg[1][6] : 0; - a12=(a2*a10); - a12=(a0*a12); - a7=(a9*a10); - a7=(a3*a7); - a7=(a5*a7); - a14=arg[1]? arg[1][7] : 0; - a15=(a4*a14); - a7=(a7+a15); - a12=(a12+a7); - a12=(-a12); - if (res[1]!=0) res[1][4]=a12; - a12=(a8*a10); - a12=(a0*a12); - a7=(a6*a14); - a10=(a13*a10); - a10=(a3*a10); - a10=(a5*a10); - a7=(a7-a10); - a12=(a12+a7); - if (res[1]!=0) res[1][5]=a12; - if (res[1]!=0) res[1][6]=a14; - if (res[1]!=0) res[1][7]=a11; - a14=arg[1]? arg[1][10] : 0; - a12=(a2*a14); - a12=(a0*a12); - a7=(a9*a14); - a7=(a3*a7); - a7=(a5*a7); - a10=arg[1]? arg[1][11] : 0; - a15=(a4*a10); - a7=(a7+a15); - a12=(a12+a7); - a12=(-a12); - if (res[1]!=0) res[1][8]=a12; - a12=(a8*a14); - a12=(a0*a12); - a7=(a6*a10); - a14=(a13*a14); - a14=(a3*a14); - a14=(a5*a14); - a7=(a7-a14); - a12=(a12+a7); - if (res[1]!=0) res[1][9]=a12; - if (res[1]!=0) res[1][10]=a10; - if (res[1]!=0) res[1][11]=a11; - a10=arg[1]? arg[1][14] : 0; - a2=(a2*a10); - a2=(a0*a2); - a9=(a9*a10); - a9=(a3*a9); - a9=(a5*a9); - a12=arg[1]? arg[1][15] : 0; - a7=(a4*a12); - a9=(a9+a7); - a2=(a2+a9); - a2=(-a2); - if (res[1]!=0) res[1][12]=a2; - a8=(a8*a10); - a8=(a0*a8); - a2=(a6*a12); - a13=(a13*a10); - a13=(a3*a13); - a13=(a5*a13); - a2=(a2-a13); - a8=(a8+a2); - if (res[1]!=0) res[1][13]=a8; - if (res[1]!=0) res[1][14]=a12; - if (res[1]!=0) res[1][15]=a11; - a11=sin(a1); - a12=arg[2]? arg[2][2] : 0; - a11=(a11*a12); - a11=(a0*a11); - a8=cos(a1); - a8=(a8*a12); - a8=(a3*a8); - a8=(a5*a8); - a2=arg[2]? arg[2][3] : 0; - a4=(a4*a2); - a8=(a8+a4); - a11=(a11+a8); - a11=(-a11); - if (res[2]!=0) res[2][0]=a11; - a11=cos(a1); - a11=(a11*a12); - a0=(a0*a11); - a6=(a6*a2); - a1=sin(a1); - a1=(a1*a12); - a3=(a3*a1); - a5=(a5*a3); - a6=(a6-a5); - a0=(a0+a6); - if (res[2]!=0) res[2][1]=a0; - if (res[2]!=0) res[2][2]=a2; - a2=1.; - if (res[2]!=0) res[2][3]=a2; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_forw(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_forw_n_in(void) { return 5;} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_forw_n_out(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_real lat_expl_vde_forw_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_vde_forw_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - case 4: return "i4"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_vde_forw_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - case 2: return "o2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_forw_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s0; - case 3: return casadi_s2; - case 4: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_forw_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s0; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 5; - if (sz_res) *sz_res = 3; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_lat.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_lat.c deleted file mode 100644 index 53809769a..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_lat.c +++ /dev/null @@ -1,216 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -// standard -#include -#include -// acados -#include "acados/utils/print.h" -#include "acados/utils/math.h" -#include "acados_c/ocp_nlp_interface.h" -#include "acados_c/external_function_interface.h" -#include "acados_solver_lat.h" - -#define NX LAT_NX -#define NZ LAT_NZ -#define NU LAT_NU -#define NP LAT_NP -#define NBX LAT_NBX -#define NBX0 LAT_NBX0 -#define NBU LAT_NBU -#define NSBX LAT_NSBX -#define NSBU LAT_NSBU -#define NSH LAT_NSH -#define NSG LAT_NSG -#define NSPHI LAT_NSPHI -#define NSHN LAT_NSHN -#define NSGN LAT_NSGN -#define NSPHIN LAT_NSPHIN -#define NSBXN LAT_NSBXN -#define NS LAT_NS -#define NSN LAT_NSN -#define NG LAT_NG -#define NBXN LAT_NBXN -#define NGN LAT_NGN -#define NY0 LAT_NY0 -#define NY LAT_NY -#define NYN LAT_NYN -#define NH LAT_NH -#define NPHI LAT_NPHI -#define NHN LAT_NHN -#define NPHIN LAT_NPHIN -#define NR LAT_NR - - -int main() -{ - - lat_solver_capsule *acados_ocp_capsule = lat_acados_create_capsule(); - // there is an opportunity to change the number of shooting intervals in C without new code generation - int N = LAT_N; - // allocate the array and fill it accordingly - double* new_time_steps = NULL; - int status = lat_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps); - - if (status) - { - printf("lat_acados_create() returned status %d. Exiting.\n", status); - exit(1); - } - - ocp_nlp_config *nlp_config = lat_acados_get_nlp_config(acados_ocp_capsule); - ocp_nlp_dims *nlp_dims = lat_acados_get_nlp_dims(acados_ocp_capsule); - ocp_nlp_in *nlp_in = lat_acados_get_nlp_in(acados_ocp_capsule); - ocp_nlp_out *nlp_out = lat_acados_get_nlp_out(acados_ocp_capsule); - ocp_nlp_solver *nlp_solver = lat_acados_get_nlp_solver(acados_ocp_capsule); - void *nlp_opts = lat_acados_get_nlp_opts(acados_ocp_capsule); - - // initial condition - int idxbx0[NBX0]; - idxbx0[0] = 0; - idxbx0[1] = 1; - idxbx0[2] = 2; - idxbx0[3] = 3; - - double lbx0[NBX0]; - double ubx0[NBX0]; - lbx0[0] = 0; - ubx0[0] = 0; - lbx0[1] = 0; - ubx0[1] = 0; - lbx0[2] = 0; - ubx0[2] = 0; - lbx0[3] = 0; - ubx0[3] = 0; - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); - - // initialization for state values - double x_init[NX]; - x_init[0] = 0.0; - x_init[1] = 0.0; - x_init[2] = 0.0; - x_init[3] = 0.0; - - // initial value for control input - double u0[NU]; - u0[0] = 0.0; - // set parameters - double p[NP]; - p[0] = 0; - p[1] = 0; - - for (int ii = 0; ii <= N; ii++) - { - lat_acados_update_params(acados_ocp_capsule, ii, p, NP); - } - - - // prepare evaluation - int NTIMINGS = 1; - double min_time = 1e12; - double kkt_norm_inf; - double elapsed_time; - int sqp_iter; - - double xtraj[NX * (N+1)]; - double utraj[NU * N]; - - - // solve ocp in loop - int rti_phase = 0; - - for (int ii = 0; ii < NTIMINGS; ii++) - { - // initialize solution - for (int i = 0; i < N; i++) - { - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init); - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); - } - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init); - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase); - status = lat_acados_solve(acados_ocp_capsule); - ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time); - min_time = MIN(elapsed_time, min_time); - } - - /* print solution and statistics */ - for (int ii = 0; ii <= nlp_dims->N; ii++) - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]); - for (int ii = 0; ii < nlp_dims->N; ii++) - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]); - - printf("\n--- xtraj ---\n"); - d_print_exp_tran_mat( NX, N+1, xtraj, NX); - printf("\n--- utraj ---\n"); - d_print_exp_tran_mat( NU, N, utraj, NU ); - // ocp_nlp_out_print(nlp_solver->dims, nlp_out); - - printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS); - - if (status == ACADOS_SUCCESS) - { - printf("lat_acados_solve(): SUCCESS!\n"); - } - else - { - printf("lat_acados_solve() failed with status %d.\n", status); - } - - // get solution - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf); - ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter); - - lat_acados_print_stats(acados_ocp_capsule); - - printf("\nSolver info:\n"); - printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n", - sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf); - - // free solver - status = lat_acados_free(acados_ocp_capsule); - if (status) { - printf("lat_acados_free() returned status %d. \n", status); - } - // free solver capsule - status = lat_acados_free_capsule(acados_ocp_capsule); - if (status) { - printf("lat_acados_free_capsule() returned status %d. \n", status); - } - - return status; -} diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c deleted file mode 100644 index c536654fd..000000000 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c +++ /dev/null @@ -1,128 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -// standard -#include -#include -// acados -#include "acados/utils/print.h" -#include "acados/utils/math.h" -#include "acados_c/sim_interface.h" -#include "acados_sim_solver_lat.h" - -#define NX LAT_NX -#define NZ LAT_NZ -#define NU LAT_NU -#define NP LAT_NP - - -int main() -{ - int status = 0; - sim_solver_capsule *capsule = lat_acados_sim_solver_create_capsule(); - status = lat_acados_sim_create(capsule); - - if (status) - { - printf("acados_create() returned status %d. Exiting.\n", status); - exit(1); - } - - sim_config *acados_sim_config = lat_acados_get_sim_config(capsule); - sim_in *acados_sim_in = lat_acados_get_sim_in(capsule); - sim_out *acados_sim_out = lat_acados_get_sim_out(capsule); - void *acados_sim_dims = lat_acados_get_sim_dims(capsule); - - // initial condition - double x_current[NX]; - x_current[0] = 0.0; - x_current[1] = 0.0; - x_current[2] = 0.0; - x_current[3] = 0.0; - - - x_current[0] = 0; - x_current[1] = 0; - x_current[2] = 0; - x_current[3] = 0; - - - - - // initial value for control input - double u0[NU]; - u0[0] = 0.0; - // set parameters - double p[NP]; - p[0] = 0; - p[1] = 0; - - lat_acados_sim_update_params(capsule, p, NP); - - - int n_sim_steps = 3; - // solve ocp in loop - for (int ii = 0; ii < n_sim_steps; ii++) - { - sim_in_set(acados_sim_config, acados_sim_dims, - acados_sim_in, "x", x_current); - status = lat_acados_sim_solve(capsule); - - if (status != ACADOS_SUCCESS) - { - printf("acados_solve() failed with status %d.\n", status); - } - - sim_out_get(acados_sim_config, acados_sim_dims, - acados_sim_out, "x", x_current); - - printf("\nx_current, %d\n", ii); - for (int jj = 0; jj < NX; jj++) - { - printf("%e\n", x_current[jj]); - } - } - - printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps); - - // free solver - status = lat_acados_sim_free(capsule); - if (status) { - printf("lat_acados_sim_free() returned status %d. \n", status); - } - - lat_acados_sim_solver_free_capsule(capsule); - - return status; -} diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index ae85a957d..8218fcd70 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -5,7 +5,7 @@ import numpy as np from casadi import SX, vertcat, sin, cos from common.realtime import sec_since_boot # WARNING: imports outside of constants will not trigger a rebuild -from selfdrive.modeld.constants import T_IDXS +from selfdrive.legacy_modeld.constants import T_IDXS if __name__ == '__main__': # generating code from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver @@ -17,12 +17,12 @@ EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code") JSON_FILE = os.path.join(LAT_MPC_DIR, "acados_ocp_lat.json") X_DIM = 4 P_DIM = 2 -N = 16 COST_E_DIM = 3 COST_DIM = COST_E_DIM + 2 SPEED_OFFSET = 10.0 MODEL_NAME = 'lat' ACADOS_SOLVER_TYPE = 'SQP_RTI' +N = 16 def gen_lat_model(): model = AcadosModel() diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 2b1369cc9..61e0726fd 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -4,16 +4,17 @@ from common.numpy_fast import interp from system.swaglog import cloudlog from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N -from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_lane_laneless_mode +from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED from selfdrive.controls.lib.desire_helper import DesireHelper import cereal.messaging as messaging from cereal import log -from selfdrive.controls.lib.lane_planner import LanePlanner -from selfdrive.hardware import TICI -from common.params import Params +from selfdrive.hardware import EON TRAJECTORY_SIZE = 33 -CAMERA_OFFSET = 0.04 +if EON: + CAMERA_OFFSET = -0.06 +else: + CAMERA_OFFSET = 0.04 PATH_COST = 1.0 @@ -31,13 +32,6 @@ class LateralPlanner: def __init__(self, CP): self.DH = DesireHelper() - # dp - laneline mode - self.LP = LanePlanner(Params().get_bool('WideCameraOnly')) - self.dp_lanelines_enable = False - self.dp_lanelines_active = False - self.dp_camera_offset = 4 if TICI else -6 - self.dp_path_offset = 4 if TICI else 0 - # Vehicle model parameters used to calculate lateral movement of car self.factor1 = CP.wheelbase - CP.centerToFront self.factor2 = (CP.centerToFront * CP.mass) / (CP.wheelbase * CP.tireStiffnessRear) @@ -49,7 +43,6 @@ class LateralPlanner: self.plan_yaw_rate = np.zeros((TRAJECTORY_SIZE,)) self.t_idxs = np.arange(TRAJECTORY_SIZE) self.y_pts = np.zeros(TRAJECTORY_SIZE) - self.d_path_w_lines_xyz = np.zeros((TRAJECTORY_SIZE, 3)) self.lat_mpc = LateralMpc() self.reset_mpc(np.zeros(4)) @@ -62,14 +55,6 @@ class LateralPlanner: # clip speed , lateral planning is not possible at 0 speed self.v_ego = max(MIN_SPEED, sm['carState'].vEgo) measured_curvature = sm['controlsState'].curvature - if sm.updated['dragonConf']: - self.dp_lanelines_enable = sm['dragonConf'].dpLateralLanelines - self.dp_camera_offset = sm['dragonConf'].dpLateralCameraOffset - self.dp_path_offset = sm['dragonConf'].dpLateralPathOffset - if sm['controlsState'].dpLateralAltActive and sm['dragonConf'].dpLateralAltLanelines: - self.dp_lanelines_enable = True - self.dp_camera_offset = sm['dragonConf'].dpLateralAltCameraOffset - self.dp_path_offset = sm['dragonConf'].dpLateralAltPathOffset # Parse model predictions md = sm['modelV2'] @@ -79,22 +64,15 @@ class LateralPlanner: self.plan_yaw = np.array(md.orientation.z) self.plan_yaw_rate = np.array(md.orientationRate.z) - if self.dp_lanelines_enable: - # dp - when laneline mode enabled, we use old logic (including lane changing) - d_path_xyz = self.lanelines_mode(md, sm['carState'], sm['carControl'].latActive, sm['dragonConf']) - else: - self.dp_lanelines_active = False - # dp -- tab spacing begin (stock logic) -- - # Lane change logic - desire_state = md.meta.desireState - if len(desire_state): - self.l_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeLeft] - self.r_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeRight] - lane_change_prob = self.l_lane_change_prob + self.r_lane_change_prob - self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, sm['dragonConf'], md) + # Lane change logic + desire_state = md.meta.desireState + if len(desire_state): + self.l_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeLeft] + self.r_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeRight] + lane_change_prob = self.l_lane_change_prob + self.r_lane_change_prob + self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob) - d_path_xyz = self.path_xyz - # dp -- tab spacing end (stock logic) -- + d_path_xyz = self.path_xyz self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST, LATERAL_ACCEL_COST, LATERAL_JERK_COST, STEERING_RATE_COST) @@ -152,35 +130,8 @@ class LateralPlanner: lateralPlan.solverExecutionTime = self.lat_mpc.solve_time lateralPlan.desire = self.DH.desire - lateralPlan.useLaneLines = self.dp_lanelines_active + lateralPlan.useLaneLines = False lateralPlan.laneChangeState = self.DH.lane_change_state lateralPlan.laneChangeDirection = self.DH.lane_change_direction - plan_send.lateralPlan.dPathWLinesX = [float(x) for x in self.d_path_w_lines_xyz[:, 0]] - plan_send.lateralPlan.dPathWLinesY = [float(y) for y in self.d_path_w_lines_xyz[:, 1]] - pm.send('lateralPlan', plan_send) - - def lanelines_mode(self, md, car_state, lat_active, dragon_conf): - # update camera/path offset to lane planner - self.LP.update_dp_camera_offsets(self.dp_camera_offset, self.dp_path_offset) - # Parse model predictions - self.LP.parse_model(md) - - # Lane change logic - lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob - self.DH.update(car_state, lat_active, lane_change_prob, dragon_conf, md) - - # Turn off lanes during lane change - if self.DH.desire == log.LateralPlan.Desire.laneChangeRight or self.DH.desire == log.LateralPlan.Desire.laneChangeLeft: - self.LP.lll_prob *= self.DH.lane_change_ll_prob - self.LP.rll_prob *= self.DH.lane_change_ll_prob - - # dynamic laneline/laneless logic - self.dp_lanelines_active = get_lane_laneless_mode(self.LP.lll_prob, self.LP.rll_prob, self.dp_lanelines_active) - - # Calculate final driving path and set MPC costs - if self.dp_lanelines_active: - return self.LP.get_d_path(self.v_ego, self.t_idxs, self.path_xyz) - else: - return self.path_xyz diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/__init__.py b/selfdrive/controls/lib/legacy_lateral_mpc_lib/__init__.py similarity index 100% rename from selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/__init__.py rename to selfdrive/controls/lib/legacy_lateral_mpc_lib/__init__.py diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/Makefile b/selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/Makefile similarity index 98% rename from selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/Makefile rename to selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/Makefile index 364825760..70700fdf0 100644 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/Makefile +++ b/selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/Makefile @@ -142,7 +142,7 @@ ocp_cython_c: ocp_shared_lib -o acados_ocp_solver_pyx.c \ -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \ - -I /data/openpilot/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code \ + -I /data/openpilot/selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code \ ocp_cython_o: ocp_cython_c $(CC) $(ACADOS_FLAGS) -c -O2 \ diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so b/selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so similarity index 68% rename from selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so rename to selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so index 083d30b93..98c5b70d0 100755 Binary files a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so and b/selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so differ diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd b/selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/acados_solver.pxd similarity index 100% rename from selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd rename to selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/acados_solver.pxd diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.h b/selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/acados_solver_lat.h similarity index 100% rename from selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.h rename to selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/acados_solver_lat.h diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.h b/selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.h similarity index 100% rename from selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.h rename to selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.h diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.h b/selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.h similarity index 100% rename from selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.h rename to selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.h diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.h b/selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.h similarity index 100% rename from selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.h rename to selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.h diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_model.h b/selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/lat_model/lat_model.h similarity index 100% rename from selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_model.h rename to selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/lat_model/lat_model.h diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so b/selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so similarity index 62% rename from selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so rename to selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so index 1e7af65f2..70352128f 100755 Binary files a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so and b/selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so differ diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/legacy_lateral_mpc_lib/lat_mpc.py similarity index 94% rename from selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/lat_mpc.py rename to selfdrive/controls/lib/legacy_lateral_mpc_lib/lat_mpc.py index b674a29ff..b58a39bc2 100755 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/lat_mpc.py +++ b/selfdrive/controls/lib/legacy_lateral_mpc_lib/lat_mpc.py @@ -5,13 +5,12 @@ import numpy as np from casadi import SX, vertcat, sin, cos from common.realtime import sec_since_boot -from selfdrive.controls.lib.drive_helpers import LAT_MPC_N as N -from selfdrive.modeld.constants import T_IDXS +from selfdrive.legacy_modeld.constants import T_IDXS if __name__ == '__main__': # generating code from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver else: - from selfdrive.dragonpilot.controls_0816.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython # pylint: disable=no-name-in-module, import-error + from selfdrive.controls.lib.legacy_lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython # pylint: disable=no-name-in-module, import-error LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__)) EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code") @@ -20,6 +19,7 @@ X_DIM = 4 P_DIM = 2 MODEL_NAME = 'lat' ACADOS_SOLVER_TYPE = 'SQP_RTI' +N = 16 def gen_lat_model(): model = AcadosModel() diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_planner.py b/selfdrive/controls/lib/legacy_lateral_planner.py similarity index 71% rename from selfdrive/dragonpilot/controls_0816/lib/lateral_planner.py rename to selfdrive/controls/lib/legacy_lateral_planner.py index 5ffd68139..3aa3cbf62 100644 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_planner.py +++ b/selfdrive/controls/lib/legacy_lateral_planner.py @@ -1,20 +1,35 @@ +''' +This is the lateral_planner from 0.8.16 + +reason I keep this as a separate file is that Nuclear Grade model released during 0.8.15 / 0.8.16. +So it could handle better with old planners. + +Note 1: This may not work in newer version. + +''' + import numpy as np from common.realtime import sec_since_boot, DT_MDL from common.numpy_fast import interp from system.swaglog import cloudlog -from selfdrive.dragonpilot.controls_0816.lib.lateral_mpc_lib.lat_mpc import LateralMpc -from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N, get_lane_laneless_mode +from selfdrive.controls.lib.legacy_lateral_mpc_lib.lat_mpc import LateralMpc +from selfdrive.controls.lib.drive_helpers import CONTROL_N +from selfdrive.controls.lib.legacy_lateral_mpc_lib.lat_mpc import N as LAT_MPC_N from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE from selfdrive.controls.lib.desire_helper import DesireHelper import cereal.messaging as messaging from cereal import log -from system.hardware import TICI -from common.params import Params +class MPC_COST_LAT: + PATH = 1.0 + HEADING = 1.0 + STEER_RATE = 1.0 class LateralPlanner: def __init__(self, CP): - self.LP = LanePlanner(False if not TICI else Params().get_bool('WideCameraOnly')) + # rick - Change this to switch laneline / laneless mode + self.use_lanelines = False + self.LP = LanePlanner() self.DH = DesireHelper() # Vehicle model parameters used to calculate lateral movement of car @@ -24,21 +39,15 @@ class LateralPlanner: self.solution_invalid_cnt = 0 self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) + self.path_xyz_stds = np.ones((TRAJECTORY_SIZE, 3)) self.plan_yaw = np.zeros((TRAJECTORY_SIZE,)) self.plan_curv_rate = np.zeros((TRAJECTORY_SIZE,)) self.t_idxs = np.arange(TRAJECTORY_SIZE) self.y_pts = np.zeros(TRAJECTORY_SIZE) - self.d_path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) self.lat_mpc = LateralMpc() self.reset_mpc(np.zeros(4)) - # dp - self.dp_lanelines_enable = False - self.dp_lanelines_active = False - self.dp_camera_offset = 4 if TICI else -6 - self.dp_path_offset = 4 if TICI else 0 - def reset_mpc(self, x0=np.zeros(4)): self.x0 = x0 self.lat_mpc.reset(x0=self.x0) @@ -46,53 +55,37 @@ class LateralPlanner: def update(self, sm): v_ego = sm['carState'].vEgo measured_curvature = sm['controlsState'].curvature - if sm.updated['dragonConf']: - self.dp_lanelines_enable = sm['dragonConf'].dpLateralLanelines - self.dp_camera_offset = sm['dragonConf'].dpLateralCameraOffset - self.dp_path_offset = sm['dragonConf'].dpLateralPathOffset - if sm['controlsState'].dpLateralAltActive and sm['dragonConf'].dpLateralAltLanelines: - self.dp_lanelines_enable = True - self.dp_camera_offset = sm['dragonConf'].dpLateralAltCameraOffset - self.dp_path_offset = sm['dragonConf'].dpLateralAltPathOffset # Parse model predictions md = sm['modelV2'] - # update camera/path offset to lane planner - self.LP.update_dp_camera_offsets(self.dp_camera_offset, self.dp_path_offset) - # Parse model predictions self.LP.parse_model(md) if len(md.position.x) == TRAJECTORY_SIZE and len(md.orientation.x) == TRAJECTORY_SIZE: self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z]) self.t_idxs = np.array(md.position.t) self.plan_yaw = np.array(md.orientation.z) + if len(md.position.xStd) == TRAJECTORY_SIZE: + self.path_xyz_stds = np.column_stack([md.position.xStd, md.position.yStd, md.position.zStd]) # Lane change logic lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob - self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, sm['dragonConf'], md) + self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob) # Turn off lanes during lane change if self.DH.desire == log.LateralPlan.Desire.laneChangeRight or self.DH.desire == log.LateralPlan.Desire.laneChangeLeft: self.LP.lll_prob *= self.DH.lane_change_ll_prob self.LP.rll_prob *= self.DH.lane_change_ll_prob - # dynamic laneline/laneless logic - # decide if we want to use lanelines or laneless - if self.dp_lanelines_enable: - self.dp_lanelines_active = get_lane_laneless_mode(self.LP.lll_prob, self.LP.rll_prob, self.dp_lanelines_active) - else: - self.dp_lanelines_active = False - # Calculate final driving path and set MPC costs - if self.dp_lanelines_active: - self.d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz) + if self.use_lanelines: + d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz) self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, MPC_COST_LAT.STEER_RATE) else: - self.d_path_xyz = self.path_xyz + d_path_xyz = self.path_xyz # Heading cost is useful at low speed, otherwise end of plan can be off-heading heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.15]) self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, MPC_COST_LAT.STEER_RATE) - y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.d_path_xyz, axis=1), self.d_path_xyz[:, 1]) + y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1]) heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw) curv_rate_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_curv_rate) self.y_pts = y_pts @@ -135,20 +128,24 @@ class LateralPlanner: lateralPlan = plan_send.lateralPlan lateralPlan.modelMonoTime = sm.logMonoTime['modelV2'] + # rick - deprecated + # lateralPlan.laneWidth = float(self.LP.lane_width) lateralPlan.dPathPoints = self.y_pts.tolist() lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist() + lateralPlan.curvatures = self.lat_mpc.x_sol[0:CONTROL_N, 3].tolist() lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] + # rick - deprecated + # lateralPlan.lProb = float(self.LP.lll_prob) + # lateralPlan.rProb = float(self.LP.rll_prob) + # lateralPlan.dProb = float(self.LP.d_prob) lateralPlan.mpcSolutionValid = bool(plan_solution_valid) lateralPlan.solverExecutionTime = self.lat_mpc.solve_time lateralPlan.desire = self.DH.desire - lateralPlan.useLaneLines = self.dp_lanelines_active + lateralPlan.useLaneLines = False lateralPlan.laneChangeState = self.DH.lane_change_state lateralPlan.laneChangeDirection = self.DH.lane_change_direction - plan_send.lateralPlan.dPathWLinesX = [float(x) for x in self.d_path_xyz[:, 0]] - plan_send.lateralPlan.dPathWLinesY = [float(y) for y in self.d_path_xyz[:, 1]] - pm.send('lateralPlan', plan_send) diff --git a/selfdrive/dragonpilot/controls_0816/lib/__init__.py b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/__init__.py similarity index 100% rename from selfdrive/dragonpilot/controls_0816/lib/__init__.py rename to selfdrive/controls/lib/legacy_longitudinal_mpc_lib/__init__.py diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/Makefile b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/Makefile similarity index 82% rename from selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/Makefile rename to selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/Makefile index d9cd45b40..2cc5ba700 100644 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/Makefile +++ b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/Makefile @@ -39,35 +39,37 @@ # model MODEL_SRC= -MODEL_SRC+= lat_model/lat_expl_ode_fun.c -MODEL_SRC+= lat_model/lat_expl_vde_forw.c +MODEL_SRC+= long_model/long_expl_ode_fun.c +MODEL_SRC+= long_model/long_expl_vde_forw.c MODEL_OBJ := $(MODEL_SRC:.c=.o) # optimal control problem - mostly CasADi exports OCP_SRC= -OCP_SRC+= lat_cost/lat_cost_y_0_fun.c -OCP_SRC+= lat_cost/lat_cost_y_0_fun_jac_ut_xt.c -OCP_SRC+= lat_cost/lat_cost_y_0_hess.c -OCP_SRC+= lat_cost/lat_cost_y_fun.c -OCP_SRC+= lat_cost/lat_cost_y_fun_jac_ut_xt.c -OCP_SRC+= lat_cost/lat_cost_y_hess.c -OCP_SRC+= lat_cost/lat_cost_y_e_fun.c -OCP_SRC+= lat_cost/lat_cost_y_e_fun_jac_ut_xt.c -OCP_SRC+= lat_cost/lat_cost_y_e_hess.c -OCP_SRC+= acados_solver_lat.c +OCP_SRC+= long_constraints/long_constr_h_fun_jac_uxt_zt.c +OCP_SRC+= long_constraints/long_constr_h_fun.c +OCP_SRC+= long_cost/long_cost_y_0_fun.c +OCP_SRC+= long_cost/long_cost_y_0_fun_jac_ut_xt.c +OCP_SRC+= long_cost/long_cost_y_0_hess.c +OCP_SRC+= long_cost/long_cost_y_fun.c +OCP_SRC+= long_cost/long_cost_y_fun_jac_ut_xt.c +OCP_SRC+= long_cost/long_cost_y_hess.c +OCP_SRC+= long_cost/long_cost_y_e_fun.c +OCP_SRC+= long_cost/long_cost_y_e_fun_jac_ut_xt.c +OCP_SRC+= long_cost/long_cost_y_e_hess.c +OCP_SRC+= acados_solver_long.c OCP_OBJ := $(OCP_SRC:.c=.o) # for sim solver -SIM_SRC= acados_sim_solver_lat.c +SIM_SRC= acados_sim_solver_long.c SIM_OBJ := $(SIM_SRC:.c=.o) # for target example -EX_SRC= main_lat.c +EX_SRC= main_long.c EX_OBJ := $(EX_SRC:.c=.o) EX_EXE := $(EX_SRC:.c=) # for target example_sim -EX_SIM_SRC= main_sim_lat.c +EX_SIM_SRC= main_sim_long.c EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o) EX_SIM_EXE := $(EX_SIM_SRC:.c=) @@ -106,8 +108,8 @@ LDLIBS+= -lm LDLIBS+= # libraries -LIBACADOS_SOLVER=libacados_solver_lat.so -LIBACADOS_OCP_SOLVER=libacados_ocp_solver_lat.so +LIBACADOS_SOLVER=libacados_solver_long.so +LIBACADOS_OCP_SOLVER=libacados_ocp_solver_long.so LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so) # virtual targets @@ -142,7 +144,7 @@ ocp_cython_c: ocp_shared_lib -o acados_ocp_solver_pyx.c \ -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \ - -I /data/openpilot/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code \ + -I /data/openpilot/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code \ ocp_cython_o: ocp_cython_c $(CC) $(ACADOS_FLAGS) -c -O2 \ @@ -160,7 +162,7 @@ ocp_cython: ocp_cython_o -o acados_ocp_solver_pyx.so \ -Wl,-rpath=$(LIB_PATH) \ acados_ocp_solver_pyx.o \ - $(abspath .)/libacados_ocp_solver_lat.so \ + $(abspath .)/libacados_ocp_solver_long.so \ $(LDFLAGS) $(LDLIBS) clean: @@ -173,7 +175,7 @@ clean_ocp_shared_lib: $(RM) $(OCP_OBJ) clean_ocp_cython: - $(RM) libacados_ocp_solver_lat.so - $(RM) acados_solver_lat.o + $(RM) libacados_ocp_solver_long.so + $(RM) acados_solver_long.o $(RM) acados_ocp_solver_pyx.so $(RM) acados_ocp_solver_pyx.o diff --git a/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so new file mode 100755 index 000000000..6f02d57e1 Binary files /dev/null and b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so differ diff --git a/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/acados_solver.pxd b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/acados_solver.pxd new file mode 100644 index 000000000..b00b36583 --- /dev/null +++ b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/acados_solver.pxd @@ -0,0 +1,62 @@ +# +# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, +# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, +# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, +# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +cimport acados_solver_common + +cdef extern from "acados_solver_long.h": + ctypedef struct nlp_solver_capsule "long_solver_capsule": + pass + + nlp_solver_capsule * acados_create_capsule "long_acados_create_capsule"() + int acados_free_capsule "long_acados_free_capsule"(nlp_solver_capsule *capsule) + + int acados_create "long_acados_create"(nlp_solver_capsule * capsule) + + int acados_create_with_discretization "long_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps) + int acados_update_time_steps "long_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps) + int acados_update_qp_solver_cond_N "long_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N) + + int acados_update_params "long_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_) + int acados_solve "long_acados_solve"(nlp_solver_capsule * capsule) + int acados_reset "long_acados_reset"(nlp_solver_capsule * capsule) + int acados_free "long_acados_free"(nlp_solver_capsule * capsule) + void acados_print_stats "long_acados_print_stats"(nlp_solver_capsule * capsule) + + acados_solver_common.ocp_nlp_in *acados_get_nlp_in "long_acados_get_nlp_in"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_nlp_out "long_acados_get_nlp_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_sens_out "long_acados_get_sens_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "long_acados_get_nlp_solver"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_config *acados_get_nlp_config "long_acados_get_nlp_config"(nlp_solver_capsule * capsule) + void *acados_get_nlp_opts "long_acados_get_nlp_opts"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "long_acados_get_nlp_dims"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "long_acados_get_nlp_plan"(nlp_solver_capsule * capsule) diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.h b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/acados_solver_long.h similarity index 56% rename from selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.h rename to selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/acados_solver_long.h index 824df5467..1b07566e2 100644 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.h +++ b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/acados_solver_long.h @@ -31,51 +31,51 @@ * POSSIBILITY OF SUCH DAMAGE.; */ -#ifndef ACADOS_SOLVER_lat_H_ -#define ACADOS_SOLVER_lat_H_ +#ifndef ACADOS_SOLVER_long_H_ +#define ACADOS_SOLVER_long_H_ #include "acados/utils/types.h" #include "acados_c/ocp_nlp_interface.h" #include "acados_c/external_function_interface.h" -#define LAT_NX 4 -#define LAT_NZ 0 -#define LAT_NU 1 -#define LAT_NP 2 -#define LAT_NBX 2 -#define LAT_NBX0 4 -#define LAT_NBU 0 -#define LAT_NSBX 0 -#define LAT_NSBU 0 -#define LAT_NSH 0 -#define LAT_NSG 0 -#define LAT_NSPHI 0 -#define LAT_NSHN 0 -#define LAT_NSGN 0 -#define LAT_NSPHIN 0 -#define LAT_NSBXN 0 -#define LAT_NS 0 -#define LAT_NSN 0 -#define LAT_NG 0 -#define LAT_NBXN 0 -#define LAT_NGN 0 -#define LAT_NY0 3 -#define LAT_NY 3 -#define LAT_NYN 2 -#define LAT_N 16 -#define LAT_NH 0 -#define LAT_NPHI 0 -#define LAT_NHN 0 -#define LAT_NPHIN 0 -#define LAT_NR 0 +#define LONG_NX 3 +#define LONG_NZ 0 +#define LONG_NU 1 +#define LONG_NP 4 +#define LONG_NBX 0 +#define LONG_NBX0 3 +#define LONG_NBU 0 +#define LONG_NSBX 0 +#define LONG_NSBU 0 +#define LONG_NSH 4 +#define LONG_NSG 0 +#define LONG_NSPHI 0 +#define LONG_NSHN 0 +#define LONG_NSGN 0 +#define LONG_NSPHIN 0 +#define LONG_NSBXN 0 +#define LONG_NS 4 +#define LONG_NSN 0 +#define LONG_NG 0 +#define LONG_NBXN 0 +#define LONG_NGN 0 +#define LONG_NY0 6 +#define LONG_NY 6 +#define LONG_NYN 5 +#define LONG_N 12 +#define LONG_NH 4 +#define LONG_NPHI 0 +#define LONG_NHN 0 +#define LONG_NPHIN 0 +#define LONG_NR 0 #ifdef __cplusplus extern "C" { #endif // ** capsule for solver data ** -typedef struct lat_solver_capsule +typedef struct long_solver_capsule { // acados objects ocp_nlp_in *nlp_in; @@ -118,50 +118,53 @@ typedef struct lat_solver_capsule // constraints + external_function_param_casadi *nl_constr_h_fun_jac; + external_function_param_casadi *nl_constr_h_fun; + external_function_param_casadi *nl_constr_h_fun_jac_hess; -} lat_solver_capsule; +} long_solver_capsule; -ACADOS_SYMBOL_EXPORT lat_solver_capsule * lat_acados_create_capsule(void); -ACADOS_SYMBOL_EXPORT int lat_acados_free_capsule(lat_solver_capsule *capsule); +ACADOS_SYMBOL_EXPORT long_solver_capsule * long_acados_create_capsule(void); +ACADOS_SYMBOL_EXPORT int long_acados_free_capsule(long_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT int lat_acados_create(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT int long_acados_create(long_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT int lat_acados_reset(lat_solver_capsule* capsule); +ACADOS_SYMBOL_EXPORT int long_acados_reset(long_solver_capsule* capsule); /** - * Generic version of lat_acados_create which allows to use a different number of shooting intervals than + * Generic version of long_acados_create which allows to use a different number of shooting intervals than * the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code * generation, the time-steps from code generation is used. */ -ACADOS_SYMBOL_EXPORT int lat_acados_create_with_discretization(lat_solver_capsule * capsule, int n_time_steps, double* new_time_steps); +ACADOS_SYMBOL_EXPORT int long_acados_create_with_discretization(long_solver_capsule * capsule, int n_time_steps, double* new_time_steps); /** * Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the * nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0. */ -ACADOS_SYMBOL_EXPORT int lat_acados_update_time_steps(lat_solver_capsule * capsule, int N, double* new_time_steps); +ACADOS_SYMBOL_EXPORT int long_acados_update_time_steps(long_solver_capsule * capsule, int N, double* new_time_steps); /** * This function is used for updating an already initialized solver with a different number of qp_cond_N. */ -ACADOS_SYMBOL_EXPORT int lat_acados_update_qp_solver_cond_N(lat_solver_capsule * capsule, int qp_solver_cond_N); -ACADOS_SYMBOL_EXPORT int lat_acados_update_params(lat_solver_capsule * capsule, int stage, double *value, int np); -ACADOS_SYMBOL_EXPORT int lat_acados_solve(lat_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT int lat_acados_free(lat_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT void lat_acados_print_stats(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT int long_acados_update_qp_solver_cond_N(long_solver_capsule * capsule, int qp_solver_cond_N); +ACADOS_SYMBOL_EXPORT int long_acados_update_params(long_solver_capsule * capsule, int stage, double *value, int np); +ACADOS_SYMBOL_EXPORT int long_acados_solve(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT int long_acados_free(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT void long_acados_print_stats(long_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT ocp_nlp_in *lat_acados_get_nlp_in(lat_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT ocp_nlp_out *lat_acados_get_nlp_out(lat_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT ocp_nlp_out *lat_acados_get_sens_out(lat_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT ocp_nlp_solver *lat_acados_get_nlp_solver(lat_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT ocp_nlp_config *lat_acados_get_nlp_config(lat_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT void *lat_acados_get_nlp_opts(lat_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT ocp_nlp_dims *lat_acados_get_nlp_dims(lat_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *lat_acados_get_nlp_plan(lat_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_in *long_acados_get_nlp_in(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_out *long_acados_get_nlp_out(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_out *long_acados_get_sens_out(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_solver *long_acados_get_nlp_solver(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_config *long_acados_get_nlp_config(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT void *long_acados_get_nlp_opts(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_dims *long_acados_get_nlp_dims(long_solver_capsule * capsule); +ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *long_acados_get_nlp_plan(long_solver_capsule * capsule); #ifdef __cplusplus } /* extern "C" */ #endif -#endif // ACADOS_SOLVER_lat_H_ +#endif // ACADOS_SOLVER_long_H_ diff --git a/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so new file mode 100755 index 000000000..17e6e1b37 Binary files /dev/null and b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so differ diff --git a/third_party/acados/acados_template/c_templates_tera/acados_mex_solve.in.c b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/long_constraints/long_h_constraint.h similarity index 66% rename from third_party/acados/acados_template/c_templates_tera/acados_mex_solve.in.c rename to selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/long_constraints/long_h_constraint.h index c673d4bf2..eab2d0d9b 100644 --- a/third_party/acados/acados_template/c_templates_tera/acados_mex_solve.in.c +++ b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/long_constraints/long_h_constraint.h @@ -31,29 +31,33 @@ * POSSIBILITY OF SUCH DAMAGE.; */ -// system -#include -#include -#include -// acados -#include "acados_solver_{{ model.name }}.h" +#ifndef long_H_CONSTRAINT +#define long_H_CONSTRAINT -// mex -#include "mex.h" +#ifdef __cplusplus +extern "C" { +#endif + + +int long_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *); +const int *long_constr_h_fun_jac_uxt_zt_sparsity_in(int); +const int *long_constr_h_fun_jac_uxt_zt_sparsity_out(int); +int long_constr_h_fun_jac_uxt_zt_n_in(void); +int long_constr_h_fun_jac_uxt_zt_n_out(void); + +int long_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_constr_h_fun_work(int *, int *, int *, int *); +const int *long_constr_h_fun_sparsity_in(int); +const int *long_constr_h_fun_sparsity_out(int); +int long_constr_h_fun_n_in(void); +int long_constr_h_fun_n_out(void); -void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) -{ - // C_ocp - long long *ptr; - const mxArray *C_ocp = prhs[0]; - // capsule - ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) ); - {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0]; +#ifdef __cplusplus +} /* extern "C" */ +#endif - // solve - {{ model.name }}_acados_solve(capsule); - -} +#endif // long_H_CONSTRAINT diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.h b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.h similarity index 63% rename from selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.h rename to selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.h index 9e444b984..928ef7a8c 100644 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.h +++ b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.h @@ -32,38 +32,38 @@ */ -#ifndef lat_Y_E_COST -#define lat_Y_E_COST +#ifndef long_Y_0_COST +#define long_Y_0_COST #ifdef __cplusplus extern "C" { #endif -int lat_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int lat_cost_y_e_fun_work(int *, int *, int *, int *); -const int *lat_cost_y_e_fun_sparsity_in(int); -const int *lat_cost_y_e_fun_sparsity_out(int); -int lat_cost_y_e_fun_n_in(void); -int lat_cost_y_e_fun_n_out(void); +int long_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_0_fun_work(int *, int *, int *, int *); +const int *long_cost_y_0_fun_sparsity_in(int); +const int *long_cost_y_0_fun_sparsity_out(int); +int long_cost_y_0_fun_n_in(void); +int long_cost_y_0_fun_n_out(void); -int lat_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int lat_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *); -const int *lat_cost_y_e_fun_jac_ut_xt_sparsity_in(int); -const int *lat_cost_y_e_fun_jac_ut_xt_sparsity_out(int); -int lat_cost_y_e_fun_jac_ut_xt_n_in(void); -int lat_cost_y_e_fun_jac_ut_xt_n_out(void); +int long_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *long_cost_y_0_fun_jac_ut_xt_sparsity_in(int); +const int *long_cost_y_0_fun_jac_ut_xt_sparsity_out(int); +int long_cost_y_0_fun_jac_ut_xt_n_in(void); +int long_cost_y_0_fun_jac_ut_xt_n_out(void); -int lat_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int lat_cost_y_e_hess_work(int *, int *, int *, int *); -const int *lat_cost_y_e_hess_sparsity_in(int); -const int *lat_cost_y_e_hess_sparsity_out(int); -int lat_cost_y_e_hess_n_in(void); -int lat_cost_y_e_hess_n_out(void); +int long_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_0_hess_work(int *, int *, int *, int *); +const int *long_cost_y_0_hess_sparsity_in(int); +const int *long_cost_y_0_hess_sparsity_out(int); +int long_cost_y_0_hess_n_in(void); +int long_cost_y_0_hess_n_out(void); #ifdef __cplusplus } /* extern "C" */ #endif -#endif // lat_Y_E_COST +#endif // long_Y_0_COST diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.h b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.h similarity index 63% rename from selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.h rename to selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.h index 842fc03df..41db4d27a 100644 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.h +++ b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.h @@ -32,38 +32,38 @@ */ -#ifndef lat_Y_0_COST -#define lat_Y_0_COST +#ifndef long_Y_E_COST +#define long_Y_E_COST #ifdef __cplusplus extern "C" { #endif -int lat_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int lat_cost_y_0_fun_work(int *, int *, int *, int *); -const int *lat_cost_y_0_fun_sparsity_in(int); -const int *lat_cost_y_0_fun_sparsity_out(int); -int lat_cost_y_0_fun_n_in(void); -int lat_cost_y_0_fun_n_out(void); +int long_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_e_fun_work(int *, int *, int *, int *); +const int *long_cost_y_e_fun_sparsity_in(int); +const int *long_cost_y_e_fun_sparsity_out(int); +int long_cost_y_e_fun_n_in(void); +int long_cost_y_e_fun_n_out(void); -int lat_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int lat_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *); -const int *lat_cost_y_0_fun_jac_ut_xt_sparsity_in(int); -const int *lat_cost_y_0_fun_jac_ut_xt_sparsity_out(int); -int lat_cost_y_0_fun_jac_ut_xt_n_in(void); -int lat_cost_y_0_fun_jac_ut_xt_n_out(void); +int long_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *long_cost_y_e_fun_jac_ut_xt_sparsity_in(int); +const int *long_cost_y_e_fun_jac_ut_xt_sparsity_out(int); +int long_cost_y_e_fun_jac_ut_xt_n_in(void); +int long_cost_y_e_fun_jac_ut_xt_n_out(void); -int lat_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int lat_cost_y_0_hess_work(int *, int *, int *, int *); -const int *lat_cost_y_0_hess_sparsity_in(int); -const int *lat_cost_y_0_hess_sparsity_out(int); -int lat_cost_y_0_hess_n_in(void); -int lat_cost_y_0_hess_n_out(void); +int long_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_e_hess_work(int *, int *, int *, int *); +const int *long_cost_y_e_hess_sparsity_in(int); +const int *long_cost_y_e_hess_sparsity_out(int); +int long_cost_y_e_hess_n_in(void); +int long_cost_y_e_hess_n_out(void); #ifdef __cplusplus } /* extern "C" */ #endif -#endif // lat_Y_0_COST +#endif // long_Y_E_COST diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.h b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.h similarity index 64% rename from selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.h rename to selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.h index 0d475171f..63e9d84c0 100644 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.h +++ b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.h @@ -32,38 +32,38 @@ */ -#ifndef lat_Y_COST -#define lat_Y_COST +#ifndef long_Y_COST +#define long_Y_COST #ifdef __cplusplus extern "C" { #endif -int lat_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int lat_cost_y_fun_work(int *, int *, int *, int *); -const int *lat_cost_y_fun_sparsity_in(int); -const int *lat_cost_y_fun_sparsity_out(int); -int lat_cost_y_fun_n_in(void); -int lat_cost_y_fun_n_out(void); +int long_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_fun_work(int *, int *, int *, int *); +const int *long_cost_y_fun_sparsity_in(int); +const int *long_cost_y_fun_sparsity_out(int); +int long_cost_y_fun_n_in(void); +int long_cost_y_fun_n_out(void); -int lat_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int lat_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *); -const int *lat_cost_y_fun_jac_ut_xt_sparsity_in(int); -const int *lat_cost_y_fun_jac_ut_xt_sparsity_out(int); -int lat_cost_y_fun_jac_ut_xt_n_in(void); -int lat_cost_y_fun_jac_ut_xt_n_out(void); +int long_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *long_cost_y_fun_jac_ut_xt_sparsity_in(int); +const int *long_cost_y_fun_jac_ut_xt_sparsity_out(int); +int long_cost_y_fun_jac_ut_xt_n_in(void); +int long_cost_y_fun_jac_ut_xt_n_out(void); -int lat_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int lat_cost_y_hess_work(int *, int *, int *, int *); -const int *lat_cost_y_hess_sparsity_in(int); -const int *lat_cost_y_hess_sparsity_out(int); -int lat_cost_y_hess_n_in(void); -int lat_cost_y_hess_n_out(void); +int long_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_cost_y_hess_work(int *, int *, int *, int *); +const int *long_cost_y_hess_sparsity_in(int); +const int *long_cost_y_hess_sparsity_out(int); +int long_cost_y_hess_n_in(void); +int long_cost_y_hess_n_out(void); #ifdef __cplusplus } /* extern "C" */ #endif -#endif // lat_Y_COST +#endif // long_Y_COST diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_model.h b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/long_model/long_model.h similarity index 65% rename from selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_model.h rename to selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/long_model/long_model.h index 98ed49214..723316848 100644 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_model.h +++ b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/long_model/long_model.h @@ -31,8 +31,8 @@ * POSSIBILITY OF SUCH DAMAGE.; */ -#ifndef lat_MODEL -#define lat_MODEL +#ifndef long_MODEL +#define long_MODEL #ifdef __cplusplus extern "C" { @@ -42,28 +42,28 @@ extern "C" { /* explicit ODE */ // explicit ODE -int lat_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int lat_expl_ode_fun_work(int *, int *, int *, int *); -const int *lat_expl_ode_fun_sparsity_in(int); -const int *lat_expl_ode_fun_sparsity_out(int); -int lat_expl_ode_fun_n_in(void); -int lat_expl_ode_fun_n_out(void); +int long_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_expl_ode_fun_work(int *, int *, int *, int *); +const int *long_expl_ode_fun_sparsity_in(int); +const int *long_expl_ode_fun_sparsity_out(int); +int long_expl_ode_fun_n_in(void); +int long_expl_ode_fun_n_out(void); // explicit forward VDE -int lat_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int lat_expl_vde_forw_work(int *, int *, int *, int *); -const int *lat_expl_vde_forw_sparsity_in(int); -const int *lat_expl_vde_forw_sparsity_out(int); -int lat_expl_vde_forw_n_in(void); -int lat_expl_vde_forw_n_out(void); +int long_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_expl_vde_forw_work(int *, int *, int *, int *); +const int *long_expl_vde_forw_sparsity_in(int); +const int *long_expl_vde_forw_sparsity_out(int); +int long_expl_vde_forw_n_in(void); +int long_expl_vde_forw_n_out(void); // explicit adjoint VDE -int lat_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int lat_expl_vde_adj_work(int *, int *, int *, int *); -const int *lat_expl_vde_adj_sparsity_in(int); -const int *lat_expl_vde_adj_sparsity_out(int); -int lat_expl_vde_adj_n_in(void); -int lat_expl_vde_adj_n_out(void); +int long_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int long_expl_vde_adj_work(int *, int *, int *, int *); +const int *long_expl_vde_adj_sparsity_in(int); +const int *long_expl_vde_adj_sparsity_out(int); +int long_expl_vde_adj_n_in(void); +int long_expl_vde_adj_n_out(void); @@ -71,4 +71,4 @@ int lat_expl_vde_adj_n_out(void); } /* extern "C" */ #endif -#endif // lat_MODEL +#endif // long_MODEL diff --git a/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/long_mpc.py new file mode 100644 index 000000000..37e3306bd --- /dev/null +++ b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/long_mpc.py @@ -0,0 +1,406 @@ +#!/usr/bin/env python3 +import os +import numpy as np + +from common.realtime import sec_since_boot +from common.numpy_fast import clip, interp +from system.swaglog import cloudlog +from selfdrive.legacy_modeld.constants import index_function +from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU + +if __name__ == '__main__': # generating code + from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver +else: + from selfdrive.controls.lib.legacy_longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython # pylint: disable=no-name-in-module, import-error + +from casadi import SX, vertcat + +MODEL_NAME = 'long' +LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__)) +EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code") +JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json") + +SOURCES = ['lead0', 'lead1', 'cruise'] + +X_DIM = 3 +U_DIM = 1 +PARAM_DIM = 4 +COST_E_DIM = 5 +COST_DIM = COST_E_DIM + 1 +CONSTR_DIM = 4 + +X_EGO_OBSTACLE_COST = 3. +X_EGO_COST = 0. +V_EGO_COST = 0. +A_EGO_COST = 0. +J_EGO_COST = 5.0 +A_CHANGE_COST = 200. +DANGER_ZONE_COST = 100. +CRASH_DISTANCE = .5 +LIMIT_COST = 1e6 +ACADOS_SOLVER_TYPE = 'SQP_RTI' + + +# Fewer timestamps don't hurt performance and lead to +# much better convergence of the MPC with low iterations +N = 12 +MAX_T = 10.0 +T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1)] + +T_IDXS = np.array(T_IDXS_LST) +T_DIFFS = np.diff(T_IDXS, prepend=[0.]) +MIN_ACCEL = -3.5 +T_FOLLOW = 1.45 +COMFORT_BRAKE = 2.5 +STOP_DISTANCE = 6.0 + +def get_stopped_equivalence_factor(v_lead): + return (v_lead**2) / (2 * COMFORT_BRAKE) + +def get_safe_obstacle_distance(v_ego): + return (v_ego**2) / (2 * COMFORT_BRAKE) + T_FOLLOW * v_ego + STOP_DISTANCE + +def desired_follow_distance(v_ego, v_lead): + return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead) + + +def gen_long_model(): + model = AcadosModel() + model.name = MODEL_NAME + + # set up states & controls + x_ego = SX.sym('x_ego') + v_ego = SX.sym('v_ego') + a_ego = SX.sym('a_ego') + model.x = vertcat(x_ego, v_ego, a_ego) + + # controls + j_ego = SX.sym('j_ego') + model.u = vertcat(j_ego) + + # xdot + x_ego_dot = SX.sym('x_ego_dot') + v_ego_dot = SX.sym('v_ego_dot') + a_ego_dot = SX.sym('a_ego_dot') + model.xdot = vertcat(x_ego_dot, v_ego_dot, a_ego_dot) + + # live parameters + a_min = SX.sym('a_min') + a_max = SX.sym('a_max') + x_obstacle = SX.sym('x_obstacle') + prev_a = SX.sym('prev_a') + model.p = vertcat(a_min, a_max, x_obstacle, prev_a) + + # dynamics model + f_expl = vertcat(v_ego, a_ego, j_ego) + model.f_impl_expr = model.xdot - f_expl + model.f_expl_expr = f_expl + return model + + +def gen_long_ocp(): + ocp = AcadosOcp() + ocp.model = gen_long_model() + + Tf = T_IDXS[-1] + + # set dimensions + ocp.dims.N = N + + # set cost module + ocp.cost.cost_type = 'NONLINEAR_LS' + ocp.cost.cost_type_e = 'NONLINEAR_LS' + + QR = np.zeros((COST_DIM, COST_DIM)) + Q = np.zeros((COST_E_DIM, COST_E_DIM)) + + ocp.cost.W = QR + ocp.cost.W_e = Q + + x_ego, v_ego, a_ego = ocp.model.x[0], ocp.model.x[1], ocp.model.x[2] + j_ego = ocp.model.u[0] + + a_min, a_max = ocp.model.p[0], ocp.model.p[1] + x_obstacle = ocp.model.p[2] + prev_a = ocp.model.p[3] + + ocp.cost.yref = np.zeros((COST_DIM, )) + ocp.cost.yref_e = np.zeros((COST_E_DIM, )) + + desired_dist_comfort = get_safe_obstacle_distance(v_ego) + + # The main cost in normal operation is how close you are to the "desired" distance + # from an obstacle at every timestep. This obstacle can be a lead car + # or other object. In e2e mode we can use x_position targets as a cost + # instead. + costs = [((x_obstacle - x_ego) - (desired_dist_comfort)) / (v_ego + 10.), + x_ego, + v_ego, + a_ego, + a_ego - prev_a, + j_ego] + ocp.model.cost_y_expr = vertcat(*costs) + ocp.model.cost_y_expr_e = vertcat(*costs[:-1]) + + # Constraints on speed, acceleration and desired distance to + # the obstacle, which is treated as a slack constraint so it + # behaves like an asymmetrical cost. + constraints = vertcat(v_ego, + (a_ego - a_min), + (a_max - a_ego), + ((x_obstacle - x_ego) - (3/4) * (desired_dist_comfort)) / (v_ego + 10.)) + ocp.model.con_h_expr = constraints + + x0 = np.zeros(X_DIM) + ocp.constraints.x0 = x0 + ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0]) + + # We put all constraint cost weights to 0 and only set them at runtime + cost_weights = np.zeros(CONSTR_DIM) + ocp.cost.zl = cost_weights + ocp.cost.Zl = cost_weights + ocp.cost.Zu = cost_weights + ocp.cost.zu = cost_weights + + ocp.constraints.lh = np.zeros(CONSTR_DIM) + ocp.constraints.uh = 1e4*np.ones(CONSTR_DIM) + ocp.constraints.idxsh = np.arange(CONSTR_DIM) + + # The HPIPM solver can give decent solutions even when it is stopped early + # Which is critical for our purpose where compute time is strictly bounded + # We use HPIPM in the SPEED_ABS mode, which ensures fastest runtime. This + # does not cause issues since the problem is well bounded. + ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM' + ocp.solver_options.hessian_approx = 'GAUSS_NEWTON' + ocp.solver_options.integrator_type = 'ERK' + ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE + ocp.solver_options.qp_solver_cond_N = 1 + + # More iterations take too much time and less lead to inaccurate convergence in + # some situations. Ideally we would run just 1 iteration to ensure fixed runtime. + ocp.solver_options.qp_solver_iter_max = 10 + ocp.solver_options.qp_tol = 1e-3 + + # set prediction horizon + ocp.solver_options.tf = Tf + ocp.solver_options.shooting_nodes = T_IDXS + + ocp.code_export_directory = EXPORT_DIR + return ocp + + +class LongitudinalMpc: + def __init__(self, e2e=False): + self.e2e = e2e + self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) + self.reset() + self.source = SOURCES[2] + + def reset(self): + # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) + self.solver.reset() + # self.solver.options_set('print_level', 2) + self.v_solution = np.zeros(N+1) + self.a_solution = np.zeros(N+1) + self.prev_a = np.array(self.a_solution) + self.j_solution = np.zeros(N) + self.yref = np.zeros((N+1, COST_DIM)) + for i in range(N): + self.solver.cost_set(i, "yref", self.yref[i]) + self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) + self.x_sol = np.zeros((N+1, X_DIM)) + self.u_sol = np.zeros((N,1)) + self.params = np.zeros((N+1, PARAM_DIM)) + for i in range(N+1): + self.solver.set(i, 'x', np.zeros(X_DIM)) + self.last_cloudlog_t = 0 + self.status = False + self.crash_cnt = 0.0 + self.solution_status = 0 + # timers + self.solve_time = 0.0 + self.time_qp_solution = 0.0 + self.time_linearization = 0.0 + self.time_integrator = 0.0 + self.x0 = np.zeros(X_DIM) + self.set_weights() + + def set_weights(self, prev_accel_constraint=True): + if self.e2e: + self.set_weights_for_xva_policy() + self.params[:,0] = -10. + self.params[:,1] = 10. + self.params[:,2] = 1e5 + else: + self.set_weights_for_lead_policy(prev_accel_constraint) + + def set_weights_for_lead_policy(self, prev_accel_constraint=True): + a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0 + W = np.asfortranarray(np.diag([X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST])) + for i in range(N): + # reduce the cost on (a-a_prev) later in the horizon. + W[4,4] = a_change_cost * np.interp(T_IDXS[i], [0.0, 1.0, 2.0], [1.0, 1.0, 0.0]) + self.solver.cost_set(i, 'W', W) + # Setting the slice without the copy make the array not contiguous, + # causing issues with the C interface. + self.solver.cost_set(N, 'W', np.copy(W[:COST_E_DIM, :COST_E_DIM])) + + # Set L2 slack cost on lower bound constraints + Zl = np.array([LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]) + for i in range(N): + self.solver.cost_set(i, 'Zl', Zl) + + def set_weights_for_xva_policy(self): + W = np.asfortranarray(np.diag([0., 0.2, 0.25, 1., 0.0, .1])) + for i in range(N): + self.solver.cost_set(i, 'W', W) + # Setting the slice without the copy make the array not contiguous, + # causing issues with the C interface. + self.solver.cost_set(N, 'W', np.copy(W[:COST_E_DIM, :COST_E_DIM])) + + # Set L2 slack cost on lower bound constraints + Zl = np.array([LIMIT_COST, LIMIT_COST, LIMIT_COST, 0.0]) + for i in range(N): + self.solver.cost_set(i, 'Zl', Zl) + + def set_cur_state(self, v, a): + v_prev = self.x0[1] + self.x0[1] = v + self.x0[2] = a + if abs(v_prev - v) > 2.: # probably only helps if v < v_prev + for i in range(0, N+1): + self.solver.set(i, 'x', self.x0) + + @staticmethod + def extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau): + a_lead_traj = a_lead * np.exp(-a_lead_tau * (T_IDXS**2)/2.) + v_lead_traj = np.clip(v_lead + np.cumsum(T_DIFFS * a_lead_traj), 0.0, 1e8) + x_lead_traj = x_lead + np.cumsum(T_DIFFS * v_lead_traj) + lead_xv = np.column_stack((x_lead_traj, v_lead_traj)) + return lead_xv + + def process_lead(self, lead): + v_ego = self.x0[1] + if lead is not None and lead.status: + x_lead = lead.dRel + v_lead = lead.vLead + a_lead = lead.aLeadK + a_lead_tau = lead.aLeadTau + else: + # Fake a fast lead car, so mpc can keep running in the same mode + x_lead = 50.0 + v_lead = v_ego + 10.0 + a_lead = 0.0 + a_lead_tau = _LEAD_ACCEL_TAU + + # MPC will not converge if immediate crash is expected + # Clip lead distance to what is still possible to brake for + min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-MIN_ACCEL * 2) + x_lead = clip(x_lead, min_x_lead, 1e8) + v_lead = clip(v_lead, 0.0, 1e8) + a_lead = clip(a_lead, -10., 5.) + lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau) + return lead_xv + + def set_accel_limits(self, min_a, max_a): + self.cruise_min_a = min_a + self.cruise_max_a = max_a + + def update(self, carstate, radarstate, v_cruise): + v_ego = self.x0[1] + self.status = radarstate.leadOne.status or radarstate.leadTwo.status + + lead_xv_0 = self.process_lead(radarstate.leadOne) + lead_xv_1 = self.process_lead(radarstate.leadTwo) + + # set accel limits in params + self.params[:,0] = interp(float(self.status), [0.0, 1.0], [self.cruise_min_a, MIN_ACCEL]) + self.params[:,1] = self.cruise_max_a + + # To estimate a safe distance from a moving lead, we calculate how much stopping + # distance that lead needs as a minimum. We can add that to the current distance + # and then treat that as a stopped car/obstacle at this new distance. + lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1]) + lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1]) + + # Fake an obstacle for cruise, this ensures smooth acceleration to set speed + # when the leads are no factor. + v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05) + v_upper = v_ego + (T_IDXS * self.cruise_max_a * 1.05) + v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), + v_lower, + v_upper) + cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped) + + x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) + self.source = SOURCES[np.argmin(x_obstacles[0])] + self.params[:,2] = np.min(x_obstacles, axis=1) + self.params[:,3] = np.copy(self.prev_a) + + self.run() + if (np.any(lead_xv_0[:,0] - self.x_sol[:,0] < CRASH_DISTANCE) and + radarstate.leadOne.modelProb > 0.9): + self.crash_cnt += 1 + else: + self.crash_cnt = 0 + + def update_with_xva(self, x, v, a): + # v, and a are in local frame, but x is wrt the x[0] position + # In >90degree turns, x goes to 0 (and may even be -ve) + # So, we use integral(v) + x[0] to obtain the forward-distance + xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1]) + x = np.cumsum(np.insert(xforward, 0, x[0])) + self.yref[:,1] = x + self.yref[:,2] = v + self.yref[:,3] = a + for i in range(N): + self.solver.cost_set(i, "yref", self.yref[i]) + self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) + self.params[:,3] = np.copy(self.prev_a) + self.run() + + def run(self): + # t0 = sec_since_boot() + # reset = 0 + for i in range(N+1): + self.solver.set(i, 'p', self.params[i]) + self.solver.constraints_set(0, "lbx", self.x0) + self.solver.constraints_set(0, "ubx", self.x0) + + self.solution_status = self.solver.solve() + self.solve_time = float(self.solver.get_stats('time_tot')[0]) + self.time_qp_solution = float(self.solver.get_stats('time_qp')[0]) + self.time_linearization = float(self.solver.get_stats('time_lin')[0]) + self.time_integrator = float(self.solver.get_stats('time_sim')[0]) + + # qp_iter = self.solver.get_stats('statistics')[-1][-1] # SQP_RTI specific + # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, integrator {self.time_integrator:.2e}, qp_iter {qp_iter}") + # res = self.solver.get_residuals() + # print(f"long_mpc residuals: {res[0]:.2e}, {res[1]:.2e}, {res[2]:.2e}, {res[3]:.2e}") + # self.solver.print_statistics() + + for i in range(N+1): + self.x_sol[i] = self.solver.get(i, 'x') + for i in range(N): + self.u_sol[i] = self.solver.get(i, 'u') + + self.v_solution = self.x_sol[:,1] + self.a_solution = self.x_sol[:,2] + self.j_solution = self.u_sol[:,0] + + self.prev_a = np.interp(T_IDXS + 0.05, T_IDXS, self.a_solution) + + t = sec_since_boot() + if self.solution_status != 0: + if t > self.last_cloudlog_t + 5.0: + self.last_cloudlog_t = t + cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}") + self.reset() + # reset = 1 + # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(sec_since_boot() - t0):.2e} qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}") + + +if __name__ == "__main__": + ocp = gen_long_ocp() + AcadosOcpSolver.generate(ocp, json_file=JSON_FILE) + # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True) diff --git a/selfdrive/controls/lib/legacy_longitudinal_planner.py b/selfdrive/controls/lib/legacy_longitudinal_planner.py new file mode 100755 index 000000000..bd0d0a1d0 --- /dev/null +++ b/selfdrive/controls/lib/legacy_longitudinal_planner.py @@ -0,0 +1,143 @@ +''' +This is the longitudinal_planner from 0.8.16 + +reason I keep this as a separate file is that Nuclear Grade model released during 0.8.15 / 0.8.16. +So it could handle better with old planners. + +Note 1: This may not work in newer version. + +Note 2: **This planner does not support Experimental Mode** + +''' +import math +import numpy as np +from common.numpy_fast import interp + +import cereal.messaging as messaging +from common.conversions import Conversions as CV +from common.filter_simple import FirstOrderFilter +from common.realtime import DT_MDL +from selfdrive.legacy_modeld.constants import T_IDXS +from selfdrive.controls.lib.longcontrol import LongCtrlState +from selfdrive.controls.lib.legacy_longitudinal_mpc_lib.long_mpc import LongitudinalMpc +from selfdrive.controls.lib.legacy_longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC +from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N +from system.swaglog import cloudlog + +LON_MPC_STEP = 0.2 # first step is 0.2s +AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted +A_CRUISE_MIN = -1.2 +A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8, 0.6] +A_CRUISE_MAX_BP = [0., 15., 25., 40.] + +# Lookup table for turns +_A_TOTAL_MAX_V = [1.7, 3.2] +_A_TOTAL_MAX_BP = [20., 40.] + + +def get_max_accel(v_ego): + return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS) + + +def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): + """ + This function returns a limited long acceleration allowed, depending on the existing lateral acceleration + this should avoid accelerating when losing the target in turns + """ + + # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel + # The lookup table for turns should also be updated if we do this + a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V) + a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase) + a_x_allowed = math.sqrt(max(a_total_max ** 2 - a_y ** 2, 0.)) + + return [a_target[0], min(a_target[1], a_x_allowed)] + + +class LongitudinalPlanner: + def __init__(self, CP, init_v=0.0, init_a=0.0): + self.CP = CP + self.mpc = LongitudinalMpc() + + self.fcw = False + + self.a_desired = init_a + self.v_desired_filter = FirstOrderFilter(init_v, 2.0, DT_MDL) + + self.v_desired_trajectory = np.zeros(CONTROL_N) + self.a_desired_trajectory = np.zeros(CONTROL_N) + self.j_desired_trajectory = np.zeros(CONTROL_N) + self.solverExecutionTime = 0.0 + + def update(self, sm): + v_ego = sm['carState'].vEgo + + v_cruise_kph = sm['controlsState'].vCruise + v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX) + v_cruise = v_cruise_kph * CV.KPH_TO_MS + + long_control_off = sm['controlsState'].longControlState == LongCtrlState.off + force_slow_decel = sm['controlsState'].forceDecel + + # Reset current state when not engaged, or user is controlling the speed + reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled + + # No change cost when user is controlling the speed, or when standstill + prev_accel_constraint = not (reset_state or sm['carState'].standstill) + + if reset_state: + self.v_desired_filter.x = v_ego + self.a_desired = 0.0 + + # Prevent divergence, smooth in current v_ego + self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) + + accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] + accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) + if force_slow_decel: + # if required so, force a smooth deceleration + accel_limits_turns[1] = min(accel_limits_turns[1], AWARENESS_DECEL) + accel_limits_turns[0] = min(accel_limits_turns[0], accel_limits_turns[1]) + # clip limits, cannot init MPC outside of bounds + accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05) + accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05) + + self.mpc.set_weights(prev_accel_constraint) + self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) + self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) + self.mpc.update(sm['carState'], sm['radarState'], v_cruise) + + self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.v_solution) + self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution) + self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution) + + # TODO counter is only needed because radar is glitchy, remove once radar is gone + self.fcw = self.mpc.crash_cnt > 5 + if self.fcw: + cloudlog.info("FCW triggered") + + # Interpolate 0.05 seconds and save as starting point for next iteration + a_prev = self.a_desired + self.a_desired = float(interp(DT_MDL, T_IDXS[:CONTROL_N], self.a_desired_trajectory)) + self.v_desired_filter.x = self.v_desired_filter.x + DT_MDL * (self.a_desired + a_prev) / 2.0 + + def publish(self, sm, pm): + plan_send = messaging.new_message('longitudinalPlan') + + plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState']) + + longitudinalPlan = plan_send.longitudinalPlan + longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2'] + longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2'] + + longitudinalPlan.speeds = self.v_desired_trajectory.tolist() + longitudinalPlan.accels = self.a_desired_trajectory.tolist() + longitudinalPlan.jerks = self.j_desired_trajectory.tolist() + + longitudinalPlan.hasLead = sm['radarState'].leadOne.status + longitudinalPlan.longitudinalPlanSource = self.mpc.source + longitudinalPlan.fcw = self.fcw + + longitudinalPlan.solverExecutionTime = self.mpc.solve_time + + pm.send('longitudinalPlan', plan_send) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index e8095813f..7514efcce 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -3,7 +3,7 @@ from common.numpy_fast import clip, interp from common.realtime import DT_CTRL from selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone from selfdrive.controls.lib.pid import PIDController -from selfdrive.modeld.constants import T_IDXS +from selfdrive.legacy_modeld.constants import T_IDXS LongCtrlState = car.CarControl.Actuators.LongControlState diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json b/selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json deleted file mode 100644 index 53aa828cb..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json +++ /dev/null @@ -1,627 +0,0 @@ -{ - "acados_include_path": "/data/openpilot/third_party/acados/include/acados/include", - "acados_lib_path": "/data/openpilot/third_party/acados/include/acados/lib", - "code_export_directory": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code", - "constraints": { - "C": [], - "C_e": [], - "D": [], - "constr_type": "BGH", - "constr_type_e": "BGH", - "idxbu": [], - "idxbx": [], - "idxbx_0": [ - 0, - 1, - 2 - ], - "idxbx_e": [], - "idxbxe_0": [ - 0, - 1, - 2 - ], - "idxsbu": [], - "idxsbx": [], - "idxsbx_e": [], - "idxsg": [], - "idxsg_e": [], - "idxsh": [ - 0, - 1, - 2, - 3 - ], - "idxsh_e": [], - "idxsphi": [], - "idxsphi_e": [], - "lbu": [], - "lbx": [], - "lbx_0": [ - 0.0, - 0.0, - 0.0 - ], - "lbx_e": [], - "lg": [], - "lg_e": [], - "lh": [ - 0.0, - 0.0, - 0.0, - 0.0 - ], - "lh_e": [], - "lphi": [], - "lphi_e": [], - "lsbu": [], - "lsbx": [], - "lsbx_e": [], - "lsg": [], - "lsg_e": [], - "lsh": [ - 0.0, - 0.0, - 0.0, - 0.0 - ], - "lsh_e": [], - "lsphi": [], - "lsphi_e": [], - "ubu": [], - "ubx": [], - "ubx_0": [ - 0.0, - 0.0, - 0.0 - ], - "ubx_e": [], - "ug": [], - "ug_e": [], - "uh": [ - 10000.0, - 10000.0, - 10000.0, - 10000.0 - ], - "uh_e": [], - "uphi": [], - "uphi_e": [], - "usbu": [], - "usbx": [], - "usbx_e": [], - "usg": [], - "usg_e": [], - "ush": [ - 0.0, - 0.0, - 0.0, - 0.0 - ], - "ush_e": [], - "usphi": [], - "usphi_e": [] - }, - "cost": { - "Vu": [ - [ - 0.0 - ], - [ - 0.0 - ], - [ - 0.0 - ], - [ - 0.0 - ], - [ - 0.0 - ], - [ - 0.0 - ] - ], - "Vu_0": [ - [ - 0.0 - ], - [ - 0.0 - ], - [ - 0.0 - ], - [ - 0.0 - ], - [ - 0.0 - ], - [ - 0.0 - ] - ], - "Vx": [ - [ - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0 - ] - ], - "Vx_0": [ - [ - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0 - ] - ], - "Vx_e": [ - [ - 0.0, - 0.0, - 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#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) - #define __Pyx_DefaultClassType PyClass_Type -#else - #define __Pyx_BUILTIN_MODULE_NAME "builtins" - #define __Pyx_DefaultClassType PyType_Type -#if PY_VERSION_HEX >= 0x030B00A1 - static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, - PyObject *code, PyObject *c, PyObject* n, PyObject *v, - PyObject *fv, PyObject *cell, PyObject* fn, - PyObject *name, int fline, PyObject *lnos) { - PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; - PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; - const char *fn_cstr=NULL; - const char *name_cstr=NULL; - PyCodeObject* co=NULL; - PyObject *type, *value, *traceback; - PyErr_Fetch(&type, &value, &traceback); - if (!(kwds=PyDict_New())) goto end; - if (!(argcount=PyLong_FromLong(a))) goto end; - if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; - if (!(posonlyargcount=PyLong_FromLong(0))) goto end; - if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; - if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; - if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; - if (!(nlocals=PyLong_FromLong(l))) goto end; - if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; - if (!(stacksize=PyLong_FromLong(s))) goto end; - if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; - if (!(flags=PyLong_FromLong(f))) goto end; - if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; - if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; - if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; - if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; - if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; - if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here - if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; - Py_XDECREF((PyObject*)co); - co = (PyCodeObject*)call_result; - call_result = NULL; - if (0) { - cleanup_code_too: - Py_XDECREF((PyObject*)co); - co = NULL; - } - end: - Py_XDECREF(kwds); - Py_XDECREF(argcount); - Py_XDECREF(posonlyargcount); - Py_XDECREF(kwonlyargcount); - Py_XDECREF(nlocals); - Py_XDECREF(stacksize); - Py_XDECREF(replace); - Py_XDECREF(call_result); - Py_XDECREF(empty); - if (type) { - PyErr_Restore(type, value, traceback); - } - return co; - } -#else - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) -#endif - #define __Pyx_DefaultClassType PyType_Type -#endif -#ifndef Py_TPFLAGS_CHECKTYPES - #define Py_TPFLAGS_CHECKTYPES 0 -#endif -#ifndef Py_TPFLAGS_HAVE_INDEX - #define Py_TPFLAGS_HAVE_INDEX 0 -#endif -#ifndef Py_TPFLAGS_HAVE_NEWBUFFER - #define Py_TPFLAGS_HAVE_NEWBUFFER 0 -#endif -#ifndef Py_TPFLAGS_HAVE_FINALIZE - #define Py_TPFLAGS_HAVE_FINALIZE 0 -#endif -#ifndef METH_STACKLESS - #define METH_STACKLESS 0 -#endif -#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) - #ifndef METH_FASTCALL - #define METH_FASTCALL 0x80 - #endif - typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); - typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, - Py_ssize_t nargs, PyObject *kwnames); -#else - #define __Pyx_PyCFunctionFast _PyCFunctionFast - #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords -#endif -#if CYTHON_FAST_PYCCALL -#define __Pyx_PyFastCFunction_Check(func)\ - ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) -#else -#define __Pyx_PyFastCFunction_Check(func) 0 -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) - #define PyObject_Malloc(s) PyMem_Malloc(s) - #define PyObject_Free(p) PyMem_Free(p) - #define PyObject_Realloc(p) PyMem_Realloc(p) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 - #define PyMem_RawMalloc(n) PyMem_Malloc(n) - #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) - #define PyMem_RawFree(p) PyMem_Free(p) -#endif -#if CYTHON_COMPILING_IN_PYSTON - #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) -#else - #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) -#endif -#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#elif PY_VERSION_HEX >= 0x03060000 - #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() -#elif PY_VERSION_HEX >= 0x03000000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#else - #define __Pyx_PyThreadState_Current _PyThreadState_Current -#endif -#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) -#include "pythread.h" -#define Py_tss_NEEDS_INIT 0 -typedef int Py_tss_t; -static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { - *key = PyThread_create_key(); - return 0; -} -static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { - Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); - *key = Py_tss_NEEDS_INIT; - return key; -} -static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { - PyObject_Free(key); -} -static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { - return *key != Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { - PyThread_delete_key(*key); - *key = Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { - return PyThread_set_key_value(*key, value); -} -static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { - return PyThread_get_key_value(*key); -} -#endif -#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) -#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) -#else -#define __Pyx_PyDict_NewPresized(n) PyDict_New() -#endif -#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION - #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) -#else - #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS -#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) -#else -#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) -#endif -#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) - #define CYTHON_PEP393_ENABLED 1 - #if defined(PyUnicode_IS_READY) - #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ - 0 : _PyUnicode_Ready((PyObject *)(op))) - #else - #define __Pyx_PyUnicode_READY(op) (0) - #endif - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) - #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) - #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) - #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) - #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) - #endif - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) - #endif -#else - #define CYTHON_PEP393_ENABLED 0 - #define PyUnicode_1BYTE_KIND 1 - #define PyUnicode_2BYTE_KIND 2 - #define PyUnicode_4BYTE_KIND 4 - #define __Pyx_PyUnicode_READY(op) (0) - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) - #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) - #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) - #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) -#endif -#if CYTHON_COMPILING_IN_PYPY - #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) -#else - #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ - PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) - #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) - #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) - #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) -#endif -#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) -#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? 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(Py_INCREF(s), s) :\ - PyObject_Format(s, f)) -#elif PY_MAJOR_VERSION < 3 - #define __Pyx_PyObject_FormatSimple(s, f) (\ - likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ - likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ - PyObject_Format(s, f)) -#elif CYTHON_USE_TYPE_SLOTS - #define __Pyx_PyObject_FormatSimple(s, f) (\ - likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ - likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_str(s) :\ - likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_str(s) :\ - PyObject_Format(s, f)) -#else - #define __Pyx_PyObject_FormatSimple(s, f) (\ - likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ - PyObject_Format(s, f)) -#endif - -/* IncludeStringH.proto */ -#include - -/* JoinPyUnicode.proto */ -static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, - Py_UCS4 max_char); - -/* ArgTypeTest.proto */ -#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ - ((likely((Py_TYPE(obj) == type) | (none_allowed && (obj == Py_None)))) ? 1 :\ - __Pyx__ArgTypeTest(obj, type, name, exact)) -static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); - -/* PySequenceContains.proto */ -static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { - int result = PySequence_Contains(seq, item); - return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); -} - -/* BytesEquals.proto */ -static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); - -/* UnicodeEquals.proto */ -static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); - -/* PyDictVersioning.proto */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) -#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) -#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ - (version_var) = __PYX_GET_DICT_VERSION(dict);\ - (cache_var) = (value); -#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ - static PY_UINT64_T __pyx_dict_version = 0;\ - static PyObject *__pyx_dict_cached_value = NULL;\ - if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ - (VAR) = __pyx_dict_cached_value;\ - } else {\ - (VAR) = __pyx_dict_cached_value = (LOOKUP);\ - __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ - }\ -} -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); -#else -#define __PYX_GET_DICT_VERSION(dict) (0) -#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) -#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); -#endif - -/* GetModuleGlobalName.proto */ -#if CYTHON_USE_DICT_VERSIONS -#define __Pyx_GetModuleGlobalName(var, name) {\ - static PY_UINT64_T __pyx_dict_version = 0;\ - static PyObject *__pyx_dict_cached_value = NULL;\ - (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ - (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ - __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ -} -#define __Pyx_GetModuleGlobalNameUncached(var, name) {\ - PY_UINT64_T __pyx_dict_version;\ - PyObject *__pyx_dict_cached_value;\ - (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ -} -static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); -#else -#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) -#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) -static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); -#endif - -/* ExtTypeTest.proto */ -static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); - -/* IsLittleEndian.proto */ -static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); - -/* BufferFormatCheck.proto */ -static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); -static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, - __Pyx_BufFmt_StackElem* stack, - __Pyx_TypeInfo* type); - -/* BufferGetAndValidate.proto */ -#define __Pyx_GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)\ - ((obj == Py_None || obj == NULL) ?\ - (__Pyx_ZeroBuffer(buf), 0) :\ - __Pyx__GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)) -static int __Pyx__GetBufferAndValidate(Py_buffer* buf, PyObject* obj, - __Pyx_TypeInfo* dtype, int flags, int nd, int cast, __Pyx_BufFmt_StackElem* stack); -static void __Pyx_ZeroBuffer(Py_buffer* buf); -static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info); -static Py_ssize_t __Pyx_minusones[] = { -1, -1, -1, -1, -1, -1, -1, -1 }; -static Py_ssize_t __Pyx_zeros[] = { 0, 0, 0, 0, 0, 0, 0, 0 }; - -/* Import.proto */ -static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); - -/* SliceObject.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice( - PyObject* obj, Py_ssize_t cstart, Py_ssize_t cstop, - PyObject** py_start, PyObject** py_stop, PyObject** py_slice, - int has_cstart, int has_cstop, int wraparound); - -/* PyObjectLookupSpecial.proto */ -#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PyObject* __Pyx_PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name) { - PyObject *res; - PyTypeObject *tp = Py_TYPE(obj); -#if PY_MAJOR_VERSION < 3 - if (unlikely(PyInstance_Check(obj))) - return __Pyx_PyObject_GetAttrStr(obj, attr_name); -#endif - res = _PyType_Lookup(tp, attr_name); - if (likely(res)) { - descrgetfunc f = Py_TYPE(res)->tp_descr_get; - if (!f) { - Py_INCREF(res); - } else { - res = f(res, obj, (PyObject *)tp); - } - } else { - PyErr_SetObject(PyExc_AttributeError, attr_name); - } - return res; -} -#else -#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) -#endif - -/* FetchCommonType.proto */ -static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); - -/* CythonFunctionShared.proto */ -#define __Pyx_CyFunction_USED 1 -#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 -#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 -#define __Pyx_CYFUNCTION_CCLASS 0x04 -#define __Pyx_CyFunction_GetClosure(f)\ - (((__pyx_CyFunctionObject *) (f))->func_closure) -#define __Pyx_CyFunction_GetClassObj(f)\ - (((__pyx_CyFunctionObject *) (f))->func_classobj) -#define __Pyx_CyFunction_Defaults(type, f)\ - ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) -#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ - ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) -typedef struct { - PyCFunctionObject func; -#if PY_VERSION_HEX < 0x030500A0 - PyObject *func_weakreflist; -#endif - PyObject *func_dict; - PyObject *func_name; - PyObject *func_qualname; - PyObject *func_doc; - PyObject *func_globals; - PyObject *func_code; - PyObject *func_closure; - PyObject *func_classobj; - void *defaults; - int defaults_pyobjects; - size_t defaults_size; // used by FusedFunction for copying defaults - int flags; - PyObject *defaults_tuple; - PyObject *defaults_kwdict; - PyObject *(*defaults_getter)(PyObject *); - PyObject *func_annotations; -} __pyx_CyFunctionObject; -static PyTypeObject *__pyx_CyFunctionType = 0; -#define __Pyx_CyFunction_Check(obj) (__Pyx_TypeCheck(obj, __pyx_CyFunctionType)) -static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, - int flags, PyObject* qualname, - PyObject *self, - PyObject *module, PyObject *globals, - PyObject* code); -static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, - size_t size, - int pyobjects); -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, - PyObject *tuple); -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, - PyObject *dict); -static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, - PyObject *dict); -static int __pyx_CyFunction_init(void); - -/* CythonFunction.proto */ -static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, - int flags, PyObject* qualname, - PyObject *closure, - PyObject *module, PyObject *globals, - PyObject* code); - -/* GetTopmostException.proto */ -#if CYTHON_USE_EXC_INFO_STACK -static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); -#endif - -/* SaveResetException.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); -#else -#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) -#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) -#endif - -/* GetException.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) -static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#else -static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); -#endif - -/* IterFinish.proto */ -static CYTHON_INLINE int __Pyx_IterFinish(void); - -/* PyObjectGetMethod.proto */ -static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); - -/* PyObjectCallMethod0.proto */ -static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); - -/* RaiseNeedMoreValuesToUnpack.proto */ -static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); - -/* RaiseTooManyValuesToUnpack.proto */ -static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); - -/* UnpackItemEndCheck.proto */ -static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected); - -/* RaiseNoneIterError.proto */ -static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); - -/* UnpackTupleError.proto */ -static void __Pyx_UnpackTupleError(PyObject *, Py_ssize_t index); - -/* UnpackTuple2.proto */ -#define __Pyx_unpack_tuple2(tuple, value1, value2, is_tuple, has_known_size, decref_tuple)\ - (likely(is_tuple || PyTuple_Check(tuple)) ?\ - (likely(has_known_size || PyTuple_GET_SIZE(tuple) == 2) ?\ - __Pyx_unpack_tuple2_exact(tuple, value1, value2, decref_tuple) :\ - (__Pyx_UnpackTupleError(tuple, 2), -1)) :\ - __Pyx_unpack_tuple2_generic(tuple, value1, value2, has_known_size, decref_tuple)) -static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( - PyObject* tuple, PyObject** value1, PyObject** value2, int decref_tuple); -static int __Pyx_unpack_tuple2_generic( - PyObject* tuple, PyObject** value1, PyObject** value2, int has_known_size, int decref_tuple); - -/* dict_iter.proto */ -static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* dict, int is_dict, PyObject* method_name, - Py_ssize_t* p_orig_length, int* p_is_dict); -static CYTHON_INLINE int __Pyx_dict_iter_next(PyObject* dict_or_iter, Py_ssize_t orig_length, Py_ssize_t* ppos, - PyObject** pkey, PyObject** pvalue, PyObject** pitem, int is_dict); - -/* None.proto */ -static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); - -/* GetItemInt.proto */ -#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ - (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ - __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ - (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ - __Pyx_GetItemInt_Generic(o, to_py_func(i)))) -#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ - (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ - __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ - (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - int wraparound, int boundscheck); -#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ - (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ - __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ - (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - int wraparound, int boundscheck); -static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, - int is_list, int wraparound, int boundscheck); - -/* ObjectGetItem.proto */ -#if CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key); -#else -#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) -#endif - -/* PyIntBinop.proto */ -#if !CYTHON_COMPILING_IN_PYPY -static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check); -#else -#define __Pyx_PyInt_AddObjC(op1, op2, intval, inplace, zerodivision_check)\ - (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2)) -#endif - -/* BufferIndexError.proto */ -static void __Pyx_RaiseBufferIndexError(int axis); - -#define __Pyx_BufPtrStrided1d(type, buf, i0, s0) (type)((char*)buf + i0 * s0) -/* PyUnicode_Unicode.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj); - -/* GCCDiagnostics.proto */ -#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) -#define __Pyx_HAS_GCC_DIAGNOSTIC -#endif - -/* BuildPyUnicode.proto */ -static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, - int prepend_sign, char padding_char); - -/* CIntToPyUnicode.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); - -/* MemviewSliceInit.proto */ -#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d -#define __Pyx_MEMVIEW_DIRECT 1 -#define __Pyx_MEMVIEW_PTR 2 -#define __Pyx_MEMVIEW_FULL 4 -#define __Pyx_MEMVIEW_CONTIG 8 -#define __Pyx_MEMVIEW_STRIDED 16 -#define __Pyx_MEMVIEW_FOLLOW 32 -#define __Pyx_IS_C_CONTIG 1 -#define __Pyx_IS_F_CONTIG 2 -static int __Pyx_init_memviewslice( - struct __pyx_memoryview_obj *memview, - int ndim, - __Pyx_memviewslice *memviewslice, - int memview_is_new_reference); -static CYTHON_INLINE int __pyx_add_acquisition_count_locked( - __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); -static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( - __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); -#define __pyx_get_slice_count_pointer(memview) (memview->acquisition_count_aligned_p) -#define __pyx_get_slice_count(memview) (*__pyx_get_slice_count_pointer(memview)) -#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) -#define __PYX_XDEC_MEMVIEW(slice, have_gil) __Pyx_XDEC_MEMVIEW(slice, have_gil, __LINE__) -static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); -static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *, int, int); - -/* PyErrExceptionMatches.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) -static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); -#else -#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) -#endif - -/* StrEquals.proto */ -#if PY_MAJOR_VERSION >= 3 -#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals -#else -#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals -#endif - -/* None.proto */ -static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); - -/* UnaryNegOverflows.proto */ -#define UNARY_NEG_WOULD_OVERFLOW(x)\ - (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) - -static CYTHON_UNUSED int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ -static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ -/* GetAttr.proto */ -static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); - -/* decode_c_string_utf16.proto */ -static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { - int byteorder = 0; - return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); -} -static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { - int byteorder = -1; - return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); -} -static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { - int byteorder = 1; - return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); -} - -/* decode_c_string.proto */ -static CYTHON_INLINE PyObject* __Pyx_decode_c_string( - const char* cstring, Py_ssize_t start, Py_ssize_t stop, - const char* encoding, const char* errors, - PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); - -/* GetAttr3.proto */ -static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); - -/* SwapException.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#else -static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); -#endif - -/* FastTypeChecks.proto */ -#if CYTHON_COMPILING_IN_CPYTHON -#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); -#else -#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) -#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) -#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) -#endif -#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) - -static CYTHON_UNUSED int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ -/* ListCompAppend.proto */ -#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS -static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { - PyListObject* L = (PyListObject*) list; - Py_ssize_t len = Py_SIZE(list); - if (likely(L->allocated > len)) { - Py_INCREF(x); - PyList_SET_ITEM(list, len, x); - __Pyx_SET_SIZE(list, len + 1); - return 0; - } - return PyList_Append(list, x); -} -#else -#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) -#endif - -/* ListExtend.proto */ -static CYTHON_INLINE int __Pyx_PyList_Extend(PyObject* L, PyObject* v) { -#if CYTHON_COMPILING_IN_CPYTHON - PyObject* none = _PyList_Extend((PyListObject*)L, v); - if (unlikely(!none)) - return -1; - Py_DECREF(none); - return 0; -#else - return PyList_SetSlice(L, PY_SSIZE_T_MAX, PY_SSIZE_T_MAX, v); -#endif -} - -/* ListAppend.proto */ -#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS -static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { - PyListObject* L = (PyListObject*) list; 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- static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); - static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); - #if 1 - static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); - #endif -#endif - -/* MemviewSliceCopyTemplate.proto */ -static __Pyx_memviewslice -__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, - const char *mode, int ndim, - size_t sizeof_dtype, int contig_flag, - int dtype_is_object); - -/* CIntFromPy.proto */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); - -/* CIntFromPy.proto */ -static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); - -/* CIntFromPy.proto */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); - -/* CIntFromPy.proto */ -static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); - -/* CheckBinaryVersion.proto */ -static int __Pyx_check_binary_version(void); - -/* InitStrings.proto */ -static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); - -static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ -static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ -static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ -static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ -static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ -static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ -static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ - -/* Module declarations from 'cython.view' */ - -/* Module declarations from 'cython' */ - -/* Module declarations from 'libc.string' */ - -/* Module declarations from 'libc.stdio' */ - -/* Module declarations from 'libc' */ - -/* Module declarations from 'acados_solver_common' */ - -/* Module declarations from 'acados_solver' */ - -/* Module declarations from 'cpython.buffer' */ - -/* Module declarations from '__builtin__' */ - -/* Module declarations from 'cpython.type' */ -static PyTypeObject *__pyx_ptype_7cpython_4type_type = 0; - -/* Module declarations from 'cpython' */ - -/* Module declarations from 'cpython.object' */ - -/* Module declarations from 'cpython.ref' */ - -/* Module declarations from 'cpython.mem' */ - -/* Module declarations from 'numpy' */ - -/* Module declarations from 'numpy' */ -static PyTypeObject *__pyx_ptype_5numpy_dtype = 0; -static PyTypeObject *__pyx_ptype_5numpy_flatiter = 0; -static PyTypeObject *__pyx_ptype_5numpy_broadcast = 0; -static PyTypeObject *__pyx_ptype_5numpy_ndarray = 0; 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/*proto*/ -static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ -static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ -static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ -static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ -static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float64_t = { "float64_t", NULL, sizeof(__pyx_t_5numpy_float64_t), { 0 }, 0, 'R', 0, 0 }; -static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; -static __Pyx_TypeInfo __Pyx_TypeInfo_unsigned_char = { "unsigned char", NULL, sizeof(unsigned char), { 0 }, 0, IS_UNSIGNED(unsigned char) ? 'U' : 'I', IS_UNSIGNED(unsigned char), 0 }; -#define __Pyx_MODULE_NAME "acados_template.acados_ocp_solver_pyx" -extern int __pyx_module_is_main_acados_template__acados_ocp_solver_pyx; -int __pyx_module_is_main_acados_template__acados_ocp_solver_pyx = 0; - -/* Implementation of 'acados_template.acados_ocp_solver_pyx' */ -static PyObject *__pyx_builtin_NotImplementedError; -static PyObject *__pyx_builtin_range; -static PyObject *__pyx_builtin_open; -static PyObject *__pyx_builtin_print; -static PyObject *__pyx_builtin_TypeError; -static PyObject *__pyx_builtin_ImportError; -static PyObject *__pyx_builtin_ValueError; -static PyObject *__pyx_builtin_MemoryError; -static PyObject *__pyx_builtin_enumerate; -static PyObject *__pyx_builtin_Ellipsis; -static PyObject *__pyx_builtin_id; -static PyObject *__pyx_builtin_IndexError; -static const char __pyx_k_F[] = "F"; -static const char __pyx_k_N[] = "N"; -static const char __pyx_k_O[] = "O"; -static const char __pyx_k_c[] = "c"; -static const char __pyx_k_m[] = "m"; -static const char __pyx_k_n[] = "n"; -static const char __pyx_k_p[] = "p"; -static const char __pyx_k_r[] = "r"; -static const char __pyx_k_t[] = "t"; -static const char __pyx_k_u[] = "u"; -static const char __pyx_k_w[] = "w"; -static const char __pyx_k_x[] = "x"; -static const char __pyx_k_z[] = "z"; -static const char __pyx_k__4[] = "."; -static const char __pyx_k__5[] = ""; -static const char __pyx_k__6[] = "_"; -static const char __pyx_k_ex[] = "ex"; -static const char __pyx_k_id[] = "id"; -static const char __pyx_k_np[] = "np"; -static const char __pyx_k_os[] = "os"; -static const char __pyx_k_pi[] = "pi"; -static const char __pyx_k_sl[] = "sl"; -static const char __pyx_k_su[] = "su"; -static const char __pyx_k_SQP[] = "SQP"; -static const char __pyx_k__19[] = ")"; -static const char __pyx_k__22[] = ", "; -static const char __pyx_k_get[] = "get"; -static const char __pyx_k_lam[] = "lam"; -static const char __pyx_k_lbu[] = "lbu"; -static const char __pyx_k_lbx[] = "lbx"; -static const char __pyx_k_new[] = "__new__"; -static const char __pyx_k_obj[] = "obj"; -static const char __pyx_k_set[] = "set"; -static const char __pyx_k_t_2[] = "t_"; -static const char __pyx_k_u_2[] = "u_"; -static const char __pyx_k_ubu[] = "ubu"; -static const char __pyx_k_ubx[] = "ubx"; -static const char __pyx_k_x_2[] = "x_"; -static const char __pyx_k_z_2[] = "z_"; -static const char __pyx_k_None[] = "None"; -static const char __pyx_k_TODO[] = "TODO!"; -static const char __pyx_k_base[] = "base"; -static const char __pyx_k_dict[] = "__dict__"; -static const char __pyx_k_dump[] = "dump"; -static const char __pyx_k_exit[] = "__exit__"; -static const char __pyx_k_join[] = "join"; -static const char __pyx_k_json[] = "json"; -static const char __pyx_k_keys[] = "keys"; -static const char __pyx_k_load[] = "load"; -static const char __pyx_k_main[] = "__main__"; -static const char __pyx_k_mode[] = "mode"; -static const char __pyx_k_name[] = "name"; -static const char __pyx_k_ndim[] = "ndim"; -static const char __pyx_k_open[] = "open"; -static const char __pyx_k_pack[] = "pack"; -static const char __pyx_k_path[] = "path"; -static const char __pyx_k_pi_2[] = "pi_"; -static const char __pyx_k_size[] = "size"; -static const char __pyx_k_sl_2[] = "sl_"; -static const char __pyx_k_step[] = "step"; -static const char __pyx_k_stop[] = "stop"; -static const char __pyx_k_su_2[] = "su_"; -static const char __pyx_k_test[] = "__test__"; -static const char __pyx_k_yref[] = "yref"; -static const char __pyx_k_ASCII[] = "ASCII"; -static const char __pyx_k_alpha[] = "alpha"; -static const char __pyx_k_array[] = "array"; -static const char __pyx_k_class[] = "__class__"; -static const char __pyx_k_dtype[] = "dtype"; -static const char __pyx_k_enter[] = "__enter__"; -static const char __pyx_k_error[] = "error"; -static const char __pyx_k_field[] = "field"; -static const char __pyx_k_flags[] = "flags"; -static const char __pyx_k_index[] = "index"; -static const char __pyx_k_lam_2[] = "lam_"; -static const char __pyx_k_numpy[] = "numpy"; -static const char __pyx_k_order[] = "order"; -static const char __pyx_k_print[] = "print"; -static const char __pyx_k_range[] = "range"; -static const char __pyx_k_shape[] = "shape"; -static const char __pyx_k_split[] = "split"; -static const char __pyx_k_stage[] = "stage"; -static const char __pyx_k_start[] = "start"; -static const char __pyx_k_utf_8[] = "utf-8"; -static const char __pyx_k_value[] = "value_"; -static const char __pyx_k_y_ref[] = "y_ref"; -static const char __pyx_k_zeros[] = "zeros"; -static const char __pyx_k_encode[] = "encode"; -static const char __pyx_k_format[] = "format"; -static const char __pyx_k_getcwd[] = "getcwd"; -static const char __pyx_k_import[] = "__import__"; -static const char __pyx_k_indent[] = "indent"; -static const char __pyx_k_isfile[] = "isfile"; -static const char __pyx_k_json_2[] = ".json"; -static const char __pyx_k_name_2[] = "__name__"; -static const char __pyx_k_pickle[] = "pickle"; -static const char __pyx_k_qp_mu0[] = "qp_mu0"; -static const char __pyx_k_reduce[] = "__reduce__"; -static const char __pyx_k_res_eq[] = "res_eq"; -static const char __pyx_k_stat_m[] = "stat_m"; -static const char __pyx_k_stat_n[] = "stat_n"; -static const char __pyx_k_struct[] = "struct"; -static const char __pyx_k_tol_eq[] = "tol_eq"; -static const char __pyx_k_tolist[] = "tolist"; -static const char __pyx_k_unpack[] = "unpack"; -static const char __pyx_k_update[] = "update"; -static const char __pyx_k_utcnow[] = "utcnow"; -static const char __pyx_k_SQP_RTI[] = "SQP_RTI"; -static const char __pyx_k_default[] = "default"; -static const char __pyx_k_field_2[] = "field_"; -static const char __pyx_k_float64[] = "float64"; -static const char __pyx_k_fortran[] = "fortran"; -static const char __pyx_k_iterate[] = "iterate"; -static const char __pyx_k_memview[] = "memview"; -static const char __pyx_k_qp_iter[] = "qp_iter"; -static const char __pyx_k_time_qp[] = "time_qp"; -static const char __pyx_k_z_guess[] = "z_guess"; -static const char __pyx_k_Ellipsis[] = "Ellipsis"; -static const char __pyx_k_at_stage[] = "\" at stage "; -static const char __pyx_k_datetime[] = "datetime"; -static const char __pyx_k_filename[] = "filename"; -static const char __pyx_k_getstate[] = "__getstate__"; -static const char __pyx_k_itemsize[] = "itemsize"; -static const char __pyx_k_pyx_type[] = "__pyx_type"; -static const char __pyx_k_res_comp[] = "res_comp"; -static const char __pyx_k_res_ineq[] = "res_ineq"; -static const char __pyx_k_res_stat[] = "res_stat"; -static const char __pyx_k_setstate[] = "__setstate__"; -static const char __pyx_k_sqp_iter[] = "sqp_iter"; -static const char __pyx_k_strftime[] = "strftime"; -static const char __pyx_k_time_lin[] = "time_lin"; -static const char __pyx_k_time_reg[] = "time_reg"; -static const char __pyx_k_time_sim[] = "time_sim"; -static const char __pyx_k_time_tot[] = "time_tot"; -static const char __pyx_k_tol_comp[] = "tol_comp"; -static const char __pyx_k_tol_ineq[] = "tol_ineq"; -static const char __pyx_k_tol_stat[] = "tol_stat"; -static const char __pyx_k_you_have[] = " (you have "; -static const char __pyx_k_TypeError[] = "TypeError"; -static const char __pyx_k_alpha_min[] = "alpha_min"; -static const char __pyx_k_enumerate[] = "enumerate"; -static const char __pyx_k_for_field[] = " for field \""; -static const char __pyx_k_get_stats[] = "get_stats"; -static const char __pyx_k_overwrite[] = "overwrite"; -static const char __pyx_k_pyx_state[] = "__pyx_state"; -static const char __pyx_k_qp_tol_eq[] = "qp_tol_eq"; -static const char __pyx_k_recompute[] = "recompute"; -static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; -static const char __pyx_k_residuals[] = "residuals"; -static const char __pyx_k_rti_phase[] = "rti_phase"; -static const char __pyx_k_sort_keys[] = "sort_keys"; -static const char __pyx_k_time_glob[] = "time_glob"; -static const char __pyx_k_IndexError[] = "IndexError"; -static const char __pyx_k_ValueError[] = "ValueError"; -static const char __pyx_k_model_name[] = "model_name"; -static const char __pyx_k_pyx_result[] = "__pyx_result"; -static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; -static const char __pyx_k_qp_tau_min[] = "qp_tau_min"; -static const char __pyx_k_statistics[] = "statistics"; -static const char __pyx_k_xdot_guess[] = "xdot_guess"; -static const char __pyx_k_ImportError[] = "ImportError"; -static const char __pyx_k_MemoryError[] = "MemoryError"; -static const char __pyx_k_PickleError[] = "PickleError"; -static const char __pyx_k_print_level[] = "print_level"; -static const char __pyx_k_qp_tol_comp[] = "qp_tol_comp"; -static const char __pyx_k_qp_tol_ineq[] = "qp_tol_ineq"; -static const char __pyx_k_qp_tol_stat[] = "qp_tol_stat"; -static const char __pyx_k_step_length[] = "step_length"; -static const char __pyx_k_time_sim_ad[] = "time_sim_ad"; -static const char __pyx_k_time_sim_la[] = "time_sim_la"; -static const char __pyx_k_get_stat_int[] = "__get_stat_int"; -static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; -static const char __pyx_k_stringsource[] = "stringsource"; -static const char __pyx_k_Y_m_d_H_M_S_f[] = "%Y-%m-%d-%H:%M:%S.%f"; -static const char __pyx_k_get_residuals[] = "get_residuals"; -static const char __pyx_k_globalization[] = "globalization"; -static const char __pyx_k_pyx_getbuffer[] = "__pyx_getbuffer"; -static const char __pyx_k_qp_warm_start[] = "qp_warm_start"; -static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; -static const char __pyx_k_time_qp_xcond[] = "time_qp_xcond"; -static const char __pyx_k_asfortranarray[] = "asfortranarray"; -static const char __pyx_k_full_step_dual[] = "full_step_dual"; -static const char __pyx_k_with_dimension[] = " with dimension "; -static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; -static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; -static const char __pyx_k_alpha_reduction[] = "alpha_reduction"; -static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; -static const char __pyx_k_get_stat_double[] = "__get_stat_double"; -static const char __pyx_k_get_stat_matrix[] = "__get_stat_matrix"; -static const char __pyx_k_nlp_solver_type[] = "nlp_solver_type"; -static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; -static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; -static const char __pyx_k_ascontiguousarray[] = "ascontiguousarray"; -static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; -static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; -static const char __pyx_k_strided_and_direct[] = ""; -static const char __pyx_k_NotImplementedError[] = "NotImplementedError"; -static const char __pyx_k_get_pointers_solver[] = "__get_pointers_solver"; -static const char __pyx_k_initialize_t_slacks[] = "initialize_t_slacks"; -static const char __pyx_k_time_qp_solver_call[] = "time_qp_solver_call"; -static const char __pyx_k_warm_start_first_qp[] = "warm_start_first_qp"; -static const char __pyx_k_strided_and_indirect[] = ""; -static const char __pyx_k_AcadosOcpSolverCython[] = "AcadosOcpSolverCython"; -static const char __pyx_k_contiguous_and_direct[] = ""; -static const char __pyx_k_globalization_use_SOC[] = "globalization_use_SOC"; -static const char __pyx_k_MemoryView_of_r_object[] = ""; -static const char __pyx_k_eps_sufficient_descent[] = "eps_sufficient_descent"; -static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; -static const char __pyx_k_contiguous_and_indirect[] = ""; -static const char __pyx_k_with_dimension_you_have[] = "with dimension {} (you have {})"; -static const char __pyx_k_Cannot_index_with_type_s[] = "Cannot index with type '%s'"; -static const char __pyx_k_Invalid_shape_in_axis_d_d[] = "Invalid shape in axis %d: %d."; -static const char __pyx_k_stored_current_iterate_in[] = "stored current iterate in "; -static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; -static const char __pyx_k_store_iterate_locals_lambda[] = "store_iterate.."; -static const char __pyx_k_time_solution_sensitivities[] = "time_solution_sensitivities"; -static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; -static const char __pyx_k_strided_and_direct_or_indirect[] = ""; -static const char __pyx_k_AcadosOcpSolverCython_get_field[] = "AcadosOcpSolverCython.get(): field {} does not exist at final stage {}."; -static const char __pyx_k_AcadosOcpSolverCython_get_is_an[] = "AcadosOcpSolverCython.get(): {} is an invalid argument. \n Possible values are {}. Exiting."; -static const char __pyx_k_AcadosOcpSolverCython_get_stage[] = "AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}."; -static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; -static const char __pyx_k_AcadosOcpSolverCython_constraint[] = "AcadosOcpSolverCython.constraints_set(): mismatching dimension"; -static const char __pyx_k_AcadosOcpSolverCython_cost_set_m[] = "AcadosOcpSolverCython.cost_set(): mismatching dimension"; -static const char __pyx_k_AcadosOcpSolverCython_does_not_s[] = "AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature"; -static const char __pyx_k_AcadosOcpSolverCython_eval_param[] = "AcadosOcpSolverCython.eval_param_sens(): index must be Integer."; -static const char __pyx_k_AcadosOcpSolverCython_options_se[] = "AcadosOcpSolverCython.options_set() does not support field {}.\n Possible values are {}."; -static const char __pyx_k_AcadosOcpSolverCython_set_is_not[] = "AcadosOcpSolverCython.set(): {} is not a valid argument. \nPossible values are {}. Exiting."; -static const char __pyx_k_AcadosOcpSolverCython_set_mismat[] = "AcadosOcpSolverCython.set(): mismatching dimension for field \"{}\" "; -static const char __pyx_k_AcadosOcpSolverCython_solve_argu[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only values 0, 1, 2 for SQP-RTI-type solvers"; -static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; -static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; -static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; -static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; -static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; -static const char __pyx_k_Incompatible_checksums_s_vs_0xb0[] = "Incompatible checksums (%s vs 0xb068931 = (name))"; -static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; -static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got %s"; -static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis %d)"; -static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; -static const char __pyx_k_acados_template_acados_ocp_solve[] = "acados_template.acados_ocp_solver_pyx"; -static const char __pyx_k_alpha_values_are_not_available_f[] = "alpha values are not available for SQP_RTI"; -static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension %d (got %d and %d)"; -static const char __pyx_k_line_search_use_sufficient_desce[] = "line_search_use_sufficient_descent"; -static const char __pyx_k_load_iterate_failed_file_does_no[] = "load_iterate: failed, file does not exist: "; -static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; -static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; -static const char __pyx_k_solver_option_must_be_of_type_fl[] = "solver option {} must be of type float. You have {}."; -static const char __pyx_k_solver_option_must_be_of_type_in[] = "solver option {} must be of type int. You have {}."; -static const char __pyx_k_solver_option_must_be_of_type_st[] = "solver option {} must be of type str. You have {}."; -static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; -static const char __pyx_k_AcadosOcpSolverCython_does_not_s_2[] = "AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature"; -static const char __pyx_k_AcadosOcpSolverCython_eval_param_2[] = "AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: "; -static const char __pyx_k_AcadosOcpSolverCython_solve_argu_2[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only value 0 for SQP-type solvers"; -static PyObject *__pyx_n_s_ASCII; -static PyObject *__pyx_n_s_AcadosOcpSolverCython; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_constraint; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_cost_set_m; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param_2; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_field; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_is_an; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_stage; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_options_se; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_is_not; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_mismat; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu_2; -static PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; -static PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; -static PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; -static PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; -static PyObject *__pyx_kp_s_Cannot_index_with_type_s; -static PyObject *__pyx_n_s_Ellipsis; -static PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; -static PyObject *__pyx_n_u_F; -static PyObject *__pyx_n_s_ImportError; -static PyObject *__pyx_kp_s_Incompatible_checksums_s_vs_0xb0; -static PyObject *__pyx_n_s_IndexError; -static PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; -static PyObject *__pyx_kp_s_Invalid_mode_expected_c_or_fortr; -static PyObject *__pyx_kp_s_Invalid_shape_in_axis_d_d; -static PyObject *__pyx_n_s_MemoryError; -static PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; -static PyObject *__pyx_kp_s_MemoryView_of_r_object; -static PyObject *__pyx_n_s_N; -static PyObject *__pyx_kp_u_None; -static PyObject *__pyx_n_s_NotImplementedError; -static PyObject *__pyx_n_b_O; -static PyObject *__pyx_kp_s_Out_of_bounds_on_buffer_access_a; -static PyObject *__pyx_n_s_PickleError; -static PyObject *__pyx_n_u_SQP; -static PyObject *__pyx_n_u_SQP_RTI; -static PyObject *__pyx_kp_u_TODO; -static PyObject *__pyx_n_s_TypeError; -static PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; -static PyObject *__pyx_n_s_ValueError; -static PyObject *__pyx_n_s_View_MemoryView; -static PyObject *__pyx_kp_u_Y_m_d_H_M_S_f; -static PyObject *__pyx_kp_u__19; -static PyObject *__pyx_kp_u__22; -static PyObject *__pyx_kp_u__4; -static PyObject *__pyx_kp_u__5; -static PyObject *__pyx_n_u__6; -static PyObject *__pyx_n_s_acados_template_acados_ocp_solve; -static PyObject *__pyx_n_s_allocate_buffer; -static PyObject *__pyx_n_u_alpha; -static PyObject *__pyx_n_u_alpha_min; -static PyObject *__pyx_n_u_alpha_reduction; -static PyObject *__pyx_kp_u_alpha_values_are_not_available_f; -static PyObject *__pyx_n_s_array; -static PyObject *__pyx_n_s_ascontiguousarray; -static PyObject *__pyx_n_s_asfortranarray; -static PyObject *__pyx_kp_u_at_stage; -static PyObject *__pyx_n_s_base; -static PyObject *__pyx_n_s_c; -static PyObject *__pyx_n_u_c; -static PyObject *__pyx_n_s_class; -static PyObject *__pyx_n_s_cline_in_traceback; -static PyObject *__pyx_kp_s_contiguous_and_direct; -static PyObject *__pyx_kp_s_contiguous_and_indirect; -static PyObject *__pyx_n_s_datetime; -static PyObject *__pyx_n_s_default; -static PyObject *__pyx_n_s_dict; -static PyObject *__pyx_n_s_dtype; -static PyObject *__pyx_n_s_dtype_is_object; -static PyObject *__pyx_n_s_dump; -static PyObject *__pyx_n_s_encode; -static PyObject *__pyx_n_s_enter; -static PyObject *__pyx_n_s_enumerate; -static PyObject *__pyx_n_u_eps_sufficient_descent; -static PyObject *__pyx_n_s_error; -static PyObject *__pyx_n_u_ex; -static PyObject *__pyx_n_s_exit; -static PyObject *__pyx_n_s_field; -static PyObject *__pyx_n_s_field_2; -static PyObject *__pyx_n_s_filename; -static PyObject *__pyx_n_s_flags; -static PyObject *__pyx_n_s_float64; -static PyObject *__pyx_kp_u_for_field; -static PyObject *__pyx_n_s_format; -static PyObject *__pyx_n_s_fortran; -static PyObject *__pyx_n_u_fortran; -static PyObject *__pyx_n_u_full_step_dual; -static PyObject *__pyx_n_s_get; -static PyObject *__pyx_n_s_get_pointers_solver; -static PyObject *__pyx_n_s_get_residuals; -static PyObject *__pyx_n_s_get_stat_double; -static PyObject *__pyx_n_s_get_stat_int; -static PyObject *__pyx_n_s_get_stat_matrix; -static PyObject *__pyx_n_s_get_stats; -static PyObject *__pyx_n_s_getcwd; -static PyObject *__pyx_n_s_getstate; -static PyObject *__pyx_n_u_globalization; -static PyObject *__pyx_n_u_globalization_use_SOC; -static PyObject *__pyx_kp_s_got_differing_extents_in_dimensi; -static PyObject *__pyx_n_s_id; -static PyObject *__pyx_n_s_import; -static PyObject *__pyx_n_s_indent; -static PyObject *__pyx_n_s_index; -static PyObject *__pyx_n_u_initialize_t_slacks; -static PyObject *__pyx_n_s_isfile; -static PyObject *__pyx_n_s_itemsize; -static PyObject *__pyx_kp_s_itemsize_0_for_cython_array; -static PyObject *__pyx_n_u_iterate; -static PyObject *__pyx_n_s_join; -static PyObject *__pyx_n_s_json; -static PyObject *__pyx_kp_u_json_2; -static PyObject *__pyx_n_s_keys; -static PyObject *__pyx_n_u_lam; -static PyObject *__pyx_n_u_lam_2; -static PyObject *__pyx_n_u_lbu; -static PyObject *__pyx_n_u_lbx; -static PyObject *__pyx_n_u_line_search_use_sufficient_desce; -static PyObject *__pyx_n_s_load; -static PyObject *__pyx_kp_u_load_iterate_failed_file_does_no; -static PyObject *__pyx_n_s_m; -static PyObject *__pyx_n_s_main; -static PyObject *__pyx_n_s_memview; -static PyObject *__pyx_n_s_mode; -static PyObject *__pyx_n_s_model_name; -static PyObject *__pyx_n_s_n; -static PyObject *__pyx_n_s_name; -static PyObject *__pyx_n_s_name_2; -static PyObject *__pyx_n_s_ndim; -static PyObject *__pyx_n_s_new; -static PyObject *__pyx_n_s_nlp_solver_type; -static PyObject *__pyx_kp_s_no_default___reduce___due_to_non; -static PyObject *__pyx_n_s_np; -static PyObject *__pyx_n_s_numpy; -static PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; -static PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; -static PyObject *__pyx_n_s_obj; -static PyObject *__pyx_n_s_open; -static PyObject *__pyx_n_s_order; -static PyObject *__pyx_n_s_os; -static PyObject *__pyx_n_s_overwrite; -static PyObject *__pyx_n_u_p; -static PyObject *__pyx_n_s_pack; -static PyObject *__pyx_n_s_path; -static PyObject *__pyx_n_u_pi; -static PyObject *__pyx_n_u_pi_2; -static PyObject *__pyx_n_s_pickle; -static PyObject *__pyx_n_s_print; -static PyObject *__pyx_n_u_print_level; -static PyObject *__pyx_n_s_pyx_PickleError; -static PyObject *__pyx_n_s_pyx_checksum; -static PyObject *__pyx_n_s_pyx_getbuffer; -static PyObject *__pyx_n_s_pyx_result; -static PyObject *__pyx_n_s_pyx_state; -static PyObject *__pyx_n_s_pyx_type; -static PyObject *__pyx_n_s_pyx_unpickle_Enum; -static PyObject *__pyx_n_s_pyx_vtable; -static PyObject *__pyx_n_u_qp_iter; -static PyObject *__pyx_n_u_qp_mu0; -static PyObject *__pyx_n_u_qp_tau_min; -static PyObject *__pyx_n_u_qp_tol_comp; -static PyObject *__pyx_n_u_qp_tol_eq; -static PyObject *__pyx_n_u_qp_tol_ineq; -static PyObject *__pyx_n_u_qp_tol_stat; -static PyObject *__pyx_n_u_qp_warm_start; -static PyObject *__pyx_n_u_r; -static PyObject *__pyx_n_s_range; -static PyObject *__pyx_n_s_recompute; -static PyObject *__pyx_n_s_reduce; -static PyObject *__pyx_n_s_reduce_cython; -static PyObject *__pyx_n_s_reduce_ex; -static PyObject *__pyx_n_b_res_comp; -static PyObject *__pyx_n_b_res_eq; -static PyObject *__pyx_n_b_res_ineq; -static PyObject *__pyx_n_b_res_stat; -static PyObject *__pyx_n_u_residuals; -static PyObject *__pyx_n_u_rti_phase; -static PyObject *__pyx_n_s_set; -static PyObject *__pyx_n_s_setstate; -static PyObject *__pyx_n_s_setstate_cython; -static PyObject *__pyx_n_s_shape; -static PyObject *__pyx_n_s_size; -static PyObject *__pyx_n_u_sl; -static PyObject *__pyx_n_u_sl_2; -static PyObject *__pyx_kp_u_solver_option_must_be_of_type_fl; -static PyObject *__pyx_kp_u_solver_option_must_be_of_type_in; -static PyObject *__pyx_kp_u_solver_option_must_be_of_type_st; -static PyObject *__pyx_n_s_sort_keys; -static PyObject *__pyx_n_s_split; -static PyObject *__pyx_n_u_sqp_iter; -static PyObject *__pyx_n_s_stage; -static PyObject *__pyx_n_s_start; -static PyObject *__pyx_n_u_stat_m; -static PyObject *__pyx_n_u_stat_n; -static PyObject *__pyx_n_u_statistics; -static PyObject *__pyx_n_s_step; -static PyObject *__pyx_n_u_step_length; -static PyObject *__pyx_n_s_stop; -static PyObject *__pyx_n_s_store_iterate_locals_lambda; -static PyObject *__pyx_kp_u_stored_current_iterate_in; -static PyObject *__pyx_n_s_strftime; -static PyObject *__pyx_kp_s_strided_and_direct; -static PyObject *__pyx_kp_s_strided_and_direct_or_indirect; -static PyObject *__pyx_kp_s_strided_and_indirect; -static PyObject *__pyx_kp_s_stringsource; -static PyObject *__pyx_n_s_struct; -static PyObject *__pyx_n_u_su; -static PyObject *__pyx_n_u_su_2; -static PyObject *__pyx_n_u_t; -static PyObject *__pyx_n_u_t_2; -static PyObject *__pyx_n_s_test; -static PyObject *__pyx_n_u_time_glob; -static PyObject *__pyx_n_u_time_lin; -static PyObject *__pyx_n_u_time_qp; -static PyObject *__pyx_n_u_time_qp_solver_call; -static PyObject *__pyx_n_u_time_qp_xcond; -static PyObject *__pyx_n_u_time_reg; -static PyObject *__pyx_n_u_time_sim; -static PyObject *__pyx_n_u_time_sim_ad; -static PyObject *__pyx_n_u_time_sim_la; -static PyObject *__pyx_n_u_time_solution_sensitivities; -static PyObject *__pyx_n_u_time_tot; -static PyObject *__pyx_n_u_tol_comp; -static PyObject *__pyx_n_u_tol_eq; -static PyObject *__pyx_n_u_tol_ineq; -static PyObject *__pyx_n_u_tol_stat; -static PyObject *__pyx_n_s_tolist; -static PyObject *__pyx_n_u_u; -static PyObject *__pyx_n_u_u_2; -static PyObject *__pyx_n_u_ubu; -static PyObject *__pyx_n_u_ubx; -static PyObject *__pyx_kp_s_unable_to_allocate_array_data; -static PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; -static PyObject *__pyx_n_s_unpack; -static PyObject *__pyx_n_s_update; -static PyObject *__pyx_n_s_utcnow; -static PyObject *__pyx_kp_u_utf_8; -static PyObject *__pyx_n_s_value; -static PyObject *__pyx_n_u_w; -static PyObject *__pyx_n_u_warm_start_first_qp; -static PyObject *__pyx_kp_u_with_dimension; -static PyObject *__pyx_kp_u_with_dimension_you_have; -static PyObject *__pyx_n_b_x; -static PyObject *__pyx_n_u_x; -static PyObject *__pyx_n_u_x_2; -static PyObject *__pyx_n_u_xdot_guess; -static PyObject *__pyx_n_u_y_ref; -static PyObject *__pyx_kp_u_you_have; -static PyObject *__pyx_n_u_yref; -static PyObject *__pyx_n_u_z; -static PyObject *__pyx_n_u_z_2; -static PyObject *__pyx_n_u_z_guess; -static PyObject *__pyx_n_s_zeros; -static int __pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython___cinit__(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_model_name, PyObject *__pyx_v_nlp_solver_type, PyObject *__pyx_v_N); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_2__get_pointers_solver(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_4solve(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_6reset(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_8set_new_time_steps(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_new_time_steps); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_10update_qp_solver_cond_N(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_qp_solver_cond_N); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_12eval_param_sens(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_stage, PyObject *__pyx_v_field); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_14get(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_16print_statistics(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_lambda_funcdef_lambda(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_x); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_18store_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename, PyObject *__pyx_v_overwrite); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_20load_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_22get_stats(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_24__get_stat_int(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_26__get_stat_double(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_28__get_stat_matrix(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field, PyObject *__pyx_v_n, PyObject *__pyx_v_m); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_30get_cost(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_32get_residuals(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_recompute); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_34set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_36cost_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_38constraints_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_40dynamics_get(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_42options_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_44__del__(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_46__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_48__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ -static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ -static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ -static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ -static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ -static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ -static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ -static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ -static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ -static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ -static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ -static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); 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*/ - (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); - - /* "View.MemoryView":1159 - * for i in range(dst_extent): - * memcpy(dst_data, src_data, itemsize) - * src_data += src_stride # <<<<<<<<<<<<<< - * dst_data += dst_stride - * else: - */ - __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); - - /* "View.MemoryView":1160 - * memcpy(dst_data, src_data, itemsize) - * src_data += src_stride - * dst_data += dst_stride # <<<<<<<<<<<<<< - * else: - * for i in range(dst_extent): - */ - __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); - } - } - __pyx_L4:; - - /* "View.MemoryView":1152 - * cdef Py_ssize_t dst_stride = dst_strides[0] - * - * if ndim == 1: # <<<<<<<<<<<<<< - * if (src_stride > 0 and dst_stride > 0 and - * src_stride == itemsize == dst_stride): - */ - goto __pyx_L3; - } - - /* "View.MemoryView":1162 - * dst_data += dst_stride - * else: - * for i in range(dst_extent): # <<<<<<<<<<<<<< - * _copy_strided_to_strided(src_data, src_strides + 1, - * dst_data, dst_strides + 1, - */ - /*else*/ { - __pyx_t_4 = __pyx_v_dst_extent; - __pyx_t_5 = __pyx_t_4; - for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { - __pyx_v_i = __pyx_t_6; - - /* "View.MemoryView":1163 - * else: - * for i in range(dst_extent): - * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< - * dst_data, dst_strides + 1, - * src_shape + 1, dst_shape + 1, - */ - _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); - - /* "View.MemoryView":1167 - * src_shape + 1, dst_shape + 1, - * ndim - 1, itemsize) - * src_data += src_stride # <<<<<<<<<<<<<< - * dst_data += dst_stride - * - */ - __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); - - /* "View.MemoryView":1168 - * ndim - 1, itemsize) - * src_data += src_stride - * dst_data += dst_stride # <<<<<<<<<<<<<< - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, - */ - __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); - } - } - __pyx_L3:; - - /* "View.MemoryView":1140 - * - * @cython.cdivision(True) - * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< - * char *dst_data, Py_ssize_t *dst_strides, - * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, - */ - - /* function exit code */ -} - -/* "View.MemoryView":1170 - * dst_data += dst_stride - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< - * __Pyx_memviewslice *dst, - * int ndim, size_t itemsize) nogil: - */ - -static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { - - /* "View.MemoryView":1173 - * __Pyx_memviewslice *dst, - * int ndim, size_t itemsize) nogil: - * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< - * src.shape, dst.shape, ndim, itemsize) - * - */ - _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); - - /* "View.MemoryView":1170 - * dst_data += dst_stride - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< - * __Pyx_memviewslice *dst, - * int ndim, size_t itemsize) nogil: - */ - - /* function exit code */ -} - -/* "View.MemoryView":1177 - * - * @cname('__pyx_memoryview_slice_get_size') - * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: # <<<<<<<<<<<<<< - * "Return the size of the memory occupied by the slice in number of bytes" - * cdef Py_ssize_t shape, size = src.memview.view.itemsize - */ - -static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { - Py_ssize_t __pyx_v_shape; - Py_ssize_t __pyx_v_size; - Py_ssize_t __pyx_r; - Py_ssize_t __pyx_t_1; - Py_ssize_t *__pyx_t_2; - Py_ssize_t *__pyx_t_3; - Py_ssize_t *__pyx_t_4; - - /* "View.MemoryView":1179 - * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: - * "Return the size of the memory occupied by the slice in number of bytes" - * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< - * - * for shape in src.shape[:ndim]: - */ - __pyx_t_1 = __pyx_v_src->memview->view.itemsize; - __pyx_v_size = __pyx_t_1; - - /* "View.MemoryView":1181 - * cdef Py_ssize_t shape, size = src.memview.view.itemsize - * - * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< - * size *= shape - * - */ - __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); - for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { - __pyx_t_2 = __pyx_t_4; - __pyx_v_shape = (__pyx_t_2[0]); - - /* "View.MemoryView":1182 - * - * for shape in src.shape[:ndim]: - * size *= shape # <<<<<<<<<<<<<< - * - * return size - */ - __pyx_v_size = (__pyx_v_size * __pyx_v_shape); - } - - /* "View.MemoryView":1184 - * size *= shape - * - * return size # <<<<<<<<<<<<<< - * - * @cname('__pyx_fill_contig_strides_array') - */ - __pyx_r = __pyx_v_size; - goto __pyx_L0; - - /* "View.MemoryView":1177 - * - * @cname('__pyx_memoryview_slice_get_size') - * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: # <<<<<<<<<<<<<< - * "Return the size of the memory occupied by the slice in number of bytes" - * cdef Py_ssize_t shape, size = src.memview.view.itemsize - */ - - /* function exit code */ - __pyx_L0:; - return __pyx_r; -} - -/* "View.MemoryView":1187 - * - * @cname('__pyx_fill_contig_strides_array') - * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< - * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, - * int ndim, char order) nogil: - */ - -static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { - int __pyx_v_idx; - Py_ssize_t __pyx_r; - int __pyx_t_1; - int __pyx_t_2; - int __pyx_t_3; - int __pyx_t_4; - - /* "View.MemoryView":1196 - * cdef int idx - * - * if order == 'F': # <<<<<<<<<<<<<< - * for idx in range(ndim): - * strides[idx] = stride - */ - __pyx_t_1 = ((__pyx_v_order == 'F') != 0); - if (__pyx_t_1) { - - /* "View.MemoryView":1197 - * - * if order == 'F': - * for idx in range(ndim): # <<<<<<<<<<<<<< - * strides[idx] = stride - * stride *= shape[idx] - */ - __pyx_t_2 = __pyx_v_ndim; - __pyx_t_3 = __pyx_t_2; - for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { - __pyx_v_idx = __pyx_t_4; - - /* "View.MemoryView":1198 - * if order == 'F': - * for idx in range(ndim): - * strides[idx] = stride # <<<<<<<<<<<<<< - * stride *= shape[idx] - * else: - */ - (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; - - /* "View.MemoryView":1199 - * for idx in range(ndim): - * strides[idx] = stride - * stride *= shape[idx] # <<<<<<<<<<<<<< - * else: - * for idx in range(ndim - 1, -1, -1): - */ - __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); - } - - /* "View.MemoryView":1196 - * cdef int idx - * - * if order == 'F': # <<<<<<<<<<<<<< - * for idx in range(ndim): - * strides[idx] = stride - */ - goto __pyx_L3; - } - - /* "View.MemoryView":1201 - * stride *= shape[idx] - * else: - * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< - * strides[idx] = stride - * stride *= shape[idx] - */ - /*else*/ { - for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { - __pyx_v_idx = __pyx_t_2; - - /* "View.MemoryView":1202 - * else: - * for idx in range(ndim - 1, -1, -1): - * strides[idx] = stride # <<<<<<<<<<<<<< - * stride *= shape[idx] - * - */ - (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; - - /* "View.MemoryView":1203 - * for idx in range(ndim - 1, -1, -1): - * strides[idx] = stride - * stride *= shape[idx] # <<<<<<<<<<<<<< - * - * return stride - */ - __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); - } - } - __pyx_L3:; - - /* "View.MemoryView":1205 - * stride *= shape[idx] - * - * return stride # <<<<<<<<<<<<<< - * - * @cname('__pyx_memoryview_copy_data_to_temp') - */ - __pyx_r = __pyx_v_stride; - goto __pyx_L0; - - /* "View.MemoryView":1187 - * - * @cname('__pyx_fill_contig_strides_array') - * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< - * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, - * int ndim, char order) nogil: - */ - - /* function exit code */ - __pyx_L0:; - return __pyx_r; -} - -/* "View.MemoryView":1208 - * - * @cname('__pyx_memoryview_copy_data_to_temp') - * cdef void *copy_data_to_temp(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< - * __Pyx_memviewslice *tmpslice, - * char order, - */ - -static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_tmpslice, char __pyx_v_order, int __pyx_v_ndim) { - int __pyx_v_i; - void *__pyx_v_result; - size_t __pyx_v_itemsize; - size_t __pyx_v_size; - void *__pyx_r; - Py_ssize_t __pyx_t_1; - int __pyx_t_2; - int __pyx_t_3; - struct __pyx_memoryview_obj *__pyx_t_4; - int __pyx_t_5; - int __pyx_t_6; - int __pyx_lineno = 0; - const char *__pyx_filename = NULL; - int __pyx_clineno = 0; - - /* "View.MemoryView":1219 - * cdef void *result - * - * cdef size_t itemsize = src.memview.view.itemsize # <<<<<<<<<<<<<< - * cdef size_t size = slice_get_size(src, ndim) - 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- /* "View.MemoryView":1223 - * - * result = malloc(size) - * if not result: # <<<<<<<<<<<<<< - * _err(MemoryError, NULL) - * - */ - } - - /* "View.MemoryView":1227 - * - * - * tmpslice.data = result # <<<<<<<<<<<<<< - * tmpslice.memview = src.memview - * for i in range(ndim): - */ - __pyx_v_tmpslice->data = ((char *)__pyx_v_result); - - /* "View.MemoryView":1228 - * - * tmpslice.data = result - * tmpslice.memview = src.memview # <<<<<<<<<<<<<< - * for i in range(ndim): - * tmpslice.shape[i] = src.shape[i] - */ - __pyx_t_4 = __pyx_v_src->memview; - __pyx_v_tmpslice->memview = __pyx_t_4; - - /* "View.MemoryView":1229 - * tmpslice.data = result - * tmpslice.memview = src.memview - * for i in range(ndim): # <<<<<<<<<<<<<< - * tmpslice.shape[i] = src.shape[i] - * tmpslice.suboffsets[i] = -1 - */ - __pyx_t_3 = __pyx_v_ndim; - __pyx_t_5 = __pyx_t_3; - for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { - __pyx_v_i = __pyx_t_6; - - /* "View.MemoryView":1230 - * tmpslice.memview = src.memview - * for i in range(ndim): - * tmpslice.shape[i] = src.shape[i] # <<<<<<<<<<<<<< - * tmpslice.suboffsets[i] = -1 - * - */ - (__pyx_v_tmpslice->shape[__pyx_v_i]) = (__pyx_v_src->shape[__pyx_v_i]); - - /* "View.MemoryView":1231 - * for i in range(ndim): - * tmpslice.shape[i] = src.shape[i] - * tmpslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< - * - * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, - */ - (__pyx_v_tmpslice->suboffsets[__pyx_v_i]) = -1L; - } - - /* "View.MemoryView":1233 - * tmpslice.suboffsets[i] = -1 - * - * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, # <<<<<<<<<<<<<< - * ndim, order) - * - */ - (void)(__pyx_fill_contig_strides_array((&(__pyx_v_tmpslice->shape[0])), (&(__pyx_v_tmpslice->strides[0])), __pyx_v_itemsize, __pyx_v_ndim, __pyx_v_order)); - - /* "View.MemoryView":1237 - * - * - * for i in range(ndim): # <<<<<<<<<<<<<< - * if tmpslice.shape[i] == 1: - * tmpslice.strides[i] = 0 - */ - __pyx_t_3 = __pyx_v_ndim; - __pyx_t_5 = __pyx_t_3; - for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { - __pyx_v_i = __pyx_t_6; - - /* "View.MemoryView":1238 - * - * for i in range(ndim): - * if tmpslice.shape[i] == 1: # <<<<<<<<<<<<<< - * tmpslice.strides[i] = 0 - * - */ - __pyx_t_2 = (((__pyx_v_tmpslice->shape[__pyx_v_i]) == 1) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1239 - * for i in range(ndim): - * if tmpslice.shape[i] == 1: - * tmpslice.strides[i] = 0 # <<<<<<<<<<<<<< - * - * if slice_is_contig(src[0], order, ndim): - */ - (__pyx_v_tmpslice->strides[__pyx_v_i]) = 0; - - /* "View.MemoryView":1238 - * - * for i in range(ndim): - * if tmpslice.shape[i] == 1: # <<<<<<<<<<<<<< - * tmpslice.strides[i] = 0 - * - */ - } - } - - /* "View.MemoryView":1241 - * tmpslice.strides[i] = 0 - * - * if slice_is_contig(src[0], order, ndim): # <<<<<<<<<<<<<< - * memcpy(result, src.data, size) - * else: - */ - __pyx_t_2 = (__pyx_memviewslice_is_contig((__pyx_v_src[0]), __pyx_v_order, __pyx_v_ndim) != 0); - if (__pyx_t_2) { - 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* if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< - * if src.shape[i] == 1: - * broadcasting = True - */ - } - - /* "View.MemoryView":1299 - * _err_extents(i, dst.shape[i], src.shape[i]) - * - * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< - * _err_dim(ValueError, "Dimension %d is not direct", i) - * - */ - __pyx_t_2 = (((__pyx_v_src.suboffsets[__pyx_v_i]) >= 0) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1300 - * - * if src.suboffsets[i] >= 0: - * _err_dim(ValueError, "Dimension %d is not direct", i) # <<<<<<<<<<<<<< - * - * if slices_overlap(&src, &dst, ndim, itemsize): - */ - __pyx_t_6 = __pyx_memoryview_err_dim(__pyx_builtin_ValueError, ((char *)"Dimension %d is not direct"), __pyx_v_i); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1300, __pyx_L1_error) - - /* "View.MemoryView":1299 - * _err_extents(i, dst.shape[i], src.shape[i]) - * - * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< - * _err_dim(ValueError, "Dimension %d is not direct", i) - * - */ - } - } - - /* "View.MemoryView":1302 - * _err_dim(ValueError, "Dimension %d is not direct", i) - * - * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< - * - * if not slice_is_contig(src, order, ndim): - */ - __pyx_t_2 = (__pyx_slices_overlap((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1304 - * if slices_overlap(&src, &dst, ndim, itemsize): - * - * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< - * order = get_best_order(&dst, ndim) - * - */ - __pyx_t_2 = ((!(__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim) != 0)) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1305 - * - * if not slice_is_contig(src, order, ndim): - * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< - * - * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) - */ - __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); - - /* "View.MemoryView":1304 - * if slices_overlap(&src, &dst, ndim, itemsize): - * - * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< - * order = get_best_order(&dst, ndim) - * - */ - } - - /* "View.MemoryView":1307 - * order = get_best_order(&dst, ndim) - * - * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< - * src = tmp - * - */ - __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(1, 1307, __pyx_L1_error) - __pyx_v_tmpdata = __pyx_t_7; - - /* "View.MemoryView":1308 - * - * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) - * src = tmp # <<<<<<<<<<<<<< - * - * if not broadcasting: - */ - __pyx_v_src = __pyx_v_tmp; - - /* "View.MemoryView":1302 - * _err_dim(ValueError, "Dimension %d is not direct", i) - * - * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< - * - * if not slice_is_contig(src, order, ndim): - */ - } - - /* "View.MemoryView":1310 - * src = tmp - * - * if not broadcasting: # <<<<<<<<<<<<<< - * - * - */ - __pyx_t_2 = ((!(__pyx_v_broadcasting != 0)) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1313 - * - * - * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< - * direct_copy = slice_is_contig(dst, 'C', ndim) - * elif slice_is_contig(src, 'F', ndim): - */ - __pyx_t_2 = (__pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1314 - * - * if slice_is_contig(src, 'C', ndim): - * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< - * elif slice_is_contig(src, 'F', ndim): - * direct_copy = slice_is_contig(dst, 'F', ndim) - */ - __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); - - /* "View.MemoryView":1313 - * - * - * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< - * direct_copy = slice_is_contig(dst, 'C', ndim) - * elif slice_is_contig(src, 'F', ndim): - */ - goto __pyx_L12; - } - - /* "View.MemoryView":1315 - * if slice_is_contig(src, 'C', ndim): - * direct_copy = slice_is_contig(dst, 'C', ndim) - * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< - * direct_copy = slice_is_contig(dst, 'F', ndim) - * - */ - __pyx_t_2 = (__pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1316 - * direct_copy = slice_is_contig(dst, 'C', ndim) - * elif slice_is_contig(src, 'F', ndim): - * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< - * - * if direct_copy: - */ - __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); - - /* "View.MemoryView":1315 - * if slice_is_contig(src, 'C', ndim): - * direct_copy = slice_is_contig(dst, 'C', ndim) - * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< - * direct_copy = slice_is_contig(dst, 'F', ndim) - * - */ - } - __pyx_L12:; - - /* "View.MemoryView":1318 - * direct_copy = slice_is_contig(dst, 'F', ndim) - * - * if direct_copy: # <<<<<<<<<<<<<< - * - * refcount_copying(&dst, dtype_is_object, ndim, False) - */ - __pyx_t_2 = (__pyx_v_direct_copy != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1320 - * if direct_copy: - * - * refcount_copying(&dst, dtype_is_object, ndim, False) # <<<<<<<<<<<<<< - * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) - * refcount_copying(&dst, dtype_is_object, ndim, True) - */ - __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); - - /* "View.MemoryView":1321 - * - * refcount_copying(&dst, dtype_is_object, ndim, False) - * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< - * refcount_copying(&dst, dtype_is_object, ndim, True) - * free(tmpdata) - */ - (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); - - /* "View.MemoryView":1322 - * refcount_copying(&dst, dtype_is_object, ndim, False) - * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) - * refcount_copying(&dst, dtype_is_object, ndim, True) # <<<<<<<<<<<<<< - * free(tmpdata) - * return 0 - */ - __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); - 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"" : "s", num_found); -} - -/* RaiseDoubleKeywords */ -static void __Pyx_RaiseDoubleKeywordsError( - const char* func_name, - PyObject* kw_name) -{ - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION >= 3 - "%s() got multiple values for keyword argument '%U'", func_name, kw_name); - #else - "%s() got multiple values for keyword argument '%s'", func_name, - PyString_AsString(kw_name)); - #endif -} - -/* ParseKeywords */ -static int __Pyx_ParseOptionalKeywords( - PyObject *kwds, - PyObject **argnames[], - PyObject *kwds2, - PyObject *values[], - Py_ssize_t num_pos_args, - const char* function_name) -{ - PyObject *key = 0, *value = 0; - Py_ssize_t pos = 0; - PyObject*** name; - PyObject*** first_kw_arg = argnames + num_pos_args; - while (PyDict_Next(kwds, &pos, &key, &value)) { - name = first_kw_arg; - while (*name && (**name != key)) name++; - if (*name) { - values[name-argnames] = value; - continue; - } - name = first_kw_arg; - #if PY_MAJOR_VERSION < 3 - if (likely(PyString_Check(key))) { - while (*name) { - if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) - && _PyString_Eq(**name, key)) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - if ((**argname == key) || ( - (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) - && _PyString_Eq(**argname, key))) { - goto arg_passed_twice; - } - argname++; - } - } - } else - #endif - if (likely(PyUnicode_Check(key))) { - while (*name) { - int cmp = (**name == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**name, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - int cmp = (**argname == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**argname, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) goto arg_passed_twice; - argname++; - } - } - } else - goto invalid_keyword_type; - if (kwds2) { - if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; - } else { - goto invalid_keyword; - } - } - return 0; -arg_passed_twice: - __Pyx_RaiseDoubleKeywordsError(function_name, key); - goto bad; -invalid_keyword_type: - PyErr_Format(PyExc_TypeError, - "%.200s() keywords must be strings", function_name); - goto bad; -invalid_keyword: - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION < 3 - "%.200s() got an unexpected keyword argument '%.200s'", - function_name, PyString_AsString(key)); - #else - "%s() got an unexpected keyword argument '%U'", - function_name, key); - #endif -bad: - return -1; -} - -/* PyFunctionFastCall */ -#if CYTHON_FAST_PYCALL -static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, - PyObject *globals) { - PyFrameObject *f; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject **fastlocals; - Py_ssize_t i; - PyObject *result; - assert(globals != NULL); - /* XXX Perhaps we should create a specialized - PyFrame_New() that doesn't take locals, but does - take builtins without sanity checking them. - */ - assert(tstate != NULL); - f = PyFrame_New(tstate, co, globals, NULL); - if (f == NULL) { - return NULL; - } - fastlocals = __Pyx_PyFrame_GetLocalsplus(f); - for (i = 0; i < na; i++) { - Py_INCREF(*args); - fastlocals[i] = *args++; - } - result = PyEval_EvalFrameEx(f,0); - ++tstate->recursion_depth; - Py_DECREF(f); - --tstate->recursion_depth; - return result; -} -#if 1 || PY_VERSION_HEX < 0x030600B1 -static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { - PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); - PyObject *globals = PyFunction_GET_GLOBALS(func); - PyObject *argdefs = PyFunction_GET_DEFAULTS(func); - PyObject *closure; -#if PY_MAJOR_VERSION >= 3 - PyObject *kwdefs; -#endif - PyObject *kwtuple, **k; - PyObject **d; - Py_ssize_t nd; - Py_ssize_t nk; - PyObject *result; - assert(kwargs == NULL || PyDict_Check(kwargs)); - nk = kwargs ? PyDict_Size(kwargs) : 0; - if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { - return NULL; - } - if ( -#if PY_MAJOR_VERSION >= 3 - co->co_kwonlyargcount == 0 && -#endif - likely(kwargs == NULL || nk == 0) && - co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { - if (argdefs == NULL && co->co_argcount == nargs) { - result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); - goto done; - } - else if (nargs == 0 && argdefs != NULL - && co->co_argcount == Py_SIZE(argdefs)) { - /* function called with no arguments, but all parameters have - a default value: use default values as arguments .*/ - args = &PyTuple_GET_ITEM(argdefs, 0); - result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); - goto done; - } - } - if (kwargs != NULL) { - Py_ssize_t pos, i; - kwtuple = PyTuple_New(2 * nk); - if (kwtuple == NULL) { - result = NULL; - goto done; - } - k = &PyTuple_GET_ITEM(kwtuple, 0); - pos = i = 0; - while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { - Py_INCREF(k[i]); - Py_INCREF(k[i+1]); - i += 2; - } - nk = i / 2; - } - else { - kwtuple = NULL; - k = NULL; - } - closure = PyFunction_GET_CLOSURE(func); -#if PY_MAJOR_VERSION >= 3 - kwdefs = PyFunction_GET_KW_DEFAULTS(func); -#endif - if (argdefs != NULL) { - d = &PyTuple_GET_ITEM(argdefs, 0); - nd = Py_SIZE(argdefs); - } - else { - d = NULL; - nd = 0; - } -#if PY_MAJOR_VERSION >= 3 - result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, kwdefs, closure); -#else - result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, closure); -#endif - Py_XDECREF(kwtuple); -done: - Py_LeaveRecursiveCall(); - return result; -} -#endif -#endif - -/* PyObjectCall */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { - PyObject *result; - ternaryfunc call = Py_TYPE(func)->tp_call; - if (unlikely(!call)) - return PyObject_Call(func, arg, kw); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = (*call)(func, arg, kw); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallMethO */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { - PyObject *self, *result; - PyCFunction cfunc; - cfunc = PyCFunction_GET_FUNCTION(func); - self = PyCFunction_GET_SELF(func); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = cfunc(self, arg); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallNoArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, NULL, 0); - } -#endif -#ifdef __Pyx_CyFunction_USED - if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) -#else - if (likely(PyCFunction_Check(func))) -#endif - { - if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { - return __Pyx_PyObject_CallMethO(func, NULL); - } - } - return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); -} -#endif - -/* PyCFunctionFastCall */ -#if CYTHON_FAST_PYCCALL -static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { - PyCFunctionObject *func = (PyCFunctionObject*)func_obj; - PyCFunction meth = PyCFunction_GET_FUNCTION(func); - PyObject *self = PyCFunction_GET_SELF(func); - int flags = PyCFunction_GET_FLAGS(func); - assert(PyCFunction_Check(func)); - assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); - assert(nargs >= 0); - assert(nargs == 0 || args != NULL); - /* _PyCFunction_FastCallDict() must not be called with an exception set, - because it may clear it (directly or indirectly) and so the - caller loses its exception */ - assert(!PyErr_Occurred()); - if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { - return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); - } else { - return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); - } -} -#endif - -/* PyObjectCallOneArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_New(1); - if (unlikely(!args)) return NULL; - Py_INCREF(arg); - PyTuple_SET_ITEM(args, 0, arg); - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, &arg, 1); - } -#endif - if (likely(PyCFunction_Check(func))) { - if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { - return __Pyx_PyObject_CallMethO(func, arg); -#if CYTHON_FAST_PYCCALL - } else if (__Pyx_PyFastCFunction_Check(func)) { - return __Pyx_PyCFunction_FastCall(func, &arg, 1); -#endif - } - } - return __Pyx__PyObject_CallOneArg(func, arg); -} -#else -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_Pack(1, arg); - if (unlikely(!args)) return NULL; - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -#endif - -/* PyErrFetchRestore */ -#if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - tmp_type = tstate->curexc_type; - tmp_value = tstate->curexc_value; - tmp_tb = tstate->curexc_traceback; - tstate->curexc_type = type; - tstate->curexc_value = value; - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - *type = tstate->curexc_type; - *value = tstate->curexc_value; - *tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -} -#endif - -/* RaiseException */ -#if PY_MAJOR_VERSION < 3 -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, - CYTHON_UNUSED PyObject *cause) { - __Pyx_PyThreadState_declare - Py_XINCREF(type); - if (!value || value == Py_None) - value = NULL; - else - Py_INCREF(value); - if (!tb || tb == Py_None) - tb = NULL; - else { - Py_INCREF(tb); - if (!PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto raise_error; - } - } - if (PyType_Check(type)) { -#if CYTHON_COMPILING_IN_PYPY - if (!value) { - Py_INCREF(Py_None); - value = Py_None; - } -#endif - PyErr_NormalizeException(&type, &value, &tb); - } else { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto raise_error; - } - value = type; - type = (PyObject*) Py_TYPE(type); - Py_INCREF(type); - if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto raise_error; - } - } - __Pyx_PyThreadState_assign - __Pyx_ErrRestore(type, value, tb); - return; -raise_error: - Py_XDECREF(value); - Py_XDECREF(type); - Py_XDECREF(tb); - return; -} -#else -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { - PyObject* owned_instance = NULL; - if (tb == Py_None) { - tb = 0; - } else if (tb && !PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto bad; - } - if (value == Py_None) - value = 0; - if (PyExceptionInstance_Check(type)) { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto bad; - } - value = type; - type = (PyObject*) Py_TYPE(value); - } else if (PyExceptionClass_Check(type)) { - PyObject *instance_class = NULL; - if (value && PyExceptionInstance_Check(value)) { - instance_class = (PyObject*) Py_TYPE(value); - if (instance_class != type) { - int is_subclass = PyObject_IsSubclass(instance_class, type); - if (!is_subclass) { - instance_class = NULL; - } else if (unlikely(is_subclass == -1)) { - goto bad; - } else { - type = instance_class; - } - } - } - if (!instance_class) { - PyObject *args; - if (!value) - args = PyTuple_New(0); - else if (PyTuple_Check(value)) { - Py_INCREF(value); - args = value; - } else - args = PyTuple_Pack(1, value); - if (!args) - goto bad; - owned_instance = PyObject_Call(type, args, NULL); - Py_DECREF(args); - if (!owned_instance) - goto bad; - value = owned_instance; - if (!PyExceptionInstance_Check(value)) { - PyErr_Format(PyExc_TypeError, - "calling %R should have returned an instance of " - "BaseException, not %R", - type, Py_TYPE(value)); - goto bad; - } - } - } else { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto bad; - } - if (cause) { - PyObject *fixed_cause; - if (cause == Py_None) { - fixed_cause = NULL; - } else if (PyExceptionClass_Check(cause)) { - fixed_cause = PyObject_CallObject(cause, NULL); - if (fixed_cause == NULL) - goto bad; - } else if (PyExceptionInstance_Check(cause)) { - fixed_cause = cause; - Py_INCREF(fixed_cause); - } else { - PyErr_SetString(PyExc_TypeError, - "exception causes must derive from " - "BaseException"); - goto bad; - } - PyException_SetCause(value, fixed_cause); - } - PyErr_SetObject(type, value); - if (tb) { -#if CYTHON_COMPILING_IN_PYPY - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); - Py_INCREF(tb); - PyErr_Restore(tmp_type, tmp_value, tb); - Py_XDECREF(tmp_tb); -#else - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* tmp_tb = tstate->curexc_traceback; - if (tb != tmp_tb) { - Py_INCREF(tb); - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_tb); - } -#endif - } -bad: - Py_XDECREF(owned_instance); - return; -} -#endif - -/* PyObjectCall2Args */ -static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { - PyObject *args, *result = NULL; - #if CYTHON_FAST_PYCALL - if (PyFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyFunction_FastCall(function, args, 2); - } - #endif - #if CYTHON_FAST_PYCCALL - if (__Pyx_PyFastCFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyCFunction_FastCall(function, args, 2); - } - #endif - args = PyTuple_New(2); - if (unlikely(!args)) goto done; - Py_INCREF(arg1); - PyTuple_SET_ITEM(args, 0, arg1); - Py_INCREF(arg2); - PyTuple_SET_ITEM(args, 1, arg2); - Py_INCREF(function); - result = __Pyx_PyObject_Call(function, args, NULL); - Py_DECREF(args); - Py_DECREF(function); -done: - return result; -} - -/* JoinPyUnicode */ -static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, - CYTHON_UNUSED Py_UCS4 max_char) { -#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - PyObject *result_uval; - int result_ukind; - Py_ssize_t i, char_pos; - void *result_udata; -#if CYTHON_PEP393_ENABLED - result_uval = PyUnicode_New(result_ulength, max_char); - if (unlikely(!result_uval)) return NULL; - result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; - result_udata = PyUnicode_DATA(result_uval); -#else - result_uval = PyUnicode_FromUnicode(NULL, result_ulength); - if (unlikely(!result_uval)) return NULL; - result_ukind = sizeof(Py_UNICODE); - result_udata = PyUnicode_AS_UNICODE(result_uval); -#endif - char_pos = 0; - for (i=0; i < value_count; i++) { - int ukind; - Py_ssize_t ulength; - void *udata; - PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); - if (unlikely(__Pyx_PyUnicode_READY(uval))) - goto bad; - ulength = __Pyx_PyUnicode_GET_LENGTH(uval); - if (unlikely(!ulength)) - continue; - if (unlikely(char_pos + ulength < 0)) - goto overflow; - ukind = __Pyx_PyUnicode_KIND(uval); - udata = __Pyx_PyUnicode_DATA(uval); - if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { - memcpy((char *)result_udata + char_pos * result_ukind, udata, (size_t) (ulength * result_ukind)); - } else { - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) - _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); - #else - Py_ssize_t j; - for (j=0; j < ulength; j++) { - Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); - __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); - } - #endif - } - char_pos += ulength; - } - return result_uval; -overflow: - PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); -bad: - Py_DECREF(result_uval); - return NULL; -#else - result_ulength++; - value_count++; - return PyUnicode_Join(__pyx_empty_unicode, value_tuple); -#endif -} - -/* ArgTypeTest */ -static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) -{ - if (unlikely(!type)) { - PyErr_SetString(PyExc_SystemError, "Missing type object"); - return 0; - } - else if (exact) { - #if PY_MAJOR_VERSION == 2 - if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; - #endif - } - else { - if (likely(__Pyx_TypeCheck(obj, type))) return 1; - } - PyErr_Format(PyExc_TypeError, - "Argument '%.200s' has incorrect type (expected %.200s, got %.200s)", - name, type->tp_name, Py_TYPE(obj)->tp_name); - return 0; -} - -/* BytesEquals */ -static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { -#if CYTHON_COMPILING_IN_PYPY - return PyObject_RichCompareBool(s1, s2, equals); -#else - if (s1 == s2) { - return (equals == Py_EQ); - } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { - const char *ps1, *ps2; - Py_ssize_t length = PyBytes_GET_SIZE(s1); - if (length != PyBytes_GET_SIZE(s2)) - return (equals == Py_NE); - ps1 = PyBytes_AS_STRING(s1); - ps2 = PyBytes_AS_STRING(s2); - if (ps1[0] != ps2[0]) { - return (equals == Py_NE); - } else if (length == 1) { - return (equals == Py_EQ); - } else { - int result; -#if CYTHON_USE_UNICODE_INTERNALS - Py_hash_t hash1, hash2; - hash1 = ((PyBytesObject*)s1)->ob_shash; - hash2 = ((PyBytesObject*)s2)->ob_shash; - if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { - return (equals == Py_NE); - } -#endif - result = memcmp(ps1, ps2, (size_t)length); - return (equals == Py_EQ) ? (result == 0) : (result != 0); - } - } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { - return (equals == Py_NE); - } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { - return (equals == Py_NE); - } else { - int result; - PyObject* py_result = PyObject_RichCompare(s1, s2, equals); - if (!py_result) - return -1; - result = __Pyx_PyObject_IsTrue(py_result); - Py_DECREF(py_result); - return result; - } -#endif -} - -/* UnicodeEquals */ -static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { -#if CYTHON_COMPILING_IN_PYPY - return PyObject_RichCompareBool(s1, s2, equals); -#else -#if PY_MAJOR_VERSION < 3 - PyObject* owned_ref = NULL; -#endif - int s1_is_unicode, s2_is_unicode; - if (s1 == s2) { - goto return_eq; - } - s1_is_unicode = PyUnicode_CheckExact(s1); - s2_is_unicode = PyUnicode_CheckExact(s2); -#if PY_MAJOR_VERSION < 3 - if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { - owned_ref = PyUnicode_FromObject(s2); - if (unlikely(!owned_ref)) - return -1; - s2 = owned_ref; - s2_is_unicode = 1; - } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { - owned_ref = PyUnicode_FromObject(s1); - if (unlikely(!owned_ref)) - return -1; - s1 = owned_ref; - s1_is_unicode = 1; - } else if (((!s2_is_unicode) & (!s1_is_unicode))) { - return __Pyx_PyBytes_Equals(s1, s2, equals); - } -#endif - if (s1_is_unicode & s2_is_unicode) { - Py_ssize_t length; - int kind; - void *data1, *data2; - if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) - return -1; - length = __Pyx_PyUnicode_GET_LENGTH(s1); - if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { - goto return_ne; - } -#if CYTHON_USE_UNICODE_INTERNALS - { - Py_hash_t hash1, hash2; - #if CYTHON_PEP393_ENABLED - hash1 = ((PyASCIIObject*)s1)->hash; - hash2 = ((PyASCIIObject*)s2)->hash; - #else - hash1 = ((PyUnicodeObject*)s1)->hash; - hash2 = ((PyUnicodeObject*)s2)->hash; - #endif - if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { - goto return_ne; - } - } -#endif - kind = __Pyx_PyUnicode_KIND(s1); - if (kind != __Pyx_PyUnicode_KIND(s2)) { - goto return_ne; - } - data1 = __Pyx_PyUnicode_DATA(s1); - data2 = __Pyx_PyUnicode_DATA(s2); - if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { - goto return_ne; - } else if (length == 1) { - goto return_eq; - } else { - int result = memcmp(data1, data2, (size_t)(length * kind)); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_EQ) ? (result == 0) : (result != 0); - } - } else if ((s1 == Py_None) & s2_is_unicode) { - goto return_ne; - } else if ((s2 == Py_None) & s1_is_unicode) { - goto return_ne; - } else { - int result; - PyObject* py_result = PyObject_RichCompare(s1, s2, equals); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - if (!py_result) - return -1; - result = __Pyx_PyObject_IsTrue(py_result); - Py_DECREF(py_result); - return result; - } -return_eq: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_EQ); -return_ne: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_NE); -#endif -} - -/* PyDictVersioning */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; -} -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { - PyObject **dictptr = NULL; - Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; - if (offset) { -#if CYTHON_COMPILING_IN_CPYTHON - dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); -#else - dictptr = _PyObject_GetDictPtr(obj); -#endif - } - return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; -} -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) - return 0; - return obj_dict_version == __Pyx_get_object_dict_version(obj); -} -#endif - -/* GetModuleGlobalName */ -#if CYTHON_USE_DICT_VERSIONS -static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) -#else -static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) -#endif -{ - PyObject *result; -#if !CYTHON_AVOID_BORROWED_REFS -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 - result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } else if (unlikely(PyErr_Occurred())) { - return NULL; - } -#else - result = PyDict_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } -#endif -#else - result = PyObject_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } - PyErr_Clear(); -#endif - return __Pyx_GetBuiltinName(name); -} - -/* ExtTypeTest */ -static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { - if (unlikely(!type)) { - PyErr_SetString(PyExc_SystemError, "Missing type object"); - return 0; - } - if (likely(__Pyx_TypeCheck(obj, type))) - return 1; - PyErr_Format(PyExc_TypeError, "Cannot convert %.200s to %.200s", - Py_TYPE(obj)->tp_name, type->tp_name); - return 0; -} - -/* IsLittleEndian */ -static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) -{ - union { - uint32_t u32; - uint8_t u8[4]; - } S; - S.u32 = 0x01020304; - return S.u8[0] == 4; -} - -/* BufferFormatCheck */ -static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, - __Pyx_BufFmt_StackElem* stack, - __Pyx_TypeInfo* type) { - stack[0].field = &ctx->root; - stack[0].parent_offset = 0; - ctx->root.type = type; - ctx->root.name = "buffer dtype"; - ctx->root.offset = 0; - ctx->head = stack; - ctx->head->field = &ctx->root; - ctx->fmt_offset = 0; - ctx->head->parent_offset = 0; - ctx->new_packmode = '@'; - ctx->enc_packmode = '@'; - ctx->new_count = 1; - ctx->enc_count = 0; - ctx->enc_type = 0; - ctx->is_complex = 0; - ctx->is_valid_array = 0; - ctx->struct_alignment = 0; - while (type->typegroup == 'S') { - ++ctx->head; - ctx->head->field = type->fields; - ctx->head->parent_offset = 0; - type = type->fields->type; - } -} -static int __Pyx_BufFmt_ParseNumber(const char** ts) { - int count; - const char* t = *ts; - if (*t < '0' || *t > '9') { - return -1; - } else { - count = *t++ - '0'; - while (*t >= '0' && *t <= '9') { - count *= 10; - count += *t++ - '0'; - } - } - *ts = t; - return count; -} -static int __Pyx_BufFmt_ExpectNumber(const char **ts) { - int number = __Pyx_BufFmt_ParseNumber(ts); - if (number == -1) - PyErr_Format(PyExc_ValueError,\ - "Does not understand character buffer dtype format string ('%c')", **ts); - return number; -} -static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { - PyErr_Format(PyExc_ValueError, - "Unexpected format string character: '%c'", ch); -} -static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { - switch (ch) { - case '?': return "'bool'"; - case 'c': return "'char'"; - case 'b': return "'signed char'"; - case 'B': return "'unsigned char'"; - case 'h': return "'short'"; - case 'H': return "'unsigned short'"; - case 'i': return "'int'"; - case 'I': return "'unsigned int'"; - case 'l': return "'long'"; - case 'L': return "'unsigned long'"; - case 'q': return "'long long'"; - case 'Q': return "'unsigned long long'"; - case 'f': return (is_complex ? "'complex float'" : "'float'"); - case 'd': return (is_complex ? "'complex double'" : "'double'"); - case 'g': return (is_complex ? "'complex long double'" : "'long double'"); - case 'T': return "a struct"; - case 'O': return "Python object"; - case 'P': return "a pointer"; - case 's': case 'p': return "a string"; - case 0: return "end"; - default: return "unparseable format string"; - } -} -static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return 2; - case 'i': case 'I': case 'l': case 'L': return 4; - case 'q': case 'Q': return 8; - case 'f': return (is_complex ? 8 : 4); - case 'd': return (is_complex ? 16 : 8); - case 'g': { - PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); - return 0; - } - case 'O': case 'P': return sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(short); - case 'i': case 'I': return sizeof(int); - case 'l': case 'L': return sizeof(long); - #ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(PY_LONG_LONG); - #endif - case 'f': return sizeof(float) * (is_complex ? 2 : 1); - case 'd': return sizeof(double) * (is_complex ? 2 : 1); - case 'g': return sizeof(long double) * (is_complex ? 2 : 1); - case 'O': case 'P': return sizeof(void*); - default: { - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } - } -} -typedef struct { char c; short x; } __Pyx_st_short; -typedef struct { char c; int x; } __Pyx_st_int; -typedef struct { char c; long x; } __Pyx_st_long; -typedef struct { char c; float x; } __Pyx_st_float; -typedef struct { char c; double x; } __Pyx_st_double; -typedef struct { char c; long double x; } __Pyx_st_longdouble; -typedef struct { char c; void *x; } __Pyx_st_void_p; -#ifdef HAVE_LONG_LONG -typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; -#endif -static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, CYTHON_UNUSED int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); - case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); - case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); -#ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); -#endif - case 'f': return sizeof(__Pyx_st_float) - sizeof(float); - case 'd': return sizeof(__Pyx_st_double) - sizeof(double); - case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); - case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -/* These are for computing the padding at the end of the struct to align - on the first member of the struct. This will probably the same as above, - but we don't have any guarantees. - */ -typedef struct { short x; char c; } __Pyx_pad_short; -typedef struct { int x; char c; } __Pyx_pad_int; -typedef struct { long x; char c; } __Pyx_pad_long; -typedef struct { float x; char c; } __Pyx_pad_float; -typedef struct { double x; char c; } __Pyx_pad_double; -typedef struct { long double x; char c; } __Pyx_pad_longdouble; -typedef struct { void *x; char c; } __Pyx_pad_void_p; -#ifdef HAVE_LONG_LONG -typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; -#endif -static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, CYTHON_UNUSED int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); - case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); - case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); -#ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); -#endif - case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); - case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); - case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); - case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { - switch (ch) { - case 'c': - return 'H'; - case 'b': case 'h': case 'i': - case 'l': case 'q': case 's': case 'p': - return 'I'; - case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': - return 'U'; - case 'f': case 'd': case 'g': - return (is_complex ? 'C' : 'R'); - case 'O': - return 'O'; - case 'P': - return 'P'; - default: { - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } - } -} -static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { - if (ctx->head == NULL || ctx->head->field == &ctx->root) { - const char* expected; - const char* quote; - if (ctx->head == NULL) { - expected = "end"; - quote = ""; - } else { - expected = ctx->head->field->type->name; - quote = "'"; - } - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch, expected %s%s%s but got %s", - quote, expected, quote, - __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); - } else { - __Pyx_StructField* field = ctx->head->field; - __Pyx_StructField* parent = (ctx->head - 1)->field; - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", - field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), - parent->type->name, field->name); - } -} -static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { - char group; - size_t size, offset, arraysize = 1; - if (ctx->enc_type == 0) return 0; - if (ctx->head->field->type->arraysize[0]) { - int i, ndim = 0; - if (ctx->enc_type == 's' || ctx->enc_type == 'p') { - ctx->is_valid_array = ctx->head->field->type->ndim == 1; - ndim = 1; - if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { - PyErr_Format(PyExc_ValueError, - "Expected a dimension of size %zu, got %zu", - ctx->head->field->type->arraysize[0], ctx->enc_count); - return -1; - } - } - if (!ctx->is_valid_array) { - PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", - ctx->head->field->type->ndim, ndim); - return -1; - } - for (i = 0; i < ctx->head->field->type->ndim; i++) { - arraysize *= ctx->head->field->type->arraysize[i]; - } - ctx->is_valid_array = 0; - ctx->enc_count = 1; - } - group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); - do { - __Pyx_StructField* field = ctx->head->field; - __Pyx_TypeInfo* type = field->type; - if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { - size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); - } else { - size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); - } - if (ctx->enc_packmode == '@') { - size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); - size_t align_mod_offset; - if (align_at == 0) return -1; - align_mod_offset = ctx->fmt_offset % align_at; - if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; - if (ctx->struct_alignment == 0) - ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, - ctx->is_complex); - } - if (type->size != size || type->typegroup != group) { - if (type->typegroup == 'C' && type->fields != NULL) { - size_t parent_offset = ctx->head->parent_offset + field->offset; - ++ctx->head; - ctx->head->field = type->fields; - ctx->head->parent_offset = parent_offset; - continue; - } - if ((type->typegroup == 'H' || group == 'H') && type->size == size) { - } else { - __Pyx_BufFmt_RaiseExpected(ctx); - return -1; - } - } - offset = ctx->head->parent_offset + field->offset; - if (ctx->fmt_offset != offset) { - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", - (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); - return -1; - } - ctx->fmt_offset += size; - if (arraysize) - ctx->fmt_offset += (arraysize - 1) * size; - --ctx->enc_count; - while (1) { - if (field == &ctx->root) { - ctx->head = NULL; - if (ctx->enc_count != 0) { - __Pyx_BufFmt_RaiseExpected(ctx); - return -1; - } - break; - } - ctx->head->field = ++field; - if (field->type == NULL) { - --ctx->head; - field = ctx->head->field; - continue; - } else if (field->type->typegroup == 'S') { - size_t parent_offset = ctx->head->parent_offset + field->offset; - if (field->type->fields->type == NULL) continue; - field = field->type->fields; - ++ctx->head; - ctx->head->field = field; - ctx->head->parent_offset = parent_offset; - break; - } else { - break; - } - } - } while (ctx->enc_count); - ctx->enc_type = 0; - ctx->is_complex = 0; - return 0; -} -static PyObject * -__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) -{ - const char *ts = *tsp; - int i = 0, number, ndim; - ++ts; - if (ctx->new_count != 1) { - PyErr_SetString(PyExc_ValueError, - "Cannot handle repeated arrays in format string"); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ndim = ctx->head->field->type->ndim; - while (*ts && *ts != ')') { - switch (*ts) { - case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; - default: break; - } - number = __Pyx_BufFmt_ExpectNumber(&ts); - if (number == -1) return NULL; - if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) - return PyErr_Format(PyExc_ValueError, - "Expected a dimension of size %zu, got %d", - ctx->head->field->type->arraysize[i], number); - if (*ts != ',' && *ts != ')') - return PyErr_Format(PyExc_ValueError, - "Expected a comma in format string, got '%c'", *ts); - if (*ts == ',') ts++; - i++; - } - if (i != ndim) - return PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", - ctx->head->field->type->ndim, i); - if (!*ts) { - PyErr_SetString(PyExc_ValueError, - "Unexpected end of format string, expected ')'"); - return NULL; - } - ctx->is_valid_array = 1; - ctx->new_count = 1; - *tsp = ++ts; - return Py_None; -} -static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { - int got_Z = 0; - while (1) { - switch(*ts) { - case 0: - if (ctx->enc_type != 0 && ctx->head == NULL) { - __Pyx_BufFmt_RaiseExpected(ctx); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - if (ctx->head != NULL) { - __Pyx_BufFmt_RaiseExpected(ctx); - return NULL; - } - return ts; - case ' ': - case '\r': - case '\n': - ++ts; - break; - case '<': - if (!__Pyx_Is_Little_Endian()) { - PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); - return NULL; - } - ctx->new_packmode = '='; - ++ts; - break; - case '>': - case '!': - if (__Pyx_Is_Little_Endian()) { - PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); - return NULL; - } - ctx->new_packmode = '='; - ++ts; - break; - case '=': - case '@': - case '^': - ctx->new_packmode = *ts++; - break; - case 'T': - { - const char* ts_after_sub; - size_t i, struct_count = ctx->new_count; - size_t struct_alignment = ctx->struct_alignment; - ctx->new_count = 1; - ++ts; - if (*ts != '{') { - PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_type = 0; - ctx->enc_count = 0; - ctx->struct_alignment = 0; - ++ts; - ts_after_sub = ts; - for (i = 0; i != struct_count; ++i) { - ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); - if (!ts_after_sub) return NULL; - } - ts = ts_after_sub; - if (struct_alignment) ctx->struct_alignment = struct_alignment; - } - break; - case '}': - { - size_t alignment = ctx->struct_alignment; - ++ts; - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_type = 0; - if (alignment && ctx->fmt_offset % alignment) { - ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); - } - } - return ts; - case 'x': - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->fmt_offset += ctx->new_count; - ctx->new_count = 1; - ctx->enc_count = 0; - ctx->enc_type = 0; - ctx->enc_packmode = ctx->new_packmode; - ++ts; - break; - case 'Z': - got_Z = 1; - ++ts; - if (*ts != 'f' && *ts != 'd' && *ts != 'g') { - __Pyx_BufFmt_RaiseUnexpectedChar('Z'); - return NULL; - } - CYTHON_FALLTHROUGH; - case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': - case 'l': case 'L': case 'q': case 'Q': - case 'f': case 'd': case 'g': - case 'O': case 'p': - if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && - (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { - ctx->enc_count += ctx->new_count; - ctx->new_count = 1; - got_Z = 0; - ++ts; - break; - } - CYTHON_FALLTHROUGH; - case 's': - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_count = ctx->new_count; - ctx->enc_packmode = ctx->new_packmode; - ctx->enc_type = *ts; - ctx->is_complex = got_Z; - ++ts; - ctx->new_count = 1; - got_Z = 0; - break; - case ':': - ++ts; - while(*ts != ':') ++ts; - ++ts; - break; - case '(': - if (!__pyx_buffmt_parse_array(ctx, &ts)) return NULL; - break; - default: - { - int number = __Pyx_BufFmt_ExpectNumber(&ts); - if (number == -1) return NULL; - ctx->new_count = (size_t)number; - } - } - } -} - -/* BufferGetAndValidate */ - static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { - if (unlikely(info->buf == NULL)) return; - if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; - __Pyx_ReleaseBuffer(info); -} -static void __Pyx_ZeroBuffer(Py_buffer* buf) { - buf->buf = NULL; - buf->obj = NULL; - buf->strides = __Pyx_zeros; - buf->shape = __Pyx_zeros; - buf->suboffsets = __Pyx_minusones; -} -static int __Pyx__GetBufferAndValidate( - Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, - int nd, int cast, __Pyx_BufFmt_StackElem* stack) -{ - buf->buf = NULL; - if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { - __Pyx_ZeroBuffer(buf); - return -1; - } - if (unlikely(buf->ndim != nd)) { - PyErr_Format(PyExc_ValueError, - "Buffer has wrong number of dimensions (expected %d, got %d)", - nd, buf->ndim); - goto fail; - } - if (!cast) { - __Pyx_BufFmt_Context ctx; - __Pyx_BufFmt_Init(&ctx, stack, dtype); - if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; - } - if (unlikely((size_t)buf->itemsize != dtype->size)) { - PyErr_Format(PyExc_ValueError, - "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", - buf->itemsize, (buf->itemsize > 1) ? "s" : "", - dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); - goto fail; - } - if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; - return 0; -fail:; - __Pyx_SafeReleaseBuffer(buf); - return -1; -} - -/* Import */ - static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { - PyObject *empty_list = 0; - PyObject *module = 0; - PyObject *global_dict = 0; - PyObject *empty_dict = 0; - PyObject *list; - #if PY_MAJOR_VERSION < 3 - PyObject *py_import; - py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); - if (!py_import) - goto bad; - #endif - if (from_list) - list = from_list; - else { - empty_list = PyList_New(0); - if (!empty_list) - goto bad; - list = empty_list; - } - global_dict = PyModule_GetDict(__pyx_m); - if (!global_dict) - goto bad; - empty_dict = PyDict_New(); - if (!empty_dict) - goto bad; - { - #if PY_MAJOR_VERSION >= 3 - if (level == -1) { - if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, 1); - if (!module) { - if (!PyErr_ExceptionMatches(PyExc_ImportError)) - goto bad; - PyErr_Clear(); - } - } - level = 0; - } - #endif - if (!module) { - #if PY_MAJOR_VERSION < 3 - PyObject *py_level = PyInt_FromLong(level); - if (!py_level) - goto bad; - module = PyObject_CallFunctionObjArgs(py_import, - name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); - Py_DECREF(py_level); - #else - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, level); - #endif - } - } -bad: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_import); - #endif - Py_XDECREF(empty_list); - Py_XDECREF(empty_dict); - return module; -} - -/* SliceObject */ - static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice(PyObject* obj, - Py_ssize_t cstart, Py_ssize_t cstop, - PyObject** _py_start, PyObject** _py_stop, PyObject** _py_slice, - int has_cstart, int has_cstop, CYTHON_UNUSED int wraparound) { -#if CYTHON_USE_TYPE_SLOTS - PyMappingMethods* mp; -#if PY_MAJOR_VERSION < 3 - PySequenceMethods* ms = Py_TYPE(obj)->tp_as_sequence; - if (likely(ms && ms->sq_slice)) { - if (!has_cstart) { - if (_py_start && (*_py_start != Py_None)) { - cstart = __Pyx_PyIndex_AsSsize_t(*_py_start); - if ((cstart == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; - } else - cstart = 0; - } - if (!has_cstop) { - if (_py_stop && (*_py_stop != Py_None)) { - cstop = __Pyx_PyIndex_AsSsize_t(*_py_stop); - if ((cstop == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; - } else - cstop = PY_SSIZE_T_MAX; - } - if (wraparound && unlikely((cstart < 0) | (cstop < 0)) && likely(ms->sq_length)) { - Py_ssize_t l = ms->sq_length(obj); - if (likely(l >= 0)) { - if (cstop < 0) { - cstop += l; - if (cstop < 0) cstop = 0; - } - if (cstart < 0) { - cstart += l; - if (cstart < 0) cstart = 0; - } - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - goto bad; - PyErr_Clear(); - } - } - return ms->sq_slice(obj, cstart, cstop); - } -#endif - mp = Py_TYPE(obj)->tp_as_mapping; - if (likely(mp && mp->mp_subscript)) -#endif - { - PyObject* result; - PyObject *py_slice, *py_start, *py_stop; - if (_py_slice) { - py_slice = *_py_slice; - } else { - PyObject* owned_start = NULL; - PyObject* owned_stop = NULL; - if (_py_start) { - py_start = *_py_start; - } else { - if (has_cstart) { - owned_start = py_start = PyInt_FromSsize_t(cstart); - if (unlikely(!py_start)) goto bad; - } else - py_start = Py_None; - } - if (_py_stop) { - py_stop = *_py_stop; - } else { - if (has_cstop) { - owned_stop = py_stop = PyInt_FromSsize_t(cstop); - if (unlikely(!py_stop)) { - Py_XDECREF(owned_start); - goto bad; - } - } else - py_stop = Py_None; - } - py_slice = PySlice_New(py_start, py_stop, Py_None); - Py_XDECREF(owned_start); - Py_XDECREF(owned_stop); - if (unlikely(!py_slice)) goto bad; - } -#if CYTHON_USE_TYPE_SLOTS - result = mp->mp_subscript(obj, py_slice); -#else - result = PyObject_GetItem(obj, py_slice); -#endif - if (!_py_slice) { - Py_DECREF(py_slice); - } - return result; - } - PyErr_Format(PyExc_TypeError, - "'%.200s' object is unsliceable", Py_TYPE(obj)->tp_name); -bad: - return NULL; -} - -/* FetchCommonType */ - static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { - PyObject* fake_module; - PyTypeObject* cached_type = NULL; - fake_module = PyImport_AddModule((char*) "_cython_" CYTHON_ABI); - if (!fake_module) return NULL; - Py_INCREF(fake_module); - cached_type = (PyTypeObject*) PyObject_GetAttrString(fake_module, type->tp_name); - if (cached_type) { - if (!PyType_Check((PyObject*)cached_type)) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s is not a type object", - type->tp_name); - goto bad; - } - if (cached_type->tp_basicsize != type->tp_basicsize) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s has the wrong size, try recompiling", - type->tp_name); - goto bad; - } - } else { - if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; - PyErr_Clear(); - if (PyType_Ready(type) < 0) goto bad; - if (PyObject_SetAttrString(fake_module, type->tp_name, (PyObject*) type) < 0) - goto bad; - Py_INCREF(type); - cached_type = type; - } -done: - Py_DECREF(fake_module); - return cached_type; -bad: - Py_XDECREF(cached_type); - cached_type = NULL; - goto done; -} - -/* CythonFunctionShared */ - #include -static PyObject * -__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *closure) -{ - if (unlikely(op->func_doc == NULL)) { - if (op->func.m_ml->ml_doc) { -#if PY_MAJOR_VERSION >= 3 - op->func_doc = PyUnicode_FromString(op->func.m_ml->ml_doc); -#else - op->func_doc = PyString_FromString(op->func.m_ml->ml_doc); -#endif - if (unlikely(op->func_doc == NULL)) - return NULL; - } else { - Py_INCREF(Py_None); - return Py_None; - } - } - Py_INCREF(op->func_doc); - return op->func_doc; -} -static int -__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp = op->func_doc; - if (value == NULL) { - value = Py_None; - } - Py_INCREF(value); - op->func_doc = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - if (unlikely(op->func_name == NULL)) { -#if PY_MAJOR_VERSION >= 3 - op->func_name = PyUnicode_InternFromString(op->func.m_ml->ml_name); -#else - op->func_name = PyString_InternFromString(op->func.m_ml->ml_name); -#endif - if (unlikely(op->func_name == NULL)) - return NULL; - } - Py_INCREF(op->func_name); - return op->func_name; -} -static int -__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__name__ must be set to a string object"); - return -1; - } - tmp = op->func_name; - Py_INCREF(value); - op->func_name = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - Py_INCREF(op->func_qualname); - return op->func_qualname; -} -static int -__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__qualname__ must be set to a string object"); - return -1; - } - tmp = op->func_qualname; - Py_INCREF(value); - op->func_qualname = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_self(__pyx_CyFunctionObject *m, CYTHON_UNUSED void *closure) -{ - PyObject *self; - self = m->func_closure; - if (self == NULL) - self = Py_None; - Py_INCREF(self); - return self; -} -static PyObject * -__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - if (unlikely(op->func_dict == NULL)) { - op->func_dict = PyDict_New(); - if (unlikely(op->func_dict == NULL)) - return NULL; - } - Py_INCREF(op->func_dict); - return op->func_dict; -} -static int -__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; - if (unlikely(value == NULL)) { - PyErr_SetString(PyExc_TypeError, - "function's dictionary may not be deleted"); - return -1; - } - if (unlikely(!PyDict_Check(value))) { - PyErr_SetString(PyExc_TypeError, - "setting function's dictionary to a non-dict"); - return -1; - } - tmp = op->func_dict; - Py_INCREF(value); - op->func_dict = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - Py_INCREF(op->func_globals); - return op->func_globals; -} -static PyObject * -__Pyx_CyFunction_get_closure(CYTHON_UNUSED __pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - Py_INCREF(Py_None); - return Py_None; -} -static PyObject * -__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - PyObject* result = (op->func_code) ? op->func_code : Py_None; - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { - int result = 0; - PyObject *res = op->defaults_getter((PyObject *) op); - if (unlikely(!res)) - return -1; - #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - op->defaults_tuple = PyTuple_GET_ITEM(res, 0); - Py_INCREF(op->defaults_tuple); - op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); - Py_INCREF(op->defaults_kwdict); - #else - op->defaults_tuple = PySequence_ITEM(res, 0); - if (unlikely(!op->defaults_tuple)) result = -1; - else { - op->defaults_kwdict = PySequence_ITEM(res, 1); - if (unlikely(!op->defaults_kwdict)) result = -1; - } - #endif - Py_DECREF(res); - return result; -} -static int -__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { - PyObject* tmp; - if (!value) { - value = Py_None; - } else if (value != Py_None && !PyTuple_Check(value)) { - PyErr_SetString(PyExc_TypeError, - "__defaults__ must be set to a tuple object"); - return -1; - } - Py_INCREF(value); - tmp = op->defaults_tuple; - op->defaults_tuple = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { - PyObject* result = op->defaults_tuple; - if (unlikely(!result)) { - if (op->defaults_getter) { - if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; - result = op->defaults_tuple; - } else { - result = Py_None; - } - } - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { - PyObject* tmp; - if (!value) { - value = Py_None; - } else if (value != Py_None && !PyDict_Check(value)) { - PyErr_SetString(PyExc_TypeError, - "__kwdefaults__ must be set to a dict object"); - return -1; - } - Py_INCREF(value); - tmp = op->defaults_kwdict; - op->defaults_kwdict = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { - PyObject* result = op->defaults_kwdict; - if (unlikely(!result)) { - if (op->defaults_getter) { - if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; - result = op->defaults_kwdict; - } else { - result = Py_None; - } - } - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { - PyObject* tmp; - if (!value || value == Py_None) { - value = NULL; - } else if (!PyDict_Check(value)) { - PyErr_SetString(PyExc_TypeError, - "__annotations__ must be set to a dict object"); - return -1; - } - Py_XINCREF(value); - tmp = op->func_annotations; - op->func_annotations = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { - PyObject* result = op->func_annotations; - if (unlikely(!result)) { - result = PyDict_New(); - if (unlikely(!result)) return NULL; - op->func_annotations = result; - } - Py_INCREF(result); - return result; -} -static PyGetSetDef __pyx_CyFunction_getsets[] = { - {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, - {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, - {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, - {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, - {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, - {(char *) "__self__", (getter)__Pyx_CyFunction_get_self, 0, 0, 0}, - {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, - {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, - {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, - {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, - {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, - {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, - {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, - {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, - {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, - {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, - {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, - {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, - {0, 0, 0, 0, 0} -}; -static PyMemberDef __pyx_CyFunction_members[] = { - {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), PY_WRITE_RESTRICTED, 0}, - {0, 0, 0, 0, 0} -}; -static PyObject * -__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, CYTHON_UNUSED PyObject *args) -{ -#if PY_MAJOR_VERSION >= 3 - Py_INCREF(m->func_qualname); - return m->func_qualname; -#else - return PyString_FromString(m->func.m_ml->ml_name); -#endif -} -static PyMethodDef __pyx_CyFunction_methods[] = { - {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, - {0, 0, 0, 0} -}; -#if PY_VERSION_HEX < 0x030500A0 -#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) -#else -#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func.m_weakreflist) -#endif -static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, - PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { - if (unlikely(op == NULL)) - return NULL; - op->flags = flags; - __Pyx_CyFunction_weakreflist(op) = NULL; - op->func.m_ml = ml; - op->func.m_self = (PyObject *) op; - Py_XINCREF(closure); - op->func_closure = closure; - Py_XINCREF(module); - op->func.m_module = module; - op->func_dict = NULL; - op->func_name = NULL; - Py_INCREF(qualname); - op->func_qualname = qualname; - op->func_doc = NULL; - op->func_classobj = NULL; - op->func_globals = globals; - Py_INCREF(op->func_globals); - Py_XINCREF(code); - op->func_code = code; - op->defaults_pyobjects = 0; - op->defaults_size = 0; - op->defaults = NULL; - op->defaults_tuple = NULL; - op->defaults_kwdict = NULL; - op->defaults_getter = NULL; - op->func_annotations = NULL; - return (PyObject *) op; -} -static int -__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) -{ - Py_CLEAR(m->func_closure); - Py_CLEAR(m->func.m_module); - Py_CLEAR(m->func_dict); - Py_CLEAR(m->func_name); - Py_CLEAR(m->func_qualname); - Py_CLEAR(m->func_doc); - Py_CLEAR(m->func_globals); - Py_CLEAR(m->func_code); - Py_CLEAR(m->func_classobj); - Py_CLEAR(m->defaults_tuple); - Py_CLEAR(m->defaults_kwdict); - Py_CLEAR(m->func_annotations); - if (m->defaults) { - PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); - int i; - for (i = 0; i < m->defaults_pyobjects; i++) - Py_XDECREF(pydefaults[i]); - PyObject_Free(m->defaults); - m->defaults = NULL; - } - return 0; -} -static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) -{ - if (__Pyx_CyFunction_weakreflist(m) != NULL) - PyObject_ClearWeakRefs((PyObject *) m); - __Pyx_CyFunction_clear(m); - PyObject_GC_Del(m); -} -static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) -{ - PyObject_GC_UnTrack(m); - __Pyx__CyFunction_dealloc(m); -} -static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) -{ - Py_VISIT(m->func_closure); - Py_VISIT(m->func.m_module); - Py_VISIT(m->func_dict); - Py_VISIT(m->func_name); - Py_VISIT(m->func_qualname); - Py_VISIT(m->func_doc); - Py_VISIT(m->func_globals); - Py_VISIT(m->func_code); - Py_VISIT(m->func_classobj); - Py_VISIT(m->defaults_tuple); - Py_VISIT(m->defaults_kwdict); - if (m->defaults) { - PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); - int i; - for (i = 0; i < m->defaults_pyobjects; i++) - Py_VISIT(pydefaults[i]); - } - return 0; -} -static PyObject *__Pyx_CyFunction_descr_get(PyObject *func, PyObject *obj, PyObject *type) -{ -#if PY_MAJOR_VERSION < 3 - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - if (m->flags & __Pyx_CYFUNCTION_STATICMETHOD) { - Py_INCREF(func); - return func; - } - if (m->flags & __Pyx_CYFUNCTION_CLASSMETHOD) { - if (type == NULL) - type = (PyObject *)(Py_TYPE(obj)); - return __Pyx_PyMethod_New(func, type, (PyObject *)(Py_TYPE(type))); - } - if (obj == Py_None) - obj = NULL; -#endif - return __Pyx_PyMethod_New(func, obj, type); -} -static PyObject* -__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) -{ -#if PY_MAJOR_VERSION >= 3 - return PyUnicode_FromFormat("", - op->func_qualname, (void *)op); -#else - return PyString_FromFormat("", - PyString_AsString(op->func_qualname), (void *)op); -#endif -} -static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { - PyCFunctionObject* f = (PyCFunctionObject*)func; - PyCFunction meth = f->m_ml->ml_meth; - Py_ssize_t size; - switch (f->m_ml->ml_flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { - case METH_VARARGS: - if (likely(kw == NULL || PyDict_Size(kw) == 0)) - return (*meth)(self, arg); - break; - case METH_VARARGS | METH_KEYWORDS: - return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); - case METH_NOARGS: - if (likely(kw == NULL || PyDict_Size(kw) == 0)) { - size = PyTuple_GET_SIZE(arg); - if (likely(size == 0)) - return (*meth)(self, NULL); - PyErr_Format(PyExc_TypeError, - "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", - f->m_ml->ml_name, size); - return NULL; - } - break; - case METH_O: - if (likely(kw == NULL || PyDict_Size(kw) == 0)) { - size = PyTuple_GET_SIZE(arg); - if (likely(size == 1)) { - PyObject *result, *arg0; - #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - arg0 = PyTuple_GET_ITEM(arg, 0); - #else - arg0 = PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; - #endif - result = (*meth)(self, arg0); - #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) - Py_DECREF(arg0); - #endif - return result; - } - PyErr_Format(PyExc_TypeError, - "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", - f->m_ml->ml_name, size); - return NULL; - } - break; - default: - PyErr_SetString(PyExc_SystemError, "Bad call flags in " - "__Pyx_CyFunction_Call. METH_OLDARGS is no " - "longer supported!"); - return NULL; - } - PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", - f->m_ml->ml_name); - return NULL; -} -static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { - return __Pyx_CyFunction_CallMethod(func, ((PyCFunctionObject*)func)->m_self, arg, kw); -} -static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { - PyObject *result; - __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; - if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { - Py_ssize_t argc; - PyObject *new_args; - PyObject *self; - argc = PyTuple_GET_SIZE(args); - new_args = PyTuple_GetSlice(args, 1, argc); - if (unlikely(!new_args)) - return NULL; - self = PyTuple_GetItem(args, 0); - if (unlikely(!self)) { - Py_DECREF(new_args); - return NULL; - } - result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); - Py_DECREF(new_args); - } else { - result = __Pyx_CyFunction_Call(func, args, kw); - } - return result; -} -static PyTypeObject __pyx_CyFunctionType_type = { - PyVarObject_HEAD_INIT(0, 0) - "cython_function_or_method", - sizeof(__pyx_CyFunctionObject), - 0, - (destructor) __Pyx_CyFunction_dealloc, - 0, - 0, - 0, -#if PY_MAJOR_VERSION < 3 - 0, -#else - 0, -#endif - (reprfunc) __Pyx_CyFunction_repr, - 0, - 0, - 0, - 0, - __Pyx_CyFunction_CallAsMethod, - 0, - 0, - 0, - 0, - Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC, - 0, - (traverseproc) __Pyx_CyFunction_traverse, - (inquiry) __Pyx_CyFunction_clear, - 0, -#if PY_VERSION_HEX < 0x030500A0 - offsetof(__pyx_CyFunctionObject, func_weakreflist), -#else - offsetof(PyCFunctionObject, m_weakreflist), -#endif - 0, - 0, - __pyx_CyFunction_methods, - __pyx_CyFunction_members, - __pyx_CyFunction_getsets, - 0, - 0, - __Pyx_CyFunction_descr_get, - 0, - offsetof(__pyx_CyFunctionObject, func_dict), - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, -#if PY_VERSION_HEX >= 0x030400a1 - 0, -#endif -#if PY_VERSION_HEX >= 0x030800b1 - 0, -#endif -#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 - 0, -#endif -#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 - 0, -#endif -}; -static int __pyx_CyFunction_init(void) { - __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); - if (unlikely(__pyx_CyFunctionType == NULL)) { - return -1; - } - return 0; -} -static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults = PyObject_Malloc(size); - if (unlikely(!m->defaults)) - return PyErr_NoMemory(); - memset(m->defaults, 0, size); - m->defaults_pyobjects = pyobjects; - m->defaults_size = size; - return m->defaults; -} -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults_tuple = tuple; - Py_INCREF(tuple); -} -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults_kwdict = dict; - Py_INCREF(dict); -} -static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->func_annotations = dict; - Py_INCREF(dict); -} - -/* CythonFunction */ - static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, - PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { - PyObject *op = __Pyx_CyFunction_Init( - PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), - ml, flags, qualname, closure, module, globals, code - ); - if (likely(op)) { - PyObject_GC_Track(op); - } - return op; -} - -/* GetTopmostException */ - #if CYTHON_USE_EXC_INFO_STACK -static _PyErr_StackItem * -__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) -{ - _PyErr_StackItem *exc_info = tstate->exc_info; - while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) && - exc_info->previous_item != NULL) - { - exc_info = exc_info->previous_item; - } - return exc_info; -} -#endif - -/* SaveResetException */ - #if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); - *type = exc_info->exc_type; - *value = exc_info->exc_value; - *tb = exc_info->exc_traceback; - #else - *type = tstate->exc_type; - *value = tstate->exc_value; - *tb = tstate->exc_traceback; - #endif - Py_XINCREF(*type); - Py_XINCREF(*value); - Py_XINCREF(*tb); -} -static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = type; - exc_info->exc_value = value; - exc_info->exc_traceback = tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = type; - tstate->exc_value = value; - tstate->exc_traceback = tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -#endif - -/* GetException */ - #if CYTHON_FAST_THREAD_STATE -static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) -#else -static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) -#endif -{ - PyObject *local_type, *local_value, *local_tb; -#if CYTHON_FAST_THREAD_STATE - PyObject *tmp_type, *tmp_value, *tmp_tb; - local_type = tstate->curexc_type; - local_value = tstate->curexc_value; - local_tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -#else - PyErr_Fetch(&local_type, &local_value, &local_tb); -#endif - PyErr_NormalizeException(&local_type, &local_value, &local_tb); -#if CYTHON_FAST_THREAD_STATE - if (unlikely(tstate->curexc_type)) -#else - if (unlikely(PyErr_Occurred())) -#endif - goto bad; - #if PY_MAJOR_VERSION >= 3 - if (local_tb) { - if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) - goto bad; - } - #endif - Py_XINCREF(local_tb); - Py_XINCREF(local_type); - Py_XINCREF(local_value); - *type = local_type; - *value = local_value; - *tb = local_tb; -#if CYTHON_FAST_THREAD_STATE - #if CYTHON_USE_EXC_INFO_STACK - { - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = local_type; - exc_info->exc_value = local_value; - exc_info->exc_traceback = local_tb; - } - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = local_type; - tstate->exc_value = local_value; - tstate->exc_traceback = local_tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -#else - PyErr_SetExcInfo(local_type, local_value, local_tb); -#endif - return 0; -bad: - *type = 0; - *value = 0; - *tb = 0; - Py_XDECREF(local_type); - Py_XDECREF(local_value); - Py_XDECREF(local_tb); - return -1; -} - -/* IterFinish */ - static CYTHON_INLINE int __Pyx_IterFinish(void) { -#if CYTHON_FAST_THREAD_STATE - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* exc_type = tstate->curexc_type; - if (unlikely(exc_type)) { - if (likely(__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) { - PyObject *exc_value, *exc_tb; - exc_value = tstate->curexc_value; - exc_tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; - Py_DECREF(exc_type); - Py_XDECREF(exc_value); - Py_XDECREF(exc_tb); - return 0; - } else { - return -1; - } - } - return 0; -#else - if (unlikely(PyErr_Occurred())) { - if (likely(PyErr_ExceptionMatches(PyExc_StopIteration))) { - PyErr_Clear(); - return 0; - } else { - return -1; - } - } - return 0; -#endif -} - -/* PyObjectGetMethod */ - static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { - PyObject *attr; 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- } else { - f = Py_TYPE(descr)->tp_descr_get; - if (f != NULL && PyDescr_IsData(descr)) { - attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); - Py_DECREF(descr); - goto try_unpack; - } - } - } - dictptr = _PyObject_GetDictPtr(obj); - if (dictptr != NULL && (dict = *dictptr) != NULL) { - Py_INCREF(dict); - attr = __Pyx_PyDict_GetItemStr(dict, name); - if (attr != NULL) { - Py_INCREF(attr); - Py_DECREF(dict); - Py_XDECREF(descr); - goto try_unpack; - } - Py_DECREF(dict); - } - if (meth_found) { - *method = descr; - return 1; - } - if (f != NULL) { - attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); - Py_DECREF(descr); - goto try_unpack; - } - if (descr != NULL) { - *method = descr; - return 0; - } - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(name)); -#endif - return 0; -#else - attr = __Pyx_PyObject_GetAttrStr(obj, name); - goto try_unpack; -#endif -try_unpack: -#if CYTHON_UNPACK_METHODS - if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { - PyObject *function = PyMethod_GET_FUNCTION(attr); - Py_INCREF(function); - Py_DECREF(attr); - *method = function; - return 1; - } -#endif - *method = attr; - return 0; -} - -/* PyObjectCallMethod0 */ - static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { - PyObject *method = NULL, *result = NULL; - int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); - if (likely(is_method)) { - result = __Pyx_PyObject_CallOneArg(method, obj); - Py_DECREF(method); - return result; - } - if (unlikely(!method)) goto bad; - result = __Pyx_PyObject_CallNoArg(method); - Py_DECREF(method); -bad: - return result; -} - -/* RaiseNeedMoreValuesToUnpack */ - static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { - PyErr_Format(PyExc_ValueError, - "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", - index, (index == 1) ? "" : "s"); -} - -/* RaiseTooManyValuesToUnpack */ - static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { - PyErr_Format(PyExc_ValueError, - "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); -} - -/* UnpackItemEndCheck */ - static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { - if (unlikely(retval)) { - Py_DECREF(retval); - __Pyx_RaiseTooManyValuesError(expected); - return -1; - } else { - return __Pyx_IterFinish(); - } - return 0; -} - -/* RaiseNoneIterError */ - static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { - PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); -} - -/* UnpackTupleError */ - static void __Pyx_UnpackTupleError(PyObject *t, Py_ssize_t index) { - if (t == Py_None) { - __Pyx_RaiseNoneNotIterableError(); - } else if (PyTuple_GET_SIZE(t) < index) { - __Pyx_RaiseNeedMoreValuesError(PyTuple_GET_SIZE(t)); - } else { - __Pyx_RaiseTooManyValuesError(index); - } -} - -/* UnpackTuple2 */ - static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( - PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, int decref_tuple) { - PyObject *value1 = NULL, *value2 = NULL; -#if CYTHON_COMPILING_IN_PYPY - value1 = PySequence_ITEM(tuple, 0); if (unlikely(!value1)) goto bad; - value2 = PySequence_ITEM(tuple, 1); if (unlikely(!value2)) goto bad; -#else - value1 = PyTuple_GET_ITEM(tuple, 0); Py_INCREF(value1); - value2 = PyTuple_GET_ITEM(tuple, 1); Py_INCREF(value2); -#endif - if (decref_tuple) { - Py_DECREF(tuple); - } - *pvalue1 = value1; - *pvalue2 = value2; - return 0; -#if CYTHON_COMPILING_IN_PYPY -bad: - Py_XDECREF(value1); - Py_XDECREF(value2); - if (decref_tuple) { Py_XDECREF(tuple); } - return -1; -#endif -} -static int __Pyx_unpack_tuple2_generic(PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, - int has_known_size, int decref_tuple) { - Py_ssize_t index; - PyObject *value1 = NULL, *value2 = NULL, *iter = NULL; - iternextfunc iternext; - iter = PyObject_GetIter(tuple); - if (unlikely(!iter)) goto bad; - if (decref_tuple) { Py_DECREF(tuple); tuple = NULL; } - iternext = Py_TYPE(iter)->tp_iternext; - value1 = iternext(iter); if (unlikely(!value1)) { index = 0; goto unpacking_failed; } - value2 = iternext(iter); if (unlikely(!value2)) { index = 1; goto unpacking_failed; } - if (!has_known_size && unlikely(__Pyx_IternextUnpackEndCheck(iternext(iter), 2))) goto bad; - Py_DECREF(iter); - *pvalue1 = value1; - *pvalue2 = value2; - return 0; -unpacking_failed: - if (!has_known_size && __Pyx_IterFinish() == 0) - __Pyx_RaiseNeedMoreValuesError(index); -bad: - Py_XDECREF(iter); - Py_XDECREF(value1); - Py_XDECREF(value2); - if (decref_tuple) { Py_XDECREF(tuple); } - return -1; -} - -/* dict_iter */ - static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* iterable, int is_dict, PyObject* method_name, - Py_ssize_t* p_orig_length, int* p_source_is_dict) { - is_dict = is_dict || likely(PyDict_CheckExact(iterable)); - *p_source_is_dict = is_dict; - if (is_dict) { -#if !CYTHON_COMPILING_IN_PYPY - *p_orig_length = PyDict_Size(iterable); - Py_INCREF(iterable); - return iterable; -#elif PY_MAJOR_VERSION >= 3 - static PyObject *py_items = NULL, *py_keys = NULL, *py_values = NULL; - PyObject **pp = NULL; - if (method_name) { - const char *name = PyUnicode_AsUTF8(method_name); - if (strcmp(name, "iteritems") == 0) pp = &py_items; - else if (strcmp(name, "iterkeys") == 0) pp = &py_keys; - else if (strcmp(name, "itervalues") == 0) pp = &py_values; - if (pp) { - if (!*pp) { - *pp = PyUnicode_FromString(name + 4); - if (!*pp) - return NULL; - } - method_name = *pp; - } - } -#endif - } - *p_orig_length = 0; - if (method_name) { - PyObject* iter; - iterable = __Pyx_PyObject_CallMethod0(iterable, method_name); - if (!iterable) - return NULL; -#if !CYTHON_COMPILING_IN_PYPY - if (PyTuple_CheckExact(iterable) || PyList_CheckExact(iterable)) - return iterable; -#endif - iter = PyObject_GetIter(iterable); - Py_DECREF(iterable); - return iter; - } - return PyObject_GetIter(iterable); -} -static CYTHON_INLINE int __Pyx_dict_iter_next( - PyObject* iter_obj, CYTHON_NCP_UNUSED Py_ssize_t orig_length, CYTHON_NCP_UNUSED Py_ssize_t* ppos, - PyObject** pkey, PyObject** pvalue, PyObject** pitem, int source_is_dict) { - PyObject* next_item; -#if !CYTHON_COMPILING_IN_PYPY - if (source_is_dict) { - PyObject *key, *value; - if (unlikely(orig_length != PyDict_Size(iter_obj))) { - PyErr_SetString(PyExc_RuntimeError, "dictionary changed size during iteration"); - return -1; - } - if (unlikely(!PyDict_Next(iter_obj, ppos, &key, &value))) { - return 0; - } - if (pitem) { - PyObject* tuple = PyTuple_New(2); - if (unlikely(!tuple)) { - return -1; - } - Py_INCREF(key); - Py_INCREF(value); - PyTuple_SET_ITEM(tuple, 0, key); - PyTuple_SET_ITEM(tuple, 1, value); - *pitem = tuple; - } else { - if (pkey) { - Py_INCREF(key); - *pkey = key; - } - if (pvalue) { - Py_INCREF(value); - *pvalue = value; - } - } - return 1; - } else if (PyTuple_CheckExact(iter_obj)) { - Py_ssize_t pos = *ppos; - if (unlikely(pos >= PyTuple_GET_SIZE(iter_obj))) return 0; - *ppos = pos + 1; - next_item = PyTuple_GET_ITEM(iter_obj, pos); - Py_INCREF(next_item); - } else if (PyList_CheckExact(iter_obj)) { - Py_ssize_t pos = *ppos; - if (unlikely(pos >= PyList_GET_SIZE(iter_obj))) return 0; - *ppos = pos + 1; - next_item = PyList_GET_ITEM(iter_obj, pos); - Py_INCREF(next_item); - } else -#endif - { - next_item = PyIter_Next(iter_obj); - if (unlikely(!next_item)) { - return __Pyx_IterFinish(); - } - } - if (pitem) { - *pitem = next_item; - } else if (pkey && pvalue) { - if (__Pyx_unpack_tuple2(next_item, pkey, pvalue, source_is_dict, source_is_dict, 1)) - return -1; - } else if (pkey) { - *pkey = next_item; - } else { - *pvalue = next_item; - } - return 1; -} - -/* None */ - static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { - PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); -} - -/* GetItemInt */ - static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { - PyObject *r; - if (!j) return NULL; - r = PyObject_GetItem(o, j); - Py_DECREF(j); - return r; -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyList_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { - PyObject *r = PyList_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyTuple_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS - if (is_list || PyList_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); - if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { - PyObject *r = PyList_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } - else if (PyTuple_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); - if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } else { - PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; - if (likely(m && m->sq_item)) { - if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { - Py_ssize_t l = m->sq_length(o); - if (likely(l >= 0)) { - i += l; - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - return NULL; - PyErr_Clear(); - } - } - return m->sq_item(o, i); - } - } -#else - if (is_list || PySequence_Check(o)) { - return PySequence_GetItem(o, i); - } -#endif - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -} - -/* ObjectGetItem */ - #if CYTHON_USE_TYPE_SLOTS -static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) { - PyObject *runerr; - Py_ssize_t key_value; - PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence; - if (unlikely(!(m && m->sq_item))) { - PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name); - return NULL; - } - key_value = __Pyx_PyIndex_AsSsize_t(index); - if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { - return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); - } - if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { - PyErr_Clear(); - PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name); - } - return NULL; -} -static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) { - PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping; - if (likely(m && m->mp_subscript)) { - return m->mp_subscript(obj, key); - } - return __Pyx_PyObject_GetIndex(obj, key); -} -#endif - -/* PyIntBinop */ - #if !CYTHON_COMPILING_IN_PYPY -static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, CYTHON_UNUSED long intval, int inplace, int zerodivision_check) { - (void)inplace; - (void)zerodivision_check; - #if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(op1))) { - const long b = intval; - long x; - long a = PyInt_AS_LONG(op1); - x = (long)((unsigned long)a + b); - if (likely((x^a) >= 0 || (x^b) >= 0)) - return PyInt_FromLong(x); - return PyLong_Type.tp_as_number->nb_add(op1, op2); - } - #endif - #if CYTHON_USE_PYLONG_INTERNALS - if (likely(PyLong_CheckExact(op1))) { - const long b = intval; - long a, x; -#ifdef HAVE_LONG_LONG - const PY_LONG_LONG llb = intval; - PY_LONG_LONG lla, llx; -#endif - const digit* digits = ((PyLongObject*)op1)->ob_digit; - const Py_ssize_t size = Py_SIZE(op1); - if (likely(__Pyx_sst_abs(size) <= 1)) { - a = likely(size) ? digits[0] : 0; - if (size == -1) a = -a; - } else { - switch (size) { - case -2: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 2: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case -3: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 3: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case -4: - if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 4: - if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - default: return PyLong_Type.tp_as_number->nb_add(op1, op2); - } - } - x = a + b; - return PyLong_FromLong(x); -#ifdef HAVE_LONG_LONG - long_long: - llx = lla + llb; - return PyLong_FromLongLong(llx); -#endif - - - } - #endif - if (PyFloat_CheckExact(op1)) { - const long b = intval; - double a = PyFloat_AS_DOUBLE(op1); - double result; - PyFPE_START_PROTECT("add", return NULL) - result = ((double)a) + (double)b; - PyFPE_END_PROTECT(result) - return PyFloat_FromDouble(result); - } - return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); -} -#endif - -/* BufferIndexError */ - static void __Pyx_RaiseBufferIndexError(int axis) { - PyErr_Format(PyExc_IndexError, - "Out of bounds on buffer access (axis %d)", axis); -} - -/* PyUnicode_Unicode */ - static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj) { - if (unlikely(obj == Py_None)) - obj = __pyx_kp_u_None; - return __Pyx_NewRef(obj); -} - -/* CIntToDigits */ - static const char DIGIT_PAIRS_10[2*10*10+1] = { - "00010203040506070809" - "10111213141516171819" - "20212223242526272829" - "30313233343536373839" - "40414243444546474849" - "50515253545556575859" - "60616263646566676869" - "70717273747576777879" - "80818283848586878889" - "90919293949596979899" -}; -static const char DIGIT_PAIRS_8[2*8*8+1] = { - "0001020304050607" - "1011121314151617" - "2021222324252627" - "3031323334353637" - "4041424344454647" - "5051525354555657" - "6061626364656667" - "7071727374757677" -}; -static const char DIGITS_HEX[2*16+1] = { - "0123456789abcdef" - "0123456789ABCDEF" -}; - -/* BuildPyUnicode */ - static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, - int prepend_sign, char padding_char) { - PyObject *uval; - Py_ssize_t uoffset = ulength - clength; -#if CYTHON_USE_UNICODE_INTERNALS - Py_ssize_t i; -#if CYTHON_PEP393_ENABLED - void *udata; - uval = PyUnicode_New(ulength, 127); - if (unlikely(!uval)) return NULL; - udata = PyUnicode_DATA(uval); -#else - Py_UNICODE *udata; - uval = PyUnicode_FromUnicode(NULL, ulength); - if (unlikely(!uval)) return NULL; - udata = PyUnicode_AS_UNICODE(uval); -#endif - if (uoffset > 0) { - i = 0; - if (prepend_sign) { - __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); - i++; - } - for (; i < uoffset; i++) { - __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); - } - } - for (i=0; i < clength; i++) { - __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); - } -#else - { - PyObject *sign = NULL, *padding = NULL; - uval = NULL; - if (uoffset > 0) { - prepend_sign = !!prepend_sign; - if (uoffset > prepend_sign) { - padding = PyUnicode_FromOrdinal(padding_char); - if (likely(padding) && uoffset > prepend_sign + 1) { - PyObject *tmp; - PyObject *repeat = PyInt_FromSize_t(uoffset - prepend_sign); - if (unlikely(!repeat)) goto done_or_error; - tmp = PyNumber_Multiply(padding, repeat); - Py_DECREF(repeat); - Py_DECREF(padding); - padding = tmp; - } - if (unlikely(!padding)) goto done_or_error; - } - if (prepend_sign) { - sign = PyUnicode_FromOrdinal('-'); - if (unlikely(!sign)) goto done_or_error; - } - } - uval = PyUnicode_DecodeASCII(chars, clength, NULL); - if (likely(uval) && padding) { - PyObject *tmp = PyNumber_Add(padding, uval); - Py_DECREF(uval); - uval = tmp; - } - if (likely(uval) && sign) { - PyObject *tmp = PyNumber_Add(sign, uval); - Py_DECREF(uval); - uval = tmp; - } -done_or_error: - Py_XDECREF(padding); - Py_XDECREF(sign); - } -#endif - return uval; -} - -/* CIntToPyUnicode */ - static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { - char digits[sizeof(int)*3+2]; - char *dpos, *end = digits + sizeof(int)*3+2; - const char *hex_digits = DIGITS_HEX; - Py_ssize_t length, ulength; - int prepend_sign, last_one_off; - int remaining; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (format_char == 'X') { - hex_digits += 16; - format_char = 'x'; - } - remaining = value; - last_one_off = 0; - dpos = end; - do { - int digit_pos; - switch (format_char) { - case 'o': - digit_pos = abs((int)(remaining % (8*8))); - remaining = (int) (remaining / (8*8)); - dpos -= 2; - memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); - last_one_off = (digit_pos < 8); - break; - case 'd': - digit_pos = abs((int)(remaining % (10*10))); - remaining = (int) (remaining / (10*10)); - dpos -= 2; - memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); - last_one_off = (digit_pos < 10); - break; - case 'x': - *(--dpos) = hex_digits[abs((int)(remaining % 16))]; - remaining = (int) (remaining / 16); - break; - default: - assert(0); - break; - } - } while (unlikely(remaining != 0)); - if (last_one_off) { - assert(*dpos == '0'); - dpos++; - } - length = end - dpos; - ulength = length; - prepend_sign = 0; - if (!is_unsigned && value <= neg_one) { - if (padding_char == ' ' || width <= length + 1) { - *(--dpos) = '-'; - ++length; - } else { - prepend_sign = 1; - } - ++ulength; - } - if (width > ulength) { - ulength = width; - } - if (ulength == 1) { - return PyUnicode_FromOrdinal(*dpos); - } - return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); -} - -/* MemviewSliceInit */ - static int -__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, - int ndim, - __Pyx_memviewslice *memviewslice, - int memview_is_new_reference) -{ - __Pyx_RefNannyDeclarations - int i, retval=-1; - Py_buffer *buf = &memview->view; - __Pyx_RefNannySetupContext("init_memviewslice", 0); - if (unlikely(memviewslice->memview || memviewslice->data)) { - PyErr_SetString(PyExc_ValueError, - "memviewslice is already initialized!"); - goto fail; - } - if (buf->strides) { - for (i = 0; i < ndim; i++) { - memviewslice->strides[i] = buf->strides[i]; - } - } else { - Py_ssize_t stride = buf->itemsize; - for (i = ndim - 1; i >= 0; i--) { - memviewslice->strides[i] = stride; - stride *= buf->shape[i]; - } - } - for (i = 0; i < ndim; i++) { - memviewslice->shape[i] = buf->shape[i]; - if (buf->suboffsets) { - memviewslice->suboffsets[i] = buf->suboffsets[i]; - } else { - memviewslice->suboffsets[i] = -1; - } - } - memviewslice->memview = memview; - memviewslice->data = (char *)buf->buf; - if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { - Py_INCREF(memview); - } - retval = 0; - goto no_fail; -fail: - memviewslice->memview = 0; - memviewslice->data = 0; - retval = -1; -no_fail: - __Pyx_RefNannyFinishContext(); - return retval; -} -#ifndef Py_NO_RETURN -#define Py_NO_RETURN -#endif -static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { - va_list vargs; - char msg[200]; -#ifdef HAVE_STDARG_PROTOTYPES - va_start(vargs, fmt); -#else - va_start(vargs); -#endif - vsnprintf(msg, 200, fmt, vargs); - va_end(vargs); - Py_FatalError(msg); -} -static CYTHON_INLINE int -__pyx_add_acquisition_count_locked(__pyx_atomic_int *acquisition_count, - PyThread_type_lock lock) -{ - int result; - PyThread_acquire_lock(lock, 1); - result = (*acquisition_count)++; - PyThread_release_lock(lock); - return result; -} -static CYTHON_INLINE int -__pyx_sub_acquisition_count_locked(__pyx_atomic_int *acquisition_count, - PyThread_type_lock lock) -{ - int result; - PyThread_acquire_lock(lock, 1); - result = (*acquisition_count)--; - PyThread_release_lock(lock); - return result; -} -static CYTHON_INLINE void -__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) -{ - int first_time; - struct __pyx_memoryview_obj *memview = memslice->memview; - if (unlikely(!memview || (PyObject *) memview == Py_None)) - return; - if (unlikely(__pyx_get_slice_count(memview) < 0)) - __pyx_fatalerror("Acquisition count is %d (line %d)", - __pyx_get_slice_count(memview), lineno); - first_time = __pyx_add_acquisition_count(memview) == 0; - if (unlikely(first_time)) { - if (have_gil) { - Py_INCREF((PyObject *) memview); - } else { - PyGILState_STATE _gilstate = PyGILState_Ensure(); - Py_INCREF((PyObject *) memview); - PyGILState_Release(_gilstate); - } - } -} -static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *memslice, - int have_gil, int lineno) { - int last_time; - struct __pyx_memoryview_obj *memview = memslice->memview; - if (unlikely(!memview || (PyObject *) memview == Py_None)) { - memslice->memview = NULL; - return; - } - if (unlikely(__pyx_get_slice_count(memview) <= 0)) - __pyx_fatalerror("Acquisition count is %d (line %d)", - __pyx_get_slice_count(memview), lineno); - last_time = __pyx_sub_acquisition_count(memview) == 1; - memslice->data = NULL; - if (unlikely(last_time)) { - if (have_gil) { - Py_CLEAR(memslice->memview); - } else { - PyGILState_STATE _gilstate = PyGILState_Ensure(); - Py_CLEAR(memslice->memview); - PyGILState_Release(_gilstate); - } - } else { - memslice->memview = NULL; - } -} - -/* PyErrExceptionMatches */ - #if CYTHON_FAST_THREAD_STATE -static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; icurexc_type; - if (exc_type == err) return 1; - if (unlikely(!exc_type)) return 0; - if (unlikely(PyTuple_Check(err))) - return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); - return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); -} -#endif - -/* None */ - static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { - Py_ssize_t q = a / b; - Py_ssize_t r = a - q*b; - q -= ((r != 0) & ((r ^ b) < 0)); - return q; -} - -/* GetAttr */ - static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { -#if CYTHON_USE_TYPE_SLOTS -#if PY_MAJOR_VERSION >= 3 - if (likely(PyUnicode_Check(n))) -#else - if (likely(PyString_Check(n))) -#endif - return __Pyx_PyObject_GetAttrStr(o, n); -#endif - return PyObject_GetAttr(o, n); -} - -/* decode_c_string */ - static CYTHON_INLINE PyObject* __Pyx_decode_c_string( - const char* cstring, Py_ssize_t start, Py_ssize_t stop, - const char* encoding, const char* errors, - PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { - Py_ssize_t length; - if (unlikely((start < 0) | (stop < 0))) { - size_t slen = strlen(cstring); - if (unlikely(slen > (size_t) PY_SSIZE_T_MAX)) { - PyErr_SetString(PyExc_OverflowError, - "c-string too long to convert to Python"); - return NULL; - } - length = (Py_ssize_t) slen; - if (start < 0) { - start += length; - if (start < 0) - start = 0; - } - if (stop < 0) - stop += length; - } - if (unlikely(stop <= start)) - return __Pyx_NewRef(__pyx_empty_unicode); - length = stop - start; - cstring += start; - if (decode_func) { - return decode_func(cstring, length, errors); - } else { - return PyUnicode_Decode(cstring, length, encoding, errors); - } -} - -/* GetAttr3 */ - static PyObject *__Pyx_GetAttr3Default(PyObject *d) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - return NULL; - __Pyx_PyErr_Clear(); - Py_INCREF(d); - return d; -} -static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { - PyObject *r = __Pyx_GetAttr(o, n); - return (likely(r)) ? r : __Pyx_GetAttr3Default(d); -} - -/* SwapException */ - #if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = *type; - exc_info->exc_value = *value; - exc_info->exc_traceback = *tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = *type; - tstate->exc_value = *value; - tstate->exc_traceback = *tb; - #endif - *type = tmp_type; - *value = tmp_value; - *tb = tmp_tb; -} -#else -static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); - PyErr_SetExcInfo(*type, *value, *tb); - *type = tmp_type; - *value = tmp_value; - *tb = tmp_tb; -} -#endif - -/* FastTypeChecks */ - #if CYTHON_COMPILING_IN_CPYTHON -static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { - while (a) { - a = a->tp_base; - if (a == b) - return 1; - } - return b == &PyBaseObject_Type; -} -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (a == b) return 1; - mro = a->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(a, b); -} -#if PY_MAJOR_VERSION == 2 -static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { - PyObject *exception, *value, *tb; - int res; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&exception, &value, &tb); - res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - if (!res) { - res = PyObject_IsSubclass(err, exc_type2); - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - } - __Pyx_ErrRestore(exception, value, tb); - return res; -} -#else -static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { - int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; - if (!res) { - res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); - } - return res; -} -#endif -static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - assert(PyExceptionClass_Check(exc_type)); - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; i= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, attr_name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(attr_name)); -#endif - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { - PyObject *descr; - PyTypeObject *tp = Py_TYPE(obj); - if (unlikely(!PyString_Check(attr_name))) { - return PyObject_GenericGetAttr(obj, attr_name); - } - assert(!tp->tp_dictoffset); - descr = _PyType_Lookup(tp, attr_name); - if (unlikely(!descr)) { - return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); - } - Py_INCREF(descr); - #if PY_MAJOR_VERSION < 3 - if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) - #endif - { - descrgetfunc f = Py_TYPE(descr)->tp_descr_get; - if (unlikely(f)) { - PyObject *res = f(descr, obj, (PyObject *)tp); - Py_DECREF(descr); - return res; - } - } - return descr; -} -#endif - -/* PyObject_GenericGetAttr */ - #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { - if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { - return PyObject_GenericGetAttr(obj, attr_name); - } - return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); -} -#endif - -/* PyObjectGetAttrStrNoError */ - static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - __Pyx_PyErr_Clear(); -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { - PyObject *result; -#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { - return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); - } -#endif - result = __Pyx_PyObject_GetAttrStr(obj, attr_name); - if (unlikely(!result)) { - __Pyx_PyObject_GetAttrStr_ClearAttributeError(); - } - return result; -} - -/* SetupReduce */ - static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { - int ret; - PyObject *name_attr; - name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name_2); - if (likely(name_attr)) { - ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); - } else { - ret = -1; - } - if (unlikely(ret < 0)) { - PyErr_Clear(); - ret = 0; - } - Py_XDECREF(name_attr); - return ret; -} -static int __Pyx_setup_reduce(PyObject* type_obj) { - int ret = 0; - PyObject *object_reduce = NULL; - PyObject *object_reduce_ex = NULL; - PyObject *reduce = NULL; - PyObject *reduce_ex = NULL; - PyObject *reduce_cython = NULL; - PyObject *setstate = NULL; - PyObject *setstate_cython = NULL; -#if CYTHON_USE_PYTYPE_LOOKUP - if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#else - if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#endif -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#else - object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#endif - reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; - if (reduce_ex == object_reduce_ex) { -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#else - object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#endif - reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; - if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { - reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); - if (likely(reduce_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (reduce == object_reduce || PyErr_Occurred()) { - goto __PYX_BAD; - } - setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); - if (!setstate) PyErr_Clear(); - if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { - setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); - if (likely(setstate_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (!setstate || PyErr_Occurred()) { - goto __PYX_BAD; - } - } - PyType_Modified((PyTypeObject*)type_obj); - } - } - goto __PYX_GOOD; -__PYX_BAD: - if (!PyErr_Occurred()) - PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); - ret = -1; -__PYX_GOOD: -#if !CYTHON_USE_PYTYPE_LOOKUP - Py_XDECREF(object_reduce); - Py_XDECREF(object_reduce_ex); -#endif - Py_XDECREF(reduce); - Py_XDECREF(reduce_ex); - Py_XDECREF(reduce_cython); - Py_XDECREF(setstate); - Py_XDECREF(setstate_cython); - return ret; -} - -/* SetVTable */ - static int __Pyx_SetVtable(PyObject *dict, void *vtable) { -#if PY_VERSION_HEX >= 0x02070000 - PyObject *ob = PyCapsule_New(vtable, 0, 0); -#else - PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); -#endif - if (!ob) - goto bad; - if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) - goto bad; - Py_DECREF(ob); - return 0; -bad: - Py_XDECREF(ob); - return -1; -} - -/* TypeImport */ - #ifndef __PYX_HAVE_RT_ImportType -#define __PYX_HAVE_RT_ImportType -static PyTypeObject *__Pyx_ImportType(PyObject *module, const char *module_name, const char *class_name, - size_t size, enum __Pyx_ImportType_CheckSize check_size) -{ - PyObject *result = 0; - char warning[200]; - Py_ssize_t basicsize; -#ifdef Py_LIMITED_API - PyObject *py_basicsize; -#endif - result = PyObject_GetAttrString(module, class_name); - if (!result) - goto bad; - if (!PyType_Check(result)) { - PyErr_Format(PyExc_TypeError, - "%.200s.%.200s is not a type object", - module_name, class_name); - goto bad; - } -#ifndef Py_LIMITED_API - basicsize = ((PyTypeObject *)result)->tp_basicsize; -#else - py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); - if (!py_basicsize) - goto bad; - basicsize = PyLong_AsSsize_t(py_basicsize); - Py_DECREF(py_basicsize); - py_basicsize = 0; - if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) - goto bad; -#endif - if ((size_t)basicsize < size) { - PyErr_Format(PyExc_ValueError, - "%.200s.%.200s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - goto bad; - } - if (check_size == __Pyx_ImportType_CheckSize_Error && (size_t)basicsize != size) { - PyErr_Format(PyExc_ValueError, - "%.200s.%.200s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - goto bad; - } - else if (check_size == __Pyx_ImportType_CheckSize_Warn && (size_t)basicsize > size) { - PyOS_snprintf(warning, sizeof(warning), - "%s.%s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; - } - return (PyTypeObject *)result; -bad: - Py_XDECREF(result); - return NULL; -} -#endif - -/* CLineInTraceback */ - #ifndef CYTHON_CLINE_IN_TRACEBACK -static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { - PyObject *use_cline; - PyObject *ptype, *pvalue, *ptraceback; -#if CYTHON_COMPILING_IN_CPYTHON - PyObject **cython_runtime_dict; -#endif - if (unlikely(!__pyx_cython_runtime)) { - return c_line; - } - __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); -#if CYTHON_COMPILING_IN_CPYTHON - cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); - if (likely(cython_runtime_dict)) { - __PYX_PY_DICT_LOOKUP_IF_MODIFIED( - use_cline, *cython_runtime_dict, - __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) - } else -#endif - { - PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); - if (use_cline_obj) { - use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; - Py_DECREF(use_cline_obj); - } else { - PyErr_Clear(); - use_cline = NULL; - } - } - if (!use_cline) { - c_line = 0; - (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); - } - else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { - c_line = 0; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - return c_line; -} -#endif - -/* CodeObjectCache */ - static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { - int start = 0, mid = 0, end = count - 1; - if (end >= 0 && code_line > entries[end].code_line) { - return count; - } - while (start < end) { - mid = start + (end - start) / 2; - if (code_line < entries[mid].code_line) { - end = mid; - } else if (code_line > entries[mid].code_line) { - start = mid + 1; - } else { - return mid; - } - } - if (code_line <= entries[mid].code_line) { - return mid; - } else { - return mid + 1; - } -} -static PyCodeObject *__pyx_find_code_object(int code_line) { - PyCodeObject* code_object; - int pos; - if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { - return NULL; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { - return NULL; - } - code_object = __pyx_code_cache.entries[pos].code_object; - Py_INCREF(code_object); - return code_object; -} -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { - int pos, i; - __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; - if (unlikely(!code_line)) { - return; - } - if (unlikely(!entries)) { - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); - if (likely(entries)) { - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = 64; - __pyx_code_cache.count = 1; - entries[0].code_line = code_line; - entries[0].code_object = code_object; - Py_INCREF(code_object); - } - return; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { - PyCodeObject* tmp = entries[pos].code_object; - entries[pos].code_object = code_object; - Py_DECREF(tmp); - return; - } - if (__pyx_code_cache.count == __pyx_code_cache.max_count) { - int new_max = __pyx_code_cache.max_count + 64; - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( - __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); - if (unlikely(!entries)) { - return; - } - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = new_max; - } - for (i=__pyx_code_cache.count; i>pos; i--) { - entries[i] = entries[i-1]; - } - entries[pos].code_line = code_line; - entries[pos].code_object = code_object; - __pyx_code_cache.count++; - Py_INCREF(code_object); -} - -/* AddTraceback */ - #include "compile.h" -#include "frameobject.h" -#include "traceback.h" -static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( - const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = NULL; - PyObject *py_funcname = NULL; - #if PY_MAJOR_VERSION < 3 - PyObject *py_srcfile = NULL; - py_srcfile = PyString_FromString(filename); - if (!py_srcfile) goto bad; - #endif - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - funcname = PyUnicode_AsUTF8(py_funcname); - if (!funcname) goto bad; - #endif - } - else { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); - if (!py_funcname) goto bad; - #endif - } - #if PY_MAJOR_VERSION < 3 - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - #else - py_code = PyCode_NewEmpty(filename, funcname, py_line); - #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline - return py_code; -bad: - Py_XDECREF(py_funcname); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_srcfile); - #endif - return NULL; -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); - } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) goto bad; - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); - } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); -} - -#if PY_MAJOR_VERSION < 3 -static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { - if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); - if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); - if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); - PyErr_Format(PyExc_TypeError, "'%.200s' does not have the buffer interface", Py_TYPE(obj)->tp_name); - return -1; -} -static void __Pyx_ReleaseBuffer(Py_buffer *view) { - PyObject *obj = view->obj; - if (!obj) return; - if (PyObject_CheckBuffer(obj)) { - PyBuffer_Release(view); - return; - } - if ((0)) {} - view->obj = NULL; - Py_DECREF(obj); -} -#endif - - - /* MemviewSliceIsContig */ - static int -__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) -{ - int i, index, step, start; - Py_ssize_t itemsize = mvs.memview->view.itemsize; - if (order == 'F') { - step = 1; - start = 0; - } else { - step = -1; - start = ndim - 1; - } - for (i = 0; i < ndim; i++) { - index = start + step * i; - if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) - return 0; - itemsize *= mvs.shape[index]; - } - return 1; -} - -/* OverlappingSlices */ - static void -__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, - void **out_start, void **out_end, - int ndim, size_t itemsize) -{ - char *start, *end; - int i; - start = end = slice->data; - for (i = 0; i < ndim; i++) { - Py_ssize_t stride = slice->strides[i]; - Py_ssize_t extent = slice->shape[i]; - if (extent == 0) { - *out_start = *out_end = start; - return; - } else { - if (stride > 0) - end += stride * (extent - 1); - else - start += stride * (extent - 1); - } - } - *out_start = start; - *out_end = end + itemsize; -} -static int -__pyx_slices_overlap(__Pyx_memviewslice *slice1, - __Pyx_memviewslice *slice2, - int ndim, size_t itemsize) -{ - void *start1, *end1, *start2, *end2; - __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); - __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); - return (start1 < end2) && (start2 < end1); -} - -/* Capsule */ - static CYTHON_INLINE PyObject * -__pyx_capsule_create(void *p, CYTHON_UNUSED const char *sig) -{ - PyObject *cobj; -#if PY_VERSION_HEX >= 0x02070000 - cobj = PyCapsule_New(p, sig, NULL); -#else - cobj = PyCObject_FromVoidPtr(p, NULL); -#endif - return cobj; -} - -/* CIntFromPyVerify */ - #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ - } - -/* TypeInfoCompare */ - static int -__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) -{ - int i; - if (!a || !b) - return 0; - if (a == b) - return 1; - if (a->size != b->size || a->typegroup != b->typegroup || - a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { - if (a->typegroup == 'H' || b->typegroup == 'H') { - return a->size == b->size; - } else { - return 0; - } - } - if (a->ndim) { - for (i = 0; i < a->ndim; i++) - if (a->arraysize[i] != b->arraysize[i]) - return 0; - } - if (a->typegroup == 'S') { - if (a->flags != b->flags) - return 0; - if (a->fields || b->fields) { - if (!(a->fields && b->fields)) - return 0; - for (i = 0; a->fields[i].type && b->fields[i].type; i++) { - __Pyx_StructField *field_a = a->fields + i; - __Pyx_StructField *field_b = b->fields + i; - if (field_a->offset != field_b->offset || - !__pyx_typeinfo_cmp(field_a->type, field_b->type)) - return 0; - } - return !a->fields[i].type && !b->fields[i].type; - } - } - return 1; -} - -/* MemviewSliceValidateAndInit */ - static int -__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) -{ - if (buf->shape[dim] <= 1) - return 1; - if (buf->strides) { - if (spec & __Pyx_MEMVIEW_CONTIG) { - if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { - if (unlikely(buf->strides[dim] != sizeof(void *))) { - PyErr_Format(PyExc_ValueError, - "Buffer is not indirectly contiguous " - "in dimension %d.", dim); - goto fail; - } - } else if (unlikely(buf->strides[dim] != buf->itemsize)) { - PyErr_SetString(PyExc_ValueError, - "Buffer and memoryview are not contiguous " - "in the same dimension."); - goto fail; - } - } - if (spec & __Pyx_MEMVIEW_FOLLOW) { - Py_ssize_t stride = buf->strides[dim]; - if (stride < 0) - stride = -stride; - if (unlikely(stride < buf->itemsize)) { - PyErr_SetString(PyExc_ValueError, - "Buffer and memoryview are not contiguous " - "in the same dimension."); - goto fail; - } - } - } else { - if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { - PyErr_Format(PyExc_ValueError, - "C-contiguous buffer is not contiguous in " - "dimension %d", dim); - goto fail; - } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { - PyErr_Format(PyExc_ValueError, - "C-contiguous buffer is not indirect in " - "dimension %d", dim); - goto fail; - } else if (unlikely(buf->suboffsets)) { - PyErr_SetString(PyExc_ValueError, - "Buffer exposes suboffsets but no strides"); - goto fail; - } - } - return 1; -fail: - return 0; -} -static int -__pyx_check_suboffsets(Py_buffer *buf, int dim, CYTHON_UNUSED int ndim, int spec) -{ - if (spec & __Pyx_MEMVIEW_DIRECT) { - if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { - PyErr_Format(PyExc_ValueError, - "Buffer not compatible with direct access " - "in dimension %d.", dim); - goto fail; - } - } - if (spec & __Pyx_MEMVIEW_PTR) { - if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { - PyErr_Format(PyExc_ValueError, - "Buffer is not indirectly accessible " - "in dimension %d.", dim); - goto fail; - } - } - return 1; -fail: - return 0; -} -static int -__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) -{ - int i; - if (c_or_f_flag & __Pyx_IS_F_CONTIG) { - Py_ssize_t stride = 1; - for (i = 0; i < ndim; i++) { - if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { - PyErr_SetString(PyExc_ValueError, - "Buffer not fortran contiguous."); - goto fail; - } - stride = stride * buf->shape[i]; - } - } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { - Py_ssize_t stride = 1; - for (i = ndim - 1; i >- 1; i--) { - if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { - PyErr_SetString(PyExc_ValueError, - "Buffer not C contiguous."); - goto fail; - } - stride = stride * buf->shape[i]; - } - } - return 1; -fail: - return 0; -} -static int __Pyx_ValidateAndInit_memviewslice( - int *axes_specs, - int c_or_f_flag, - int buf_flags, - int ndim, - __Pyx_TypeInfo *dtype, - __Pyx_BufFmt_StackElem stack[], - __Pyx_memviewslice *memviewslice, - PyObject *original_obj) -{ - struct __pyx_memoryview_obj *memview, *new_memview; - __Pyx_RefNannyDeclarations - Py_buffer *buf; - int i, spec = 0, retval = -1; - __Pyx_BufFmt_Context ctx; - int from_memoryview = __pyx_memoryview_check(original_obj); - __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); - if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) - original_obj)->typeinfo)) { - memview = (struct __pyx_memoryview_obj *) original_obj; - new_memview = NULL; - } else { - memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( - original_obj, buf_flags, 0, dtype); - new_memview = memview; - if (unlikely(!memview)) - goto fail; - } - buf = &memview->view; - if (unlikely(buf->ndim != ndim)) { - PyErr_Format(PyExc_ValueError, - "Buffer has wrong number of dimensions (expected %d, got %d)", - ndim, buf->ndim); - goto fail; - } - if (new_memview) { - __Pyx_BufFmt_Init(&ctx, stack, dtype); - if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; - } - if (unlikely((unsigned) buf->itemsize != dtype->size)) { - PyErr_Format(PyExc_ValueError, - "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " - "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", - buf->itemsize, - (buf->itemsize > 1) ? "s" : "", - dtype->name, - dtype->size, - (dtype->size > 1) ? "s" : ""); - goto fail; - } - if (buf->len > 0) { - for (i = 0; i < ndim; i++) { - spec = axes_specs[i]; - if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) - goto fail; - if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) - goto fail; - } - if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) - goto fail; - } - if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, - new_memview != NULL) == -1)) { - goto fail; - } - retval = 0; - goto no_fail; -fail: - Py_XDECREF(new_memview); - retval = -1; -no_fail: - __Pyx_RefNannyFinishContext(); - return retval; -} - -/* ObjectToMemviewSlice */ - static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dcd__double(PyObject *obj, int writable_flag) { - __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; - __Pyx_BufFmt_StackElem stack[1]; - int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW) }; - int retcode; - if (obj == Py_None) { - result.memview = (struct __pyx_memoryview_obj *) Py_None; - return result; - } - retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_F_CONTIG, - (PyBUF_F_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 2, - &__Pyx_TypeInfo_double, stack, - &result, obj); - if (unlikely(retcode == -1)) - goto __pyx_fail; - return result; -__pyx_fail: - result.memview = NULL; - result.data = NULL; - return result; -} - -/* ObjectToMemviewSlice */ - static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_unsigned_char(PyObject *obj, int writable_flag) { - __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; - __Pyx_BufFmt_StackElem stack[1]; - int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) }; - int retcode; - if (obj == Py_None) { - result.memview = (struct __pyx_memoryview_obj *) Py_None; - return result; - } - retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG, - (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 1, - &__Pyx_TypeInfo_unsigned_char, stack, - &result, obj); - if (unlikely(retcode == -1)) - goto __pyx_fail; - return result; -__pyx_fail: - result.memview = NULL; - result.data = NULL; - return result; -} - -/* Declarations */ - #if CYTHON_CCOMPLEX - #ifdef __cplusplus - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - return ::std::complex< float >(x, y); - } - #else - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - return x + y*(__pyx_t_float_complex)_Complex_I; - } - #endif -#else - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - __pyx_t_float_complex z; - z.real = x; - z.imag = y; - return z; - } -#endif - -/* Arithmetic */ - #if CYTHON_CCOMPLEX -#else - static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - return (a.real == b.real) && (a.imag == b.imag); - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real + b.real; - z.imag = a.imag + b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real - b.real; - z.imag = a.imag - b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real * b.real - a.imag * b.imag; - z.imag = a.real * b.imag + a.imag * b.real; - return z; - } - #if 1 - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - if (b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); - } else if (fabsf(b.real) >= fabsf(b.imag)) { - if (b.real == 0 && b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); - } else { - float r = b.imag / b.real; - float s = (float)(1.0) / (b.real + b.imag * r); - return __pyx_t_float_complex_from_parts( - (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); - } - } else { - float r = b.real / b.imag; - float s = (float)(1.0) / (b.imag + b.real * r); - return __pyx_t_float_complex_from_parts( - (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); - } - } - #else - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - if (b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); - } else { - float denom = b.real * b.real + b.imag * b.imag; - return __pyx_t_float_complex_from_parts( - (a.real * b.real + a.imag * b.imag) / denom, - (a.imag * b.real - a.real * b.imag) / denom); - } - } - #endif - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { - __pyx_t_float_complex z; - z.real = -a.real; - z.imag = -a.imag; - return z; - } - static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { - return (a.real == 0) && (a.imag == 0); - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { - __pyx_t_float_complex z; - z.real = a.real; - z.imag = -a.imag; - return z; - } - #if 1 - static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { - #if !defined(HAVE_HYPOT) || defined(_MSC_VER) - return sqrtf(z.real*z.real + z.imag*z.imag); - #else - return hypotf(z.real, z.imag); - #endif - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - float r, lnr, theta, z_r, z_theta; - if (b.imag == 0 && b.real == (int)b.real) { - if (b.real < 0) { - float denom = a.real * a.real + a.imag * a.imag; - a.real = a.real / denom; - a.imag = -a.imag / denom; - b.real = -b.real; - } - switch ((int)b.real) { - case 0: - z.real = 1; - z.imag = 0; - return z; - case 1: - return a; - case 2: - return __Pyx_c_prod_float(a, a); - case 3: - z = __Pyx_c_prod_float(a, a); - return __Pyx_c_prod_float(z, a); - case 4: - z = __Pyx_c_prod_float(a, a); - return __Pyx_c_prod_float(z, z); - } - } - if (a.imag == 0) { - if (a.real == 0) { - return a; - } else if (b.imag == 0) { - z.real = powf(a.real, b.real); - z.imag = 0; - return z; - } else if (a.real > 0) { - r = a.real; - theta = 0; - } else { - r = -a.real; - theta = atan2f(0.0, -1.0); - } - } else { - r = __Pyx_c_abs_float(a); - theta = atan2f(a.imag, a.real); - } - lnr = logf(r); - z_r = expf(lnr * b.real - theta * b.imag); - z_theta = theta * b.real + lnr * b.imag; - z.real = z_r * cosf(z_theta); - z.imag = z_r * sinf(z_theta); - return z; - } - #endif -#endif - -/* Declarations */ - #if CYTHON_CCOMPLEX - #ifdef __cplusplus - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - return ::std::complex< double >(x, y); - } - #else - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - return x + y*(__pyx_t_double_complex)_Complex_I; - } - #endif -#else - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - __pyx_t_double_complex z; - z.real = x; - z.imag = y; - return z; - } -#endif - -/* Arithmetic */ - #if CYTHON_CCOMPLEX -#else - static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - return (a.real == b.real) && (a.imag == b.imag); - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real + b.real; - z.imag = a.imag + b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real - b.real; - z.imag = a.imag - b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real * b.real - a.imag * b.imag; - z.imag = a.real * b.imag + a.imag * b.real; - return z; - } - #if 1 - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - if (b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); - } else if (fabs(b.real) >= fabs(b.imag)) { - if (b.real == 0 && b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); - } else { - double r = b.imag / b.real; - double s = (double)(1.0) / (b.real + b.imag * r); - return __pyx_t_double_complex_from_parts( - (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); - } - } else { - double r = b.real / b.imag; - double s = (double)(1.0) / (b.imag + b.real * r); - return __pyx_t_double_complex_from_parts( - (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); - } - } - #else - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - if (b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); - } else { - double denom = b.real * b.real + b.imag * b.imag; - return __pyx_t_double_complex_from_parts( - (a.real * b.real + a.imag * b.imag) / denom, - (a.imag * b.real - a.real * b.imag) / denom); - } - } - #endif - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { - __pyx_t_double_complex z; - z.real = -a.real; - z.imag = -a.imag; - return z; - } - static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { - return (a.real == 0) && (a.imag == 0); - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { - __pyx_t_double_complex z; - z.real = a.real; - z.imag = -a.imag; - return z; - } - #if 1 - static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { - #if !defined(HAVE_HYPOT) || defined(_MSC_VER) - return sqrt(z.real*z.real + z.imag*z.imag); - #else - return hypot(z.real, z.imag); - #endif - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - double r, lnr, theta, z_r, z_theta; - if (b.imag == 0 && b.real == (int)b.real) { - if (b.real < 0) { - double denom = a.real * a.real + a.imag * a.imag; - a.real = a.real / denom; - a.imag = -a.imag / denom; - b.real = -b.real; - } - switch ((int)b.real) { - case 0: - z.real = 1; - z.imag = 0; - return z; - case 1: - return a; - case 2: - return __Pyx_c_prod_double(a, a); - case 3: - z = __Pyx_c_prod_double(a, a); - return __Pyx_c_prod_double(z, a); - case 4: - z = __Pyx_c_prod_double(a, a); - return __Pyx_c_prod_double(z, z); - } - } - if (a.imag == 0) { - if (a.real == 0) { - return a; - } else if (b.imag == 0) { - z.real = pow(a.real, b.real); - z.imag = 0; - return z; - } else if (a.real > 0) { - r = a.real; - theta = 0; - } else { - r = -a.real; - theta = atan2(0.0, -1.0); - } - } else { - r = __Pyx_c_abs_double(a); - theta = atan2(a.imag, a.real); - } - lnr = log(r); - z_r = exp(lnr * b.real - theta * b.imag); - z_theta = theta * b.real + lnr * b.imag; - z.real = z_r * cos(z_theta); - z.imag = z_r * sin(z_theta); - return z; - } - #endif -#endif - -/* MemviewSliceCopyTemplate */ - static __Pyx_memviewslice -__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, - const char *mode, int ndim, - size_t sizeof_dtype, int contig_flag, - int dtype_is_object) -{ - __Pyx_RefNannyDeclarations - int i; - __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; - struct __pyx_memoryview_obj *from_memview = from_mvs->memview; - Py_buffer *buf = &from_memview->view; - PyObject *shape_tuple = NULL; - PyObject *temp_int = NULL; - struct __pyx_array_obj *array_obj = NULL; - struct __pyx_memoryview_obj *memview_obj = NULL; - __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); - for (i = 0; i < ndim; i++) { - if (unlikely(from_mvs->suboffsets[i] >= 0)) { - PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " - "indirect dimensions (axis %d)", i); - goto fail; - } - } - shape_tuple = PyTuple_New(ndim); - if (unlikely(!shape_tuple)) { - goto fail; - } - __Pyx_GOTREF(shape_tuple); - for(i = 0; i < ndim; i++) { - temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); - if(unlikely(!temp_int)) { - goto fail; - } else { - PyTuple_SET_ITEM(shape_tuple, i, temp_int); - temp_int = NULL; - } - } - array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); - if (unlikely(!array_obj)) { - goto fail; - } - __Pyx_GOTREF(array_obj); - memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( - (PyObject *) array_obj, contig_flag, - dtype_is_object, - from_mvs->memview->typeinfo); - if (unlikely(!memview_obj)) - goto fail; - if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) - goto fail; - if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, - dtype_is_object) < 0)) - goto fail; - goto no_fail; -fail: - __Pyx_XDECREF(new_mvs.memview); - new_mvs.memview = NULL; - new_mvs.data = NULL; -no_fail: - __Pyx_XDECREF(shape_tuple); - __Pyx_XDECREF(temp_int); - __Pyx_XDECREF(array_obj); - __Pyx_RefNannyFinishContext(); - return new_mvs; -} - -/* CIntFromPy */ - static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(int) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (int) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { - return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { - return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { - return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(int) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) - case -2: - if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - } -#endif - if (sizeof(int) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - int val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (int) -1; - } - } else { - int val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (int) -1; - val = __Pyx_PyInt_As_int(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to int"); - return (int) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to int"); - return (int) -1; -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(int) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(int) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(int) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(int), - little, !is_unsigned); - } -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); - } -} - -/* CIntFromPy */ - static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(size_t) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (size_t) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (size_t) 0; - case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, digits[0]) - case 2: - if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 2 * PyLong_SHIFT) { - return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 3 * PyLong_SHIFT) { - return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 4 * PyLong_SHIFT) { - return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (size_t) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(size_t) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (size_t) 0; - case -1: __PYX_VERIFY_RETURN_INT(size_t, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, +digits[0]) - case -2: - if (8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { - return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - } -#endif - if (sizeof(size_t) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(size_t) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - size_t val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (size_t) -1; - } - } else { - size_t val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (size_t) -1; - val = __Pyx_PyInt_As_size_t(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to size_t"); - return (size_t) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to size_t"); - return (size_t) -1; -} - -/* CIntFromPy */ - static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(long) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (long) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { - return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { - return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { - return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(long) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) - case -2: - if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - } -#endif - if (sizeof(long) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - long val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (long) -1; - } - } else { - long val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (long) -1; - val = __Pyx_PyInt_As_long(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to long"); - return (long) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to long"); - return (long) -1; -} - -/* CIntFromPy */ - static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const char neg_one = (char) -1, const_zero = (char) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(char) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (char) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (char) 0; - case 1: __PYX_VERIFY_RETURN_INT(char, digit, digits[0]) - case 2: - if (8 * sizeof(char) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 2 * PyLong_SHIFT) { - return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(char) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 3 * PyLong_SHIFT) { - return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(char) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 4 * PyLong_SHIFT) { - return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (char) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(char) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(char) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (char) 0; - case -1: __PYX_VERIFY_RETURN_INT(char, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(char, digit, +digits[0]) - case -2: - if (8 * sizeof(char) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { - return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); 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- } else -#endif -#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) - if (PyByteArray_Check(o)) { - *length = PyByteArray_GET_SIZE(o); - return PyByteArray_AS_STRING(o); - } else -#endif - { - char* result; - int r = PyBytes_AsStringAndSize(o, &result, length); - if (unlikely(r < 0)) { - return NULL; - } else { - return result; - } - } -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { - int is_true = x == Py_True; - if (is_true | (x == Py_False) | (x == Py_None)) return is_true; - else return PyObject_IsTrue(x); -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { - int retval; - if (unlikely(!x)) return -1; - retval = __Pyx_PyObject_IsTrue(x); - Py_DECREF(x); - return retval; -} -static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { -#if PY_MAJOR_VERSION >= 3 - if (PyLong_Check(result)) { - if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, - "__int__ returned non-int (type %.200s). " - "The ability to return an instance of a strict subclass of int " - "is deprecated, and may be removed in a future version of Python.", - Py_TYPE(result)->tp_name)) { - Py_DECREF(result); - return NULL; - } - return result; - } -#endif - PyErr_Format(PyExc_TypeError, - "__%.4s__ returned non-%.4s (type %.200s)", - type_name, type_name, Py_TYPE(result)->tp_name); - Py_DECREF(result); - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { -#if CYTHON_USE_TYPE_SLOTS - PyNumberMethods *m; -#endif - const char *name = NULL; - PyObject *res = NULL; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x) || PyLong_Check(x))) -#else - if (likely(PyLong_Check(x))) -#endif - return __Pyx_NewRef(x); -#if CYTHON_USE_TYPE_SLOTS - m = Py_TYPE(x)->tp_as_number; - #if PY_MAJOR_VERSION < 3 - if (m && m->nb_int) { - name = "int"; - res = m->nb_int(x); - } - else if (m && m->nb_long) { - name = "long"; - res = m->nb_long(x); - } - #else - if (likely(m && m->nb_int)) { - name = "int"; - res = m->nb_int(x); - } - #endif -#else - if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { - res = PyNumber_Int(x); - } -#endif - if (likely(res)) { -#if PY_MAJOR_VERSION < 3 - if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { -#else - if (unlikely(!PyLong_CheckExact(res))) { -#endif - return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); - } - } - else if (!PyErr_Occurred()) { - PyErr_SetString(PyExc_TypeError, - "an integer is required"); - } - return res; -} -static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { - Py_ssize_t ival; - PyObject *x; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(b))) { - if (sizeof(Py_ssize_t) >= sizeof(long)) - return PyInt_AS_LONG(b); - else - return PyInt_AsSsize_t(b); - } -#endif - if (likely(PyLong_CheckExact(b))) { - #if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)b)->ob_digit; - const Py_ssize_t size = Py_SIZE(b); - if (likely(__Pyx_sst_abs(size) <= 1)) { - ival = likely(size) ? digits[0] : 0; - if (size == -1) ival = -ival; - return ival; - } else { - switch (size) { - case 2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - } - } - #endif - return PyLong_AsSsize_t(b); - } - x = PyNumber_Index(b); - if (!x) return -1; - ival = PyInt_AsSsize_t(x); - Py_DECREF(x); - return ival; -} -static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { - if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { - return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); -#if PY_MAJOR_VERSION < 3 - } else if (likely(PyInt_CheckExact(o))) { - return PyInt_AS_LONG(o); -#endif - } else { - Py_ssize_t ival; - PyObject *x; - x = PyNumber_Index(o); - if (!x) return -1; - ival = PyInt_AsLong(x); - Py_DECREF(x); - return ival; - } -} -static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { - return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); -} -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { - return PyInt_FromSize_t(ival); -} - - -#endif /* Py_PYTHON_H */ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.c deleted file mode 100644 index 20f8890fc..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.c +++ /dev/null @@ -1,282 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ -// standard -#include -#include - -// acados -#include "acados_c/external_function_interface.h" -#include "acados_c/sim_interface.h" -#include "acados_c/external_function_interface.h" - -#include "acados/sim/sim_common.h" -#include "acados/utils/external_function_generic.h" -#include "acados/utils/print.h" - - -// example specific -#include "long_model/long_model.h" -#include "acados_sim_solver_long.h" - - -// ** solver data ** - -sim_solver_capsule * long_acados_sim_solver_create_capsule() -{ - void* capsule_mem = malloc(sizeof(sim_solver_capsule)); - sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem; - - return capsule; -} - - -int long_acados_sim_solver_free_capsule(sim_solver_capsule * capsule) -{ - free(capsule); - return 0; -} - - -int long_acados_sim_create(sim_solver_capsule * capsule) -{ - // initialize - const int nx = LONG_NX; - const int nu = LONG_NU; - const int nz = LONG_NZ; - const int np = LONG_NP; - bool tmp_bool; - - - double Tsim = 0.06944444444444445; - - - // explicit ode - capsule->sim_forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); - capsule->sim_expl_ode_fun_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); - - capsule->sim_forw_vde_casadi->casadi_fun = &long_expl_vde_forw; - capsule->sim_forw_vde_casadi->casadi_n_in = &long_expl_vde_forw_n_in; - capsule->sim_forw_vde_casadi->casadi_n_out = &long_expl_vde_forw_n_out; - capsule->sim_forw_vde_casadi->casadi_sparsity_in = &long_expl_vde_forw_sparsity_in; - capsule->sim_forw_vde_casadi->casadi_sparsity_out = &long_expl_vde_forw_sparsity_out; - capsule->sim_forw_vde_casadi->casadi_work = &long_expl_vde_forw_work; - external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np); - - capsule->sim_expl_ode_fun_casadi->casadi_fun = &long_expl_ode_fun; - capsule->sim_expl_ode_fun_casadi->casadi_n_in = &long_expl_ode_fun_n_in; - capsule->sim_expl_ode_fun_casadi->casadi_n_out = &long_expl_ode_fun_n_out; - capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &long_expl_ode_fun_sparsity_in; - capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &long_expl_ode_fun_sparsity_out; - capsule->sim_expl_ode_fun_casadi->casadi_work = &long_expl_ode_fun_work; - external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np); - - - - // sim plan & config - sim_solver_plan_t plan; - plan.sim_solver = ERK; - - // create correct config based on plan - sim_config * long_sim_config = sim_config_create(plan); - capsule->acados_sim_config = long_sim_config; - - // sim dims - void *long_sim_dims = sim_dims_create(long_sim_config); - capsule->acados_sim_dims = long_sim_dims; - sim_dims_set(long_sim_config, long_sim_dims, "nx", &nx); - sim_dims_set(long_sim_config, long_sim_dims, "nu", &nu); - sim_dims_set(long_sim_config, long_sim_dims, "nz", &nz); - - - // sim opts - sim_opts *long_sim_opts = sim_opts_create(long_sim_config, long_sim_dims); - capsule->acados_sim_opts = long_sim_opts; - int tmp_int = 3; - sim_opts_set(long_sim_config, long_sim_opts, "newton_iter", &tmp_int); - sim_collocation_type collocation_type = GAUSS_LEGENDRE; - sim_opts_set(long_sim_config, long_sim_opts, "collocation_type", &collocation_type); - - - tmp_int = 4; - sim_opts_set(long_sim_config, long_sim_opts, "num_stages", &tmp_int); - tmp_int = 1; - sim_opts_set(long_sim_config, long_sim_opts, "num_steps", &tmp_int); - tmp_bool = 0; - sim_opts_set(long_sim_config, long_sim_opts, "jac_reuse", &tmp_bool); - - - // sim in / out - sim_in *long_sim_in = sim_in_create(long_sim_config, long_sim_dims); - capsule->acados_sim_in = long_sim_in; - sim_out *long_sim_out = sim_out_create(long_sim_config, long_sim_dims); - capsule->acados_sim_out = long_sim_out; - - sim_in_set(long_sim_config, long_sim_dims, - long_sim_in, "T", &Tsim); - - // model functions - long_sim_config->model_set(long_sim_in->model, - "expl_vde_for", capsule->sim_forw_vde_casadi); - long_sim_config->model_set(long_sim_in->model, - "expl_ode_fun", capsule->sim_expl_ode_fun_casadi); - - // sim solver - sim_solver *long_sim_solver = sim_solver_create(long_sim_config, - long_sim_dims, long_sim_opts); - capsule->acados_sim_solver = long_sim_solver; - - - /* initialize parameter values */ - double* p = calloc(np, sizeof(double)); - - p[0] = -1.2; - p[1] = 1.2; - p[4] = 1.45; - p[5] = 0.75; - - long_acados_sim_update_params(capsule, p, np); - free(p); - - - /* initialize input */ - // x - double x0[3]; - for (int ii = 0; ii < 3; ii++) - x0[ii] = 0.0; - - sim_in_set(long_sim_config, long_sim_dims, - long_sim_in, "x", x0); - - - // u - double u0[1]; - for (int ii = 0; ii < 1; ii++) - u0[ii] = 0.0; - - sim_in_set(long_sim_config, long_sim_dims, - long_sim_in, "u", u0); - - // S_forw - double S_forw[12]; - for (int ii = 0; ii < 12; ii++) - S_forw[ii] = 0.0; - for (int ii = 0; ii < 3; ii++) - S_forw[ii + ii * 3 ] = 1.0; - - - sim_in_set(long_sim_config, long_sim_dims, - long_sim_in, "S_forw", S_forw); - - int status = sim_precompute(long_sim_solver, long_sim_in, long_sim_out); - - return status; -} - - -int long_acados_sim_solve(sim_solver_capsule *capsule) -{ - // integrate dynamics using acados sim_solver - int status = sim_solve(capsule->acados_sim_solver, - capsule->acados_sim_in, capsule->acados_sim_out); - if (status != 0) - printf("error in long_acados_sim_solve()! Exiting.\n"); - - return status; -} - - -int long_acados_sim_free(sim_solver_capsule *capsule) -{ - // free memory - sim_solver_destroy(capsule->acados_sim_solver); - sim_in_destroy(capsule->acados_sim_in); - sim_out_destroy(capsule->acados_sim_out); - sim_opts_destroy(capsule->acados_sim_opts); - sim_dims_destroy(capsule->acados_sim_dims); - sim_config_destroy(capsule->acados_sim_config); - - // free external function - external_function_param_casadi_free(capsule->sim_forw_vde_casadi); - external_function_param_casadi_free(capsule->sim_expl_ode_fun_casadi); - - return 0; -} - - -int long_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np) -{ - int status = 0; - int casadi_np = LONG_NP; - - if (casadi_np != np) { - printf("long_acados_sim_update_params: trying to set %i parameters for external functions." - " External function has %i parameters. Exiting.\n", np, casadi_np); - exit(1); - } - capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p); - capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p); - - return status; -} - -/* getters pointers to C objects*/ -sim_config * long_acados_get_sim_config(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_config; -}; - -sim_in * long_acados_get_sim_in(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_in; -}; - -sim_out * long_acados_get_sim_out(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_out; -}; - -void * long_acados_get_sim_dims(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_dims; -}; - -sim_opts * long_acados_get_sim_opts(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_opts; -}; - -sim_solver * long_acados_get_sim_solver(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_solver; -}; - diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.h deleted file mode 100644 index ea0e04c49..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.h +++ /dev/null @@ -1,103 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -#ifndef ACADOS_SIM_long_H_ -#define ACADOS_SIM_long_H_ - -#include "acados_c/sim_interface.h" -#include "acados_c/external_function_interface.h" - -#define LONG_NX 3 -#define LONG_NZ 0 -#define LONG_NU 1 -#define LONG_NP 6 - -#ifdef __cplusplus -extern "C" { -#endif - - -// ** capsule for solver data ** -typedef struct sim_solver_capsule -{ - // acados objects - sim_in *acados_sim_in; - sim_out *acados_sim_out; - sim_solver *acados_sim_solver; - sim_opts *acados_sim_opts; - sim_config *acados_sim_config; - void *acados_sim_dims; - - /* external functions */ - // ERK - external_function_param_casadi * sim_forw_vde_casadi; - external_function_param_casadi * sim_expl_ode_fun_casadi; - external_function_param_casadi * sim_expl_ode_hess; - - // IRK - external_function_param_casadi * sim_impl_dae_fun; - external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z; - external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z; - external_function_param_casadi * sim_impl_dae_hess; - - // GNSF - external_function_param_casadi * sim_gnsf_phi_fun; - external_function_param_casadi * sim_gnsf_phi_fun_jac_y; - external_function_param_casadi * sim_gnsf_phi_jac_y_uhat; - external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z; - external_function_param_casadi * sim_gnsf_get_matrices_fun; - -} sim_solver_capsule; - - -ACADOS_SYMBOL_EXPORT int long_acados_sim_create(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT int long_acados_sim_solve(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT int long_acados_sim_free(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT int long_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np); - -ACADOS_SYMBOL_EXPORT sim_config * long_acados_get_sim_config(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT sim_in * long_acados_get_sim_in(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT sim_out * long_acados_get_sim_out(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT void * long_acados_get_sim_dims(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT sim_opts * long_acados_get_sim_opts(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT sim_solver * long_acados_get_sim_solver(sim_solver_capsule *capsule); - - -ACADOS_SYMBOL_EXPORT sim_solver_capsule * long_acados_sim_solver_create_capsule(void); -ACADOS_SYMBOL_EXPORT int long_acados_sim_solver_free_capsule(sim_solver_capsule *capsule); - -#ifdef __cplusplus -} -#endif - -#endif // ACADOS_SIM_long_H_ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c deleted file mode 100644 index 7b28e0206..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c +++ /dev/null @@ -1,1012 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -// standard -#include -#include -#include -// acados -// #include "acados/utils/print.h" -#include "acados_c/ocp_nlp_interface.h" -#include "acados_c/external_function_interface.h" - -// example specific -#include "long_model/long_model.h" - - - -#include "long_constraints/long_h_constraint.h" - - -#include "long_cost/long_cost_y_fun.h" -#include "long_cost/long_cost_y_0_fun.h" -#include "long_cost/long_cost_y_e_fun.h" - -#include "acados_solver_long.h" - -#define NX LONG_NX -#define NZ LONG_NZ -#define NU LONG_NU -#define NP LONG_NP -#define NBX LONG_NBX -#define NBX0 LONG_NBX0 -#define NBU LONG_NBU -#define NSBX LONG_NSBX -#define NSBU LONG_NSBU -#define NSH LONG_NSH -#define NSG LONG_NSG -#define NSPHI LONG_NSPHI -#define NSHN LONG_NSHN -#define NSGN LONG_NSGN -#define NSPHIN LONG_NSPHIN -#define NSBXN LONG_NSBXN -#define NS LONG_NS -#define NSN LONG_NSN -#define NG LONG_NG -#define NBXN LONG_NBXN -#define NGN LONG_NGN -#define NY0 LONG_NY0 -#define NY LONG_NY -#define NYN LONG_NYN -// #define N LONG_N -#define NH LONG_NH -#define NPHI LONG_NPHI -#define NHN LONG_NHN -#define NPHIN LONG_NPHIN -#define NR LONG_NR - - -// ** solver data ** - -long_solver_capsule * long_acados_create_capsule(void) -{ - void* capsule_mem = malloc(sizeof(long_solver_capsule)); - long_solver_capsule *capsule = (long_solver_capsule *) capsule_mem; - - return capsule; -} - - -int long_acados_free_capsule(long_solver_capsule *capsule) -{ - free(capsule); - return 0; -} - - -int long_acados_create(long_solver_capsule* capsule) -{ - int N_shooting_intervals = LONG_N; - double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps - return long_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps); -} - - -int long_acados_update_time_steps(long_solver_capsule* capsule, int N, double* new_time_steps) -{ - if (N != capsule->nlp_solver_plan->N) { - fprintf(stderr, "long_acados_update_time_steps: given number of time steps (= %d) " \ - "differs from the currently allocated number of " \ - "time steps (= %d)!\n" \ - "Please recreate with new discretization and provide a new vector of time_stamps!\n", - N, capsule->nlp_solver_plan->N); - return 1; - } - - ocp_nlp_config * nlp_config = capsule->nlp_config; - ocp_nlp_dims * nlp_dims = capsule->nlp_dims; - ocp_nlp_in * nlp_in = capsule->nlp_in; - - for (int i = 0; i < N; i++) - { - ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]); - } - return 0; -} - -/** - * Internal function for long_acados_create: step 1 - */ -void long_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, const int N) -{ - assert(N == nlp_solver_plan->N); - - /************************************************ - * plan - ************************************************/ - nlp_solver_plan->nlp_solver = SQP_RTI; - - nlp_solver_plan->ocp_qp_solver_plan.qp_solver = PARTIAL_CONDENSING_HPIPM; - - nlp_solver_plan->nlp_cost[0] = NONLINEAR_LS; - for (int i = 1; i < N; i++) - nlp_solver_plan->nlp_cost[i] = NONLINEAR_LS; - - nlp_solver_plan->nlp_cost[N] = NONLINEAR_LS; - - for (int i = 0; i < N; i++) - { - nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL; - nlp_solver_plan->sim_solver_plan[i].sim_solver = ERK; - } - - for (int i = 0; i < N; i++) - {nlp_solver_plan->nlp_constraints[i] = BGH; - } - nlp_solver_plan->nlp_constraints[N] = BGH; -} - - -/** - * Internal function for long_acados_create: step 2 - */ -ocp_nlp_dims* long_acados_create_2_create_and_set_dimensions(long_solver_capsule* capsule) -{ - ocp_nlp_plan_t* nlp_solver_plan = capsule->nlp_solver_plan; - const int N = nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - - /************************************************ - * dimensions - ************************************************/ - #define NINTNP1MEMS 17 - int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS ); - - int* nx = intNp1mem + (N+1)*0; - int* nu = intNp1mem + (N+1)*1; - int* nbx = intNp1mem + (N+1)*2; - int* nbu = intNp1mem + (N+1)*3; - int* nsbx = intNp1mem + (N+1)*4; - int* nsbu = intNp1mem + (N+1)*5; - int* nsg = intNp1mem + (N+1)*6; - int* nsh = intNp1mem + (N+1)*7; - int* nsphi = intNp1mem + (N+1)*8; - int* ns = intNp1mem + (N+1)*9; - int* ng = intNp1mem + (N+1)*10; - int* nh = intNp1mem + (N+1)*11; - int* nphi = intNp1mem + (N+1)*12; - int* nz = intNp1mem + (N+1)*13; - int* ny = intNp1mem + (N+1)*14; - int* nr = intNp1mem + (N+1)*15; - int* nbxe = intNp1mem + (N+1)*16; - - for (int i = 0; i < N+1; i++) - { - // common - nx[i] = NX; - nu[i] = NU; - nz[i] = NZ; - ns[i] = NS; - // cost - ny[i] = NY; - // constraints - nbx[i] = NBX; - nbu[i] = NBU; - nsbx[i] = NSBX; - nsbu[i] = NSBU; - nsg[i] = NSG; - nsh[i] = NSH; - nsphi[i] = NSPHI; - ng[i] = NG; - nh[i] = NH; - nphi[i] = NPHI; - nr[i] = NR; - nbxe[i] = 0; - } - - // for initial state - nbx[0] = NBX0; - nsbx[0] = 0; - ns[0] = NS - NSBX; - nbxe[0] = 3; - ny[0] = NY0; - - // terminal - common - nu[N] = 0; - nz[N] = 0; - ns[N] = NSN; - // cost - ny[N] = NYN; - // constraint - nbx[N] = NBXN; - nbu[N] = 0; - ng[N] = NGN; - nh[N] = NHN; - nphi[N] = NPHIN; - nr[N] = 0; - - nsbx[N] = NSBXN; - nsbu[N] = 0; - nsg[N] = NSGN; - nsh[N] = NSHN; - nsphi[N] = NSPHIN; - - /* create and set ocp_nlp_dims */ - ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config); - - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx); - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu); - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz); - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns); - - for (int i = 0; i <= N; i++) - { - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]); - } - ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]); - for (int i = 1; i < N; i++) - ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]); - - for (int i = 0; i < N; i++) - { - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nh", &nh[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsh", &nsh[i]); - } - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]); - ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]); - free(intNp1mem); -return nlp_dims; -} - - -/** - * Internal function for long_acados_create: step 3 - */ -void long_acados_create_3_create_and_set_functions(long_solver_capsule* capsule) -{ - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - - /************************************************ - * external functions - ************************************************/ - -#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \ - capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\ - capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \ - capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \ - capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \ - capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \ - capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \ - external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , 6); \ - }while(false) - - - // constraints.constr_type == "BGH" and dims.nh > 0 - capsule->nl_constr_h_fun_jac = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(nl_constr_h_fun_jac[i], long_constr_h_fun_jac_uxt_zt); - } - capsule->nl_constr_h_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(nl_constr_h_fun[i], long_constr_h_fun); - } - - - - - // explicit ode - capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(forw_vde_casadi[i], long_expl_vde_forw); - } - - capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(expl_ode_fun[i], long_expl_ode_fun); - } - - - // nonlinear least squares function - MAP_CASADI_FNC(cost_y_0_fun, long_cost_y_0_fun); - MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, long_cost_y_0_fun_jac_ut_xt); - MAP_CASADI_FNC(cost_y_0_hess, long_cost_y_0_hess); - // nonlinear least squares cost - capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(cost_y_fun[i], long_cost_y_fun); - } - - capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], long_cost_y_fun_jac_ut_xt); - } - - capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(cost_y_hess[i], long_cost_y_hess); - } - // nonlinear least square function - MAP_CASADI_FNC(cost_y_e_fun, long_cost_y_e_fun); - MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, long_cost_y_e_fun_jac_ut_xt); - MAP_CASADI_FNC(cost_y_e_hess, long_cost_y_e_hess); - -#undef MAP_CASADI_FNC -} - - -/** - * Internal function for long_acados_create: step 4 - */ -void long_acados_create_4_set_default_parameters(long_solver_capsule* capsule) { - const int N = capsule->nlp_solver_plan->N; - // initialize parameters to nominal value - double* p = calloc(NP, sizeof(double)); - p[0] = -1.2; - p[1] = 1.2; - p[4] = 1.45; - p[5] = 0.75; - - for (int i = 0; i <= N; i++) { - long_acados_update_params(capsule, i, p, NP); - } - free(p); -} - - -/** - * Internal function for long_acados_create: step 5 - */ -void long_acados_create_5_set_nlp_in(long_solver_capsule* capsule, const int N, double* new_time_steps) -{ - assert(N == capsule->nlp_solver_plan->N); - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - - /************************************************ - * nlp_in - ************************************************/ -// ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims); -// capsule->nlp_in = nlp_in; - ocp_nlp_in * nlp_in = capsule->nlp_in; - - // set up time_steps - - - if (new_time_steps) { - long_acados_update_time_steps(capsule, N, new_time_steps); - } else {// time_steps are different - double* time_steps = malloc(N*sizeof(double)); - time_steps[0] = 0.06944444444444445; - time_steps[1] = 0.20833333333333337; - time_steps[2] = 0.3472222222222222; - time_steps[3] = 0.4861111111111112; - time_steps[4] = 0.6250000000000002; - time_steps[5] = 0.7638888888888886; - time_steps[6] = 0.9027777777777786; - time_steps[7] = 1.041666666666666; - time_steps[8] = 1.1805555555555554; - time_steps[9] = 1.3194444444444455; - time_steps[10] = 1.4583333333333313; - time_steps[11] = 1.5972222222222232; - long_acados_update_time_steps(capsule, N, time_steps); - free(time_steps); - } - - /**** Dynamics ****/ - for (int i = 0; i < N; i++) - { - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]); - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]); - - } - - /**** Cost ****/ - double* W_0 = calloc(NY0*NY0, sizeof(double)); - // change only the non-zero elements: - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0); - free(W_0); - - double* yref_0 = calloc(NY0, sizeof(double)); - // change only the non-zero elements: - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0); - free(yref_0); - double* W = calloc(NY*NY, sizeof(double)); - // change only the non-zero elements: - - double* yref = calloc(NY, sizeof(double)); - // change only the non-zero elements: - - for (int i = 1; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref); - } - free(W); - free(yref); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess); - for (int i = 1; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]); - } - double* zlumem = calloc(4*NS, sizeof(double)); - double* Zl = zlumem+NS*0; - double* Zu = zlumem+NS*1; - double* zl = zlumem+NS*2; - double* zu = zlumem+NS*3; - // change only the non-zero elements: - - for (int i = 0; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zl", Zl); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zu", Zu); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zl", zl); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zu", zu); - } - free(zlumem); - - // terminal cost - double* yref_e = calloc(NYN, sizeof(double)); - // change only the non-zero elements: - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e); - free(yref_e); - - double* W_e = calloc(NYN*NYN, sizeof(double)); - // change only the non-zero elements: - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e); - free(W_e); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess); - - - - /**** Constraints ****/ - - // bounds for initial stage - // x0 - int* idxbx0 = malloc(NBX0 * sizeof(int)); - idxbx0[0] = 0; - idxbx0[1] = 1; - idxbx0[2] = 2; - - double* lubx0 = calloc(2*NBX0, sizeof(double)); - double* lbx0 = lubx0; - double* ubx0 = lubx0 + NBX0; - // change only the non-zero elements: - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); - free(idxbx0); - free(lubx0); - // idxbxe_0 - int* idxbxe_0 = malloc(3 * sizeof(int)); - - idxbxe_0[0] = 0; - idxbxe_0[1] = 1; - idxbxe_0[2] = 2; - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0); - free(idxbxe_0); - - /* constraints that are the same for initial and intermediate */ - - - - - // set up soft bounds for nonlinear constraints - int* idxsh = malloc(NSH * sizeof(int)); - - idxsh[0] = 0; - idxsh[1] = 1; - idxsh[2] = 2; - idxsh[3] = 3; - double* lush = calloc(2*NSH, sizeof(double)); - double* lsh = lush; - double* ush = lush + NSH; - - - for (int i = 0; i < N; i++) - { - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsh", idxsh); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsh", lsh); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ush", ush); - } - free(idxsh); - free(lush); - - - - - - - - - // set up nonlinear constraints for stage 0 to N-1 - double* luh = calloc(2*NH, sizeof(double)); - double* lh = luh; - double* uh = luh + NH; - - - - - uh[0] = 10000; - uh[1] = 10000; - uh[2] = 10000; - uh[3] = 10000; - - for (int i = 0; i < N; i++) - { - // nonlinear constraints for stages 0 to N-1 - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun_jac", - &capsule->nl_constr_h_fun_jac[i]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun", - &capsule->nl_constr_h_fun[i]); - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lh", lh); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uh", uh); - } - free(luh); - - - - /* terminal constraints */ - - - - - - - - - - - - - - - -} - - -/** - * Internal function for long_acados_create: step 6 - */ -void long_acados_create_6_set_opts(long_solver_capsule* capsule) -{ - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - void *nlp_opts = capsule->nlp_opts; - - /************************************************ - * opts - ************************************************/ - - - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step");int full_step_dual = 0; - ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual); - - // set collocation type (relevant for implicit integrators) - sim_collocation_type collocation_type = GAUSS_LEGENDRE; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type); - - // set up sim_method_num_steps - // all sim_method_num_steps are identical - int sim_method_num_steps = 1; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps); - - // set up sim_method_num_stages - // all sim_method_num_stages are identical - int sim_method_num_stages = 4; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages); - - int newton_iter_val = 3; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val); - - - // set up sim_method_jac_reuse - bool tmp_bool = (bool) 0; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool); - - double nlp_solver_step_length = 1; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length); - - double levenberg_marquardt = 0; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt); - - /* options QP solver */ - int qp_solver_cond_N; - - const int qp_solver_cond_N_ori = 1; - qp_solver_cond_N = N < qp_solver_cond_N_ori ? N : qp_solver_cond_N_ori; // use the minimum value here - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N); - // set HPIPM mode: should be done before setting other QP solver options - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "BALANCE"); - - - - int qp_solver_iter_max = 10; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max); - - - double qp_solver_tol_stat = 0.001; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_stat", &qp_solver_tol_stat); - double qp_solver_tol_eq = 0.001; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_eq", &qp_solver_tol_eq); - double qp_solver_tol_ineq = 0.001; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_ineq", &qp_solver_tol_ineq); - double qp_solver_tol_comp = 0.001; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_comp", &qp_solver_tol_comp);int print_level = 0; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level); - - - int ext_cost_num_hess = 0; -} - - -/** - * Internal function for long_acados_create: step 7 - */ -void long_acados_create_7_set_nlp_out(long_solver_capsule* capsule) -{ - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - ocp_nlp_out* nlp_out = capsule->nlp_out; - - // initialize primal solution - double* xu0 = calloc(NX+NU, sizeof(double)); - double* x0 = xu0; - - // initialize with x0 - - - - double* u0 = xu0 + NX; - - for (int i = 0; i < N; i++) - { - // x0 - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0); - // u0 - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); - } - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0); - free(xu0); -} - - -/** - * Internal function for long_acados_create: step 8 - */ -//void long_acados_create_8_create_solver(long_solver_capsule* capsule) -//{ -// capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); -//} - -/** - * Internal function for long_acados_create: step 9 - */ -int long_acados_create_9_precompute(long_solver_capsule* capsule) { - int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); - - if (status != ACADOS_SUCCESS) { - printf("\nocp_nlp_precompute failed!\n\n"); - exit(1); - } - - return status; -} - - -int long_acados_create_with_discretization(long_solver_capsule* capsule, int N, double* new_time_steps) -{ - // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given. - if (N != LONG_N && !new_time_steps) { - fprintf(stderr, "long_acados_create_with_discretization: new_time_steps is NULL " \ - "but the number of shooting intervals (= %d) differs from the number of " \ - "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \ - N, LONG_N); - return 1; - } - - // number of expected runtime parameters - capsule->nlp_np = NP; - - // 1) create and set nlp_solver_plan; create nlp_config - capsule->nlp_solver_plan = ocp_nlp_plan_create(N); - long_acados_create_1_set_plan(capsule->nlp_solver_plan, N); - capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan); - - // 3) create and set dimensions - capsule->nlp_dims = long_acados_create_2_create_and_set_dimensions(capsule); - long_acados_create_3_create_and_set_functions(capsule); - - // 4) set default parameters in functions - long_acados_create_4_set_default_parameters(capsule); - - // 5) create and set nlp_in - capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims); - long_acados_create_5_set_nlp_in(capsule, N, new_time_steps); - - // 6) create and set nlp_opts - capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims); - long_acados_create_6_set_opts(capsule); - - // 7) create and set nlp_out - // 7.1) nlp_out - capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); - // 7.2) sens_out - capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); - long_acados_create_7_set_nlp_out(capsule); - - // 8) create solver - capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); - //long_acados_create_8_create_solver(capsule); - - // 9) do precomputations - int status = long_acados_create_9_precompute(capsule); - return status; -} - -/** - * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export. - */ -int long_acados_update_qp_solver_cond_N(long_solver_capsule* capsule, int qp_solver_cond_N) -{ - // 1) destroy solver - ocp_nlp_solver_destroy(capsule->nlp_solver); - - // 2) set new value for "qp_cond_N" - const int N = capsule->nlp_solver_plan->N; - if(qp_solver_cond_N > N) - printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N); - ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N); - - // 3) continue with the remaining steps from long_acados_create_with_discretization(...): - // -> 8) create solver - capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); - - // -> 9) do precomputations - int status = long_acados_create_9_precompute(capsule); - return status; -} - - -int long_acados_reset(long_solver_capsule* capsule) -{ - - // set initialization to all zeros - - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - ocp_nlp_out* nlp_out = capsule->nlp_out; - ocp_nlp_in* nlp_in = capsule->nlp_in; - ocp_nlp_solver* nlp_solver = capsule->nlp_solver; - - int nx, nu, nv, ns, nz, ni, dim; - - double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double)); - - for(int i=0; i reset memory - int qp_status; - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status); - if (qp_status == 3) - { - // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status); - ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out); - } - - free(buffer); - return 0; -} - - - - -int long_acados_update_params(long_solver_capsule* capsule, int stage, double *p, int np) -{ - int solver_status = 0; - - int casadi_np = 6; - if (casadi_np != np) { - printf("acados_update_params: trying to set %i parameters for external functions." - " External function has %i parameters. Exiting.\n", np, casadi_np); - exit(1); - } - const int N = capsule->nlp_solver_plan->N; - if (stage < N && stage >= 0) - { - capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p); - capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p); - - - // constraints - - capsule->nl_constr_h_fun_jac[stage].set_param(capsule->nl_constr_h_fun_jac+stage, p); - capsule->nl_constr_h_fun[stage].set_param(capsule->nl_constr_h_fun+stage, p); - - // cost - if (stage == 0) - { - capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p); - capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p); - capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p); - } - else // 0 < stage < N - { - capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p); - capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p); - capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p); - } - } - - else // stage == N - { - // terminal shooting node has no dynamics - // cost - capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p); - capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p); - capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p); - // constraints - - } - - - return solver_status; -} - - - -int long_acados_solve(long_solver_capsule* capsule) -{ - // solve NLP - int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); - - return solver_status; -} - - -int long_acados_free(long_solver_capsule* capsule) -{ - // before destroying, keep some info - const int N = capsule->nlp_solver_plan->N; - // free memory - ocp_nlp_solver_opts_destroy(capsule->nlp_opts); - ocp_nlp_in_destroy(capsule->nlp_in); - ocp_nlp_out_destroy(capsule->nlp_out); - ocp_nlp_out_destroy(capsule->sens_out); - ocp_nlp_solver_destroy(capsule->nlp_solver); - ocp_nlp_dims_destroy(capsule->nlp_dims); - ocp_nlp_config_destroy(capsule->nlp_config); - ocp_nlp_plan_destroy(capsule->nlp_solver_plan); - - /* free external function */ - // dynamics - for (int i = 0; i < N; i++) - { - external_function_param_casadi_free(&capsule->forw_vde_casadi[i]); - external_function_param_casadi_free(&capsule->expl_ode_fun[i]); - } - free(capsule->forw_vde_casadi); - free(capsule->expl_ode_fun); - - // cost - external_function_param_casadi_free(&capsule->cost_y_0_fun); - external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt); - external_function_param_casadi_free(&capsule->cost_y_0_hess); - for (int i = 0; i < N - 1; i++) - { - external_function_param_casadi_free(&capsule->cost_y_fun[i]); - external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]); - external_function_param_casadi_free(&capsule->cost_y_hess[i]); - } - free(capsule->cost_y_fun); - free(capsule->cost_y_fun_jac_ut_xt); - free(capsule->cost_y_hess); - external_function_param_casadi_free(&capsule->cost_y_e_fun); - external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt); - external_function_param_casadi_free(&capsule->cost_y_e_hess); - - // constraints - for (int i = 0; i < N; i++) - { - external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac[i]); - external_function_param_casadi_free(&capsule->nl_constr_h_fun[i]); - } - free(capsule->nl_constr_h_fun_jac); - free(capsule->nl_constr_h_fun); - - return 0; -} - -ocp_nlp_in *long_acados_get_nlp_in(long_solver_capsule* capsule) { return capsule->nlp_in; } -ocp_nlp_out *long_acados_get_nlp_out(long_solver_capsule* capsule) { return capsule->nlp_out; } -ocp_nlp_out *long_acados_get_sens_out(long_solver_capsule* capsule) { return capsule->sens_out; } -ocp_nlp_solver *long_acados_get_nlp_solver(long_solver_capsule* capsule) { return capsule->nlp_solver; } -ocp_nlp_config *long_acados_get_nlp_config(long_solver_capsule* capsule) { return capsule->nlp_config; } -void *long_acados_get_nlp_opts(long_solver_capsule* capsule) { return capsule->nlp_opts; } -ocp_nlp_dims *long_acados_get_nlp_dims(long_solver_capsule* capsule) { return capsule->nlp_dims; } -ocp_nlp_plan_t *long_acados_get_nlp_plan(long_solver_capsule* capsule) { return capsule->nlp_solver_plan; } - - -void long_acados_print_stats(long_solver_capsule* capsule) -{ - int sqp_iter, stat_m, stat_n, tmp_int; - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter); - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n); - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m); - - - double stat[1200]; - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat); - - int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m; - printf("iter\tqp_stat\tqp_iter\n"); - for (int i = 0; i < nrow; i++) - { - for (int j = 0; j < stat_n + 1; j++) - { - tmp_int = (int) stat[i + j * nrow]; - printf("%d\t", tmp_int); - } - printf("\n"); - } -} - diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_sfunction_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_sfunction_long.c deleted file mode 100644 index 41b6d4431..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_sfunction_long.c +++ /dev/null @@ -1,264 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -#define S_FUNCTION_NAME acados_solver_sfunction_long -#define S_FUNCTION_LEVEL 2 - -#define MDL_START - -// acados -// #include "acados/utils/print.h" -#include "acados_c/sim_interface.h" -#include "acados_c/external_function_interface.h" - -// example specific -#include "long_model/long_model.h" -#include "acados_solver_long.h" - -#include "simstruc.h" - -#define SAMPLINGTIME 0.06944444444444445 - -static void mdlInitializeSizes (SimStruct *S) -{ - // specify the number of continuous and discrete states - ssSetNumContStates(S, 0); - ssSetNumDiscStates(S, 0);// specify the number of input ports - if ( !ssSetNumInputPorts(S, 8) ) - return; - - // specify the number of output ports - if ( !ssSetNumOutputPorts(S, 6) ) - return; - - // specify dimension information for the input ports - // lbx_0 - ssSetInputPortVectorDimension(S, 0, 3); - // ubx_0 - ssSetInputPortVectorDimension(S, 1, 3); - // parameters - ssSetInputPortVectorDimension(S, 2, (12+1) * 6); - // y_ref_0 - ssSetInputPortVectorDimension(S, 3, 6); - // y_ref - ssSetInputPortVectorDimension(S, 4, 66); - // y_ref_e - ssSetInputPortVectorDimension(S, 5, 5); - // lh - ssSetInputPortVectorDimension(S, 6, 4); - // uh - ssSetInputPortVectorDimension(S, 7, 4);/* specify dimension information for the OUTPUT ports */ - ssSetOutputPortVectorDimension(S, 0, 1 ); - ssSetOutputPortVectorDimension(S, 1, 1 ); - ssSetOutputPortVectorDimension(S, 2, 1 ); - ssSetOutputPortVectorDimension(S, 3, 3 ); // state at shooting node 1 - ssSetOutputPortVectorDimension(S, 4, 1); - ssSetOutputPortVectorDimension(S, 5, 1 ); - - // specify the direct feedthrough status - // should be set to 1 for all inputs used in mdlOutputs - ssSetInputPortDirectFeedThrough(S, 0, 1); - ssSetInputPortDirectFeedThrough(S, 1, 1); - ssSetInputPortDirectFeedThrough(S, 2, 1); - ssSetInputPortDirectFeedThrough(S, 3, 1); - ssSetInputPortDirectFeedThrough(S, 4, 1); - ssSetInputPortDirectFeedThrough(S, 5, 1); - ssSetInputPortDirectFeedThrough(S, 6, 1); - ssSetInputPortDirectFeedThrough(S, 7, 1); - - // one sample time - ssSetNumSampleTimes(S, 1); -} - - -#if defined(MATLAB_MEX_FILE) - -#define MDL_SET_INPUT_PORT_DIMENSION_INFO -#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO - -static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) -{ - if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) ) - return; -} - -static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) -{ - if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) ) - return; -} - -#endif /* MATLAB_MEX_FILE */ - - -static void mdlInitializeSampleTimes(SimStruct *S) -{ - ssSetSampleTime(S, 0, SAMPLINGTIME); - ssSetOffsetTime(S, 0, 0.0); -} - - -static void mdlStart(SimStruct *S) -{ - long_solver_capsule *capsule = long_acados_create_capsule(); - long_acados_create(capsule); - - ssSetUserData(S, (void*)capsule); -} - - -static void mdlOutputs(SimStruct *S, int_T tid) -{ - long_solver_capsule *capsule = ssGetUserData(S); - ocp_nlp_config *nlp_config = long_acados_get_nlp_config(capsule); - ocp_nlp_dims *nlp_dims = long_acados_get_nlp_dims(capsule); - ocp_nlp_in *nlp_in = long_acados_get_nlp_in(capsule); - ocp_nlp_out *nlp_out = long_acados_get_nlp_out(capsule); - - InputRealPtrsType in_sign; - - // local buffer - real_t buffer[6]; - - /* go through inputs */ - // lbx_0 - in_sign = ssGetInputPortRealSignalPtrs(S, 0); - for (int i = 0; i < 3; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", buffer); - // ubx_0 - in_sign = ssGetInputPortRealSignalPtrs(S, 1); - for (int i = 0; i < 3; i++) - buffer[i] = (double)(*in_sign[i]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer); - // parameters - stage-variant !!! - in_sign = ssGetInputPortRealSignalPtrs(S, 2); - - // update value of parameters - for (int ii = 0; ii <= 12; ii++) - { - for (int jj = 0; jj < 6; jj++) - buffer[jj] = (double)(*in_sign[ii*6+jj]); - long_acados_update_params(capsule, ii, buffer, 6); - } - - - // y_ref_0 - in_sign = ssGetInputPortRealSignalPtrs(S, 3); - - for (int i = 0; i < 6; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", (void *) buffer); - - - // y_ref - for stages 1 to N-1 - in_sign = ssGetInputPortRealSignalPtrs(S, 4); - - for (int ii = 1; ii < 12; ii++) - { - for (int jj = 0; jj < 6; jj++) - buffer[jj] = (double)(*in_sign[(ii-1)*6+jj]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "yref", (void *) buffer); - } - - - // y_ref_e - in_sign = ssGetInputPortRealSignalPtrs(S, 5); - - for (int i = 0; i < 5; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 12, "yref", (void *) buffer); - // lh - in_sign = ssGetInputPortRealSignalPtrs(S, 6); - - for (int i = 0; i < 4; i++) - buffer[i] = (double)(*in_sign[i]); - - for (int ii = 0; ii < 12; ii++) - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lh", buffer); - // uh - in_sign = ssGetInputPortRealSignalPtrs(S, 7); - - for (int i = 0; i < 4; i++) - buffer[i] = (double)(*in_sign[i]); - - for (int ii = 0; ii < 12; ii++) - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", buffer); - - /* call solver */ - int rti_phase = 0; - ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "rti_phase", &rti_phase); - int acados_status = long_acados_solve(capsule); - - - /* set outputs */ - // assign pointers to output signals - real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin; - int tmp_int; - out_u0 = ssGetOutputPortRealSignal(S, 0); - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "u", (void *) out_u0); - - - out_status = ssGetOutputPortRealSignal(S, 1); - *out_status = (real_t) acados_status; - out_KKT_res = ssGetOutputPortRealSignal(S, 2); - *out_KKT_res = (real_t) nlp_out->inf_norm_res; - out_x1 = ssGetOutputPortRealSignal(S, 3); - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 1, "x", (void *) out_x1); - out_cpu_time = ssGetOutputPortRealSignal(S, 4); - // get solution time - ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time); - out_sqp_iter = ssGetOutputPortRealSignal(S, 5); - // get sqp iter - ocp_nlp_get(nlp_config, capsule->nlp_solver, "sqp_iter", (void *) &tmp_int); - *out_sqp_iter = (real_t) tmp_int; - -} - -static void mdlTerminate(SimStruct *S) -{ - long_solver_capsule *capsule = ssGetUserData(S); - - long_acados_free(capsule); - long_acados_free_capsule(capsule); -} - - -#ifdef MATLAB_MEX_FILE -#include "simulink.c" -#else -#include "cg_sfun.h" -#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so index 0ccb7a4f9..fa9889641 100755 Binary files a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so and b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so differ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c deleted file mode 100644 index 778e2f1a7..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c +++ /dev/null @@ -1,174 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) long_constr_h_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) -#define casadi_sq CASADI_PREFIX(sq) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -casadi_real casadi_sq(casadi_real x) { return x*x;} - -static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[3] = {0, 0, 0}; -static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; -static const casadi_int casadi_s4[8] = {4, 1, 0, 4, 0, 1, 2, 3}; - -/* long_constr_h_fun:(i0[3],i1,i2[],i3[6])->(o0[4]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3, a4; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a1=arg[0]? arg[0][2] : 0; - a2=arg[3]? arg[3][0] : 0; - a2=(a1-a2); - if (res[0]!=0) res[0][1]=a2; - a2=arg[3]? arg[3][1] : 0; - a2=(a2-a1); - if (res[0]!=0) res[0][2]=a2; - a2=arg[3]? arg[3][2] : 0; - a1=arg[0]? arg[0][0] : 0; - a2=(a2-a1); - a1=arg[3]? arg[3][5] : 0; - a3=casadi_sq(a0); - a4=5.; - a3=(a3/a4); - a4=arg[3]? arg[3][4] : 0; - a4=(a4*a0); - a3=(a3+a4); - a4=5.5000000000000000e+00; - a3=(a3+a4); - a1=(a1*a3); - a2=(a2-a1); - a1=10.; - a0=(a0+a1); - a2=(a2/a0); - if (res[0]!=0) res[0][3]=a2; - return 0; -} - -CASADI_SYMBOL_EXPORT int long_constr_h_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int long_constr_h_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int long_constr_h_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_constr_h_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int long_constr_h_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_constr_h_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void long_constr_h_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void long_constr_h_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real long_constr_h_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - case 3: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int long_constr_h_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c deleted file mode 100644 index 93f3a360f..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c +++ /dev/null @@ -1,200 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) long_constr_h_fun_jac_uxt_zt_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) -#define casadi_s5 CASADI_PREFIX(s5) -#define casadi_s6 CASADI_PREFIX(s6) -#define casadi_sq CASADI_PREFIX(sq) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -casadi_real casadi_sq(casadi_real x) { return x*x;} - -static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[3] = {0, 0, 0}; -static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; -static const casadi_int casadi_s4[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s5[12] = {4, 4, 0, 1, 2, 3, 5, 2, 3, 3, 1, 2}; -static const casadi_int casadi_s6[3] = {4, 0, 0}; - -/* long_constr_h_fun_jac_uxt_zt:(i0[3],i1,i2[],i3[6])->(o0[4],o1[4x4,5nz],o2[4x0]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3, a4, a5; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a1=arg[0]? arg[0][2] : 0; - a2=arg[3]? arg[3][0] : 0; - a2=(a1-a2); - if (res[0]!=0) res[0][1]=a2; - a2=arg[3]? arg[3][1] : 0; - a2=(a2-a1); - if (res[0]!=0) res[0][2]=a2; - a2=arg[3]? arg[3][2] : 0; - a1=arg[0]? arg[0][0] : 0; - a2=(a2-a1); - a1=arg[3]? arg[3][5] : 0; - a3=casadi_sq(a0); - a4=5.; - a3=(a3/a4); - a4=arg[3]? arg[3][4] : 0; - a5=(a4*a0); - a3=(a3+a5); - a5=5.5000000000000000e+00; - a3=(a3+a5); - a3=(a1*a3); - a2=(a2-a3); - a3=10.; - a3=(a0+a3); - a2=(a2/a3); - if (res[0]!=0) res[0][3]=a2; - a5=1.; - if (res[1]!=0) res[1][0]=a5; - if (res[1]!=0) res[1][1]=a5; - a5=-1.; - if (res[1]!=0) res[1][2]=a5; - a5=(1./a3); - a5=(-a5); - if (res[1]!=0) res[1][3]=a5; - a5=2.0000000000000001e-01; - a0=(a0+a0); - a5=(a5*a0); - a5=(a5+a4); - a1=(a1*a5); - a1=(a1/a3); - a2=(a2/a3); - a1=(a1+a2); - a1=(-a1); - if (res[1]!=0) res[1][4]=a1; - return 0; -} - -CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_incref(void) { -} - -CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_jac_uxt_zt_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_jac_uxt_zt_n_out(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_real long_constr_h_fun_jac_uxt_zt_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_jac_uxt_zt_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_jac_uxt_zt_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - case 2: return "o2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_jac_uxt_zt_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - case 3: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_jac_uxt_zt_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s4; - case 1: return casadi_s5; - case 2: return casadi_s6; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 3; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c deleted file mode 100644 index 131d66921..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c +++ /dev/null @@ -1,167 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) long_cost_y_0_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_sq CASADI_PREFIX(sq) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -casadi_real casadi_sq(casadi_real x) { return x*x;} - -static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; - -/* long_cost_y_0_fun:(i0[3],i1,i2[6])->(o0[6]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3, a4; - a0=arg[2]? arg[2][2] : 0; - a1=arg[0]? arg[0][0] : 0; - a0=(a0-a1); - a2=arg[0]? arg[0][1] : 0; - a3=casadi_sq(a2); - a4=5.; - a3=(a3/a4); - a4=arg[2]? arg[2][4] : 0; - a4=(a4*a2); - a3=(a3+a4); - a4=5.5000000000000000e+00; - a3=(a3+a4); - a0=(a0-a3); - a3=10.; - a3=(a2+a3); - a0=(a0/a3); - if (res[0]!=0) res[0][0]=a0; - if (res[0]!=0) res[0][1]=a1; - if (res[0]!=0) res[0][2]=a2; - a2=arg[0]? arg[0][2] : 0; - if (res[0]!=0) res[0][3]=a2; - a1=arg[2]? arg[2][3] : 0; - a2=(a2-a1); - if (res[0]!=0) res[0][4]=a2; - a2=arg[1]? arg[1][0] : 0; - if (res[0]!=0) res[0][5]=a2; - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_0_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real long_cost_y_0_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c deleted file mode 100644 index 5f59cbc68..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c +++ /dev/null @@ -1,189 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) long_cost_y_0_fun_jac_ut_xt_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_sq CASADI_PREFIX(sq) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -casadi_real casadi_sq(casadi_real x) { return x*x;} - -static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; -static const casadi_int casadi_s3[16] = {4, 6, 0, 2, 3, 4, 5, 6, 7, 1, 2, 1, 2, 3, 3, 0}; - -/* long_cost_y_0_fun_jac_ut_xt:(i0[3],i1,i2[6])->(o0[6],o1[4x6,7nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3, a4, a5; - a0=arg[2]? arg[2][2] : 0; - a1=arg[0]? arg[0][0] : 0; - a0=(a0-a1); - a2=arg[0]? arg[0][1] : 0; - a3=casadi_sq(a2); - a4=5.; - a3=(a3/a4); - a4=arg[2]? arg[2][4] : 0; - a5=(a4*a2); - a3=(a3+a5); - a5=5.5000000000000000e+00; - a3=(a3+a5); - a0=(a0-a3); - a3=10.; - a3=(a2+a3); - a0=(a0/a3); - if (res[0]!=0) res[0][0]=a0; - if (res[0]!=0) res[0][1]=a1; - if (res[0]!=0) res[0][2]=a2; - a1=arg[0]? arg[0][2] : 0; - if (res[0]!=0) res[0][3]=a1; - a5=arg[2]? arg[2][3] : 0; - a1=(a1-a5); - if (res[0]!=0) res[0][4]=a1; - a1=arg[1]? arg[1][0] : 0; - if (res[0]!=0) res[0][5]=a1; - a1=(1./a3); - a1=(-a1); - if (res[1]!=0) res[1][0]=a1; - a1=2.0000000000000001e-01; - a2=(a2+a2); - a1=(a1*a2); - a1=(a1+a4); - a1=(a1/a3); - a0=(a0/a3); - a1=(a1+a0); - a1=(-a1); - if (res[1]!=0) res[1][1]=a1; - a1=1.; - if (res[1]!=0) res[1][2]=a1; - if (res[1]!=0) res[1][3]=a1; - if (res[1]!=0) res[1][4]=a1; - if (res[1]!=0) res[1][5]=a1; - if (res[1]!=0) res[1][6]=a1; - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_incref(void) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_jac_ut_xt_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_jac_ut_xt_n_out(void) { return 2;} - -CASADI_SYMBOL_EXPORT casadi_real long_cost_y_0_fun_jac_ut_xt_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_jac_ut_xt_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_jac_ut_xt_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_jac_ut_xt_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_jac_ut_xt_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s2; - case 1: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 2; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c deleted file mode 100644 index e8be99743..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c +++ /dev/null @@ -1,192 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) long_cost_y_0_hess_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_sq CASADI_PREFIX(sq) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -casadi_real casadi_sq(casadi_real x) { return x*x;} - -static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; -static const casadi_int casadi_s3[10] = {4, 4, 0, 0, 1, 3, 3, 2, 1, 2}; - -/* long_cost_y_0_hess:(i0[3],i1,i2[6],i3[6])->(o0[4x4,3nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a10, a2, a3, a4, a5, a6, a7, a8, a9; - a0=arg[2]? arg[2][0] : 0; - a1=arg[0]? arg[0][1] : 0; - a2=10.; - a2=(a1+a2); - a3=(1./a2); - a3=(a3/a2); - a3=(a0*a3); - if (res[0]!=0) res[0][0]=a3; - a3=(a0/a2); - a4=(a3/a2); - if (res[0]!=0) res[0][1]=a4; - a5=2.0000000000000001e-01; - a6=(a1+a1); - a6=(a5*a6); - a7=arg[3]? arg[3][4] : 0; - a6=(a6+a7); - a6=(a6/a2); - a8=arg[3]? arg[3][2] : 0; - a9=arg[0]? arg[0][0] : 0; - a8=(a8-a9); - a9=casadi_sq(a1); - a10=5.; - a9=(a9/a10); - a10=(a7*a1); - a9=(a9+a10); - a10=5.5000000000000000e+00; - a9=(a9+a10); - a8=(a8-a9); - a8=(a8/a2); - a9=(a8/a2); - a6=(a6+a9); - a6=(a6/a2); - a8=(a8/a2); - a8=(a8/a2); - a6=(a6+a8); - a0=(a0*a6); - a7=(a7*a4); - a0=(a0+a7); - a7=2.; - a3=(a5*a3); - a7=(a7*a3); - a1=(a1+a1); - a5=(a5*a4); - a1=(a1*a5); - a7=(a7-a1); - a0=(a0-a7); - if (res[0]!=0) res[0][2]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_0_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_incref(void) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_hess_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_hess_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real long_cost_y_0_hess_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_0_hess_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_0_hess_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_hess_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - case 3: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_hess_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c deleted file mode 100644 index 238389130..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c +++ /dev/null @@ -1,167 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) long_cost_y_e_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_sq CASADI_PREFIX(sq) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -casadi_real casadi_sq(casadi_real x) { return x*x;} - -static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s1[3] = {0, 0, 0}; -static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; -static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; - -/* long_cost_y_e_fun:(i0[3],i1[],i2[6])->(o0[5]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3, a4; - a0=arg[2]? arg[2][2] : 0; - a1=arg[0]? arg[0][0] : 0; - a0=(a0-a1); - a2=arg[0]? arg[0][1] : 0; - a3=casadi_sq(a2); - a4=5.; - a3=(a3/a4); - a4=arg[2]? arg[2][4] : 0; - a4=(a4*a2); - a3=(a3+a4); - a4=5.5000000000000000e+00; - a3=(a3+a4); - a0=(a0-a3); - a3=10.; - a3=(a2+a3); - a0=(a0/a3); - if (res[0]!=0) res[0][0]=a0; - if (res[0]!=0) res[0][1]=a1; - if (res[0]!=0) res[0][2]=a2; - a2=arg[0]? arg[0][2] : 0; - if (res[0]!=0) res[0][3]=a2; - a1=arg[2]? arg[2][3] : 0; - a2=(a2-a1); - if (res[0]!=0) res[0][4]=a2; - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_e_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real long_cost_y_e_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c deleted file mode 100644 index b5e864668..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c +++ /dev/null @@ -1,188 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) long_cost_y_e_fun_jac_ut_xt_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) -#define casadi_sq CASADI_PREFIX(sq) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -casadi_real casadi_sq(casadi_real x) { return x*x;} - -static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s1[3] = {0, 0, 0}; -static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; -static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; -static const casadi_int casadi_s4[14] = {3, 5, 0, 2, 3, 4, 5, 6, 0, 1, 0, 1, 2, 2}; - -/* long_cost_y_e_fun_jac_ut_xt:(i0[3],i1[],i2[6])->(o0[5],o1[3x5,6nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3, a4, a5; - a0=arg[2]? arg[2][2] : 0; - a1=arg[0]? arg[0][0] : 0; - a0=(a0-a1); - a2=arg[0]? arg[0][1] : 0; - a3=casadi_sq(a2); - a4=5.; - a3=(a3/a4); - a4=arg[2]? arg[2][4] : 0; - a5=(a4*a2); - a3=(a3+a5); - a5=5.5000000000000000e+00; - a3=(a3+a5); - a0=(a0-a3); - a3=10.; - a3=(a2+a3); - a0=(a0/a3); - if (res[0]!=0) res[0][0]=a0; - if (res[0]!=0) res[0][1]=a1; - if (res[0]!=0) res[0][2]=a2; - a1=arg[0]? arg[0][2] : 0; - if (res[0]!=0) res[0][3]=a1; - a5=arg[2]? arg[2][3] : 0; - a1=(a1-a5); - if (res[0]!=0) res[0][4]=a1; - a1=(1./a3); - a1=(-a1); - if (res[1]!=0) res[1][0]=a1; - a1=2.0000000000000001e-01; - a2=(a2+a2); - a1=(a1*a2); - a1=(a1+a4); - a1=(a1/a3); - a0=(a0/a3); - a1=(a1+a0); - a1=(-a1); - if (res[1]!=0) res[1][1]=a1; - a1=1.; - if (res[1]!=0) res[1][2]=a1; - if (res[1]!=0) res[1][3]=a1; - if (res[1]!=0) res[1][4]=a1; - if (res[1]!=0) res[1][5]=a1; - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_incref(void) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_jac_ut_xt_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_jac_ut_xt_n_out(void) { return 2;} - -CASADI_SYMBOL_EXPORT casadi_real long_cost_y_e_fun_jac_ut_xt_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_jac_ut_xt_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_jac_ut_xt_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_jac_ut_xt_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_jac_ut_xt_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - case 1: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 2; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c deleted file mode 100644 index 7df077555..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c +++ /dev/null @@ -1,194 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) long_cost_y_e_hess_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) -#define casadi_sq CASADI_PREFIX(sq) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -casadi_real casadi_sq(casadi_real x) { return x*x;} - -static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s1[3] = {0, 0, 0}; -static const casadi_int casadi_s2[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; -static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; -static const casadi_int casadi_s4[9] = {3, 3, 0, 1, 3, 3, 1, 0, 1}; - -/* long_cost_y_e_hess:(i0[3],i1[],i2[5],i3[6])->(o0[3x3,3nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a10, a2, a3, a4, a5, a6, a7, a8, a9; - a0=arg[2]? arg[2][0] : 0; - a1=arg[0]? arg[0][1] : 0; - a2=10.; - a2=(a1+a2); - a3=(1./a2); - a3=(a3/a2); - a3=(a0*a3); - if (res[0]!=0) res[0][0]=a3; - a3=(a0/a2); - a4=(a3/a2); - if (res[0]!=0) res[0][1]=a4; - a5=2.0000000000000001e-01; - a6=(a1+a1); - a6=(a5*a6); - a7=arg[3]? arg[3][4] : 0; - a6=(a6+a7); - a6=(a6/a2); - a8=arg[3]? arg[3][2] : 0; - a9=arg[0]? arg[0][0] : 0; - a8=(a8-a9); - a9=casadi_sq(a1); - a10=5.; - a9=(a9/a10); - a10=(a7*a1); - a9=(a9+a10); - a10=5.5000000000000000e+00; - a9=(a9+a10); - a8=(a8-a9); - a8=(a8/a2); - a9=(a8/a2); - a6=(a6+a9); - a6=(a6/a2); - a8=(a8/a2); - a8=(a8/a2); - a6=(a6+a8); - a0=(a0*a6); - a7=(a7*a4); - a0=(a0+a7); - a7=2.; - a3=(a5*a3); - a7=(a7*a3); - a1=(a1+a1); - a5=(a5*a4); - a1=(a1*a5); - a7=(a7-a1); - a0=(a0-a7); - if (res[0]!=0) res[0][2]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_e_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_incref(void) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_hess_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_hess_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real long_cost_y_e_hess_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_e_hess_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_e_hess_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_hess_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - case 3: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_hess_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c deleted file mode 100644 index f519a2423..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c +++ /dev/null @@ -1,167 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) long_cost_y_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_sq CASADI_PREFIX(sq) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -casadi_real casadi_sq(casadi_real x) { return x*x;} - -static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; - -/* long_cost_y_fun:(i0[3],i1,i2[6])->(o0[6]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3, a4; - a0=arg[2]? arg[2][2] : 0; - a1=arg[0]? arg[0][0] : 0; - a0=(a0-a1); - a2=arg[0]? arg[0][1] : 0; - a3=casadi_sq(a2); - a4=5.; - a3=(a3/a4); - a4=arg[2]? arg[2][4] : 0; - a4=(a4*a2); - a3=(a3+a4); - a4=5.5000000000000000e+00; - a3=(a3+a4); - a0=(a0-a3); - a3=10.; - a3=(a2+a3); - a0=(a0/a3); - if (res[0]!=0) res[0][0]=a0; - if (res[0]!=0) res[0][1]=a1; - if (res[0]!=0) res[0][2]=a2; - a2=arg[0]? arg[0][2] : 0; - if (res[0]!=0) res[0][3]=a2; - a1=arg[2]? arg[2][3] : 0; - a2=(a2-a1); - if (res[0]!=0) res[0][4]=a2; - a2=arg[1]? arg[1][0] : 0; - if (res[0]!=0) res[0][5]=a2; - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int long_cost_y_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int long_cost_y_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real long_cost_y_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int long_cost_y_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c deleted file mode 100644 index 4ba65e972..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c +++ /dev/null @@ -1,189 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) long_cost_y_fun_jac_ut_xt_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_sq CASADI_PREFIX(sq) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -casadi_real casadi_sq(casadi_real x) { return x*x;} - -static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; -static const casadi_int casadi_s3[16] = {4, 6, 0, 2, 3, 4, 5, 6, 7, 1, 2, 1, 2, 3, 3, 0}; - -/* long_cost_y_fun_jac_ut_xt:(i0[3],i1,i2[6])->(o0[6],o1[4x6,7nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3, a4, a5; - a0=arg[2]? arg[2][2] : 0; - a1=arg[0]? arg[0][0] : 0; - a0=(a0-a1); - a2=arg[0]? arg[0][1] : 0; - a3=casadi_sq(a2); - a4=5.; - a3=(a3/a4); - a4=arg[2]? arg[2][4] : 0; - a5=(a4*a2); - a3=(a3+a5); - a5=5.5000000000000000e+00; - a3=(a3+a5); - a0=(a0-a3); - a3=10.; - a3=(a2+a3); - a0=(a0/a3); - if (res[0]!=0) res[0][0]=a0; - if (res[0]!=0) res[0][1]=a1; - if (res[0]!=0) res[0][2]=a2; - a1=arg[0]? arg[0][2] : 0; - if (res[0]!=0) res[0][3]=a1; - a5=arg[2]? arg[2][3] : 0; - a1=(a1-a5); - if (res[0]!=0) res[0][4]=a1; - a1=arg[1]? arg[1][0] : 0; - if (res[0]!=0) res[0][5]=a1; - a1=(1./a3); - a1=(-a1); - if (res[1]!=0) res[1][0]=a1; - a1=2.0000000000000001e-01; - a2=(a2+a2); - a1=(a1*a2); - a1=(a1+a4); - a1=(a1/a3); - a0=(a0/a3); - a1=(a1+a0); - a1=(-a1); - if (res[1]!=0) res[1][1]=a1; - a1=1.; - if (res[1]!=0) res[1][2]=a1; - if (res[1]!=0) res[1][3]=a1; - if (res[1]!=0) res[1][4]=a1; - if (res[1]!=0) res[1][5]=a1; - if (res[1]!=0) res[1][6]=a1; - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_incref(void) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_jac_ut_xt_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_jac_ut_xt_n_out(void) { return 2;} - -CASADI_SYMBOL_EXPORT casadi_real long_cost_y_fun_jac_ut_xt_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_jac_ut_xt_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_jac_ut_xt_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_jac_ut_xt_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_jac_ut_xt_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s2; - case 1: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 2; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c deleted file mode 100644 index 2046a1373..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c +++ /dev/null @@ -1,192 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) long_cost_y_hess_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_sq CASADI_PREFIX(sq) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -casadi_real casadi_sq(casadi_real x) { return x*x;} - -static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; -static const casadi_int casadi_s3[10] = {4, 4, 0, 0, 1, 3, 3, 2, 1, 2}; - -/* long_cost_y_hess:(i0[3],i1,i2[6],i3[6])->(o0[4x4,3nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a10, a2, a3, a4, a5, a6, a7, a8, a9; - a0=arg[2]? arg[2][0] : 0; - a1=arg[0]? arg[0][1] : 0; - a2=10.; - a2=(a1+a2); - a3=(1./a2); - a3=(a3/a2); - a3=(a0*a3); - if (res[0]!=0) res[0][0]=a3; - a3=(a0/a2); - a4=(a3/a2); - if (res[0]!=0) res[0][1]=a4; - a5=2.0000000000000001e-01; - a6=(a1+a1); - a6=(a5*a6); - a7=arg[3]? arg[3][4] : 0; - a6=(a6+a7); - a6=(a6/a2); - a8=arg[3]? arg[3][2] : 0; - a9=arg[0]? arg[0][0] : 0; - a8=(a8-a9); - a9=casadi_sq(a1); - a10=5.; - a9=(a9/a10); - a10=(a7*a1); - a9=(a9+a10); - a10=5.5000000000000000e+00; - a9=(a9+a10); - a8=(a8-a9); - a8=(a8/a2); - a9=(a8/a2); - a6=(a6+a9); - a6=(a6/a2); - a8=(a8/a2); - a8=(a8/a2); - a6=(a6+a8); - a0=(a0*a6); - a7=(a7*a4); - a0=(a0+a7); - a7=2.; - a3=(a5*a3); - a7=(a7*a3); - a1=(a1+a1); - a5=(a5*a4); - a1=(a1*a5); - a7=(a7-a1); - a0=(a0-a7); - if (res[0]!=0) res[0][2]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int long_cost_y_hess_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int long_cost_y_hess_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_hess_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int long_cost_y_hess_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_cost_y_hess_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_hess_incref(void) { -} - -CASADI_SYMBOL_EXPORT void long_cost_y_hess_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_hess_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int long_cost_y_hess_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real long_cost_y_hess_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_hess_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_cost_y_hess_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_hess_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - case 3: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_hess_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int long_cost_y_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c deleted file mode 100644 index 34df2aaf9..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c +++ /dev/null @@ -1,144 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) long_expl_ode_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; - -/* long_expl_ode_fun:(i0[3],i1,i2[6])->(o0[3]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[0]? arg[0][2] : 0; - if (res[0]!=0) res[0][1]=a0; - a0=arg[1]? arg[1][0] : 0; - if (res[0]!=0) res[0][2]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int long_expl_ode_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int long_expl_ode_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int long_expl_ode_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_expl_ode_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int long_expl_ode_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_expl_ode_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void long_expl_ode_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void long_expl_ode_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int long_expl_ode_fun_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int long_expl_ode_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real long_expl_ode_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_expl_ode_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_expl_ode_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_expl_ode_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_expl_ode_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int long_expl_ode_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_adj.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_adj.c deleted file mode 100644 index 3af9ebe40..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_adj.c +++ /dev/null @@ -1,150 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) long_expl_vde_adj_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; -static const casadi_int casadi_s3[8] = {4, 1, 0, 4, 0, 1, 2, 3}; - -/* long_expl_vde_adj:(i0[3],i1[3],i2,i3[6])->(o0[4]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0; - a0=0.; - if (res[0]!=0) res[0][0]=a0; - a0=arg[1]? arg[1][0] : 0; - if (res[0]!=0) res[0][1]=a0; - a0=arg[1]? arg[1][1] : 0; - if (res[0]!=0) res[0][2]=a0; - a0=arg[1]? arg[1][2] : 0; - if (res[0]!=0) res[0][3]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int long_expl_vde_adj(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int long_expl_vde_adj_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int long_expl_vde_adj_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_expl_vde_adj_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int long_expl_vde_adj_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_expl_vde_adj_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void long_expl_vde_adj_incref(void) { -} - -CASADI_SYMBOL_EXPORT void long_expl_vde_adj_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_adj_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_adj_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real long_expl_vde_adj_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_expl_vde_adj_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_expl_vde_adj_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_adj_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s0; - case 2: return casadi_s1; - case 3: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_adj_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int long_expl_vde_adj_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c deleted file mode 100644 index bf2e5ff31..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c +++ /dev/null @@ -1,176 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) long_expl_vde_forw_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s1[15] = {3, 3, 0, 3, 6, 9, 0, 1, 2, 0, 1, 2, 0, 1, 2}; -static const casadi_int casadi_s2[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; - -/* long_expl_vde_forw:(i0[3],i1[3x3],i2[3],i3,i4[6])->(o0[3],o1[3x3],o2[3]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[0]? arg[0][2] : 0; - if (res[0]!=0) res[0][1]=a0; - a0=arg[3]? arg[3][0] : 0; - if (res[0]!=0) res[0][2]=a0; - a0=arg[1]? arg[1][1] : 0; - if (res[1]!=0) res[1][0]=a0; - a0=arg[1]? arg[1][2] : 0; - if (res[1]!=0) res[1][1]=a0; - a0=0.; - if (res[1]!=0) res[1][2]=a0; - a1=arg[1]? arg[1][4] : 0; - if (res[1]!=0) res[1][3]=a1; - a1=arg[1]? arg[1][5] : 0; - if (res[1]!=0) res[1][4]=a1; - if (res[1]!=0) res[1][5]=a0; - a1=arg[1]? arg[1][7] : 0; - if (res[1]!=0) res[1][6]=a1; - a1=arg[1]? arg[1][8] : 0; - if (res[1]!=0) res[1][7]=a1; - if (res[1]!=0) res[1][8]=a0; - a0=arg[2]? arg[2][1] : 0; - if (res[2]!=0) res[2][0]=a0; - a0=arg[2]? arg[2][2] : 0; - if (res[2]!=0) res[2][1]=a0; - a0=1.; - if (res[2]!=0) res[2][2]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int long_expl_vde_forw(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int long_expl_vde_forw_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int long_expl_vde_forw_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_expl_vde_forw_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int long_expl_vde_forw_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void long_expl_vde_forw_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void long_expl_vde_forw_incref(void) { -} - -CASADI_SYMBOL_EXPORT void long_expl_vde_forw_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_forw_n_in(void) { return 5;} - -CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_forw_n_out(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_real long_expl_vde_forw_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_expl_vde_forw_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - case 4: return "i4"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* long_expl_vde_forw_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - case 2: return "o2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_forw_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s0; - case 3: return casadi_s2; - case 4: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_forw_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s0; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int long_expl_vde_forw_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 5; - if (sz_res) *sz_res = 3; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_long.c deleted file mode 100644 index a52250226..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_long.c +++ /dev/null @@ -1,216 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -// standard -#include -#include -// acados -#include "acados/utils/print.h" -#include "acados/utils/math.h" -#include "acados_c/ocp_nlp_interface.h" -#include "acados_c/external_function_interface.h" -#include "acados_solver_long.h" - -#define NX LONG_NX -#define NZ LONG_NZ -#define NU LONG_NU -#define NP LONG_NP -#define NBX LONG_NBX -#define NBX0 LONG_NBX0 -#define NBU LONG_NBU -#define NSBX LONG_NSBX -#define NSBU LONG_NSBU -#define NSH LONG_NSH -#define NSG LONG_NSG -#define NSPHI LONG_NSPHI -#define NSHN LONG_NSHN -#define NSGN LONG_NSGN -#define NSPHIN LONG_NSPHIN -#define NSBXN LONG_NSBXN -#define NS LONG_NS -#define NSN LONG_NSN -#define NG LONG_NG -#define NBXN LONG_NBXN -#define NGN LONG_NGN -#define NY0 LONG_NY0 -#define NY LONG_NY -#define NYN LONG_NYN -#define NH LONG_NH -#define NPHI LONG_NPHI -#define NHN LONG_NHN -#define NPHIN LONG_NPHIN -#define NR LONG_NR - - -int main() -{ - - long_solver_capsule *acados_ocp_capsule = long_acados_create_capsule(); - // there is an opportunity to change the number of shooting intervals in C without new code generation - int N = LONG_N; - // allocate the array and fill it accordingly - double* new_time_steps = NULL; - int status = long_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps); - - if (status) - { - printf("long_acados_create() returned status %d. Exiting.\n", status); - exit(1); - } - - ocp_nlp_config *nlp_config = long_acados_get_nlp_config(acados_ocp_capsule); - ocp_nlp_dims *nlp_dims = long_acados_get_nlp_dims(acados_ocp_capsule); - ocp_nlp_in *nlp_in = long_acados_get_nlp_in(acados_ocp_capsule); - ocp_nlp_out *nlp_out = long_acados_get_nlp_out(acados_ocp_capsule); - ocp_nlp_solver *nlp_solver = long_acados_get_nlp_solver(acados_ocp_capsule); - void *nlp_opts = long_acados_get_nlp_opts(acados_ocp_capsule); - - // initial condition - int idxbx0[NBX0]; - idxbx0[0] = 0; - idxbx0[1] = 1; - idxbx0[2] = 2; - - double lbx0[NBX0]; - double ubx0[NBX0]; - lbx0[0] = 0; - ubx0[0] = 0; - lbx0[1] = 0; - ubx0[1] = 0; - lbx0[2] = 0; - ubx0[2] = 0; - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); - - // initialization for state values - double x_init[NX]; - x_init[0] = 0.0; - x_init[1] = 0.0; - x_init[2] = 0.0; - - // initial value for control input - double u0[NU]; - u0[0] = 0.0; - // set parameters - double p[NP]; - p[0] = -1.2; - p[1] = 1.2; - p[2] = 0; - p[3] = 0; - p[4] = 1.45; - p[5] = 0.75; - - for (int ii = 0; ii <= N; ii++) - { - long_acados_update_params(acados_ocp_capsule, ii, p, NP); - } - - - // prepare evaluation - int NTIMINGS = 1; - double min_time = 1e12; - double kkt_norm_inf; - double elapsed_time; - int sqp_iter; - - double xtraj[NX * (N+1)]; - double utraj[NU * N]; - - - // solve ocp in loop - int rti_phase = 0; - - for (int ii = 0; ii < NTIMINGS; ii++) - { - // initialize solution - for (int i = 0; i < N; i++) - { - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init); - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); - } - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init); - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase); - status = long_acados_solve(acados_ocp_capsule); - ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time); - min_time = MIN(elapsed_time, min_time); - } - - /* print solution and statistics */ - for (int ii = 0; ii <= nlp_dims->N; ii++) - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]); - for (int ii = 0; ii < nlp_dims->N; ii++) - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]); - - printf("\n--- xtraj ---\n"); - d_print_exp_tran_mat( NX, N+1, xtraj, NX); - printf("\n--- utraj ---\n"); - d_print_exp_tran_mat( NU, N, utraj, NU ); - // ocp_nlp_out_print(nlp_solver->dims, nlp_out); - - printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS); - - if (status == ACADOS_SUCCESS) - { - printf("long_acados_solve(): SUCCESS!\n"); - } - else - { - printf("long_acados_solve() failed with status %d.\n", status); - } - - // get solution - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf); - ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter); - - long_acados_print_stats(acados_ocp_capsule); - - printf("\nSolver info:\n"); - printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n", - sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf); - - // free solver - status = long_acados_free(acados_ocp_capsule); - if (status) { - printf("long_acados_free() returned status %d. \n", status); - } - // free solver capsule - status = long_acados_free_capsule(acados_ocp_capsule); - if (status) { - printf("long_acados_free_capsule() returned status %d. \n", status); - } - - return status; -} diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_sim_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_sim_long.c deleted file mode 100644 index 21165e164..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_sim_long.c +++ /dev/null @@ -1,130 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -// standard -#include -#include -// acados -#include "acados/utils/print.h" -#include "acados/utils/math.h" -#include "acados_c/sim_interface.h" -#include "acados_sim_solver_long.h" - -#define NX LONG_NX -#define NZ LONG_NZ -#define NU LONG_NU -#define NP LONG_NP - - -int main() -{ - int status = 0; - sim_solver_capsule *capsule = long_acados_sim_solver_create_capsule(); - status = long_acados_sim_create(capsule); - - if (status) - { - printf("acados_create() returned status %d. Exiting.\n", status); - exit(1); - } - - sim_config *acados_sim_config = long_acados_get_sim_config(capsule); - sim_in *acados_sim_in = long_acados_get_sim_in(capsule); - sim_out *acados_sim_out = long_acados_get_sim_out(capsule); - void *acados_sim_dims = long_acados_get_sim_dims(capsule); - - // initial condition - double x_current[NX]; - x_current[0] = 0.0; - x_current[1] = 0.0; - x_current[2] = 0.0; - - - x_current[0] = 0; - x_current[1] = 0; - x_current[2] = 0; - - - - - // initial value for control input - double u0[NU]; - u0[0] = 0.0; - // set parameters - double p[NP]; - p[0] = -1.2; - p[1] = 1.2; - p[2] = 0; - p[3] = 0; - p[4] = 1.45; - p[5] = 0.75; - - long_acados_sim_update_params(capsule, p, NP); - - - int n_sim_steps = 3; - // solve ocp in loop - for (int ii = 0; ii < n_sim_steps; ii++) - { - sim_in_set(acados_sim_config, acados_sim_dims, - acados_sim_in, "x", x_current); - status = long_acados_sim_solve(capsule); - - if (status != ACADOS_SUCCESS) - { - printf("acados_solve() failed with status %d.\n", status); - } - - sim_out_get(acados_sim_config, acados_sim_dims, - acados_sim_out, "x", x_current); - - printf("\nx_current, %d\n", ii); - for (int jj = 0; jj < NX; jj++) - { - printf("%e\n", x_current[jj]); - } - } - - printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps); - - // free solver - status = long_acados_sim_free(capsule); - if (status) { - printf("long_acados_sim_free() returned status %d. \n", status); - } - - long_acados_sim_solver_free_capsule(capsule); - - return status; -} diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/make_sfun_long.m b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/make_sfun_long.m deleted file mode 100644 index a79ed85f1..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/make_sfun_long.m +++ /dev/null @@ -1,128 +0,0 @@ -% -% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl -% -% This file is part of acados. -% -% The 2-Clause BSD License -% -% Redistribution and use in source and binary forms, with or without -% modification, are permitted provided that the following conditions are met: -% -% 1. Redistributions of source code must retain the above copyright notice, -% this list of conditions and the following disclaimer. -% -% 2. Redistributions in binary form must reproduce the above copyright notice, -% this list of conditions and the following disclaimer in the documentation -% and/or other materials provided with the distribution. -% -% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -% POSSIBILITY OF SUCH DAMAGE.; -% - -SOURCES = { ... - 'long_model/long_expl_ode_fun.c', ... - 'long_model/long_expl_vde_forw.c',... - 'long_cost/long_cost_y_0_fun.c',... - 'long_cost/long_cost_y_0_fun_jac_ut_xt.c',... - 'long_cost/long_cost_y_0_hess.c',... - 'long_cost/long_cost_y_fun.c',... - 'long_cost/long_cost_y_fun_jac_ut_xt.c',... - 'long_cost/long_cost_y_hess.c',... - 'long_cost/long_cost_y_e_fun.c',... - 'long_cost/long_cost_y_e_fun_jac_ut_xt.c',... - 'long_cost/long_cost_y_e_hess.c',... - 'long_constraints/long_constr_h_fun.c', ... - 'long_constraints/long_constr_h_fun_jac_uxt_zt_hess.c', ... - 'long_constraints/long_constr_h_fun_jac_uxt_zt.c', ... - 'acados_solver_sfunction_long.c', ... - 'acados_solver_long.c' - }; - -INC_PATH = '/data/openpilot/third_party/acados/include/acados/include'; - -INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ... - ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ... - ['-I', fullfile(INC_PATH, 'acados')], ... - ['-I', fullfile(INC_PATH)]}; - - - -CFLAGS = 'CFLAGS=$CFLAGS'; -LDFLAGS = 'LDFLAGS=$LDFLAGS'; -COMPFLAGS = 'COMPFLAGS=$COMPFLAGS'; -COMPDEFINES = 'COMPDEFINES=$COMPDEFINES'; - - - -LIB_PATH = ['-L', fullfile('/data/openpilot/third_party/acados/include/acados/lib')]; - -LIBS = {'-lacados', '-lhpipm', '-lblasfeo'}; - -% acados linking libraries and flags - - -mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ... - LIB_PATH, LIBS{:}, SOURCES{:}, ... - '-output', 'acados_solver_sfunction_long' ); - -fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_long', '.', ... - eval('mexext')] ); - - -%% print note on usage of s-function -fprintf('\n\nNote: Usage of Sfunction is as follows:\n') -input_note = 'Inputs are:\n'; -i_in = 1; -input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',... - ' size [3]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',... - ' size [3]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N+1,',... - ' size [78]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [6]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',... - ' size [66]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [5]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') lh, size [4]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') uh, size [4]\n '); -i_in = i_in + 1; - -fprintf(input_note) - -disp(' ') - -output_note = 'Outputs are:\n'; -i_out = 0; -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [1]\n '); -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n '); -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') KKT residual\n '); -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n '); -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') CPU time\n '); -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n '); - -fprintf(output_note) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index d9f5d62f2..5fff2ec8d 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -3,10 +3,10 @@ import os import numpy as np from common.realtime import sec_since_boot -from common.numpy_fast import clip, interp +from common.numpy_fast import clip from system.swaglog import cloudlog # WARNING: imports outside of constants will not trigger a rebuild -from selfdrive.modeld.constants import index_function +from selfdrive.legacy_modeld.constants import index_function from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU if __name__ == '__main__': # generating code @@ -56,24 +56,16 @@ MIN_ACCEL = -3.5 MAX_ACCEL = 2.0 T_FOLLOW = 1.45 COMFORT_BRAKE = 2.5 -STOP_DISTANCE = 5.5 +STOP_DISTANCE = 6.0 -def get_stopped_equivalence_factor(v_lead, v_ego): - # KRKeegan this offset rapidly decreases the following distance when the lead pulls - # away, resulting in an early demand for acceleration. - v_diff_offset = 0 - if np.all(v_lead - v_ego > 0): - v_diff_offset = ((v_lead - v_ego) * 1.) - v_diff_offset = np.clip(v_diff_offset, 0, STOP_DISTANCE / 2) - v_diff_offset = np.maximum(v_diff_offset * ((10 - v_ego)/10), 0) - distance = (v_lead**2) / (2 * COMFORT_BRAKE) + v_diff_offset - return distance +def get_stopped_equivalence_factor(v_lead): + return (v_lead**2) / (2 * COMFORT_BRAKE) def get_safe_obstacle_distance(v_ego, t_follow=T_FOLLOW): return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE -def desired_follow_distance(v_ego, v_lead, t_follow=T_FOLLOW): - return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead, v_ego) +def desired_follow_distance(v_ego, v_lead): + return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead) def gen_long_model(): @@ -209,7 +201,6 @@ class LongitudinalMpc: def __init__(self, mode='acc'): self.mode = mode self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) - self.desired_TF = T_FOLLOW self.reset() self.source = SOURCES[2] @@ -242,16 +233,12 @@ class LongitudinalMpc: self.x0 = np.zeros(X_DIM) self.set_weights() - def set_cost_weights(self, cost_weights, constraint_cost_weights, cost_multipliers): + def set_cost_weights(self, cost_weights, constraint_cost_weights): W = np.asfortranarray(np.diag(cost_weights)) - if self.mode == 'acc': - a_change_tf = cost_weights[4] * cost_multipliers[0] - else: - a_change_tf = cost_weights[4] for i in range(N): # TODO don't hardcode A_CHANGE_COST idx # reduce the cost on (a-a_prev) later in the horizon. - W[4,4] = a_change_tf * np.interp(T_IDXS[i], [0.0, 1.0, 2.0], [1.0, 1.0, 0.0]) + W[4,4] = cost_weights[4] * np.interp(T_IDXS[i], [0.0, 1.0, 2.0], [1.0, 1.0, 0.0]) self.solver.cost_set(i, 'W', W) # Setting the slice without the copy make the array not contiguous, # causing issues with the C interface. @@ -262,19 +249,18 @@ class LongitudinalMpc: for i in range(N): self.solver.cost_set(i, 'Zl', Zl) - def set_weights(self, prev_accel_constraint=True, v_lead0=0, v_lead1=0): - cost_multipliers = self.get_cost_multipliers(v_lead0, v_lead1) + def set_weights(self, prev_accel_constraint=True): if self.mode == 'acc': a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0 - cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost * cost_multipliers[0], J_EGO_COST * cost_multipliers[1]] - constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST * cost_multipliers[2]] + cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST] + constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] elif self.mode == 'blended': a_change_cost = 40.0 if prev_accel_constraint else 0 cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0] else: raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set') - self.set_cost_weights(cost_weights, constraint_cost_weights, cost_multipliers) + self.set_cost_weights(cost_weights, constraint_cost_weights) def set_cur_state(self, v, a): v_prev = self.x0[1] @@ -321,21 +307,18 @@ class LongitudinalMpc: self.cruise_min_a = min_a self.max_a = max_a - def update(self, radarstate, v_cruise, x, v, a, j, prev_accel_constraint, desired_tf=T_FOLLOW): + def update(self, radarstate, v_cruise, x, v, a, j): v_ego = self.x0[1] self.status = radarstate.leadOne.status or radarstate.leadTwo.status lead_xv_0 = self.process_lead(radarstate.leadOne) lead_xv_1 = self.process_lead(radarstate.leadTwo) - self.desired_TF = desired_tf - self.set_weights(prev_accel_constraint=prev_accel_constraint, v_lead0=lead_xv_0[0,1], v_lead1=lead_xv_1[0,1]) - # To estimate a safe distance from a moving lead, we calculate how much stopping # distance that lead needs as a minimum. We can add that to the current distance # and then treat that as a stopped car/obstacle at this new distance. - lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1], self.x_sol[:,1]) - lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1], self.x_sol[:,1]) + lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1]) + lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1]) self.params[:,0] = MIN_ACCEL self.params[:,1] = self.max_a @@ -351,7 +334,7 @@ class LongitudinalMpc: v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper) - cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, self.desired_TF) + cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped) x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) self.source = SOURCES[np.argmin(x_obstacles[0])] @@ -385,11 +368,11 @@ class LongitudinalMpc: self.params[:,2] = np.min(x_obstacles, axis=1) self.params[:,3] = np.copy(self.prev_a) - self.params[:,4] = self.desired_TF + self.params[:,4] = T_FOLLOW self.run() if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and - radarstate.leadOne.modelProb > 0.9): + radarstate.leadOne.modelProb > 0.9): self.crash_cnt += 1 else: self.crash_cnt = 0 @@ -397,10 +380,10 @@ class LongitudinalMpc: # Check if it got within lead comfort range # TODO This should be done cleaner if self.mode == 'blended': - if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], self.desired_TF))- self.x_sol[:,0] < 0.0): + if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0): self.source = 'lead0' - if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], self.desired_TF))- self.x_sol[:,0] < 0.0) and \ - (lead_1_obstacle[0] - lead_0_obstacle[0]): + if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0) and \ + (lead_1_obstacle[0] - lead_0_obstacle[0]): self.source = 'lead1' def run(self): @@ -443,26 +426,6 @@ class LongitudinalMpc: # reset = 1 # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(sec_since_boot() - t0):.2e} qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}") - def get_cost_multipliers(self, v_lead0, v_lead1): - v_ego = self.x0[1] - v_ego_bps = [0, 10] - TFs = [1.0, 1.25, T_FOLLOW, 1.8] - # KRKeegan adjustments to costs for different TFs - # these were calculated using the test_longitudial.py deceleration tests - a_change_tf = interp(self.desired_TF, TFs, [.1, .8, 1., 1.1]) - j_ego_tf = interp(self.desired_TF, TFs, [.6, .8, 1., 1.1]) - d_zone_tf = interp(self.desired_TF, TFs, [1.6, 1.3, 1., 1.]) - # KRKeegan adjustments to improve sluggish acceleration - # do not apply to deceleration - j_ego_v_ego = 1 - a_change_v_ego = 1 - if (v_lead0 - v_ego >= 0) and (v_lead1 - v_ego >= 0): - j_ego_v_ego = interp(v_ego, v_ego_bps, [.05, 1.]) - a_change_v_ego = interp(v_ego, v_ego_bps, [.05, 1.]) - # Select the appropriate min/max of the options - j_ego = min(j_ego_tf, j_ego_v_ego) - a_change = min(a_change_tf, a_change_v_ego) - return a_change, j_ego, d_zone_tf if __name__ == "__main__": ocp = gen_long_ocp() diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 13f449033..dbcf4600a 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -6,18 +6,14 @@ from common.numpy_fast import clip, interp import cereal.messaging as messaging from common.conversions import Conversions as CV from common.filter_simple import FirstOrderFilter -from common.params import Params from common.realtime import DT_MDL -from selfdrive.modeld.constants import T_IDXS +from selfdrive.legacy_modeld.constants import T_IDXS from selfdrive.controls.lib.longcontrol import LongCtrlState from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, MIN_ACCEL, MAX_ACCEL, T_FOLLOW from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N from system.swaglog import cloudlog from selfdrive.controls.lib.vision_turn_controller import VisionTurnController -from selfdrive.controls.lib.speed_limit_controller import SpeedLimitController, SpeedLimitResolver -from selfdrive.controls.lib.turn_speed_controller import TurnSpeedController -from selfdrive.controls.lib.events import Events LON_MPC_STEP = 0.2 # first step is 0.2s A_CRUISE_MIN = -1.2 @@ -28,29 +24,7 @@ A_CRUISE_MAX_BP = [0., 10.0, 25., 40.] _A_TOTAL_MAX_V = [1.7, 3.2] _A_TOTAL_MAX_BP = [20., 40.] -#DP_FOLLOWING_DIST = { -# 0: 1.0, -# 1: 1.2, -# 2: 1.4, -# 3: 1.8, -#} - -DP_ACCEL_ECO = 0 -DP_ACCEL_NORMAL = 1 -DP_ACCEL_SPORT = 2 - -# accel profile by @arne182 modified by cgw -_DP_CRUISE_MIN_V = [-0.6, -0.6, -0.7, -0.8, -0.8, -0.5] -_DP_CRUISE_MIN_V_ECO = [-0.5, -0.5, -0.6, -0.7, -0.7, -0.45] -_DP_CRUISE_MIN_V_SPORT = [-0.7, -0.7, -0.8, -0.9, -0.9, -0.6] -_DP_CRUISE_MIN_BP = [0., 8.3, 14, 20., 30., 55.] - -_DP_CRUISE_MAX_V = [3.5, 3.4, 2.1, 1.6, 1.1, 0.91, 0.69, 0.44, 0.34, 0.13] -_DP_CRUISE_MAX_V_ECO = [3.0, 1.8, 1.3, 1.0, 0.71, 0.59, 0.45, 0.36, 0.28, 0.09] -_DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 3.4, 3.0, 2.1, 1.7, 1.3, 0.9, 0.7, 0.5] -_DP_CRUISE_MAX_BP = [0., 3, 6., 8., 11., 15., 20., 25., 30., 55.] - -# d-e2e, from modeldata.h +# d-e2e, from legacy_modeldata.h TRAJECTORY_SIZE = 33 _DP_E2E_LEAD_COUNT = 5 @@ -65,18 +39,6 @@ _DP_E2E_SWAP_COUNT = 10 _DP_E2E_TF_COUNT = 5 -def dp_calc_cruise_accel_limits(v_ego, dp_profile): - if dp_profile == DP_ACCEL_ECO: - a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, _DP_CRUISE_MIN_V_ECO) - a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, _DP_CRUISE_MAX_V_ECO) - elif dp_profile == DP_ACCEL_SPORT: - a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, _DP_CRUISE_MIN_V_SPORT) - a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, _DP_CRUISE_MAX_V_SPORT) - else: - a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, _DP_CRUISE_MIN_V) - a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, _DP_CRUISE_MAX_V) - return a_cruise_min, a_cruise_max - def get_max_accel(v_ego): return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS) @@ -98,19 +60,7 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): class LongitudinalPlanner: def __init__(self, CP, init_v=0.0, init_a=0.0): - # dp - self.dp_accel_profile_ctrl = False - self.dp_accel_profile = DP_ACCEL_ECO - self.dp_following_profile_ctrl = False - self.dp_following_profile = 0 - self.cruise_source = 'cruise' self.vision_turn_controller = VisionTurnController(CP) - self.speed_limit_controller = SpeedLimitController() - self.events = Events() - self.turn_speed_controller = TurnSpeedController() - self.dp_e2e_adapt_ap = False - self.dp_e2e_adapt_fp = False - # conditional e2e self.dp_e2e_has_lead = False self.dp_e2e_lead_last = False @@ -194,9 +144,10 @@ class LongitudinalPlanner: return self._set_dp_e2e_mode('blended') # when we see a lead - if sm['dragonConf'].dpE2EConditionalVoacc and self.dp_e2e_has_lead: + # if sm['dragonConf'].dpE2EConditionalVoacc and self.dp_e2e_has_lead: + if True and self.dp_e2e_has_lead: # drive above conditional speed and lead is too close - if lead_dist <= v_ego_kph * self.dp_e2e_tf * interp(v_ego_kph, [50., 60., 80.], [1.30, 1.20, 1.10]) / 3.6: + if lead_dist <= v_ego_kph * self.dp_e2e_tf * interp(v_ego_kph, [50., 60., 80., 85, 90.], [1.25, 1.20, 1.10, 1.05, 1.]) / 3.6: self.dp_e2e_tf_count += 1 else: self.dp_e2e_tf_count = 0 @@ -221,8 +172,8 @@ class LongitudinalPlanner: @staticmethod def parse_model(model_msg, model_error): if (len(model_msg.position.x) == 33 and - len(model_msg.velocity.x) == 33 and - len(model_msg.acceleration.x) == 33): + len(model_msg.velocity.x) == 33 and + len(model_msg.acceleration.x) == 33): x = np.interp(T_IDXS_MPC, T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC v = np.interp(T_IDXS_MPC, T_IDXS, model_msg.velocity.x) - model_error a = np.interp(T_IDXS_MPC, T_IDXS, model_msg.acceleration.x) @@ -234,39 +185,8 @@ class LongitudinalPlanner: j = np.zeros(len(T_IDXS_MPC)) return x, v, a, j - def get_df(self, v_ego): - desired_tf = T_FOLLOW - if not self.dp_e2e_adapt_fp and self.mpc.mode == 'blended': - return desired_tf - if self.dp_following_profile_ctrl: - if self.dp_following_profile == 0: - x_vel = [1.1, 3.3, 5.5, 13.89, 19.7, 25.0, 41.67] - y_dist = [1.0, 1.2, 1.3, 1.34, 1.34, 1.23, 1.34] - desired_tf = np.interp(v_ego, x_vel, y_dist) - elif self.dp_following_profile == 1: - x_vel = [5.556, 19.7, 41.67] - y_dist = [1.4, 1.6, 1.6 ] - desired_tf = np.interp(v_ego, x_vel, y_dist) - elif self.dp_following_profile == 2: - x_vel = [0, 19.7, 41.67] - y_dist = [1.4, 2.0, 2.0] - desired_tf = np.interp(v_ego, x_vel, y_dist) - return desired_tf - def update(self, sm): - # dp - self.dp_accel_profile_ctrl = sm['dragonConf'].dpAccelProfileCtrl - self.dp_accel_profile = sm['dragonConf'].dpAccelProfile - self.dp_following_profile_ctrl = sm['dragonConf'].dpFollowingProfileCtrl - self.dp_following_profile = sm['dragonConf'].dpFollowingProfile - dp_reset_state = False - - if sm['dragonConf'].dpE2EConditional: - self.dp_e2e_adapt_ap = sm['dragonConf'].dpE2EConditionalAdaptAp - self.dp_e2e_adapt_fp = sm['dragonConf'].dpE2EConditionalAdaptFp - dp_reset_state = self.conditional_e2e(sm) - else: - self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc' + dp_reset_state = self.conditional_e2e(sm) v_ego = sm['carState'].vEgo v_cruise_kph = sm['controlsState'].vCruise @@ -283,17 +203,10 @@ class LongitudinalPlanner: prev_accel_constraint = not (reset_state or sm['carState'].standstill) if self.mpc.mode == 'acc': - if self.dp_accel_profile_ctrl: - accel_limits = dp_calc_cruise_accel_limits(v_ego, self.dp_accel_profile) - else: - accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] + accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) else: - if sm['dragonConf'].dpE2EConditional and sm['dragonConf'].dpE2EConditionalAdaptAp and self.dp_accel_profile_ctrl: - _, accel_max = dp_calc_cruise_accel_limits(v_ego, self.dp_accel_profile) - accel_limits = [MIN_ACCEL, accel_max] - else: - accel_limits = [MIN_ACCEL, MAX_ACCEL] + accel_limits = [MIN_ACCEL, MAX_ACCEL] accel_limits_turns = [MIN_ACCEL, MAX_ACCEL] if reset_state or dp_reset_state: @@ -307,23 +220,25 @@ class LongitudinalPlanner: if len(sm['modelV2'].temporalPose.trans): self.v_model_error = sm['modelV2'].temporalPose.trans[0] - v_ego - # Get acceleration and active solutions for custom long mpc. - self.cruise_source, a_min_sol, v_cruise_sol = self.cruise_solutions(not reset_state, self.v_desired_filter.x, - self.a_desired, v_cruise, sm) + # rick - vision turn controller from move-fast team + # https://github.com/move-fast/openpilot/blob/develop/selfdrive/controls/lib/vision_turn_controller.py + self.vision_turn_controller.update(not reset_state, self.v_desired_filter.x, self.a_desired, v_cruise, sm) + if self.vision_turn_controller.is_active: + if min(v_cruise, self.vision_turn_controller.v_turn) == self.vision_turn_controller.v_turn: + self.a_desired = self.vision_turn_controller.a_target + v_cruise = self.vision_turn_controller.v_turn if force_slow_decel: - v_cruise_sol = 0.0 + v_cruise = 0.0 # clip limits, cannot init MPC outside of bounds - accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05, a_min_sol) + accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05) accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05) - # dp - mpc.set_weights calls moved to mpc.update function because we need lead0 and lead1 data - # self.mpc.set_weights(prev_accel_constraint) + self.mpc.set_weights(prev_accel_constraint) self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error) - self.dp_e2e_tf = self.get_df(v_ego) - self.mpc.update(sm['radarState'], v_cruise_sol, x, v, a, j, prev_accel_constraint, self.dp_e2e_tf) + self.mpc.update(sm['radarState'], v_cruise, x, v, a, j) self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution) self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution) @@ -335,8 +250,7 @@ class LongitudinalPlanner: self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill if self.fcw: cloudlog.info("FCW triggered") - if sm['dragonConf'].dpE2EConditional: - self._set_dp_e2e_mode('blended', True) + self._set_dp_e2e_mode('blended', True) # Interpolate 0.05 seconds and save as starting point for next iteration a_prev = self.a_desired @@ -357,53 +271,9 @@ class LongitudinalPlanner: longitudinalPlan.jerks = self.j_desired_trajectory.tolist() longitudinalPlan.hasLead = sm['radarState'].leadOne.status - longitudinalPlan.longitudinalPlanSource = self.mpc.source if self.mpc.source != 'cruise' else self.cruise_source + longitudinalPlan.longitudinalPlanSource = self.mpc.source longitudinalPlan.fcw = self.fcw longitudinalPlan.solverExecutionTime = self.mpc.solve_time - longitudinalPlan.visionTurnControllerState = self.vision_turn_controller.state - longitudinalPlan.visionTurnSpeed = float(self.vision_turn_controller.v_turn) - - longitudinalPlan.speedLimitControlState = self.speed_limit_controller.state - longitudinalPlan.speedLimit = float(self.speed_limit_controller.speed_limit) - longitudinalPlan.speedLimitOffset = float(self.speed_limit_controller.speed_limit_offset) - longitudinalPlan.distToSpeedLimit = float(self.speed_limit_controller.distance) - longitudinalPlan.isMapSpeedLimit = bool(self.speed_limit_controller.source == SpeedLimitResolver.Source.map_data) - longitudinalPlan.eventsDEPRECATED = self.events.to_msg() - - longitudinalPlan.turnSpeedControlState = self.turn_speed_controller.state - longitudinalPlan.turnSpeed = float(self.turn_speed_controller.speed_limit) - longitudinalPlan.distToTurn = float(self.turn_speed_controller.distance) - longitudinalPlan.turnSign = int(self.turn_speed_controller.turn_sign) - - longitudinalPlan.dpE2EIsBlended = self.mpc.mode == 'blended' - pm.send('longitudinalPlan', plan_send) - - def cruise_solutions(self, enabled, v_ego, a_ego, v_cruise, sm): - # Update controllers - self.vision_turn_controller.update(enabled, v_ego, a_ego, v_cruise, sm) - self.events = Events() - self.speed_limit_controller.update(enabled, v_ego, a_ego, sm, v_cruise, self.events) - self.turn_speed_controller.update(enabled, v_ego, a_ego, sm) - - # Pick solution with lowest velocity target. - a_solutions = {'cruise': float("inf")} - v_solutions = {'cruise': v_cruise} - - if self.vision_turn_controller.is_active: - a_solutions['turn'] = self.vision_turn_controller.a_target - v_solutions['turn'] = self.vision_turn_controller.v_turn - - if self.speed_limit_controller.is_active: - a_solutions['limit'] = self.speed_limit_controller.a_target - v_solutions['limit'] = self.speed_limit_controller.speed_limit_offseted - - if self.turn_speed_controller.is_active: - a_solutions['turnlimit'] = self.turn_speed_controller.a_target - v_solutions['turnlimit'] = self.turn_speed_controller.speed_limit - - source = min(v_solutions, key=v_solutions.get) - - return source, a_solutions[source], v_solutions[source] diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py index 862e4983e..6da66b431 100644 --- a/selfdrive/controls/lib/radar_helpers.py +++ b/selfdrive/controls/lib/radar_helpers.py @@ -1,13 +1,10 @@ -from common.numpy_fast import mean +from common.numpy_fast import mean, clip from common.kalman.simple_kalman import KF1D # Default lead acceleration decay set to 50% at 1s _LEAD_ACCEL_TAU = 1.5 -# Hack to maintain vision lead state -_vision_lead_aTau = {0: _LEAD_ACCEL_TAU, 1: _LEAD_ACCEL_TAU} - # radar tracks SPEED, ACCEL = 0, 1 # Kalman filter states enum @@ -133,21 +130,17 @@ class Cluster(): "aLeadTau": float(self.aLeadTau) } - def get_RadarState_from_vision(self, lead_msg, lead_index, v_ego): - # Learn if constant acceleration - if abs(float(lead_msg.a[0])) < 0.5: - _vision_lead_aTau[lead_index] = _LEAD_ACCEL_TAU - else: - _vision_lead_aTau[lead_index] *= 0.9 - + def get_RadarState_from_vision(self, lead_msg, v_ego, model_v_ego): + v_ego_error_factor = clip(v_ego / (model_v_ego + 1e-3), 0.7, 1.3) + lead_v_pred = lead_msg.v[0] * v_ego_error_factor return { "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA), "yRel": float(-lead_msg.y[0]), - "vRel": float(lead_msg.v[0] - v_ego), - "vLead": float(lead_msg.v[0]), - "vLeadK": float(lead_msg.v[0]), + "vRel": float(lead_v_pred - v_ego), + "vLead": float(lead_v_pred), + "vLeadK": float(lead_v_pred), "aLeadK": float(lead_msg.a[0]), - "aLeadTau": _vision_lead_aTau[lead_index], + "aLeadTau": 0.3, "fcw": False, "modelProb": float(lead_msg.prob), "radar": False, diff --git a/selfdrive/controls/lib/speed_limit_controller.py b/selfdrive/controls/lib/speed_limit_controller.py deleted file mode 100644 index cc5ff132c..000000000 --- a/selfdrive/controls/lib/speed_limit_controller.py +++ /dev/null @@ -1,408 +0,0 @@ -import numpy as np -import time -from common.numpy_fast import interp -from enum import IntEnum -from cereal import log, car -from common.params import Params -from common.realtime import sec_since_boot -from selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_ACC, LIMIT_MAX_ACC, LIMIT_SPEED_OFFSET_TH, \ - LIMIT_MAX_MAP_DATA_AGE, CONTROL_N -from selfdrive.controls.lib.events import Events -from selfdrive.modeld.constants import T_IDXS - - -_PARAMS_UPDATE_PERIOD = 2. # secs. Time between parameter updates. -_TEMP_INACTIVE_GUARD_PERIOD = 1. # secs. Time to wait after activation before considering temp deactivation signal. - -# Lookup table for speed limit percent offset depending on speed. -_LIMIT_PERC_OFFSET_V = [ 0.0, 0.1, 0.14, 0.11, 0.2, 0.18, 0.17, 0.14, 0.065, 0.0] # 20, 33, 40, 50, 65, 75, 80, 80, 80 mph -_LIMIT_PERC_OFFSET_BP = [11.0, 13.4, 15.6, 20.1, 22.3, 24.58, 29.0, 31.2, 33.4, 35.7] # 20, 30, 35, 45, 55, 65, 70, 75, 80 mph - -SpeedLimitControlState = log.LongitudinalPlan.SpeedLimitControlState -EventName = car.CarEvent.EventName - -_DEBUG = False - - -def _debug(msg): - if not _DEBUG: - return - print(msg) - - -def _description_for_state(speed_limit_control_state): - if speed_limit_control_state == SpeedLimitControlState.inactive: - return 'INACTIVE' - if speed_limit_control_state == SpeedLimitControlState.tempInactive: - return 'TEMP_INACTIVE' - if speed_limit_control_state == SpeedLimitControlState.adapting: - return 'ADAPTING' - if speed_limit_control_state == SpeedLimitControlState.active: - return 'ACTIVE' - - -class SpeedLimitResolver(): - class Source(IntEnum): - none = 0 - car_state = 1 - map_data = 2 - nav = 3 - - class Policy(IntEnum): - car_state_only = 0 - map_data_only = 1 - car_state_priority = 2 - map_data_priority = 3 - combined = 4 - nav_only = 5 - nav_priority = 6 - - def __init__(self, policy=Policy.nav_priority): - self._limit_solutions = {} # Store for speed limit solutions from different sources - self._distance_solutions = {} # Store for distance to current speed limit start for different sources - self._v_ego = 0. - self._current_speed_limit = 0. - self._policy = policy - self._next_speed_limit_prev = 0. - self.speed_limit = 0. - self.distance = 0. - self.source = SpeedLimitResolver.Source.none - - def resolve(self, v_ego, current_speed_limit, sm): - self._v_ego = v_ego - self._current_speed_limit = current_speed_limit - self._sm = sm - - self._get_from_car_state() - self._get_from_nav() - self._get_from_map_data() - self._consolidate() - - return self.speed_limit, self.distance, self.source - - def _get_from_car_state(self): - self._limit_solutions[SpeedLimitResolver.Source.car_state] = self._sm['carState'].cruiseState.speedLimit - self._distance_solutions[SpeedLimitResolver.Source.car_state] = 0. - - def _get_from_nav(self): - self._limit_solutions[SpeedLimitResolver.Source.nav] = self._sm['navInstruction'].speedLimit - self._distance_solutions[SpeedLimitResolver.Source.nav] = 0. - - def _get_from_map_data(self): - # Ignore if no live map data - sock = 'liveMapData' - if self._sm.logMonoTime[sock] is None: - self._limit_solutions[SpeedLimitResolver.Source.map_data] = 0. - self._distance_solutions[SpeedLimitResolver.Source.map_data] = 0. - _debug('SL: No map data for speed limit') - return - - #if not self._sm.updated[sock]: - # self._limit_solutions[SpeedLimitResolver.Source.map_data] = 0. - # self._distance_solutions[SpeedLimitResolver.Source.map_data] = 0. - # _debug('SL: not updated, mapd crashed?') - # return - - # Load limits from map_data - map_data = self._sm[sock] - speed_limit = map_data.speedLimit if map_data.speedLimitValid else 0. - next_speed_limit = map_data.speedLimitAhead if map_data.speedLimitAheadValid else 0. - - # Calculate the age of the gps fix. Ignore if too old. - gps_fix_age = time.time() - map_data.lastGpsTimestamp * 1e-3 - if gps_fix_age > LIMIT_MAX_MAP_DATA_AGE: - self._limit_solutions[SpeedLimitResolver.Source.map_data] = 0. - self._distance_solutions[SpeedLimitResolver.Source.map_data] = 0. - _debug(f'SL: Ignoring map data as is too old. Age: {gps_fix_age}') - return - - # When we have no ahead speed limit to consider or it is greater than current speed limit - # or car has stopped, then provide current value and reset tracking. - if next_speed_limit == 0. or self._v_ego <= 0. or next_speed_limit > self._current_speed_limit: - self._limit_solutions[SpeedLimitResolver.Source.map_data] = speed_limit - self._distance_solutions[SpeedLimitResolver.Source.map_data] = 0. - self._next_speed_limit_prev = 0. - return - - # Calculate the actual distance to the speed limit ahead corrected by gps_fix_age - distance_since_fix = self._v_ego * gps_fix_age - distance_to_speed_limit_ahead = max(0., map_data.speedLimitAheadDistance - distance_since_fix) - - # When we have a next_speed_limit value that has not changed from a provided next speed limit value - # in previous resolutions, we keep providing it. - if next_speed_limit == self._next_speed_limit_prev: - self._limit_solutions[SpeedLimitResolver.Source.map_data] = next_speed_limit - self._distance_solutions[SpeedLimitResolver.Source.map_data] = distance_to_speed_limit_ahead - return - - # Reset tracking - self._next_speed_limit_prev = 0. - - # Calculated the time needed to adapt to the new limit and the corresponding distance. - adapt_time = (next_speed_limit - self._v_ego) / LIMIT_ADAPT_ACC - adapt_distance = self._v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time**2 - - # When we detect we are close enough, we provide the next limit value and track it. - if distance_to_speed_limit_ahead <= adapt_distance: - self._limit_solutions[SpeedLimitResolver.Source.map_data] = next_speed_limit - self._distance_solutions[SpeedLimitResolver.Source.map_data] = distance_to_speed_limit_ahead - self._next_speed_limit_prev = next_speed_limit - return - - # Otherwise we just provide the map data speed limit. - self.distance_to_map_speed_limit = 0. - self._limit_solutions[SpeedLimitResolver.Source.map_data] = speed_limit - self._distance_solutions[SpeedLimitResolver.Source.map_data] = 0. - - def _consolidate(self): - limits = np.array([], dtype=float) - distances = np.array([], dtype=float) - sources = np.array([], dtype=int) - - if self._policy == SpeedLimitResolver.Policy.car_state_only or \ - self._policy == SpeedLimitResolver.Policy.car_state_priority or \ - self._policy == SpeedLimitResolver.Policy.combined: - limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.car_state]) - distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.car_state]) - sources = np.append(sources, SpeedLimitResolver.Source.car_state.value) - - if self._policy == SpeedLimitResolver.Policy.nav_only or \ - self._policy == SpeedLimitResolver.Policy.nav_priority or \ - self._policy == SpeedLimitResolver.Policy.combined: - limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.nav]) - distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.nav]) - sources = np.append(sources, SpeedLimitResolver.Source.nav.value) - - if self._policy == SpeedLimitResolver.Policy.map_data_only or \ - self._policy == SpeedLimitResolver.Policy.map_data_priority or \ - self._policy == SpeedLimitResolver.Policy.combined: - limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.map_data]) - distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.map_data]) - sources = np.append(sources, SpeedLimitResolver.Source.map_data.value) - - if np.amax(limits) == 0.: - if self._policy == SpeedLimitResolver.Policy.car_state_priority: - limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.map_data]) - distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.map_data]) - sources = np.append(sources, SpeedLimitResolver.Source.map_data.value) - - elif self._policy == SpeedLimitResolver.Policy.map_data_priority: - limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.car_state]) - distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.car_state]) - sources = np.append(sources, SpeedLimitResolver.Source.car_state.value) - - elif self._policy == SpeedLimitResolver.Policy.nav_priority: - limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.map_data]) - distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.map_data]) - sources = np.append(sources, SpeedLimitResolver.Source.map_data.value) - - if np.amax(limits) == 0.: - limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.car_state]) - distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.car_state]) - sources = np.append(sources, SpeedLimitResolver.Source.car_state.value) - - # Get all non-zero values and set the minimum if any, otherwise 0. - mask = limits > 0. - limits = limits[mask] - distances = distances[mask] - sources = sources[mask] - - if len(limits) > 0: - min_idx = np.argmin(limits) - self.speed_limit = limits[min_idx] - self.distance = distances[min_idx] - self.source = SpeedLimitResolver.Source(sources[min_idx]) - else: - self.speed_limit = 0. - self.distance = 0. - self.source = SpeedLimitResolver.Source.none - - _debug(f'SL: *** Speed Limit set: {self.speed_limit}, distance: {self.distance}, source: {self.source}') - - -class SpeedLimitController(): - def __init__(self): - self._params = Params() - self._resolver = SpeedLimitResolver() - self._last_params_update = 0.0 - self._last_op_enabled_time = 0.0 - self._is_metric = self._params.get_bool("IsMetric") - self._is_enabled = self._params.get_bool("SpeedLimitControl") - self._offset_enabled = self._params.get_bool("SpeedLimitPercOffset") - self._op_enabled = False - self._op_enabled_prev = False - self._v_ego = 0. - self._a_ego = 0. - self._v_offset = 0. - self._v_cruise_setpoint = 0. - self._v_cruise_setpoint_prev = 0. - self._v_cruise_setpoint_changed = False - self._speed_limit = 0. - self._speed_limit_prev = 0. - self._speed_limit_changed = False - self._distance = 0. - self._source = SpeedLimitResolver.Source.none - self._state = SpeedLimitControlState.inactive - self._state_prev = SpeedLimitControlState.inactive - self._gas_pressed = False - self._a_target = 0. - - @property - def a_target(self): - return self._a_target if self.is_active else self._a_ego - - @property - def state(self): - return self._state - - @state.setter - def state(self, value): - if value != self._state: - _debug(f'Speed Limit Controller state: {_description_for_state(value)}') - - if value == SpeedLimitControlState.tempInactive: - # Reset previous speed limit to current value as to prevent going out of tempInactive in - # a single cycle when the speed limit changes at the same time the user has temporarily deactivate it. - self._speed_limit_prev = self._speed_limit - - self._state = value - - @property - def is_active(self): - return self.state > SpeedLimitControlState.tempInactive - - @property - def speed_limit_offseted(self): - return self._speed_limit + self.speed_limit_offset - - @property - def speed_limit_offset(self): - if self._offset_enabled: - return interp(self._speed_limit, _LIMIT_PERC_OFFSET_BP, _LIMIT_PERC_OFFSET_V) * self._speed_limit - return 0. - - @property - def speed_limit(self): - return self._speed_limit - - @property - def distance(self): - return self._distance - - @property - def source(self): - return self._source - - def _update_params(self): - time = sec_since_boot() - if time > self._last_params_update + _PARAMS_UPDATE_PERIOD: - self._is_enabled = self._params.get_bool("SpeedLimitControl") - self._offset_enabled = self._params.get_bool("SpeedLimitPercOffset") - _debug(f'Updated Speed limit params. enabled: {self._is_enabled}, with offset: {self._offset_enabled}') - self._last_params_update = time - - def _update_calculations(self): - # Update current velocity offset (error) - self._v_offset = self.speed_limit_offseted - self._v_ego - - # Track the time op becomes active to prevent going to tempInactive right away after - # op enabling since controlsd will change the cruise speed every time on enabling and this will - # cause a temp inactive transition if the controller is updated before controlsd sets actual cruise - # speed. - if not self._op_enabled_prev and self._op_enabled: - self._last_op_enabled_time = sec_since_boot() - - # Update change tracking variables - self._speed_limit_changed = self._speed_limit != self._speed_limit_prev - self._v_cruise_setpoint_changed = self._v_cruise_setpoint != self._v_cruise_setpoint_prev - self._speed_limit_prev = self._speed_limit - self._v_cruise_setpoint_prev = self._v_cruise_setpoint - self._op_enabled_prev = self._op_enabled - - def _state_transition(self): - self._state_prev = self._state - - # In any case, if op is disabled, or speed limit control is disabled - # or the reported speed limit is 0 or gas is pressed, deactivate. - if not self._op_enabled or not self._is_enabled or self._speed_limit == 0 or self._gas_pressed: - self.state = SpeedLimitControlState.inactive - return - - # In any case, we deactivate the speed limit controller temporarily if the user changes the cruise speed. - # Ignore if a minimum ammount of time has not passed since activation. This is to prevent temp inactivations - # due to controlsd logic changing cruise setpoint when going active. - if self._v_cruise_setpoint_changed and \ - sec_since_boot() > (self._last_op_enabled_time + _TEMP_INACTIVE_GUARD_PERIOD): - self.state = SpeedLimitControlState.tempInactive - return - - # inactive - if self.state == SpeedLimitControlState.inactive: - # If the limit speed offset is negative (i.e. reduce speed) and lower than threshold - # we go to adapting state to quickly reduce speed, otherwise we go directly to active - if self._v_offset < LIMIT_SPEED_OFFSET_TH: - self.state = SpeedLimitControlState.adapting - else: - self.state = SpeedLimitControlState.active - # tempInactive - elif self.state == SpeedLimitControlState.tempInactive: - # if speed limit changes, transition to inactive, - # proper active state will be set on next iteration. - if self._speed_limit_changed: - self.state = SpeedLimitControlState.inactive - # adapting - elif self.state == SpeedLimitControlState.adapting: - # Go to active once the speed offset is over threshold. - if self._v_offset >= LIMIT_SPEED_OFFSET_TH: - self.state = SpeedLimitControlState.active - # active - elif self.state == SpeedLimitControlState.active: - # Go to adapting if the speed offset goes below threshold. - if self._v_offset < LIMIT_SPEED_OFFSET_TH: - self.state = SpeedLimitControlState.adapting - - def _update_solution(self): - # inactive or tempInactive state - if self.state <= SpeedLimitControlState.tempInactive: - # Preserve current values - a_target = self._a_ego - # adapting - elif self.state == SpeedLimitControlState.adapting: - # When adapting we target to achieve the speed limit on the distance if not there yet, - # otherwise try to keep the speed constant around the control time horizon. - if self.distance > 0: - a_target = (self.speed_limit_offseted**2 - self._v_ego**2) / (2. * self.distance) - else: - a_target = self._v_offset / T_IDXS[CONTROL_N] - # active - elif self.state == SpeedLimitControlState.active: - # When active we are trying to keep the speed constant around the control time horizon. - a_target = self._v_offset / T_IDXS[CONTROL_N] - - # Keep solution limited. - self._a_target = np.clip(a_target, LIMIT_MIN_ACC, LIMIT_MAX_ACC) - - def _update_events(self, events): - if not self.is_active: - # no event while inactive - return - - if self._state_prev <= SpeedLimitControlState.tempInactive: - events.add(EventName.speedLimitActive) - elif self._speed_limit_changed != 0: - events.add(EventName.speedLimitValueChange) - - def update(self, enabled, v_ego, a_ego, sm, v_cruise_setpoint, events=Events()): - self._op_enabled = enabled - self._v_ego = v_ego - self._a_ego = a_ego - self._v_cruise_setpoint = v_cruise_setpoint - self._gas_pressed = sm['carState'].gasPressed - - self._speed_limit, self._distance, self._source = self._resolver.resolve(v_ego, self.speed_limit, sm) - - self._update_params() - self._update_calculations() - self._state_transition() - self._update_solution() - self._update_events(events) diff --git a/selfdrive/controls/lib/turn_speed_controller.py b/selfdrive/controls/lib/turn_speed_controller.py deleted file mode 100644 index a98b34a78..000000000 --- a/selfdrive/controls/lib/turn_speed_controller.py +++ /dev/null @@ -1,248 +0,0 @@ -import numpy as np -import time -from common.params import Params -from cereal import log -from common.realtime import sec_since_boot -from selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_SPEED, LIMIT_MAX_MAP_DATA_AGE, \ - LIMIT_SPEED_OFFSET_TH, CONTROL_N, LIMIT_MIN_ACC, LIMIT_MAX_ACC -from selfdrive.modeld.constants import T_IDXS - - -_ACTIVE_LIMIT_MIN_ACC = -0.5 # m/s^2 Maximum deceleration allowed while active. -_ACTIVE_LIMIT_MAX_ACC = 0.5 # m/s^2 Maximum acelration allowed while active. - - -_DEBUG = False - -TurnSpeedControlState = log.LongitudinalPlan.SpeedLimitControlState - - -def _debug(msg): - if not _DEBUG: - return - print(msg) - - -def _description_for_state(turn_speed_control_state): - if turn_speed_control_state == TurnSpeedControlState.inactive: - return 'INACTIVE' - if turn_speed_control_state == TurnSpeedControlState.tempInactive: - return 'TEMP INACTIVE' - if turn_speed_control_state == TurnSpeedControlState.adapting: - return 'ADAPTING' - if turn_speed_control_state == TurnSpeedControlState.active: - return 'ACTIVE' - - -class TurnSpeedController(): - def __init__(self): - self._params = Params() - self._last_params_update = 0. - self._is_enabled = self._params.get_bool("TurnSpeedControl") - self._op_enabled = False - self._v_ego = 0. - self._a_ego = 0. - self._v_cruise_setpoint = 0. - - self._v_offset = 0. - self._speed_limit = 0. - self._speed_limit_temp_inactive = 0. - self._distance = 0. - self._turn_sign = 0 - self._state = TurnSpeedControlState.inactive - - self._next_speed_limit_prev = 0. - - self._a_target = 0. - - @property - def a_target(self): - return self._a_target if self.is_active else self._a_ego - - @property - def state(self): - return self._state - - @state.setter - def state(self, value): - if value != self._state: - _debug(f'Turn Speed Controller state: {_description_for_state(value)}') - - if value == TurnSpeedControlState.adapting: - _debug('TSC: Enteriing Adapting as speed offset is below threshold') - _debug(f'_v_offset: {self._v_offset * 3.6}\nspeed_limit: {self.speed_limit * 3.6}') - _debug(f'_v_ego: {self._v_ego * 3.6}\ndistance: {self.distance}') - - if value == TurnSpeedControlState.tempInactive: - # Track the speed limit value when controller was set to temp inactive. - self._speed_limit_temp_inactive = self._speed_limit - - self._state = value - - @property - def is_active(self): - return self.state > TurnSpeedControlState.tempInactive - - @property - def speed_limit(self): - return max(self._speed_limit, LIMIT_MIN_SPEED) if self._speed_limit > 0. else 0. - - @property - def distance(self): - return max(self._distance, 0.) - - @property - def turn_sign(self): - return self._turn_sign - - def _get_limit_from_map_data(self, sm): - """Provides the speed limit, distance and turn sign to it for turns based on map data. - """ - # Ignore if no live map data - sock = 'liveMapData' - if sm.logMonoTime[sock] is None: - _debug('TS: No map data for turn speed limit') - return 0., 0., 0 - - #if not sm.updated[sock]: - # _debug('TS: not updated, mapd crashed?') - # return 0., 0., 0 - - # Load map_data and initialize - map_data = sm[sock] - speed_limit = 0. - - # Calculate the age of the gps fix. Ignore if too old. - gps_fix_age = time.time() - map_data.lastGpsTimestamp * 1e-3 - if gps_fix_age > LIMIT_MAX_MAP_DATA_AGE: - _debug(f'TS: Ignoring map data as is too old. Age: {gps_fix_age}') - return 0., 0., 0 - - # Load turn ahead sections info from map_data with distances corrected by gps_fix_age - distance_since_fix = self._v_ego * gps_fix_age - distances_to_sections_ahead = np.maximum(0., np.array(map_data.turnSpeedLimitsAheadDistances) - distance_since_fix) - speed_limit_in_sections_ahead = map_data.turnSpeedLimitsAhead - turn_signs_in_sections_ahead = map_data.turnSpeedLimitsAheadSigns - - # Ensure current speed limit is considered only if we are inside the section. - if map_data.turnSpeedLimitValid and self._v_ego > 0.: - speed_limit_end_time = (map_data.turnSpeedLimitEndDistance / self._v_ego) - gps_fix_age - if speed_limit_end_time > 0.: - speed_limit = map_data.turnSpeedLimit - - # When we have no ahead speed limit to consider or all are greater than current speed limit - # or car has stopped, then provide current value and reset tracking. - turn_sign = map_data.turnSpeedLimitSign if map_data.turnSpeedLimitValid else 0 - if len(speed_limit_in_sections_ahead) == 0 or self._v_ego <= 0. or \ - (speed_limit > 0 and np.amin(speed_limit_in_sections_ahead) > speed_limit): - self._next_speed_limit_prev = 0. - return speed_limit, 0., turn_sign - - # Calculated the time needed to adapt to the limits ahead and the corresponding distances. - adapt_times = (np.maximum(speed_limit_in_sections_ahead, LIMIT_MIN_SPEED) - self._v_ego) / LIMIT_ADAPT_ACC - adapt_distances = self._v_ego * adapt_times + 0.5 * LIMIT_ADAPT_ACC * adapt_times**2 - distance_gaps = distances_to_sections_ahead - adapt_distances - - # We select as next speed limit, the one that have the lowest distance gap. - next_idx = np.argmin(distance_gaps) - next_speed_limit = speed_limit_in_sections_ahead[next_idx] - distance_to_section_ahead = distances_to_sections_ahead[next_idx] - next_turn_sign = turn_signs_in_sections_ahead[next_idx] - distance_gap = distance_gaps[next_idx] - - # When we have a next_speed_limit value that has not changed from a provided next speed limit value - # in previous resolutions, we keep providing it along with the udpated distance to it. - if next_speed_limit == self._next_speed_limit_prev: - return next_speed_limit, distance_to_section_ahead, next_turn_sign - - # Reset tracking - self._next_speed_limit_prev = 0. - - # When we detect we are close enough, we provide the next limit value and track it. - if distance_gap <= 0.: - self._next_speed_limit_prev = next_speed_limit - return next_speed_limit, distance_to_section_ahead, next_turn_sign - - # Otherwise we just provide the calculated speed_limit - return speed_limit, 0., turn_sign - - def _update_params(self): - time = sec_since_boot() - if time > self._last_params_update + 5.0: - self._is_enabled = self._params.get_bool("TurnSpeedControl") - self._last_params_update = time - - def _update_calculations(self): - # Update current velocity offset (error) - self._v_offset = self.speed_limit - self._v_ego - - def _state_transition(self, sm): - # In any case, if op is disabled, or turn speed limit control is disabled - # or the reported speed limit is 0, deactivate. - if not self._op_enabled or not self._is_enabled or self.speed_limit == 0.: - self.state = TurnSpeedControlState.inactive - return - - # In any case, we deactivate the speed limit controller temporarily - # if gas is pressed (to support gas override implementations). - if sm['carState'].gasPressed: - self.state = TurnSpeedControlState.tempInactive - return - - # inactive - if self.state == TurnSpeedControlState.inactive: - # If the limit speed offset is negative (i.e. reduce speed) and lower than threshold and distanct to turn limit - # is positive (not in turn yet) we go to adapting state to reduce speed, otherwise we go directly to active - if self._v_offset < LIMIT_SPEED_OFFSET_TH and self.distance > 0.: - self.state = TurnSpeedControlState.adapting - else: - self.state = TurnSpeedControlState.active - # tempInactive - elif self.state == TurnSpeedControlState.tempInactive: - # if the speed limit recorded when going to temp Inactive changes - # then set to inactive, activation will happen on next cycle - if self._speed_limit != self._speed_limit_temp_inactive: - self.state = TurnSpeedControlState.inactive - # adapting - elif self.state == TurnSpeedControlState.adapting: - # Go to active once the speed offset is over threshold or the distance to turn is now 0. - if self._v_offset >= LIMIT_SPEED_OFFSET_TH or self.distance == 0.: - self.state = TurnSpeedControlState.active - # active - elif self.state == TurnSpeedControlState.active: - # Go to adapting if the speed offset goes below threshold as long as the distance to turn is still positive. - if self._v_offset < LIMIT_SPEED_OFFSET_TH and self.distance > 0.: - self.state = TurnSpeedControlState.adapting - - def _update_solution(self): - # inactive or tempInactive state - if self.state <= TurnSpeedControlState.tempInactive: - # Preserve current values - a_target = self._a_ego - # adapting - elif self.state == TurnSpeedControlState.adapting: - # When adapting we target to achieve the speed limit on the distance. - a_target = (self.speed_limit**2 - self._v_ego**2) / (2. * self.distance) - a_target = np.clip(a_target, LIMIT_MIN_ACC, LIMIT_MAX_ACC) - # active - elif self.state == TurnSpeedControlState.active: - # When active we are trying to keep the speed constant around the control time horizon. - # but under constrained acceleration limits since we are in a turn. - a_target = self._v_offset / T_IDXS[CONTROL_N] - a_target = np.clip(a_target, _ACTIVE_LIMIT_MIN_ACC, _ACTIVE_LIMIT_MAX_ACC) - - # update solution values. - self._a_target = a_target - - def update(self, enabled, v_ego, a_ego, sm): - self._op_enabled = enabled - self._v_ego = v_ego - self._a_ego = a_ego - - # Get the speed limit from Map Data - self._speed_limit, self._distance, self._turn_sign = self._get_limit_from_map_data(sm) - - self._update_params() - self._update_calculations() - self._state_transition(sm) - self._update_solution() diff --git a/selfdrive/controls/lib/vision_turn_controller.py b/selfdrive/controls/lib/vision_turn_controller.py index 874c85361..5e5c60162 100644 --- a/selfdrive/controls/lib/vision_turn_controller.py +++ b/selfdrive/controls/lib/vision_turn_controller.py @@ -1,11 +1,11 @@ import numpy as np import math -from cereal import log +# from cereal import log from common.numpy_fast import interp -from common.params import Params -from common.realtime import sec_since_boot +# from common.params import Params +# from common.realtime import sec_since_boot from common.conversions import Conversions as CV -from selfdrive.controls.lib.lateral_planner import TRAJECTORY_SIZE +from selfdrive.controls.lib.lane_planner import TRAJECTORY_SIZE from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX @@ -35,8 +35,8 @@ _ENTERING_SMOOTH_DECEL_BP = [1.3, 3.] # absolute value of lat acc ahead # Lookup table for the acceleration for the TURNING state # depending on the current lateral acceleration of the vehicle. -_TURNING_ACC_V = [1.2, 0.94, 0.9, 0.8, -0.1] # acc value -_TURNING_ACC_BP = [1.5, 10, 12, 14, 16] # absolute value of current lat acc +_TURNING_ACC_V = [0.5, 0., -0.4] # acc value +_TURNING_ACC_BP = [1.5, 2.3, 3.] # absolute value of current lat acc _LEAVING_ACC = 0.5 # Confortble acceleration to regain speed while leaving a turn. @@ -51,7 +51,12 @@ def _debug(msg): print(msg) -VisionTurnControllerState = log.LongitudinalPlan.VisionTurnControllerState +# VisionTurnControllerState = log.LongitudinalPlan.VisionTurnControllerState +class VisionTurnControllerState: + disabled = 0 # No predicted substancial turn on vision range or feature disabled. + entering = 1 # A subsantial turn is predicted ahead, adapting speed to turn confort levels. + turning = 2 # Actively turning. Managing acceleration to provide a roll on turn feeling. + leaving = 3 # Road ahead straightens. Start to allow positive acceleration. def eval_curvature(poly, x_vals): @@ -93,11 +98,11 @@ def _description_for_state(turn_controller_state): class VisionTurnController(): def __init__(self, CP): - self._params = Params() + # self._params = Params() self._CP = CP self._op_enabled = False self._gas_pressed = False - self._is_enabled = self._params.get_bool("TurnVisionControl") + self._is_enabled = True #self._params.get_bool("TurnVisionControl") self._last_params_update = 0. self._v_cruise_setpoint = 0. self._v_ego = 0. @@ -142,11 +147,11 @@ class VisionTurnController(): self._v_overshoot_distance = 200. self._lat_acc_overshoot_ahead = False - def _update_params(self): - time = sec_since_boot() - if time > self._last_params_update + 5.0: - self._is_enabled = self._params.get_bool("TurnVisionControl") - self._last_params_update = time + # def _update_params(self): + # time = sec_since_boot() + # if time > self._last_params_update + 5.0: + # self._is_enabled = self._params.get_bool("TurnVisionControl") + # self._last_params_update = time def _update_calculations(self, sm): # Get path polynomial aproximation for curvature estimation from model data. @@ -287,7 +292,7 @@ class VisionTurnController(): self._a_ego = a_ego self._v_cruise_setpoint = v_cruise_setpoint - self._update_params() + # self._update_params() self._update_calculations(sm) self._state_transition() self._update_solution() diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 1ca74bfae..3340ddfe6 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -4,31 +4,31 @@ from cereal import car from common.params import Params from common.realtime import Priority, config_realtime_process from system.swaglog import cloudlog -from selfdrive.modeld.constants import T_IDXS +# from selfdrive.legacy_modeld.constants import T_IDXS from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner from selfdrive.controls.lib.lateral_planner import LateralPlanner +# rick - old planners from 0.8.16 +# from selfdrive.controls.lib.legacy_longitudinal_planner import LongitudinalPlanner +# from selfdrive.controls.lib.legacy_lateral_planner import LateralPlanner import cereal.messaging as messaging from system.hardware import TICI -from selfdrive.dragonpilot.controls_0813.lib.lateral_planner import LateralPlanner as DPLateralPlanner -from selfdrive.dragonpilot.controls_0816.lib.lateral_planner import LateralPlanner as FPLateralPlanner - def cumtrapz(x, t): return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))]) -def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner): - plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, T_IDXS) - model_odo = cumtrapz(lateral_planner.v_plan, T_IDXS) - - ui_send = messaging.new_message('uiPlan') - ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) - uiPlan = ui_send.uiPlan - uiPlan.frameId = sm['modelV2'].frameId - uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist() - uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist() - uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist() - uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist() - pm.send('uiPlan', ui_send) +# def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner): +# plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, T_IDXS) +# model_odo = cumtrapz(lateral_planner.v_plan, T_IDXS) +# +# ui_send = messaging.new_message('uiPlan') +# ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) +# uiPlan = ui_send.uiPlan +# uiPlan.frameId = sm['modelV2'].frameId +# uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist() +# uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist() +# uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist() +# uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist() +# pm.send('uiPlan', ui_send) def plannerd_thread(sm=None, pm=None): config_realtime_process(5 if TICI else 2, Priority.CTRL_LOW) @@ -39,21 +39,10 @@ def plannerd_thread(sm=None, pm=None): cloudlog.info("plannerd got CarParams: %s", CP.carName) longitudinal_planner = LongitudinalPlanner(CP) - try: - lat_version = int(params.get('dp_lateral_version').decode('utf8')) - except: - # if we have trouble reading it, reset it to latest lateral planner - params.put('dp_lateral_version', "0") - lat_version = 0 - if lat_version == 1: # 0813 - lateral_planner = DPLateralPlanner(CP) - elif lat_version == 2: # 0816 - lateral_planner = FPLateralPlanner(CP) - else: - lateral_planner = LateralPlanner(CP) + lateral_planner = LateralPlanner(CP) if sm is None: - sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'dragonConf', 'lateralPlan', 'navInstruction', 'liveMapData'], + sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'], poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState']) if pm is None: @@ -67,8 +56,7 @@ def plannerd_thread(sm=None, pm=None): lateral_planner.publish(sm, pm) longitudinal_planner.update(sm) longitudinal_planner.publish(sm, pm) - # if lat_version == 0: - # publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner) + # publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner) def main(sm=None, pm=None): plannerd_thread(sm, pm) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 620e7834e..a10db12bf 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -65,10 +65,10 @@ def match_vision_to_cluster(v_ego, lead, clusters): return None -def get_lead(v_ego, ready, clusters, lead_msg, lead_index, low_speed_override=True): +def get_lead(v_ego, ready, clusters, lead_msg, model_v_ego, low_speed_override=True): # Determine leads, this is where the essential logic happens if len(clusters) > 0 and ready and lead_msg.prob > .5: - cluster = match_vision_to_cluster(v_ego, lead_msg, clusters) + cluster = None #match_vision_to_cluster(v_ego, lead_msg, clusters) else: cluster = None @@ -76,7 +76,7 @@ def get_lead(v_ego, ready, clusters, lead_msg, lead_index, low_speed_override=Tr if cluster is not None: lead_dict = cluster.get_RadarState(lead_msg.prob) elif (cluster is None) and ready and (lead_msg.prob > .5): - lead_dict = Cluster().get_RadarState_from_vision(lead_msg, lead_index, v_ego) + lead_dict = Cluster().get_RadarState_from_vision(lead_msg, v_ego, model_v_ego) if low_speed_override: low_speed_clusters = [c for c in clusters if c.potential_low_speed_lead(v_ego)] @@ -169,10 +169,14 @@ class RadarD(): radarState.radarErrors = list(rr.errors) radarState.carStateMonoTime = sm.logMonoTime['carState'] + if len(sm['modelV2'].temporalPose.trans): + model_v_ego = sm['modelV2'].temporalPose.trans[0] + else: + model_v_ego = self.v_ego leads_v3 = sm['modelV2'].leadsV3 if len(leads_v3) > 1: - radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], 0, low_speed_override=True) - radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], 1, low_speed_override=False) + radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], model_v_ego, low_speed_override=True) + radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], model_v_ego, low_speed_override=False) return dat diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py index 8952405b8..6b5ec3693 100755 --- a/selfdrive/debug/vw_mqb_config.py +++ b/selfdrive/debug/vw_mqb_config.py @@ -49,7 +49,7 @@ if __name__ == "__main__": sw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER).decode("utf-8") sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8") component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8") - odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8") + odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00') current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING) # type: ignore coding_text = current_coding.hex() @@ -70,14 +70,14 @@ if __name__ == "__main__": coding_variant, current_coding_array, coding_byte, coding_bit = None, None, 0, 0 coding_length = len(current_coding) - # EV_SteerAssisMQB/MNB cover the majority of MQB racks (EPS_MQB_ZFLS) - if odx_file in ("EV_SteerAssisMQB\x00", "EV_SteerAssisMNB\x00"): - coding_variant = "ZF" + # EPS_MQB_ZFLS + if odx_file in ("EV_SteerAssisMQB", "EV_SteerAssisMNB"): + coding_variant = "ZFLS" coding_byte = 0 coding_bit = 4 - # APA racks (MQB_PP_APA) have a different coding layout - elif odx_file == "EV_SteerAssisVWBSMQBA\x00\x00\x00\x00": + # MQB_PP_APA, MQB_VWBS_GEN2 + elif odx_file in ("EV_SteerAssisVWBSMQBA", "EV_SteerAssisVWBSMQBGen2"): coding_variant = "APA" coding_byte = 3 coding_bit = 0 @@ -111,8 +111,8 @@ if __name__ == "__main__": if args.action in ["enable", "disable"]: print("\nAttempting configuration update") - assert(coding_variant in ("ZF", "APA")) - # ZF EPS config coding length can be anywhere from 1 to 4 bytes, but the + assert(coding_variant in ("ZFLS", "APA")) + # ZFLS EPS config coding length can be anywhere from 1 to 4 bytes, but the # bit we care about is always in the same place in the first byte if args.action == "enable": new_byte = current_coding_array[coding_byte] | (1 << coding_bit) diff --git a/selfdrive/dragonpilot/LICENSE.md b/selfdrive/dragonpilot/LICENSE.md deleted file mode 100644 index 76e9bfcbb..000000000 --- a/selfdrive/dragonpilot/LICENSE.md +++ /dev/null @@ -1,21 +0,0 @@ -The MIT License - -Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in -all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -THE SOFTWARE. \ No newline at end of file diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/.gitignore b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/.gitignore deleted file mode 100644 index aff2eb082..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -acados_ocp_lat.json -c_generated_code/ diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/acados_ocp_lat.json b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/acados_ocp_lat.json deleted file mode 100644 index 1cbe32253..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/acados_ocp_lat.json +++ /dev/null @@ -1,450 +0,0 @@ -{ - "acados_include_path": "/data/openpilot/third_party/acados/include/acados/include", - "acados_lib_path": "/data/openpilot/third_party/acados/include/acados/lib", - "code_export_directory": "/data/openpilot/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code", - "constraints": { - "C": [], - "C_e": [], - "D": [], - "constr_type": "BGH", - "constr_type_e": "BGH", - "idxbu": [], - "idxbx": [ - 2, - 3 - ], - "idxbx_0": [ - 0, - 1, - 2, - 3 - ], - "idxbx_e": [], - "idxbxe_0": [ - 0, - 1, - 2, - 3 - ], - "idxsbu": [], - "idxsbx": [], - "idxsbx_e": [], - "idxsg": [], - "idxsg_e": [], - "idxsh": [], - "idxsh_e": [], - "idxsphi": [], - "idxsphi_e": [], - "lbu": [], - "lbx": [ - -1.5707963267948966, - -0.8726646259971648 - ], - "lbx_0": [ - 0.0, - 0.0, - 0.0, - 0.0 - ], - "lbx_e": [], - "lg": [], - "lg_e": [], - "lh": [], - "lh_e": [], - "lphi": [], - "lphi_e": [], - "lsbu": [], - "lsbx": [], - "lsbx_e": [], - "lsg": [], - "lsg_e": [], - "lsh": [], - "lsh_e": [], - "lsphi": [], - "lsphi_e": [], - "ubu": [], - "ubx": [ - 1.5707963267948966, - 0.8726646259971648 - 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- default_encoding_c = PyBytes_AsString(default_encoding); - if (!default_encoding_c) goto bad; - if (strcmp(default_encoding_c, "ascii") == 0) { - __Pyx_sys_getdefaultencoding_not_ascii = 0; - } else { - char ascii_chars[128]; - int c; - for (c = 0; c < 128; c++) { - ascii_chars[c] = c; - } - __Pyx_sys_getdefaultencoding_not_ascii = 1; - ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); - if (!ascii_chars_u) goto bad; - ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); - if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { - PyErr_Format( - PyExc_ValueError, - "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", - default_encoding_c); - goto bad; - } - Py_DECREF(ascii_chars_u); - Py_DECREF(ascii_chars_b); - } - Py_DECREF(default_encoding); - return 0; -bad: - Py_XDECREF(default_encoding); - Py_XDECREF(ascii_chars_u); 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(PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ - __Pyx_GetItemInt_Generic(o, to_py_func(i)))) -#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ - (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ - __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ - (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - int wraparound, int boundscheck); -#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ - (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ - __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ - (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - int wraparound, int boundscheck); -static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, - int is_list, int wraparound, int boundscheck); - -/* ObjectGetItem.proto */ -#if CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key); -#else -#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) -#endif - -/* PyIntBinop.proto */ -#if !CYTHON_COMPILING_IN_PYPY -static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check); -#else -#define __Pyx_PyInt_AddObjC(op1, op2, intval, inplace, zerodivision_check)\ - (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2)) -#endif - -/* BufferIndexError.proto */ -static void __Pyx_RaiseBufferIndexError(int axis); - -#define __Pyx_BufPtrStrided1d(type, buf, i0, s0) (type)((char*)buf + i0 * s0) -/* PyUnicode_Unicode.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj); - -/* GCCDiagnostics.proto */ -#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) -#define __Pyx_HAS_GCC_DIAGNOSTIC -#endif - -/* BuildPyUnicode.proto */ -static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, - int prepend_sign, char padding_char); - -/* CIntToPyUnicode.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); - -/* MemviewSliceInit.proto */ -#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d -#define __Pyx_MEMVIEW_DIRECT 1 -#define __Pyx_MEMVIEW_PTR 2 -#define __Pyx_MEMVIEW_FULL 4 -#define __Pyx_MEMVIEW_CONTIG 8 -#define __Pyx_MEMVIEW_STRIDED 16 -#define __Pyx_MEMVIEW_FOLLOW 32 -#define __Pyx_IS_C_CONTIG 1 -#define __Pyx_IS_F_CONTIG 2 -static int __Pyx_init_memviewslice( - struct __pyx_memoryview_obj *memview, - int ndim, - __Pyx_memviewslice *memviewslice, - int memview_is_new_reference); -static CYTHON_INLINE int __pyx_add_acquisition_count_locked( - __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); -static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( - __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); -#define __pyx_get_slice_count_pointer(memview) (memview->acquisition_count_aligned_p) -#define __pyx_get_slice_count(memview) (*__pyx_get_slice_count_pointer(memview)) -#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) -#define __PYX_XDEC_MEMVIEW(slice, have_gil) __Pyx_XDEC_MEMVIEW(slice, have_gil, __LINE__) -static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); -static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *, int, int); - -/* PyErrExceptionMatches.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) -static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); -#else -#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) -#endif - -/* StrEquals.proto */ -#if PY_MAJOR_VERSION >= 3 -#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals -#else -#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals -#endif - -/* None.proto */ -static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); - -/* UnaryNegOverflows.proto */ -#define UNARY_NEG_WOULD_OVERFLOW(x)\ - (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) - -static CYTHON_UNUSED int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ -static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ -/* GetAttr.proto */ -static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); - -/* decode_c_string_utf16.proto */ -static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { - int byteorder = 0; - return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); -} -static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { - int byteorder = -1; - return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); -} -static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { - int byteorder = 1; - return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); -} - -/* decode_c_string.proto */ -static CYTHON_INLINE PyObject* __Pyx_decode_c_string( - const char* cstring, Py_ssize_t start, Py_ssize_t stop, - const char* encoding, const char* errors, - PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); - -/* GetAttr3.proto */ -static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); - -/* SwapException.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#else -static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); -#endif - -/* FastTypeChecks.proto */ -#if CYTHON_COMPILING_IN_CPYTHON -#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); -#else -#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) -#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) -#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) -#endif -#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) - -static CYTHON_UNUSED int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ -/* ListCompAppend.proto */ -#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS -static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { - PyListObject* L = (PyListObject*) list; - Py_ssize_t len = Py_SIZE(list); - if (likely(L->allocated > len)) { - Py_INCREF(x); - PyList_SET_ITEM(list, len, x); - __Pyx_SET_SIZE(list, len + 1); - return 0; - } - return PyList_Append(list, x); -} -#else -#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) -#endif - -/* ListExtend.proto */ -static CYTHON_INLINE int __Pyx_PyList_Extend(PyObject* L, PyObject* v) { -#if CYTHON_COMPILING_IN_CPYTHON - PyObject* none = _PyList_Extend((PyListObject*)L, v); - if (unlikely(!none)) - return -1; - Py_DECREF(none); - return 0; -#else - return PyList_SetSlice(L, PY_SSIZE_T_MAX, PY_SSIZE_T_MAX, v); -#endif -} - -/* ListAppend.proto */ -#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS -static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { - PyListObject* L = (PyListObject*) list; - Py_ssize_t len = Py_SIZE(list); - if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { - Py_INCREF(x); - PyList_SET_ITEM(list, len, x); - __Pyx_SET_SIZE(list, len + 1); - return 0; - } - return PyList_Append(list, x); -} -#else -#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) -#endif - -/* None.proto */ -static CYTHON_INLINE long __Pyx_div_long(long, long); - -/* ImportFrom.proto */ -static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); - -/* HasAttr.proto */ -static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); - -/* PyObject_GenericGetAttrNoDict.proto */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); -#else -#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr -#endif - -/* PyObject_GenericGetAttr.proto */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); -#else -#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr -#endif - -/* PyObjectGetAttrStrNoError.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); - -/* SetupReduce.proto */ -static int __Pyx_setup_reduce(PyObject* type_obj); - -/* SetVTable.proto */ -static int __Pyx_SetVtable(PyObject *dict, void *vtable); - -/* TypeImport.proto */ -#ifndef __PYX_HAVE_RT_ImportType_proto -#define __PYX_HAVE_RT_ImportType_proto -enum __Pyx_ImportType_CheckSize { - __Pyx_ImportType_CheckSize_Error = 0, - __Pyx_ImportType_CheckSize_Warn = 1, - __Pyx_ImportType_CheckSize_Ignore = 2 -}; -static PyTypeObject *__Pyx_ImportType(PyObject* module, const char *module_name, const char *class_name, size_t size, enum __Pyx_ImportType_CheckSize check_size); -#endif - -/* CLineInTraceback.proto */ -#ifdef CYTHON_CLINE_IN_TRACEBACK -#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) -#else -static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); -#endif - -/* CodeObjectCache.proto */ -typedef struct { - PyCodeObject* code_object; - int code_line; -} __Pyx_CodeObjectCacheEntry; -struct __Pyx_CodeObjectCache { - int count; - int max_count; - __Pyx_CodeObjectCacheEntry* entries; -}; -static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; -static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); -static PyCodeObject *__pyx_find_code_object(int code_line); -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); - -/* AddTraceback.proto */ -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename); - -#if PY_MAJOR_VERSION < 3 - static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); - static void __Pyx_ReleaseBuffer(Py_buffer *view); -#else - #define __Pyx_GetBuffer PyObject_GetBuffer - #define __Pyx_ReleaseBuffer PyBuffer_Release -#endif - - -/* BufferStructDeclare.proto */ -typedef struct { - Py_ssize_t shape, strides, suboffsets; -} __Pyx_Buf_DimInfo; -typedef struct { - size_t refcount; - Py_buffer pybuffer; -} __Pyx_Buffer; -typedef struct { - __Pyx_Buffer *rcbuffer; - char *data; - __Pyx_Buf_DimInfo diminfo[8]; -} __Pyx_LocalBuf_ND; - -/* MemviewSliceIsContig.proto */ -static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); - -/* OverlappingSlices.proto */ -static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, - __Pyx_memviewslice *slice2, - int ndim, size_t itemsize); - -/* Capsule.proto */ -static CYTHON_INLINE PyObject *__pyx_capsule_create(void *p, const char *sig); - -/* TypeInfoCompare.proto */ -static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); - -/* MemviewSliceValidateAndInit.proto */ -static int __Pyx_ValidateAndInit_memviewslice( - int *axes_specs, - int c_or_f_flag, - int buf_flags, - int ndim, - __Pyx_TypeInfo *dtype, - __Pyx_BufFmt_StackElem stack[], - __Pyx_memviewslice *memviewslice, - PyObject *original_obj); - -/* ObjectToMemviewSlice.proto */ -static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dcd__double(PyObject *, int writable_flag); - -/* ObjectToMemviewSlice.proto */ -static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_unsigned_char(PyObject *, int writable_flag); - -/* RealImag.proto */ -#if CYTHON_CCOMPLEX - #ifdef __cplusplus - #define __Pyx_CREAL(z) ((z).real()) - #define __Pyx_CIMAG(z) ((z).imag()) - #else - #define __Pyx_CREAL(z) (__real__(z)) - #define __Pyx_CIMAG(z) (__imag__(z)) - #endif -#else - #define __Pyx_CREAL(z) ((z).real) - #define __Pyx_CIMAG(z) ((z).imag) -#endif -#if defined(__cplusplus) && CYTHON_CCOMPLEX\ - && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) - #define __Pyx_SET_CREAL(z,x) ((z).real(x)) - #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) -#else - #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) - #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) -#endif - -/* Arithmetic.proto */ -#if CYTHON_CCOMPLEX - #define __Pyx_c_eq_float(a, b) ((a)==(b)) - #define __Pyx_c_sum_float(a, b) ((a)+(b)) - #define __Pyx_c_diff_float(a, b) ((a)-(b)) - #define __Pyx_c_prod_float(a, b) ((a)*(b)) - #define __Pyx_c_quot_float(a, b) ((a)/(b)) - #define __Pyx_c_neg_float(a) (-(a)) - #ifdef __cplusplus - #define __Pyx_c_is_zero_float(z) ((z)==(float)0) - #define __Pyx_c_conj_float(z) (::std::conj(z)) - #if 1 - #define __Pyx_c_abs_float(z) (::std::abs(z)) - #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) - #endif - #else - #define __Pyx_c_is_zero_float(z) ((z)==0) - #define __Pyx_c_conj_float(z) (conjf(z)) - #if 1 - #define __Pyx_c_abs_float(z) (cabsf(z)) - #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) - #endif - #endif -#else - static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); - static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); - #if 1 - static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); - #endif -#endif - -/* Arithmetic.proto */ -#if CYTHON_CCOMPLEX - #define __Pyx_c_eq_double(a, b) ((a)==(b)) - #define __Pyx_c_sum_double(a, b) ((a)+(b)) - #define __Pyx_c_diff_double(a, b) ((a)-(b)) - #define __Pyx_c_prod_double(a, b) ((a)*(b)) - #define __Pyx_c_quot_double(a, b) ((a)/(b)) - #define __Pyx_c_neg_double(a) (-(a)) - #ifdef __cplusplus - #define __Pyx_c_is_zero_double(z) ((z)==(double)0) - #define __Pyx_c_conj_double(z) (::std::conj(z)) - #if 1 - #define __Pyx_c_abs_double(z) (::std::abs(z)) - #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) - #endif - #else - #define __Pyx_c_is_zero_double(z) ((z)==0) - #define __Pyx_c_conj_double(z) (conj(z)) - #if 1 - #define __Pyx_c_abs_double(z) (cabs(z)) - #define __Pyx_c_pow_double(a, b) (cpow(a, b)) - #endif - #endif -#else - static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); - static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); - #if 1 - static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); - #endif -#endif - -/* MemviewSliceCopyTemplate.proto */ -static __Pyx_memviewslice -__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, - const char *mode, int ndim, - size_t sizeof_dtype, int contig_flag, - int dtype_is_object); - -/* CIntFromPy.proto */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); - -/* CIntFromPy.proto */ -static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); - -/* CIntFromPy.proto */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); - -/* CIntFromPy.proto */ -static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); - -/* CheckBinaryVersion.proto */ -static int __Pyx_check_binary_version(void); - -/* InitStrings.proto */ -static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); - -static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ -static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ -static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ -static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ -static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ -static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ -static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ - -/* Module declarations from 'cython.view' */ - -/* Module declarations from 'cython' */ - -/* Module declarations from 'libc.string' */ - -/* Module declarations from 'libc.stdio' */ - -/* Module declarations from 'libc' */ - -/* Module declarations from 'acados_solver_common' */ - -/* Module declarations from 'acados_solver' */ - -/* Module declarations from 'cpython.buffer' */ - -/* Module declarations from '__builtin__' */ - -/* Module declarations from 'cpython.type' */ -static PyTypeObject *__pyx_ptype_7cpython_4type_type = 0; - -/* Module declarations from 'cpython' */ - -/* Module declarations from 'cpython.object' */ - -/* Module declarations from 'cpython.ref' */ - -/* Module declarations from 'cpython.mem' */ - -/* Module declarations from 'numpy' */ - -/* Module declarations from 'numpy' */ -static PyTypeObject *__pyx_ptype_5numpy_dtype = 0; -static PyTypeObject *__pyx_ptype_5numpy_flatiter = 0; -static PyTypeObject *__pyx_ptype_5numpy_broadcast = 0; -static PyTypeObject *__pyx_ptype_5numpy_ndarray = 0; 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/*proto*/ -static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ -static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ -static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ -static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ -static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ -static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ -static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ -static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ -static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ -static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ -static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ -static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ -static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ -static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ -static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ -static int __pyx_memoryview_err_dim(PyObject *, char *, int); /*proto*/ -static int __pyx_memoryview_err(PyObject *, char *); /*proto*/ -static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ -static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ -static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ -static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ -static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ -static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ -static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ -static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ -static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float64_t = { "float64_t", NULL, sizeof(__pyx_t_5numpy_float64_t), { 0 }, 0, 'R', 0, 0 }; -static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; -static __Pyx_TypeInfo __Pyx_TypeInfo_unsigned_char = { "unsigned char", NULL, sizeof(unsigned char), { 0 }, 0, IS_UNSIGNED(unsigned char) ? 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-static const char __pyx_k_n[] = "n"; -static const char __pyx_k_p[] = "p"; -static const char __pyx_k_r[] = "r"; -static const char __pyx_k_t[] = "t"; -static const char __pyx_k_u[] = "u"; -static const char __pyx_k_w[] = "w"; -static const char __pyx_k_x[] = "x"; -static const char __pyx_k_z[] = "z"; -static const char __pyx_k__4[] = "."; -static const char __pyx_k__5[] = ""; -static const char __pyx_k__6[] = "_"; -static const char __pyx_k_ex[] = "ex"; -static const char __pyx_k_id[] = "id"; -static const char __pyx_k_np[] = "np"; -static const char __pyx_k_os[] = "os"; -static const char __pyx_k_pi[] = "pi"; -static const char __pyx_k_sl[] = "sl"; -static const char __pyx_k_su[] = "su"; -static const char __pyx_k_SQP[] = "SQP"; -static const char __pyx_k__19[] = ")"; -static const char __pyx_k__22[] = ", "; -static const char __pyx_k_get[] = "get"; -static const char __pyx_k_lam[] = "lam"; -static const char __pyx_k_lbu[] = "lbu"; -static const char __pyx_k_lbx[] = "lbx"; -static const char __pyx_k_new[] = "__new__"; -static const char __pyx_k_obj[] = "obj"; -static const char __pyx_k_set[] = "set"; -static const char __pyx_k_t_2[] = "t_"; -static const char __pyx_k_u_2[] = "u_"; -static const char __pyx_k_ubu[] = "ubu"; -static const char __pyx_k_ubx[] = "ubx"; -static const char __pyx_k_x_2[] = "x_"; -static const char __pyx_k_z_2[] = "z_"; -static const char __pyx_k_None[] = "None"; -static const char __pyx_k_TODO[] = "TODO!"; -static const char __pyx_k_base[] = "base"; -static const char __pyx_k_dict[] = "__dict__"; -static const char __pyx_k_dump[] = "dump"; -static const char __pyx_k_exit[] = "__exit__"; -static const char __pyx_k_join[] = "join"; -static const char __pyx_k_json[] = "json"; -static const char __pyx_k_keys[] = "keys"; -static const char __pyx_k_load[] = "load"; -static const char __pyx_k_main[] = "__main__"; -static const char __pyx_k_mode[] = "mode"; -static const char __pyx_k_name[] = "name"; -static const char __pyx_k_ndim[] = "ndim"; -static const char __pyx_k_open[] = "open"; -static const char __pyx_k_pack[] = "pack"; -static const char __pyx_k_path[] = "path"; -static const char __pyx_k_pi_2[] = "pi_"; -static const char __pyx_k_size[] = "size"; -static const char __pyx_k_sl_2[] = "sl_"; -static const char __pyx_k_step[] = "step"; -static const char __pyx_k_stop[] = "stop"; -static const char __pyx_k_su_2[] = "su_"; -static const char __pyx_k_test[] = "__test__"; -static const char __pyx_k_yref[] = "yref"; -static const char __pyx_k_ASCII[] = "ASCII"; -static const char __pyx_k_alpha[] = "alpha"; -static const char __pyx_k_array[] = "array"; -static const char __pyx_k_class[] = "__class__"; -static const char __pyx_k_dtype[] = "dtype"; -static const char __pyx_k_enter[] = "__enter__"; -static const char __pyx_k_error[] = "error"; -static const char __pyx_k_field[] = "field"; -static const char __pyx_k_flags[] = "flags"; -static const char __pyx_k_index[] = "index"; -static const char __pyx_k_lam_2[] = "lam_"; -static const char __pyx_k_numpy[] = "numpy"; -static const char __pyx_k_order[] = "order"; -static const char __pyx_k_print[] = "print"; -static const char __pyx_k_range[] = "range"; -static const char __pyx_k_shape[] = "shape"; -static const char __pyx_k_split[] = "split"; -static const char __pyx_k_stage[] = "stage"; -static const char __pyx_k_start[] = "start"; -static const char __pyx_k_utf_8[] = "utf-8"; -static const char __pyx_k_value[] = "value_"; -static const char __pyx_k_y_ref[] = "y_ref"; -static const char __pyx_k_zeros[] = "zeros"; -static const char __pyx_k_encode[] = "encode"; -static const char __pyx_k_format[] = "format"; -static const char __pyx_k_getcwd[] = "getcwd"; -static const char __pyx_k_import[] = "__import__"; -static const char __pyx_k_indent[] = "indent"; -static const char __pyx_k_isfile[] = "isfile"; -static const char __pyx_k_json_2[] = ".json"; -static const char __pyx_k_name_2[] = "__name__"; -static const char __pyx_k_pickle[] = "pickle"; -static const char __pyx_k_qp_mu0[] = "qp_mu0"; -static const char __pyx_k_reduce[] = "__reduce__"; -static const char __pyx_k_res_eq[] = "res_eq"; -static const char __pyx_k_stat_m[] = "stat_m"; -static const char __pyx_k_stat_n[] = "stat_n"; -static const char __pyx_k_struct[] = "struct"; -static const char __pyx_k_tol_eq[] = "tol_eq"; -static const char __pyx_k_tolist[] = "tolist"; -static const char __pyx_k_unpack[] = "unpack"; -static const char __pyx_k_update[] = "update"; -static const char __pyx_k_utcnow[] = "utcnow"; -static const char __pyx_k_SQP_RTI[] = "SQP_RTI"; -static const char __pyx_k_default[] = "default"; -static const char __pyx_k_field_2[] = "field_"; -static const char __pyx_k_float64[] = "float64"; -static const char __pyx_k_fortran[] = "fortran"; -static const char __pyx_k_iterate[] = "iterate"; -static const char __pyx_k_memview[] = "memview"; -static const char __pyx_k_qp_iter[] = "qp_iter"; -static const char __pyx_k_time_qp[] = "time_qp"; -static const char __pyx_k_z_guess[] = "z_guess"; -static const char __pyx_k_Ellipsis[] = "Ellipsis"; -static const char __pyx_k_at_stage[] = "\" at stage "; -static const char __pyx_k_datetime[] = "datetime"; -static const char __pyx_k_filename[] = "filename"; -static const char __pyx_k_getstate[] = "__getstate__"; -static const char __pyx_k_itemsize[] = "itemsize"; -static const char __pyx_k_pyx_type[] = "__pyx_type"; -static const char __pyx_k_res_comp[] = "res_comp"; -static const char __pyx_k_res_ineq[] = "res_ineq"; -static const char __pyx_k_res_stat[] = "res_stat"; -static const char __pyx_k_setstate[] = "__setstate__"; -static const char __pyx_k_sqp_iter[] = "sqp_iter"; -static const char __pyx_k_strftime[] = "strftime"; -static const char __pyx_k_time_lin[] = "time_lin"; -static const char __pyx_k_time_reg[] = "time_reg"; -static const char __pyx_k_time_sim[] = "time_sim"; -static const char __pyx_k_time_tot[] = "time_tot"; -static const char __pyx_k_tol_comp[] = "tol_comp"; -static const char __pyx_k_tol_ineq[] = "tol_ineq"; -static const char __pyx_k_tol_stat[] = "tol_stat"; -static const char __pyx_k_you_have[] = " (you have "; -static const char __pyx_k_TypeError[] = "TypeError"; -static const char __pyx_k_alpha_min[] = "alpha_min"; -static const char __pyx_k_enumerate[] = "enumerate"; -static const char __pyx_k_for_field[] = " for field \""; -static const char __pyx_k_get_stats[] = "get_stats"; -static const char __pyx_k_overwrite[] = "overwrite"; -static const char __pyx_k_pyx_state[] = "__pyx_state"; -static const char __pyx_k_qp_tol_eq[] = "qp_tol_eq"; -static const char __pyx_k_recompute[] = "recompute"; -static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; -static const char __pyx_k_residuals[] = "residuals"; -static const char __pyx_k_rti_phase[] = "rti_phase"; -static const char __pyx_k_sort_keys[] = "sort_keys"; -static const char __pyx_k_time_glob[] = "time_glob"; -static const char __pyx_k_IndexError[] = "IndexError"; -static const char __pyx_k_ValueError[] = "ValueError"; -static const char __pyx_k_model_name[] = "model_name"; -static const char __pyx_k_pyx_result[] = "__pyx_result"; -static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; -static const char __pyx_k_qp_tau_min[] = "qp_tau_min"; -static const char __pyx_k_statistics[] = "statistics"; -static const char __pyx_k_xdot_guess[] = "xdot_guess"; -static const char __pyx_k_ImportError[] = "ImportError"; -static const char __pyx_k_MemoryError[] = "MemoryError"; -static const char __pyx_k_PickleError[] = "PickleError"; -static const char __pyx_k_print_level[] = "print_level"; -static const char __pyx_k_qp_tol_comp[] = "qp_tol_comp"; -static const char __pyx_k_qp_tol_ineq[] = "qp_tol_ineq"; -static const char __pyx_k_qp_tol_stat[] = "qp_tol_stat"; -static const char __pyx_k_step_length[] = "step_length"; -static const char __pyx_k_time_sim_ad[] = "time_sim_ad"; -static const char __pyx_k_time_sim_la[] = "time_sim_la"; -static const char __pyx_k_get_stat_int[] = "__get_stat_int"; -static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; -static const char __pyx_k_stringsource[] = "stringsource"; -static const char __pyx_k_Y_m_d_H_M_S_f[] = "%Y-%m-%d-%H:%M:%S.%f"; -static const char __pyx_k_get_residuals[] = "get_residuals"; -static const char __pyx_k_globalization[] = "globalization"; -static const char __pyx_k_pyx_getbuffer[] = "__pyx_getbuffer"; -static const char __pyx_k_qp_warm_start[] = "qp_warm_start"; -static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; -static const char __pyx_k_time_qp_xcond[] = "time_qp_xcond"; -static const char __pyx_k_asfortranarray[] = "asfortranarray"; -static const char __pyx_k_full_step_dual[] = "full_step_dual"; -static const char __pyx_k_with_dimension[] = " with dimension "; -static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; -static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; -static const char __pyx_k_alpha_reduction[] = "alpha_reduction"; -static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; -static const char __pyx_k_get_stat_double[] = "__get_stat_double"; -static const char __pyx_k_get_stat_matrix[] = "__get_stat_matrix"; -static const char __pyx_k_nlp_solver_type[] = "nlp_solver_type"; -static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; -static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; -static const char __pyx_k_ascontiguousarray[] = "ascontiguousarray"; -static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; -static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; -static const char __pyx_k_strided_and_direct[] = ""; -static const char __pyx_k_NotImplementedError[] = "NotImplementedError"; -static const char __pyx_k_get_pointers_solver[] = "__get_pointers_solver"; -static const char __pyx_k_initialize_t_slacks[] = "initialize_t_slacks"; -static const char __pyx_k_time_qp_solver_call[] = "time_qp_solver_call"; -static const char __pyx_k_warm_start_first_qp[] = "warm_start_first_qp"; -static const char __pyx_k_strided_and_indirect[] = ""; -static const char __pyx_k_AcadosOcpSolverCython[] = "AcadosOcpSolverCython"; -static const char __pyx_k_contiguous_and_direct[] = ""; -static const char __pyx_k_globalization_use_SOC[] = "globalization_use_SOC"; -static const char __pyx_k_MemoryView_of_r_object[] = ""; -static const char __pyx_k_eps_sufficient_descent[] = "eps_sufficient_descent"; -static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; -static const char __pyx_k_contiguous_and_indirect[] = ""; -static const char __pyx_k_with_dimension_you_have[] = "with dimension {} (you have {})"; -static const char __pyx_k_Cannot_index_with_type_s[] = "Cannot index with type '%s'"; -static const char __pyx_k_Invalid_shape_in_axis_d_d[] = "Invalid shape in axis %d: %d."; -static const char __pyx_k_stored_current_iterate_in[] = "stored current iterate in "; -static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; -static const char __pyx_k_store_iterate_locals_lambda[] = "store_iterate.."; -static const char __pyx_k_time_solution_sensitivities[] = "time_solution_sensitivities"; -static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; -static const char __pyx_k_strided_and_direct_or_indirect[] = ""; -static const char __pyx_k_AcadosOcpSolverCython_get_field[] = "AcadosOcpSolverCython.get(): field {} does not exist at final stage {}."; -static const char __pyx_k_AcadosOcpSolverCython_get_is_an[] = "AcadosOcpSolverCython.get(): {} is an invalid argument. \n Possible values are {}. Exiting."; -static const char __pyx_k_AcadosOcpSolverCython_get_stage[] = "AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}."; -static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; -static const char __pyx_k_AcadosOcpSolverCython_constraint[] = "AcadosOcpSolverCython.constraints_set(): mismatching dimension"; -static const char __pyx_k_AcadosOcpSolverCython_cost_set_m[] = "AcadosOcpSolverCython.cost_set(): mismatching dimension"; -static const char __pyx_k_AcadosOcpSolverCython_does_not_s[] = "AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature"; -static const char __pyx_k_AcadosOcpSolverCython_eval_param[] = "AcadosOcpSolverCython.eval_param_sens(): index must be Integer."; -static const char __pyx_k_AcadosOcpSolverCython_options_se[] = "AcadosOcpSolverCython.options_set() does not support field {}.\n Possible values are {}."; -static const char __pyx_k_AcadosOcpSolverCython_set_is_not[] = "AcadosOcpSolverCython.set(): {} is not a valid argument. \nPossible values are {}. Exiting."; -static const char __pyx_k_AcadosOcpSolverCython_set_mismat[] = "AcadosOcpSolverCython.set(): mismatching dimension for field \"{}\" "; -static const char __pyx_k_AcadosOcpSolverCython_solve_argu[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only values 0, 1, 2 for SQP-RTI-type solvers"; -static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; -static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; -static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; -static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; -static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; -static const char __pyx_k_Incompatible_checksums_s_vs_0xb0[] = "Incompatible checksums (%s vs 0xb068931 = (name))"; -static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; -static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got %s"; -static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis %d)"; -static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; -static const char __pyx_k_acados_template_acados_ocp_solve[] = "acados_template.acados_ocp_solver_pyx"; -static const char __pyx_k_alpha_values_are_not_available_f[] = "alpha values are not available for SQP_RTI"; -static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension %d (got %d and %d)"; -static const char __pyx_k_line_search_use_sufficient_desce[] = "line_search_use_sufficient_descent"; -static const char __pyx_k_load_iterate_failed_file_does_no[] = "load_iterate: failed, file does not exist: "; -static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; -static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; -static const char __pyx_k_solver_option_must_be_of_type_fl[] = "solver option {} must be of type float. You have {}."; -static const char __pyx_k_solver_option_must_be_of_type_in[] = "solver option {} must be of type int. You have {}."; -static const char __pyx_k_solver_option_must_be_of_type_st[] = "solver option {} must be of type str. You have {}."; -static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; -static const char __pyx_k_AcadosOcpSolverCython_does_not_s_2[] = "AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature"; -static const char __pyx_k_AcadosOcpSolverCython_eval_param_2[] = "AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: "; -static const char __pyx_k_AcadosOcpSolverCython_solve_argu_2[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only value 0 for SQP-type solvers"; -static PyObject *__pyx_n_s_ASCII; -static PyObject *__pyx_n_s_AcadosOcpSolverCython; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_constraint; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_cost_set_m; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param_2; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_field; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_is_an; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_stage; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_options_se; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_is_not; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_mismat; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu_2; -static PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; -static PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; -static PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; -static PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; -static PyObject *__pyx_kp_s_Cannot_index_with_type_s; -static PyObject *__pyx_n_s_Ellipsis; -static PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; -static PyObject *__pyx_n_u_F; -static PyObject *__pyx_n_s_ImportError; -static PyObject *__pyx_kp_s_Incompatible_checksums_s_vs_0xb0; -static PyObject *__pyx_n_s_IndexError; -static PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; -static PyObject *__pyx_kp_s_Invalid_mode_expected_c_or_fortr; -static PyObject *__pyx_kp_s_Invalid_shape_in_axis_d_d; -static PyObject *__pyx_n_s_MemoryError; -static PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; -static PyObject *__pyx_kp_s_MemoryView_of_r_object; -static PyObject *__pyx_n_s_N; -static PyObject *__pyx_kp_u_None; -static PyObject *__pyx_n_s_NotImplementedError; -static PyObject *__pyx_n_b_O; -static PyObject *__pyx_kp_s_Out_of_bounds_on_buffer_access_a; -static PyObject *__pyx_n_s_PickleError; -static PyObject *__pyx_n_u_SQP; -static PyObject *__pyx_n_u_SQP_RTI; -static PyObject *__pyx_kp_u_TODO; -static PyObject *__pyx_n_s_TypeError; -static PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; -static PyObject *__pyx_n_s_ValueError; -static PyObject *__pyx_n_s_View_MemoryView; -static PyObject *__pyx_kp_u_Y_m_d_H_M_S_f; -static PyObject *__pyx_kp_u__19; -static PyObject *__pyx_kp_u__22; -static PyObject *__pyx_kp_u__4; -static PyObject *__pyx_kp_u__5; -static PyObject *__pyx_n_u__6; -static PyObject *__pyx_n_s_acados_template_acados_ocp_solve; -static PyObject *__pyx_n_s_allocate_buffer; -static PyObject *__pyx_n_u_alpha; -static PyObject *__pyx_n_u_alpha_min; -static PyObject *__pyx_n_u_alpha_reduction; -static PyObject *__pyx_kp_u_alpha_values_are_not_available_f; -static PyObject *__pyx_n_s_array; -static PyObject *__pyx_n_s_ascontiguousarray; -static PyObject *__pyx_n_s_asfortranarray; -static PyObject *__pyx_kp_u_at_stage; -static PyObject *__pyx_n_s_base; -static PyObject *__pyx_n_s_c; -static PyObject *__pyx_n_u_c; -static PyObject *__pyx_n_s_class; -static PyObject *__pyx_n_s_cline_in_traceback; -static PyObject *__pyx_kp_s_contiguous_and_direct; -static PyObject *__pyx_kp_s_contiguous_and_indirect; -static PyObject *__pyx_n_s_datetime; -static PyObject *__pyx_n_s_default; -static PyObject *__pyx_n_s_dict; -static PyObject *__pyx_n_s_dtype; -static PyObject *__pyx_n_s_dtype_is_object; -static PyObject *__pyx_n_s_dump; -static PyObject *__pyx_n_s_encode; -static PyObject *__pyx_n_s_enter; -static PyObject *__pyx_n_s_enumerate; -static PyObject *__pyx_n_u_eps_sufficient_descent; -static PyObject *__pyx_n_s_error; -static PyObject *__pyx_n_u_ex; -static PyObject *__pyx_n_s_exit; -static PyObject *__pyx_n_s_field; -static PyObject *__pyx_n_s_field_2; -static PyObject *__pyx_n_s_filename; -static PyObject *__pyx_n_s_flags; -static PyObject *__pyx_n_s_float64; -static PyObject *__pyx_kp_u_for_field; -static PyObject *__pyx_n_s_format; -static PyObject *__pyx_n_s_fortran; -static PyObject *__pyx_n_u_fortran; -static PyObject *__pyx_n_u_full_step_dual; -static PyObject *__pyx_n_s_get; -static PyObject *__pyx_n_s_get_pointers_solver; -static PyObject *__pyx_n_s_get_residuals; -static PyObject *__pyx_n_s_get_stat_double; -static PyObject *__pyx_n_s_get_stat_int; -static PyObject *__pyx_n_s_get_stat_matrix; -static PyObject *__pyx_n_s_get_stats; -static PyObject *__pyx_n_s_getcwd; -static PyObject *__pyx_n_s_getstate; -static PyObject *__pyx_n_u_globalization; -static PyObject *__pyx_n_u_globalization_use_SOC; -static PyObject *__pyx_kp_s_got_differing_extents_in_dimensi; -static PyObject *__pyx_n_s_id; -static PyObject *__pyx_n_s_import; -static PyObject *__pyx_n_s_indent; -static PyObject *__pyx_n_s_index; -static PyObject *__pyx_n_u_initialize_t_slacks; -static PyObject *__pyx_n_s_isfile; -static PyObject *__pyx_n_s_itemsize; -static PyObject *__pyx_kp_s_itemsize_0_for_cython_array; -static PyObject *__pyx_n_u_iterate; -static PyObject *__pyx_n_s_join; -static PyObject *__pyx_n_s_json; -static PyObject *__pyx_kp_u_json_2; -static PyObject *__pyx_n_s_keys; -static PyObject *__pyx_n_u_lam; -static PyObject *__pyx_n_u_lam_2; -static PyObject *__pyx_n_u_lbu; -static PyObject *__pyx_n_u_lbx; -static PyObject *__pyx_n_u_line_search_use_sufficient_desce; -static PyObject *__pyx_n_s_load; -static PyObject *__pyx_kp_u_load_iterate_failed_file_does_no; -static PyObject *__pyx_n_s_m; -static PyObject *__pyx_n_s_main; -static PyObject *__pyx_n_s_memview; -static PyObject *__pyx_n_s_mode; -static PyObject *__pyx_n_s_model_name; -static PyObject *__pyx_n_s_n; -static PyObject *__pyx_n_s_name; -static PyObject *__pyx_n_s_name_2; -static PyObject *__pyx_n_s_ndim; -static PyObject *__pyx_n_s_new; -static PyObject *__pyx_n_s_nlp_solver_type; -static PyObject *__pyx_kp_s_no_default___reduce___due_to_non; -static PyObject *__pyx_n_s_np; -static PyObject *__pyx_n_s_numpy; -static PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; -static PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; -static PyObject *__pyx_n_s_obj; -static PyObject *__pyx_n_s_open; -static PyObject *__pyx_n_s_order; -static PyObject *__pyx_n_s_os; -static PyObject *__pyx_n_s_overwrite; -static PyObject *__pyx_n_u_p; -static PyObject *__pyx_n_s_pack; -static PyObject *__pyx_n_s_path; -static PyObject *__pyx_n_u_pi; -static PyObject *__pyx_n_u_pi_2; -static PyObject *__pyx_n_s_pickle; -static PyObject *__pyx_n_s_print; -static PyObject *__pyx_n_u_print_level; -static PyObject *__pyx_n_s_pyx_PickleError; -static PyObject *__pyx_n_s_pyx_checksum; -static PyObject *__pyx_n_s_pyx_getbuffer; -static PyObject *__pyx_n_s_pyx_result; -static PyObject *__pyx_n_s_pyx_state; -static PyObject *__pyx_n_s_pyx_type; -static PyObject *__pyx_n_s_pyx_unpickle_Enum; -static PyObject *__pyx_n_s_pyx_vtable; -static PyObject *__pyx_n_u_qp_iter; -static PyObject *__pyx_n_u_qp_mu0; -static PyObject *__pyx_n_u_qp_tau_min; -static PyObject *__pyx_n_u_qp_tol_comp; -static PyObject *__pyx_n_u_qp_tol_eq; -static PyObject *__pyx_n_u_qp_tol_ineq; -static PyObject *__pyx_n_u_qp_tol_stat; -static PyObject *__pyx_n_u_qp_warm_start; -static PyObject *__pyx_n_u_r; -static PyObject *__pyx_n_s_range; -static PyObject *__pyx_n_s_recompute; -static PyObject *__pyx_n_s_reduce; -static PyObject *__pyx_n_s_reduce_cython; -static PyObject *__pyx_n_s_reduce_ex; -static PyObject *__pyx_n_b_res_comp; -static PyObject *__pyx_n_b_res_eq; -static PyObject *__pyx_n_b_res_ineq; -static PyObject *__pyx_n_b_res_stat; -static PyObject *__pyx_n_u_residuals; -static PyObject *__pyx_n_u_rti_phase; -static PyObject *__pyx_n_s_set; -static PyObject *__pyx_n_s_setstate; -static PyObject *__pyx_n_s_setstate_cython; -static PyObject *__pyx_n_s_shape; -static PyObject *__pyx_n_s_size; -static PyObject *__pyx_n_u_sl; -static PyObject *__pyx_n_u_sl_2; -static PyObject *__pyx_kp_u_solver_option_must_be_of_type_fl; -static PyObject *__pyx_kp_u_solver_option_must_be_of_type_in; -static PyObject *__pyx_kp_u_solver_option_must_be_of_type_st; -static PyObject *__pyx_n_s_sort_keys; -static PyObject *__pyx_n_s_split; -static PyObject *__pyx_n_u_sqp_iter; -static PyObject *__pyx_n_s_stage; -static PyObject *__pyx_n_s_start; -static PyObject *__pyx_n_u_stat_m; -static PyObject *__pyx_n_u_stat_n; -static PyObject *__pyx_n_u_statistics; -static PyObject *__pyx_n_s_step; -static PyObject *__pyx_n_u_step_length; -static PyObject *__pyx_n_s_stop; -static PyObject *__pyx_n_s_store_iterate_locals_lambda; -static PyObject *__pyx_kp_u_stored_current_iterate_in; -static PyObject *__pyx_n_s_strftime; -static PyObject *__pyx_kp_s_strided_and_direct; -static PyObject *__pyx_kp_s_strided_and_direct_or_indirect; -static PyObject *__pyx_kp_s_strided_and_indirect; -static PyObject *__pyx_kp_s_stringsource; -static PyObject *__pyx_n_s_struct; -static PyObject *__pyx_n_u_su; -static PyObject *__pyx_n_u_su_2; -static PyObject *__pyx_n_u_t; -static PyObject *__pyx_n_u_t_2; -static PyObject *__pyx_n_s_test; -static PyObject *__pyx_n_u_time_glob; -static PyObject *__pyx_n_u_time_lin; -static PyObject *__pyx_n_u_time_qp; -static PyObject *__pyx_n_u_time_qp_solver_call; -static PyObject *__pyx_n_u_time_qp_xcond; -static PyObject *__pyx_n_u_time_reg; -static PyObject *__pyx_n_u_time_sim; -static PyObject *__pyx_n_u_time_sim_ad; -static PyObject *__pyx_n_u_time_sim_la; -static PyObject *__pyx_n_u_time_solution_sensitivities; -static PyObject *__pyx_n_u_time_tot; -static PyObject *__pyx_n_u_tol_comp; -static PyObject *__pyx_n_u_tol_eq; -static PyObject *__pyx_n_u_tol_ineq; -static PyObject *__pyx_n_u_tol_stat; -static PyObject *__pyx_n_s_tolist; -static PyObject *__pyx_n_u_u; -static PyObject *__pyx_n_u_u_2; -static PyObject *__pyx_n_u_ubu; -static PyObject *__pyx_n_u_ubx; -static PyObject *__pyx_kp_s_unable_to_allocate_array_data; -static PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; -static PyObject *__pyx_n_s_unpack; -static PyObject *__pyx_n_s_update; -static PyObject *__pyx_n_s_utcnow; -static PyObject *__pyx_kp_u_utf_8; -static PyObject *__pyx_n_s_value; -static PyObject *__pyx_n_u_w; -static PyObject *__pyx_n_u_warm_start_first_qp; -static PyObject *__pyx_kp_u_with_dimension; -static PyObject *__pyx_kp_u_with_dimension_you_have; -static PyObject *__pyx_n_b_x; -static PyObject *__pyx_n_u_x; -static PyObject *__pyx_n_u_x_2; -static PyObject *__pyx_n_u_xdot_guess; -static PyObject *__pyx_n_u_y_ref; -static PyObject *__pyx_kp_u_you_have; -static PyObject *__pyx_n_u_yref; -static PyObject *__pyx_n_u_z; -static PyObject *__pyx_n_u_z_2; -static PyObject *__pyx_n_u_z_guess; -static PyObject *__pyx_n_s_zeros; -static int __pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython___cinit__(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_model_name, PyObject *__pyx_v_nlp_solver_type, PyObject *__pyx_v_N); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_2__get_pointers_solver(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_4solve(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_6reset(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_8set_new_time_steps(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_new_time_steps); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_10update_qp_solver_cond_N(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_qp_solver_cond_N); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_12eval_param_sens(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_stage, PyObject *__pyx_v_field); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_14get(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_16print_statistics(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_lambda_funcdef_lambda(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_x); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_18store_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename, PyObject *__pyx_v_overwrite); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_20load_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_22get_stats(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_24__get_stat_int(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_26__get_stat_double(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_28__get_stat_matrix(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field, PyObject *__pyx_v_n, PyObject *__pyx_v_m); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_30get_cost(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_32get_residuals(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_recompute); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_34set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); 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} - __pyx_t_1 = ((__pyx_v_step < 0) != 0); - __pyx_t_2 = __pyx_t_1; - __pyx_L6_bool_binop_done:; - __pyx_v_negative_step = __pyx_t_2; - - /* "View.MemoryView":837 - * negative_step = have_step != 0 and step < 0 - * - * if have_step and step == 0: # <<<<<<<<<<<<<< - * _err_dim(ValueError, "Step may not be zero (axis %d)", dim) - * - */ - __pyx_t_1 = (__pyx_v_have_step != 0); - if (__pyx_t_1) { - } else { - __pyx_t_2 = __pyx_t_1; - goto __pyx_L9_bool_binop_done; - } - __pyx_t_1 = ((__pyx_v_step == 0) != 0); - __pyx_t_2 = __pyx_t_1; - __pyx_L9_bool_binop_done:; - if (__pyx_t_2) { - - /* "View.MemoryView":838 - * - * if have_step and step == 0: - * _err_dim(ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< - * - * - */ - __pyx_t_3 = __pyx_memoryview_err_dim(__pyx_builtin_ValueError, ((char *)"Step may not be zero (axis %d)"), __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 838, __pyx_L1_error) - - /* "View.MemoryView":837 - * negative_step = have_step != 0 and step < 0 - * - * if have_step and step == 0: # <<<<<<<<<<<<<< - * _err_dim(ValueError, "Step may not be zero (axis %d)", dim) - * - */ - } - - /* "View.MemoryView":841 - * - * - * if have_start: # <<<<<<<<<<<<<< - * if start < 0: - * start += shape - */ - __pyx_t_2 = (__pyx_v_have_start != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":842 - * - * if have_start: - * if start < 0: # <<<<<<<<<<<<<< - * start += shape - * if start < 0: - */ - __pyx_t_2 = ((__pyx_v_start < 0) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":843 - * if have_start: - * if start < 0: - * start += shape # <<<<<<<<<<<<<< - * if start < 0: - * start = 0 - */ - __pyx_v_start = (__pyx_v_start + __pyx_v_shape); - - /* "View.MemoryView":844 - * if start < 0: - * start += shape - * if start < 0: # <<<<<<<<<<<<<< - * start = 0 - * elif start >= shape: - */ - __pyx_t_2 = ((__pyx_v_start < 0) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":845 - * start += shape - * if start < 0: - * start = 0 # <<<<<<<<<<<<<< - * elif start >= shape: - * if negative_step: - */ - __pyx_v_start = 0; - - /* "View.MemoryView":844 - * if start < 0: - * start += shape - * if start < 0: # <<<<<<<<<<<<<< - * start = 0 - * elif start >= shape: - */ - } - - /* "View.MemoryView":842 - * - * if have_start: - * if start < 0: # <<<<<<<<<<<<<< - * start += shape - * if start < 0: - */ - goto __pyx_L12; - } - - /* "View.MemoryView":846 - * if start < 0: - * start = 0 - * elif start >= shape: # <<<<<<<<<<<<<< - * if negative_step: - * start = shape - 1 - */ - __pyx_t_2 = ((__pyx_v_start >= __pyx_v_shape) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":847 - * start = 0 - * elif start >= shape: - * if negative_step: # <<<<<<<<<<<<<< - * start = shape - 1 - * else: - */ - __pyx_t_2 = (__pyx_v_negative_step != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":848 - * elif start >= shape: - * if negative_step: - * start = shape - 1 # <<<<<<<<<<<<<< - * else: - * start = shape - */ - __pyx_v_start = (__pyx_v_shape - 1); - - /* "View.MemoryView":847 - * start = 0 - * elif start >= shape: - * if negative_step: # <<<<<<<<<<<<<< - * start = shape - 1 - * else: - */ - goto __pyx_L14; - } - - /* "View.MemoryView":850 - * start = shape - 1 - * else: - * start = shape # <<<<<<<<<<<<<< - * else: - * if negative_step: - */ - /*else*/ { - __pyx_v_start = __pyx_v_shape; - } - __pyx_L14:; - - /* "View.MemoryView":846 - * if start < 0: - * start = 0 - * elif start >= shape: # <<<<<<<<<<<<<< - * if negative_step: - * start = shape - 1 - */ - } - __pyx_L12:; - - /* "View.MemoryView":841 - * - * - * if have_start: # <<<<<<<<<<<<<< - * if start < 0: - * start += shape - */ - goto __pyx_L11; - } - - /* "View.MemoryView":852 - * start = shape - * else: - * if negative_step: # <<<<<<<<<<<<<< - * start = shape - 1 - * else: - */ - /*else*/ { - __pyx_t_2 = (__pyx_v_negative_step != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":853 - * else: - * if negative_step: - * start = shape - 1 # <<<<<<<<<<<<<< - * else: - * start = 0 - */ - __pyx_v_start = (__pyx_v_shape - 1); - 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* elif stop > shape: - */ - __pyx_t_2 = ((__pyx_v_stop < 0) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":861 - * stop += shape - * if stop < 0: - * stop = 0 # <<<<<<<<<<<<<< - * elif stop > shape: - * stop = shape - */ - __pyx_v_stop = 0; - - /* "View.MemoryView":860 - * if stop < 0: - * stop += shape - * if stop < 0: # <<<<<<<<<<<<<< - * stop = 0 - * elif stop > shape: - */ - } - - /* "View.MemoryView":858 - * - * if have_stop: - * if stop < 0: # <<<<<<<<<<<<<< - * stop += shape - * if stop < 0: - */ - goto __pyx_L17; - } - - /* "View.MemoryView":862 - * if stop < 0: - * stop = 0 - * elif stop > shape: # <<<<<<<<<<<<<< - * stop = shape - * else: - */ - __pyx_t_2 = ((__pyx_v_stop > __pyx_v_shape) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":863 - * stop = 0 - * elif stop > shape: - * stop = shape # <<<<<<<<<<<<<< - * else: - * if negative_step: - */ - __pyx_v_stop = __pyx_v_shape; - - /* "View.MemoryView":862 - * if stop < 0: - * stop = 0 - * elif stop > shape: # <<<<<<<<<<<<<< - 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int __pyx_t_3; - int __pyx_t_4; - - /* "View.MemoryView":1121 - * """ - * cdef int i - * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< - * cdef Py_ssize_t f_stride = 0 - * - */ - __pyx_v_c_stride = 0; - - /* "View.MemoryView":1122 - * cdef int i - * cdef Py_ssize_t c_stride = 0 - * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< - * - * for i in range(ndim - 1, -1, -1): - */ - __pyx_v_f_stride = 0; - - /* "View.MemoryView":1124 - * cdef Py_ssize_t f_stride = 0 - * - * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< - * if mslice.shape[i] > 1: - * c_stride = mslice.strides[i] - */ - for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { - __pyx_v_i = __pyx_t_1; - - /* "View.MemoryView":1125 - * - * for i in range(ndim - 1, -1, -1): - * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< - * c_stride = mslice.strides[i] - * break - */ - __pyx_t_2 = (((__pyx_v_mslice->shape[__pyx_v_i]) > 1) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1126 - * for i in range(ndim - 1, -1, -1): - * if mslice.shape[i] > 1: - * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< - * break - * - */ - __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); - - /* "View.MemoryView":1127 - * if mslice.shape[i] > 1: - * c_stride = mslice.strides[i] - * break # <<<<<<<<<<<<<< - * - * for i in range(ndim): - */ - goto __pyx_L4_break; - - /* "View.MemoryView":1125 - * - * for i in range(ndim - 1, -1, -1): - * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< - * c_stride = mslice.strides[i] - * break - */ - } - } - __pyx_L4_break:; - - /* "View.MemoryView":1129 - * break - * - * for i in range(ndim): # <<<<<<<<<<<<<< - * if mslice.shape[i] > 1: - * f_stride = mslice.strides[i] - */ - __pyx_t_1 = __pyx_v_ndim; - __pyx_t_3 = __pyx_t_1; - for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { - __pyx_v_i = __pyx_t_4; - - /* "View.MemoryView":1130 - * - * for i in range(ndim): - * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< - * f_stride = mslice.strides[i] - * break - */ - __pyx_t_2 = (((__pyx_v_mslice->shape[__pyx_v_i]) > 1) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1131 - * for i in range(ndim): - * if mslice.shape[i] > 1: - * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< - * break - * - */ - __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); - - /* "View.MemoryView":1132 - * if mslice.shape[i] > 1: - * f_stride = mslice.strides[i] - * break # <<<<<<<<<<<<<< - * - * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): - */ - goto __pyx_L7_break; - - /* "View.MemoryView":1130 - * - * for i in range(ndim): - * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< - * f_stride = mslice.strides[i] - * break - */ - } - } - __pyx_L7_break:; - - /* "View.MemoryView":1134 - * break - * - * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< - * return 'C' - * else: - */ - __pyx_t_2 = ((abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1135 - * - * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): - * return 'C' # <<<<<<<<<<<<<< - * else: - * return 'F' - */ - __pyx_r = 'C'; - goto __pyx_L0; - - /* "View.MemoryView":1134 - * break - * - * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< - * return 'C' - * else: - */ - } - - /* "View.MemoryView":1137 - * return 'C' - * else: - * return 'F' # <<<<<<<<<<<<<< - * - * @cython.cdivision(True) - */ - /*else*/ { - __pyx_r = 'F'; - goto __pyx_L0; - } - - /* "View.MemoryView":1116 - * - * @cname('__pyx_get_best_slice_order') - * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) nogil: # <<<<<<<<<<<<<< - * """ - * Figure out the best memory access order for a given slice. - */ - - /* function exit code */ - __pyx_L0:; - return __pyx_r; -} - -/* "View.MemoryView":1140 - * - * @cython.cdivision(True) - * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< - * char *dst_data, Py_ssize_t *dst_strides, - * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, - */ - -static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { - CYTHON_UNUSED Py_ssize_t __pyx_v_i; - CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; - Py_ssize_t __pyx_v_dst_extent; - Py_ssize_t __pyx_v_src_stride; - Py_ssize_t __pyx_v_dst_stride; - int __pyx_t_1; - int __pyx_t_2; - int __pyx_t_3; - Py_ssize_t __pyx_t_4; - Py_ssize_t __pyx_t_5; - Py_ssize_t __pyx_t_6; - - /* "View.MemoryView":1147 - * - * cdef Py_ssize_t i - * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< - * cdef Py_ssize_t dst_extent = dst_shape[0] - * cdef Py_ssize_t src_stride = src_strides[0] - */ - __pyx_v_src_extent = (__pyx_v_src_shape[0]); - - /* "View.MemoryView":1148 - * cdef Py_ssize_t i - * cdef Py_ssize_t src_extent = src_shape[0] - * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< - * cdef Py_ssize_t src_stride = src_strides[0] - * cdef Py_ssize_t dst_stride = dst_strides[0] - */ - __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); - - /* "View.MemoryView":1149 - * cdef Py_ssize_t src_extent = src_shape[0] - * cdef Py_ssize_t dst_extent = dst_shape[0] - * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< - * cdef Py_ssize_t dst_stride = dst_strides[0] - * - */ - __pyx_v_src_stride = (__pyx_v_src_strides[0]); - - /* "View.MemoryView":1150 - * cdef Py_ssize_t dst_extent = dst_shape[0] - * cdef Py_ssize_t src_stride = src_strides[0] - * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< - * - * if ndim == 1: - */ - __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); - - /* "View.MemoryView":1152 - * cdef Py_ssize_t dst_stride = dst_strides[0] - * - * if ndim == 1: # <<<<<<<<<<<<<< - * if (src_stride > 0 and dst_stride > 0 and - * src_stride == itemsize == dst_stride): - */ - __pyx_t_1 = ((__pyx_v_ndim == 1) != 0); - if (__pyx_t_1) { - - /* "View.MemoryView":1153 - * - * if ndim == 1: - * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< - * src_stride == itemsize == dst_stride): - * memcpy(dst_data, src_data, itemsize * dst_extent) - */ - __pyx_t_2 = ((__pyx_v_src_stride > 0) != 0); - if (__pyx_t_2) { - } else { - __pyx_t_1 = __pyx_t_2; - goto __pyx_L5_bool_binop_done; - } - __pyx_t_2 = ((__pyx_v_dst_stride > 0) != 0); - if (__pyx_t_2) { - } else { - __pyx_t_1 = __pyx_t_2; - goto __pyx_L5_bool_binop_done; - } - - /* "View.MemoryView":1154 - * if ndim == 1: - * if (src_stride > 0 and dst_stride > 0 and - * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< - * memcpy(dst_data, src_data, itemsize * dst_extent) - * else: - */ - __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); - if (__pyx_t_2) { - __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); - } - __pyx_t_3 = (__pyx_t_2 != 0); - __pyx_t_1 = __pyx_t_3; - __pyx_L5_bool_binop_done:; - - /* "View.MemoryView":1153 - * - * if ndim == 1: - * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< - * src_stride == itemsize == dst_stride): - * memcpy(dst_data, src_data, itemsize * dst_extent) - */ - if (__pyx_t_1) { - - /* "View.MemoryView":1155 - * if (src_stride > 0 and dst_stride > 0 and - * src_stride == itemsize == dst_stride): - 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*/ - (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); - - /* "View.MemoryView":1159 - * for i in range(dst_extent): - * memcpy(dst_data, src_data, itemsize) - * src_data += src_stride # <<<<<<<<<<<<<< - * dst_data += dst_stride - * else: - */ - __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); - - /* "View.MemoryView":1160 - * memcpy(dst_data, src_data, itemsize) - * src_data += src_stride - * dst_data += dst_stride # <<<<<<<<<<<<<< - * else: - * for i in range(dst_extent): - */ - __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); - } - } - __pyx_L4:; - - /* "View.MemoryView":1152 - * cdef Py_ssize_t dst_stride = dst_strides[0] - * - * if ndim == 1: # <<<<<<<<<<<<<< - * if (src_stride > 0 and dst_stride > 0 and - * src_stride == itemsize == dst_stride): - */ - goto __pyx_L3; - } - - /* "View.MemoryView":1162 - * dst_data += dst_stride - * else: - * for i in range(dst_extent): # <<<<<<<<<<<<<< - * _copy_strided_to_strided(src_data, src_strides + 1, - * dst_data, dst_strides + 1, - */ - /*else*/ { - __pyx_t_4 = __pyx_v_dst_extent; - __pyx_t_5 = __pyx_t_4; - for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { - __pyx_v_i = __pyx_t_6; - - /* "View.MemoryView":1163 - * else: - * for i in range(dst_extent): - * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< - * dst_data, dst_strides + 1, - * src_shape + 1, dst_shape + 1, - */ - _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); - - /* "View.MemoryView":1167 - * src_shape + 1, dst_shape + 1, - * ndim - 1, itemsize) - * src_data += src_stride # <<<<<<<<<<<<<< - * dst_data += dst_stride - * - */ - __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); - - /* "View.MemoryView":1168 - * ndim - 1, itemsize) - * src_data += src_stride - * dst_data += dst_stride # <<<<<<<<<<<<<< - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, - */ - __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); - } - } - __pyx_L3:; - - /* "View.MemoryView":1140 - * - * @cython.cdivision(True) - * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< - * char *dst_data, Py_ssize_t *dst_strides, - * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, - */ - - /* function exit code */ -} - -/* "View.MemoryView":1170 - * dst_data += dst_stride - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< - * __Pyx_memviewslice *dst, - * int ndim, size_t itemsize) nogil: - */ - -static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { - - /* "View.MemoryView":1173 - * __Pyx_memviewslice *dst, - * int ndim, size_t itemsize) nogil: - * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< - * src.shape, dst.shape, ndim, itemsize) - * - */ - _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); - - /* "View.MemoryView":1170 - * dst_data += dst_stride - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< - * __Pyx_memviewslice *dst, - * int ndim, size_t itemsize) nogil: - */ - - /* function exit code */ -} - -/* "View.MemoryView":1177 - * - * @cname('__pyx_memoryview_slice_get_size') - * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: # <<<<<<<<<<<<<< - * "Return the size of the memory occupied by the slice in number of bytes" - * cdef Py_ssize_t shape, size = src.memview.view.itemsize - */ - -static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { - Py_ssize_t __pyx_v_shape; - Py_ssize_t __pyx_v_size; - Py_ssize_t __pyx_r; - Py_ssize_t __pyx_t_1; - Py_ssize_t *__pyx_t_2; - Py_ssize_t *__pyx_t_3; - Py_ssize_t *__pyx_t_4; - - /* "View.MemoryView":1179 - * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: - * "Return the size of the memory occupied by the slice in number of bytes" - 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- if (unlikely(!result)) { - PyErr_Format(PyExc_NameError, -#if PY_MAJOR_VERSION >= 3 - "name '%U' is not defined", name); -#else - "name '%.200s' is not defined", PyString_AS_STRING(name)); -#endif - } - return result; -} - -/* RaiseArgTupleInvalid */ -static void __Pyx_RaiseArgtupleInvalid( - const char* func_name, - int exact, - Py_ssize_t num_min, - Py_ssize_t num_max, - Py_ssize_t num_found) -{ - Py_ssize_t num_expected; - const char *more_or_less; - if (num_found < num_min) { - num_expected = num_min; - more_or_less = "at least"; - } else { - num_expected = num_max; - more_or_less = "at most"; - } - if (exact) { - more_or_less = "exactly"; - } - PyErr_Format(PyExc_TypeError, - "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", - func_name, more_or_less, num_expected, - (num_expected == 1) ? "" : "s", num_found); -} - -/* RaiseDoubleKeywords */ -static void __Pyx_RaiseDoubleKeywordsError( - const char* func_name, - PyObject* kw_name) -{ - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION >= 3 - "%s() got multiple values for keyword argument '%U'", func_name, kw_name); - #else - "%s() got multiple values for keyword argument '%s'", func_name, - PyString_AsString(kw_name)); - #endif -} - -/* ParseKeywords */ -static int __Pyx_ParseOptionalKeywords( - PyObject *kwds, - PyObject **argnames[], - PyObject *kwds2, - PyObject *values[], - Py_ssize_t num_pos_args, - const char* function_name) -{ - PyObject *key = 0, *value = 0; - Py_ssize_t pos = 0; - PyObject*** name; - PyObject*** first_kw_arg = argnames + num_pos_args; - while (PyDict_Next(kwds, &pos, &key, &value)) { - name = first_kw_arg; - while (*name && (**name != key)) name++; - if (*name) { - values[name-argnames] = value; - continue; - } - name = first_kw_arg; - #if PY_MAJOR_VERSION < 3 - if (likely(PyString_Check(key))) { - while (*name) { - if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) - && _PyString_Eq(**name, key)) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - if ((**argname == key) || ( - (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) - && _PyString_Eq(**argname, key))) { - goto arg_passed_twice; - } - argname++; - } - } - } else - #endif - if (likely(PyUnicode_Check(key))) { - while (*name) { - int cmp = (**name == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**name, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - int cmp = (**argname == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**argname, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) goto arg_passed_twice; - argname++; - } - } - } else - goto invalid_keyword_type; - if (kwds2) { - if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; - } else { - goto invalid_keyword; - } - } - return 0; -arg_passed_twice: - __Pyx_RaiseDoubleKeywordsError(function_name, key); - goto bad; -invalid_keyword_type: - PyErr_Format(PyExc_TypeError, - "%.200s() keywords must be strings", function_name); - goto bad; -invalid_keyword: - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION < 3 - "%.200s() got an unexpected keyword argument '%.200s'", - function_name, PyString_AsString(key)); - #else - "%s() got an unexpected keyword argument '%U'", - function_name, key); - #endif -bad: - return -1; -} - -/* PyFunctionFastCall */ -#if CYTHON_FAST_PYCALL -static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, - PyObject *globals) { - PyFrameObject *f; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject **fastlocals; - Py_ssize_t i; - PyObject *result; - assert(globals != NULL); - /* XXX Perhaps we should create a specialized - PyFrame_New() that doesn't take locals, but does - take builtins without sanity checking them. - */ - assert(tstate != NULL); - f = PyFrame_New(tstate, co, globals, NULL); - if (f == NULL) { - return NULL; - } - fastlocals = __Pyx_PyFrame_GetLocalsplus(f); - for (i = 0; i < na; i++) { - Py_INCREF(*args); - fastlocals[i] = *args++; - } - result = PyEval_EvalFrameEx(f,0); - ++tstate->recursion_depth; - Py_DECREF(f); - --tstate->recursion_depth; - return result; -} -#if 1 || PY_VERSION_HEX < 0x030600B1 -static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { - PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); - PyObject *globals = PyFunction_GET_GLOBALS(func); - PyObject *argdefs = PyFunction_GET_DEFAULTS(func); - PyObject *closure; -#if PY_MAJOR_VERSION >= 3 - PyObject *kwdefs; -#endif - PyObject *kwtuple, **k; - PyObject **d; - Py_ssize_t nd; - Py_ssize_t nk; - PyObject *result; - assert(kwargs == NULL || PyDict_Check(kwargs)); - nk = kwargs ? PyDict_Size(kwargs) : 0; - if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { - return NULL; - } - if ( -#if PY_MAJOR_VERSION >= 3 - co->co_kwonlyargcount == 0 && -#endif - likely(kwargs == NULL || nk == 0) && - co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { - if (argdefs == NULL && co->co_argcount == nargs) { - result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); - goto done; - } - else if (nargs == 0 && argdefs != NULL - && co->co_argcount == Py_SIZE(argdefs)) { - /* function called with no arguments, but all parameters have - a default value: use default values as arguments .*/ - args = &PyTuple_GET_ITEM(argdefs, 0); - result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); - goto done; - } - } - if (kwargs != NULL) { - Py_ssize_t pos, i; - kwtuple = PyTuple_New(2 * nk); - if (kwtuple == NULL) { - result = NULL; - goto done; - } - k = &PyTuple_GET_ITEM(kwtuple, 0); - pos = i = 0; - while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { - Py_INCREF(k[i]); - Py_INCREF(k[i+1]); - i += 2; - } - nk = i / 2; - } - else { - kwtuple = NULL; - k = NULL; - } - closure = PyFunction_GET_CLOSURE(func); -#if PY_MAJOR_VERSION >= 3 - kwdefs = PyFunction_GET_KW_DEFAULTS(func); -#endif - if (argdefs != NULL) { - d = &PyTuple_GET_ITEM(argdefs, 0); - nd = Py_SIZE(argdefs); - } - else { - d = NULL; - nd = 0; - } -#if PY_MAJOR_VERSION >= 3 - result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, kwdefs, closure); -#else - result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, closure); -#endif - Py_XDECREF(kwtuple); -done: - Py_LeaveRecursiveCall(); - return result; -} -#endif -#endif - -/* PyObjectCall */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { - PyObject *result; - ternaryfunc call = Py_TYPE(func)->tp_call; - if (unlikely(!call)) - return PyObject_Call(func, arg, kw); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = (*call)(func, arg, kw); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallMethO */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { - PyObject *self, *result; - PyCFunction cfunc; - cfunc = PyCFunction_GET_FUNCTION(func); - self = PyCFunction_GET_SELF(func); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = cfunc(self, arg); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallNoArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, NULL, 0); - } -#endif -#ifdef __Pyx_CyFunction_USED - if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) -#else - if (likely(PyCFunction_Check(func))) -#endif - { - if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { - return __Pyx_PyObject_CallMethO(func, NULL); - } - } - return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); -} -#endif - -/* PyCFunctionFastCall */ -#if CYTHON_FAST_PYCCALL -static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { - PyCFunctionObject *func = (PyCFunctionObject*)func_obj; - PyCFunction meth = PyCFunction_GET_FUNCTION(func); - PyObject *self = PyCFunction_GET_SELF(func); - int flags = PyCFunction_GET_FLAGS(func); - assert(PyCFunction_Check(func)); - assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); - assert(nargs >= 0); - assert(nargs == 0 || args != NULL); - /* _PyCFunction_FastCallDict() must not be called with an exception set, - because it may clear it (directly or indirectly) and so the - caller loses its exception */ - assert(!PyErr_Occurred()); - if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { - return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); - } else { - return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); - } -} -#endif - -/* PyObjectCallOneArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_New(1); - if (unlikely(!args)) return NULL; - Py_INCREF(arg); - PyTuple_SET_ITEM(args, 0, arg); - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, &arg, 1); - } -#endif - if (likely(PyCFunction_Check(func))) { - if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { - return __Pyx_PyObject_CallMethO(func, arg); -#if CYTHON_FAST_PYCCALL - } else if (__Pyx_PyFastCFunction_Check(func)) { - return __Pyx_PyCFunction_FastCall(func, &arg, 1); -#endif - } - } - return __Pyx__PyObject_CallOneArg(func, arg); -} -#else -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_Pack(1, arg); - if (unlikely(!args)) return NULL; - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -#endif - -/* PyErrFetchRestore */ -#if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - tmp_type = tstate->curexc_type; - tmp_value = tstate->curexc_value; - tmp_tb = tstate->curexc_traceback; - tstate->curexc_type = type; - tstate->curexc_value = value; - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - *type = tstate->curexc_type; - *value = tstate->curexc_value; - *tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -} -#endif - -/* RaiseException */ -#if PY_MAJOR_VERSION < 3 -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, - CYTHON_UNUSED PyObject *cause) { - __Pyx_PyThreadState_declare - Py_XINCREF(type); - if (!value || value == Py_None) - value = NULL; - else - Py_INCREF(value); - if (!tb || tb == Py_None) - tb = NULL; - else { - Py_INCREF(tb); - if (!PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto raise_error; - } - } - if (PyType_Check(type)) { -#if CYTHON_COMPILING_IN_PYPY - if (!value) { - Py_INCREF(Py_None); - value = Py_None; - } -#endif - PyErr_NormalizeException(&type, &value, &tb); - } else { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto raise_error; - } - value = type; - type = (PyObject*) Py_TYPE(type); - Py_INCREF(type); - if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto raise_error; - } - } - __Pyx_PyThreadState_assign - __Pyx_ErrRestore(type, value, tb); - return; -raise_error: - Py_XDECREF(value); - Py_XDECREF(type); - Py_XDECREF(tb); - return; -} -#else -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { - PyObject* owned_instance = NULL; - if (tb == Py_None) { - tb = 0; - } else if (tb && !PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto bad; - } - if (value == Py_None) - value = 0; - if (PyExceptionInstance_Check(type)) { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto bad; - } - value = type; - type = (PyObject*) Py_TYPE(value); - } else if (PyExceptionClass_Check(type)) { - PyObject *instance_class = NULL; - if (value && PyExceptionInstance_Check(value)) { - instance_class = (PyObject*) Py_TYPE(value); - if (instance_class != type) { - int is_subclass = PyObject_IsSubclass(instance_class, type); - if (!is_subclass) { - instance_class = NULL; - } else if (unlikely(is_subclass == -1)) { - goto bad; - } else { - type = instance_class; - } - } - } - if (!instance_class) { - PyObject *args; - if (!value) - args = PyTuple_New(0); - else if (PyTuple_Check(value)) { - Py_INCREF(value); - args = value; - } else - args = PyTuple_Pack(1, value); - if (!args) - goto bad; - owned_instance = PyObject_Call(type, args, NULL); - Py_DECREF(args); - if (!owned_instance) - goto bad; - value = owned_instance; - if (!PyExceptionInstance_Check(value)) { - PyErr_Format(PyExc_TypeError, - "calling %R should have returned an instance of " - "BaseException, not %R", - type, Py_TYPE(value)); - goto bad; - } - } - } else { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto bad; - } - if (cause) { - PyObject *fixed_cause; - if (cause == Py_None) { - fixed_cause = NULL; - } else if (PyExceptionClass_Check(cause)) { - fixed_cause = PyObject_CallObject(cause, NULL); - if (fixed_cause == NULL) - goto bad; - } else if (PyExceptionInstance_Check(cause)) { - fixed_cause = cause; - Py_INCREF(fixed_cause); - } else { - PyErr_SetString(PyExc_TypeError, - "exception causes must derive from " - "BaseException"); - goto bad; - } - PyException_SetCause(value, fixed_cause); - } - PyErr_SetObject(type, value); - if (tb) { -#if CYTHON_COMPILING_IN_PYPY - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); - Py_INCREF(tb); - PyErr_Restore(tmp_type, tmp_value, tb); - Py_XDECREF(tmp_tb); -#else - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* tmp_tb = tstate->curexc_traceback; - if (tb != tmp_tb) { - Py_INCREF(tb); - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_tb); - } -#endif - } -bad: - Py_XDECREF(owned_instance); - return; -} -#endif - -/* PyObjectCall2Args */ -static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { - PyObject *args, *result = NULL; - #if CYTHON_FAST_PYCALL - if (PyFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyFunction_FastCall(function, args, 2); - } - #endif - #if CYTHON_FAST_PYCCALL - if (__Pyx_PyFastCFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyCFunction_FastCall(function, args, 2); - } - #endif - args = PyTuple_New(2); - if (unlikely(!args)) goto done; - Py_INCREF(arg1); - PyTuple_SET_ITEM(args, 0, arg1); - Py_INCREF(arg2); - PyTuple_SET_ITEM(args, 1, arg2); - Py_INCREF(function); - result = __Pyx_PyObject_Call(function, args, NULL); - Py_DECREF(args); - Py_DECREF(function); -done: - return result; -} - -/* JoinPyUnicode */ -static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, - CYTHON_UNUSED Py_UCS4 max_char) { -#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - PyObject *result_uval; - int result_ukind; - Py_ssize_t i, char_pos; - void *result_udata; -#if CYTHON_PEP393_ENABLED - result_uval = PyUnicode_New(result_ulength, max_char); - if (unlikely(!result_uval)) return NULL; - result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; - result_udata = PyUnicode_DATA(result_uval); -#else - result_uval = PyUnicode_FromUnicode(NULL, result_ulength); - if (unlikely(!result_uval)) return NULL; - result_ukind = sizeof(Py_UNICODE); - result_udata = PyUnicode_AS_UNICODE(result_uval); -#endif - char_pos = 0; - for (i=0; i < value_count; i++) { - int ukind; - Py_ssize_t ulength; - void *udata; - PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); - if (unlikely(__Pyx_PyUnicode_READY(uval))) - goto bad; - ulength = __Pyx_PyUnicode_GET_LENGTH(uval); - if (unlikely(!ulength)) - continue; - if (unlikely(char_pos + ulength < 0)) - goto overflow; - ukind = __Pyx_PyUnicode_KIND(uval); - udata = __Pyx_PyUnicode_DATA(uval); - if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { - memcpy((char *)result_udata + char_pos * result_ukind, udata, (size_t) (ulength * result_ukind)); - } else { - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) - _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); - #else - Py_ssize_t j; - for (j=0; j < ulength; j++) { - Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); - __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); - } - #endif - } - char_pos += ulength; - } - return result_uval; -overflow: - PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); -bad: - Py_DECREF(result_uval); - return NULL; -#else - result_ulength++; - value_count++; - return PyUnicode_Join(__pyx_empty_unicode, value_tuple); -#endif -} - -/* ArgTypeTest */ -static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) -{ - if (unlikely(!type)) { - PyErr_SetString(PyExc_SystemError, "Missing type object"); - return 0; - } - else if (exact) { - #if PY_MAJOR_VERSION == 2 - if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; - #endif - } - else { - if (likely(__Pyx_TypeCheck(obj, type))) return 1; - } - PyErr_Format(PyExc_TypeError, - "Argument '%.200s' has incorrect type (expected %.200s, got %.200s)", - name, type->tp_name, Py_TYPE(obj)->tp_name); - return 0; -} - -/* BytesEquals */ -static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { -#if CYTHON_COMPILING_IN_PYPY - return PyObject_RichCompareBool(s1, s2, equals); -#else - if (s1 == s2) { - return (equals == Py_EQ); - } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { - const char *ps1, *ps2; - Py_ssize_t length = PyBytes_GET_SIZE(s1); - if (length != PyBytes_GET_SIZE(s2)) - return (equals == Py_NE); - ps1 = PyBytes_AS_STRING(s1); - ps2 = PyBytes_AS_STRING(s2); - if (ps1[0] != ps2[0]) { - return (equals == Py_NE); - } else if (length == 1) { - return (equals == Py_EQ); - } else { - int result; -#if CYTHON_USE_UNICODE_INTERNALS - Py_hash_t hash1, hash2; - hash1 = ((PyBytesObject*)s1)->ob_shash; - hash2 = ((PyBytesObject*)s2)->ob_shash; - if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { - return (equals == Py_NE); - } -#endif - result = memcmp(ps1, ps2, (size_t)length); - return (equals == Py_EQ) ? (result == 0) : (result != 0); - } - } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { - return (equals == Py_NE); - } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { - return (equals == Py_NE); - } else { - int result; - PyObject* py_result = PyObject_RichCompare(s1, s2, equals); - if (!py_result) - return -1; - result = __Pyx_PyObject_IsTrue(py_result); - Py_DECREF(py_result); - return result; - } -#endif -} - -/* UnicodeEquals */ -static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { -#if CYTHON_COMPILING_IN_PYPY - return PyObject_RichCompareBool(s1, s2, equals); -#else -#if PY_MAJOR_VERSION < 3 - PyObject* owned_ref = NULL; -#endif - int s1_is_unicode, s2_is_unicode; - if (s1 == s2) { - goto return_eq; - } - s1_is_unicode = PyUnicode_CheckExact(s1); - s2_is_unicode = PyUnicode_CheckExact(s2); -#if PY_MAJOR_VERSION < 3 - if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { - owned_ref = PyUnicode_FromObject(s2); - if (unlikely(!owned_ref)) - return -1; - s2 = owned_ref; - s2_is_unicode = 1; - } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { - owned_ref = PyUnicode_FromObject(s1); - if (unlikely(!owned_ref)) - return -1; - s1 = owned_ref; - s1_is_unicode = 1; - } else if (((!s2_is_unicode) & (!s1_is_unicode))) { - return __Pyx_PyBytes_Equals(s1, s2, equals); - } -#endif - if (s1_is_unicode & s2_is_unicode) { - Py_ssize_t length; - int kind; - void *data1, *data2; - if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) - return -1; - length = __Pyx_PyUnicode_GET_LENGTH(s1); - if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { - goto return_ne; - } -#if CYTHON_USE_UNICODE_INTERNALS - { - Py_hash_t hash1, hash2; - #if CYTHON_PEP393_ENABLED - hash1 = ((PyASCIIObject*)s1)->hash; - hash2 = ((PyASCIIObject*)s2)->hash; - #else - hash1 = ((PyUnicodeObject*)s1)->hash; - hash2 = ((PyUnicodeObject*)s2)->hash; - #endif - if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { - goto return_ne; - } - } -#endif - kind = __Pyx_PyUnicode_KIND(s1); - if (kind != __Pyx_PyUnicode_KIND(s2)) { - goto return_ne; - } - data1 = __Pyx_PyUnicode_DATA(s1); - data2 = __Pyx_PyUnicode_DATA(s2); - if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { - goto return_ne; - } else if (length == 1) { - goto return_eq; - } else { - int result = memcmp(data1, data2, (size_t)(length * kind)); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_EQ) ? (result == 0) : (result != 0); - } - } else if ((s1 == Py_None) & s2_is_unicode) { - goto return_ne; - } else if ((s2 == Py_None) & s1_is_unicode) { - goto return_ne; - } else { - int result; - PyObject* py_result = PyObject_RichCompare(s1, s2, equals); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - if (!py_result) - return -1; - result = __Pyx_PyObject_IsTrue(py_result); - Py_DECREF(py_result); - return result; - } -return_eq: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_EQ); -return_ne: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_NE); -#endif -} - -/* PyDictVersioning */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; -} -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { - PyObject **dictptr = NULL; - Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; - if (offset) { -#if CYTHON_COMPILING_IN_CPYTHON - dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); -#else - dictptr = _PyObject_GetDictPtr(obj); -#endif - } - return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; -} -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) - return 0; - return obj_dict_version == __Pyx_get_object_dict_version(obj); -} -#endif - -/* GetModuleGlobalName */ -#if CYTHON_USE_DICT_VERSIONS -static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) -#else -static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) -#endif -{ - PyObject *result; -#if !CYTHON_AVOID_BORROWED_REFS -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 - result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } else if (unlikely(PyErr_Occurred())) { - return NULL; - } -#else - result = PyDict_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } -#endif -#else - result = PyObject_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } - PyErr_Clear(); -#endif - return __Pyx_GetBuiltinName(name); -} - -/* ExtTypeTest */ -static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { - if (unlikely(!type)) { - PyErr_SetString(PyExc_SystemError, "Missing type object"); - return 0; - } - if (likely(__Pyx_TypeCheck(obj, type))) - return 1; - PyErr_Format(PyExc_TypeError, "Cannot convert %.200s to %.200s", - Py_TYPE(obj)->tp_name, type->tp_name); - return 0; -} - -/* IsLittleEndian */ -static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) -{ - union { - uint32_t u32; - uint8_t u8[4]; - } S; - S.u32 = 0x01020304; - return S.u8[0] == 4; -} - -/* BufferFormatCheck */ -static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, - __Pyx_BufFmt_StackElem* stack, - __Pyx_TypeInfo* type) { - stack[0].field = &ctx->root; - stack[0].parent_offset = 0; - ctx->root.type = type; - ctx->root.name = "buffer dtype"; - ctx->root.offset = 0; - ctx->head = stack; - ctx->head->field = &ctx->root; - ctx->fmt_offset = 0; - ctx->head->parent_offset = 0; - ctx->new_packmode = '@'; - ctx->enc_packmode = '@'; - ctx->new_count = 1; - ctx->enc_count = 0; - ctx->enc_type = 0; - ctx->is_complex = 0; - ctx->is_valid_array = 0; - ctx->struct_alignment = 0; - while (type->typegroup == 'S') { - ++ctx->head; - ctx->head->field = type->fields; - ctx->head->parent_offset = 0; - type = type->fields->type; - } -} -static int __Pyx_BufFmt_ParseNumber(const char** ts) { - int count; - const char* t = *ts; - if (*t < '0' || *t > '9') { - return -1; - } else { - count = *t++ - '0'; - while (*t >= '0' && *t <= '9') { - count *= 10; - count += *t++ - '0'; - } - } - *ts = t; - return count; -} -static int __Pyx_BufFmt_ExpectNumber(const char **ts) { - int number = __Pyx_BufFmt_ParseNumber(ts); - if (number == -1) - PyErr_Format(PyExc_ValueError,\ - "Does not understand character buffer dtype format string ('%c')", **ts); - return number; -} -static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { - PyErr_Format(PyExc_ValueError, - "Unexpected format string character: '%c'", ch); -} -static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { - switch (ch) { - case '?': return "'bool'"; - case 'c': return "'char'"; - case 'b': return "'signed char'"; - case 'B': return "'unsigned char'"; - case 'h': return "'short'"; - case 'H': return "'unsigned short'"; - case 'i': return "'int'"; - case 'I': return "'unsigned int'"; - case 'l': return "'long'"; - case 'L': return "'unsigned long'"; - case 'q': return "'long long'"; - case 'Q': return "'unsigned long long'"; - case 'f': return (is_complex ? "'complex float'" : "'float'"); - case 'd': return (is_complex ? "'complex double'" : "'double'"); - case 'g': return (is_complex ? "'complex long double'" : "'long double'"); - case 'T': return "a struct"; - case 'O': return "Python object"; - case 'P': return "a pointer"; - case 's': case 'p': return "a string"; - case 0: return "end"; - default: return "unparseable format string"; - } -} -static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return 2; - case 'i': case 'I': case 'l': case 'L': return 4; - case 'q': case 'Q': return 8; - case 'f': return (is_complex ? 8 : 4); - case 'd': return (is_complex ? 16 : 8); - case 'g': { - PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); - return 0; - } - case 'O': case 'P': return sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(short); - case 'i': case 'I': return sizeof(int); - case 'l': case 'L': return sizeof(long); - #ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(PY_LONG_LONG); - #endif - case 'f': return sizeof(float) * (is_complex ? 2 : 1); - case 'd': return sizeof(double) * (is_complex ? 2 : 1); - case 'g': return sizeof(long double) * (is_complex ? 2 : 1); - case 'O': case 'P': return sizeof(void*); - default: { - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } - } -} -typedef struct { char c; short x; } __Pyx_st_short; -typedef struct { char c; int x; } __Pyx_st_int; -typedef struct { char c; long x; } __Pyx_st_long; -typedef struct { char c; float x; } __Pyx_st_float; -typedef struct { char c; double x; } __Pyx_st_double; -typedef struct { char c; long double x; } __Pyx_st_longdouble; -typedef struct { char c; void *x; } __Pyx_st_void_p; -#ifdef HAVE_LONG_LONG -typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; -#endif -static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, CYTHON_UNUSED int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); - case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); - case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); -#ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); -#endif - case 'f': return sizeof(__Pyx_st_float) - sizeof(float); - case 'd': return sizeof(__Pyx_st_double) - sizeof(double); - case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); - case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -/* These are for computing the padding at the end of the struct to align - on the first member of the struct. This will probably the same as above, - but we don't have any guarantees. - */ -typedef struct { short x; char c; } __Pyx_pad_short; -typedef struct { int x; char c; } __Pyx_pad_int; -typedef struct { long x; char c; } __Pyx_pad_long; -typedef struct { float x; char c; } __Pyx_pad_float; -typedef struct { double x; char c; } __Pyx_pad_double; -typedef struct { long double x; char c; } __Pyx_pad_longdouble; -typedef struct { void *x; char c; } __Pyx_pad_void_p; -#ifdef HAVE_LONG_LONG -typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; -#endif -static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, CYTHON_UNUSED int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); - case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); - case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); -#ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); -#endif - case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); - case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); - case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); - case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { - switch (ch) { - case 'c': - return 'H'; - case 'b': case 'h': case 'i': - case 'l': case 'q': case 's': case 'p': - return 'I'; - case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': - return 'U'; - case 'f': case 'd': case 'g': - return (is_complex ? 'C' : 'R'); - case 'O': - return 'O'; - case 'P': - return 'P'; - default: { - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } - } -} -static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { - if (ctx->head == NULL || ctx->head->field == &ctx->root) { - const char* expected; - const char* quote; - if (ctx->head == NULL) { - expected = "end"; - quote = ""; - } else { - expected = ctx->head->field->type->name; - quote = "'"; - } - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch, expected %s%s%s but got %s", - quote, expected, quote, - __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); - } else { - __Pyx_StructField* field = ctx->head->field; - __Pyx_StructField* parent = (ctx->head - 1)->field; - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", - field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), - parent->type->name, field->name); - } -} -static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { - char group; - size_t size, offset, arraysize = 1; - if (ctx->enc_type == 0) return 0; - if (ctx->head->field->type->arraysize[0]) { - int i, ndim = 0; - if (ctx->enc_type == 's' || ctx->enc_type == 'p') { - ctx->is_valid_array = ctx->head->field->type->ndim == 1; - ndim = 1; - if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { - PyErr_Format(PyExc_ValueError, - "Expected a dimension of size %zu, got %zu", - ctx->head->field->type->arraysize[0], ctx->enc_count); - return -1; - } - } - if (!ctx->is_valid_array) { - PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", - ctx->head->field->type->ndim, ndim); - return -1; - } - for (i = 0; i < ctx->head->field->type->ndim; i++) { - arraysize *= ctx->head->field->type->arraysize[i]; - } - ctx->is_valid_array = 0; - ctx->enc_count = 1; - } - group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); - do { - __Pyx_StructField* field = ctx->head->field; - __Pyx_TypeInfo* type = field->type; - if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { - size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); - } else { - size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); - } - if (ctx->enc_packmode == '@') { - size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); - size_t align_mod_offset; - if (align_at == 0) return -1; - align_mod_offset = ctx->fmt_offset % align_at; - if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; - if (ctx->struct_alignment == 0) - ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, - ctx->is_complex); - } - if (type->size != size || type->typegroup != group) { - if (type->typegroup == 'C' && type->fields != NULL) { - size_t parent_offset = ctx->head->parent_offset + field->offset; - ++ctx->head; - ctx->head->field = type->fields; - ctx->head->parent_offset = parent_offset; - continue; - } - if ((type->typegroup == 'H' || group == 'H') && type->size == size) { - } else { - __Pyx_BufFmt_RaiseExpected(ctx); - return -1; - } - } - offset = ctx->head->parent_offset + field->offset; - if (ctx->fmt_offset != offset) { - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", - (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); - return -1; - } - ctx->fmt_offset += size; - if (arraysize) - ctx->fmt_offset += (arraysize - 1) * size; - --ctx->enc_count; - while (1) { - if (field == &ctx->root) { - ctx->head = NULL; - if (ctx->enc_count != 0) { - __Pyx_BufFmt_RaiseExpected(ctx); - return -1; - } - break; - } - ctx->head->field = ++field; - if (field->type == NULL) { - --ctx->head; - field = ctx->head->field; - continue; - } else if (field->type->typegroup == 'S') { - size_t parent_offset = ctx->head->parent_offset + field->offset; - if (field->type->fields->type == NULL) continue; - field = field->type->fields; - ++ctx->head; - ctx->head->field = field; - ctx->head->parent_offset = parent_offset; - break; - } else { - break; - } - } - } while (ctx->enc_count); - ctx->enc_type = 0; - ctx->is_complex = 0; - return 0; -} -static PyObject * -__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) -{ - const char *ts = *tsp; - int i = 0, number, ndim; - ++ts; - if (ctx->new_count != 1) { - PyErr_SetString(PyExc_ValueError, - "Cannot handle repeated arrays in format string"); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ndim = ctx->head->field->type->ndim; - while (*ts && *ts != ')') { - switch (*ts) { - case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; - default: break; - } - number = __Pyx_BufFmt_ExpectNumber(&ts); - if (number == -1) return NULL; - if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) - return PyErr_Format(PyExc_ValueError, - "Expected a dimension of size %zu, got %d", - ctx->head->field->type->arraysize[i], number); - if (*ts != ',' && *ts != ')') - return PyErr_Format(PyExc_ValueError, - "Expected a comma in format string, got '%c'", *ts); - if (*ts == ',') ts++; - i++; - } - if (i != ndim) - return PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", - ctx->head->field->type->ndim, i); - if (!*ts) { - PyErr_SetString(PyExc_ValueError, - "Unexpected end of format string, expected ')'"); - return NULL; - } - ctx->is_valid_array = 1; - ctx->new_count = 1; - *tsp = ++ts; - return Py_None; -} -static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { - int got_Z = 0; - while (1) { - switch(*ts) { - case 0: - if (ctx->enc_type != 0 && ctx->head == NULL) { - __Pyx_BufFmt_RaiseExpected(ctx); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - if (ctx->head != NULL) { - __Pyx_BufFmt_RaiseExpected(ctx); - return NULL; - } - return ts; - case ' ': - case '\r': - case '\n': - ++ts; - break; - case '<': - if (!__Pyx_Is_Little_Endian()) { - PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); - return NULL; - } - ctx->new_packmode = '='; - ++ts; - break; - case '>': - case '!': - if (__Pyx_Is_Little_Endian()) { - PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); - return NULL; - } - ctx->new_packmode = '='; - ++ts; - break; - case '=': - case '@': - case '^': - ctx->new_packmode = *ts++; - break; - case 'T': - { - const char* ts_after_sub; - size_t i, struct_count = ctx->new_count; - size_t struct_alignment = ctx->struct_alignment; - ctx->new_count = 1; - ++ts; - if (*ts != '{') { - PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_type = 0; - ctx->enc_count = 0; - ctx->struct_alignment = 0; - ++ts; - ts_after_sub = ts; - for (i = 0; i != struct_count; ++i) { - ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); - if (!ts_after_sub) return NULL; - } - ts = ts_after_sub; - if (struct_alignment) ctx->struct_alignment = struct_alignment; - } - break; - case '}': - { - size_t alignment = ctx->struct_alignment; - ++ts; - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_type = 0; - if (alignment && ctx->fmt_offset % alignment) { - ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); - } - } - return ts; - case 'x': - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->fmt_offset += ctx->new_count; - ctx->new_count = 1; - ctx->enc_count = 0; - ctx->enc_type = 0; - ctx->enc_packmode = ctx->new_packmode; - ++ts; - break; - case 'Z': - got_Z = 1; - ++ts; - if (*ts != 'f' && *ts != 'd' && *ts != 'g') { - __Pyx_BufFmt_RaiseUnexpectedChar('Z'); - return NULL; - } - CYTHON_FALLTHROUGH; - case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': - case 'l': case 'L': case 'q': case 'Q': - case 'f': case 'd': case 'g': - case 'O': case 'p': - if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && - (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { - ctx->enc_count += ctx->new_count; - ctx->new_count = 1; - got_Z = 0; - ++ts; - break; - } - CYTHON_FALLTHROUGH; - case 's': - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_count = ctx->new_count; - ctx->enc_packmode = ctx->new_packmode; - ctx->enc_type = *ts; - ctx->is_complex = got_Z; - ++ts; - ctx->new_count = 1; - got_Z = 0; - break; - case ':': - ++ts; - while(*ts != ':') ++ts; - ++ts; - break; - case '(': - if (!__pyx_buffmt_parse_array(ctx, &ts)) return NULL; - break; - default: - { - int number = __Pyx_BufFmt_ExpectNumber(&ts); - if (number == -1) return NULL; - ctx->new_count = (size_t)number; - } - } - } -} - -/* BufferGetAndValidate */ - static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { - if (unlikely(info->buf == NULL)) return; - if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; - __Pyx_ReleaseBuffer(info); -} -static void __Pyx_ZeroBuffer(Py_buffer* buf) { - buf->buf = NULL; - buf->obj = NULL; - buf->strides = __Pyx_zeros; - buf->shape = __Pyx_zeros; - buf->suboffsets = __Pyx_minusones; -} -static int __Pyx__GetBufferAndValidate( - Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, - int nd, int cast, __Pyx_BufFmt_StackElem* stack) -{ - buf->buf = NULL; - if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { - __Pyx_ZeroBuffer(buf); - return -1; - } - if (unlikely(buf->ndim != nd)) { - PyErr_Format(PyExc_ValueError, - "Buffer has wrong number of dimensions (expected %d, got %d)", - nd, buf->ndim); - goto fail; - } - if (!cast) { - __Pyx_BufFmt_Context ctx; - __Pyx_BufFmt_Init(&ctx, stack, dtype); - if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; - } - if (unlikely((size_t)buf->itemsize != dtype->size)) { - PyErr_Format(PyExc_ValueError, - "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", - buf->itemsize, (buf->itemsize > 1) ? "s" : "", - dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); - goto fail; - } - if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; - return 0; -fail:; - __Pyx_SafeReleaseBuffer(buf); - return -1; -} - -/* Import */ - static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { - PyObject *empty_list = 0; - PyObject *module = 0; - PyObject *global_dict = 0; - PyObject *empty_dict = 0; - PyObject *list; - #if PY_MAJOR_VERSION < 3 - PyObject *py_import; - py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); - if (!py_import) - goto bad; - #endif - if (from_list) - list = from_list; - else { - empty_list = PyList_New(0); - if (!empty_list) - goto bad; - list = empty_list; - } - global_dict = PyModule_GetDict(__pyx_m); - if (!global_dict) - goto bad; - empty_dict = PyDict_New(); - if (!empty_dict) - goto bad; - { - #if PY_MAJOR_VERSION >= 3 - if (level == -1) { - if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, 1); - if (!module) { - if (!PyErr_ExceptionMatches(PyExc_ImportError)) - goto bad; - PyErr_Clear(); - } - } - level = 0; - } - #endif - if (!module) { - #if PY_MAJOR_VERSION < 3 - PyObject *py_level = PyInt_FromLong(level); - if (!py_level) - goto bad; - module = PyObject_CallFunctionObjArgs(py_import, - name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); - Py_DECREF(py_level); - #else - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, level); - #endif - } - } -bad: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_import); - #endif - Py_XDECREF(empty_list); - Py_XDECREF(empty_dict); - return module; -} - -/* SliceObject */ - static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice(PyObject* obj, - Py_ssize_t cstart, Py_ssize_t cstop, - PyObject** _py_start, PyObject** _py_stop, PyObject** _py_slice, - int has_cstart, int has_cstop, CYTHON_UNUSED int wraparound) { -#if CYTHON_USE_TYPE_SLOTS - PyMappingMethods* mp; -#if PY_MAJOR_VERSION < 3 - PySequenceMethods* ms = Py_TYPE(obj)->tp_as_sequence; - if (likely(ms && ms->sq_slice)) { - if (!has_cstart) { - if (_py_start && (*_py_start != Py_None)) { - cstart = __Pyx_PyIndex_AsSsize_t(*_py_start); - if ((cstart == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; - } else - cstart = 0; - } - if (!has_cstop) { - if (_py_stop && (*_py_stop != Py_None)) { - cstop = __Pyx_PyIndex_AsSsize_t(*_py_stop); - if ((cstop == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; - } else - cstop = PY_SSIZE_T_MAX; - } - if (wraparound && unlikely((cstart < 0) | (cstop < 0)) && likely(ms->sq_length)) { - Py_ssize_t l = ms->sq_length(obj); - if (likely(l >= 0)) { - if (cstop < 0) { - cstop += l; - if (cstop < 0) cstop = 0; - } - if (cstart < 0) { - cstart += l; - if (cstart < 0) cstart = 0; - } - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - goto bad; - PyErr_Clear(); - } - } - return ms->sq_slice(obj, cstart, cstop); - } -#endif - mp = Py_TYPE(obj)->tp_as_mapping; - if (likely(mp && mp->mp_subscript)) -#endif - { - PyObject* result; - PyObject *py_slice, *py_start, *py_stop; - if (_py_slice) { - py_slice = *_py_slice; - } else { - PyObject* owned_start = NULL; - PyObject* owned_stop = NULL; - if (_py_start) { - py_start = *_py_start; - } else { - if (has_cstart) { - owned_start = py_start = PyInt_FromSsize_t(cstart); - if (unlikely(!py_start)) goto bad; - } else - py_start = Py_None; - } - if (_py_stop) { - py_stop = *_py_stop; - } else { - if (has_cstop) { - owned_stop = py_stop = PyInt_FromSsize_t(cstop); - if (unlikely(!py_stop)) { - Py_XDECREF(owned_start); - goto bad; - } - } else - py_stop = Py_None; - } - py_slice = PySlice_New(py_start, py_stop, Py_None); - Py_XDECREF(owned_start); - Py_XDECREF(owned_stop); - if (unlikely(!py_slice)) goto bad; - } -#if CYTHON_USE_TYPE_SLOTS - result = mp->mp_subscript(obj, py_slice); -#else - result = PyObject_GetItem(obj, py_slice); -#endif - if (!_py_slice) { - Py_DECREF(py_slice); - } - return result; - } - PyErr_Format(PyExc_TypeError, - "'%.200s' object is unsliceable", Py_TYPE(obj)->tp_name); -bad: - return NULL; -} - -/* FetchCommonType */ - static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { - PyObject* fake_module; - PyTypeObject* cached_type = NULL; - fake_module = PyImport_AddModule((char*) "_cython_" CYTHON_ABI); - if (!fake_module) return NULL; - Py_INCREF(fake_module); - cached_type = (PyTypeObject*) PyObject_GetAttrString(fake_module, type->tp_name); - if (cached_type) { - if (!PyType_Check((PyObject*)cached_type)) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s is not a type object", - type->tp_name); - goto bad; - } - if (cached_type->tp_basicsize != type->tp_basicsize) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s has the wrong size, try recompiling", - type->tp_name); - goto bad; - } - } else { - if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; - PyErr_Clear(); - if (PyType_Ready(type) < 0) goto bad; - if (PyObject_SetAttrString(fake_module, type->tp_name, (PyObject*) type) < 0) - goto bad; - Py_INCREF(type); - cached_type = type; - } -done: - Py_DECREF(fake_module); - return cached_type; -bad: - Py_XDECREF(cached_type); - cached_type = NULL; - goto done; -} - -/* CythonFunctionShared */ - #include -static PyObject * -__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *closure) -{ - if (unlikely(op->func_doc == NULL)) { - if (op->func.m_ml->ml_doc) { -#if PY_MAJOR_VERSION >= 3 - op->func_doc = PyUnicode_FromString(op->func.m_ml->ml_doc); -#else - op->func_doc = PyString_FromString(op->func.m_ml->ml_doc); -#endif - if (unlikely(op->func_doc == NULL)) - return NULL; - } else { - Py_INCREF(Py_None); - return Py_None; - } - } - Py_INCREF(op->func_doc); - return op->func_doc; -} -static int -__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp = op->func_doc; - if (value == NULL) { - value = Py_None; - } - Py_INCREF(value); - op->func_doc = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - if (unlikely(op->func_name == NULL)) { -#if PY_MAJOR_VERSION >= 3 - op->func_name = PyUnicode_InternFromString(op->func.m_ml->ml_name); -#else - op->func_name = PyString_InternFromString(op->func.m_ml->ml_name); -#endif - if (unlikely(op->func_name == NULL)) - return NULL; - } - Py_INCREF(op->func_name); - return op->func_name; -} -static int -__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__name__ must be set to a string object"); - return -1; - } - tmp = op->func_name; - Py_INCREF(value); - op->func_name = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - Py_INCREF(op->func_qualname); - return op->func_qualname; -} -static int -__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__qualname__ must be set to a string object"); - return -1; - } - tmp = op->func_qualname; - Py_INCREF(value); - op->func_qualname = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_self(__pyx_CyFunctionObject *m, CYTHON_UNUSED void *closure) -{ - PyObject *self; - self = m->func_closure; - if (self == NULL) - self = Py_None; - Py_INCREF(self); - return self; -} -static PyObject * -__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - if (unlikely(op->func_dict == NULL)) { - op->func_dict = PyDict_New(); - if (unlikely(op->func_dict == NULL)) - return NULL; - } - Py_INCREF(op->func_dict); - return op->func_dict; -} -static int -__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; - if (unlikely(value == NULL)) { - PyErr_SetString(PyExc_TypeError, - "function's dictionary may not be deleted"); - return -1; - } - if (unlikely(!PyDict_Check(value))) { - PyErr_SetString(PyExc_TypeError, - "setting function's dictionary to a non-dict"); - return -1; - } - tmp = op->func_dict; - Py_INCREF(value); - op->func_dict = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - Py_INCREF(op->func_globals); - return op->func_globals; -} -static PyObject * -__Pyx_CyFunction_get_closure(CYTHON_UNUSED __pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - Py_INCREF(Py_None); - return Py_None; -} -static PyObject * -__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - PyObject* result = (op->func_code) ? op->func_code : Py_None; - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { - int result = 0; - PyObject *res = op->defaults_getter((PyObject *) op); - if (unlikely(!res)) - return -1; - #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - op->defaults_tuple = PyTuple_GET_ITEM(res, 0); - Py_INCREF(op->defaults_tuple); - op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); - Py_INCREF(op->defaults_kwdict); - #else - op->defaults_tuple = PySequence_ITEM(res, 0); - if (unlikely(!op->defaults_tuple)) result = -1; - else { - op->defaults_kwdict = PySequence_ITEM(res, 1); - if (unlikely(!op->defaults_kwdict)) result = -1; - } - #endif - Py_DECREF(res); - return result; -} -static int -__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { - PyObject* tmp; - if (!value) { - value = Py_None; - } else if (value != Py_None && !PyTuple_Check(value)) { - PyErr_SetString(PyExc_TypeError, - "__defaults__ must be set to a tuple object"); - return -1; - } - Py_INCREF(value); - tmp = op->defaults_tuple; - op->defaults_tuple = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { - PyObject* result = op->defaults_tuple; - if (unlikely(!result)) { - if (op->defaults_getter) { - if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; - result = op->defaults_tuple; - } else { - result = Py_None; - } - } - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { - PyObject* tmp; - if (!value) { - value = Py_None; - } else if (value != Py_None && !PyDict_Check(value)) { - PyErr_SetString(PyExc_TypeError, - "__kwdefaults__ must be set to a dict object"); - return -1; - } - Py_INCREF(value); - tmp = op->defaults_kwdict; - op->defaults_kwdict = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { - PyObject* result = op->defaults_kwdict; - if (unlikely(!result)) { - if (op->defaults_getter) { - if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; - result = op->defaults_kwdict; - } else { - result = Py_None; - } - } - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { - PyObject* tmp; - if (!value || value == Py_None) { - value = NULL; - } else if (!PyDict_Check(value)) { - PyErr_SetString(PyExc_TypeError, - "__annotations__ must be set to a dict object"); - return -1; - } - Py_XINCREF(value); - tmp = op->func_annotations; - op->func_annotations = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { - PyObject* result = op->func_annotations; - if (unlikely(!result)) { - result = PyDict_New(); - if (unlikely(!result)) return NULL; - op->func_annotations = result; - } - Py_INCREF(result); - return result; -} -static PyGetSetDef __pyx_CyFunction_getsets[] = { - {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, - {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, - {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, - {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, - {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, - {(char *) "__self__", (getter)__Pyx_CyFunction_get_self, 0, 0, 0}, - {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, - {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, - {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, - {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, - {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, - {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, - {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, - {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, - {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, - {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, - {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, - {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, - {0, 0, 0, 0, 0} -}; -static PyMemberDef __pyx_CyFunction_members[] = { - {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), PY_WRITE_RESTRICTED, 0}, - {0, 0, 0, 0, 0} -}; -static PyObject * -__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, CYTHON_UNUSED PyObject *args) -{ -#if PY_MAJOR_VERSION >= 3 - Py_INCREF(m->func_qualname); - return m->func_qualname; -#else - return PyString_FromString(m->func.m_ml->ml_name); -#endif -} -static PyMethodDef __pyx_CyFunction_methods[] = { - {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, - {0, 0, 0, 0} -}; -#if PY_VERSION_HEX < 0x030500A0 -#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) -#else -#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func.m_weakreflist) -#endif -static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, - PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { - if (unlikely(op == NULL)) - return NULL; - op->flags = flags; - __Pyx_CyFunction_weakreflist(op) = NULL; - op->func.m_ml = ml; - op->func.m_self = (PyObject *) op; - Py_XINCREF(closure); - op->func_closure = closure; - Py_XINCREF(module); - op->func.m_module = module; - op->func_dict = NULL; - op->func_name = NULL; - Py_INCREF(qualname); - op->func_qualname = qualname; - op->func_doc = NULL; - op->func_classobj = NULL; - op->func_globals = globals; - Py_INCREF(op->func_globals); - Py_XINCREF(code); - op->func_code = code; - op->defaults_pyobjects = 0; - op->defaults_size = 0; - op->defaults = NULL; - op->defaults_tuple = NULL; - op->defaults_kwdict = NULL; - op->defaults_getter = NULL; - op->func_annotations = NULL; - return (PyObject *) op; -} -static int -__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) -{ - Py_CLEAR(m->func_closure); - Py_CLEAR(m->func.m_module); - Py_CLEAR(m->func_dict); - Py_CLEAR(m->func_name); - Py_CLEAR(m->func_qualname); - Py_CLEAR(m->func_doc); - Py_CLEAR(m->func_globals); - Py_CLEAR(m->func_code); - Py_CLEAR(m->func_classobj); - Py_CLEAR(m->defaults_tuple); - Py_CLEAR(m->defaults_kwdict); - Py_CLEAR(m->func_annotations); - if (m->defaults) { - PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); - int i; - for (i = 0; i < m->defaults_pyobjects; i++) - Py_XDECREF(pydefaults[i]); - PyObject_Free(m->defaults); - m->defaults = NULL; - } - return 0; -} -static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) -{ - if (__Pyx_CyFunction_weakreflist(m) != NULL) - PyObject_ClearWeakRefs((PyObject *) m); - __Pyx_CyFunction_clear(m); - PyObject_GC_Del(m); -} -static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) -{ - PyObject_GC_UnTrack(m); - __Pyx__CyFunction_dealloc(m); -} -static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) -{ - Py_VISIT(m->func_closure); - Py_VISIT(m->func.m_module); - Py_VISIT(m->func_dict); - Py_VISIT(m->func_name); - Py_VISIT(m->func_qualname); - Py_VISIT(m->func_doc); - Py_VISIT(m->func_globals); - Py_VISIT(m->func_code); - Py_VISIT(m->func_classobj); - Py_VISIT(m->defaults_tuple); - Py_VISIT(m->defaults_kwdict); - if (m->defaults) { - PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); - int i; - for (i = 0; i < m->defaults_pyobjects; i++) - Py_VISIT(pydefaults[i]); - } - return 0; -} -static PyObject *__Pyx_CyFunction_descr_get(PyObject *func, PyObject *obj, PyObject *type) -{ -#if PY_MAJOR_VERSION < 3 - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - if (m->flags & __Pyx_CYFUNCTION_STATICMETHOD) { - Py_INCREF(func); - return func; - } - if (m->flags & __Pyx_CYFUNCTION_CLASSMETHOD) { - if (type == NULL) - type = (PyObject *)(Py_TYPE(obj)); - return __Pyx_PyMethod_New(func, type, (PyObject *)(Py_TYPE(type))); - } - if (obj == Py_None) - obj = NULL; -#endif - return __Pyx_PyMethod_New(func, obj, type); -} -static PyObject* -__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) -{ -#if PY_MAJOR_VERSION >= 3 - return PyUnicode_FromFormat("", - op->func_qualname, (void *)op); -#else - return PyString_FromFormat("", - PyString_AsString(op->func_qualname), (void *)op); -#endif -} -static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { - PyCFunctionObject* f = (PyCFunctionObject*)func; - PyCFunction meth = f->m_ml->ml_meth; - Py_ssize_t size; - switch (f->m_ml->ml_flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { - case METH_VARARGS: - if (likely(kw == NULL || PyDict_Size(kw) == 0)) - return (*meth)(self, arg); - break; - case METH_VARARGS | METH_KEYWORDS: - return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); - case METH_NOARGS: - if (likely(kw == NULL || PyDict_Size(kw) == 0)) { - size = PyTuple_GET_SIZE(arg); - if (likely(size == 0)) - return (*meth)(self, NULL); - PyErr_Format(PyExc_TypeError, - "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", - f->m_ml->ml_name, size); - return NULL; - } - break; - case METH_O: - if (likely(kw == NULL || PyDict_Size(kw) == 0)) { - size = PyTuple_GET_SIZE(arg); - if (likely(size == 1)) { - PyObject *result, *arg0; - #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - arg0 = PyTuple_GET_ITEM(arg, 0); - #else - arg0 = PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; - #endif - result = (*meth)(self, arg0); - #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) - Py_DECREF(arg0); - #endif - return result; - } - PyErr_Format(PyExc_TypeError, - "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", - f->m_ml->ml_name, size); - return NULL; - } - break; - default: - PyErr_SetString(PyExc_SystemError, "Bad call flags in " - "__Pyx_CyFunction_Call. METH_OLDARGS is no " - "longer supported!"); - return NULL; - } - PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", - f->m_ml->ml_name); - return NULL; -} -static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { - return __Pyx_CyFunction_CallMethod(func, ((PyCFunctionObject*)func)->m_self, arg, kw); -} -static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { - PyObject *result; - __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; - if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { - Py_ssize_t argc; - PyObject *new_args; - PyObject *self; - argc = PyTuple_GET_SIZE(args); - new_args = PyTuple_GetSlice(args, 1, argc); - if (unlikely(!new_args)) - return NULL; - self = PyTuple_GetItem(args, 0); - if (unlikely(!self)) { - Py_DECREF(new_args); - return NULL; - } - result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); - Py_DECREF(new_args); - } else { - result = __Pyx_CyFunction_Call(func, args, kw); - } - return result; -} -static PyTypeObject __pyx_CyFunctionType_type = { - PyVarObject_HEAD_INIT(0, 0) - "cython_function_or_method", - sizeof(__pyx_CyFunctionObject), - 0, - (destructor) __Pyx_CyFunction_dealloc, - 0, - 0, - 0, -#if PY_MAJOR_VERSION < 3 - 0, -#else - 0, -#endif - (reprfunc) __Pyx_CyFunction_repr, - 0, - 0, - 0, - 0, - __Pyx_CyFunction_CallAsMethod, - 0, - 0, - 0, - 0, - Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC, - 0, - (traverseproc) __Pyx_CyFunction_traverse, - (inquiry) __Pyx_CyFunction_clear, - 0, -#if PY_VERSION_HEX < 0x030500A0 - offsetof(__pyx_CyFunctionObject, func_weakreflist), -#else - offsetof(PyCFunctionObject, m_weakreflist), -#endif - 0, - 0, - __pyx_CyFunction_methods, - __pyx_CyFunction_members, - __pyx_CyFunction_getsets, - 0, - 0, - __Pyx_CyFunction_descr_get, - 0, - offsetof(__pyx_CyFunctionObject, func_dict), - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, -#if PY_VERSION_HEX >= 0x030400a1 - 0, -#endif -#if PY_VERSION_HEX >= 0x030800b1 - 0, -#endif -#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 - 0, -#endif -#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 - 0, -#endif -}; -static int __pyx_CyFunction_init(void) { - __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); - if (unlikely(__pyx_CyFunctionType == NULL)) { - return -1; - } - return 0; -} -static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults = PyObject_Malloc(size); - if (unlikely(!m->defaults)) - return PyErr_NoMemory(); - memset(m->defaults, 0, size); - m->defaults_pyobjects = pyobjects; - m->defaults_size = size; - return m->defaults; -} -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults_tuple = tuple; - Py_INCREF(tuple); -} -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults_kwdict = dict; - Py_INCREF(dict); -} -static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->func_annotations = dict; - Py_INCREF(dict); -} - -/* CythonFunction */ - static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, - PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { - PyObject *op = __Pyx_CyFunction_Init( - PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), - ml, flags, qualname, closure, module, globals, code - ); - if (likely(op)) { - PyObject_GC_Track(op); - } - return op; -} - -/* GetTopmostException */ - #if CYTHON_USE_EXC_INFO_STACK -static _PyErr_StackItem * -__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) -{ - _PyErr_StackItem *exc_info = tstate->exc_info; - while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) && - exc_info->previous_item != NULL) - { - exc_info = exc_info->previous_item; - } - return exc_info; -} -#endif - -/* SaveResetException */ - #if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); - *type = exc_info->exc_type; - *value = exc_info->exc_value; - *tb = exc_info->exc_traceback; - #else - *type = tstate->exc_type; - *value = tstate->exc_value; - *tb = tstate->exc_traceback; - #endif - Py_XINCREF(*type); - Py_XINCREF(*value); - Py_XINCREF(*tb); -} -static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = type; - exc_info->exc_value = value; - exc_info->exc_traceback = tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = type; - tstate->exc_value = value; - tstate->exc_traceback = tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -#endif - -/* GetException */ - #if CYTHON_FAST_THREAD_STATE -static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) -#else -static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) -#endif -{ - PyObject *local_type, *local_value, *local_tb; -#if CYTHON_FAST_THREAD_STATE - PyObject *tmp_type, *tmp_value, *tmp_tb; - local_type = tstate->curexc_type; - local_value = tstate->curexc_value; - local_tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -#else - PyErr_Fetch(&local_type, &local_value, &local_tb); -#endif - PyErr_NormalizeException(&local_type, &local_value, &local_tb); -#if CYTHON_FAST_THREAD_STATE - if (unlikely(tstate->curexc_type)) -#else - if (unlikely(PyErr_Occurred())) -#endif - goto bad; - #if PY_MAJOR_VERSION >= 3 - if (local_tb) { - if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) - goto bad; - } - #endif - Py_XINCREF(local_tb); - Py_XINCREF(local_type); - Py_XINCREF(local_value); - *type = local_type; - *value = local_value; - *tb = local_tb; -#if CYTHON_FAST_THREAD_STATE - #if CYTHON_USE_EXC_INFO_STACK - { - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = local_type; - exc_info->exc_value = local_value; - exc_info->exc_traceback = local_tb; - } - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = local_type; - tstate->exc_value = local_value; - tstate->exc_traceback = local_tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -#else - PyErr_SetExcInfo(local_type, local_value, local_tb); -#endif - return 0; -bad: - *type = 0; - *value = 0; - *tb = 0; - Py_XDECREF(local_type); - Py_XDECREF(local_value); - Py_XDECREF(local_tb); - return -1; -} - -/* IterFinish */ - static CYTHON_INLINE int __Pyx_IterFinish(void) { -#if CYTHON_FAST_THREAD_STATE - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* exc_type = tstate->curexc_type; - if (unlikely(exc_type)) { - if (likely(__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) { - PyObject *exc_value, *exc_tb; - exc_value = tstate->curexc_value; - exc_tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; - Py_DECREF(exc_type); - Py_XDECREF(exc_value); - Py_XDECREF(exc_tb); - return 0; - } else { - return -1; - } - } - return 0; -#else - if (unlikely(PyErr_Occurred())) { - if (likely(PyErr_ExceptionMatches(PyExc_StopIteration))) { - PyErr_Clear(); - return 0; - } else { - return -1; - } - } - return 0; -#endif -} - -/* PyObjectGetMethod */ - static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { - PyObject *attr; 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- } else { - f = Py_TYPE(descr)->tp_descr_get; - if (f != NULL && PyDescr_IsData(descr)) { - attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); - Py_DECREF(descr); - goto try_unpack; - } - } - } - dictptr = _PyObject_GetDictPtr(obj); - if (dictptr != NULL && (dict = *dictptr) != NULL) { - Py_INCREF(dict); - attr = __Pyx_PyDict_GetItemStr(dict, name); - if (attr != NULL) { - Py_INCREF(attr); - Py_DECREF(dict); - Py_XDECREF(descr); - goto try_unpack; - } - Py_DECREF(dict); - } - if (meth_found) { - *method = descr; - return 1; - } - if (f != NULL) { - attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); - Py_DECREF(descr); - goto try_unpack; - } - if (descr != NULL) { - *method = descr; - return 0; - } - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(name)); -#endif - return 0; -#else - attr = __Pyx_PyObject_GetAttrStr(obj, name); - goto try_unpack; -#endif -try_unpack: -#if CYTHON_UNPACK_METHODS - if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { - PyObject *function = PyMethod_GET_FUNCTION(attr); - Py_INCREF(function); - Py_DECREF(attr); - *method = function; - return 1; - } -#endif - *method = attr; - return 0; -} - -/* PyObjectCallMethod0 */ - static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { - PyObject *method = NULL, *result = NULL; - int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); - if (likely(is_method)) { - result = __Pyx_PyObject_CallOneArg(method, obj); - Py_DECREF(method); - return result; - } - if (unlikely(!method)) goto bad; - result = __Pyx_PyObject_CallNoArg(method); - Py_DECREF(method); -bad: - return result; -} - -/* RaiseNeedMoreValuesToUnpack */ - static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { - PyErr_Format(PyExc_ValueError, - "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", - index, (index == 1) ? "" : "s"); -} - -/* RaiseTooManyValuesToUnpack */ - static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { - PyErr_Format(PyExc_ValueError, - "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); -} - -/* UnpackItemEndCheck */ - static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { - if (unlikely(retval)) { - Py_DECREF(retval); - __Pyx_RaiseTooManyValuesError(expected); - return -1; - } else { - return __Pyx_IterFinish(); - } - return 0; -} - -/* RaiseNoneIterError */ - static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { - PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); -} - -/* UnpackTupleError */ - static void __Pyx_UnpackTupleError(PyObject *t, Py_ssize_t index) { - if (t == Py_None) { - __Pyx_RaiseNoneNotIterableError(); - } else if (PyTuple_GET_SIZE(t) < index) { - __Pyx_RaiseNeedMoreValuesError(PyTuple_GET_SIZE(t)); - } else { - __Pyx_RaiseTooManyValuesError(index); - } -} - -/* UnpackTuple2 */ - static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( - PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, int decref_tuple) { - PyObject *value1 = NULL, *value2 = NULL; -#if CYTHON_COMPILING_IN_PYPY - value1 = PySequence_ITEM(tuple, 0); if (unlikely(!value1)) goto bad; - value2 = PySequence_ITEM(tuple, 1); if (unlikely(!value2)) goto bad; -#else - value1 = PyTuple_GET_ITEM(tuple, 0); Py_INCREF(value1); - value2 = PyTuple_GET_ITEM(tuple, 1); Py_INCREF(value2); -#endif - if (decref_tuple) { - Py_DECREF(tuple); - } - *pvalue1 = value1; - *pvalue2 = value2; - return 0; -#if CYTHON_COMPILING_IN_PYPY -bad: - Py_XDECREF(value1); - Py_XDECREF(value2); - if (decref_tuple) { Py_XDECREF(tuple); } - return -1; -#endif -} -static int __Pyx_unpack_tuple2_generic(PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, - int has_known_size, int decref_tuple) { - Py_ssize_t index; - PyObject *value1 = NULL, *value2 = NULL, *iter = NULL; - iternextfunc iternext; - iter = PyObject_GetIter(tuple); - if (unlikely(!iter)) goto bad; - if (decref_tuple) { Py_DECREF(tuple); tuple = NULL; } - iternext = Py_TYPE(iter)->tp_iternext; - value1 = iternext(iter); if (unlikely(!value1)) { index = 0; goto unpacking_failed; } - value2 = iternext(iter); if (unlikely(!value2)) { index = 1; goto unpacking_failed; } - if (!has_known_size && unlikely(__Pyx_IternextUnpackEndCheck(iternext(iter), 2))) goto bad; - Py_DECREF(iter); - *pvalue1 = value1; - *pvalue2 = value2; - return 0; -unpacking_failed: - if (!has_known_size && __Pyx_IterFinish() == 0) - __Pyx_RaiseNeedMoreValuesError(index); -bad: - Py_XDECREF(iter); - Py_XDECREF(value1); - Py_XDECREF(value2); - if (decref_tuple) { Py_XDECREF(tuple); } - return -1; -} - -/* dict_iter */ - static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* iterable, int is_dict, PyObject* method_name, - Py_ssize_t* p_orig_length, int* p_source_is_dict) { - is_dict = is_dict || likely(PyDict_CheckExact(iterable)); - *p_source_is_dict = is_dict; - if (is_dict) { -#if !CYTHON_COMPILING_IN_PYPY - *p_orig_length = PyDict_Size(iterable); - Py_INCREF(iterable); - return iterable; -#elif PY_MAJOR_VERSION >= 3 - static PyObject *py_items = NULL, *py_keys = NULL, *py_values = NULL; - PyObject **pp = NULL; - if (method_name) { - const char *name = PyUnicode_AsUTF8(method_name); - if (strcmp(name, "iteritems") == 0) pp = &py_items; - else if (strcmp(name, "iterkeys") == 0) pp = &py_keys; - else if (strcmp(name, "itervalues") == 0) pp = &py_values; - if (pp) { - if (!*pp) { - *pp = PyUnicode_FromString(name + 4); - if (!*pp) - return NULL; - } - method_name = *pp; - } - } -#endif - } - *p_orig_length = 0; - if (method_name) { - PyObject* iter; - iterable = __Pyx_PyObject_CallMethod0(iterable, method_name); - if (!iterable) - return NULL; -#if !CYTHON_COMPILING_IN_PYPY - if (PyTuple_CheckExact(iterable) || PyList_CheckExact(iterable)) - return iterable; -#endif - iter = PyObject_GetIter(iterable); - Py_DECREF(iterable); - return iter; - } - return PyObject_GetIter(iterable); -} -static CYTHON_INLINE int __Pyx_dict_iter_next( - PyObject* iter_obj, CYTHON_NCP_UNUSED Py_ssize_t orig_length, CYTHON_NCP_UNUSED Py_ssize_t* ppos, - PyObject** pkey, PyObject** pvalue, PyObject** pitem, int source_is_dict) { - PyObject* next_item; -#if !CYTHON_COMPILING_IN_PYPY - if (source_is_dict) { - PyObject *key, *value; - if (unlikely(orig_length != PyDict_Size(iter_obj))) { - PyErr_SetString(PyExc_RuntimeError, "dictionary changed size during iteration"); - return -1; - } - if (unlikely(!PyDict_Next(iter_obj, ppos, &key, &value))) { - return 0; - } - if (pitem) { - PyObject* tuple = PyTuple_New(2); - if (unlikely(!tuple)) { - return -1; - } - Py_INCREF(key); - Py_INCREF(value); - PyTuple_SET_ITEM(tuple, 0, key); - PyTuple_SET_ITEM(tuple, 1, value); - *pitem = tuple; - } else { - if (pkey) { - Py_INCREF(key); - *pkey = key; - } - if (pvalue) { - Py_INCREF(value); - *pvalue = value; - } - } - return 1; - } else if (PyTuple_CheckExact(iter_obj)) { - Py_ssize_t pos = *ppos; - if (unlikely(pos >= PyTuple_GET_SIZE(iter_obj))) return 0; - *ppos = pos + 1; - next_item = PyTuple_GET_ITEM(iter_obj, pos); - Py_INCREF(next_item); - } else if (PyList_CheckExact(iter_obj)) { - Py_ssize_t pos = *ppos; - if (unlikely(pos >= PyList_GET_SIZE(iter_obj))) return 0; - *ppos = pos + 1; - next_item = PyList_GET_ITEM(iter_obj, pos); - Py_INCREF(next_item); - } else -#endif - { - next_item = PyIter_Next(iter_obj); - if (unlikely(!next_item)) { - return __Pyx_IterFinish(); - } - } - if (pitem) { - *pitem = next_item; - } else if (pkey && pvalue) { - if (__Pyx_unpack_tuple2(next_item, pkey, pvalue, source_is_dict, source_is_dict, 1)) - return -1; - } else if (pkey) { - *pkey = next_item; - } else { - *pvalue = next_item; - } - return 1; -} - -/* None */ - static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { - PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); -} - -/* GetItemInt */ - static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { - PyObject *r; - if (!j) return NULL; - r = PyObject_GetItem(o, j); - Py_DECREF(j); - return r; -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyList_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { - PyObject *r = PyList_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyTuple_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS - if (is_list || PyList_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); - if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { - PyObject *r = PyList_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } - else if (PyTuple_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); - if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } else { - PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; - if (likely(m && m->sq_item)) { - if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { - Py_ssize_t l = m->sq_length(o); - if (likely(l >= 0)) { - i += l; - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - return NULL; - PyErr_Clear(); - } - } - return m->sq_item(o, i); - } - } -#else - if (is_list || PySequence_Check(o)) { - return PySequence_GetItem(o, i); - } -#endif - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -} - -/* ObjectGetItem */ - #if CYTHON_USE_TYPE_SLOTS -static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) { - PyObject *runerr; - Py_ssize_t key_value; - PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence; - if (unlikely(!(m && m->sq_item))) { - PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name); - return NULL; - } - key_value = __Pyx_PyIndex_AsSsize_t(index); - if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { - return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); - } - if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { - PyErr_Clear(); - PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name); - } - return NULL; -} -static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) { - PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping; - if (likely(m && m->mp_subscript)) { - return m->mp_subscript(obj, key); - } - return __Pyx_PyObject_GetIndex(obj, key); -} -#endif - -/* PyIntBinop */ - #if !CYTHON_COMPILING_IN_PYPY -static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, CYTHON_UNUSED long intval, int inplace, int zerodivision_check) { - (void)inplace; - (void)zerodivision_check; - #if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(op1))) { - const long b = intval; - long x; - long a = PyInt_AS_LONG(op1); - x = (long)((unsigned long)a + b); - if (likely((x^a) >= 0 || (x^b) >= 0)) - return PyInt_FromLong(x); - return PyLong_Type.tp_as_number->nb_add(op1, op2); - } - #endif - #if CYTHON_USE_PYLONG_INTERNALS - if (likely(PyLong_CheckExact(op1))) { - const long b = intval; - long a, x; -#ifdef HAVE_LONG_LONG - const PY_LONG_LONG llb = intval; - PY_LONG_LONG lla, llx; -#endif - const digit* digits = ((PyLongObject*)op1)->ob_digit; - const Py_ssize_t size = Py_SIZE(op1); - if (likely(__Pyx_sst_abs(size) <= 1)) { - a = likely(size) ? digits[0] : 0; - if (size == -1) a = -a; - } else { - switch (size) { - case -2: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 2: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case -3: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 3: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case -4: - if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 4: - if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - default: return PyLong_Type.tp_as_number->nb_add(op1, op2); - } - } - x = a + b; - return PyLong_FromLong(x); -#ifdef HAVE_LONG_LONG - long_long: - llx = lla + llb; - return PyLong_FromLongLong(llx); -#endif - - - } - #endif - if (PyFloat_CheckExact(op1)) { - const long b = intval; - double a = PyFloat_AS_DOUBLE(op1); - double result; - PyFPE_START_PROTECT("add", return NULL) - result = ((double)a) + (double)b; - PyFPE_END_PROTECT(result) - return PyFloat_FromDouble(result); - } - return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); -} -#endif - -/* BufferIndexError */ - static void __Pyx_RaiseBufferIndexError(int axis) { - PyErr_Format(PyExc_IndexError, - "Out of bounds on buffer access (axis %d)", axis); -} - -/* PyUnicode_Unicode */ - static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj) { - if (unlikely(obj == Py_None)) - obj = __pyx_kp_u_None; - return __Pyx_NewRef(obj); -} - -/* CIntToDigits */ - static const char DIGIT_PAIRS_10[2*10*10+1] = { - "00010203040506070809" - "10111213141516171819" - "20212223242526272829" - "30313233343536373839" - "40414243444546474849" - "50515253545556575859" - "60616263646566676869" - "70717273747576777879" - "80818283848586878889" - "90919293949596979899" -}; -static const char DIGIT_PAIRS_8[2*8*8+1] = { - "0001020304050607" - "1011121314151617" - "2021222324252627" - "3031323334353637" - "4041424344454647" - "5051525354555657" - "6061626364656667" - "7071727374757677" -}; -static const char DIGITS_HEX[2*16+1] = { - "0123456789abcdef" - "0123456789ABCDEF" -}; - -/* BuildPyUnicode */ - static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, - int prepend_sign, char padding_char) { - PyObject *uval; - Py_ssize_t uoffset = ulength - clength; -#if CYTHON_USE_UNICODE_INTERNALS - Py_ssize_t i; -#if CYTHON_PEP393_ENABLED - void *udata; - uval = PyUnicode_New(ulength, 127); - if (unlikely(!uval)) return NULL; - udata = PyUnicode_DATA(uval); -#else - Py_UNICODE *udata; - uval = PyUnicode_FromUnicode(NULL, ulength); - if (unlikely(!uval)) return NULL; - udata = PyUnicode_AS_UNICODE(uval); -#endif - if (uoffset > 0) { - i = 0; - if (prepend_sign) { - __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); - i++; - } - for (; i < uoffset; i++) { - __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); - } - } - for (i=0; i < clength; i++) { - __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); - } -#else - { - PyObject *sign = NULL, *padding = NULL; - uval = NULL; - if (uoffset > 0) { - prepend_sign = !!prepend_sign; - if (uoffset > prepend_sign) { - padding = PyUnicode_FromOrdinal(padding_char); - if (likely(padding) && uoffset > prepend_sign + 1) { - PyObject *tmp; - PyObject *repeat = PyInt_FromSize_t(uoffset - prepend_sign); - if (unlikely(!repeat)) goto done_or_error; - tmp = PyNumber_Multiply(padding, repeat); - Py_DECREF(repeat); - Py_DECREF(padding); - padding = tmp; - } - if (unlikely(!padding)) goto done_or_error; - } - if (prepend_sign) { - sign = PyUnicode_FromOrdinal('-'); - if (unlikely(!sign)) goto done_or_error; - } - } - uval = PyUnicode_DecodeASCII(chars, clength, NULL); - if (likely(uval) && padding) { - PyObject *tmp = PyNumber_Add(padding, uval); - Py_DECREF(uval); - uval = tmp; - } - if (likely(uval) && sign) { - PyObject *tmp = PyNumber_Add(sign, uval); - Py_DECREF(uval); - uval = tmp; - } -done_or_error: - Py_XDECREF(padding); - Py_XDECREF(sign); - } -#endif - return uval; -} - -/* CIntToPyUnicode */ - static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { - char digits[sizeof(int)*3+2]; - char *dpos, *end = digits + sizeof(int)*3+2; - const char *hex_digits = DIGITS_HEX; - Py_ssize_t length, ulength; - int prepend_sign, last_one_off; - int remaining; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (format_char == 'X') { - hex_digits += 16; - format_char = 'x'; - } - remaining = value; - last_one_off = 0; - dpos = end; - do { - int digit_pos; - switch (format_char) { - case 'o': - digit_pos = abs((int)(remaining % (8*8))); - remaining = (int) (remaining / (8*8)); - dpos -= 2; - memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); - last_one_off = (digit_pos < 8); - break; - case 'd': - digit_pos = abs((int)(remaining % (10*10))); - remaining = (int) (remaining / (10*10)); - dpos -= 2; - memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); - last_one_off = (digit_pos < 10); - break; - case 'x': - *(--dpos) = hex_digits[abs((int)(remaining % 16))]; - remaining = (int) (remaining / 16); - break; - default: - assert(0); - break; - } - } while (unlikely(remaining != 0)); - if (last_one_off) { - assert(*dpos == '0'); - dpos++; - } - length = end - dpos; - ulength = length; - prepend_sign = 0; - if (!is_unsigned && value <= neg_one) { - if (padding_char == ' ' || width <= length + 1) { - *(--dpos) = '-'; - ++length; - } else { - prepend_sign = 1; - } - ++ulength; - } - if (width > ulength) { - ulength = width; - } - if (ulength == 1) { - return PyUnicode_FromOrdinal(*dpos); - } - return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); -} - -/* MemviewSliceInit */ - static int -__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, - int ndim, - __Pyx_memviewslice *memviewslice, - int memview_is_new_reference) -{ - __Pyx_RefNannyDeclarations - int i, retval=-1; - Py_buffer *buf = &memview->view; - __Pyx_RefNannySetupContext("init_memviewslice", 0); - if (unlikely(memviewslice->memview || memviewslice->data)) { - PyErr_SetString(PyExc_ValueError, - "memviewslice is already initialized!"); - goto fail; - } - if (buf->strides) { - for (i = 0; i < ndim; i++) { - memviewslice->strides[i] = buf->strides[i]; - } - } else { - Py_ssize_t stride = buf->itemsize; - for (i = ndim - 1; i >= 0; i--) { - memviewslice->strides[i] = stride; - stride *= buf->shape[i]; - } - } - for (i = 0; i < ndim; i++) { - memviewslice->shape[i] = buf->shape[i]; - if (buf->suboffsets) { - memviewslice->suboffsets[i] = buf->suboffsets[i]; - } else { - memviewslice->suboffsets[i] = -1; - } - } - memviewslice->memview = memview; - memviewslice->data = (char *)buf->buf; - if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { - Py_INCREF(memview); - } - retval = 0; - goto no_fail; -fail: - memviewslice->memview = 0; - memviewslice->data = 0; - retval = -1; -no_fail: - __Pyx_RefNannyFinishContext(); - return retval; -} -#ifndef Py_NO_RETURN -#define Py_NO_RETURN -#endif -static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { - va_list vargs; - char msg[200]; -#ifdef HAVE_STDARG_PROTOTYPES - va_start(vargs, fmt); -#else - va_start(vargs); -#endif - vsnprintf(msg, 200, fmt, vargs); - va_end(vargs); - Py_FatalError(msg); -} -static CYTHON_INLINE int -__pyx_add_acquisition_count_locked(__pyx_atomic_int *acquisition_count, - PyThread_type_lock lock) -{ - int result; - PyThread_acquire_lock(lock, 1); - result = (*acquisition_count)++; - PyThread_release_lock(lock); - return result; -} -static CYTHON_INLINE int -__pyx_sub_acquisition_count_locked(__pyx_atomic_int *acquisition_count, - PyThread_type_lock lock) -{ - int result; - PyThread_acquire_lock(lock, 1); - result = (*acquisition_count)--; - PyThread_release_lock(lock); - return result; -} -static CYTHON_INLINE void -__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) -{ - int first_time; - struct __pyx_memoryview_obj *memview = memslice->memview; - if (unlikely(!memview || (PyObject *) memview == Py_None)) - return; - if (unlikely(__pyx_get_slice_count(memview) < 0)) - __pyx_fatalerror("Acquisition count is %d (line %d)", - __pyx_get_slice_count(memview), lineno); - first_time = __pyx_add_acquisition_count(memview) == 0; - if (unlikely(first_time)) { - if (have_gil) { - Py_INCREF((PyObject *) memview); - } else { - PyGILState_STATE _gilstate = PyGILState_Ensure(); - Py_INCREF((PyObject *) memview); - PyGILState_Release(_gilstate); - } - } -} -static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *memslice, - int have_gil, int lineno) { - int last_time; - struct __pyx_memoryview_obj *memview = memslice->memview; - if (unlikely(!memview || (PyObject *) memview == Py_None)) { - memslice->memview = NULL; - return; - } - if (unlikely(__pyx_get_slice_count(memview) <= 0)) - __pyx_fatalerror("Acquisition count is %d (line %d)", - __pyx_get_slice_count(memview), lineno); - last_time = __pyx_sub_acquisition_count(memview) == 1; - memslice->data = NULL; - if (unlikely(last_time)) { - if (have_gil) { - Py_CLEAR(memslice->memview); - } else { - PyGILState_STATE _gilstate = PyGILState_Ensure(); - Py_CLEAR(memslice->memview); - PyGILState_Release(_gilstate); - } - } else { - memslice->memview = NULL; - } -} - -/* PyErrExceptionMatches */ - #if CYTHON_FAST_THREAD_STATE -static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; icurexc_type; - if (exc_type == err) return 1; - if (unlikely(!exc_type)) return 0; - if (unlikely(PyTuple_Check(err))) - return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); - return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); -} -#endif - -/* None */ - static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { - Py_ssize_t q = a / b; - Py_ssize_t r = a - q*b; - q -= ((r != 0) & ((r ^ b) < 0)); - return q; -} - -/* GetAttr */ - static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { -#if CYTHON_USE_TYPE_SLOTS -#if PY_MAJOR_VERSION >= 3 - if (likely(PyUnicode_Check(n))) -#else - if (likely(PyString_Check(n))) -#endif - return __Pyx_PyObject_GetAttrStr(o, n); -#endif - return PyObject_GetAttr(o, n); -} - -/* decode_c_string */ - static CYTHON_INLINE PyObject* __Pyx_decode_c_string( - const char* cstring, Py_ssize_t start, Py_ssize_t stop, - const char* encoding, const char* errors, - PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { - Py_ssize_t length; - if (unlikely((start < 0) | (stop < 0))) { - size_t slen = strlen(cstring); - if (unlikely(slen > (size_t) PY_SSIZE_T_MAX)) { - PyErr_SetString(PyExc_OverflowError, - "c-string too long to convert to Python"); - return NULL; - } - length = (Py_ssize_t) slen; - if (start < 0) { - start += length; - if (start < 0) - start = 0; - } - if (stop < 0) - stop += length; - } - if (unlikely(stop <= start)) - return __Pyx_NewRef(__pyx_empty_unicode); - length = stop - start; - cstring += start; - if (decode_func) { - return decode_func(cstring, length, errors); - } else { - return PyUnicode_Decode(cstring, length, encoding, errors); - } -} - -/* GetAttr3 */ - static PyObject *__Pyx_GetAttr3Default(PyObject *d) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - return NULL; - __Pyx_PyErr_Clear(); - Py_INCREF(d); - return d; -} -static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { - PyObject *r = __Pyx_GetAttr(o, n); - return (likely(r)) ? r : __Pyx_GetAttr3Default(d); -} - -/* SwapException */ - #if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = *type; - exc_info->exc_value = *value; - exc_info->exc_traceback = *tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = *type; - tstate->exc_value = *value; - tstate->exc_traceback = *tb; - #endif - *type = tmp_type; - *value = tmp_value; - *tb = tmp_tb; -} -#else -static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); - PyErr_SetExcInfo(*type, *value, *tb); - *type = tmp_type; - *value = tmp_value; - *tb = tmp_tb; -} -#endif - -/* FastTypeChecks */ - #if CYTHON_COMPILING_IN_CPYTHON -static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { - while (a) { - a = a->tp_base; - if (a == b) - return 1; - } - return b == &PyBaseObject_Type; -} -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (a == b) return 1; - mro = a->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(a, b); -} -#if PY_MAJOR_VERSION == 2 -static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { - PyObject *exception, *value, *tb; - int res; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&exception, &value, &tb); - res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - if (!res) { - res = PyObject_IsSubclass(err, exc_type2); - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - } - __Pyx_ErrRestore(exception, value, tb); - return res; -} -#else -static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { - int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; - if (!res) { - res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); - } - return res; -} -#endif -static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - assert(PyExceptionClass_Check(exc_type)); - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; i= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, attr_name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(attr_name)); -#endif - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { - PyObject *descr; - PyTypeObject *tp = Py_TYPE(obj); - if (unlikely(!PyString_Check(attr_name))) { - return PyObject_GenericGetAttr(obj, attr_name); - } - assert(!tp->tp_dictoffset); - descr = _PyType_Lookup(tp, attr_name); - if (unlikely(!descr)) { - return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); - } - Py_INCREF(descr); - #if PY_MAJOR_VERSION < 3 - if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) - #endif - { - descrgetfunc f = Py_TYPE(descr)->tp_descr_get; - if (unlikely(f)) { - PyObject *res = f(descr, obj, (PyObject *)tp); - Py_DECREF(descr); - return res; - } - } - return descr; -} -#endif - -/* PyObject_GenericGetAttr */ - #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { - if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { - return PyObject_GenericGetAttr(obj, attr_name); - } - return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); -} -#endif - -/* PyObjectGetAttrStrNoError */ - static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - __Pyx_PyErr_Clear(); -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { - PyObject *result; -#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { - return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); - } -#endif - result = __Pyx_PyObject_GetAttrStr(obj, attr_name); - if (unlikely(!result)) { - __Pyx_PyObject_GetAttrStr_ClearAttributeError(); - } - return result; -} - -/* SetupReduce */ - static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { - int ret; - PyObject *name_attr; - name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name_2); - if (likely(name_attr)) { - ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); - } else { - ret = -1; - } - if (unlikely(ret < 0)) { - PyErr_Clear(); - ret = 0; - } - Py_XDECREF(name_attr); - return ret; -} -static int __Pyx_setup_reduce(PyObject* type_obj) { - int ret = 0; - PyObject *object_reduce = NULL; - PyObject *object_reduce_ex = NULL; - PyObject *reduce = NULL; - PyObject *reduce_ex = NULL; - PyObject *reduce_cython = NULL; - PyObject *setstate = NULL; - PyObject *setstate_cython = NULL; -#if CYTHON_USE_PYTYPE_LOOKUP - if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#else - if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#endif -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#else - object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#endif - reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; - if (reduce_ex == object_reduce_ex) { -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#else - object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#endif - reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; - if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { - reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); - if (likely(reduce_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (reduce == object_reduce || PyErr_Occurred()) { - goto __PYX_BAD; - } - setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); - if (!setstate) PyErr_Clear(); - if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { - setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); - if (likely(setstate_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (!setstate || PyErr_Occurred()) { - goto __PYX_BAD; - } - } - PyType_Modified((PyTypeObject*)type_obj); - } - } - goto __PYX_GOOD; -__PYX_BAD: - if (!PyErr_Occurred()) - PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); - ret = -1; -__PYX_GOOD: -#if !CYTHON_USE_PYTYPE_LOOKUP - Py_XDECREF(object_reduce); - Py_XDECREF(object_reduce_ex); -#endif - Py_XDECREF(reduce); - Py_XDECREF(reduce_ex); - Py_XDECREF(reduce_cython); - Py_XDECREF(setstate); - Py_XDECREF(setstate_cython); - return ret; -} - -/* SetVTable */ - static int __Pyx_SetVtable(PyObject *dict, void *vtable) { -#if PY_VERSION_HEX >= 0x02070000 - PyObject *ob = PyCapsule_New(vtable, 0, 0); -#else - PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); -#endif - if (!ob) - goto bad; - if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) - goto bad; - Py_DECREF(ob); - return 0; -bad: - Py_XDECREF(ob); - return -1; -} - -/* TypeImport */ - #ifndef __PYX_HAVE_RT_ImportType -#define __PYX_HAVE_RT_ImportType -static PyTypeObject *__Pyx_ImportType(PyObject *module, const char *module_name, const char *class_name, - size_t size, enum __Pyx_ImportType_CheckSize check_size) -{ - PyObject *result = 0; - char warning[200]; - Py_ssize_t basicsize; -#ifdef Py_LIMITED_API - PyObject *py_basicsize; -#endif - result = PyObject_GetAttrString(module, class_name); - if (!result) - goto bad; - if (!PyType_Check(result)) { - PyErr_Format(PyExc_TypeError, - "%.200s.%.200s is not a type object", - module_name, class_name); - goto bad; - } -#ifndef Py_LIMITED_API - basicsize = ((PyTypeObject *)result)->tp_basicsize; -#else - py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); - if (!py_basicsize) - goto bad; - basicsize = PyLong_AsSsize_t(py_basicsize); - Py_DECREF(py_basicsize); - py_basicsize = 0; - if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) - goto bad; -#endif - if ((size_t)basicsize < size) { - PyErr_Format(PyExc_ValueError, - "%.200s.%.200s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - goto bad; - } - if (check_size == __Pyx_ImportType_CheckSize_Error && (size_t)basicsize != size) { - PyErr_Format(PyExc_ValueError, - "%.200s.%.200s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - goto bad; - } - else if (check_size == __Pyx_ImportType_CheckSize_Warn && (size_t)basicsize > size) { - PyOS_snprintf(warning, sizeof(warning), - "%s.%s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; - } - return (PyTypeObject *)result; -bad: - Py_XDECREF(result); - return NULL; -} -#endif - -/* CLineInTraceback */ - #ifndef CYTHON_CLINE_IN_TRACEBACK -static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { - PyObject *use_cline; - PyObject *ptype, *pvalue, *ptraceback; -#if CYTHON_COMPILING_IN_CPYTHON - PyObject **cython_runtime_dict; -#endif - if (unlikely(!__pyx_cython_runtime)) { - return c_line; - } - __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); -#if CYTHON_COMPILING_IN_CPYTHON - cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); - if (likely(cython_runtime_dict)) { - __PYX_PY_DICT_LOOKUP_IF_MODIFIED( - use_cline, *cython_runtime_dict, - __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) - } else -#endif - { - PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); - if (use_cline_obj) { - use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; - Py_DECREF(use_cline_obj); - } else { - PyErr_Clear(); - use_cline = NULL; - } - } - if (!use_cline) { - c_line = 0; - (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); - } - else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { - c_line = 0; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - return c_line; -} -#endif - -/* CodeObjectCache */ - static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { - int start = 0, mid = 0, end = count - 1; - if (end >= 0 && code_line > entries[end].code_line) { - return count; - } - while (start < end) { - mid = start + (end - start) / 2; - if (code_line < entries[mid].code_line) { - end = mid; - } else if (code_line > entries[mid].code_line) { - start = mid + 1; - } else { - return mid; - } - } - if (code_line <= entries[mid].code_line) { - return mid; - } else { - return mid + 1; - } -} -static PyCodeObject *__pyx_find_code_object(int code_line) { - PyCodeObject* code_object; - int pos; - if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { - return NULL; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { - return NULL; - } - code_object = __pyx_code_cache.entries[pos].code_object; - Py_INCREF(code_object); - return code_object; -} -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { - int pos, i; - __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; - if (unlikely(!code_line)) { - return; - } - if (unlikely(!entries)) { - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); - if (likely(entries)) { - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = 64; - __pyx_code_cache.count = 1; - entries[0].code_line = code_line; - entries[0].code_object = code_object; - Py_INCREF(code_object); - } - return; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { - PyCodeObject* tmp = entries[pos].code_object; - entries[pos].code_object = code_object; - Py_DECREF(tmp); - return; - } - if (__pyx_code_cache.count == __pyx_code_cache.max_count) { - int new_max = __pyx_code_cache.max_count + 64; - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( - __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); - if (unlikely(!entries)) { - return; - } - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = new_max; - } - for (i=__pyx_code_cache.count; i>pos; i--) { - entries[i] = entries[i-1]; - } - entries[pos].code_line = code_line; - entries[pos].code_object = code_object; - __pyx_code_cache.count++; - Py_INCREF(code_object); -} - -/* AddTraceback */ - #include "compile.h" -#include "frameobject.h" -#include "traceback.h" -static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( - const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = NULL; - PyObject *py_funcname = NULL; - #if PY_MAJOR_VERSION < 3 - PyObject *py_srcfile = NULL; - py_srcfile = PyString_FromString(filename); - if (!py_srcfile) goto bad; - #endif - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - funcname = PyUnicode_AsUTF8(py_funcname); - if (!funcname) goto bad; - #endif - } - else { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); - if (!py_funcname) goto bad; - #endif - } - #if PY_MAJOR_VERSION < 3 - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - #else - py_code = PyCode_NewEmpty(filename, funcname, py_line); - #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline - return py_code; -bad: - Py_XDECREF(py_funcname); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_srcfile); - #endif - return NULL; -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); - } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) goto bad; - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); - } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); -} - -#if PY_MAJOR_VERSION < 3 -static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { - if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); - if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); - if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); - PyErr_Format(PyExc_TypeError, "'%.200s' does not have the buffer interface", Py_TYPE(obj)->tp_name); - return -1; -} -static void __Pyx_ReleaseBuffer(Py_buffer *view) { - PyObject *obj = view->obj; - if (!obj) return; - if (PyObject_CheckBuffer(obj)) { - PyBuffer_Release(view); - return; - } - if ((0)) {} - view->obj = NULL; - Py_DECREF(obj); -} -#endif - - - /* MemviewSliceIsContig */ - static int -__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) -{ - int i, index, step, start; - Py_ssize_t itemsize = mvs.memview->view.itemsize; - if (order == 'F') { - step = 1; - start = 0; - } else { - step = -1; - start = ndim - 1; - } - for (i = 0; i < ndim; i++) { - index = start + step * i; - if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) - return 0; - itemsize *= mvs.shape[index]; - } - return 1; -} - -/* OverlappingSlices */ - static void -__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, - void **out_start, void **out_end, - int ndim, size_t itemsize) -{ - char *start, *end; - int i; - start = end = slice->data; - for (i = 0; i < ndim; i++) { - Py_ssize_t stride = slice->strides[i]; - Py_ssize_t extent = slice->shape[i]; - if (extent == 0) { - *out_start = *out_end = start; - return; - } else { - if (stride > 0) - end += stride * (extent - 1); - else - start += stride * (extent - 1); - } - } - *out_start = start; - *out_end = end + itemsize; -} -static int -__pyx_slices_overlap(__Pyx_memviewslice *slice1, - __Pyx_memviewslice *slice2, - int ndim, size_t itemsize) -{ - void *start1, *end1, *start2, *end2; - __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); - __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); - return (start1 < end2) && (start2 < end1); -} - -/* Capsule */ - static CYTHON_INLINE PyObject * -__pyx_capsule_create(void *p, CYTHON_UNUSED const char *sig) -{ - PyObject *cobj; -#if PY_VERSION_HEX >= 0x02070000 - cobj = PyCapsule_New(p, sig, NULL); -#else - cobj = PyCObject_FromVoidPtr(p, NULL); -#endif - return cobj; -} - -/* CIntFromPyVerify */ - #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ - } - -/* TypeInfoCompare */ - static int -__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) -{ - int i; - if (!a || !b) - return 0; - if (a == b) - return 1; - if (a->size != b->size || a->typegroup != b->typegroup || - a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { - if (a->typegroup == 'H' || b->typegroup == 'H') { - return a->size == b->size; - } else { - return 0; - } - } - if (a->ndim) { - for (i = 0; i < a->ndim; i++) - if (a->arraysize[i] != b->arraysize[i]) - return 0; - } - if (a->typegroup == 'S') { - if (a->flags != b->flags) - return 0; - if (a->fields || b->fields) { - if (!(a->fields && b->fields)) - return 0; - for (i = 0; a->fields[i].type && b->fields[i].type; i++) { - __Pyx_StructField *field_a = a->fields + i; - __Pyx_StructField *field_b = b->fields + i; - if (field_a->offset != field_b->offset || - !__pyx_typeinfo_cmp(field_a->type, field_b->type)) - return 0; - } - return !a->fields[i].type && !b->fields[i].type; - } - } - return 1; -} - -/* MemviewSliceValidateAndInit */ - static int -__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) -{ - if (buf->shape[dim] <= 1) - return 1; - if (buf->strides) { - if (spec & __Pyx_MEMVIEW_CONTIG) { - if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { - if (unlikely(buf->strides[dim] != sizeof(void *))) { - PyErr_Format(PyExc_ValueError, - "Buffer is not indirectly contiguous " - "in dimension %d.", dim); - goto fail; - } - } else if (unlikely(buf->strides[dim] != buf->itemsize)) { - PyErr_SetString(PyExc_ValueError, - "Buffer and memoryview are not contiguous " - "in the same dimension."); - goto fail; - } - } - if (spec & __Pyx_MEMVIEW_FOLLOW) { - Py_ssize_t stride = buf->strides[dim]; - if (stride < 0) - stride = -stride; - if (unlikely(stride < buf->itemsize)) { - PyErr_SetString(PyExc_ValueError, - "Buffer and memoryview are not contiguous " - "in the same dimension."); - goto fail; - } - } - } else { - if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { - PyErr_Format(PyExc_ValueError, - "C-contiguous buffer is not contiguous in " - "dimension %d", dim); - goto fail; - } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { - PyErr_Format(PyExc_ValueError, - "C-contiguous buffer is not indirect in " - "dimension %d", dim); - goto fail; - } else if (unlikely(buf->suboffsets)) { - PyErr_SetString(PyExc_ValueError, - "Buffer exposes suboffsets but no strides"); - goto fail; - } - } - return 1; -fail: - return 0; -} -static int -__pyx_check_suboffsets(Py_buffer *buf, int dim, CYTHON_UNUSED int ndim, int spec) -{ - if (spec & __Pyx_MEMVIEW_DIRECT) { - if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { - PyErr_Format(PyExc_ValueError, - "Buffer not compatible with direct access " - "in dimension %d.", dim); - goto fail; - } - } - if (spec & __Pyx_MEMVIEW_PTR) { - if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { - PyErr_Format(PyExc_ValueError, - "Buffer is not indirectly accessible " - "in dimension %d.", dim); - goto fail; - } - } - return 1; -fail: - return 0; -} -static int -__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) -{ - int i; - if (c_or_f_flag & __Pyx_IS_F_CONTIG) { - Py_ssize_t stride = 1; - for (i = 0; i < ndim; i++) { - if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { - PyErr_SetString(PyExc_ValueError, - "Buffer not fortran contiguous."); - goto fail; - } - stride = stride * buf->shape[i]; - } - } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { - Py_ssize_t stride = 1; - for (i = ndim - 1; i >- 1; i--) { - if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { - PyErr_SetString(PyExc_ValueError, - "Buffer not C contiguous."); - goto fail; - } - stride = stride * buf->shape[i]; - } - } - return 1; -fail: - return 0; -} -static int __Pyx_ValidateAndInit_memviewslice( - int *axes_specs, - int c_or_f_flag, - int buf_flags, - int ndim, - __Pyx_TypeInfo *dtype, - __Pyx_BufFmt_StackElem stack[], - __Pyx_memviewslice *memviewslice, - PyObject *original_obj) -{ - struct __pyx_memoryview_obj *memview, *new_memview; - __Pyx_RefNannyDeclarations - Py_buffer *buf; - int i, spec = 0, retval = -1; - __Pyx_BufFmt_Context ctx; - int from_memoryview = __pyx_memoryview_check(original_obj); - __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); - if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) - original_obj)->typeinfo)) { - memview = (struct __pyx_memoryview_obj *) original_obj; - new_memview = NULL; - } else { - memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( - original_obj, buf_flags, 0, dtype); - new_memview = memview; - if (unlikely(!memview)) - goto fail; - } - buf = &memview->view; - if (unlikely(buf->ndim != ndim)) { - PyErr_Format(PyExc_ValueError, - "Buffer has wrong number of dimensions (expected %d, got %d)", - ndim, buf->ndim); - goto fail; - } - if (new_memview) { - __Pyx_BufFmt_Init(&ctx, stack, dtype); - if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; - } - if (unlikely((unsigned) buf->itemsize != dtype->size)) { - PyErr_Format(PyExc_ValueError, - "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " - "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", - buf->itemsize, - (buf->itemsize > 1) ? "s" : "", - dtype->name, - dtype->size, - (dtype->size > 1) ? "s" : ""); - goto fail; - } - if (buf->len > 0) { - for (i = 0; i < ndim; i++) { - spec = axes_specs[i]; - if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) - goto fail; - if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) - goto fail; - } - if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) - goto fail; - } - if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, - new_memview != NULL) == -1)) { - goto fail; - } - retval = 0; - goto no_fail; -fail: - Py_XDECREF(new_memview); - retval = -1; -no_fail: - __Pyx_RefNannyFinishContext(); - return retval; -} - -/* ObjectToMemviewSlice */ - static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dcd__double(PyObject *obj, int writable_flag) { - __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; - __Pyx_BufFmt_StackElem stack[1]; - int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW) }; - int retcode; - if (obj == Py_None) { - result.memview = (struct __pyx_memoryview_obj *) Py_None; - return result; - } - retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_F_CONTIG, - (PyBUF_F_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 2, - &__Pyx_TypeInfo_double, stack, - &result, obj); - if (unlikely(retcode == -1)) - goto __pyx_fail; - return result; -__pyx_fail: - result.memview = NULL; - result.data = NULL; - return result; -} - -/* ObjectToMemviewSlice */ - static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_unsigned_char(PyObject *obj, int writable_flag) { - __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; - __Pyx_BufFmt_StackElem stack[1]; - int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) }; - int retcode; - if (obj == Py_None) { - result.memview = (struct __pyx_memoryview_obj *) Py_None; - return result; - } - retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG, - (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 1, - &__Pyx_TypeInfo_unsigned_char, stack, - &result, obj); - if (unlikely(retcode == -1)) - goto __pyx_fail; - return result; -__pyx_fail: - result.memview = NULL; - result.data = NULL; - return result; -} - -/* Declarations */ - #if CYTHON_CCOMPLEX - #ifdef __cplusplus - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - return ::std::complex< float >(x, y); - } - #else - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - return x + y*(__pyx_t_float_complex)_Complex_I; - } - #endif -#else - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - __pyx_t_float_complex z; - z.real = x; - z.imag = y; - return z; - } -#endif - -/* Arithmetic */ - #if CYTHON_CCOMPLEX -#else - static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - return (a.real == b.real) && (a.imag == b.imag); - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real + b.real; - z.imag = a.imag + b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real - b.real; - z.imag = a.imag - b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real * b.real - a.imag * b.imag; - z.imag = a.real * b.imag + a.imag * b.real; - return z; - } - #if 1 - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - if (b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); - } else if (fabsf(b.real) >= fabsf(b.imag)) { - if (b.real == 0 && b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); - } else { - float r = b.imag / b.real; - float s = (float)(1.0) / (b.real + b.imag * r); - return __pyx_t_float_complex_from_parts( - (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); - } - } else { - float r = b.real / b.imag; - float s = (float)(1.0) / (b.imag + b.real * r); - return __pyx_t_float_complex_from_parts( - (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); - } - } - #else - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - if (b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); - } else { - float denom = b.real * b.real + b.imag * b.imag; - return __pyx_t_float_complex_from_parts( - (a.real * b.real + a.imag * b.imag) / denom, - (a.imag * b.real - a.real * b.imag) / denom); - } - } - #endif - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { - __pyx_t_float_complex z; - z.real = -a.real; - z.imag = -a.imag; - return z; - } - static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { - return (a.real == 0) && (a.imag == 0); - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { - __pyx_t_float_complex z; - z.real = a.real; - z.imag = -a.imag; - return z; - } - #if 1 - static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { - #if !defined(HAVE_HYPOT) || defined(_MSC_VER) - return sqrtf(z.real*z.real + z.imag*z.imag); - #else - return hypotf(z.real, z.imag); - #endif - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - float r, lnr, theta, z_r, z_theta; - if (b.imag == 0 && b.real == (int)b.real) { - if (b.real < 0) { - float denom = a.real * a.real + a.imag * a.imag; - a.real = a.real / denom; - a.imag = -a.imag / denom; - b.real = -b.real; - } - switch ((int)b.real) { - case 0: - z.real = 1; - z.imag = 0; - return z; - case 1: - return a; - case 2: - return __Pyx_c_prod_float(a, a); - case 3: - z = __Pyx_c_prod_float(a, a); - return __Pyx_c_prod_float(z, a); - case 4: - z = __Pyx_c_prod_float(a, a); - return __Pyx_c_prod_float(z, z); - } - } - if (a.imag == 0) { - if (a.real == 0) { - return a; - } else if (b.imag == 0) { - z.real = powf(a.real, b.real); - z.imag = 0; - return z; - } else if (a.real > 0) { - r = a.real; - theta = 0; - } else { - r = -a.real; - theta = atan2f(0.0, -1.0); - } - } else { - r = __Pyx_c_abs_float(a); - theta = atan2f(a.imag, a.real); - } - lnr = logf(r); - z_r = expf(lnr * b.real - theta * b.imag); - z_theta = theta * b.real + lnr * b.imag; - z.real = z_r * cosf(z_theta); - z.imag = z_r * sinf(z_theta); - return z; - } - #endif -#endif - -/* Declarations */ - #if CYTHON_CCOMPLEX - #ifdef __cplusplus - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - return ::std::complex< double >(x, y); - } - #else - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - return x + y*(__pyx_t_double_complex)_Complex_I; - } - #endif -#else - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - __pyx_t_double_complex z; - z.real = x; - z.imag = y; - return z; - } -#endif - -/* Arithmetic */ - #if CYTHON_CCOMPLEX -#else - static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - return (a.real == b.real) && (a.imag == b.imag); - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real + b.real; - z.imag = a.imag + b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real - b.real; - z.imag = a.imag - b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real * b.real - a.imag * b.imag; - z.imag = a.real * b.imag + a.imag * b.real; - return z; - } - #if 1 - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - if (b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); - } else if (fabs(b.real) >= fabs(b.imag)) { - if (b.real == 0 && b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); - } else { - double r = b.imag / b.real; - double s = (double)(1.0) / (b.real + b.imag * r); - return __pyx_t_double_complex_from_parts( - (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); - } - } else { - double r = b.real / b.imag; - double s = (double)(1.0) / (b.imag + b.real * r); - return __pyx_t_double_complex_from_parts( - (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); - } - } - #else - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - if (b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); - } else { - double denom = b.real * b.real + b.imag * b.imag; - return __pyx_t_double_complex_from_parts( - (a.real * b.real + a.imag * b.imag) / denom, - (a.imag * b.real - a.real * b.imag) / denom); - } - } - #endif - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { - __pyx_t_double_complex z; - z.real = -a.real; - z.imag = -a.imag; - return z; - } - static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { - return (a.real == 0) && (a.imag == 0); - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { - __pyx_t_double_complex z; - z.real = a.real; - z.imag = -a.imag; - return z; - } - #if 1 - static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { - #if !defined(HAVE_HYPOT) || defined(_MSC_VER) - return sqrt(z.real*z.real + z.imag*z.imag); - #else - return hypot(z.real, z.imag); - #endif - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - double r, lnr, theta, z_r, z_theta; - if (b.imag == 0 && b.real == (int)b.real) { - if (b.real < 0) { - double denom = a.real * a.real + a.imag * a.imag; - a.real = a.real / denom; - a.imag = -a.imag / denom; - b.real = -b.real; - } - switch ((int)b.real) { - case 0: - z.real = 1; - z.imag = 0; - return z; - case 1: - return a; - case 2: - return __Pyx_c_prod_double(a, a); - case 3: - z = __Pyx_c_prod_double(a, a); - return __Pyx_c_prod_double(z, a); - case 4: - z = __Pyx_c_prod_double(a, a); - return __Pyx_c_prod_double(z, z); - } - } - if (a.imag == 0) { - if (a.real == 0) { - return a; - } else if (b.imag == 0) { - z.real = pow(a.real, b.real); - z.imag = 0; - return z; - } else if (a.real > 0) { - r = a.real; - theta = 0; - } else { - r = -a.real; - theta = atan2(0.0, -1.0); - } - } else { - r = __Pyx_c_abs_double(a); - theta = atan2(a.imag, a.real); - } - lnr = log(r); - z_r = exp(lnr * b.real - theta * b.imag); - z_theta = theta * b.real + lnr * b.imag; - z.real = z_r * cos(z_theta); - z.imag = z_r * sin(z_theta); - return z; - } - #endif -#endif - -/* MemviewSliceCopyTemplate */ - static __Pyx_memviewslice -__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, - const char *mode, int ndim, - size_t sizeof_dtype, int contig_flag, - int dtype_is_object) -{ - __Pyx_RefNannyDeclarations - int i; - __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; - struct __pyx_memoryview_obj *from_memview = from_mvs->memview; - Py_buffer *buf = &from_memview->view; - PyObject *shape_tuple = NULL; - PyObject *temp_int = NULL; - struct __pyx_array_obj *array_obj = NULL; - struct __pyx_memoryview_obj *memview_obj = NULL; - __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); - for (i = 0; i < ndim; i++) { - if (unlikely(from_mvs->suboffsets[i] >= 0)) { - PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " - "indirect dimensions (axis %d)", i); - goto fail; - } - } - shape_tuple = PyTuple_New(ndim); - if (unlikely(!shape_tuple)) { - goto fail; - } - __Pyx_GOTREF(shape_tuple); - for(i = 0; i < ndim; i++) { - temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); - if(unlikely(!temp_int)) { - goto fail; - } else { - PyTuple_SET_ITEM(shape_tuple, i, temp_int); - temp_int = NULL; - } - } - array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); - if (unlikely(!array_obj)) { - goto fail; - } - __Pyx_GOTREF(array_obj); - memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( - (PyObject *) array_obj, contig_flag, - dtype_is_object, - from_mvs->memview->typeinfo); - if (unlikely(!memview_obj)) - goto fail; - if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) - goto fail; - if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, - dtype_is_object) < 0)) - goto fail; - goto no_fail; -fail: - __Pyx_XDECREF(new_mvs.memview); - new_mvs.memview = NULL; - new_mvs.data = NULL; -no_fail: - __Pyx_XDECREF(shape_tuple); - __Pyx_XDECREF(temp_int); - __Pyx_XDECREF(array_obj); - __Pyx_RefNannyFinishContext(); - return new_mvs; -} - -/* CIntFromPy */ - static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(int) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (int) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { - return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { - return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { - return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(int) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) - case -2: - if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - } -#endif - if (sizeof(int) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - int val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (int) -1; - } - } else { - int val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (int) -1; - val = __Pyx_PyInt_As_int(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to int"); - return (int) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to int"); - return (int) -1; -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(int) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(int) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(int) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(int), - little, !is_unsigned); - } -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); - } -} - -/* CIntFromPy */ - static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(size_t) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (size_t) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (size_t) 0; - case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, digits[0]) - case 2: - if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 2 * PyLong_SHIFT) { - return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 3 * PyLong_SHIFT) { - return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 4 * PyLong_SHIFT) { - return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (size_t) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(size_t) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (size_t) 0; - case -1: __PYX_VERIFY_RETURN_INT(size_t, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, +digits[0]) - case -2: - if (8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { - return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - } -#endif - if (sizeof(size_t) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(size_t) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - size_t val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (size_t) -1; - } - } else { - size_t val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (size_t) -1; - val = __Pyx_PyInt_As_size_t(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to size_t"); - return (size_t) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to size_t"); - return (size_t) -1; -} - -/* CIntFromPy */ - static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(long) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (long) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { - return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { - return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { - return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(long) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) - case -2: - if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - } -#endif - if (sizeof(long) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - long val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (long) -1; - } - } else { - long val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (long) -1; - val = __Pyx_PyInt_As_long(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to long"); - return (long) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to long"); - return (long) -1; -} - -/* CIntFromPy */ - static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const char neg_one = (char) -1, const_zero = (char) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(char) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (char) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (char) 0; - case 1: __PYX_VERIFY_RETURN_INT(char, digit, digits[0]) - case 2: - if (8 * sizeof(char) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 2 * PyLong_SHIFT) { - return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(char) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 3 * PyLong_SHIFT) { - return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(char) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 4 * PyLong_SHIFT) { - return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (char) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(char) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(char) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (char) 0; - case -1: __PYX_VERIFY_RETURN_INT(char, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(char, digit, +digits[0]) - case -2: - if (8 * sizeof(char) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { - return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); 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- } - } - break; - case -4: - if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { - return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(char) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { - return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); 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- } else if (t->intern) { - *t->p = PyString_InternFromString(t->s); - } else { - *t->p = PyString_FromStringAndSize(t->s, t->n - 1); - } - #else - if (t->is_unicode | t->is_str) { - if (t->intern) { - *t->p = PyUnicode_InternFromString(t->s); - } else if (t->encoding) { - *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); - } else { - *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); - } - } else { - *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); - } - #endif - if (!*t->p) - return -1; - if (PyObject_Hash(*t->p) == -1) - return -1; - ++t; - } - return 0; -} - -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { - return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); -} -static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { - Py_ssize_t ignore; - return __Pyx_PyObject_AsStringAndSize(o, &ignore); -} -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT -#if !CYTHON_PEP393_ENABLED -static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - char* defenc_c; 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- } else -#endif -#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) - if (PyByteArray_Check(o)) { - *length = PyByteArray_GET_SIZE(o); - return PyByteArray_AS_STRING(o); - } else -#endif - { - char* result; - int r = PyBytes_AsStringAndSize(o, &result, length); - if (unlikely(r < 0)) { - return NULL; - } else { - return result; - } - } -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { - int is_true = x == Py_True; - if (is_true | (x == Py_False) | (x == Py_None)) return is_true; - else return PyObject_IsTrue(x); -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { - int retval; - if (unlikely(!x)) return -1; - retval = __Pyx_PyObject_IsTrue(x); - Py_DECREF(x); - return retval; -} -static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { -#if PY_MAJOR_VERSION >= 3 - if (PyLong_Check(result)) { - if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, - "__int__ returned non-int (type %.200s). " - "The ability to return an instance of a strict subclass of int " - "is deprecated, and may be removed in a future version of Python.", - Py_TYPE(result)->tp_name)) { - Py_DECREF(result); - return NULL; - } - return result; - } -#endif - PyErr_Format(PyExc_TypeError, - "__%.4s__ returned non-%.4s (type %.200s)", - type_name, type_name, Py_TYPE(result)->tp_name); - Py_DECREF(result); - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { -#if CYTHON_USE_TYPE_SLOTS - PyNumberMethods *m; -#endif - const char *name = NULL; - PyObject *res = NULL; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x) || PyLong_Check(x))) -#else - if (likely(PyLong_Check(x))) -#endif - return __Pyx_NewRef(x); -#if CYTHON_USE_TYPE_SLOTS - m = Py_TYPE(x)->tp_as_number; - #if PY_MAJOR_VERSION < 3 - if (m && m->nb_int) { - name = "int"; - res = m->nb_int(x); - } - else if (m && m->nb_long) { - name = "long"; - res = m->nb_long(x); - } - #else - if (likely(m && m->nb_int)) { - name = "int"; - res = m->nb_int(x); - } - #endif -#else - if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { - res = PyNumber_Int(x); - } -#endif - if (likely(res)) { -#if PY_MAJOR_VERSION < 3 - if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { -#else - if (unlikely(!PyLong_CheckExact(res))) { -#endif - return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); - } - } - else if (!PyErr_Occurred()) { - PyErr_SetString(PyExc_TypeError, - "an integer is required"); - } - return res; -} -static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { - Py_ssize_t ival; - PyObject *x; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(b))) { - if (sizeof(Py_ssize_t) >= sizeof(long)) - return PyInt_AS_LONG(b); - else - return PyInt_AsSsize_t(b); - } -#endif - if (likely(PyLong_CheckExact(b))) { - #if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)b)->ob_digit; - const Py_ssize_t size = Py_SIZE(b); - if (likely(__Pyx_sst_abs(size) <= 1)) { - ival = likely(size) ? digits[0] : 0; - if (size == -1) ival = -ival; - return ival; - } else { - switch (size) { - case 2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - } - } - #endif - return PyLong_AsSsize_t(b); - } - x = PyNumber_Index(b); - if (!x) return -1; - ival = PyInt_AsSsize_t(x); - Py_DECREF(x); - return ival; -} -static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { - if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { - return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); -#if PY_MAJOR_VERSION < 3 - } else if (likely(PyInt_CheckExact(o))) { - return PyInt_AS_LONG(o); -#endif - } else { - Py_ssize_t ival; - PyObject *x; - x = PyNumber_Index(o); - if (!x) return -1; - ival = PyInt_AsLong(x); - Py_DECREF(x); - return ival; - } -} -static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { - return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); -} -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { - return PyInt_FromSize_t(ival); -} - - -#endif /* Py_PYTHON_H */ diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c deleted file mode 100644 index d0c541d3b..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c +++ /dev/null @@ -1,278 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ -// standard -#include -#include - -// acados -#include "acados_c/external_function_interface.h" -#include "acados_c/sim_interface.h" -#include "acados_c/external_function_interface.h" - -#include "acados/sim/sim_common.h" -#include "acados/utils/external_function_generic.h" -#include "acados/utils/print.h" - - -// example specific -#include "lat_model/lat_model.h" -#include "acados_sim_solver_lat.h" - - -// ** solver data ** - -sim_solver_capsule * lat_acados_sim_solver_create_capsule() -{ - void* capsule_mem = malloc(sizeof(sim_solver_capsule)); - sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem; - - return capsule; -} - - -int lat_acados_sim_solver_free_capsule(sim_solver_capsule * capsule) -{ - free(capsule); - return 0; -} - - -int lat_acados_sim_create(sim_solver_capsule * capsule) -{ - // initialize - const int nx = LAT_NX; - const int nu = LAT_NU; - const int nz = LAT_NZ; - const int np = LAT_NP; - bool tmp_bool; - - - double Tsim = 0.009765625; - - - // explicit ode - capsule->sim_forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); - capsule->sim_expl_ode_fun_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); - - capsule->sim_forw_vde_casadi->casadi_fun = &lat_expl_vde_forw; - capsule->sim_forw_vde_casadi->casadi_n_in = &lat_expl_vde_forw_n_in; - capsule->sim_forw_vde_casadi->casadi_n_out = &lat_expl_vde_forw_n_out; - capsule->sim_forw_vde_casadi->casadi_sparsity_in = &lat_expl_vde_forw_sparsity_in; - capsule->sim_forw_vde_casadi->casadi_sparsity_out = &lat_expl_vde_forw_sparsity_out; - capsule->sim_forw_vde_casadi->casadi_work = &lat_expl_vde_forw_work; - external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np); - - capsule->sim_expl_ode_fun_casadi->casadi_fun = &lat_expl_ode_fun; - capsule->sim_expl_ode_fun_casadi->casadi_n_in = &lat_expl_ode_fun_n_in; - capsule->sim_expl_ode_fun_casadi->casadi_n_out = &lat_expl_ode_fun_n_out; - capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &lat_expl_ode_fun_sparsity_in; - capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &lat_expl_ode_fun_sparsity_out; - capsule->sim_expl_ode_fun_casadi->casadi_work = &lat_expl_ode_fun_work; - external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np); - - - - // sim plan & config - sim_solver_plan_t plan; - plan.sim_solver = ERK; - - // create correct config based on plan - sim_config * lat_sim_config = sim_config_create(plan); - capsule->acados_sim_config = lat_sim_config; - - // sim dims - void *lat_sim_dims = sim_dims_create(lat_sim_config); - capsule->acados_sim_dims = lat_sim_dims; - sim_dims_set(lat_sim_config, lat_sim_dims, "nx", &nx); - sim_dims_set(lat_sim_config, lat_sim_dims, "nu", &nu); - sim_dims_set(lat_sim_config, lat_sim_dims, "nz", &nz); - - - // sim opts - sim_opts *lat_sim_opts = sim_opts_create(lat_sim_config, lat_sim_dims); - capsule->acados_sim_opts = lat_sim_opts; - int tmp_int = 3; - sim_opts_set(lat_sim_config, lat_sim_opts, "newton_iter", &tmp_int); - sim_collocation_type collocation_type = GAUSS_LEGENDRE; - sim_opts_set(lat_sim_config, lat_sim_opts, "collocation_type", &collocation_type); - - - tmp_int = 4; - sim_opts_set(lat_sim_config, lat_sim_opts, "num_stages", &tmp_int); - tmp_int = 1; - sim_opts_set(lat_sim_config, lat_sim_opts, "num_steps", &tmp_int); - tmp_bool = 0; - sim_opts_set(lat_sim_config, lat_sim_opts, "jac_reuse", &tmp_bool); - - - // sim in / out - sim_in *lat_sim_in = sim_in_create(lat_sim_config, lat_sim_dims); - capsule->acados_sim_in = lat_sim_in; - sim_out *lat_sim_out = sim_out_create(lat_sim_config, lat_sim_dims); - capsule->acados_sim_out = lat_sim_out; - - sim_in_set(lat_sim_config, lat_sim_dims, - lat_sim_in, "T", &Tsim); - - // model functions - lat_sim_config->model_set(lat_sim_in->model, - "expl_vde_for", capsule->sim_forw_vde_casadi); - lat_sim_config->model_set(lat_sim_in->model, - "expl_ode_fun", capsule->sim_expl_ode_fun_casadi); - - // sim solver - sim_solver *lat_sim_solver = sim_solver_create(lat_sim_config, - lat_sim_dims, lat_sim_opts); - capsule->acados_sim_solver = lat_sim_solver; - - - /* initialize parameter values */ - double* p = calloc(np, sizeof(double)); - - - lat_acados_sim_update_params(capsule, p, np); - free(p); - - - /* initialize input */ - // x - double x0[4]; - for (int ii = 0; ii < 4; ii++) - x0[ii] = 0.0; - - sim_in_set(lat_sim_config, lat_sim_dims, - lat_sim_in, "x", x0); - - - // u - double u0[1]; - for (int ii = 0; ii < 1; ii++) - u0[ii] = 0.0; - - sim_in_set(lat_sim_config, lat_sim_dims, - lat_sim_in, "u", u0); - - // S_forw - double S_forw[20]; - for (int ii = 0; ii < 20; ii++) - S_forw[ii] = 0.0; - for (int ii = 0; ii < 4; ii++) - S_forw[ii + ii * 4 ] = 1.0; - - - sim_in_set(lat_sim_config, lat_sim_dims, - lat_sim_in, "S_forw", S_forw); - - int status = sim_precompute(lat_sim_solver, lat_sim_in, lat_sim_out); - - return status; -} - - -int lat_acados_sim_solve(sim_solver_capsule *capsule) -{ - // integrate dynamics using acados sim_solver - int status = sim_solve(capsule->acados_sim_solver, - capsule->acados_sim_in, capsule->acados_sim_out); - if (status != 0) - printf("error in lat_acados_sim_solve()! Exiting.\n"); - - return status; -} - - -int lat_acados_sim_free(sim_solver_capsule *capsule) -{ - // free memory - sim_solver_destroy(capsule->acados_sim_solver); - sim_in_destroy(capsule->acados_sim_in); - sim_out_destroy(capsule->acados_sim_out); - sim_opts_destroy(capsule->acados_sim_opts); - sim_dims_destroy(capsule->acados_sim_dims); - sim_config_destroy(capsule->acados_sim_config); - - // free external function - external_function_param_casadi_free(capsule->sim_forw_vde_casadi); - external_function_param_casadi_free(capsule->sim_expl_ode_fun_casadi); - - return 0; -} - - -int lat_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np) -{ - int status = 0; - int casadi_np = LAT_NP; - - if (casadi_np != np) { - printf("lat_acados_sim_update_params: trying to set %i parameters for external functions." - " External function has %i parameters. Exiting.\n", np, casadi_np); - exit(1); - } - capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p); - capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p); - - return status; -} - -/* getters pointers to C objects*/ -sim_config * lat_acados_get_sim_config(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_config; -}; - -sim_in * lat_acados_get_sim_in(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_in; -}; - -sim_out * lat_acados_get_sim_out(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_out; -}; - -void * lat_acados_get_sim_dims(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_dims; -}; - -sim_opts * lat_acados_get_sim_opts(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_opts; -}; - -sim_solver * lat_acados_get_sim_solver(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_solver; -}; - diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h deleted file mode 100644 index 86b9c84c9..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h +++ /dev/null @@ -1,103 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -#ifndef ACADOS_SIM_lat_H_ -#define ACADOS_SIM_lat_H_ - -#include "acados_c/sim_interface.h" -#include "acados_c/external_function_interface.h" - -#define LAT_NX 4 -#define LAT_NZ 0 -#define LAT_NU 1 -#define LAT_NP 2 - -#ifdef __cplusplus -extern "C" { -#endif - - -// ** capsule for solver data ** -typedef struct sim_solver_capsule -{ - // acados objects - sim_in *acados_sim_in; - sim_out *acados_sim_out; - sim_solver *acados_sim_solver; - sim_opts *acados_sim_opts; - sim_config *acados_sim_config; - void *acados_sim_dims; - - /* external functions */ - // ERK - external_function_param_casadi * sim_forw_vde_casadi; - external_function_param_casadi * sim_expl_ode_fun_casadi; - external_function_param_casadi * sim_expl_ode_hess; - - // IRK - external_function_param_casadi * sim_impl_dae_fun; - external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z; - external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z; - external_function_param_casadi * sim_impl_dae_hess; - - // GNSF - external_function_param_casadi * sim_gnsf_phi_fun; - external_function_param_casadi * sim_gnsf_phi_fun_jac_y; - external_function_param_casadi * sim_gnsf_phi_jac_y_uhat; - external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z; - external_function_param_casadi * sim_gnsf_get_matrices_fun; - -} sim_solver_capsule; - - -ACADOS_SYMBOL_EXPORT int lat_acados_sim_create(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT int lat_acados_sim_solve(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT int lat_acados_sim_free(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT int lat_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np); - -ACADOS_SYMBOL_EXPORT sim_config * lat_acados_get_sim_config(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT sim_in * lat_acados_get_sim_in(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT sim_out * lat_acados_get_sim_out(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT void * lat_acados_get_sim_dims(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT sim_opts * lat_acados_get_sim_opts(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT sim_solver * lat_acados_get_sim_solver(sim_solver_capsule *capsule); - - -ACADOS_SYMBOL_EXPORT sim_solver_capsule * lat_acados_sim_solver_create_capsule(void); -ACADOS_SYMBOL_EXPORT int lat_acados_sim_solver_free_capsule(sim_solver_capsule *capsule); - -#ifdef __cplusplus -} -#endif - -#endif // ACADOS_SIM_lat_H_ diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c deleted file mode 100644 index 578d3d1b3..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c +++ /dev/null @@ -1,944 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -// standard -#include -#include -#include -// acados -// #include "acados/utils/print.h" -#include "acados_c/ocp_nlp_interface.h" -#include "acados_c/external_function_interface.h" - -// example specific -#include "lat_model/lat_model.h" - - - - -#include "lat_cost/lat_cost_y_fun.h" -#include "lat_cost/lat_cost_y_0_fun.h" -#include "lat_cost/lat_cost_y_e_fun.h" - -#include "acados_solver_lat.h" - -#define NX LAT_NX -#define NZ LAT_NZ -#define NU LAT_NU -#define NP LAT_NP -#define NBX LAT_NBX -#define NBX0 LAT_NBX0 -#define NBU LAT_NBU -#define NSBX LAT_NSBX -#define NSBU LAT_NSBU -#define NSH LAT_NSH -#define NSG LAT_NSG -#define NSPHI LAT_NSPHI -#define NSHN LAT_NSHN -#define NSGN LAT_NSGN -#define NSPHIN LAT_NSPHIN -#define NSBXN LAT_NSBXN -#define NS LAT_NS -#define NSN LAT_NSN -#define NG LAT_NG -#define NBXN LAT_NBXN -#define NGN LAT_NGN -#define NY0 LAT_NY0 -#define NY LAT_NY -#define NYN LAT_NYN -// #define N LAT_N -#define NH LAT_NH -#define NPHI LAT_NPHI -#define NHN LAT_NHN -#define NPHIN LAT_NPHIN -#define NR LAT_NR - - -// ** solver data ** - -lat_solver_capsule * lat_acados_create_capsule(void) -{ - void* capsule_mem = malloc(sizeof(lat_solver_capsule)); - lat_solver_capsule *capsule = (lat_solver_capsule *) capsule_mem; - - return capsule; -} - - -int lat_acados_free_capsule(lat_solver_capsule *capsule) -{ - free(capsule); - return 0; -} - - -int lat_acados_create(lat_solver_capsule* capsule) -{ - int N_shooting_intervals = LAT_N; - double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps - return lat_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps); -} - - -int lat_acados_update_time_steps(lat_solver_capsule* capsule, int N, double* new_time_steps) -{ - if (N != capsule->nlp_solver_plan->N) { - fprintf(stderr, "lat_acados_update_time_steps: given number of time steps (= %d) " \ - "differs from the currently allocated number of " \ - "time steps (= %d)!\n" \ - "Please recreate with new discretization and provide a new vector of time_stamps!\n", - N, capsule->nlp_solver_plan->N); - return 1; - } - - ocp_nlp_config * nlp_config = capsule->nlp_config; - ocp_nlp_dims * nlp_dims = capsule->nlp_dims; - ocp_nlp_in * nlp_in = capsule->nlp_in; - - for (int i = 0; i < N; i++) - { - ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]); - } - return 0; -} - -/** - * Internal function for lat_acados_create: step 1 - */ -void lat_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, const int N) -{ - assert(N == nlp_solver_plan->N); - - /************************************************ - * plan - ************************************************/ - nlp_solver_plan->nlp_solver = SQP_RTI; - - nlp_solver_plan->ocp_qp_solver_plan.qp_solver = PARTIAL_CONDENSING_HPIPM; - - nlp_solver_plan->nlp_cost[0] = NONLINEAR_LS; - for (int i = 1; i < N; i++) - nlp_solver_plan->nlp_cost[i] = NONLINEAR_LS; - - nlp_solver_plan->nlp_cost[N] = NONLINEAR_LS; - - for (int i = 0; i < N; i++) - { - nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL; - nlp_solver_plan->sim_solver_plan[i].sim_solver = ERK; - } - - for (int i = 0; i < N; i++) - {nlp_solver_plan->nlp_constraints[i] = BGH; - } - nlp_solver_plan->nlp_constraints[N] = BGH; -} - - -/** - * Internal function for lat_acados_create: step 2 - */ -ocp_nlp_dims* lat_acados_create_2_create_and_set_dimensions(lat_solver_capsule* capsule) -{ - ocp_nlp_plan_t* nlp_solver_plan = capsule->nlp_solver_plan; - const int N = nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - - /************************************************ - * dimensions - ************************************************/ - #define NINTNP1MEMS 17 - int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS ); - - int* nx = intNp1mem + (N+1)*0; - int* nu = intNp1mem + (N+1)*1; - int* nbx = intNp1mem + (N+1)*2; - int* nbu = intNp1mem + (N+1)*3; - int* nsbx = intNp1mem + (N+1)*4; - int* nsbu = intNp1mem + (N+1)*5; - int* nsg = intNp1mem + (N+1)*6; - int* nsh = intNp1mem + (N+1)*7; - int* nsphi = intNp1mem + (N+1)*8; - int* ns = intNp1mem + (N+1)*9; - int* ng = intNp1mem + (N+1)*10; - int* nh = intNp1mem + (N+1)*11; - int* nphi = intNp1mem + (N+1)*12; - int* nz = intNp1mem + (N+1)*13; - int* ny = intNp1mem + (N+1)*14; - int* nr = intNp1mem + (N+1)*15; - int* nbxe = intNp1mem + (N+1)*16; - - for (int i = 0; i < N+1; i++) - { - // common - nx[i] = NX; - nu[i] = NU; - nz[i] = NZ; - ns[i] = NS; - // cost - ny[i] = NY; - // constraints - nbx[i] = NBX; - nbu[i] = NBU; - nsbx[i] = NSBX; - nsbu[i] = NSBU; - nsg[i] = NSG; - nsh[i] = NSH; - nsphi[i] = NSPHI; - ng[i] = NG; - nh[i] = NH; - nphi[i] = NPHI; - nr[i] = NR; - nbxe[i] = 0; - } - - // for initial state - nbx[0] = NBX0; - nsbx[0] = 0; - ns[0] = NS - NSBX; - nbxe[0] = 4; - ny[0] = NY0; - - // terminal - common - nu[N] = 0; - nz[N] = 0; - ns[N] = NSN; - // cost - ny[N] = NYN; - // constraint - nbx[N] = NBXN; - nbu[N] = 0; - ng[N] = NGN; - nh[N] = NHN; - nphi[N] = NPHIN; - nr[N] = 0; - - nsbx[N] = NSBXN; - nsbu[N] = 0; - nsg[N] = NSGN; - nsh[N] = NSHN; - nsphi[N] = NSPHIN; - - /* create and set ocp_nlp_dims */ - ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config); - - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx); - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu); - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz); - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns); - - for (int i = 0; i <= N; i++) - { - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]); - } - ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]); - for (int i = 1; i < N; i++) - ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]); - - for (int i = 0; i < N; i++) - { - } - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]); - ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]); - free(intNp1mem); -return nlp_dims; -} - - -/** - * Internal function for lat_acados_create: step 3 - */ -void lat_acados_create_3_create_and_set_functions(lat_solver_capsule* capsule) -{ - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - - /************************************************ - * external functions - ************************************************/ - -#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \ - capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\ - capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \ - capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \ - capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \ - capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \ - capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \ - external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , 2); \ - }while(false) - - - - - // explicit ode - capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(forw_vde_casadi[i], lat_expl_vde_forw); - } - - capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(expl_ode_fun[i], lat_expl_ode_fun); - } - - - // nonlinear least squares function - MAP_CASADI_FNC(cost_y_0_fun, lat_cost_y_0_fun); - MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, lat_cost_y_0_fun_jac_ut_xt); - MAP_CASADI_FNC(cost_y_0_hess, lat_cost_y_0_hess); - // nonlinear least squares cost - capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(cost_y_fun[i], lat_cost_y_fun); - } - - capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], lat_cost_y_fun_jac_ut_xt); - } - - capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(cost_y_hess[i], lat_cost_y_hess); - } - // nonlinear least square function - MAP_CASADI_FNC(cost_y_e_fun, lat_cost_y_e_fun); - MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, lat_cost_y_e_fun_jac_ut_xt); - MAP_CASADI_FNC(cost_y_e_hess, lat_cost_y_e_hess); - -#undef MAP_CASADI_FNC -} - - -/** - * Internal function for lat_acados_create: step 4 - */ -void lat_acados_create_4_set_default_parameters(lat_solver_capsule* capsule) { - const int N = capsule->nlp_solver_plan->N; - // initialize parameters to nominal value - double* p = calloc(NP, sizeof(double)); - - for (int i = 0; i <= N; i++) { - lat_acados_update_params(capsule, i, p, NP); - } - free(p); -} - - -/** - * Internal function for lat_acados_create: step 5 - */ -void lat_acados_create_5_set_nlp_in(lat_solver_capsule* capsule, const int N, double* new_time_steps) -{ - assert(N == capsule->nlp_solver_plan->N); - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - - /************************************************ - * nlp_in - ************************************************/ -// ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims); -// capsule->nlp_in = nlp_in; - ocp_nlp_in * nlp_in = capsule->nlp_in; - - // set up time_steps - - - if (new_time_steps) { - lat_acados_update_time_steps(capsule, N, new_time_steps); - } else {// time_steps are different - double* time_steps = malloc(N*sizeof(double)); - time_steps[0] = 0.009765625; - time_steps[1] = 0.029296875; - time_steps[2] = 0.048828125; - time_steps[3] = 0.068359375; - time_steps[4] = 0.087890625; - time_steps[5] = 0.107421875; - time_steps[6] = 0.126953125; - time_steps[7] = 0.146484375; - time_steps[8] = 0.166015625; - time_steps[9] = 0.185546875; - time_steps[10] = 0.205078125; - time_steps[11] = 0.224609375; - time_steps[12] = 0.244140625; - time_steps[13] = 0.263671875; - time_steps[14] = 0.283203125; - time_steps[15] = 0.302734375; - lat_acados_update_time_steps(capsule, N, time_steps); - free(time_steps); - } - - /**** Dynamics ****/ - for (int i = 0; i < N; i++) - { - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]); - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]); - - } - - /**** Cost ****/ - double* W_0 = calloc(NY0*NY0, sizeof(double)); - // change only the non-zero elements: - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0); - free(W_0); - - double* yref_0 = calloc(NY0, sizeof(double)); - // change only the non-zero elements: - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0); - free(yref_0); - double* W = calloc(NY*NY, sizeof(double)); - // change only the non-zero elements: - - double* yref = calloc(NY, sizeof(double)); - // change only the non-zero elements: - - for (int i = 1; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref); - } - free(W); - free(yref); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess); - for (int i = 1; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]); - } - - // terminal cost - double* yref_e = calloc(NYN, sizeof(double)); - // change only the non-zero elements: - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e); - free(yref_e); - - double* W_e = calloc(NYN*NYN, sizeof(double)); - // change only the non-zero elements: - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e); - free(W_e); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess); - - - - /**** Constraints ****/ - - // bounds for initial stage - // x0 - int* idxbx0 = malloc(NBX0 * sizeof(int)); - idxbx0[0] = 0; - idxbx0[1] = 1; - idxbx0[2] = 2; - idxbx0[3] = 3; - - double* lubx0 = calloc(2*NBX0, sizeof(double)); - double* lbx0 = lubx0; - double* ubx0 = lubx0 + NBX0; - // change only the non-zero elements: - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); - free(idxbx0); - free(lubx0); - // idxbxe_0 - int* idxbxe_0 = malloc(4 * sizeof(int)); - - idxbxe_0[0] = 0; - idxbxe_0[1] = 1; - idxbxe_0[2] = 2; - idxbxe_0[3] = 3; - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0); - free(idxbxe_0); - - /* constraints that are the same for initial and intermediate */ - - - - - - - - - // x - int* idxbx = malloc(NBX * sizeof(int)); - - idxbx[0] = 2; - idxbx[1] = 3; - double* lubx = calloc(2*NBX, sizeof(double)); - double* lbx = lubx; - double* ubx = lubx + NBX; - - lbx[0] = -1.5707963267948966; - ubx[0] = 1.5707963267948966; - lbx[1] = -0.8726646259971648; - ubx[1] = 0.8726646259971648; - - for (int i = 1; i < N; i++) - { - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbx", idxbx); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbx", lbx); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubx", ubx); - } - free(idxbx); - free(lubx); - - - - - - - - /* terminal constraints */ - - - - - - - - - - - - - - - -} - - -/** - * Internal function for lat_acados_create: step 6 - */ -void lat_acados_create_6_set_opts(lat_solver_capsule* capsule) -{ - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - void *nlp_opts = capsule->nlp_opts; - - /************************************************ - * opts - ************************************************/ - - - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step");int full_step_dual = 0; - ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual); - - // set collocation type (relevant for implicit integrators) - sim_collocation_type collocation_type = GAUSS_LEGENDRE; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type); - - // set up sim_method_num_steps - // all sim_method_num_steps are identical - int sim_method_num_steps = 1; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps); - - // set up sim_method_num_stages - // all sim_method_num_stages are identical - int sim_method_num_stages = 4; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages); - - int newton_iter_val = 3; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val); - - - // set up sim_method_jac_reuse - bool tmp_bool = (bool) 0; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool); - - double nlp_solver_step_length = 1; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length); - - double levenberg_marquardt = 0; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt); - - /* options QP solver */ - int qp_solver_cond_N; - - const int qp_solver_cond_N_ori = 1; - qp_solver_cond_N = N < qp_solver_cond_N_ori ? N : qp_solver_cond_N_ori; // use the minimum value here - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N); - // set HPIPM mode: should be done before setting other QP solver options - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "BALANCE"); - - - - int qp_solver_iter_max = 1; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max); - -int print_level = 0; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level); - - - int ext_cost_num_hess = 0; -} - - -/** - * Internal function for lat_acados_create: step 7 - */ -void lat_acados_create_7_set_nlp_out(lat_solver_capsule* capsule) -{ - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - ocp_nlp_out* nlp_out = capsule->nlp_out; - - // initialize primal solution - double* xu0 = calloc(NX+NU, sizeof(double)); - double* x0 = xu0; - - // initialize with x0 - - - - double* u0 = xu0 + NX; - - for (int i = 0; i < N; i++) - { - // x0 - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0); - // u0 - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); - } - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0); - free(xu0); -} - - -/** - * Internal function for lat_acados_create: step 8 - */ -//void lat_acados_create_8_create_solver(lat_solver_capsule* capsule) -//{ -// capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); -//} - -/** - * Internal function for lat_acados_create: step 9 - */ -int lat_acados_create_9_precompute(lat_solver_capsule* capsule) { - int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); - - if (status != ACADOS_SUCCESS) { - printf("\nocp_nlp_precompute failed!\n\n"); - exit(1); - } - - return status; -} - - -int lat_acados_create_with_discretization(lat_solver_capsule* capsule, int N, double* new_time_steps) -{ - // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given. - if (N != LAT_N && !new_time_steps) { - fprintf(stderr, "lat_acados_create_with_discretization: new_time_steps is NULL " \ - "but the number of shooting intervals (= %d) differs from the number of " \ - "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \ - N, LAT_N); - return 1; - } - - // number of expected runtime parameters - capsule->nlp_np = NP; - - // 1) create and set nlp_solver_plan; create nlp_config - capsule->nlp_solver_plan = ocp_nlp_plan_create(N); - lat_acados_create_1_set_plan(capsule->nlp_solver_plan, N); - capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan); - - // 3) create and set dimensions - capsule->nlp_dims = lat_acados_create_2_create_and_set_dimensions(capsule); - lat_acados_create_3_create_and_set_functions(capsule); - - // 4) set default parameters in functions - lat_acados_create_4_set_default_parameters(capsule); - - // 5) create and set nlp_in - capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims); - lat_acados_create_5_set_nlp_in(capsule, N, new_time_steps); - - // 6) create and set nlp_opts - capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims); - lat_acados_create_6_set_opts(capsule); - - // 7) create and set nlp_out - // 7.1) nlp_out - capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); - // 7.2) sens_out - capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); - lat_acados_create_7_set_nlp_out(capsule); - - // 8) create solver - capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); - //lat_acados_create_8_create_solver(capsule); - - // 9) do precomputations - int status = lat_acados_create_9_precompute(capsule); - return status; -} - -/** - * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export. - */ -int lat_acados_update_qp_solver_cond_N(lat_solver_capsule* capsule, int qp_solver_cond_N) -{ - // 1) destroy solver - ocp_nlp_solver_destroy(capsule->nlp_solver); - - // 2) set new value for "qp_cond_N" - const int N = capsule->nlp_solver_plan->N; - if(qp_solver_cond_N > N) - printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N); - ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N); - - // 3) continue with the remaining steps from lat_acados_create_with_discretization(...): - // -> 8) create solver - capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); - - // -> 9) do precomputations - int status = lat_acados_create_9_precompute(capsule); - return status; -} - - -int lat_acados_reset(lat_solver_capsule* capsule) -{ - - // set initialization to all zeros - - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - ocp_nlp_out* nlp_out = capsule->nlp_out; - ocp_nlp_in* nlp_in = capsule->nlp_in; - ocp_nlp_solver* nlp_solver = capsule->nlp_solver; - - int nx, nu, nv, ns, nz, ni, dim; - - double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double)); - - for(int i=0; i reset memory - int qp_status; - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status); - if (qp_status == 3) - { - // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status); - ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out); - } - - free(buffer); - return 0; -} - - - - -int lat_acados_update_params(lat_solver_capsule* capsule, int stage, double *p, int np) -{ - int solver_status = 0; - - int casadi_np = 2; - if (casadi_np != np) { - printf("acados_update_params: trying to set %i parameters for external functions." - " External function has %i parameters. Exiting.\n", np, casadi_np); - exit(1); - } - const int N = capsule->nlp_solver_plan->N; - if (stage < N && stage >= 0) - { - capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p); - capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p); - - - // constraints - - - // cost - if (stage == 0) - { - capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p); - capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p); - capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p); - } - else // 0 < stage < N - { - capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p); - capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p); - capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p); - } - } - - else // stage == N - { - // terminal shooting node has no dynamics - // cost - capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p); - capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p); - capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p); - // constraints - - } - - - return solver_status; -} - - - -int lat_acados_solve(lat_solver_capsule* capsule) -{ - // solve NLP - int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); - - return solver_status; -} - - -int lat_acados_free(lat_solver_capsule* capsule) -{ - // before destroying, keep some info - const int N = capsule->nlp_solver_plan->N; - // free memory - ocp_nlp_solver_opts_destroy(capsule->nlp_opts); - ocp_nlp_in_destroy(capsule->nlp_in); - ocp_nlp_out_destroy(capsule->nlp_out); - ocp_nlp_out_destroy(capsule->sens_out); - ocp_nlp_solver_destroy(capsule->nlp_solver); - ocp_nlp_dims_destroy(capsule->nlp_dims); - ocp_nlp_config_destroy(capsule->nlp_config); - ocp_nlp_plan_destroy(capsule->nlp_solver_plan); - - /* free external function */ - // dynamics - for (int i = 0; i < N; i++) - { - external_function_param_casadi_free(&capsule->forw_vde_casadi[i]); - external_function_param_casadi_free(&capsule->expl_ode_fun[i]); - } - free(capsule->forw_vde_casadi); - free(capsule->expl_ode_fun); - - // cost - external_function_param_casadi_free(&capsule->cost_y_0_fun); - external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt); - external_function_param_casadi_free(&capsule->cost_y_0_hess); - for (int i = 0; i < N - 1; i++) - { - external_function_param_casadi_free(&capsule->cost_y_fun[i]); - external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]); - external_function_param_casadi_free(&capsule->cost_y_hess[i]); - } - free(capsule->cost_y_fun); - free(capsule->cost_y_fun_jac_ut_xt); - free(capsule->cost_y_hess); - external_function_param_casadi_free(&capsule->cost_y_e_fun); - external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt); - external_function_param_casadi_free(&capsule->cost_y_e_hess); - - // constraints - - return 0; -} - -ocp_nlp_in *lat_acados_get_nlp_in(lat_solver_capsule* capsule) { return capsule->nlp_in; } -ocp_nlp_out *lat_acados_get_nlp_out(lat_solver_capsule* capsule) { return capsule->nlp_out; } -ocp_nlp_out *lat_acados_get_sens_out(lat_solver_capsule* capsule) { return capsule->sens_out; } -ocp_nlp_solver *lat_acados_get_nlp_solver(lat_solver_capsule* capsule) { return capsule->nlp_solver; } -ocp_nlp_config *lat_acados_get_nlp_config(lat_solver_capsule* capsule) { return capsule->nlp_config; } -void *lat_acados_get_nlp_opts(lat_solver_capsule* capsule) { return capsule->nlp_opts; } -ocp_nlp_dims *lat_acados_get_nlp_dims(lat_solver_capsule* capsule) { return capsule->nlp_dims; } -ocp_nlp_plan_t *lat_acados_get_nlp_plan(lat_solver_capsule* capsule) { return capsule->nlp_solver_plan; } - - -void lat_acados_print_stats(lat_solver_capsule* capsule) -{ - int sqp_iter, stat_m, stat_n, tmp_int; - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter); - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n); - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m); - - - double stat[1200]; - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat); - - int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m; - printf("iter\tqp_stat\tqp_iter\n"); - for (int i = 0; i < nrow; i++) - { - for (int j = 0; j < stat_n + 1; j++) - { - tmp_int = (int) stat[i + j * nrow]; - printf("%d\t", tmp_int); - } - printf("\n"); - } -} - diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_solver_sfunction_lat.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_solver_sfunction_lat.c deleted file mode 100644 index 827b6c7f0..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/acados_solver_sfunction_lat.c +++ /dev/null @@ -1,264 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -#define S_FUNCTION_NAME acados_solver_sfunction_lat -#define S_FUNCTION_LEVEL 2 - -#define MDL_START - -// acados -// #include "acados/utils/print.h" -#include "acados_c/sim_interface.h" -#include "acados_c/external_function_interface.h" - -// example specific -#include "lat_model/lat_model.h" -#include "acados_solver_lat.h" - -#include "simstruc.h" - -#define SAMPLINGTIME 0.009765625 - -static void mdlInitializeSizes (SimStruct *S) -{ - // specify the number of continuous and discrete states - ssSetNumContStates(S, 0); - ssSetNumDiscStates(S, 0);// specify the number of input ports - if ( !ssSetNumInputPorts(S, 8) ) - return; - - // specify the number of output ports - if ( !ssSetNumOutputPorts(S, 6) ) - return; - - // specify dimension information for the input ports - // lbx_0 - ssSetInputPortVectorDimension(S, 0, 4); - // ubx_0 - ssSetInputPortVectorDimension(S, 1, 4); - // parameters - ssSetInputPortVectorDimension(S, 2, (16+1) * 2); - // y_ref_0 - ssSetInputPortVectorDimension(S, 3, 3); - // y_ref - ssSetInputPortVectorDimension(S, 4, 45); - // y_ref_e - ssSetInputPortVectorDimension(S, 5, 2); - // lbx - ssSetInputPortVectorDimension(S, 6, 30); - // ubx - ssSetInputPortVectorDimension(S, 7, 30);/* specify dimension information for the OUTPUT ports */ - ssSetOutputPortVectorDimension(S, 0, 1 ); - ssSetOutputPortVectorDimension(S, 1, 1 ); - ssSetOutputPortVectorDimension(S, 2, 1 ); - ssSetOutputPortVectorDimension(S, 3, 4 ); // state at shooting node 1 - ssSetOutputPortVectorDimension(S, 4, 1); - ssSetOutputPortVectorDimension(S, 5, 1 ); - - // specify the direct feedthrough status - // should be set to 1 for all inputs used in mdlOutputs - ssSetInputPortDirectFeedThrough(S, 0, 1); - ssSetInputPortDirectFeedThrough(S, 1, 1); - ssSetInputPortDirectFeedThrough(S, 2, 1); - ssSetInputPortDirectFeedThrough(S, 3, 1); - ssSetInputPortDirectFeedThrough(S, 4, 1); - ssSetInputPortDirectFeedThrough(S, 5, 1); - ssSetInputPortDirectFeedThrough(S, 6, 1); - ssSetInputPortDirectFeedThrough(S, 7, 1); - - // one sample time - ssSetNumSampleTimes(S, 1); -} - - -#if defined(MATLAB_MEX_FILE) - -#define MDL_SET_INPUT_PORT_DIMENSION_INFO -#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO - -static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) -{ - if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) ) - return; -} - -static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) -{ - if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) ) - return; -} - -#endif /* MATLAB_MEX_FILE */ - - -static void mdlInitializeSampleTimes(SimStruct *S) -{ - ssSetSampleTime(S, 0, SAMPLINGTIME); - ssSetOffsetTime(S, 0, 0.0); -} - - -static void mdlStart(SimStruct *S) -{ - lat_solver_capsule *capsule = lat_acados_create_capsule(); - lat_acados_create(capsule); - - ssSetUserData(S, (void*)capsule); -} - - -static void mdlOutputs(SimStruct *S, int_T tid) -{ - lat_solver_capsule *capsule = ssGetUserData(S); - ocp_nlp_config *nlp_config = lat_acados_get_nlp_config(capsule); - ocp_nlp_dims *nlp_dims = lat_acados_get_nlp_dims(capsule); - ocp_nlp_in *nlp_in = lat_acados_get_nlp_in(capsule); - ocp_nlp_out *nlp_out = lat_acados_get_nlp_out(capsule); - - InputRealPtrsType in_sign; - - // local buffer - real_t buffer[4]; - - /* go through inputs */ - // lbx_0 - in_sign = ssGetInputPortRealSignalPtrs(S, 0); - for (int i = 0; i < 4; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", buffer); - // ubx_0 - in_sign = ssGetInputPortRealSignalPtrs(S, 1); - for (int i = 0; i < 4; i++) - buffer[i] = (double)(*in_sign[i]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer); - // parameters - stage-variant !!! - in_sign = ssGetInputPortRealSignalPtrs(S, 2); - - // update value of parameters - for (int ii = 0; ii <= 16; ii++) - { - for (int jj = 0; jj < 2; jj++) - buffer[jj] = (double)(*in_sign[ii*2+jj]); - lat_acados_update_params(capsule, ii, buffer, 2); - } - - - // y_ref_0 - in_sign = ssGetInputPortRealSignalPtrs(S, 3); - - for (int i = 0; i < 3; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", (void *) buffer); - - - // y_ref - for stages 1 to N-1 - in_sign = ssGetInputPortRealSignalPtrs(S, 4); - - for (int ii = 1; ii < 16; ii++) - { - for (int jj = 0; jj < 3; jj++) - buffer[jj] = (double)(*in_sign[(ii-1)*3+jj]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "yref", (void *) buffer); - } - - - // y_ref_e - in_sign = ssGetInputPortRealSignalPtrs(S, 5); - - for (int i = 0; i < 2; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 16, "yref", (void *) buffer); - // lbx - in_sign = ssGetInputPortRealSignalPtrs(S, 6); - for (int ii = 1; ii < 16; ii++) - { - for (int jj = 0; jj < 2; jj++) - buffer[jj] = (double)(*in_sign[(ii-1)*2+jj]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbx", (void *) buffer); - } - // ubx - in_sign = ssGetInputPortRealSignalPtrs(S, 7); - for (int ii = 1; ii < 16; ii++) - { - for (int jj = 0; jj < 2; jj++) - buffer[jj] = (double)(*in_sign[(ii-1)*2+jj]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubx", (void *) buffer); - } - - /* call solver */ - int rti_phase = 0; - ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "rti_phase", &rti_phase); - int acados_status = lat_acados_solve(capsule); - - - /* set outputs */ - // assign pointers to output signals - real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin; - int tmp_int; - out_u0 = ssGetOutputPortRealSignal(S, 0); - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "u", (void *) out_u0); - - - out_status = ssGetOutputPortRealSignal(S, 1); - *out_status = (real_t) acados_status; - out_KKT_res = ssGetOutputPortRealSignal(S, 2); - *out_KKT_res = (real_t) nlp_out->inf_norm_res; - out_x1 = ssGetOutputPortRealSignal(S, 3); - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 1, "x", (void *) out_x1); - out_cpu_time = ssGetOutputPortRealSignal(S, 4); - // get solution time - ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time); - out_sqp_iter = ssGetOutputPortRealSignal(S, 5); - // get sqp iter - ocp_nlp_get(nlp_config, capsule->nlp_solver, "sqp_iter", (void *) &tmp_int); - *out_sqp_iter = (real_t) tmp_int; - -} - -static void mdlTerminate(SimStruct *S) -{ - lat_solver_capsule *capsule = ssGetUserData(S); - - lat_acados_free(capsule); - lat_acados_free_capsule(capsule); -} - - -#ifdef MATLAB_MEX_FILE -#include "simulink.c" -#else -#include "cg_sfun.h" -#endif diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c deleted file mode 100644 index 8bdbd2750..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c +++ /dev/null @@ -1,154 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_0_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[7] = {3, 1, 0, 3, 0, 1, 2}; - -/* lat_cost_y_0_fun:(i0[4],i1,i2[2])->(o0[3]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=5.; - a2=(a0+a1); - a3=arg[0]? arg[0][2] : 0; - a2=(a2*a3); - if (res[0]!=0) res[0][1]=a2; - a2=4.; - a0=(a0+a1); - a2=(a2*a0); - a0=arg[1]? arg[1][0] : 0; - a2=(a2*a0); - if (res[0]!=0) res[0][2]=a2; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_0_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c deleted file mode 100644 index f8f0b6ad0..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c +++ /dev/null @@ -1,162 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_0_fun_jac_ut_xt_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s4[9] = {5, 3, 0, 1, 2, 3, 2, 3, 0}; - -/* lat_cost_y_0_fun_jac_ut_xt:(i0[4],i1,i2[2])->(o0[3],o1[5x3,3nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=5.; - a2=(a0+a1); - a3=arg[0]? arg[0][2] : 0; - a3=(a2*a3); - if (res[0]!=0) res[0][1]=a3; - a3=4.; - a0=(a0+a1); - a3=(a3*a0); - a0=arg[1]? arg[1][0] : 0; - a0=(a3*a0); - if (res[0]!=0) res[0][2]=a0; - a0=1.; - if (res[1]!=0) res[1][0]=a0; - if (res[1]!=0) res[1][1]=a2; - if (res[1]!=0) res[1][2]=a3; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_jac_ut_xt_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_jac_ut_xt_n_out(void) { return 2;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_0_fun_jac_ut_xt_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_jac_ut_xt_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_jac_ut_xt_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_jac_ut_xt_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_jac_ut_xt_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - case 1: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 2; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c deleted file mode 100644 index 90dbbfb1e..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c +++ /dev/null @@ -1,143 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_0_hess_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s4[8] = {5, 5, 0, 0, 0, 0, 0, 0}; - -/* lat_cost_y_0_hess:(i0[4],i1,i2[3],i3[2])->(o0[5x5,0nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_hess_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_hess_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_0_hess_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_hess_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_hess_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_hess_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - case 3: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_hess_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c deleted file mode 100644 index a940186ce..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c +++ /dev/null @@ -1,146 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_e_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[3] = {0, 0, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; - -/* lat_cost_y_e_fun:(i0[4],i1[],i2[2])->(o0[2]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=5.; - a0=(a0+a1); - a1=arg[0]? arg[0][2] : 0; - a0=(a0*a1); - if (res[0]!=0) res[0][1]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_e_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c deleted file mode 100644 index 9b91f812c..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c +++ /dev/null @@ -1,153 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_e_fun_jac_ut_xt_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[3] = {0, 0, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[7] = {4, 2, 0, 1, 2, 1, 2}; - -/* lat_cost_y_e_fun_jac_ut_xt:(i0[4],i1[],i2[2])->(o0[2],o1[4x2,2nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=5.; - a0=(a0+a1); - a1=arg[0]? arg[0][2] : 0; - a1=(a0*a1); - if (res[0]!=0) res[0][1]=a1; - a1=1.; - if (res[1]!=0) res[1][0]=a1; - if (res[1]!=0) res[1][1]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_jac_ut_xt_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_jac_ut_xt_n_out(void) { return 2;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_e_fun_jac_ut_xt_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_jac_ut_xt_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_jac_ut_xt_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_jac_ut_xt_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_jac_ut_xt_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s2; - case 1: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 2; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c deleted file mode 100644 index 781daffaa..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c +++ /dev/null @@ -1,141 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_e_hess_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[3] = {0, 0, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[7] = {4, 4, 0, 0, 0, 0, 0}; - -/* lat_cost_y_e_hess:(i0[4],i1[],i2[2],i3[2])->(o0[4x4,0nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_hess_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_hess_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_e_hess_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_hess_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_hess_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_hess_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - case 3: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_hess_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c deleted file mode 100644 index e300e8da2..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c +++ /dev/null @@ -1,154 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[7] = {3, 1, 0, 3, 0, 1, 2}; - -/* lat_cost_y_fun:(i0[4],i1,i2[2])->(o0[3]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=5.; - a2=(a0+a1); - a3=arg[0]? arg[0][2] : 0; - a2=(a2*a3); - if (res[0]!=0) res[0][1]=a2; - a2=4.; - a0=(a0+a1); - a2=(a2*a0); - a0=arg[1]? arg[1][0] : 0; - a2=(a2*a0); - if (res[0]!=0) res[0][2]=a2; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c deleted file mode 100644 index cc725e8c6..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c +++ /dev/null @@ -1,162 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_fun_jac_ut_xt_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s4[9] = {5, 3, 0, 1, 2, 3, 2, 3, 0}; - -/* lat_cost_y_fun_jac_ut_xt:(i0[4],i1,i2[2])->(o0[3],o1[5x3,3nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=5.; - a2=(a0+a1); - a3=arg[0]? arg[0][2] : 0; - a3=(a2*a3); - if (res[0]!=0) res[0][1]=a3; - a3=4.; - a0=(a0+a1); - a3=(a3*a0); - a0=arg[1]? arg[1][0] : 0; - a0=(a3*a0); - if (res[0]!=0) res[0][2]=a0; - a0=1.; - if (res[1]!=0) res[1][0]=a0; - if (res[1]!=0) res[1][1]=a2; - if (res[1]!=0) res[1][2]=a3; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_jac_ut_xt_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_jac_ut_xt_n_out(void) { return 2;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_fun_jac_ut_xt_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_jac_ut_xt_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_jac_ut_xt_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_jac_ut_xt_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_jac_ut_xt_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - case 1: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 2; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c deleted file mode 100644 index 2a4258b0d..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c +++ /dev/null @@ -1,143 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_hess_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s4[8] = {5, 5, 0, 0, 0, 0, 0, 0}; - -/* lat_cost_y_hess:(i0[4],i1,i2[3],i3[2])->(o0[5x5,0nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_hess_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_hess_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_hess_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_hess_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_hess_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_hess_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_hess_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_hess_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_hess_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_hess_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_hess_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_hess_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_hess_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - case 3: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_hess_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c deleted file mode 100644 index 084aef3f3..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c +++ /dev/null @@ -1,162 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_expl_ode_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; - -/* lat_expl_ode_fun:(i0[4],i1,i2[2])->(o0[4]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3, a4, a5, a6; - a0=arg[2]? arg[2][0] : 0; - a1=arg[0]? arg[0][2] : 0; - a2=cos(a1); - a2=(a0*a2); - a3=arg[2]? arg[2][1] : 0; - a4=sin(a1); - a4=(a3*a4); - a5=arg[0]? arg[0][3] : 0; - a6=(a0*a5); - a4=(a4*a6); - a2=(a2-a4); - if (res[0]!=0) res[0][0]=a2; - a2=sin(a1); - a2=(a0*a2); - a1=cos(a1); - a3=(a3*a1); - a1=(a0*a5); - a3=(a3*a1); - a2=(a2+a3); - if (res[0]!=0) res[0][1]=a2; - a0=(a0*a5); - if (res[0]!=0) res[0][2]=a0; - a0=arg[1]? arg[1][0] : 0; - if (res[0]!=0) res[0][3]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_ode_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_ode_fun_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_ode_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_expl_ode_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_ode_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_ode_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_ode_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_ode_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_adj.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_adj.c deleted file mode 100644 index a407cded8..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_adj.c +++ /dev/null @@ -1,186 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_expl_vde_adj_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; - -/* lat_expl_vde_adj:(i0[4],i1[4],i2,i3[2])->(o0[5]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3, a4, a5, a6, a7; - a0=0.; - if (res[0]!=0) res[0][0]=a0; - if (res[0]!=0) res[0][1]=a0; - a0=arg[0]? arg[0][2] : 0; - a1=cos(a0); - a2=arg[3]? arg[3][0] : 0; - a3=arg[1]? arg[1][1] : 0; - a4=(a2*a3); - a1=(a1*a4); - a4=sin(a0); - a5=arg[3]? arg[3][1] : 0; - a6=arg[0]? arg[0][3] : 0; - a7=(a2*a6); - a7=(a7*a3); - a7=(a5*a7); - a4=(a4*a7); - a1=(a1-a4); - a4=cos(a0); - a6=(a2*a6); - a7=arg[1]? arg[1][0] : 0; - a6=(a6*a7); - a6=(a5*a6); - a4=(a4*a6); - a1=(a1-a4); - a4=sin(a0); - a6=(a2*a7); - a4=(a4*a6); - a1=(a1-a4); - if (res[0]!=0) res[0][2]=a1; - a1=arg[1]? arg[1][2] : 0; - a1=(a2*a1); - a4=cos(a0); - a4=(a5*a4); - a4=(a4*a3); - a4=(a2*a4); - a1=(a1+a4); - a0=sin(a0); - a5=(a5*a0); - a5=(a5*a7); - a2=(a2*a5); - a1=(a1-a2); - if (res[0]!=0) res[0][3]=a1; - a1=arg[1]? arg[1][3] : 0; - if (res[0]!=0) res[0][4]=a1; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_adj(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_adj_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_adj_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_expl_vde_adj_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_vde_adj_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_vde_adj_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_adj_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s0; - case 2: return casadi_s1; - case 3: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_adj_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c deleted file mode 100644 index 832f63096..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c +++ /dev/null @@ -1,312 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_expl_vde_forw_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[23] = {4, 4, 0, 4, 8, 12, 16, 0, 1, 2, 3, 0, 1, 2, 3, 0, 1, 2, 3, 0, 1, 2, 3}; -static const casadi_int casadi_s2[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; - -/* lat_expl_vde_forw:(i0[4],i1[4x4],i2[4],i3,i4[2])->(o0[4],o1[4x4],o2[4]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a10, a11, a12, a13, a14, a15, a16, a2, a3, a4, a5, a6, a7, a8, a9; - a0=arg[4]? arg[4][0] : 0; - a1=arg[0]? arg[0][2] : 0; - a2=cos(a1); - a2=(a0*a2); - a3=arg[4]? arg[4][1] : 0; - a4=sin(a1); - a4=(a3*a4); - a5=arg[0]? arg[0][3] : 0; - a6=(a0*a5); - a7=(a4*a6); - a2=(a2-a7); - if (res[0]!=0) res[0][0]=a2; - a2=sin(a1); - a2=(a0*a2); - a7=cos(a1); - a7=(a3*a7); - a8=(a0*a5); - a9=(a7*a8); - a2=(a2+a9); - if (res[0]!=0) res[0][1]=a2; - a5=(a0*a5); - if (res[0]!=0) res[0][2]=a5; - a5=arg[3]? arg[3][0] : 0; - if (res[0]!=0) res[0][3]=a5; - a5=sin(a1); - a2=arg[1]? arg[1][2] : 0; - a9=(a5*a2); - a9=(a0*a9); - a10=cos(a1); - a11=(a10*a2); - a11=(a3*a11); - a11=(a6*a11); - a12=arg[1]? arg[1][3] : 0; - a13=(a0*a12); - a13=(a4*a13); - a11=(a11+a13); - a9=(a9+a11); - a9=(-a9); - if (res[1]!=0) res[1][0]=a9; - a9=cos(a1); - a11=(a9*a2); - a11=(a0*a11); - a13=(a0*a12); - a13=(a7*a13); - a14=sin(a1); - a2=(a14*a2); - a2=(a3*a2); - a2=(a8*a2); - a13=(a13-a2); - a11=(a11+a13); - if (res[1]!=0) res[1][1]=a11; - a12=(a0*a12); - if (res[1]!=0) res[1][2]=a12; - a12=0.; - if (res[1]!=0) res[1][3]=a12; - a11=arg[1]? arg[1][6] : 0; - a13=(a5*a11); - a13=(a0*a13); - a2=(a10*a11); - a2=(a3*a2); - a2=(a6*a2); - a15=arg[1]? arg[1][7] : 0; - a16=(a0*a15); - a16=(a4*a16); - a2=(a2+a16); - a13=(a13+a2); - a13=(-a13); - if (res[1]!=0) res[1][4]=a13; - a13=(a9*a11); - a13=(a0*a13); - a2=(a0*a15); - a2=(a7*a2); - a11=(a14*a11); - a11=(a3*a11); - a11=(a8*a11); - a2=(a2-a11); - a13=(a13+a2); - if (res[1]!=0) res[1][5]=a13; - a15=(a0*a15); - if (res[1]!=0) res[1][6]=a15; - if (res[1]!=0) res[1][7]=a12; - a15=arg[1]? arg[1][10] : 0; - a13=(a5*a15); - a13=(a0*a13); - a2=(a10*a15); - a2=(a3*a2); - a2=(a6*a2); - a11=arg[1]? arg[1][11] : 0; - a16=(a0*a11); - a16=(a4*a16); - a2=(a2+a16); - a13=(a13+a2); - a13=(-a13); - if (res[1]!=0) res[1][8]=a13; - a13=(a9*a15); - a13=(a0*a13); - a2=(a0*a11); - a2=(a7*a2); - a15=(a14*a15); - a15=(a3*a15); - a15=(a8*a15); - a2=(a2-a15); - a13=(a13+a2); - if (res[1]!=0) res[1][9]=a13; - a11=(a0*a11); - if (res[1]!=0) res[1][10]=a11; - if (res[1]!=0) res[1][11]=a12; - a11=arg[1]? arg[1][14] : 0; - a5=(a5*a11); - a5=(a0*a5); - a10=(a10*a11); - a10=(a3*a10); - a10=(a6*a10); - a13=arg[1]? arg[1][15] : 0; - a2=(a0*a13); - a2=(a4*a2); - a10=(a10+a2); - a5=(a5+a10); - a5=(-a5); - if (res[1]!=0) res[1][12]=a5; - a9=(a9*a11); - a9=(a0*a9); - a5=(a0*a13); - a5=(a7*a5); - a14=(a14*a11); - a14=(a3*a14); - a14=(a8*a14); - a5=(a5-a14); - a9=(a9+a5); - if (res[1]!=0) res[1][13]=a9; - a13=(a0*a13); - if (res[1]!=0) res[1][14]=a13; - if (res[1]!=0) res[1][15]=a12; - a12=sin(a1); - a13=arg[2]? arg[2][2] : 0; - a12=(a12*a13); - a12=(a0*a12); - a9=cos(a1); - a9=(a9*a13); - a9=(a3*a9); - a6=(a6*a9); - a9=arg[2]? arg[2][3] : 0; - a5=(a0*a9); - a4=(a4*a5); - a6=(a6+a4); - a12=(a12+a6); - a12=(-a12); - if (res[2]!=0) res[2][0]=a12; - a12=cos(a1); - a12=(a12*a13); - a12=(a0*a12); - a6=(a0*a9); - a7=(a7*a6); - a1=sin(a1); - a1=(a1*a13); - a3=(a3*a1); - a8=(a8*a3); - a7=(a7-a8); - a12=(a12+a7); - if (res[2]!=0) res[2][1]=a12; - a0=(a0*a9); - if (res[2]!=0) res[2][2]=a0; - a0=1.; - if (res[2]!=0) res[2][3]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_forw(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_forw_n_in(void) { return 5;} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_forw_n_out(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_real lat_expl_vde_forw_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_vde_forw_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - case 4: return "i4"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_vde_forw_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - case 2: return "o2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_forw_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s0; - case 3: return casadi_s2; - case 4: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_forw_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s0; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 5; - if (sz_res) *sz_res = 3; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/main_lat.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/main_lat.c deleted file mode 100644 index 53809769a..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/main_lat.c +++ /dev/null @@ -1,216 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -// standard -#include -#include -// acados -#include "acados/utils/print.h" -#include "acados/utils/math.h" -#include "acados_c/ocp_nlp_interface.h" -#include "acados_c/external_function_interface.h" -#include "acados_solver_lat.h" - -#define NX LAT_NX -#define NZ LAT_NZ -#define NU LAT_NU -#define NP LAT_NP -#define NBX LAT_NBX -#define NBX0 LAT_NBX0 -#define NBU LAT_NBU -#define NSBX LAT_NSBX -#define NSBU LAT_NSBU -#define NSH LAT_NSH -#define NSG LAT_NSG -#define NSPHI LAT_NSPHI -#define NSHN LAT_NSHN -#define NSGN LAT_NSGN -#define NSPHIN LAT_NSPHIN -#define NSBXN LAT_NSBXN -#define NS LAT_NS -#define NSN LAT_NSN -#define NG LAT_NG -#define NBXN LAT_NBXN -#define NGN LAT_NGN -#define NY0 LAT_NY0 -#define NY LAT_NY -#define NYN LAT_NYN -#define NH LAT_NH -#define NPHI LAT_NPHI -#define NHN LAT_NHN -#define NPHIN LAT_NPHIN -#define NR LAT_NR - - -int main() -{ - - lat_solver_capsule *acados_ocp_capsule = lat_acados_create_capsule(); - // there is an opportunity to change the number of shooting intervals in C without new code generation - int N = LAT_N; - // allocate the array and fill it accordingly - double* new_time_steps = NULL; - int status = lat_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps); - - if (status) - { - printf("lat_acados_create() returned status %d. Exiting.\n", status); - exit(1); - } - - ocp_nlp_config *nlp_config = lat_acados_get_nlp_config(acados_ocp_capsule); - ocp_nlp_dims *nlp_dims = lat_acados_get_nlp_dims(acados_ocp_capsule); - ocp_nlp_in *nlp_in = lat_acados_get_nlp_in(acados_ocp_capsule); - ocp_nlp_out *nlp_out = lat_acados_get_nlp_out(acados_ocp_capsule); - ocp_nlp_solver *nlp_solver = lat_acados_get_nlp_solver(acados_ocp_capsule); - void *nlp_opts = lat_acados_get_nlp_opts(acados_ocp_capsule); - - // initial condition - int idxbx0[NBX0]; - idxbx0[0] = 0; - idxbx0[1] = 1; - idxbx0[2] = 2; - idxbx0[3] = 3; - - double lbx0[NBX0]; - double ubx0[NBX0]; - lbx0[0] = 0; - ubx0[0] = 0; - lbx0[1] = 0; - ubx0[1] = 0; - lbx0[2] = 0; - ubx0[2] = 0; - lbx0[3] = 0; - ubx0[3] = 0; - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); - - // initialization for state values - double x_init[NX]; - x_init[0] = 0.0; - x_init[1] = 0.0; - x_init[2] = 0.0; - x_init[3] = 0.0; - - // initial value for control input - double u0[NU]; - u0[0] = 0.0; - // set parameters - double p[NP]; - p[0] = 0; - p[1] = 0; - - for (int ii = 0; ii <= N; ii++) - { - lat_acados_update_params(acados_ocp_capsule, ii, p, NP); - } - - - // prepare evaluation - int NTIMINGS = 1; - double min_time = 1e12; - double kkt_norm_inf; - double elapsed_time; - int sqp_iter; - - double xtraj[NX * (N+1)]; - double utraj[NU * N]; - - - // solve ocp in loop - int rti_phase = 0; - - for (int ii = 0; ii < NTIMINGS; ii++) - { - // initialize solution - for (int i = 0; i < N; i++) - { - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init); - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); - } - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init); - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase); - status = lat_acados_solve(acados_ocp_capsule); - ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time); - min_time = MIN(elapsed_time, min_time); - } - - /* print solution and statistics */ - for (int ii = 0; ii <= nlp_dims->N; ii++) - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]); - for (int ii = 0; ii < nlp_dims->N; ii++) - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]); - - printf("\n--- xtraj ---\n"); - d_print_exp_tran_mat( NX, N+1, xtraj, NX); - printf("\n--- utraj ---\n"); - d_print_exp_tran_mat( NU, N, utraj, NU ); - // ocp_nlp_out_print(nlp_solver->dims, nlp_out); - - printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS); - - if (status == ACADOS_SUCCESS) - { - printf("lat_acados_solve(): SUCCESS!\n"); - } - else - { - printf("lat_acados_solve() failed with status %d.\n", status); - } - - // get solution - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf); - ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter); - - lat_acados_print_stats(acados_ocp_capsule); - - printf("\nSolver info:\n"); - printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n", - sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf); - - // free solver - status = lat_acados_free(acados_ocp_capsule); - if (status) { - printf("lat_acados_free() returned status %d. \n", status); - } - // free solver capsule - status = lat_acados_free_capsule(acados_ocp_capsule); - if (status) { - printf("lat_acados_free_capsule() returned status %d. \n", status); - } - - return status; -} diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c deleted file mode 100644 index c536654fd..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c +++ /dev/null @@ -1,128 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -// standard -#include -#include -// acados -#include "acados/utils/print.h" -#include "acados/utils/math.h" -#include "acados_c/sim_interface.h" -#include "acados_sim_solver_lat.h" - -#define NX LAT_NX -#define NZ LAT_NZ -#define NU LAT_NU -#define NP LAT_NP - - -int main() -{ - int status = 0; - sim_solver_capsule *capsule = lat_acados_sim_solver_create_capsule(); - status = lat_acados_sim_create(capsule); - - if (status) - { - printf("acados_create() returned status %d. Exiting.\n", status); - exit(1); - } - - sim_config *acados_sim_config = lat_acados_get_sim_config(capsule); - sim_in *acados_sim_in = lat_acados_get_sim_in(capsule); - sim_out *acados_sim_out = lat_acados_get_sim_out(capsule); - void *acados_sim_dims = lat_acados_get_sim_dims(capsule); - - // initial condition - double x_current[NX]; - x_current[0] = 0.0; - x_current[1] = 0.0; - x_current[2] = 0.0; - x_current[3] = 0.0; - - - x_current[0] = 0; - x_current[1] = 0; - x_current[2] = 0; - x_current[3] = 0; - - - - - // initial value for control input - double u0[NU]; - u0[0] = 0.0; - // set parameters - double p[NP]; - p[0] = 0; - p[1] = 0; - - lat_acados_sim_update_params(capsule, p, NP); - - - int n_sim_steps = 3; - // solve ocp in loop - for (int ii = 0; ii < n_sim_steps; ii++) - { - sim_in_set(acados_sim_config, acados_sim_dims, - acados_sim_in, "x", x_current); - status = lat_acados_sim_solve(capsule); - - if (status != ACADOS_SUCCESS) - { - printf("acados_solve() failed with status %d.\n", status); - } - - sim_out_get(acados_sim_config, acados_sim_dims, - acados_sim_out, "x", x_current); - - printf("\nx_current, %d\n", ii); - for (int jj = 0; jj < NX; jj++) - { - printf("%e\n", x_current[jj]); - } - } - - printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps); - - // free solver - status = lat_acados_sim_free(capsule); - if (status) { - printf("lat_acados_sim_free() returned status %d. \n", status); - } - - lat_acados_sim_solver_free_capsule(capsule); - - return status; -} diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/make_sfun_lat.m b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/make_sfun_lat.m deleted file mode 100644 index 2c6679ecb..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/c_generated_code/make_sfun_lat.m +++ /dev/null @@ -1,125 +0,0 @@ -% -% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl -% -% This file is part of acados. -% -% The 2-Clause BSD License -% -% Redistribution and use in source and binary forms, with or without -% modification, are permitted provided that the following conditions are met: -% -% 1. Redistributions of source code must retain the above copyright notice, -% this list of conditions and the following disclaimer. -% -% 2. Redistributions in binary form must reproduce the above copyright notice, -% this list of conditions and the following disclaimer in the documentation -% and/or other materials provided with the distribution. -% -% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -% POSSIBILITY OF SUCH DAMAGE.; -% - -SOURCES = { ... - 'lat_model/lat_expl_ode_fun.c', ... - 'lat_model/lat_expl_vde_forw.c',... - 'lat_cost/lat_cost_y_0_fun.c',... - 'lat_cost/lat_cost_y_0_fun_jac_ut_xt.c',... - 'lat_cost/lat_cost_y_0_hess.c',... - 'lat_cost/lat_cost_y_fun.c',... - 'lat_cost/lat_cost_y_fun_jac_ut_xt.c',... - 'lat_cost/lat_cost_y_hess.c',... - 'lat_cost/lat_cost_y_e_fun.c',... - 'lat_cost/lat_cost_y_e_fun_jac_ut_xt.c',... - 'lat_cost/lat_cost_y_e_hess.c',... - 'acados_solver_sfunction_lat.c', ... - 'acados_solver_lat.c' - }; - -INC_PATH = '/data/openpilot/third_party/acados/include/acados/include'; - -INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ... - ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ... - ['-I', fullfile(INC_PATH, 'acados')], ... - ['-I', fullfile(INC_PATH)]}; - - - -CFLAGS = 'CFLAGS=$CFLAGS'; -LDFLAGS = 'LDFLAGS=$LDFLAGS'; -COMPFLAGS = 'COMPFLAGS=$COMPFLAGS'; -COMPDEFINES = 'COMPDEFINES=$COMPDEFINES'; - - - -LIB_PATH = ['-L', fullfile('/data/openpilot/third_party/acados/include/acados/lib')]; - -LIBS = {'-lacados', '-lhpipm', '-lblasfeo'}; - -% acados linking libraries and flags - - -mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ... - LIB_PATH, LIBS{:}, SOURCES{:}, ... - '-output', 'acados_solver_sfunction_lat' ); - -fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_lat', '.', ... - eval('mexext')] ); - - -%% print note on usage of s-function -fprintf('\n\nNote: Usage of Sfunction is as follows:\n') -input_note = 'Inputs are:\n'; -i_in = 1; -input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',... - ' size [4]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',... - ' size [4]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N+1,',... - ' size [34]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [3]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',... - ' size [45]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [2]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [30]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [30]\n '); -i_in = i_in + 1; - -fprintf(input_note) - -disp(' ') - -output_note = 'Outputs are:\n'; -i_out = 0; -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [1]\n '); -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n '); -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') KKT residual\n '); -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n '); -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') CPU time\n '); -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n '); - -fprintf(output_note) diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/lat_mpc.py deleted file mode 100755 index 881fcc599..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_mpc_lib/lat_mpc.py +++ /dev/null @@ -1,179 +0,0 @@ -#!/usr/bin/env python3 -import os -import numpy as np - -from casadi import SX, vertcat, sin, cos - -from common.realtime import sec_since_boot -from selfdrive.controls.lib.drive_helpers import LAT_MPC_N as N -from selfdrive.modeld.constants import T_IDXS - -if __name__ == '__main__': # generating code - from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver -else: - from selfdrive.dragonpilot.controls_0813.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython # pylint: disable=no-name-in-module, import-error - -LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__)) -EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code") -JSON_FILE = os.path.join(LAT_MPC_DIR, "acados_ocp_lat.json") -X_DIM = 4 -P_DIM = 2 -MODEL_NAME = 'lat' -ACADOS_SOLVER_TYPE = 'SQP_RTI' - -def gen_lat_model(): - model = AcadosModel() - model.name = MODEL_NAME - - # set up states & controls - x_ego = SX.sym('x_ego') - y_ego = SX.sym('y_ego') - psi_ego = SX.sym('psi_ego') - curv_ego = SX.sym('curv_ego') - model.x = vertcat(x_ego, y_ego, psi_ego, curv_ego) - - # parameters - v_ego = SX.sym('v_ego') - rotation_radius = SX.sym('rotation_radius') - model.p = vertcat(v_ego, rotation_radius) - - # controls - curv_rate = SX.sym('curv_rate') - model.u = vertcat(curv_rate) - - # xdot - x_ego_dot = SX.sym('x_ego_dot') - y_ego_dot = SX.sym('y_ego_dot') - psi_ego_dot = SX.sym('psi_ego_dot') - curv_ego_dot = SX.sym('curv_ego_dot') - - model.xdot = vertcat(x_ego_dot, y_ego_dot, psi_ego_dot, curv_ego_dot) - - # dynamics model - f_expl = vertcat(v_ego * cos(psi_ego) - rotation_radius * sin(psi_ego) * (v_ego * curv_ego), - v_ego * sin(psi_ego) + rotation_radius * cos(psi_ego) * (v_ego * curv_ego), - v_ego * curv_ego, - curv_rate) - model.f_impl_expr = model.xdot - f_expl - model.f_expl_expr = f_expl - return model - - -def gen_lat_ocp(): - ocp = AcadosOcp() - ocp.model = gen_lat_model() - - Tf = np.array(T_IDXS)[N] - - # set dimensions - ocp.dims.N = N - - # set cost module - ocp.cost.cost_type = 'NONLINEAR_LS' - ocp.cost.cost_type_e = 'NONLINEAR_LS' - - Q = np.diag([0.0, 0.0]) - QR = np.diag([0.0, 0.0, 0.0]) - - ocp.cost.W = QR - ocp.cost.W_e = Q - - y_ego, psi_ego = ocp.model.x[1], ocp.model.x[2] - curv_rate = ocp.model.u[0] - v_ego = ocp.model.p[0] - - ocp.parameter_values = np.zeros((P_DIM, )) - - ocp.cost.yref = np.zeros((3, )) - ocp.cost.yref_e = np.zeros((2, )) - # TODO hacky weights to keep behavior the same - ocp.model.cost_y_expr = vertcat(y_ego, - ((v_ego +5.0) * psi_ego), - ((v_ego +5.0) * 4 * curv_rate)) - ocp.model.cost_y_expr_e = vertcat(y_ego, - ((v_ego +5.0) * psi_ego)) - - # set constraints - ocp.constraints.constr_type = 'BGH' - ocp.constraints.idxbx = np.array([2,3]) - ocp.constraints.ubx = np.array([np.radians(90), np.radians(50)]) - ocp.constraints.lbx = np.array([-np.radians(90), -np.radians(50)]) - x0 = np.zeros((X_DIM,)) - ocp.constraints.x0 = x0 - - ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM' - ocp.solver_options.hessian_approx = 'GAUSS_NEWTON' - ocp.solver_options.integrator_type = 'ERK' - ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE - ocp.solver_options.qp_solver_iter_max = 1 - ocp.solver_options.qp_solver_cond_N = 1 - - # set prediction horizon - ocp.solver_options.tf = Tf - ocp.solver_options.shooting_nodes = np.array(T_IDXS)[:N+1] - - ocp.code_export_directory = EXPORT_DIR - return ocp - - -class LateralMpc(): - def __init__(self, x0=np.zeros(X_DIM)): - self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) - self.reset(x0) - - def reset(self, x0=np.zeros(X_DIM)): - self.x_sol = np.zeros((N+1, X_DIM)) - self.u_sol = np.zeros((N, 1)) - self.yref = np.zeros((N+1, 3)) - for i in range(N): - self.solver.cost_set(i, "yref", self.yref[i]) - self.solver.cost_set(N, "yref", self.yref[N][:2]) - - # Somehow needed for stable init - for i in range(N+1): - self.solver.set(i, 'x', np.zeros(X_DIM)) - self.solver.set(i, 'p', np.zeros(P_DIM)) - self.solver.constraints_set(0, "lbx", x0) - self.solver.constraints_set(0, "ubx", x0) - self.solver.solve() - self.solution_status = 0 - self.solve_time = 0.0 - self.cost = 0 - - def set_weights(self, path_weight, heading_weight, steer_rate_weight): - W = np.asfortranarray(np.diag([path_weight, heading_weight, steer_rate_weight])) - for i in range(N): - self.solver.cost_set(i, 'W', W) - #TODO hacky weights to keep behavior the same - self.solver.cost_set(N, 'W', (3/20.)*W[:2,:2]) - - def run(self, x0, p, y_pts, heading_pts): - x0_cp = np.copy(x0) - p_cp = np.copy(p) - self.solver.constraints_set(0, "lbx", x0_cp) - self.solver.constraints_set(0, "ubx", x0_cp) - self.yref[:,0] = y_pts - v_ego = p_cp[0] - # rotation_radius = p_cp[1] - self.yref[:,1] = heading_pts*(v_ego+5.0) - for i in range(N): - self.solver.cost_set(i, "yref", self.yref[i]) - self.solver.set(i, "p", p_cp) - self.solver.set(N, "p", p_cp) - self.solver.cost_set(N, "yref", self.yref[N][:2]) - - t = sec_since_boot() - self.solution_status = self.solver.solve() - self.solve_time = sec_since_boot() - t - - for i in range(N+1): - self.x_sol[i] = self.solver.get(i, 'x') - for i in range(N): - self.u_sol[i] = self.solver.get(i, 'u') - self.cost = self.solver.get_cost() - - -if __name__ == "__main__": - ocp = gen_lat_ocp() - AcadosOcpSolver.generate(ocp, json_file=JSON_FILE) - # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True) diff --git a/selfdrive/dragonpilot/controls_0813/lib/lateral_planner.py b/selfdrive/dragonpilot/controls_0813/lib/lateral_planner.py deleted file mode 100644 index bee2764c4..000000000 --- a/selfdrive/dragonpilot/controls_0813/lib/lateral_planner.py +++ /dev/null @@ -1,152 +0,0 @@ -import numpy as np -from common.realtime import sec_since_boot, DT_MDL -from common.numpy_fast import interp -from system.swaglog import cloudlog -from selfdrive.dragonpilot.controls_0813.lib.lateral_mpc_lib.lat_mpc import LateralMpc -from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N, CAR_ROTATION_RADIUS, get_lane_laneless_mode -from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE -from selfdrive.controls.lib.desire_helper import DesireHelper -import cereal.messaging as messaging -from cereal import log -from system.hardware import TICI -from common.params import Params - - -class LateralPlanner: - def __init__(self, CP): - self.LP = LanePlanner(False if not TICI else Params().get_bool('WideCameraOnly')) - self.DH = DesireHelper() - - self.last_cloudlog_t = 0 - try: - self.steer_rate_cost = float(Params().get("dp_lateral_steer_rate_cost").decode('utf-8')) - except: - self.steer_rate_cost = 1.0 - self.solution_invalid_cnt = 0 - - self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) - self.path_xyz_stds = np.ones((TRAJECTORY_SIZE, 3)) - self.plan_yaw = np.zeros((TRAJECTORY_SIZE,)) - self.t_idxs = np.arange(TRAJECTORY_SIZE) - self.y_pts = np.zeros(TRAJECTORY_SIZE) - self.d_path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) - - self.lat_mpc = LateralMpc() - self.reset_mpc(np.zeros(4)) - - # dp - self.dp_lanelines_enable = False - self.dp_lanelines_active = False - self.dp_camera_offset = 4 if TICI else -6 - self.dp_path_offset = 4 if TICI else 0 - - def reset_mpc(self, x0=np.zeros(4)): - self.x0 = x0 - self.lat_mpc.reset(x0=self.x0) - - def update(self, sm): - v_ego = sm['carState'].vEgo - measured_curvature = sm['controlsState'].curvature - if sm.updated['dragonConf']: - self.dp_lanelines_enable = sm['dragonConf'].dpLateralLanelines - self.dp_camera_offset = sm['dragonConf'].dpLateralCameraOffset - self.dp_path_offset = sm['dragonConf'].dpLateralPathOffset - if sm['controlsState'].dpLateralAltActive and sm['dragonConf'].dpLateralAltLanelines: - self.dp_lanelines_enable = True - self.dp_camera_offset = sm['dragonConf'].dpLateralAltCameraOffset - self.dp_path_offset = sm['dragonConf'].dpLateralAltPathOffset - - # Parse model predictions - md = sm['modelV2'] - # update camera/path offset to lane planner - self.LP.update_dp_camera_offsets(self.dp_camera_offset, self.dp_path_offset) - # Parse model predictions - self.LP.parse_model(md) - if len(md.position.x) == TRAJECTORY_SIZE and len(md.orientation.x) == TRAJECTORY_SIZE: - self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z]) - self.t_idxs = np.array(md.position.t) - self.plan_yaw = list(md.orientation.z) - if len(md.position.xStd) == TRAJECTORY_SIZE: - self.path_xyz_stds = np.column_stack([md.position.xStd, md.position.yStd, md.position.zStd]) - - # Lane change logic - lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob - self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, sm['dragonConf'], md) - - # Turn off lanes during lane change - if self.DH.desire == log.LateralPlan.Desire.laneChangeRight or self.DH.desire == log.LateralPlan.Desire.laneChangeLeft: - self.LP.lll_prob *= self.DH.lane_change_ll_prob - self.LP.rll_prob *= self.DH.lane_change_ll_prob - - # dynamic laneline/laneless logic - # decide if we want to use lanelines or laneless - if self.dp_lanelines_enable: - self.dp_lanelines_active = get_lane_laneless_mode(self.LP.lll_prob, self.LP.rll_prob, self.dp_lanelines_active) - else: - self.dp_lanelines_active = False - - # Calculate final driving path and set MPC costs - if self.dp_lanelines_active: - self.d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz) - self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, self.steer_rate_cost) - else: - self.d_path_xyz = self.path_xyz - path_cost = np.clip(abs(self.path_xyz[0, 1] / self.path_xyz_stds[0, 1]), 0.5, 1.5) * MPC_COST_LAT.PATH - # Heading cost is useful at low speed, otherwise end of plan can be off-heading - heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.0]) - self.lat_mpc.set_weights(path_cost, heading_cost, self.steer_rate_cost) - - y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.d_path_xyz, axis=1), self.d_path_xyz[:, 1]) - heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw) - self.y_pts = y_pts - - assert len(y_pts) == LAT_MPC_N + 1 - assert len(heading_pts) == LAT_MPC_N + 1 - # self.x0[4] = v_ego - p = np.array([v_ego, CAR_ROTATION_RADIUS]) - self.lat_mpc.run(self.x0, - p, - y_pts, - heading_pts) - # init state for next - self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3]) - - # Check for infeasible MPC solution - mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any() - t = sec_since_boot() - if mpc_nans or self.lat_mpc.solution_status != 0: - self.reset_mpc() - self.x0[3] = measured_curvature - if t > self.last_cloudlog_t + 5.0: - self.last_cloudlog_t = t - cloudlog.warning("Lateral mpc - nan: True") - - if self.lat_mpc.cost > 20000. or mpc_nans: - self.solution_invalid_cnt += 1 - else: - self.solution_invalid_cnt = 0 - - def publish(self, sm, pm): - plan_solution_valid = self.solution_invalid_cnt < 2 - plan_send = messaging.new_message('lateralPlan') - plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) - - lateralPlan = plan_send.lateralPlan - lateralPlan.modelMonoTime = sm.logMonoTime['modelV2'] - lateralPlan.dPathPoints = self.y_pts.tolist() - lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist() - lateralPlan.curvatures = self.lat_mpc.x_sol[0:CONTROL_N, 3].tolist() - lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] - - lateralPlan.mpcSolutionValid = bool(plan_solution_valid) - lateralPlan.solverExecutionTime = self.lat_mpc.solve_time - - lateralPlan.desire = self.DH.desire - lateralPlan.useLaneLines = self.dp_lanelines_active - lateralPlan.laneChangeState = self.DH.lane_change_state - lateralPlan.laneChangeDirection = self.DH.lane_change_direction - - plan_send.lateralPlan.dPathWLinesX = [float(x) for x in self.d_path_xyz[:, 0]] - plan_send.lateralPlan.dPathWLinesY = [float(y) for y in self.d_path_xyz[:, 1]] - - pm.send('lateralPlan', plan_send) diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/.gitignore b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/.gitignore deleted file mode 100644 index aff2eb082..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -acados_ocp_lat.json -c_generated_code/ diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/acados_ocp_lat.json b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/acados_ocp_lat.json deleted file mode 100644 index f7b5bb7f8..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/acados_ocp_lat.json +++ /dev/null @@ -1,450 +0,0 @@ -{ - "acados_include_path": "/data/openpilot/third_party/acados/include/acados/include", - "acados_lib_path": "/data/openpilot/third_party/acados/include/acados/lib", - "code_export_directory": "/data/openpilot/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code", - "constraints": { - "C": [], - "C_e": [], - "D": [], - "constr_type": "BGH", - "constr_type_e": "BGH", - "idxbu": [], - "idxbx": [ - 2, - 3 - ], - "idxbx_0": [ - 0, - 1, - 2, - 3 - ], - "idxbx_e": [], - "idxbxe_0": [ - 0, - 1, - 2, - 3 - ], - "idxsbu": [], - "idxsbx": [], - "idxsbx_e": [], - "idxsg": [], - "idxsg_e": [], - "idxsh": [], - "idxsh_e": [], - "idxsphi": [], - "idxsphi_e": [], - "lbu": [], - "lbx": [ - -1.5707963267948966, - -0.8726646259971648 - ], - "lbx_0": [ - 0.0, - 0.0, - 0.0, - 0.0 - ], - "lbx_e": [], - "lg": [], - "lg_e": [], - "lh": [], - "lh_e": [], - "lphi": [], - "lphi_e": [], - "lsbu": [], - "lsbx": [], - "lsbx_e": [], - "lsg": [], - "lsg_e": [], - "lsh": [], - "lsh_e": [], - "lsphi": [], - 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#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) - #define __Pyx_DefaultClassType PyClass_Type -#else - #define __Pyx_BUILTIN_MODULE_NAME "builtins" - #define __Pyx_DefaultClassType PyType_Type -#if PY_VERSION_HEX >= 0x030B00A1 - static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f, - PyObject *code, PyObject *c, PyObject* n, PyObject *v, - PyObject *fv, PyObject *cell, PyObject* fn, - PyObject *name, int fline, PyObject *lnos) { - PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL; - PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL; - const char *fn_cstr=NULL; - const char *name_cstr=NULL; - PyCodeObject* co=NULL; - PyObject *type, *value, *traceback; - PyErr_Fetch(&type, &value, &traceback); - if (!(kwds=PyDict_New())) goto end; - if (!(argcount=PyLong_FromLong(a))) goto end; - if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end; - if (!(posonlyargcount=PyLong_FromLong(0))) goto end; - if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end; - if (!(kwonlyargcount=PyLong_FromLong(k))) goto end; - if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end; - if (!(nlocals=PyLong_FromLong(l))) goto end; - if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end; - if (!(stacksize=PyLong_FromLong(s))) goto end; - if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end; - if (!(flags=PyLong_FromLong(f))) goto end; - if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end; - if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end; - if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end; - if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end; - if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end; - if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too; - if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here - if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too; - Py_XDECREF((PyObject*)co); - co = (PyCodeObject*)call_result; - call_result = NULL; - if (0) { - cleanup_code_too: - Py_XDECREF((PyObject*)co); - co = NULL; - } - end: - Py_XDECREF(kwds); - Py_XDECREF(argcount); - Py_XDECREF(posonlyargcount); - Py_XDECREF(kwonlyargcount); - Py_XDECREF(nlocals); - Py_XDECREF(stacksize); - Py_XDECREF(replace); - Py_XDECREF(call_result); - Py_XDECREF(empty); - if (type) { - PyErr_Restore(type, value, traceback); - } - return co; - } -#else - #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) -#endif - #define __Pyx_DefaultClassType PyType_Type -#endif -#ifndef Py_TPFLAGS_CHECKTYPES - #define Py_TPFLAGS_CHECKTYPES 0 -#endif -#ifndef Py_TPFLAGS_HAVE_INDEX - #define Py_TPFLAGS_HAVE_INDEX 0 -#endif -#ifndef Py_TPFLAGS_HAVE_NEWBUFFER - #define Py_TPFLAGS_HAVE_NEWBUFFER 0 -#endif -#ifndef Py_TPFLAGS_HAVE_FINALIZE - #define Py_TPFLAGS_HAVE_FINALIZE 0 -#endif -#ifndef METH_STACKLESS - #define METH_STACKLESS 0 -#endif -#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) - #ifndef METH_FASTCALL - #define METH_FASTCALL 0x80 - #endif - typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); - typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, - Py_ssize_t nargs, PyObject *kwnames); -#else - #define __Pyx_PyCFunctionFast _PyCFunctionFast - #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords -#endif -#if CYTHON_FAST_PYCCALL -#define __Pyx_PyFastCFunction_Check(func)\ - ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))))) -#else -#define __Pyx_PyFastCFunction_Check(func) 0 -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) - #define PyObject_Malloc(s) PyMem_Malloc(s) - #define PyObject_Free(p) PyMem_Free(p) - #define PyObject_Realloc(p) PyMem_Realloc(p) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1 - #define PyMem_RawMalloc(n) PyMem_Malloc(n) - #define PyMem_RawRealloc(p, n) PyMem_Realloc(p, n) - #define PyMem_RawFree(p) PyMem_Free(p) -#endif -#if CYTHON_COMPILING_IN_PYSTON - #define __Pyx_PyCode_HasFreeVars(co) PyCode_HasFreeVars(co) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno) -#else - #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) -#endif -#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#elif PY_VERSION_HEX >= 0x03060000 - #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() -#elif PY_VERSION_HEX >= 0x03000000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#else - #define __Pyx_PyThreadState_Current _PyThreadState_Current -#endif -#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) -#include "pythread.h" -#define Py_tss_NEEDS_INIT 0 -typedef int Py_tss_t; -static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { - *key = PyThread_create_key(); - return 0; -} -static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { - Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); - *key = Py_tss_NEEDS_INIT; - return key; -} -static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { - PyObject_Free(key); -} -static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { - return *key != Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { - PyThread_delete_key(*key); - *key = Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { - return PyThread_set_key_value(*key, value); -} -static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { - return PyThread_get_key_value(*key); -} -#endif -#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized) -#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) -#else -#define __Pyx_PyDict_NewPresized(n) PyDict_New() -#endif -#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION - #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) -#else - #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) - #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS -#define __Pyx_PyDict_GetItemStr(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) -#else -#define __Pyx_PyDict_GetItemStr(dict, name) PyDict_GetItem(dict, name) -#endif -#if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) - #define CYTHON_PEP393_ENABLED 1 - #if defined(PyUnicode_IS_READY) - #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ - 0 : _PyUnicode_Ready((PyObject *)(op))) - #else - #define __Pyx_PyUnicode_READY(op) (0) - #endif - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) - #define __Pyx_PyUnicode_KIND(u) PyUnicode_KIND(u) - #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) - #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, ch) - #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE) - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) - #endif - #else - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) - #endif -#else - #define CYTHON_PEP393_ENABLED 0 - #define PyUnicode_1BYTE_KIND 1 - #define PyUnicode_2BYTE_KIND 2 - #define PyUnicode_4BYTE_KIND 4 - #define __Pyx_PyUnicode_READY(op) (0) - #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) - #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) - #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111) - #define __Pyx_PyUnicode_KIND(u) (sizeof(Py_UNICODE)) - #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) - #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) - #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = ch) - #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) -#endif -#if CYTHON_COMPILING_IN_PYPY - #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) -#else - #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) - #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ - PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains) - #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check) - #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format) - #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) -#endif -#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) -#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? 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(Py_INCREF(s), s) :\ - PyObject_Format(s, f)) -#elif PY_MAJOR_VERSION < 3 - #define __Pyx_PyObject_FormatSimple(s, f) (\ - likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ - likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ - PyObject_Format(s, f)) -#elif CYTHON_USE_TYPE_SLOTS - #define __Pyx_PyObject_FormatSimple(s, f) (\ - likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ - likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_str(s) :\ - likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_str(s) :\ - PyObject_Format(s, f)) -#else - #define __Pyx_PyObject_FormatSimple(s, f) (\ - likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ - PyObject_Format(s, f)) -#endif - -/* IncludeStringH.proto */ -#include - -/* JoinPyUnicode.proto */ -static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, - Py_UCS4 max_char); - -/* ArgTypeTest.proto */ -#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ - ((likely((Py_TYPE(obj) == type) | (none_allowed && (obj == Py_None)))) ? 1 :\ - __Pyx__ArgTypeTest(obj, type, name, exact)) -static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); - -/* PySequenceContains.proto */ -static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { - int result = PySequence_Contains(seq, item); - return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); -} - -/* BytesEquals.proto */ -static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); - -/* UnicodeEquals.proto */ -static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); - -/* PyDictVersioning.proto */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) -#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) -#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ - (version_var) = __PYX_GET_DICT_VERSION(dict);\ - (cache_var) = (value); -#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ - static PY_UINT64_T __pyx_dict_version = 0;\ - static PyObject *__pyx_dict_cached_value = NULL;\ - if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ - (VAR) = __pyx_dict_cached_value;\ - } else {\ - (VAR) = __pyx_dict_cached_value = (LOOKUP);\ - __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ - }\ -} -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); -#else -#define __PYX_GET_DICT_VERSION(dict) (0) -#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) -#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); -#endif - -/* GetModuleGlobalName.proto */ -#if CYTHON_USE_DICT_VERSIONS -#define __Pyx_GetModuleGlobalName(var, name) {\ - static PY_UINT64_T __pyx_dict_version = 0;\ - static PyObject *__pyx_dict_cached_value = NULL;\ - (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ - (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ - __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ -} -#define __Pyx_GetModuleGlobalNameUncached(var, name) {\ - PY_UINT64_T __pyx_dict_version;\ - PyObject *__pyx_dict_cached_value;\ - (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ -} -static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); -#else -#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) -#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) -static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); -#endif - -/* ExtTypeTest.proto */ -static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); - -/* IsLittleEndian.proto */ -static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); - -/* BufferFormatCheck.proto */ -static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); -static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, - __Pyx_BufFmt_StackElem* stack, - __Pyx_TypeInfo* type); - -/* BufferGetAndValidate.proto */ -#define __Pyx_GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)\ - ((obj == Py_None || obj == NULL) ?\ - (__Pyx_ZeroBuffer(buf), 0) :\ - __Pyx__GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)) -static int __Pyx__GetBufferAndValidate(Py_buffer* buf, PyObject* obj, - __Pyx_TypeInfo* dtype, int flags, int nd, int cast, __Pyx_BufFmt_StackElem* stack); -static void __Pyx_ZeroBuffer(Py_buffer* buf); -static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info); -static Py_ssize_t __Pyx_minusones[] = { -1, -1, -1, -1, -1, -1, -1, -1 }; -static Py_ssize_t __Pyx_zeros[] = { 0, 0, 0, 0, 0, 0, 0, 0 }; - -/* Import.proto */ -static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); - -/* SliceObject.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice( - PyObject* obj, Py_ssize_t cstart, Py_ssize_t cstop, - PyObject** py_start, PyObject** py_stop, PyObject** py_slice, - int has_cstart, int has_cstop, int wraparound); - -/* PyObjectLookupSpecial.proto */ -#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PyObject* __Pyx_PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name) { - PyObject *res; - PyTypeObject *tp = Py_TYPE(obj); -#if PY_MAJOR_VERSION < 3 - if (unlikely(PyInstance_Check(obj))) - return __Pyx_PyObject_GetAttrStr(obj, attr_name); -#endif - res = _PyType_Lookup(tp, attr_name); - if (likely(res)) { - descrgetfunc f = Py_TYPE(res)->tp_descr_get; - if (!f) { - Py_INCREF(res); - } else { - res = f(res, obj, (PyObject *)tp); - } - } else { - PyErr_SetObject(PyExc_AttributeError, attr_name); - } - return res; -} -#else -#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) -#endif - -/* FetchCommonType.proto */ -static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); - -/* CythonFunctionShared.proto */ -#define __Pyx_CyFunction_USED 1 -#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 -#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 -#define __Pyx_CYFUNCTION_CCLASS 0x04 -#define __Pyx_CyFunction_GetClosure(f)\ - (((__pyx_CyFunctionObject *) (f))->func_closure) -#define __Pyx_CyFunction_GetClassObj(f)\ - (((__pyx_CyFunctionObject *) (f))->func_classobj) -#define __Pyx_CyFunction_Defaults(type, f)\ - ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) -#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ - ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) -typedef struct { - PyCFunctionObject func; -#if PY_VERSION_HEX < 0x030500A0 - PyObject *func_weakreflist; -#endif - PyObject *func_dict; - PyObject *func_name; - PyObject *func_qualname; - PyObject *func_doc; - PyObject *func_globals; - PyObject *func_code; - PyObject *func_closure; - PyObject *func_classobj; - void *defaults; - int defaults_pyobjects; - size_t defaults_size; // used by FusedFunction for copying defaults - int flags; - PyObject *defaults_tuple; - PyObject *defaults_kwdict; - PyObject *(*defaults_getter)(PyObject *); - PyObject *func_annotations; -} __pyx_CyFunctionObject; -static PyTypeObject *__pyx_CyFunctionType = 0; -#define __Pyx_CyFunction_Check(obj) (__Pyx_TypeCheck(obj, __pyx_CyFunctionType)) -static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, - int flags, PyObject* qualname, - PyObject *self, - PyObject *module, PyObject *globals, - PyObject* code); -static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, - size_t size, - int pyobjects); -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, - PyObject *tuple); -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, - PyObject *dict); -static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, - PyObject *dict); -static int __pyx_CyFunction_init(void); - -/* CythonFunction.proto */ -static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, - int flags, PyObject* qualname, - PyObject *closure, - PyObject *module, PyObject *globals, - PyObject* code); - -/* GetTopmostException.proto */ -#if CYTHON_USE_EXC_INFO_STACK -static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); -#endif - -/* SaveResetException.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); -#else -#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) -#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) -#endif - -/* GetException.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) -static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#else -static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); -#endif - -/* IterFinish.proto */ -static CYTHON_INLINE int __Pyx_IterFinish(void); - -/* PyObjectGetMethod.proto */ -static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); - -/* PyObjectCallMethod0.proto */ -static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); - -/* RaiseNeedMoreValuesToUnpack.proto */ -static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); - -/* RaiseTooManyValuesToUnpack.proto */ -static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); - -/* UnpackItemEndCheck.proto */ -static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected); - -/* RaiseNoneIterError.proto */ -static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); - -/* UnpackTupleError.proto */ -static void __Pyx_UnpackTupleError(PyObject *, Py_ssize_t index); - -/* UnpackTuple2.proto */ -#define __Pyx_unpack_tuple2(tuple, value1, value2, is_tuple, has_known_size, decref_tuple)\ - (likely(is_tuple || PyTuple_Check(tuple)) ?\ - (likely(has_known_size || PyTuple_GET_SIZE(tuple) == 2) ?\ - __Pyx_unpack_tuple2_exact(tuple, value1, value2, decref_tuple) :\ - (__Pyx_UnpackTupleError(tuple, 2), -1)) :\ - __Pyx_unpack_tuple2_generic(tuple, value1, value2, has_known_size, decref_tuple)) -static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( - PyObject* tuple, PyObject** value1, PyObject** value2, int decref_tuple); -static int __Pyx_unpack_tuple2_generic( - PyObject* tuple, PyObject** value1, PyObject** value2, int has_known_size, int decref_tuple); - -/* dict_iter.proto */ -static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* dict, int is_dict, PyObject* method_name, - Py_ssize_t* p_orig_length, int* p_is_dict); -static CYTHON_INLINE int __Pyx_dict_iter_next(PyObject* dict_or_iter, Py_ssize_t orig_length, Py_ssize_t* ppos, - PyObject** pkey, PyObject** pvalue, PyObject** pitem, int is_dict); - -/* None.proto */ -static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); - -/* GetItemInt.proto */ -#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ - (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ - __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ - (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ - __Pyx_GetItemInt_Generic(o, to_py_func(i)))) -#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ - (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ - __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ - (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - int wraparound, int boundscheck); -#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ - (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ - __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ - (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - int wraparound, int boundscheck); -static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, - int is_list, int wraparound, int boundscheck); - -/* ObjectGetItem.proto */ -#if CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key); -#else -#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) -#endif - -/* PyIntBinop.proto */ -#if !CYTHON_COMPILING_IN_PYPY -static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check); -#else -#define __Pyx_PyInt_AddObjC(op1, op2, intval, inplace, zerodivision_check)\ - (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2)) -#endif - -/* BufferIndexError.proto */ -static void __Pyx_RaiseBufferIndexError(int axis); - -#define __Pyx_BufPtrStrided1d(type, buf, i0, s0) (type)((char*)buf + i0 * s0) -/* PyUnicode_Unicode.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj); - -/* GCCDiagnostics.proto */ -#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) -#define __Pyx_HAS_GCC_DIAGNOSTIC -#endif - -/* BuildPyUnicode.proto */ -static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, - int prepend_sign, char padding_char); - -/* CIntToPyUnicode.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); - -/* MemviewSliceInit.proto */ -#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d -#define __Pyx_MEMVIEW_DIRECT 1 -#define __Pyx_MEMVIEW_PTR 2 -#define __Pyx_MEMVIEW_FULL 4 -#define __Pyx_MEMVIEW_CONTIG 8 -#define __Pyx_MEMVIEW_STRIDED 16 -#define __Pyx_MEMVIEW_FOLLOW 32 -#define __Pyx_IS_C_CONTIG 1 -#define __Pyx_IS_F_CONTIG 2 -static int __Pyx_init_memviewslice( - struct __pyx_memoryview_obj *memview, - int ndim, - __Pyx_memviewslice *memviewslice, - int memview_is_new_reference); -static CYTHON_INLINE int __pyx_add_acquisition_count_locked( - __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); -static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( - __pyx_atomic_int *acquisition_count, PyThread_type_lock lock); -#define __pyx_get_slice_count_pointer(memview) (memview->acquisition_count_aligned_p) -#define __pyx_get_slice_count(memview) (*__pyx_get_slice_count_pointer(memview)) -#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) -#define __PYX_XDEC_MEMVIEW(slice, have_gil) __Pyx_XDEC_MEMVIEW(slice, have_gil, __LINE__) -static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); -static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *, int, int); - -/* PyErrExceptionMatches.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) -static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); -#else -#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) -#endif - -/* StrEquals.proto */ -#if PY_MAJOR_VERSION >= 3 -#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals -#else -#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals -#endif - -/* None.proto */ -static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); - -/* UnaryNegOverflows.proto */ -#define UNARY_NEG_WOULD_OVERFLOW(x)\ - (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) - -static CYTHON_UNUSED int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ -static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ -/* GetAttr.proto */ -static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); - -/* decode_c_string_utf16.proto */ -static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { - int byteorder = 0; - return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); -} -static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { - int byteorder = -1; - return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); -} -static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { - int byteorder = 1; - return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); -} - -/* decode_c_string.proto */ -static CYTHON_INLINE PyObject* __Pyx_decode_c_string( - const char* cstring, Py_ssize_t start, Py_ssize_t stop, - const char* encoding, const char* errors, - PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); - -/* GetAttr3.proto */ -static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); - -/* SwapException.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#else -static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); -#endif - -/* FastTypeChecks.proto */ -#if CYTHON_COMPILING_IN_CPYTHON -#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); -#else -#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) -#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) -#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) -#endif -#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) - -static CYTHON_UNUSED int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ -/* ListCompAppend.proto */ -#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS -static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { - PyListObject* L = (PyListObject*) list; - Py_ssize_t len = Py_SIZE(list); - if (likely(L->allocated > len)) { - Py_INCREF(x); - PyList_SET_ITEM(list, len, x); - __Pyx_SET_SIZE(list, len + 1); - return 0; - } - return PyList_Append(list, x); -} -#else -#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) -#endif - -/* ListExtend.proto */ -static CYTHON_INLINE int __Pyx_PyList_Extend(PyObject* L, PyObject* v) { -#if CYTHON_COMPILING_IN_CPYTHON - PyObject* none = _PyList_Extend((PyListObject*)L, v); - if (unlikely(!none)) - return -1; - Py_DECREF(none); - return 0; -#else - return PyList_SetSlice(L, PY_SSIZE_T_MAX, PY_SSIZE_T_MAX, v); -#endif -} - -/* ListAppend.proto */ -#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS -static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { - PyListObject* L = (PyListObject*) list; 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- static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); - static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); - #if 1 - static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); - #endif -#endif - -/* MemviewSliceCopyTemplate.proto */ -static __Pyx_memviewslice -__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, - const char *mode, int ndim, - size_t sizeof_dtype, int contig_flag, - int dtype_is_object); - -/* CIntFromPy.proto */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); - -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); - -/* CIntFromPy.proto */ -static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); - -/* CIntFromPy.proto */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); - -/* CIntFromPy.proto */ -static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); - -/* CheckBinaryVersion.proto */ -static int __Pyx_check_binary_version(void); - -/* InitStrings.proto */ -static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); - -static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ -static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ -static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ -static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ -static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ -static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ -static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ -static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ - -/* Module declarations from 'cython.view' */ - -/* Module declarations from 'cython' */ - -/* Module declarations from 'libc.string' */ - -/* Module declarations from 'libc.stdio' */ - -/* Module declarations from 'libc' */ - -/* Module declarations from 'acados_solver_common' */ - -/* Module declarations from 'acados_solver' */ - -/* Module declarations from 'cpython.buffer' */ - -/* Module declarations from '__builtin__' */ - -/* Module declarations from 'cpython.type' */ -static PyTypeObject *__pyx_ptype_7cpython_4type_type = 0; - -/* Module declarations from 'cpython' */ - -/* Module declarations from 'cpython.object' */ - -/* Module declarations from 'cpython.ref' */ - -/* Module declarations from 'cpython.mem' */ - -/* Module declarations from 'numpy' */ - -/* Module declarations from 'numpy' */ -static PyTypeObject *__pyx_ptype_5numpy_dtype = 0; -static PyTypeObject *__pyx_ptype_5numpy_flatiter = 0; -static PyTypeObject *__pyx_ptype_5numpy_broadcast = 0; -static PyTypeObject *__pyx_ptype_5numpy_ndarray = 0; 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/*proto*/ -static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ -static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ -static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ -static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ -static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float64_t = { "float64_t", NULL, sizeof(__pyx_t_5numpy_float64_t), { 0 }, 0, 'R', 0, 0 }; -static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; -static __Pyx_TypeInfo __Pyx_TypeInfo_unsigned_char = { "unsigned char", NULL, sizeof(unsigned char), { 0 }, 0, IS_UNSIGNED(unsigned char) ? 'U' : 'I', IS_UNSIGNED(unsigned char), 0 }; -#define __Pyx_MODULE_NAME "acados_template.acados_ocp_solver_pyx" -extern int __pyx_module_is_main_acados_template__acados_ocp_solver_pyx; -int __pyx_module_is_main_acados_template__acados_ocp_solver_pyx = 0; - -/* Implementation of 'acados_template.acados_ocp_solver_pyx' */ -static PyObject *__pyx_builtin_NotImplementedError; -static PyObject *__pyx_builtin_range; -static PyObject *__pyx_builtin_open; -static PyObject *__pyx_builtin_print; -static PyObject *__pyx_builtin_TypeError; -static PyObject *__pyx_builtin_ImportError; -static PyObject *__pyx_builtin_ValueError; -static PyObject *__pyx_builtin_MemoryError; -static PyObject *__pyx_builtin_enumerate; -static PyObject *__pyx_builtin_Ellipsis; -static PyObject *__pyx_builtin_id; -static PyObject *__pyx_builtin_IndexError; -static const char __pyx_k_F[] = "F"; -static const char __pyx_k_N[] = "N"; -static const char __pyx_k_O[] = "O"; -static const char __pyx_k_c[] = "c"; -static const char __pyx_k_m[] = "m"; -static const char __pyx_k_n[] = "n"; -static const char __pyx_k_p[] = "p"; -static const char __pyx_k_r[] = "r"; -static const char __pyx_k_t[] = "t"; -static const char __pyx_k_u[] = "u"; -static const char __pyx_k_w[] = "w"; -static const char __pyx_k_x[] = "x"; -static const char __pyx_k_z[] = "z"; -static const char __pyx_k__4[] = "."; -static const char __pyx_k__5[] = ""; -static const char __pyx_k__6[] = "_"; -static const char __pyx_k_ex[] = "ex"; -static const char __pyx_k_id[] = "id"; -static const char __pyx_k_np[] = "np"; -static const char __pyx_k_os[] = "os"; -static const char __pyx_k_pi[] = "pi"; -static const char __pyx_k_sl[] = "sl"; -static const char __pyx_k_su[] = "su"; -static const char __pyx_k_SQP[] = "SQP"; -static const char __pyx_k__19[] = ")"; -static const char __pyx_k__22[] = ", "; -static const char __pyx_k_get[] = "get"; -static const char __pyx_k_lam[] = "lam"; -static const char __pyx_k_lbu[] = "lbu"; -static const char __pyx_k_lbx[] = "lbx"; -static const char __pyx_k_new[] = "__new__"; -static const char __pyx_k_obj[] = "obj"; -static const char __pyx_k_set[] = "set"; -static const char __pyx_k_t_2[] = "t_"; -static const char __pyx_k_u_2[] = "u_"; -static const char __pyx_k_ubu[] = "ubu"; -static const char __pyx_k_ubx[] = "ubx"; -static const char __pyx_k_x_2[] = "x_"; -static const char __pyx_k_z_2[] = "z_"; -static const char __pyx_k_None[] = "None"; -static const char __pyx_k_TODO[] = "TODO!"; -static const char __pyx_k_base[] = "base"; -static const char __pyx_k_dict[] = "__dict__"; -static const char __pyx_k_dump[] = "dump"; -static const char __pyx_k_exit[] = "__exit__"; -static const char __pyx_k_join[] = "join"; -static const char __pyx_k_json[] = "json"; -static const char __pyx_k_keys[] = "keys"; -static const char __pyx_k_load[] = "load"; -static const char __pyx_k_main[] = "__main__"; -static const char __pyx_k_mode[] = "mode"; -static const char __pyx_k_name[] = "name"; -static const char __pyx_k_ndim[] = "ndim"; -static const char __pyx_k_open[] = "open"; -static const char __pyx_k_pack[] = "pack"; -static const char __pyx_k_path[] = "path"; -static const char __pyx_k_pi_2[] = "pi_"; -static const char __pyx_k_size[] = "size"; -static const char __pyx_k_sl_2[] = "sl_"; -static const char __pyx_k_step[] = "step"; -static const char __pyx_k_stop[] = "stop"; -static const char __pyx_k_su_2[] = "su_"; -static const char __pyx_k_test[] = "__test__"; -static const char __pyx_k_yref[] = "yref"; -static const char __pyx_k_ASCII[] = "ASCII"; -static const char __pyx_k_alpha[] = "alpha"; -static const char __pyx_k_array[] = "array"; -static const char __pyx_k_class[] = "__class__"; -static const char __pyx_k_dtype[] = "dtype"; -static const char __pyx_k_enter[] = "__enter__"; -static const char __pyx_k_error[] = "error"; -static const char __pyx_k_field[] = "field"; -static const char __pyx_k_flags[] = "flags"; -static const char __pyx_k_index[] = "index"; -static const char __pyx_k_lam_2[] = "lam_"; -static const char __pyx_k_numpy[] = "numpy"; -static const char __pyx_k_order[] = "order"; -static const char __pyx_k_print[] = "print"; -static const char __pyx_k_range[] = "range"; -static const char __pyx_k_shape[] = "shape"; -static const char __pyx_k_split[] = "split"; -static const char __pyx_k_stage[] = "stage"; -static const char __pyx_k_start[] = "start"; -static const char __pyx_k_utf_8[] = "utf-8"; -static const char __pyx_k_value[] = "value_"; -static const char __pyx_k_y_ref[] = "y_ref"; -static const char __pyx_k_zeros[] = "zeros"; -static const char __pyx_k_encode[] = "encode"; -static const char __pyx_k_format[] = "format"; -static const char __pyx_k_getcwd[] = "getcwd"; -static const char __pyx_k_import[] = "__import__"; -static const char __pyx_k_indent[] = "indent"; -static const char __pyx_k_isfile[] = "isfile"; -static const char __pyx_k_json_2[] = ".json"; -static const char __pyx_k_name_2[] = "__name__"; -static const char __pyx_k_pickle[] = "pickle"; -static const char __pyx_k_qp_mu0[] = "qp_mu0"; -static const char __pyx_k_reduce[] = "__reduce__"; -static const char __pyx_k_res_eq[] = "res_eq"; -static const char __pyx_k_stat_m[] = "stat_m"; -static const char __pyx_k_stat_n[] = "stat_n"; -static const char __pyx_k_struct[] = "struct"; -static const char __pyx_k_tol_eq[] = "tol_eq"; -static const char __pyx_k_tolist[] = "tolist"; -static const char __pyx_k_unpack[] = "unpack"; -static const char __pyx_k_update[] = "update"; -static const char __pyx_k_utcnow[] = "utcnow"; -static const char __pyx_k_SQP_RTI[] = "SQP_RTI"; -static const char __pyx_k_default[] = "default"; -static const char __pyx_k_field_2[] = "field_"; -static const char __pyx_k_float64[] = "float64"; -static const char __pyx_k_fortran[] = "fortran"; -static const char __pyx_k_iterate[] = "iterate"; -static const char __pyx_k_memview[] = "memview"; -static const char __pyx_k_qp_iter[] = "qp_iter"; -static const char __pyx_k_time_qp[] = "time_qp"; -static const char __pyx_k_z_guess[] = "z_guess"; -static const char __pyx_k_Ellipsis[] = "Ellipsis"; -static const char __pyx_k_at_stage[] = "\" at stage "; -static const char __pyx_k_datetime[] = "datetime"; -static const char __pyx_k_filename[] = "filename"; -static const char __pyx_k_getstate[] = "__getstate__"; -static const char __pyx_k_itemsize[] = "itemsize"; -static const char __pyx_k_pyx_type[] = "__pyx_type"; -static const char __pyx_k_res_comp[] = "res_comp"; -static const char __pyx_k_res_ineq[] = "res_ineq"; -static const char __pyx_k_res_stat[] = "res_stat"; -static const char __pyx_k_setstate[] = "__setstate__"; -static const char __pyx_k_sqp_iter[] = "sqp_iter"; -static const char __pyx_k_strftime[] = "strftime"; -static const char __pyx_k_time_lin[] = "time_lin"; -static const char __pyx_k_time_reg[] = "time_reg"; -static const char __pyx_k_time_sim[] = "time_sim"; -static const char __pyx_k_time_tot[] = "time_tot"; -static const char __pyx_k_tol_comp[] = "tol_comp"; -static const char __pyx_k_tol_ineq[] = "tol_ineq"; -static const char __pyx_k_tol_stat[] = "tol_stat"; -static const char __pyx_k_you_have[] = " (you have "; -static const char __pyx_k_TypeError[] = "TypeError"; -static const char __pyx_k_alpha_min[] = "alpha_min"; -static const char __pyx_k_enumerate[] = "enumerate"; -static const char __pyx_k_for_field[] = " for field \""; -static const char __pyx_k_get_stats[] = "get_stats"; -static const char __pyx_k_overwrite[] = "overwrite"; -static const char __pyx_k_pyx_state[] = "__pyx_state"; -static const char __pyx_k_qp_tol_eq[] = "qp_tol_eq"; -static const char __pyx_k_recompute[] = "recompute"; -static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; -static const char __pyx_k_residuals[] = "residuals"; -static const char __pyx_k_rti_phase[] = "rti_phase"; -static const char __pyx_k_sort_keys[] = "sort_keys"; -static const char __pyx_k_time_glob[] = "time_glob"; -static const char __pyx_k_IndexError[] = "IndexError"; -static const char __pyx_k_ValueError[] = "ValueError"; -static const char __pyx_k_model_name[] = "model_name"; -static const char __pyx_k_pyx_result[] = "__pyx_result"; -static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; -static const char __pyx_k_qp_tau_min[] = "qp_tau_min"; -static const char __pyx_k_statistics[] = "statistics"; -static const char __pyx_k_xdot_guess[] = "xdot_guess"; -static const char __pyx_k_ImportError[] = "ImportError"; -static const char __pyx_k_MemoryError[] = "MemoryError"; -static const char __pyx_k_PickleError[] = "PickleError"; -static const char __pyx_k_print_level[] = "print_level"; -static const char __pyx_k_qp_tol_comp[] = "qp_tol_comp"; -static const char __pyx_k_qp_tol_ineq[] = "qp_tol_ineq"; -static const char __pyx_k_qp_tol_stat[] = "qp_tol_stat"; -static const char __pyx_k_step_length[] = "step_length"; -static const char __pyx_k_time_sim_ad[] = "time_sim_ad"; -static const char __pyx_k_time_sim_la[] = "time_sim_la"; -static const char __pyx_k_get_stat_int[] = "__get_stat_int"; -static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; -static const char __pyx_k_stringsource[] = "stringsource"; -static const char __pyx_k_Y_m_d_H_M_S_f[] = "%Y-%m-%d-%H:%M:%S.%f"; -static const char __pyx_k_get_residuals[] = "get_residuals"; -static const char __pyx_k_globalization[] = "globalization"; -static const char __pyx_k_pyx_getbuffer[] = "__pyx_getbuffer"; -static const char __pyx_k_qp_warm_start[] = "qp_warm_start"; -static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; -static const char __pyx_k_time_qp_xcond[] = "time_qp_xcond"; -static const char __pyx_k_asfortranarray[] = "asfortranarray"; -static const char __pyx_k_full_step_dual[] = "full_step_dual"; -static const char __pyx_k_with_dimension[] = " with dimension "; -static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; -static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; -static const char __pyx_k_alpha_reduction[] = "alpha_reduction"; -static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; -static const char __pyx_k_get_stat_double[] = "__get_stat_double"; -static const char __pyx_k_get_stat_matrix[] = "__get_stat_matrix"; -static const char __pyx_k_nlp_solver_type[] = "nlp_solver_type"; -static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; -static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; -static const char __pyx_k_ascontiguousarray[] = "ascontiguousarray"; -static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; -static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; -static const char __pyx_k_strided_and_direct[] = ""; -static const char __pyx_k_NotImplementedError[] = "NotImplementedError"; -static const char __pyx_k_get_pointers_solver[] = "__get_pointers_solver"; -static const char __pyx_k_initialize_t_slacks[] = "initialize_t_slacks"; -static const char __pyx_k_time_qp_solver_call[] = "time_qp_solver_call"; -static const char __pyx_k_warm_start_first_qp[] = "warm_start_first_qp"; -static const char __pyx_k_strided_and_indirect[] = ""; -static const char __pyx_k_AcadosOcpSolverCython[] = "AcadosOcpSolverCython"; -static const char __pyx_k_contiguous_and_direct[] = ""; -static const char __pyx_k_globalization_use_SOC[] = "globalization_use_SOC"; -static const char __pyx_k_MemoryView_of_r_object[] = ""; -static const char __pyx_k_eps_sufficient_descent[] = "eps_sufficient_descent"; -static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; -static const char __pyx_k_contiguous_and_indirect[] = ""; -static const char __pyx_k_with_dimension_you_have[] = "with dimension {} (you have {})"; -static const char __pyx_k_Cannot_index_with_type_s[] = "Cannot index with type '%s'"; -static const char __pyx_k_Invalid_shape_in_axis_d_d[] = "Invalid shape in axis %d: %d."; -static const char __pyx_k_stored_current_iterate_in[] = "stored current iterate in "; -static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; -static const char __pyx_k_store_iterate_locals_lambda[] = "store_iterate.."; -static const char __pyx_k_time_solution_sensitivities[] = "time_solution_sensitivities"; -static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; -static const char __pyx_k_strided_and_direct_or_indirect[] = ""; -static const char __pyx_k_AcadosOcpSolverCython_get_field[] = "AcadosOcpSolverCython.get(): field {} does not exist at final stage {}."; -static const char __pyx_k_AcadosOcpSolverCython_get_is_an[] = "AcadosOcpSolverCython.get(): {} is an invalid argument. \n Possible values are {}. Exiting."; -static const char __pyx_k_AcadosOcpSolverCython_get_stage[] = "AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}."; -static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; -static const char __pyx_k_AcadosOcpSolverCython_constraint[] = "AcadosOcpSolverCython.constraints_set(): mismatching dimension"; -static const char __pyx_k_AcadosOcpSolverCython_cost_set_m[] = "AcadosOcpSolverCython.cost_set(): mismatching dimension"; -static const char __pyx_k_AcadosOcpSolverCython_does_not_s[] = "AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature"; -static const char __pyx_k_AcadosOcpSolverCython_eval_param[] = "AcadosOcpSolverCython.eval_param_sens(): index must be Integer."; -static const char __pyx_k_AcadosOcpSolverCython_options_se[] = "AcadosOcpSolverCython.options_set() does not support field {}.\n Possible values are {}."; -static const char __pyx_k_AcadosOcpSolverCython_set_is_not[] = "AcadosOcpSolverCython.set(): {} is not a valid argument. \nPossible values are {}. Exiting."; -static const char __pyx_k_AcadosOcpSolverCython_set_mismat[] = "AcadosOcpSolverCython.set(): mismatching dimension for field \"{}\" "; -static const char __pyx_k_AcadosOcpSolverCython_solve_argu[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only values 0, 1, 2 for SQP-RTI-type solvers"; -static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; -static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; -static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; -static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; -static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; -static const char __pyx_k_Incompatible_checksums_s_vs_0xb0[] = "Incompatible checksums (%s vs 0xb068931 = (name))"; -static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; -static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got %s"; -static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis %d)"; -static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; -static const char __pyx_k_acados_template_acados_ocp_solve[] = "acados_template.acados_ocp_solver_pyx"; -static const char __pyx_k_alpha_values_are_not_available_f[] = "alpha values are not available for SQP_RTI"; -static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension %d (got %d and %d)"; -static const char __pyx_k_line_search_use_sufficient_desce[] = "line_search_use_sufficient_descent"; -static const char __pyx_k_load_iterate_failed_file_does_no[] = "load_iterate: failed, file does not exist: "; -static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; -static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; -static const char __pyx_k_solver_option_must_be_of_type_fl[] = "solver option {} must be of type float. You have {}."; -static const char __pyx_k_solver_option_must_be_of_type_in[] = "solver option {} must be of type int. You have {}."; -static const char __pyx_k_solver_option_must_be_of_type_st[] = "solver option {} must be of type str. You have {}."; -static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; -static const char __pyx_k_AcadosOcpSolverCython_does_not_s_2[] = "AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature"; -static const char __pyx_k_AcadosOcpSolverCython_eval_param_2[] = "AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: "; -static const char __pyx_k_AcadosOcpSolverCython_solve_argu_2[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only value 0 for SQP-type solvers"; -static PyObject *__pyx_n_s_ASCII; -static PyObject *__pyx_n_s_AcadosOcpSolverCython; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_constraint; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_cost_set_m; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param_2; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_field; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_is_an; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_stage; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_options_se; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_is_not; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_mismat; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu; -static PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu_2; -static PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; -static PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; -static PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; -static PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; -static PyObject *__pyx_kp_s_Cannot_index_with_type_s; -static PyObject *__pyx_n_s_Ellipsis; -static PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; -static PyObject *__pyx_n_u_F; -static PyObject *__pyx_n_s_ImportError; -static PyObject *__pyx_kp_s_Incompatible_checksums_s_vs_0xb0; -static PyObject *__pyx_n_s_IndexError; -static PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; -static PyObject *__pyx_kp_s_Invalid_mode_expected_c_or_fortr; -static PyObject *__pyx_kp_s_Invalid_shape_in_axis_d_d; -static PyObject *__pyx_n_s_MemoryError; -static PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; -static PyObject *__pyx_kp_s_MemoryView_of_r_object; -static PyObject *__pyx_n_s_N; -static PyObject *__pyx_kp_u_None; -static PyObject *__pyx_n_s_NotImplementedError; -static PyObject *__pyx_n_b_O; -static PyObject *__pyx_kp_s_Out_of_bounds_on_buffer_access_a; -static PyObject *__pyx_n_s_PickleError; -static PyObject *__pyx_n_u_SQP; -static PyObject *__pyx_n_u_SQP_RTI; -static PyObject *__pyx_kp_u_TODO; -static PyObject *__pyx_n_s_TypeError; -static PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; -static PyObject *__pyx_n_s_ValueError; -static PyObject *__pyx_n_s_View_MemoryView; -static PyObject *__pyx_kp_u_Y_m_d_H_M_S_f; -static PyObject *__pyx_kp_u__19; -static PyObject *__pyx_kp_u__22; -static PyObject *__pyx_kp_u__4; -static PyObject *__pyx_kp_u__5; -static PyObject *__pyx_n_u__6; -static PyObject *__pyx_n_s_acados_template_acados_ocp_solve; -static PyObject *__pyx_n_s_allocate_buffer; -static PyObject *__pyx_n_u_alpha; -static PyObject *__pyx_n_u_alpha_min; -static PyObject *__pyx_n_u_alpha_reduction; -static PyObject *__pyx_kp_u_alpha_values_are_not_available_f; -static PyObject *__pyx_n_s_array; -static PyObject *__pyx_n_s_ascontiguousarray; -static PyObject *__pyx_n_s_asfortranarray; -static PyObject *__pyx_kp_u_at_stage; -static PyObject *__pyx_n_s_base; -static PyObject *__pyx_n_s_c; -static PyObject *__pyx_n_u_c; -static PyObject *__pyx_n_s_class; -static PyObject *__pyx_n_s_cline_in_traceback; -static PyObject *__pyx_kp_s_contiguous_and_direct; -static PyObject *__pyx_kp_s_contiguous_and_indirect; -static PyObject *__pyx_n_s_datetime; -static PyObject *__pyx_n_s_default; -static PyObject *__pyx_n_s_dict; -static PyObject *__pyx_n_s_dtype; -static PyObject *__pyx_n_s_dtype_is_object; -static PyObject *__pyx_n_s_dump; -static PyObject *__pyx_n_s_encode; -static PyObject *__pyx_n_s_enter; -static PyObject *__pyx_n_s_enumerate; -static PyObject *__pyx_n_u_eps_sufficient_descent; -static PyObject *__pyx_n_s_error; -static PyObject *__pyx_n_u_ex; -static PyObject *__pyx_n_s_exit; -static PyObject *__pyx_n_s_field; -static PyObject *__pyx_n_s_field_2; -static PyObject *__pyx_n_s_filename; -static PyObject *__pyx_n_s_flags; -static PyObject *__pyx_n_s_float64; -static PyObject *__pyx_kp_u_for_field; -static PyObject *__pyx_n_s_format; -static PyObject *__pyx_n_s_fortran; -static PyObject *__pyx_n_u_fortran; -static PyObject *__pyx_n_u_full_step_dual; -static PyObject *__pyx_n_s_get; -static PyObject *__pyx_n_s_get_pointers_solver; -static PyObject *__pyx_n_s_get_residuals; -static PyObject *__pyx_n_s_get_stat_double; -static PyObject *__pyx_n_s_get_stat_int; -static PyObject *__pyx_n_s_get_stat_matrix; -static PyObject *__pyx_n_s_get_stats; -static PyObject *__pyx_n_s_getcwd; -static PyObject *__pyx_n_s_getstate; -static PyObject *__pyx_n_u_globalization; -static PyObject *__pyx_n_u_globalization_use_SOC; -static PyObject *__pyx_kp_s_got_differing_extents_in_dimensi; -static PyObject *__pyx_n_s_id; -static PyObject *__pyx_n_s_import; -static PyObject *__pyx_n_s_indent; -static PyObject *__pyx_n_s_index; -static PyObject *__pyx_n_u_initialize_t_slacks; -static PyObject *__pyx_n_s_isfile; -static PyObject *__pyx_n_s_itemsize; -static PyObject *__pyx_kp_s_itemsize_0_for_cython_array; -static PyObject *__pyx_n_u_iterate; -static PyObject *__pyx_n_s_join; -static PyObject *__pyx_n_s_json; -static PyObject *__pyx_kp_u_json_2; -static PyObject *__pyx_n_s_keys; -static PyObject *__pyx_n_u_lam; -static PyObject *__pyx_n_u_lam_2; -static PyObject *__pyx_n_u_lbu; -static PyObject *__pyx_n_u_lbx; -static PyObject *__pyx_n_u_line_search_use_sufficient_desce; -static PyObject *__pyx_n_s_load; -static PyObject *__pyx_kp_u_load_iterate_failed_file_does_no; -static PyObject *__pyx_n_s_m; -static PyObject *__pyx_n_s_main; -static PyObject *__pyx_n_s_memview; -static PyObject *__pyx_n_s_mode; -static PyObject *__pyx_n_s_model_name; -static PyObject *__pyx_n_s_n; -static PyObject *__pyx_n_s_name; -static PyObject *__pyx_n_s_name_2; -static PyObject *__pyx_n_s_ndim; -static PyObject *__pyx_n_s_new; -static PyObject *__pyx_n_s_nlp_solver_type; -static PyObject *__pyx_kp_s_no_default___reduce___due_to_non; -static PyObject *__pyx_n_s_np; -static PyObject *__pyx_n_s_numpy; -static PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; -static PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; -static PyObject *__pyx_n_s_obj; -static PyObject *__pyx_n_s_open; -static PyObject *__pyx_n_s_order; -static PyObject *__pyx_n_s_os; -static PyObject *__pyx_n_s_overwrite; -static PyObject *__pyx_n_u_p; -static PyObject *__pyx_n_s_pack; -static PyObject *__pyx_n_s_path; -static PyObject *__pyx_n_u_pi; -static PyObject *__pyx_n_u_pi_2; -static PyObject *__pyx_n_s_pickle; -static PyObject *__pyx_n_s_print; -static PyObject *__pyx_n_u_print_level; -static PyObject *__pyx_n_s_pyx_PickleError; -static PyObject *__pyx_n_s_pyx_checksum; -static PyObject *__pyx_n_s_pyx_getbuffer; -static PyObject *__pyx_n_s_pyx_result; -static PyObject *__pyx_n_s_pyx_state; -static PyObject *__pyx_n_s_pyx_type; -static PyObject *__pyx_n_s_pyx_unpickle_Enum; -static PyObject *__pyx_n_s_pyx_vtable; -static PyObject *__pyx_n_u_qp_iter; -static PyObject *__pyx_n_u_qp_mu0; -static PyObject *__pyx_n_u_qp_tau_min; -static PyObject *__pyx_n_u_qp_tol_comp; -static PyObject *__pyx_n_u_qp_tol_eq; -static PyObject *__pyx_n_u_qp_tol_ineq; -static PyObject *__pyx_n_u_qp_tol_stat; -static PyObject *__pyx_n_u_qp_warm_start; -static PyObject *__pyx_n_u_r; -static PyObject *__pyx_n_s_range; -static PyObject *__pyx_n_s_recompute; -static PyObject *__pyx_n_s_reduce; -static PyObject *__pyx_n_s_reduce_cython; -static PyObject *__pyx_n_s_reduce_ex; -static PyObject *__pyx_n_b_res_comp; -static PyObject *__pyx_n_b_res_eq; -static PyObject *__pyx_n_b_res_ineq; -static PyObject *__pyx_n_b_res_stat; -static PyObject *__pyx_n_u_residuals; -static PyObject *__pyx_n_u_rti_phase; -static PyObject *__pyx_n_s_set; -static PyObject *__pyx_n_s_setstate; -static PyObject *__pyx_n_s_setstate_cython; -static PyObject *__pyx_n_s_shape; -static PyObject *__pyx_n_s_size; -static PyObject *__pyx_n_u_sl; -static PyObject *__pyx_n_u_sl_2; -static PyObject *__pyx_kp_u_solver_option_must_be_of_type_fl; -static PyObject *__pyx_kp_u_solver_option_must_be_of_type_in; -static PyObject *__pyx_kp_u_solver_option_must_be_of_type_st; -static PyObject *__pyx_n_s_sort_keys; -static PyObject *__pyx_n_s_split; -static PyObject *__pyx_n_u_sqp_iter; -static PyObject *__pyx_n_s_stage; -static PyObject *__pyx_n_s_start; -static PyObject *__pyx_n_u_stat_m; -static PyObject *__pyx_n_u_stat_n; -static PyObject *__pyx_n_u_statistics; -static PyObject *__pyx_n_s_step; -static PyObject *__pyx_n_u_step_length; -static PyObject *__pyx_n_s_stop; -static PyObject *__pyx_n_s_store_iterate_locals_lambda; -static PyObject *__pyx_kp_u_stored_current_iterate_in; -static PyObject *__pyx_n_s_strftime; -static PyObject *__pyx_kp_s_strided_and_direct; -static PyObject *__pyx_kp_s_strided_and_direct_or_indirect; -static PyObject *__pyx_kp_s_strided_and_indirect; -static PyObject *__pyx_kp_s_stringsource; -static PyObject *__pyx_n_s_struct; -static PyObject *__pyx_n_u_su; -static PyObject *__pyx_n_u_su_2; -static PyObject *__pyx_n_u_t; -static PyObject *__pyx_n_u_t_2; -static PyObject *__pyx_n_s_test; -static PyObject *__pyx_n_u_time_glob; -static PyObject *__pyx_n_u_time_lin; -static PyObject *__pyx_n_u_time_qp; -static PyObject *__pyx_n_u_time_qp_solver_call; -static PyObject *__pyx_n_u_time_qp_xcond; -static PyObject *__pyx_n_u_time_reg; -static PyObject *__pyx_n_u_time_sim; -static PyObject *__pyx_n_u_time_sim_ad; -static PyObject *__pyx_n_u_time_sim_la; -static PyObject *__pyx_n_u_time_solution_sensitivities; -static PyObject *__pyx_n_u_time_tot; -static PyObject *__pyx_n_u_tol_comp; -static PyObject *__pyx_n_u_tol_eq; -static PyObject *__pyx_n_u_tol_ineq; -static PyObject *__pyx_n_u_tol_stat; -static PyObject *__pyx_n_s_tolist; -static PyObject *__pyx_n_u_u; -static PyObject *__pyx_n_u_u_2; -static PyObject *__pyx_n_u_ubu; -static PyObject *__pyx_n_u_ubx; -static PyObject *__pyx_kp_s_unable_to_allocate_array_data; -static PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; -static PyObject *__pyx_n_s_unpack; -static PyObject *__pyx_n_s_update; -static PyObject *__pyx_n_s_utcnow; -static PyObject *__pyx_kp_u_utf_8; -static PyObject *__pyx_n_s_value; -static PyObject *__pyx_n_u_w; -static PyObject *__pyx_n_u_warm_start_first_qp; -static PyObject *__pyx_kp_u_with_dimension; -static PyObject *__pyx_kp_u_with_dimension_you_have; -static PyObject *__pyx_n_b_x; -static PyObject *__pyx_n_u_x; -static PyObject *__pyx_n_u_x_2; -static PyObject *__pyx_n_u_xdot_guess; -static PyObject *__pyx_n_u_y_ref; -static PyObject *__pyx_kp_u_you_have; -static PyObject *__pyx_n_u_yref; -static PyObject *__pyx_n_u_z; -static PyObject *__pyx_n_u_z_2; -static PyObject *__pyx_n_u_z_guess; -static PyObject *__pyx_n_s_zeros; -static int __pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython___cinit__(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_model_name, PyObject *__pyx_v_nlp_solver_type, PyObject *__pyx_v_N); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_2__get_pointers_solver(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_4solve(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_6reset(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_8set_new_time_steps(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_new_time_steps); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_10update_qp_solver_cond_N(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_qp_solver_cond_N); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_12eval_param_sens(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_stage, PyObject *__pyx_v_field); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_14get(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_16print_statistics(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_lambda_funcdef_lambda(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_x); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_18store_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename, PyObject *__pyx_v_overwrite); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_20load_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_22get_stats(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_24__get_stat_int(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_26__get_stat_double(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_28__get_stat_matrix(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field, PyObject *__pyx_v_n, PyObject *__pyx_v_m); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_30get_cost(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_32get_residuals(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_recompute); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_34set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_36cost_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_38constraints_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_40dynamics_get(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_42options_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_44__del__(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_46__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_48__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ -static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ -static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ -static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ -static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ -static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ -static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ -static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ -static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ -static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ -static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ -static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ -static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); 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*/ - (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); - - /* "View.MemoryView":1159 - * for i in range(dst_extent): - * memcpy(dst_data, src_data, itemsize) - * src_data += src_stride # <<<<<<<<<<<<<< - * dst_data += dst_stride - * else: - */ - __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); - - /* "View.MemoryView":1160 - * memcpy(dst_data, src_data, itemsize) - * src_data += src_stride - * dst_data += dst_stride # <<<<<<<<<<<<<< - * else: - * for i in range(dst_extent): - */ - __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); - } - } - __pyx_L4:; - - /* "View.MemoryView":1152 - * cdef Py_ssize_t dst_stride = dst_strides[0] - * - * if ndim == 1: # <<<<<<<<<<<<<< - * if (src_stride > 0 and dst_stride > 0 and - * src_stride == itemsize == dst_stride): - */ - goto __pyx_L3; - } - - /* "View.MemoryView":1162 - * dst_data += dst_stride - * else: - * for i in range(dst_extent): # <<<<<<<<<<<<<< - * _copy_strided_to_strided(src_data, src_strides + 1, - * dst_data, dst_strides + 1, - */ - /*else*/ { - __pyx_t_4 = __pyx_v_dst_extent; - __pyx_t_5 = __pyx_t_4; - for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { - __pyx_v_i = __pyx_t_6; - - /* "View.MemoryView":1163 - * else: - * for i in range(dst_extent): - * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< - * dst_data, dst_strides + 1, - * src_shape + 1, dst_shape + 1, - */ - _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); - - /* "View.MemoryView":1167 - * src_shape + 1, dst_shape + 1, - * ndim - 1, itemsize) - * src_data += src_stride # <<<<<<<<<<<<<< - * dst_data += dst_stride - * - */ - __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); - - /* "View.MemoryView":1168 - * ndim - 1, itemsize) - * src_data += src_stride - * dst_data += dst_stride # <<<<<<<<<<<<<< - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, - */ - __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); - } - } - __pyx_L3:; - - /* "View.MemoryView":1140 - * - * @cython.cdivision(True) - * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< - * char *dst_data, Py_ssize_t *dst_strides, - * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, - */ - - /* function exit code */ -} - -/* "View.MemoryView":1170 - * dst_data += dst_stride - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< - * __Pyx_memviewslice *dst, - * int ndim, size_t itemsize) nogil: - */ - -static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { - - /* "View.MemoryView":1173 - * __Pyx_memviewslice *dst, - * int ndim, size_t itemsize) nogil: - * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< - * src.shape, dst.shape, ndim, itemsize) - * - */ - _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); - - /* "View.MemoryView":1170 - * dst_data += dst_stride - * - * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< - * __Pyx_memviewslice *dst, - * int ndim, size_t itemsize) nogil: - */ - - /* function exit code */ -} - -/* "View.MemoryView":1177 - * - * @cname('__pyx_memoryview_slice_get_size') - * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: # <<<<<<<<<<<<<< - * "Return the size of the memory occupied by the slice in number of bytes" - * cdef Py_ssize_t shape, size = src.memview.view.itemsize - */ - -static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { - Py_ssize_t __pyx_v_shape; - Py_ssize_t __pyx_v_size; - Py_ssize_t __pyx_r; - Py_ssize_t __pyx_t_1; - Py_ssize_t *__pyx_t_2; - Py_ssize_t *__pyx_t_3; - Py_ssize_t *__pyx_t_4; - - /* "View.MemoryView":1179 - * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: - * "Return the size of the memory occupied by the slice in number of bytes" - * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< - * - * for shape in src.shape[:ndim]: - */ - __pyx_t_1 = __pyx_v_src->memview->view.itemsize; - __pyx_v_size = __pyx_t_1; - - /* "View.MemoryView":1181 - * cdef Py_ssize_t shape, size = src.memview.view.itemsize - * - * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< - * size *= shape - * - */ - __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); - for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { - __pyx_t_2 = __pyx_t_4; - __pyx_v_shape = (__pyx_t_2[0]); - - /* "View.MemoryView":1182 - * - * for shape in src.shape[:ndim]: - * size *= shape # <<<<<<<<<<<<<< - * - * return size - */ - __pyx_v_size = (__pyx_v_size * __pyx_v_shape); - } - - /* "View.MemoryView":1184 - * size *= shape - * - * return size # <<<<<<<<<<<<<< - * - * @cname('__pyx_fill_contig_strides_array') - */ - __pyx_r = __pyx_v_size; - goto __pyx_L0; - - /* "View.MemoryView":1177 - * - * @cname('__pyx_memoryview_slice_get_size') - * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: # <<<<<<<<<<<<<< - * "Return the size of the memory occupied by the slice in number of bytes" - * cdef Py_ssize_t shape, size = src.memview.view.itemsize - */ - - /* function exit code */ - __pyx_L0:; - return __pyx_r; -} - -/* "View.MemoryView":1187 - * - * @cname('__pyx_fill_contig_strides_array') - * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< - * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, - * int ndim, char order) nogil: - */ - -static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { - int __pyx_v_idx; - Py_ssize_t __pyx_r; - int __pyx_t_1; - int __pyx_t_2; - int __pyx_t_3; - int __pyx_t_4; - - /* "View.MemoryView":1196 - * cdef int idx - * - * if order == 'F': # <<<<<<<<<<<<<< - * for idx in range(ndim): - * strides[idx] = stride - */ - __pyx_t_1 = ((__pyx_v_order == 'F') != 0); - if (__pyx_t_1) { - - /* "View.MemoryView":1197 - * - * if order == 'F': - * for idx in range(ndim): # <<<<<<<<<<<<<< - * strides[idx] = stride - * stride *= shape[idx] - */ - __pyx_t_2 = __pyx_v_ndim; - __pyx_t_3 = __pyx_t_2; - for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { - __pyx_v_idx = __pyx_t_4; - - /* "View.MemoryView":1198 - * if order == 'F': - * for idx in range(ndim): - * strides[idx] = stride # <<<<<<<<<<<<<< - * stride *= shape[idx] - * else: - */ - (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; - - /* "View.MemoryView":1199 - * for idx in range(ndim): - * strides[idx] = stride - * stride *= shape[idx] # <<<<<<<<<<<<<< - * else: - * for idx in range(ndim - 1, -1, -1): - */ - __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); - } - - /* "View.MemoryView":1196 - * cdef int idx - * - * if order == 'F': # <<<<<<<<<<<<<< - * for idx in range(ndim): - * strides[idx] = stride - */ - goto __pyx_L3; - } - - /* "View.MemoryView":1201 - * stride *= shape[idx] - * else: - * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< - * strides[idx] = stride - * stride *= shape[idx] - */ - /*else*/ { - for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { - __pyx_v_idx = __pyx_t_2; - - /* "View.MemoryView":1202 - * else: - * for idx in range(ndim - 1, -1, -1): - * strides[idx] = stride # <<<<<<<<<<<<<< - * stride *= shape[idx] - * - */ - (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; - - /* "View.MemoryView":1203 - * for idx in range(ndim - 1, -1, -1): - * strides[idx] = stride - * stride *= shape[idx] # <<<<<<<<<<<<<< - * - * return stride - */ - __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); - } - } - __pyx_L3:; - - /* "View.MemoryView":1205 - * stride *= shape[idx] - * - * return stride # <<<<<<<<<<<<<< - * - * @cname('__pyx_memoryview_copy_data_to_temp') - */ - __pyx_r = __pyx_v_stride; - goto __pyx_L0; - - /* "View.MemoryView":1187 - * - * @cname('__pyx_fill_contig_strides_array') - * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< - * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, - * int ndim, char order) nogil: - */ - - /* function exit code */ - __pyx_L0:; - return __pyx_r; -} - -/* "View.MemoryView":1208 - * - * @cname('__pyx_memoryview_copy_data_to_temp') - * cdef void *copy_data_to_temp(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< - * __Pyx_memviewslice *tmpslice, - * char order, - */ - -static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_tmpslice, char __pyx_v_order, int __pyx_v_ndim) { - int __pyx_v_i; - void *__pyx_v_result; - size_t __pyx_v_itemsize; - size_t __pyx_v_size; - void *__pyx_r; - Py_ssize_t __pyx_t_1; - int __pyx_t_2; - int __pyx_t_3; - struct __pyx_memoryview_obj *__pyx_t_4; - int __pyx_t_5; - int __pyx_t_6; - int __pyx_lineno = 0; - const char *__pyx_filename = NULL; - int __pyx_clineno = 0; - - /* "View.MemoryView":1219 - * cdef void *result - * - * cdef size_t itemsize = src.memview.view.itemsize # <<<<<<<<<<<<<< - * cdef size_t size = slice_get_size(src, ndim) - 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- /* "View.MemoryView":1223 - * - * result = malloc(size) - * if not result: # <<<<<<<<<<<<<< - * _err(MemoryError, NULL) - * - */ - } - - /* "View.MemoryView":1227 - * - * - * tmpslice.data = result # <<<<<<<<<<<<<< - * tmpslice.memview = src.memview - * for i in range(ndim): - */ - __pyx_v_tmpslice->data = ((char *)__pyx_v_result); - - /* "View.MemoryView":1228 - * - * tmpslice.data = result - * tmpslice.memview = src.memview # <<<<<<<<<<<<<< - * for i in range(ndim): - * tmpslice.shape[i] = src.shape[i] - */ - __pyx_t_4 = __pyx_v_src->memview; - __pyx_v_tmpslice->memview = __pyx_t_4; - - /* "View.MemoryView":1229 - * tmpslice.data = result - * tmpslice.memview = src.memview - * for i in range(ndim): # <<<<<<<<<<<<<< - * tmpslice.shape[i] = src.shape[i] - * tmpslice.suboffsets[i] = -1 - */ - __pyx_t_3 = __pyx_v_ndim; - __pyx_t_5 = __pyx_t_3; - for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { - __pyx_v_i = __pyx_t_6; - - /* "View.MemoryView":1230 - * tmpslice.memview = src.memview - * for i in range(ndim): - * tmpslice.shape[i] = src.shape[i] # <<<<<<<<<<<<<< - * tmpslice.suboffsets[i] = -1 - * - */ - (__pyx_v_tmpslice->shape[__pyx_v_i]) = (__pyx_v_src->shape[__pyx_v_i]); - - /* "View.MemoryView":1231 - * for i in range(ndim): - * tmpslice.shape[i] = src.shape[i] - * tmpslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< - * - * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, - */ - (__pyx_v_tmpslice->suboffsets[__pyx_v_i]) = -1L; - } - - /* "View.MemoryView":1233 - * tmpslice.suboffsets[i] = -1 - * - * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, # <<<<<<<<<<<<<< - * ndim, order) - * - */ - (void)(__pyx_fill_contig_strides_array((&(__pyx_v_tmpslice->shape[0])), (&(__pyx_v_tmpslice->strides[0])), __pyx_v_itemsize, __pyx_v_ndim, __pyx_v_order)); - - /* "View.MemoryView":1237 - * - * - * for i in range(ndim): # <<<<<<<<<<<<<< - * if tmpslice.shape[i] == 1: - * tmpslice.strides[i] = 0 - */ - __pyx_t_3 = __pyx_v_ndim; - __pyx_t_5 = __pyx_t_3; - for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { - __pyx_v_i = __pyx_t_6; - - /* "View.MemoryView":1238 - * - * for i in range(ndim): - * if tmpslice.shape[i] == 1: # <<<<<<<<<<<<<< - * tmpslice.strides[i] = 0 - * - */ - __pyx_t_2 = (((__pyx_v_tmpslice->shape[__pyx_v_i]) == 1) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1239 - * for i in range(ndim): - * if tmpslice.shape[i] == 1: - * tmpslice.strides[i] = 0 # <<<<<<<<<<<<<< - * - * if slice_is_contig(src[0], order, ndim): - */ - (__pyx_v_tmpslice->strides[__pyx_v_i]) = 0; - - /* "View.MemoryView":1238 - * - * for i in range(ndim): - * if tmpslice.shape[i] == 1: # <<<<<<<<<<<<<< - * tmpslice.strides[i] = 0 - * - */ - } - } - - /* "View.MemoryView":1241 - * tmpslice.strides[i] = 0 - * - * if slice_is_contig(src[0], order, ndim): # <<<<<<<<<<<<<< - * memcpy(result, src.data, size) - * else: - */ - __pyx_t_2 = (__pyx_memviewslice_is_contig((__pyx_v_src[0]), __pyx_v_order, __pyx_v_ndim) != 0); - if (__pyx_t_2) { - 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* if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< - * if src.shape[i] == 1: - * broadcasting = True - */ - } - - /* "View.MemoryView":1299 - * _err_extents(i, dst.shape[i], src.shape[i]) - * - * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< - * _err_dim(ValueError, "Dimension %d is not direct", i) - * - */ - __pyx_t_2 = (((__pyx_v_src.suboffsets[__pyx_v_i]) >= 0) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1300 - * - * if src.suboffsets[i] >= 0: - * _err_dim(ValueError, "Dimension %d is not direct", i) # <<<<<<<<<<<<<< - * - * if slices_overlap(&src, &dst, ndim, itemsize): - */ - __pyx_t_6 = __pyx_memoryview_err_dim(__pyx_builtin_ValueError, ((char *)"Dimension %d is not direct"), __pyx_v_i); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1300, __pyx_L1_error) - - /* "View.MemoryView":1299 - * _err_extents(i, dst.shape[i], src.shape[i]) - * - * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< - * _err_dim(ValueError, "Dimension %d is not direct", i) - * - */ - } - } - - /* "View.MemoryView":1302 - * _err_dim(ValueError, "Dimension %d is not direct", i) - * - * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< - * - * if not slice_is_contig(src, order, ndim): - */ - __pyx_t_2 = (__pyx_slices_overlap((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1304 - * if slices_overlap(&src, &dst, ndim, itemsize): - * - * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< - * order = get_best_order(&dst, ndim) - * - */ - __pyx_t_2 = ((!(__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim) != 0)) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1305 - * - * if not slice_is_contig(src, order, ndim): - * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< - * - * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) - */ - __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); - - /* "View.MemoryView":1304 - * if slices_overlap(&src, &dst, ndim, itemsize): - * - * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< - * order = get_best_order(&dst, ndim) - * - */ - } - - /* "View.MemoryView":1307 - * order = get_best_order(&dst, ndim) - * - * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< - * src = tmp - * - */ - __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(1, 1307, __pyx_L1_error) - __pyx_v_tmpdata = __pyx_t_7; - - /* "View.MemoryView":1308 - * - * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) - * src = tmp # <<<<<<<<<<<<<< - * - * if not broadcasting: - */ - __pyx_v_src = __pyx_v_tmp; - - /* "View.MemoryView":1302 - * _err_dim(ValueError, "Dimension %d is not direct", i) - * - * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< - * - * if not slice_is_contig(src, order, ndim): - */ - } - - /* "View.MemoryView":1310 - * src = tmp - * - * if not broadcasting: # <<<<<<<<<<<<<< - * - * - */ - __pyx_t_2 = ((!(__pyx_v_broadcasting != 0)) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1313 - * - * - * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< - * direct_copy = slice_is_contig(dst, 'C', ndim) - * elif slice_is_contig(src, 'F', ndim): - */ - __pyx_t_2 = (__pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1314 - * - * if slice_is_contig(src, 'C', ndim): - * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< - * elif slice_is_contig(src, 'F', ndim): - * direct_copy = slice_is_contig(dst, 'F', ndim) - */ - __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); - - /* "View.MemoryView":1313 - * - * - * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< - * direct_copy = slice_is_contig(dst, 'C', ndim) - * elif slice_is_contig(src, 'F', ndim): - */ - goto __pyx_L12; - } - - /* "View.MemoryView":1315 - * if slice_is_contig(src, 'C', ndim): - * direct_copy = slice_is_contig(dst, 'C', ndim) - * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< - * direct_copy = slice_is_contig(dst, 'F', ndim) - * - */ - __pyx_t_2 = (__pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1316 - * direct_copy = slice_is_contig(dst, 'C', ndim) - * elif slice_is_contig(src, 'F', ndim): - * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< - * - * if direct_copy: - */ - __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); - - /* "View.MemoryView":1315 - * if slice_is_contig(src, 'C', ndim): - * direct_copy = slice_is_contig(dst, 'C', ndim) - * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< - * direct_copy = slice_is_contig(dst, 'F', ndim) - * - */ - } - __pyx_L12:; - - /* "View.MemoryView":1318 - * direct_copy = slice_is_contig(dst, 'F', ndim) - * - * if direct_copy: # <<<<<<<<<<<<<< - * - * refcount_copying(&dst, dtype_is_object, ndim, False) - */ - __pyx_t_2 = (__pyx_v_direct_copy != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1320 - * if direct_copy: - * - * refcount_copying(&dst, dtype_is_object, ndim, False) # <<<<<<<<<<<<<< - * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) - * refcount_copying(&dst, dtype_is_object, ndim, True) - */ - __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); - - /* "View.MemoryView":1321 - * - * refcount_copying(&dst, dtype_is_object, ndim, False) - * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< - * refcount_copying(&dst, dtype_is_object, ndim, True) - * free(tmpdata) - */ - (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); - - /* "View.MemoryView":1322 - * refcount_copying(&dst, dtype_is_object, ndim, False) - * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) - * refcount_copying(&dst, dtype_is_object, ndim, True) # <<<<<<<<<<<<<< - * free(tmpdata) - * return 0 - */ - __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); - 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"" : "s", num_found); -} - -/* RaiseDoubleKeywords */ -static void __Pyx_RaiseDoubleKeywordsError( - const char* func_name, - PyObject* kw_name) -{ - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION >= 3 - "%s() got multiple values for keyword argument '%U'", func_name, kw_name); - #else - "%s() got multiple values for keyword argument '%s'", func_name, - PyString_AsString(kw_name)); - #endif -} - -/* ParseKeywords */ -static int __Pyx_ParseOptionalKeywords( - PyObject *kwds, - PyObject **argnames[], - PyObject *kwds2, - PyObject *values[], - Py_ssize_t num_pos_args, - const char* function_name) -{ - PyObject *key = 0, *value = 0; - Py_ssize_t pos = 0; - PyObject*** name; - PyObject*** first_kw_arg = argnames + num_pos_args; - while (PyDict_Next(kwds, &pos, &key, &value)) { - name = first_kw_arg; - while (*name && (**name != key)) name++; - if (*name) { - values[name-argnames] = value; - continue; - } - name = first_kw_arg; - #if PY_MAJOR_VERSION < 3 - if (likely(PyString_Check(key))) { - while (*name) { - if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) - && _PyString_Eq(**name, key)) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - if ((**argname == key) || ( - (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) - && _PyString_Eq(**argname, key))) { - goto arg_passed_twice; - } - argname++; - } - } - } else - #endif - if (likely(PyUnicode_Check(key))) { - while (*name) { - int cmp = (**name == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**name, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) { - values[name-argnames] = value; - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - int cmp = (**argname == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**argname, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) goto arg_passed_twice; - argname++; - } - } - } else - goto invalid_keyword_type; - if (kwds2) { - if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; - } else { - goto invalid_keyword; - } - } - return 0; -arg_passed_twice: - __Pyx_RaiseDoubleKeywordsError(function_name, key); - goto bad; -invalid_keyword_type: - PyErr_Format(PyExc_TypeError, - "%.200s() keywords must be strings", function_name); - goto bad; -invalid_keyword: - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION < 3 - "%.200s() got an unexpected keyword argument '%.200s'", - function_name, PyString_AsString(key)); - #else - "%s() got an unexpected keyword argument '%U'", - function_name, key); - #endif -bad: - return -1; -} - -/* PyFunctionFastCall */ -#if CYTHON_FAST_PYCALL -static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, - PyObject *globals) { - PyFrameObject *f; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject **fastlocals; - Py_ssize_t i; - PyObject *result; - assert(globals != NULL); - /* XXX Perhaps we should create a specialized - PyFrame_New() that doesn't take locals, but does - take builtins without sanity checking them. - */ - assert(tstate != NULL); - f = PyFrame_New(tstate, co, globals, NULL); - if (f == NULL) { - return NULL; - } - fastlocals = __Pyx_PyFrame_GetLocalsplus(f); - for (i = 0; i < na; i++) { - Py_INCREF(*args); - fastlocals[i] = *args++; - } - result = PyEval_EvalFrameEx(f,0); - ++tstate->recursion_depth; - Py_DECREF(f); - --tstate->recursion_depth; - return result; -} -#if 1 || PY_VERSION_HEX < 0x030600B1 -static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { - PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); - PyObject *globals = PyFunction_GET_GLOBALS(func); - PyObject *argdefs = PyFunction_GET_DEFAULTS(func); - PyObject *closure; -#if PY_MAJOR_VERSION >= 3 - PyObject *kwdefs; -#endif - PyObject *kwtuple, **k; - PyObject **d; - Py_ssize_t nd; - Py_ssize_t nk; - PyObject *result; - assert(kwargs == NULL || PyDict_Check(kwargs)); - nk = kwargs ? PyDict_Size(kwargs) : 0; - if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { - return NULL; - } - if ( -#if PY_MAJOR_VERSION >= 3 - co->co_kwonlyargcount == 0 && -#endif - likely(kwargs == NULL || nk == 0) && - co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { - if (argdefs == NULL && co->co_argcount == nargs) { - result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); - goto done; - } - else if (nargs == 0 && argdefs != NULL - && co->co_argcount == Py_SIZE(argdefs)) { - /* function called with no arguments, but all parameters have - a default value: use default values as arguments .*/ - args = &PyTuple_GET_ITEM(argdefs, 0); - result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); - goto done; - } - } - if (kwargs != NULL) { - Py_ssize_t pos, i; - kwtuple = PyTuple_New(2 * nk); - if (kwtuple == NULL) { - result = NULL; - goto done; - } - k = &PyTuple_GET_ITEM(kwtuple, 0); - pos = i = 0; - while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { - Py_INCREF(k[i]); - Py_INCREF(k[i+1]); - i += 2; - } - nk = i / 2; - } - else { - kwtuple = NULL; - k = NULL; - } - closure = PyFunction_GET_CLOSURE(func); -#if PY_MAJOR_VERSION >= 3 - kwdefs = PyFunction_GET_KW_DEFAULTS(func); -#endif - if (argdefs != NULL) { - d = &PyTuple_GET_ITEM(argdefs, 0); - nd = Py_SIZE(argdefs); - } - else { - d = NULL; - nd = 0; - } -#if PY_MAJOR_VERSION >= 3 - result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, kwdefs, closure); -#else - result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, closure); -#endif - Py_XDECREF(kwtuple); -done: - Py_LeaveRecursiveCall(); - return result; -} -#endif -#endif - -/* PyObjectCall */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { - PyObject *result; - ternaryfunc call = Py_TYPE(func)->tp_call; - if (unlikely(!call)) - return PyObject_Call(func, arg, kw); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = (*call)(func, arg, kw); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallMethO */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { - PyObject *self, *result; - PyCFunction cfunc; - cfunc = PyCFunction_GET_FUNCTION(func); - self = PyCFunction_GET_SELF(func); - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - result = cfunc(self, arg); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallNoArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, NULL, 0); - } -#endif -#ifdef __Pyx_CyFunction_USED - if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func))) -#else - if (likely(PyCFunction_Check(func))) -#endif - { - if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) { - return __Pyx_PyObject_CallMethO(func, NULL); - } - } - return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL); -} -#endif - -/* PyCFunctionFastCall */ -#if CYTHON_FAST_PYCCALL -static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { - PyCFunctionObject *func = (PyCFunctionObject*)func_obj; - PyCFunction meth = PyCFunction_GET_FUNCTION(func); - PyObject *self = PyCFunction_GET_SELF(func); - int flags = PyCFunction_GET_FLAGS(func); - assert(PyCFunction_Check(func)); - assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); - assert(nargs >= 0); - assert(nargs == 0 || args != NULL); - /* _PyCFunction_FastCallDict() must not be called with an exception set, - because it may clear it (directly or indirectly) and so the - caller loses its exception */ - assert(!PyErr_Occurred()); - if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { - return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); - } else { - return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); - } -} -#endif - -/* PyObjectCallOneArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_New(1); - if (unlikely(!args)) return NULL; - Py_INCREF(arg); - PyTuple_SET_ITEM(args, 0, arg); - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, &arg, 1); - } -#endif - if (likely(PyCFunction_Check(func))) { - if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { - return __Pyx_PyObject_CallMethO(func, arg); -#if CYTHON_FAST_PYCCALL - } else if (__Pyx_PyFastCFunction_Check(func)) { - return __Pyx_PyCFunction_FastCall(func, &arg, 1); -#endif - } - } - return __Pyx__PyObject_CallOneArg(func, arg); -} -#else -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_Pack(1, arg); - if (unlikely(!args)) return NULL; - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; -} -#endif - -/* PyErrFetchRestore */ -#if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - tmp_type = tstate->curexc_type; - tmp_value = tstate->curexc_value; - tmp_tb = tstate->curexc_traceback; - tstate->curexc_type = type; - tstate->curexc_value = value; - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - *type = tstate->curexc_type; - *value = tstate->curexc_value; - *tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -} -#endif - -/* RaiseException */ -#if PY_MAJOR_VERSION < 3 -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, - CYTHON_UNUSED PyObject *cause) { - __Pyx_PyThreadState_declare - Py_XINCREF(type); - if (!value || value == Py_None) - value = NULL; - else - Py_INCREF(value); - if (!tb || tb == Py_None) - tb = NULL; - else { - Py_INCREF(tb); - if (!PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto raise_error; - } - } - if (PyType_Check(type)) { -#if CYTHON_COMPILING_IN_PYPY - if (!value) { - Py_INCREF(Py_None); - value = Py_None; - } -#endif - PyErr_NormalizeException(&type, &value, &tb); - } else { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto raise_error; - } - value = type; - type = (PyObject*) Py_TYPE(type); - Py_INCREF(type); - if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto raise_error; - } - } - __Pyx_PyThreadState_assign - __Pyx_ErrRestore(type, value, tb); - return; -raise_error: - Py_XDECREF(value); - Py_XDECREF(type); - Py_XDECREF(tb); - return; -} -#else -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { - PyObject* owned_instance = NULL; - if (tb == Py_None) { - tb = 0; - } else if (tb && !PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto bad; - } - if (value == Py_None) - value = 0; - if (PyExceptionInstance_Check(type)) { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto bad; - } - value = type; - type = (PyObject*) Py_TYPE(value); - } else if (PyExceptionClass_Check(type)) { - PyObject *instance_class = NULL; - if (value && PyExceptionInstance_Check(value)) { - instance_class = (PyObject*) Py_TYPE(value); - if (instance_class != type) { - int is_subclass = PyObject_IsSubclass(instance_class, type); - if (!is_subclass) { - instance_class = NULL; - } else if (unlikely(is_subclass == -1)) { - goto bad; - } else { - type = instance_class; - } - } - } - if (!instance_class) { - PyObject *args; - if (!value) - args = PyTuple_New(0); - else if (PyTuple_Check(value)) { - Py_INCREF(value); - args = value; - } else - args = PyTuple_Pack(1, value); - if (!args) - goto bad; - owned_instance = PyObject_Call(type, args, NULL); - Py_DECREF(args); - if (!owned_instance) - goto bad; - value = owned_instance; - if (!PyExceptionInstance_Check(value)) { - PyErr_Format(PyExc_TypeError, - "calling %R should have returned an instance of " - "BaseException, not %R", - type, Py_TYPE(value)); - goto bad; - } - } - } else { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto bad; - } - if (cause) { - PyObject *fixed_cause; - if (cause == Py_None) { - fixed_cause = NULL; - } else if (PyExceptionClass_Check(cause)) { - fixed_cause = PyObject_CallObject(cause, NULL); - if (fixed_cause == NULL) - goto bad; - } else if (PyExceptionInstance_Check(cause)) { - fixed_cause = cause; - Py_INCREF(fixed_cause); - } else { - PyErr_SetString(PyExc_TypeError, - "exception causes must derive from " - "BaseException"); - goto bad; - } - PyException_SetCause(value, fixed_cause); - } - PyErr_SetObject(type, value); - if (tb) { -#if CYTHON_COMPILING_IN_PYPY - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); - Py_INCREF(tb); - PyErr_Restore(tmp_type, tmp_value, tb); - Py_XDECREF(tmp_tb); -#else - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* tmp_tb = tstate->curexc_traceback; - if (tb != tmp_tb) { - Py_INCREF(tb); - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_tb); - } -#endif - } -bad: - Py_XDECREF(owned_instance); - return; -} -#endif - -/* PyObjectCall2Args */ -static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { - PyObject *args, *result = NULL; - #if CYTHON_FAST_PYCALL - if (PyFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyFunction_FastCall(function, args, 2); - } - #endif - #if CYTHON_FAST_PYCCALL - if (__Pyx_PyFastCFunction_Check(function)) { - PyObject *args[2] = {arg1, arg2}; - return __Pyx_PyCFunction_FastCall(function, args, 2); - } - #endif - args = PyTuple_New(2); - if (unlikely(!args)) goto done; - Py_INCREF(arg1); - PyTuple_SET_ITEM(args, 0, arg1); - Py_INCREF(arg2); - PyTuple_SET_ITEM(args, 1, arg2); - Py_INCREF(function); - result = __Pyx_PyObject_Call(function, args, NULL); - Py_DECREF(args); - Py_DECREF(function); -done: - return result; -} - -/* JoinPyUnicode */ -static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, - CYTHON_UNUSED Py_UCS4 max_char) { -#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - PyObject *result_uval; - int result_ukind; - Py_ssize_t i, char_pos; - void *result_udata; -#if CYTHON_PEP393_ENABLED - result_uval = PyUnicode_New(result_ulength, max_char); - if (unlikely(!result_uval)) return NULL; - result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; - result_udata = PyUnicode_DATA(result_uval); -#else - result_uval = PyUnicode_FromUnicode(NULL, result_ulength); - if (unlikely(!result_uval)) return NULL; - result_ukind = sizeof(Py_UNICODE); - result_udata = PyUnicode_AS_UNICODE(result_uval); -#endif - char_pos = 0; - for (i=0; i < value_count; i++) { - int ukind; - Py_ssize_t ulength; - void *udata; - PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); - if (unlikely(__Pyx_PyUnicode_READY(uval))) - goto bad; - ulength = __Pyx_PyUnicode_GET_LENGTH(uval); - if (unlikely(!ulength)) - continue; - if (unlikely(char_pos + ulength < 0)) - goto overflow; - ukind = __Pyx_PyUnicode_KIND(uval); - udata = __Pyx_PyUnicode_DATA(uval); - if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { - memcpy((char *)result_udata + char_pos * result_ukind, udata, (size_t) (ulength * result_ukind)); - } else { - #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) - _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); - #else - Py_ssize_t j; - for (j=0; j < ulength; j++) { - Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); - __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); - } - #endif - } - char_pos += ulength; - } - return result_uval; -overflow: - PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); -bad: - Py_DECREF(result_uval); - return NULL; -#else - result_ulength++; - value_count++; - return PyUnicode_Join(__pyx_empty_unicode, value_tuple); -#endif -} - -/* ArgTypeTest */ -static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) -{ - if (unlikely(!type)) { - PyErr_SetString(PyExc_SystemError, "Missing type object"); - return 0; - } - else if (exact) { - #if PY_MAJOR_VERSION == 2 - if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; - #endif - } - else { - if (likely(__Pyx_TypeCheck(obj, type))) return 1; - } - PyErr_Format(PyExc_TypeError, - "Argument '%.200s' has incorrect type (expected %.200s, got %.200s)", - name, type->tp_name, Py_TYPE(obj)->tp_name); - return 0; -} - -/* BytesEquals */ -static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { -#if CYTHON_COMPILING_IN_PYPY - return PyObject_RichCompareBool(s1, s2, equals); -#else - if (s1 == s2) { - return (equals == Py_EQ); - } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { - const char *ps1, *ps2; - Py_ssize_t length = PyBytes_GET_SIZE(s1); - if (length != PyBytes_GET_SIZE(s2)) - return (equals == Py_NE); - ps1 = PyBytes_AS_STRING(s1); - ps2 = PyBytes_AS_STRING(s2); - if (ps1[0] != ps2[0]) { - return (equals == Py_NE); - } else if (length == 1) { - return (equals == Py_EQ); - } else { - int result; -#if CYTHON_USE_UNICODE_INTERNALS - Py_hash_t hash1, hash2; - hash1 = ((PyBytesObject*)s1)->ob_shash; - hash2 = ((PyBytesObject*)s2)->ob_shash; - if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { - return (equals == Py_NE); - } -#endif - result = memcmp(ps1, ps2, (size_t)length); - return (equals == Py_EQ) ? (result == 0) : (result != 0); - } - } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { - return (equals == Py_NE); - } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { - return (equals == Py_NE); - } else { - int result; - PyObject* py_result = PyObject_RichCompare(s1, s2, equals); - if (!py_result) - return -1; - result = __Pyx_PyObject_IsTrue(py_result); - Py_DECREF(py_result); - return result; - } -#endif -} - -/* UnicodeEquals */ -static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { -#if CYTHON_COMPILING_IN_PYPY - return PyObject_RichCompareBool(s1, s2, equals); -#else -#if PY_MAJOR_VERSION < 3 - PyObject* owned_ref = NULL; -#endif - int s1_is_unicode, s2_is_unicode; - if (s1 == s2) { - goto return_eq; - } - s1_is_unicode = PyUnicode_CheckExact(s1); - s2_is_unicode = PyUnicode_CheckExact(s2); -#if PY_MAJOR_VERSION < 3 - if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { - owned_ref = PyUnicode_FromObject(s2); - if (unlikely(!owned_ref)) - return -1; - s2 = owned_ref; - s2_is_unicode = 1; - } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { - owned_ref = PyUnicode_FromObject(s1); - if (unlikely(!owned_ref)) - return -1; - s1 = owned_ref; - s1_is_unicode = 1; - } else if (((!s2_is_unicode) & (!s1_is_unicode))) { - return __Pyx_PyBytes_Equals(s1, s2, equals); - } -#endif - if (s1_is_unicode & s2_is_unicode) { - Py_ssize_t length; - int kind; - void *data1, *data2; - if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) - return -1; - length = __Pyx_PyUnicode_GET_LENGTH(s1); - if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { - goto return_ne; - } -#if CYTHON_USE_UNICODE_INTERNALS - { - Py_hash_t hash1, hash2; - #if CYTHON_PEP393_ENABLED - hash1 = ((PyASCIIObject*)s1)->hash; - hash2 = ((PyASCIIObject*)s2)->hash; - #else - hash1 = ((PyUnicodeObject*)s1)->hash; - hash2 = ((PyUnicodeObject*)s2)->hash; - #endif - if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { - goto return_ne; - } - } -#endif - kind = __Pyx_PyUnicode_KIND(s1); - if (kind != __Pyx_PyUnicode_KIND(s2)) { - goto return_ne; - } - data1 = __Pyx_PyUnicode_DATA(s1); - data2 = __Pyx_PyUnicode_DATA(s2); - if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { - goto return_ne; - } else if (length == 1) { - goto return_eq; - } else { - int result = memcmp(data1, data2, (size_t)(length * kind)); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_EQ) ? (result == 0) : (result != 0); - } - } else if ((s1 == Py_None) & s2_is_unicode) { - goto return_ne; - } else if ((s2 == Py_None) & s1_is_unicode) { - goto return_ne; - } else { - int result; - PyObject* py_result = PyObject_RichCompare(s1, s2, equals); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - if (!py_result) - return -1; - result = __Pyx_PyObject_IsTrue(py_result); - Py_DECREF(py_result); - return result; - } -return_eq: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_EQ); -return_ne: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_NE); -#endif -} - -/* PyDictVersioning */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; -} -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { - PyObject **dictptr = NULL; - Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; - if (offset) { -#if CYTHON_COMPILING_IN_CPYTHON - dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); -#else - dictptr = _PyObject_GetDictPtr(obj); -#endif - } - return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; -} -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) - return 0; - return obj_dict_version == __Pyx_get_object_dict_version(obj); -} -#endif - -/* GetModuleGlobalName */ -#if CYTHON_USE_DICT_VERSIONS -static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) -#else -static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) -#endif -{ - PyObject *result; -#if !CYTHON_AVOID_BORROWED_REFS -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 - result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } else if (unlikely(PyErr_Occurred())) { - return NULL; - } -#else - result = PyDict_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } -#endif -#else - result = PyObject_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } - PyErr_Clear(); -#endif - return __Pyx_GetBuiltinName(name); -} - -/* ExtTypeTest */ -static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { - if (unlikely(!type)) { - PyErr_SetString(PyExc_SystemError, "Missing type object"); - return 0; - } - if (likely(__Pyx_TypeCheck(obj, type))) - return 1; - PyErr_Format(PyExc_TypeError, "Cannot convert %.200s to %.200s", - Py_TYPE(obj)->tp_name, type->tp_name); - return 0; -} - -/* IsLittleEndian */ -static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) -{ - union { - uint32_t u32; - uint8_t u8[4]; - } S; - S.u32 = 0x01020304; - return S.u8[0] == 4; -} - -/* BufferFormatCheck */ -static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, - __Pyx_BufFmt_StackElem* stack, - __Pyx_TypeInfo* type) { - stack[0].field = &ctx->root; - stack[0].parent_offset = 0; - ctx->root.type = type; - ctx->root.name = "buffer dtype"; - ctx->root.offset = 0; - ctx->head = stack; - ctx->head->field = &ctx->root; - ctx->fmt_offset = 0; - ctx->head->parent_offset = 0; - ctx->new_packmode = '@'; - ctx->enc_packmode = '@'; - ctx->new_count = 1; - ctx->enc_count = 0; - ctx->enc_type = 0; - ctx->is_complex = 0; - ctx->is_valid_array = 0; - ctx->struct_alignment = 0; - while (type->typegroup == 'S') { - ++ctx->head; - ctx->head->field = type->fields; - ctx->head->parent_offset = 0; - type = type->fields->type; - } -} -static int __Pyx_BufFmt_ParseNumber(const char** ts) { - int count; - const char* t = *ts; - if (*t < '0' || *t > '9') { - return -1; - } else { - count = *t++ - '0'; - while (*t >= '0' && *t <= '9') { - count *= 10; - count += *t++ - '0'; - } - } - *ts = t; - return count; -} -static int __Pyx_BufFmt_ExpectNumber(const char **ts) { - int number = __Pyx_BufFmt_ParseNumber(ts); - if (number == -1) - PyErr_Format(PyExc_ValueError,\ - "Does not understand character buffer dtype format string ('%c')", **ts); - return number; -} -static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { - PyErr_Format(PyExc_ValueError, - "Unexpected format string character: '%c'", ch); -} -static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { - switch (ch) { - case '?': return "'bool'"; - case 'c': return "'char'"; - case 'b': return "'signed char'"; - case 'B': return "'unsigned char'"; - case 'h': return "'short'"; - case 'H': return "'unsigned short'"; - case 'i': return "'int'"; - case 'I': return "'unsigned int'"; - case 'l': return "'long'"; - case 'L': return "'unsigned long'"; - case 'q': return "'long long'"; - case 'Q': return "'unsigned long long'"; - case 'f': return (is_complex ? "'complex float'" : "'float'"); - case 'd': return (is_complex ? "'complex double'" : "'double'"); - case 'g': return (is_complex ? "'complex long double'" : "'long double'"); - case 'T': return "a struct"; - case 'O': return "Python object"; - case 'P': return "a pointer"; - case 's': case 'p': return "a string"; - case 0: return "end"; - default: return "unparseable format string"; - } -} -static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return 2; - case 'i': case 'I': case 'l': case 'L': return 4; - case 'q': case 'Q': return 8; - case 'f': return (is_complex ? 8 : 4); - case 'd': return (is_complex ? 16 : 8); - case 'g': { - PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); - return 0; - } - case 'O': case 'P': return sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(short); - case 'i': case 'I': return sizeof(int); - case 'l': case 'L': return sizeof(long); - #ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(PY_LONG_LONG); - #endif - case 'f': return sizeof(float) * (is_complex ? 2 : 1); - case 'd': return sizeof(double) * (is_complex ? 2 : 1); - case 'g': return sizeof(long double) * (is_complex ? 2 : 1); - case 'O': case 'P': return sizeof(void*); - default: { - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } - } -} -typedef struct { char c; short x; } __Pyx_st_short; -typedef struct { char c; int x; } __Pyx_st_int; -typedef struct { char c; long x; } __Pyx_st_long; -typedef struct { char c; float x; } __Pyx_st_float; -typedef struct { char c; double x; } __Pyx_st_double; -typedef struct { char c; long double x; } __Pyx_st_longdouble; -typedef struct { char c; void *x; } __Pyx_st_void_p; -#ifdef HAVE_LONG_LONG -typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; -#endif -static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, CYTHON_UNUSED int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); - case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); - case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); -#ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); -#endif - case 'f': return sizeof(__Pyx_st_float) - sizeof(float); - case 'd': return sizeof(__Pyx_st_double) - sizeof(double); - case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); - case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -/* These are for computing the padding at the end of the struct to align - on the first member of the struct. This will probably the same as above, - but we don't have any guarantees. - */ -typedef struct { short x; char c; } __Pyx_pad_short; -typedef struct { int x; char c; } __Pyx_pad_int; -typedef struct { long x; char c; } __Pyx_pad_long; -typedef struct { float x; char c; } __Pyx_pad_float; -typedef struct { double x; char c; } __Pyx_pad_double; -typedef struct { long double x; char c; } __Pyx_pad_longdouble; -typedef struct { void *x; char c; } __Pyx_pad_void_p; -#ifdef HAVE_LONG_LONG -typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; -#endif -static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, CYTHON_UNUSED int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); - case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); - case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); -#ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); -#endif - case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); - case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); - case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); - case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } -} -static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { - switch (ch) { - case 'c': - return 'H'; - case 'b': case 'h': case 'i': - case 'l': case 'q': case 's': case 'p': - return 'I'; - case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': - return 'U'; - case 'f': case 'd': case 'g': - return (is_complex ? 'C' : 'R'); - case 'O': - return 'O'; - case 'P': - return 'P'; - default: { - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; - } - } -} -static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { - if (ctx->head == NULL || ctx->head->field == &ctx->root) { - const char* expected; - const char* quote; - if (ctx->head == NULL) { - expected = "end"; - quote = ""; - } else { - expected = ctx->head->field->type->name; - quote = "'"; - } - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch, expected %s%s%s but got %s", - quote, expected, quote, - __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); - } else { - __Pyx_StructField* field = ctx->head->field; - __Pyx_StructField* parent = (ctx->head - 1)->field; - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", - field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), - parent->type->name, field->name); - } -} -static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { - char group; - size_t size, offset, arraysize = 1; - if (ctx->enc_type == 0) return 0; - if (ctx->head->field->type->arraysize[0]) { - int i, ndim = 0; - if (ctx->enc_type == 's' || ctx->enc_type == 'p') { - ctx->is_valid_array = ctx->head->field->type->ndim == 1; - ndim = 1; - if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { - PyErr_Format(PyExc_ValueError, - "Expected a dimension of size %zu, got %zu", - ctx->head->field->type->arraysize[0], ctx->enc_count); - return -1; - } - } - if (!ctx->is_valid_array) { - PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", - ctx->head->field->type->ndim, ndim); - return -1; - } - for (i = 0; i < ctx->head->field->type->ndim; i++) { - arraysize *= ctx->head->field->type->arraysize[i]; - } - ctx->is_valid_array = 0; - ctx->enc_count = 1; - } - group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); - do { - __Pyx_StructField* field = ctx->head->field; - __Pyx_TypeInfo* type = field->type; - if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { - size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); - } else { - size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); - } - if (ctx->enc_packmode == '@') { - size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); - size_t align_mod_offset; - if (align_at == 0) return -1; - align_mod_offset = ctx->fmt_offset % align_at; - if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; - if (ctx->struct_alignment == 0) - ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, - ctx->is_complex); - } - if (type->size != size || type->typegroup != group) { - if (type->typegroup == 'C' && type->fields != NULL) { - size_t parent_offset = ctx->head->parent_offset + field->offset; - ++ctx->head; - ctx->head->field = type->fields; - ctx->head->parent_offset = parent_offset; - continue; - } - if ((type->typegroup == 'H' || group == 'H') && type->size == size) { - } else { - __Pyx_BufFmt_RaiseExpected(ctx); - return -1; - } - } - offset = ctx->head->parent_offset + field->offset; - if (ctx->fmt_offset != offset) { - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", - (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); - return -1; - } - ctx->fmt_offset += size; - if (arraysize) - ctx->fmt_offset += (arraysize - 1) * size; - --ctx->enc_count; - while (1) { - if (field == &ctx->root) { - ctx->head = NULL; - if (ctx->enc_count != 0) { - __Pyx_BufFmt_RaiseExpected(ctx); - return -1; - } - break; - } - ctx->head->field = ++field; - if (field->type == NULL) { - --ctx->head; - field = ctx->head->field; - continue; - } else if (field->type->typegroup == 'S') { - size_t parent_offset = ctx->head->parent_offset + field->offset; - if (field->type->fields->type == NULL) continue; - field = field->type->fields; - ++ctx->head; - ctx->head->field = field; - ctx->head->parent_offset = parent_offset; - break; - } else { - break; - } - } - } while (ctx->enc_count); - ctx->enc_type = 0; - ctx->is_complex = 0; - return 0; -} -static PyObject * -__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) -{ - const char *ts = *tsp; - int i = 0, number, ndim; - ++ts; - if (ctx->new_count != 1) { - PyErr_SetString(PyExc_ValueError, - "Cannot handle repeated arrays in format string"); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ndim = ctx->head->field->type->ndim; - while (*ts && *ts != ')') { - switch (*ts) { - case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; - default: break; - } - number = __Pyx_BufFmt_ExpectNumber(&ts); - if (number == -1) return NULL; - if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) - return PyErr_Format(PyExc_ValueError, - "Expected a dimension of size %zu, got %d", - ctx->head->field->type->arraysize[i], number); - if (*ts != ',' && *ts != ')') - return PyErr_Format(PyExc_ValueError, - "Expected a comma in format string, got '%c'", *ts); - if (*ts == ',') ts++; - i++; - } - if (i != ndim) - return PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", - ctx->head->field->type->ndim, i); - if (!*ts) { - PyErr_SetString(PyExc_ValueError, - "Unexpected end of format string, expected ')'"); - return NULL; - } - ctx->is_valid_array = 1; - ctx->new_count = 1; - *tsp = ++ts; - return Py_None; -} -static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { - int got_Z = 0; - while (1) { - switch(*ts) { - case 0: - if (ctx->enc_type != 0 && ctx->head == NULL) { - __Pyx_BufFmt_RaiseExpected(ctx); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - if (ctx->head != NULL) { - __Pyx_BufFmt_RaiseExpected(ctx); - return NULL; - } - return ts; - case ' ': - case '\r': - case '\n': - ++ts; - break; - case '<': - if (!__Pyx_Is_Little_Endian()) { - PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); - return NULL; - } - ctx->new_packmode = '='; - ++ts; - break; - case '>': - case '!': - if (__Pyx_Is_Little_Endian()) { - PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); - return NULL; - } - ctx->new_packmode = '='; - ++ts; - break; - case '=': - case '@': - case '^': - ctx->new_packmode = *ts++; - break; - case 'T': - { - const char* ts_after_sub; - size_t i, struct_count = ctx->new_count; - size_t struct_alignment = ctx->struct_alignment; - ctx->new_count = 1; - ++ts; - if (*ts != '{') { - PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_type = 0; - ctx->enc_count = 0; - ctx->struct_alignment = 0; - ++ts; - ts_after_sub = ts; - for (i = 0; i != struct_count; ++i) { - ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); - if (!ts_after_sub) return NULL; - } - ts = ts_after_sub; - if (struct_alignment) ctx->struct_alignment = struct_alignment; - } - break; - case '}': - { - size_t alignment = ctx->struct_alignment; - ++ts; - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_type = 0; - if (alignment && ctx->fmt_offset % alignment) { - ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); - } - } - return ts; - case 'x': - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->fmt_offset += ctx->new_count; - ctx->new_count = 1; - ctx->enc_count = 0; - ctx->enc_type = 0; - ctx->enc_packmode = ctx->new_packmode; - ++ts; - break; - case 'Z': - got_Z = 1; - ++ts; - if (*ts != 'f' && *ts != 'd' && *ts != 'g') { - __Pyx_BufFmt_RaiseUnexpectedChar('Z'); - return NULL; - } - CYTHON_FALLTHROUGH; - case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': - case 'l': case 'L': case 'q': case 'Q': - case 'f': case 'd': case 'g': - case 'O': case 'p': - if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && - (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { - ctx->enc_count += ctx->new_count; - ctx->new_count = 1; - got_Z = 0; - ++ts; - break; - } - CYTHON_FALLTHROUGH; - case 's': - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_count = ctx->new_count; - ctx->enc_packmode = ctx->new_packmode; - ctx->enc_type = *ts; - ctx->is_complex = got_Z; - ++ts; - ctx->new_count = 1; - got_Z = 0; - break; - case ':': - ++ts; - while(*ts != ':') ++ts; - ++ts; - break; - case '(': - if (!__pyx_buffmt_parse_array(ctx, &ts)) return NULL; - break; - default: - { - int number = __Pyx_BufFmt_ExpectNumber(&ts); - if (number == -1) return NULL; - ctx->new_count = (size_t)number; - } - } - } -} - -/* BufferGetAndValidate */ - static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { - if (unlikely(info->buf == NULL)) return; - if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; - __Pyx_ReleaseBuffer(info); -} -static void __Pyx_ZeroBuffer(Py_buffer* buf) { - buf->buf = NULL; - buf->obj = NULL; - buf->strides = __Pyx_zeros; - buf->shape = __Pyx_zeros; - buf->suboffsets = __Pyx_minusones; -} -static int __Pyx__GetBufferAndValidate( - Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, - int nd, int cast, __Pyx_BufFmt_StackElem* stack) -{ - buf->buf = NULL; - if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { - __Pyx_ZeroBuffer(buf); - return -1; - } - if (unlikely(buf->ndim != nd)) { - PyErr_Format(PyExc_ValueError, - "Buffer has wrong number of dimensions (expected %d, got %d)", - nd, buf->ndim); - goto fail; - } - if (!cast) { - __Pyx_BufFmt_Context ctx; - __Pyx_BufFmt_Init(&ctx, stack, dtype); - if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; - } - if (unlikely((size_t)buf->itemsize != dtype->size)) { - PyErr_Format(PyExc_ValueError, - "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", - buf->itemsize, (buf->itemsize > 1) ? "s" : "", - dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); - goto fail; - } - if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; - return 0; -fail:; - __Pyx_SafeReleaseBuffer(buf); - return -1; -} - -/* Import */ - static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { - PyObject *empty_list = 0; - PyObject *module = 0; - PyObject *global_dict = 0; - PyObject *empty_dict = 0; - PyObject *list; - #if PY_MAJOR_VERSION < 3 - PyObject *py_import; - py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); - if (!py_import) - goto bad; - #endif - if (from_list) - list = from_list; - else { - empty_list = PyList_New(0); - if (!empty_list) - goto bad; - list = empty_list; - } - global_dict = PyModule_GetDict(__pyx_m); - if (!global_dict) - goto bad; - empty_dict = PyDict_New(); - if (!empty_dict) - goto bad; - { - #if PY_MAJOR_VERSION >= 3 - if (level == -1) { - if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, 1); - if (!module) { - if (!PyErr_ExceptionMatches(PyExc_ImportError)) - goto bad; - PyErr_Clear(); - } - } - level = 0; - } - #endif - if (!module) { - #if PY_MAJOR_VERSION < 3 - PyObject *py_level = PyInt_FromLong(level); - if (!py_level) - goto bad; - module = PyObject_CallFunctionObjArgs(py_import, - name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); - Py_DECREF(py_level); - #else - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, level); - #endif - } - } -bad: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_import); - #endif - Py_XDECREF(empty_list); - Py_XDECREF(empty_dict); - return module; -} - -/* SliceObject */ - static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice(PyObject* obj, - Py_ssize_t cstart, Py_ssize_t cstop, - PyObject** _py_start, PyObject** _py_stop, PyObject** _py_slice, - int has_cstart, int has_cstop, CYTHON_UNUSED int wraparound) { -#if CYTHON_USE_TYPE_SLOTS - PyMappingMethods* mp; -#if PY_MAJOR_VERSION < 3 - PySequenceMethods* ms = Py_TYPE(obj)->tp_as_sequence; - if (likely(ms && ms->sq_slice)) { - if (!has_cstart) { - if (_py_start && (*_py_start != Py_None)) { - cstart = __Pyx_PyIndex_AsSsize_t(*_py_start); - if ((cstart == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; - } else - cstart = 0; - } - if (!has_cstop) { - if (_py_stop && (*_py_stop != Py_None)) { - cstop = __Pyx_PyIndex_AsSsize_t(*_py_stop); - if ((cstop == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; - } else - cstop = PY_SSIZE_T_MAX; - } - if (wraparound && unlikely((cstart < 0) | (cstop < 0)) && likely(ms->sq_length)) { - Py_ssize_t l = ms->sq_length(obj); - if (likely(l >= 0)) { - if (cstop < 0) { - cstop += l; - if (cstop < 0) cstop = 0; - } - if (cstart < 0) { - cstart += l; - if (cstart < 0) cstart = 0; - } - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - goto bad; - PyErr_Clear(); - } - } - return ms->sq_slice(obj, cstart, cstop); - } -#endif - mp = Py_TYPE(obj)->tp_as_mapping; - if (likely(mp && mp->mp_subscript)) -#endif - { - PyObject* result; - PyObject *py_slice, *py_start, *py_stop; - if (_py_slice) { - py_slice = *_py_slice; - } else { - PyObject* owned_start = NULL; - PyObject* owned_stop = NULL; - if (_py_start) { - py_start = *_py_start; - } else { - if (has_cstart) { - owned_start = py_start = PyInt_FromSsize_t(cstart); - if (unlikely(!py_start)) goto bad; - } else - py_start = Py_None; - } - if (_py_stop) { - py_stop = *_py_stop; - } else { - if (has_cstop) { - owned_stop = py_stop = PyInt_FromSsize_t(cstop); - if (unlikely(!py_stop)) { - Py_XDECREF(owned_start); - goto bad; - } - } else - py_stop = Py_None; - } - py_slice = PySlice_New(py_start, py_stop, Py_None); - Py_XDECREF(owned_start); - Py_XDECREF(owned_stop); - if (unlikely(!py_slice)) goto bad; - } -#if CYTHON_USE_TYPE_SLOTS - result = mp->mp_subscript(obj, py_slice); -#else - result = PyObject_GetItem(obj, py_slice); -#endif - if (!_py_slice) { - Py_DECREF(py_slice); - } - return result; - } - PyErr_Format(PyExc_TypeError, - "'%.200s' object is unsliceable", Py_TYPE(obj)->tp_name); -bad: - return NULL; -} - -/* FetchCommonType */ - static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { - PyObject* fake_module; - PyTypeObject* cached_type = NULL; - fake_module = PyImport_AddModule((char*) "_cython_" CYTHON_ABI); - if (!fake_module) return NULL; - Py_INCREF(fake_module); - cached_type = (PyTypeObject*) PyObject_GetAttrString(fake_module, type->tp_name); - if (cached_type) { - if (!PyType_Check((PyObject*)cached_type)) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s is not a type object", - type->tp_name); - goto bad; - } - if (cached_type->tp_basicsize != type->tp_basicsize) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s has the wrong size, try recompiling", - type->tp_name); - goto bad; - } - } else { - if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; - PyErr_Clear(); - if (PyType_Ready(type) < 0) goto bad; - if (PyObject_SetAttrString(fake_module, type->tp_name, (PyObject*) type) < 0) - goto bad; - Py_INCREF(type); - cached_type = type; - } -done: - Py_DECREF(fake_module); - return cached_type; -bad: - Py_XDECREF(cached_type); - cached_type = NULL; - goto done; -} - -/* CythonFunctionShared */ - #include -static PyObject * -__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *closure) -{ - if (unlikely(op->func_doc == NULL)) { - if (op->func.m_ml->ml_doc) { -#if PY_MAJOR_VERSION >= 3 - op->func_doc = PyUnicode_FromString(op->func.m_ml->ml_doc); -#else - op->func_doc = PyString_FromString(op->func.m_ml->ml_doc); -#endif - if (unlikely(op->func_doc == NULL)) - return NULL; - } else { - Py_INCREF(Py_None); - return Py_None; - } - } - Py_INCREF(op->func_doc); - return op->func_doc; -} -static int -__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp = op->func_doc; - if (value == NULL) { - value = Py_None; - } - Py_INCREF(value); - op->func_doc = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - if (unlikely(op->func_name == NULL)) { -#if PY_MAJOR_VERSION >= 3 - op->func_name = PyUnicode_InternFromString(op->func.m_ml->ml_name); -#else - op->func_name = PyString_InternFromString(op->func.m_ml->ml_name); -#endif - if (unlikely(op->func_name == NULL)) - return NULL; - } - Py_INCREF(op->func_name); - return op->func_name; -} -static int -__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__name__ must be set to a string object"); - return -1; - } - tmp = op->func_name; - Py_INCREF(value); - op->func_name = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - Py_INCREF(op->func_qualname); - return op->func_qualname; -} -static int -__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__qualname__ must be set to a string object"); - return -1; - } - tmp = op->func_qualname; - Py_INCREF(value); - op->func_qualname = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_self(__pyx_CyFunctionObject *m, CYTHON_UNUSED void *closure) -{ - PyObject *self; - self = m->func_closure; - if (self == NULL) - self = Py_None; - Py_INCREF(self); - return self; -} -static PyObject * -__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - if (unlikely(op->func_dict == NULL)) { - op->func_dict = PyDict_New(); - if (unlikely(op->func_dict == NULL)) - return NULL; - } - Py_INCREF(op->func_dict); - return op->func_dict; -} -static int -__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, CYTHON_UNUSED void *context) -{ - PyObject *tmp; - if (unlikely(value == NULL)) { - PyErr_SetString(PyExc_TypeError, - "function's dictionary may not be deleted"); - return -1; - } - if (unlikely(!PyDict_Check(value))) { - PyErr_SetString(PyExc_TypeError, - "setting function's dictionary to a non-dict"); - return -1; - } - tmp = op->func_dict; - Py_INCREF(value); - op->func_dict = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - Py_INCREF(op->func_globals); - return op->func_globals; -} -static PyObject * -__Pyx_CyFunction_get_closure(CYTHON_UNUSED __pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - Py_INCREF(Py_None); - return Py_None; -} -static PyObject * -__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) -{ - PyObject* result = (op->func_code) ? op->func_code : Py_None; - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { - int result = 0; - PyObject *res = op->defaults_getter((PyObject *) op); - if (unlikely(!res)) - return -1; - #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - op->defaults_tuple = PyTuple_GET_ITEM(res, 0); - Py_INCREF(op->defaults_tuple); - op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); - Py_INCREF(op->defaults_kwdict); - #else - op->defaults_tuple = PySequence_ITEM(res, 0); - if (unlikely(!op->defaults_tuple)) result = -1; - else { - op->defaults_kwdict = PySequence_ITEM(res, 1); - if (unlikely(!op->defaults_kwdict)) result = -1; - } - #endif - Py_DECREF(res); - return result; -} -static int -__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { - PyObject* tmp; - if (!value) { - value = Py_None; - } else if (value != Py_None && !PyTuple_Check(value)) { - PyErr_SetString(PyExc_TypeError, - "__defaults__ must be set to a tuple object"); - return -1; - } - Py_INCREF(value); - tmp = op->defaults_tuple; - op->defaults_tuple = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { - PyObject* result = op->defaults_tuple; - if (unlikely(!result)) { - if (op->defaults_getter) { - if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; - result = op->defaults_tuple; - } else { - result = Py_None; - } - } - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { - PyObject* tmp; - if (!value) { - value = Py_None; - } else if (value != Py_None && !PyDict_Check(value)) { - PyErr_SetString(PyExc_TypeError, - "__kwdefaults__ must be set to a dict object"); - return -1; - } - Py_INCREF(value); - tmp = op->defaults_kwdict; - op->defaults_kwdict = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { - PyObject* result = op->defaults_kwdict; - if (unlikely(!result)) { - if (op->defaults_getter) { - if (__Pyx_CyFunction_init_defaults(op) < 0) return NULL; - result = op->defaults_kwdict; - } else { - result = Py_None; - } - } - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, CYTHON_UNUSED void *context) { - PyObject* tmp; - if (!value || value == Py_None) { - value = NULL; - } else if (!PyDict_Check(value)) { - PyErr_SetString(PyExc_TypeError, - "__annotations__ must be set to a dict object"); - return -1; - } - Py_XINCREF(value); - tmp = op->func_annotations; - op->func_annotations = value; - Py_XDECREF(tmp); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *context) { - PyObject* result = op->func_annotations; - if (unlikely(!result)) { - result = PyDict_New(); - if (unlikely(!result)) return NULL; - op->func_annotations = result; - } - Py_INCREF(result); - return result; -} -static PyGetSetDef __pyx_CyFunction_getsets[] = { - {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, - {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, - {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, - {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, - {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, - {(char *) "__self__", (getter)__Pyx_CyFunction_get_self, 0, 0, 0}, - {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, - {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, - {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, - {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, - {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, - {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, - {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, - {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, - {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, - {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, - {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, - {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, - {0, 0, 0, 0, 0} -}; -static PyMemberDef __pyx_CyFunction_members[] = { - {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), PY_WRITE_RESTRICTED, 0}, - {0, 0, 0, 0, 0} -}; -static PyObject * -__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, CYTHON_UNUSED PyObject *args) -{ -#if PY_MAJOR_VERSION >= 3 - Py_INCREF(m->func_qualname); - return m->func_qualname; -#else - return PyString_FromString(m->func.m_ml->ml_name); -#endif -} -static PyMethodDef __pyx_CyFunction_methods[] = { - {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, - {0, 0, 0, 0} -}; -#if PY_VERSION_HEX < 0x030500A0 -#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) -#else -#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func.m_weakreflist) -#endif -static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, - PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { - if (unlikely(op == NULL)) - return NULL; - op->flags = flags; - __Pyx_CyFunction_weakreflist(op) = NULL; - op->func.m_ml = ml; - op->func.m_self = (PyObject *) op; - Py_XINCREF(closure); - op->func_closure = closure; - Py_XINCREF(module); - op->func.m_module = module; - op->func_dict = NULL; - op->func_name = NULL; - Py_INCREF(qualname); - op->func_qualname = qualname; - op->func_doc = NULL; - op->func_classobj = NULL; - op->func_globals = globals; - Py_INCREF(op->func_globals); - Py_XINCREF(code); - op->func_code = code; - op->defaults_pyobjects = 0; - op->defaults_size = 0; - op->defaults = NULL; - op->defaults_tuple = NULL; - op->defaults_kwdict = NULL; - op->defaults_getter = NULL; - op->func_annotations = NULL; - return (PyObject *) op; -} -static int -__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) -{ - Py_CLEAR(m->func_closure); - Py_CLEAR(m->func.m_module); - Py_CLEAR(m->func_dict); - Py_CLEAR(m->func_name); - Py_CLEAR(m->func_qualname); - Py_CLEAR(m->func_doc); - Py_CLEAR(m->func_globals); - Py_CLEAR(m->func_code); - Py_CLEAR(m->func_classobj); - Py_CLEAR(m->defaults_tuple); - Py_CLEAR(m->defaults_kwdict); - Py_CLEAR(m->func_annotations); - if (m->defaults) { - PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); - int i; - for (i = 0; i < m->defaults_pyobjects; i++) - Py_XDECREF(pydefaults[i]); - PyObject_Free(m->defaults); - m->defaults = NULL; - } - return 0; -} -static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) -{ - if (__Pyx_CyFunction_weakreflist(m) != NULL) - PyObject_ClearWeakRefs((PyObject *) m); - __Pyx_CyFunction_clear(m); - PyObject_GC_Del(m); -} -static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) -{ - PyObject_GC_UnTrack(m); - __Pyx__CyFunction_dealloc(m); -} -static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) -{ - Py_VISIT(m->func_closure); - Py_VISIT(m->func.m_module); - Py_VISIT(m->func_dict); - Py_VISIT(m->func_name); - Py_VISIT(m->func_qualname); - Py_VISIT(m->func_doc); - Py_VISIT(m->func_globals); - Py_VISIT(m->func_code); - Py_VISIT(m->func_classobj); - Py_VISIT(m->defaults_tuple); - Py_VISIT(m->defaults_kwdict); - if (m->defaults) { - PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); - int i; - for (i = 0; i < m->defaults_pyobjects; i++) - Py_VISIT(pydefaults[i]); - } - return 0; -} -static PyObject *__Pyx_CyFunction_descr_get(PyObject *func, PyObject *obj, PyObject *type) -{ -#if PY_MAJOR_VERSION < 3 - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - if (m->flags & __Pyx_CYFUNCTION_STATICMETHOD) { - Py_INCREF(func); - return func; - } - if (m->flags & __Pyx_CYFUNCTION_CLASSMETHOD) { - if (type == NULL) - type = (PyObject *)(Py_TYPE(obj)); - return __Pyx_PyMethod_New(func, type, (PyObject *)(Py_TYPE(type))); - } - if (obj == Py_None) - obj = NULL; -#endif - return __Pyx_PyMethod_New(func, obj, type); -} -static PyObject* -__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) -{ -#if PY_MAJOR_VERSION >= 3 - return PyUnicode_FromFormat("", - op->func_qualname, (void *)op); -#else - return PyString_FromFormat("", - PyString_AsString(op->func_qualname), (void *)op); -#endif -} -static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { - PyCFunctionObject* f = (PyCFunctionObject*)func; - PyCFunction meth = f->m_ml->ml_meth; - Py_ssize_t size; - switch (f->m_ml->ml_flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { - case METH_VARARGS: - if (likely(kw == NULL || PyDict_Size(kw) == 0)) - return (*meth)(self, arg); - break; - case METH_VARARGS | METH_KEYWORDS: - return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); - case METH_NOARGS: - if (likely(kw == NULL || PyDict_Size(kw) == 0)) { - size = PyTuple_GET_SIZE(arg); - if (likely(size == 0)) - return (*meth)(self, NULL); - PyErr_Format(PyExc_TypeError, - "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", - f->m_ml->ml_name, size); - return NULL; - } - break; - case METH_O: - if (likely(kw == NULL || PyDict_Size(kw) == 0)) { - size = PyTuple_GET_SIZE(arg); - if (likely(size == 1)) { - PyObject *result, *arg0; - #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - arg0 = PyTuple_GET_ITEM(arg, 0); - #else - arg0 = PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; - #endif - result = (*meth)(self, arg0); - #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) - Py_DECREF(arg0); - #endif - return result; - } - PyErr_Format(PyExc_TypeError, - "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", - f->m_ml->ml_name, size); - return NULL; - } - break; - default: - PyErr_SetString(PyExc_SystemError, "Bad call flags in " - "__Pyx_CyFunction_Call. METH_OLDARGS is no " - "longer supported!"); - return NULL; - } - PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", - f->m_ml->ml_name); - return NULL; -} -static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { - return __Pyx_CyFunction_CallMethod(func, ((PyCFunctionObject*)func)->m_self, arg, kw); -} -static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { - PyObject *result; - __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; - if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { - Py_ssize_t argc; - PyObject *new_args; - PyObject *self; - argc = PyTuple_GET_SIZE(args); - new_args = PyTuple_GetSlice(args, 1, argc); - if (unlikely(!new_args)) - return NULL; - self = PyTuple_GetItem(args, 0); - if (unlikely(!self)) { - Py_DECREF(new_args); - return NULL; - } - result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); - Py_DECREF(new_args); - } else { - result = __Pyx_CyFunction_Call(func, args, kw); - } - return result; -} -static PyTypeObject __pyx_CyFunctionType_type = { - PyVarObject_HEAD_INIT(0, 0) - "cython_function_or_method", - sizeof(__pyx_CyFunctionObject), - 0, - (destructor) __Pyx_CyFunction_dealloc, - 0, - 0, - 0, -#if PY_MAJOR_VERSION < 3 - 0, -#else - 0, -#endif - (reprfunc) __Pyx_CyFunction_repr, - 0, - 0, - 0, - 0, - __Pyx_CyFunction_CallAsMethod, - 0, - 0, - 0, - 0, - Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC, - 0, - (traverseproc) __Pyx_CyFunction_traverse, - (inquiry) __Pyx_CyFunction_clear, - 0, -#if PY_VERSION_HEX < 0x030500A0 - offsetof(__pyx_CyFunctionObject, func_weakreflist), -#else - offsetof(PyCFunctionObject, m_weakreflist), -#endif - 0, - 0, - __pyx_CyFunction_methods, - __pyx_CyFunction_members, - __pyx_CyFunction_getsets, - 0, - 0, - __Pyx_CyFunction_descr_get, - 0, - offsetof(__pyx_CyFunctionObject, func_dict), - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, - 0, -#if PY_VERSION_HEX >= 0x030400a1 - 0, -#endif -#if PY_VERSION_HEX >= 0x030800b1 - 0, -#endif -#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 - 0, -#endif -#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000 - 0, -#endif -}; -static int __pyx_CyFunction_init(void) { - __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); - if (unlikely(__pyx_CyFunctionType == NULL)) { - return -1; - } - return 0; -} -static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults = PyObject_Malloc(size); - if (unlikely(!m->defaults)) - return PyErr_NoMemory(); - memset(m->defaults, 0, size); - m->defaults_pyobjects = pyobjects; - m->defaults_size = size; - return m->defaults; -} -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults_tuple = tuple; - Py_INCREF(tuple); -} -static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->defaults_kwdict = dict; - Py_INCREF(dict); -} -static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { - __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; - m->func_annotations = dict; - Py_INCREF(dict); -} - -/* CythonFunction */ - static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, - PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { - PyObject *op = __Pyx_CyFunction_Init( - PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), - ml, flags, qualname, closure, module, globals, code - ); - if (likely(op)) { - PyObject_GC_Track(op); - } - return op; -} - -/* GetTopmostException */ - #if CYTHON_USE_EXC_INFO_STACK -static _PyErr_StackItem * -__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) -{ - _PyErr_StackItem *exc_info = tstate->exc_info; - while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) && - exc_info->previous_item != NULL) - { - exc_info = exc_info->previous_item; - } - return exc_info; -} -#endif - -/* SaveResetException */ - #if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); - *type = exc_info->exc_type; - *value = exc_info->exc_value; - *tb = exc_info->exc_traceback; - #else - *type = tstate->exc_type; - *value = tstate->exc_value; - *tb = tstate->exc_traceback; - #endif - Py_XINCREF(*type); - Py_XINCREF(*value); - Py_XINCREF(*tb); -} -static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = type; - exc_info->exc_value = value; - exc_info->exc_traceback = tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = type; - tstate->exc_value = value; - tstate->exc_traceback = tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -#endif - -/* GetException */ - #if CYTHON_FAST_THREAD_STATE -static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) -#else -static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) -#endif -{ - PyObject *local_type, *local_value, *local_tb; -#if CYTHON_FAST_THREAD_STATE - PyObject *tmp_type, *tmp_value, *tmp_tb; - local_type = tstate->curexc_type; - local_value = tstate->curexc_value; - local_tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -#else - PyErr_Fetch(&local_type, &local_value, &local_tb); -#endif - PyErr_NormalizeException(&local_type, &local_value, &local_tb); -#if CYTHON_FAST_THREAD_STATE - if (unlikely(tstate->curexc_type)) -#else - if (unlikely(PyErr_Occurred())) -#endif - goto bad; - #if PY_MAJOR_VERSION >= 3 - if (local_tb) { - if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) - goto bad; - } - #endif - Py_XINCREF(local_tb); - Py_XINCREF(local_type); - Py_XINCREF(local_value); - *type = local_type; - *value = local_value; - *tb = local_tb; -#if CYTHON_FAST_THREAD_STATE - #if CYTHON_USE_EXC_INFO_STACK - { - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = local_type; - exc_info->exc_value = local_value; - exc_info->exc_traceback = local_tb; - } - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = local_type; - tstate->exc_value = local_value; - tstate->exc_traceback = local_tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -#else - PyErr_SetExcInfo(local_type, local_value, local_tb); -#endif - return 0; -bad: - *type = 0; - *value = 0; - *tb = 0; - Py_XDECREF(local_type); - Py_XDECREF(local_value); - Py_XDECREF(local_tb); - return -1; -} - -/* IterFinish */ - static CYTHON_INLINE int __Pyx_IterFinish(void) { -#if CYTHON_FAST_THREAD_STATE - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* exc_type = tstate->curexc_type; - if (unlikely(exc_type)) { - if (likely(__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) { - PyObject *exc_value, *exc_tb; - exc_value = tstate->curexc_value; - exc_tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; - Py_DECREF(exc_type); - Py_XDECREF(exc_value); - Py_XDECREF(exc_tb); - return 0; - } else { - return -1; - } - } - return 0; -#else - if (unlikely(PyErr_Occurred())) { - if (likely(PyErr_ExceptionMatches(PyExc_StopIteration))) { - PyErr_Clear(); - return 0; - } else { - return -1; - } - } - return 0; -#endif -} - -/* PyObjectGetMethod */ - static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { - PyObject *attr; 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- } else { - f = Py_TYPE(descr)->tp_descr_get; - if (f != NULL && PyDescr_IsData(descr)) { - attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); - Py_DECREF(descr); - goto try_unpack; - } - } - } - dictptr = _PyObject_GetDictPtr(obj); - if (dictptr != NULL && (dict = *dictptr) != NULL) { - Py_INCREF(dict); - attr = __Pyx_PyDict_GetItemStr(dict, name); - if (attr != NULL) { - Py_INCREF(attr); - Py_DECREF(dict); - Py_XDECREF(descr); - goto try_unpack; - } - Py_DECREF(dict); - } - if (meth_found) { - *method = descr; - return 1; - } - if (f != NULL) { - attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); - Py_DECREF(descr); - goto try_unpack; - } - if (descr != NULL) { - *method = descr; - return 0; - } - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(name)); -#endif - return 0; -#else - attr = __Pyx_PyObject_GetAttrStr(obj, name); - goto try_unpack; -#endif -try_unpack: -#if CYTHON_UNPACK_METHODS - if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { - PyObject *function = PyMethod_GET_FUNCTION(attr); - Py_INCREF(function); - Py_DECREF(attr); - *method = function; - return 1; - } -#endif - *method = attr; - return 0; -} - -/* PyObjectCallMethod0 */ - static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { - PyObject *method = NULL, *result = NULL; - int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); - if (likely(is_method)) { - result = __Pyx_PyObject_CallOneArg(method, obj); - Py_DECREF(method); - return result; - } - if (unlikely(!method)) goto bad; - result = __Pyx_PyObject_CallNoArg(method); - Py_DECREF(method); -bad: - return result; -} - -/* RaiseNeedMoreValuesToUnpack */ - static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { - PyErr_Format(PyExc_ValueError, - "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", - index, (index == 1) ? "" : "s"); -} - -/* RaiseTooManyValuesToUnpack */ - static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { - PyErr_Format(PyExc_ValueError, - "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); -} - -/* UnpackItemEndCheck */ - static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { - if (unlikely(retval)) { - Py_DECREF(retval); - __Pyx_RaiseTooManyValuesError(expected); - return -1; - } else { - return __Pyx_IterFinish(); - } - return 0; -} - -/* RaiseNoneIterError */ - static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { - PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); -} - -/* UnpackTupleError */ - static void __Pyx_UnpackTupleError(PyObject *t, Py_ssize_t index) { - if (t == Py_None) { - __Pyx_RaiseNoneNotIterableError(); - } else if (PyTuple_GET_SIZE(t) < index) { - __Pyx_RaiseNeedMoreValuesError(PyTuple_GET_SIZE(t)); - } else { - __Pyx_RaiseTooManyValuesError(index); - } -} - -/* UnpackTuple2 */ - static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( - PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, int decref_tuple) { - PyObject *value1 = NULL, *value2 = NULL; -#if CYTHON_COMPILING_IN_PYPY - value1 = PySequence_ITEM(tuple, 0); if (unlikely(!value1)) goto bad; - value2 = PySequence_ITEM(tuple, 1); if (unlikely(!value2)) goto bad; -#else - value1 = PyTuple_GET_ITEM(tuple, 0); Py_INCREF(value1); - value2 = PyTuple_GET_ITEM(tuple, 1); Py_INCREF(value2); -#endif - if (decref_tuple) { - Py_DECREF(tuple); - } - *pvalue1 = value1; - *pvalue2 = value2; - return 0; -#if CYTHON_COMPILING_IN_PYPY -bad: - Py_XDECREF(value1); - Py_XDECREF(value2); - if (decref_tuple) { Py_XDECREF(tuple); } - return -1; -#endif -} -static int __Pyx_unpack_tuple2_generic(PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, - int has_known_size, int decref_tuple) { - Py_ssize_t index; - PyObject *value1 = NULL, *value2 = NULL, *iter = NULL; - iternextfunc iternext; - iter = PyObject_GetIter(tuple); - if (unlikely(!iter)) goto bad; - if (decref_tuple) { Py_DECREF(tuple); tuple = NULL; } - iternext = Py_TYPE(iter)->tp_iternext; - value1 = iternext(iter); if (unlikely(!value1)) { index = 0; goto unpacking_failed; } - value2 = iternext(iter); if (unlikely(!value2)) { index = 1; goto unpacking_failed; } - if (!has_known_size && unlikely(__Pyx_IternextUnpackEndCheck(iternext(iter), 2))) goto bad; - Py_DECREF(iter); - *pvalue1 = value1; - *pvalue2 = value2; - return 0; -unpacking_failed: - if (!has_known_size && __Pyx_IterFinish() == 0) - __Pyx_RaiseNeedMoreValuesError(index); -bad: - Py_XDECREF(iter); - Py_XDECREF(value1); - Py_XDECREF(value2); - if (decref_tuple) { Py_XDECREF(tuple); } - return -1; -} - -/* dict_iter */ - static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* iterable, int is_dict, PyObject* method_name, - Py_ssize_t* p_orig_length, int* p_source_is_dict) { - is_dict = is_dict || likely(PyDict_CheckExact(iterable)); - *p_source_is_dict = is_dict; - if (is_dict) { -#if !CYTHON_COMPILING_IN_PYPY - *p_orig_length = PyDict_Size(iterable); - Py_INCREF(iterable); - return iterable; -#elif PY_MAJOR_VERSION >= 3 - static PyObject *py_items = NULL, *py_keys = NULL, *py_values = NULL; - PyObject **pp = NULL; - if (method_name) { - const char *name = PyUnicode_AsUTF8(method_name); - if (strcmp(name, "iteritems") == 0) pp = &py_items; - else if (strcmp(name, "iterkeys") == 0) pp = &py_keys; - else if (strcmp(name, "itervalues") == 0) pp = &py_values; - if (pp) { - if (!*pp) { - *pp = PyUnicode_FromString(name + 4); - if (!*pp) - return NULL; - } - method_name = *pp; - } - } -#endif - } - *p_orig_length = 0; - if (method_name) { - PyObject* iter; - iterable = __Pyx_PyObject_CallMethod0(iterable, method_name); - if (!iterable) - return NULL; -#if !CYTHON_COMPILING_IN_PYPY - if (PyTuple_CheckExact(iterable) || PyList_CheckExact(iterable)) - return iterable; -#endif - iter = PyObject_GetIter(iterable); - Py_DECREF(iterable); - return iter; - } - return PyObject_GetIter(iterable); -} -static CYTHON_INLINE int __Pyx_dict_iter_next( - PyObject* iter_obj, CYTHON_NCP_UNUSED Py_ssize_t orig_length, CYTHON_NCP_UNUSED Py_ssize_t* ppos, - PyObject** pkey, PyObject** pvalue, PyObject** pitem, int source_is_dict) { - PyObject* next_item; -#if !CYTHON_COMPILING_IN_PYPY - if (source_is_dict) { - PyObject *key, *value; - if (unlikely(orig_length != PyDict_Size(iter_obj))) { - PyErr_SetString(PyExc_RuntimeError, "dictionary changed size during iteration"); - return -1; - } - if (unlikely(!PyDict_Next(iter_obj, ppos, &key, &value))) { - return 0; - } - if (pitem) { - PyObject* tuple = PyTuple_New(2); - if (unlikely(!tuple)) { - return -1; - } - Py_INCREF(key); - Py_INCREF(value); - PyTuple_SET_ITEM(tuple, 0, key); - PyTuple_SET_ITEM(tuple, 1, value); - *pitem = tuple; - } else { - if (pkey) { - Py_INCREF(key); - *pkey = key; - } - if (pvalue) { - Py_INCREF(value); - *pvalue = value; - } - } - return 1; - } else if (PyTuple_CheckExact(iter_obj)) { - Py_ssize_t pos = *ppos; - if (unlikely(pos >= PyTuple_GET_SIZE(iter_obj))) return 0; - *ppos = pos + 1; - next_item = PyTuple_GET_ITEM(iter_obj, pos); - Py_INCREF(next_item); - } else if (PyList_CheckExact(iter_obj)) { - Py_ssize_t pos = *ppos; - if (unlikely(pos >= PyList_GET_SIZE(iter_obj))) return 0; - *ppos = pos + 1; - next_item = PyList_GET_ITEM(iter_obj, pos); - Py_INCREF(next_item); - } else -#endif - { - next_item = PyIter_Next(iter_obj); - if (unlikely(!next_item)) { - return __Pyx_IterFinish(); - } - } - if (pitem) { - *pitem = next_item; - } else if (pkey && pvalue) { - if (__Pyx_unpack_tuple2(next_item, pkey, pvalue, source_is_dict, source_is_dict, 1)) - return -1; - } else if (pkey) { - *pkey = next_item; - } else { - *pvalue = next_item; - } - return 1; -} - -/* None */ - static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { - PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); -} - -/* GetItemInt */ - static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { - PyObject *r; - if (!j) return NULL; - r = PyObject_GetItem(o, j); - Py_DECREF(j); - return r; -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyList_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { - PyObject *r = PyList_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyTuple_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS - if (is_list || PyList_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); - if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { - PyObject *r = PyList_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } - else if (PyTuple_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); - if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } else { - PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; - if (likely(m && m->sq_item)) { - if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { - Py_ssize_t l = m->sq_length(o); - if (likely(l >= 0)) { - i += l; - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - return NULL; - PyErr_Clear(); - } - } - return m->sq_item(o, i); - } - } -#else - if (is_list || PySequence_Check(o)) { - return PySequence_GetItem(o, i); - } -#endif - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -} - -/* ObjectGetItem */ - #if CYTHON_USE_TYPE_SLOTS -static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) { - PyObject *runerr; - Py_ssize_t key_value; - PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence; - if (unlikely(!(m && m->sq_item))) { - PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name); - return NULL; - } - key_value = __Pyx_PyIndex_AsSsize_t(index); - if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { - return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); - } - if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { - PyErr_Clear(); - PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name); - } - return NULL; -} -static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) { - PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping; - if (likely(m && m->mp_subscript)) { - return m->mp_subscript(obj, key); - } - return __Pyx_PyObject_GetIndex(obj, key); -} -#endif - -/* PyIntBinop */ - #if !CYTHON_COMPILING_IN_PYPY -static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, CYTHON_UNUSED long intval, int inplace, int zerodivision_check) { - (void)inplace; - (void)zerodivision_check; - #if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(op1))) { - const long b = intval; - long x; - long a = PyInt_AS_LONG(op1); - x = (long)((unsigned long)a + b); - if (likely((x^a) >= 0 || (x^b) >= 0)) - return PyInt_FromLong(x); - return PyLong_Type.tp_as_number->nb_add(op1, op2); - } - #endif - #if CYTHON_USE_PYLONG_INTERNALS - if (likely(PyLong_CheckExact(op1))) { - const long b = intval; - long a, x; -#ifdef HAVE_LONG_LONG - const PY_LONG_LONG llb = intval; - PY_LONG_LONG lla, llx; -#endif - const digit* digits = ((PyLongObject*)op1)->ob_digit; - const Py_ssize_t size = Py_SIZE(op1); - if (likely(__Pyx_sst_abs(size) <= 1)) { - a = likely(size) ? digits[0] : 0; - if (size == -1) a = -a; - } else { - switch (size) { - case -2: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 2: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case -3: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 3: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case -4: - if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 4: - if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - default: return PyLong_Type.tp_as_number->nb_add(op1, op2); - } - } - x = a + b; - return PyLong_FromLong(x); -#ifdef HAVE_LONG_LONG - long_long: - llx = lla + llb; - return PyLong_FromLongLong(llx); -#endif - - - } - #endif - if (PyFloat_CheckExact(op1)) { - const long b = intval; - double a = PyFloat_AS_DOUBLE(op1); - double result; - PyFPE_START_PROTECT("add", return NULL) - result = ((double)a) + (double)b; - PyFPE_END_PROTECT(result) - return PyFloat_FromDouble(result); - } - return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); -} -#endif - -/* BufferIndexError */ - static void __Pyx_RaiseBufferIndexError(int axis) { - PyErr_Format(PyExc_IndexError, - "Out of bounds on buffer access (axis %d)", axis); -} - -/* PyUnicode_Unicode */ - static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj) { - if (unlikely(obj == Py_None)) - obj = __pyx_kp_u_None; - return __Pyx_NewRef(obj); -} - -/* CIntToDigits */ - static const char DIGIT_PAIRS_10[2*10*10+1] = { - "00010203040506070809" - "10111213141516171819" - "20212223242526272829" - "30313233343536373839" - "40414243444546474849" - "50515253545556575859" - "60616263646566676869" - "70717273747576777879" - "80818283848586878889" - "90919293949596979899" -}; -static const char DIGIT_PAIRS_8[2*8*8+1] = { - "0001020304050607" - "1011121314151617" - "2021222324252627" - "3031323334353637" - "4041424344454647" - "5051525354555657" - "6061626364656667" - "7071727374757677" -}; -static const char DIGITS_HEX[2*16+1] = { - "0123456789abcdef" - "0123456789ABCDEF" -}; - -/* BuildPyUnicode */ - static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, - int prepend_sign, char padding_char) { - PyObject *uval; - Py_ssize_t uoffset = ulength - clength; -#if CYTHON_USE_UNICODE_INTERNALS - Py_ssize_t i; -#if CYTHON_PEP393_ENABLED - void *udata; - uval = PyUnicode_New(ulength, 127); - if (unlikely(!uval)) return NULL; - udata = PyUnicode_DATA(uval); -#else - Py_UNICODE *udata; - uval = PyUnicode_FromUnicode(NULL, ulength); - if (unlikely(!uval)) return NULL; - udata = PyUnicode_AS_UNICODE(uval); -#endif - if (uoffset > 0) { - i = 0; - if (prepend_sign) { - __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); - i++; - } - for (; i < uoffset; i++) { - __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); - } - } - for (i=0; i < clength; i++) { - __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); - } -#else - { - PyObject *sign = NULL, *padding = NULL; - uval = NULL; - if (uoffset > 0) { - prepend_sign = !!prepend_sign; - if (uoffset > prepend_sign) { - padding = PyUnicode_FromOrdinal(padding_char); - if (likely(padding) && uoffset > prepend_sign + 1) { - PyObject *tmp; - PyObject *repeat = PyInt_FromSize_t(uoffset - prepend_sign); - if (unlikely(!repeat)) goto done_or_error; - tmp = PyNumber_Multiply(padding, repeat); - Py_DECREF(repeat); - Py_DECREF(padding); - padding = tmp; - } - if (unlikely(!padding)) goto done_or_error; - } - if (prepend_sign) { - sign = PyUnicode_FromOrdinal('-'); - if (unlikely(!sign)) goto done_or_error; - } - } - uval = PyUnicode_DecodeASCII(chars, clength, NULL); - if (likely(uval) && padding) { - PyObject *tmp = PyNumber_Add(padding, uval); - Py_DECREF(uval); - uval = tmp; - } - if (likely(uval) && sign) { - PyObject *tmp = PyNumber_Add(sign, uval); - Py_DECREF(uval); - uval = tmp; - } -done_or_error: - Py_XDECREF(padding); - Py_XDECREF(sign); - } -#endif - return uval; -} - -/* CIntToPyUnicode */ - static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { - char digits[sizeof(int)*3+2]; - char *dpos, *end = digits + sizeof(int)*3+2; - const char *hex_digits = DIGITS_HEX; - Py_ssize_t length, ulength; - int prepend_sign, last_one_off; - int remaining; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (format_char == 'X') { - hex_digits += 16; - format_char = 'x'; - } - remaining = value; - last_one_off = 0; - dpos = end; - do { - int digit_pos; - switch (format_char) { - case 'o': - digit_pos = abs((int)(remaining % (8*8))); - remaining = (int) (remaining / (8*8)); - dpos -= 2; - memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); - last_one_off = (digit_pos < 8); - break; - case 'd': - digit_pos = abs((int)(remaining % (10*10))); - remaining = (int) (remaining / (10*10)); - dpos -= 2; - memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); - last_one_off = (digit_pos < 10); - break; - case 'x': - *(--dpos) = hex_digits[abs((int)(remaining % 16))]; - remaining = (int) (remaining / 16); - break; - default: - assert(0); - break; - } - } while (unlikely(remaining != 0)); - if (last_one_off) { - assert(*dpos == '0'); - dpos++; - } - length = end - dpos; - ulength = length; - prepend_sign = 0; - if (!is_unsigned && value <= neg_one) { - if (padding_char == ' ' || width <= length + 1) { - *(--dpos) = '-'; - ++length; - } else { - prepend_sign = 1; - } - ++ulength; - } - if (width > ulength) { - ulength = width; - } - if (ulength == 1) { - return PyUnicode_FromOrdinal(*dpos); - } - return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); -} - -/* MemviewSliceInit */ - static int -__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, - int ndim, - __Pyx_memviewslice *memviewslice, - int memview_is_new_reference) -{ - __Pyx_RefNannyDeclarations - int i, retval=-1; - Py_buffer *buf = &memview->view; - __Pyx_RefNannySetupContext("init_memviewslice", 0); - if (unlikely(memviewslice->memview || memviewslice->data)) { - PyErr_SetString(PyExc_ValueError, - "memviewslice is already initialized!"); - goto fail; - } - if (buf->strides) { - for (i = 0; i < ndim; i++) { - memviewslice->strides[i] = buf->strides[i]; - } - } else { - Py_ssize_t stride = buf->itemsize; - for (i = ndim - 1; i >= 0; i--) { - memviewslice->strides[i] = stride; - stride *= buf->shape[i]; - } - } - for (i = 0; i < ndim; i++) { - memviewslice->shape[i] = buf->shape[i]; - if (buf->suboffsets) { - memviewslice->suboffsets[i] = buf->suboffsets[i]; - } else { - memviewslice->suboffsets[i] = -1; - } - } - memviewslice->memview = memview; - memviewslice->data = (char *)buf->buf; - if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { - Py_INCREF(memview); - } - retval = 0; - goto no_fail; -fail: - memviewslice->memview = 0; - memviewslice->data = 0; - retval = -1; -no_fail: - __Pyx_RefNannyFinishContext(); - return retval; -} -#ifndef Py_NO_RETURN -#define Py_NO_RETURN -#endif -static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { - va_list vargs; - char msg[200]; -#ifdef HAVE_STDARG_PROTOTYPES - va_start(vargs, fmt); -#else - va_start(vargs); -#endif - vsnprintf(msg, 200, fmt, vargs); - va_end(vargs); - Py_FatalError(msg); -} -static CYTHON_INLINE int -__pyx_add_acquisition_count_locked(__pyx_atomic_int *acquisition_count, - PyThread_type_lock lock) -{ - int result; - PyThread_acquire_lock(lock, 1); - result = (*acquisition_count)++; - PyThread_release_lock(lock); - return result; -} -static CYTHON_INLINE int -__pyx_sub_acquisition_count_locked(__pyx_atomic_int *acquisition_count, - PyThread_type_lock lock) -{ - int result; - PyThread_acquire_lock(lock, 1); - result = (*acquisition_count)--; - PyThread_release_lock(lock); - return result; -} -static CYTHON_INLINE void -__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) -{ - int first_time; - struct __pyx_memoryview_obj *memview = memslice->memview; - if (unlikely(!memview || (PyObject *) memview == Py_None)) - return; - if (unlikely(__pyx_get_slice_count(memview) < 0)) - __pyx_fatalerror("Acquisition count is %d (line %d)", - __pyx_get_slice_count(memview), lineno); - first_time = __pyx_add_acquisition_count(memview) == 0; - if (unlikely(first_time)) { - if (have_gil) { - Py_INCREF((PyObject *) memview); - } else { - PyGILState_STATE _gilstate = PyGILState_Ensure(); - Py_INCREF((PyObject *) memview); - PyGILState_Release(_gilstate); - } - } -} -static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *memslice, - int have_gil, int lineno) { - int last_time; - struct __pyx_memoryview_obj *memview = memslice->memview; - if (unlikely(!memview || (PyObject *) memview == Py_None)) { - memslice->memview = NULL; - return; - } - if (unlikely(__pyx_get_slice_count(memview) <= 0)) - __pyx_fatalerror("Acquisition count is %d (line %d)", - __pyx_get_slice_count(memview), lineno); - last_time = __pyx_sub_acquisition_count(memview) == 1; - memslice->data = NULL; - if (unlikely(last_time)) { - if (have_gil) { - Py_CLEAR(memslice->memview); - } else { - PyGILState_STATE _gilstate = PyGILState_Ensure(); - Py_CLEAR(memslice->memview); - PyGILState_Release(_gilstate); - } - } else { - memslice->memview = NULL; - } -} - -/* PyErrExceptionMatches */ - #if CYTHON_FAST_THREAD_STATE -static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; icurexc_type; - if (exc_type == err) return 1; - if (unlikely(!exc_type)) return 0; - if (unlikely(PyTuple_Check(err))) - return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); - return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); -} -#endif - -/* None */ - static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { - Py_ssize_t q = a / b; - Py_ssize_t r = a - q*b; - q -= ((r != 0) & ((r ^ b) < 0)); - return q; -} - -/* GetAttr */ - static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { -#if CYTHON_USE_TYPE_SLOTS -#if PY_MAJOR_VERSION >= 3 - if (likely(PyUnicode_Check(n))) -#else - if (likely(PyString_Check(n))) -#endif - return __Pyx_PyObject_GetAttrStr(o, n); -#endif - return PyObject_GetAttr(o, n); -} - -/* decode_c_string */ - static CYTHON_INLINE PyObject* __Pyx_decode_c_string( - const char* cstring, Py_ssize_t start, Py_ssize_t stop, - const char* encoding, const char* errors, - PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { - Py_ssize_t length; - if (unlikely((start < 0) | (stop < 0))) { - size_t slen = strlen(cstring); - if (unlikely(slen > (size_t) PY_SSIZE_T_MAX)) { - PyErr_SetString(PyExc_OverflowError, - "c-string too long to convert to Python"); - return NULL; - } - length = (Py_ssize_t) slen; - if (start < 0) { - start += length; - if (start < 0) - start = 0; - } - if (stop < 0) - stop += length; - } - if (unlikely(stop <= start)) - return __Pyx_NewRef(__pyx_empty_unicode); - length = stop - start; - cstring += start; - if (decode_func) { - return decode_func(cstring, length, errors); - } else { - return PyUnicode_Decode(cstring, length, encoding, errors); - } -} - -/* GetAttr3 */ - static PyObject *__Pyx_GetAttr3Default(PyObject *d) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - return NULL; - __Pyx_PyErr_Clear(); - Py_INCREF(d); - return d; -} -static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { - PyObject *r = __Pyx_GetAttr(o, n); - return (likely(r)) ? r : __Pyx_GetAttr3Default(d); -} - -/* SwapException */ - #if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = *type; - exc_info->exc_value = *value; - exc_info->exc_traceback = *tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = *type; - tstate->exc_value = *value; - tstate->exc_traceback = *tb; - #endif - *type = tmp_type; - *value = tmp_value; - *tb = tmp_tb; -} -#else -static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); - PyErr_SetExcInfo(*type, *value, *tb); - *type = tmp_type; - *value = tmp_value; - *tb = tmp_tb; -} -#endif - -/* FastTypeChecks */ - #if CYTHON_COMPILING_IN_CPYTHON -static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { - while (a) { - a = a->tp_base; - if (a == b) - return 1; - } - return b == &PyBaseObject_Type; -} -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (a == b) return 1; - mro = a->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(a, b); -} -#if PY_MAJOR_VERSION == 2 -static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { - PyObject *exception, *value, *tb; - int res; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&exception, &value, &tb); - res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - if (!res) { - res = PyObject_IsSubclass(err, exc_type2); - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - } - __Pyx_ErrRestore(exception, value, tb); - return res; -} -#else -static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { - int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; - if (!res) { - res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); - } - return res; -} -#endif -static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - assert(PyExceptionClass_Check(exc_type)); - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; i= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, attr_name); -#else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(attr_name)); -#endif - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { - PyObject *descr; - PyTypeObject *tp = Py_TYPE(obj); - if (unlikely(!PyString_Check(attr_name))) { - return PyObject_GenericGetAttr(obj, attr_name); - } - assert(!tp->tp_dictoffset); - descr = _PyType_Lookup(tp, attr_name); - if (unlikely(!descr)) { - return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); - } - Py_INCREF(descr); - #if PY_MAJOR_VERSION < 3 - if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) - #endif - { - descrgetfunc f = Py_TYPE(descr)->tp_descr_get; - if (unlikely(f)) { - PyObject *res = f(descr, obj, (PyObject *)tp); - Py_DECREF(descr); - return res; - } - } - return descr; -} -#endif - -/* PyObject_GenericGetAttr */ - #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { - if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { - return PyObject_GenericGetAttr(obj, attr_name); - } - return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); -} -#endif - -/* PyObjectGetAttrStrNoError */ - static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - __Pyx_PyErr_Clear(); -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { - PyObject *result; -#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { - return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); - } -#endif - result = __Pyx_PyObject_GetAttrStr(obj, attr_name); - if (unlikely(!result)) { - __Pyx_PyObject_GetAttrStr_ClearAttributeError(); - } - return result; -} - -/* SetupReduce */ - static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { - int ret; - PyObject *name_attr; - name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name_2); - if (likely(name_attr)) { - ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); - } else { - ret = -1; - } - if (unlikely(ret < 0)) { - PyErr_Clear(); - ret = 0; - } - Py_XDECREF(name_attr); - return ret; -} -static int __Pyx_setup_reduce(PyObject* type_obj) { - int ret = 0; - PyObject *object_reduce = NULL; - PyObject *object_reduce_ex = NULL; - PyObject *reduce = NULL; - PyObject *reduce_ex = NULL; - PyObject *reduce_cython = NULL; - PyObject *setstate = NULL; - PyObject *setstate_cython = NULL; -#if CYTHON_USE_PYTYPE_LOOKUP - if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#else - if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#endif -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#else - object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#endif - reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; - if (reduce_ex == object_reduce_ex) { -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#else - object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#endif - reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; - if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { - reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); - if (likely(reduce_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (reduce == object_reduce || PyErr_Occurred()) { - goto __PYX_BAD; - } - setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); - if (!setstate) PyErr_Clear(); - if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { - setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); - if (likely(setstate_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (!setstate || PyErr_Occurred()) { - goto __PYX_BAD; - } - } - PyType_Modified((PyTypeObject*)type_obj); - } - } - goto __PYX_GOOD; -__PYX_BAD: - if (!PyErr_Occurred()) - PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); - ret = -1; -__PYX_GOOD: -#if !CYTHON_USE_PYTYPE_LOOKUP - Py_XDECREF(object_reduce); - Py_XDECREF(object_reduce_ex); -#endif - Py_XDECREF(reduce); - Py_XDECREF(reduce_ex); - Py_XDECREF(reduce_cython); - Py_XDECREF(setstate); - Py_XDECREF(setstate_cython); - return ret; -} - -/* SetVTable */ - static int __Pyx_SetVtable(PyObject *dict, void *vtable) { -#if PY_VERSION_HEX >= 0x02070000 - PyObject *ob = PyCapsule_New(vtable, 0, 0); -#else - PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); -#endif - if (!ob) - goto bad; - if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) - goto bad; - Py_DECREF(ob); - return 0; -bad: - Py_XDECREF(ob); - return -1; -} - -/* TypeImport */ - #ifndef __PYX_HAVE_RT_ImportType -#define __PYX_HAVE_RT_ImportType -static PyTypeObject *__Pyx_ImportType(PyObject *module, const char *module_name, const char *class_name, - size_t size, enum __Pyx_ImportType_CheckSize check_size) -{ - PyObject *result = 0; - char warning[200]; - Py_ssize_t basicsize; -#ifdef Py_LIMITED_API - PyObject *py_basicsize; -#endif - result = PyObject_GetAttrString(module, class_name); - if (!result) - goto bad; - if (!PyType_Check(result)) { - PyErr_Format(PyExc_TypeError, - "%.200s.%.200s is not a type object", - module_name, class_name); - goto bad; - } -#ifndef Py_LIMITED_API - basicsize = ((PyTypeObject *)result)->tp_basicsize; -#else - py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); - if (!py_basicsize) - goto bad; - basicsize = PyLong_AsSsize_t(py_basicsize); - Py_DECREF(py_basicsize); - py_basicsize = 0; - if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) - goto bad; -#endif - if ((size_t)basicsize < size) { - PyErr_Format(PyExc_ValueError, - "%.200s.%.200s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - goto bad; - } - if (check_size == __Pyx_ImportType_CheckSize_Error && (size_t)basicsize != size) { - PyErr_Format(PyExc_ValueError, - "%.200s.%.200s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - goto bad; - } - else if (check_size == __Pyx_ImportType_CheckSize_Warn && (size_t)basicsize > size) { - PyOS_snprintf(warning, sizeof(warning), - "%s.%s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; - } - return (PyTypeObject *)result; -bad: - Py_XDECREF(result); - return NULL; -} -#endif - -/* CLineInTraceback */ - #ifndef CYTHON_CLINE_IN_TRACEBACK -static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { - PyObject *use_cline; - PyObject *ptype, *pvalue, *ptraceback; -#if CYTHON_COMPILING_IN_CPYTHON - PyObject **cython_runtime_dict; -#endif - if (unlikely(!__pyx_cython_runtime)) { - return c_line; - } - __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); -#if CYTHON_COMPILING_IN_CPYTHON - cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); - if (likely(cython_runtime_dict)) { - __PYX_PY_DICT_LOOKUP_IF_MODIFIED( - use_cline, *cython_runtime_dict, - __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) - } else -#endif - { - PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); - if (use_cline_obj) { - use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; - Py_DECREF(use_cline_obj); - } else { - PyErr_Clear(); - use_cline = NULL; - } - } - if (!use_cline) { - c_line = 0; - (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); - } - else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { - c_line = 0; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - return c_line; -} -#endif - -/* CodeObjectCache */ - static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { - int start = 0, mid = 0, end = count - 1; - if (end >= 0 && code_line > entries[end].code_line) { - return count; - } - while (start < end) { - mid = start + (end - start) / 2; - if (code_line < entries[mid].code_line) { - end = mid; - } else if (code_line > entries[mid].code_line) { - start = mid + 1; - } else { - return mid; - } - } - if (code_line <= entries[mid].code_line) { - return mid; - } else { - return mid + 1; - } -} -static PyCodeObject *__pyx_find_code_object(int code_line) { - PyCodeObject* code_object; - int pos; - if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { - return NULL; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { - return NULL; - } - code_object = __pyx_code_cache.entries[pos].code_object; - Py_INCREF(code_object); - return code_object; -} -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { - int pos, i; - __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; - if (unlikely(!code_line)) { - return; - } - if (unlikely(!entries)) { - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); - if (likely(entries)) { - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = 64; - __pyx_code_cache.count = 1; - entries[0].code_line = code_line; - entries[0].code_object = code_object; - Py_INCREF(code_object); - } - return; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { - PyCodeObject* tmp = entries[pos].code_object; - entries[pos].code_object = code_object; - Py_DECREF(tmp); - return; - } - if (__pyx_code_cache.count == __pyx_code_cache.max_count) { - int new_max = __pyx_code_cache.max_count + 64; - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( - __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); - if (unlikely(!entries)) { - return; - } - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = new_max; - } - for (i=__pyx_code_cache.count; i>pos; i--) { - entries[i] = entries[i-1]; - } - entries[pos].code_line = code_line; - entries[pos].code_object = code_object; - __pyx_code_cache.count++; - Py_INCREF(code_object); -} - -/* AddTraceback */ - #include "compile.h" -#include "frameobject.h" -#include "traceback.h" -static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( - const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = NULL; - PyObject *py_funcname = NULL; - #if PY_MAJOR_VERSION < 3 - PyObject *py_srcfile = NULL; - py_srcfile = PyString_FromString(filename); - if (!py_srcfile) goto bad; - #endif - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - funcname = PyUnicode_AsUTF8(py_funcname); - if (!funcname) goto bad; - #endif - } - else { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); - if (!py_funcname) goto bad; - #endif - } - #if PY_MAJOR_VERSION < 3 - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - #else - py_code = PyCode_NewEmpty(filename, funcname, py_line); - #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline - return py_code; -bad: - Py_XDECREF(py_funcname); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_srcfile); - #endif - return NULL; -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); - } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) goto bad; - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); - } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); -} - -#if PY_MAJOR_VERSION < 3 -static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { - if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); - if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); - if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); - PyErr_Format(PyExc_TypeError, "'%.200s' does not have the buffer interface", Py_TYPE(obj)->tp_name); - return -1; -} -static void __Pyx_ReleaseBuffer(Py_buffer *view) { - PyObject *obj = view->obj; - if (!obj) return; - if (PyObject_CheckBuffer(obj)) { - PyBuffer_Release(view); - return; - } - if ((0)) {} - view->obj = NULL; - Py_DECREF(obj); -} -#endif - - - /* MemviewSliceIsContig */ - static int -__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) -{ - int i, index, step, start; - Py_ssize_t itemsize = mvs.memview->view.itemsize; - if (order == 'F') { - step = 1; - start = 0; - } else { - step = -1; - start = ndim - 1; - } - for (i = 0; i < ndim; i++) { - index = start + step * i; - if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) - return 0; - itemsize *= mvs.shape[index]; - } - return 1; -} - -/* OverlappingSlices */ - static void -__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, - void **out_start, void **out_end, - int ndim, size_t itemsize) -{ - char *start, *end; - int i; - start = end = slice->data; - for (i = 0; i < ndim; i++) { - Py_ssize_t stride = slice->strides[i]; - Py_ssize_t extent = slice->shape[i]; - if (extent == 0) { - *out_start = *out_end = start; - return; - } else { - if (stride > 0) - end += stride * (extent - 1); - else - start += stride * (extent - 1); - } - } - *out_start = start; - *out_end = end + itemsize; -} -static int -__pyx_slices_overlap(__Pyx_memviewslice *slice1, - __Pyx_memviewslice *slice2, - int ndim, size_t itemsize) -{ - void *start1, *end1, *start2, *end2; - __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); - __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); - return (start1 < end2) && (start2 < end1); -} - -/* Capsule */ - static CYTHON_INLINE PyObject * -__pyx_capsule_create(void *p, CYTHON_UNUSED const char *sig) -{ - PyObject *cobj; -#if PY_VERSION_HEX >= 0x02070000 - cobj = PyCapsule_New(p, sig, NULL); -#else - cobj = PyCObject_FromVoidPtr(p, NULL); -#endif - return cobj; -} - -/* CIntFromPyVerify */ - #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ - } - -/* TypeInfoCompare */ - static int -__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) -{ - int i; - if (!a || !b) - return 0; - if (a == b) - return 1; - if (a->size != b->size || a->typegroup != b->typegroup || - a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { - if (a->typegroup == 'H' || b->typegroup == 'H') { - return a->size == b->size; - } else { - return 0; - } - } - if (a->ndim) { - for (i = 0; i < a->ndim; i++) - if (a->arraysize[i] != b->arraysize[i]) - return 0; - } - if (a->typegroup == 'S') { - if (a->flags != b->flags) - return 0; - if (a->fields || b->fields) { - if (!(a->fields && b->fields)) - return 0; - for (i = 0; a->fields[i].type && b->fields[i].type; i++) { - __Pyx_StructField *field_a = a->fields + i; - __Pyx_StructField *field_b = b->fields + i; - if (field_a->offset != field_b->offset || - !__pyx_typeinfo_cmp(field_a->type, field_b->type)) - return 0; - } - return !a->fields[i].type && !b->fields[i].type; - } - } - return 1; -} - -/* MemviewSliceValidateAndInit */ - static int -__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) -{ - if (buf->shape[dim] <= 1) - return 1; - if (buf->strides) { - if (spec & __Pyx_MEMVIEW_CONTIG) { - if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { - if (unlikely(buf->strides[dim] != sizeof(void *))) { - PyErr_Format(PyExc_ValueError, - "Buffer is not indirectly contiguous " - "in dimension %d.", dim); - goto fail; - } - } else if (unlikely(buf->strides[dim] != buf->itemsize)) { - PyErr_SetString(PyExc_ValueError, - "Buffer and memoryview are not contiguous " - "in the same dimension."); - goto fail; - } - } - if (spec & __Pyx_MEMVIEW_FOLLOW) { - Py_ssize_t stride = buf->strides[dim]; - if (stride < 0) - stride = -stride; - if (unlikely(stride < buf->itemsize)) { - PyErr_SetString(PyExc_ValueError, - "Buffer and memoryview are not contiguous " - "in the same dimension."); - goto fail; - } - } - } else { - if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { - PyErr_Format(PyExc_ValueError, - "C-contiguous buffer is not contiguous in " - "dimension %d", dim); - goto fail; - } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { - PyErr_Format(PyExc_ValueError, - "C-contiguous buffer is not indirect in " - "dimension %d", dim); - goto fail; - } else if (unlikely(buf->suboffsets)) { - PyErr_SetString(PyExc_ValueError, - "Buffer exposes suboffsets but no strides"); - goto fail; - } - } - return 1; -fail: - return 0; -} -static int -__pyx_check_suboffsets(Py_buffer *buf, int dim, CYTHON_UNUSED int ndim, int spec) -{ - if (spec & __Pyx_MEMVIEW_DIRECT) { - if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { - PyErr_Format(PyExc_ValueError, - "Buffer not compatible with direct access " - "in dimension %d.", dim); - goto fail; - } - } - if (spec & __Pyx_MEMVIEW_PTR) { - if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { - PyErr_Format(PyExc_ValueError, - "Buffer is not indirectly accessible " - "in dimension %d.", dim); - goto fail; - } - } - return 1; -fail: - return 0; -} -static int -__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) -{ - int i; - if (c_or_f_flag & __Pyx_IS_F_CONTIG) { - Py_ssize_t stride = 1; - for (i = 0; i < ndim; i++) { - if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { - PyErr_SetString(PyExc_ValueError, - "Buffer not fortran contiguous."); - goto fail; - } - stride = stride * buf->shape[i]; - } - } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { - Py_ssize_t stride = 1; - for (i = ndim - 1; i >- 1; i--) { - if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { - PyErr_SetString(PyExc_ValueError, - "Buffer not C contiguous."); - goto fail; - } - stride = stride * buf->shape[i]; - } - } - return 1; -fail: - return 0; -} -static int __Pyx_ValidateAndInit_memviewslice( - int *axes_specs, - int c_or_f_flag, - int buf_flags, - int ndim, - __Pyx_TypeInfo *dtype, - __Pyx_BufFmt_StackElem stack[], - __Pyx_memviewslice *memviewslice, - PyObject *original_obj) -{ - struct __pyx_memoryview_obj *memview, *new_memview; - __Pyx_RefNannyDeclarations - Py_buffer *buf; - int i, spec = 0, retval = -1; - __Pyx_BufFmt_Context ctx; - int from_memoryview = __pyx_memoryview_check(original_obj); - __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); - if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) - original_obj)->typeinfo)) { - memview = (struct __pyx_memoryview_obj *) original_obj; - new_memview = NULL; - } else { - memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( - original_obj, buf_flags, 0, dtype); - new_memview = memview; - if (unlikely(!memview)) - goto fail; - } - buf = &memview->view; - if (unlikely(buf->ndim != ndim)) { - PyErr_Format(PyExc_ValueError, - "Buffer has wrong number of dimensions (expected %d, got %d)", - ndim, buf->ndim); - goto fail; - } - if (new_memview) { - __Pyx_BufFmt_Init(&ctx, stack, dtype); - if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; - } - if (unlikely((unsigned) buf->itemsize != dtype->size)) { - PyErr_Format(PyExc_ValueError, - "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " - "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", - buf->itemsize, - (buf->itemsize > 1) ? "s" : "", - dtype->name, - dtype->size, - (dtype->size > 1) ? "s" : ""); - goto fail; - } - if (buf->len > 0) { - for (i = 0; i < ndim; i++) { - spec = axes_specs[i]; - if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) - goto fail; - if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) - goto fail; - } - if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) - goto fail; - } - if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, - new_memview != NULL) == -1)) { - goto fail; - } - retval = 0; - goto no_fail; -fail: - Py_XDECREF(new_memview); - retval = -1; -no_fail: - __Pyx_RefNannyFinishContext(); - return retval; -} - -/* ObjectToMemviewSlice */ - static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dcd__double(PyObject *obj, int writable_flag) { - __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; - __Pyx_BufFmt_StackElem stack[1]; - int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW) }; - int retcode; - if (obj == Py_None) { - result.memview = (struct __pyx_memoryview_obj *) Py_None; - return result; - } - retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_F_CONTIG, - (PyBUF_F_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 2, - &__Pyx_TypeInfo_double, stack, - &result, obj); - if (unlikely(retcode == -1)) - goto __pyx_fail; - return result; -__pyx_fail: - result.memview = NULL; - result.data = NULL; - return result; -} - -/* ObjectToMemviewSlice */ - static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_unsigned_char(PyObject *obj, int writable_flag) { - __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; - __Pyx_BufFmt_StackElem stack[1]; - int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) }; - int retcode; - if (obj == Py_None) { - result.memview = (struct __pyx_memoryview_obj *) Py_None; - return result; - } - retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG, - (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 1, - &__Pyx_TypeInfo_unsigned_char, stack, - &result, obj); - if (unlikely(retcode == -1)) - goto __pyx_fail; - return result; -__pyx_fail: - result.memview = NULL; - result.data = NULL; - return result; -} - -/* Declarations */ - #if CYTHON_CCOMPLEX - #ifdef __cplusplus - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - return ::std::complex< float >(x, y); - } - #else - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - return x + y*(__pyx_t_float_complex)_Complex_I; - } - #endif -#else - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - __pyx_t_float_complex z; - z.real = x; - z.imag = y; - return z; - } -#endif - -/* Arithmetic */ - #if CYTHON_CCOMPLEX -#else - static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - return (a.real == b.real) && (a.imag == b.imag); - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real + b.real; - z.imag = a.imag + b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real - b.real; - z.imag = a.imag - b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real * b.real - a.imag * b.imag; - z.imag = a.real * b.imag + a.imag * b.real; - return z; - } - #if 1 - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - if (b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); - } else if (fabsf(b.real) >= fabsf(b.imag)) { - if (b.real == 0 && b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); - } else { - float r = b.imag / b.real; - float s = (float)(1.0) / (b.real + b.imag * r); - return __pyx_t_float_complex_from_parts( - (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); - } - } else { - float r = b.real / b.imag; - float s = (float)(1.0) / (b.imag + b.real * r); - return __pyx_t_float_complex_from_parts( - (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); - } - } - #else - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - if (b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); - } else { - float denom = b.real * b.real + b.imag * b.imag; - return __pyx_t_float_complex_from_parts( - (a.real * b.real + a.imag * b.imag) / denom, - (a.imag * b.real - a.real * b.imag) / denom); - } - } - #endif - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { - __pyx_t_float_complex z; - z.real = -a.real; - z.imag = -a.imag; - return z; - } - static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { - return (a.real == 0) && (a.imag == 0); - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { - __pyx_t_float_complex z; - z.real = a.real; - z.imag = -a.imag; - return z; - } - #if 1 - static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { - #if !defined(HAVE_HYPOT) || defined(_MSC_VER) - return sqrtf(z.real*z.real + z.imag*z.imag); - #else - return hypotf(z.real, z.imag); - #endif - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - float r, lnr, theta, z_r, z_theta; - if (b.imag == 0 && b.real == (int)b.real) { - if (b.real < 0) { - float denom = a.real * a.real + a.imag * a.imag; - a.real = a.real / denom; - a.imag = -a.imag / denom; - b.real = -b.real; - } - switch ((int)b.real) { - case 0: - z.real = 1; - z.imag = 0; - return z; - case 1: - return a; - case 2: - return __Pyx_c_prod_float(a, a); - case 3: - z = __Pyx_c_prod_float(a, a); - return __Pyx_c_prod_float(z, a); - case 4: - z = __Pyx_c_prod_float(a, a); - return __Pyx_c_prod_float(z, z); - } - } - if (a.imag == 0) { - if (a.real == 0) { - return a; - } else if (b.imag == 0) { - z.real = powf(a.real, b.real); - z.imag = 0; - return z; - } else if (a.real > 0) { - r = a.real; - theta = 0; - } else { - r = -a.real; - theta = atan2f(0.0, -1.0); - } - } else { - r = __Pyx_c_abs_float(a); - theta = atan2f(a.imag, a.real); - } - lnr = logf(r); - z_r = expf(lnr * b.real - theta * b.imag); - z_theta = theta * b.real + lnr * b.imag; - z.real = z_r * cosf(z_theta); - z.imag = z_r * sinf(z_theta); - return z; - } - #endif -#endif - -/* Declarations */ - #if CYTHON_CCOMPLEX - #ifdef __cplusplus - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - return ::std::complex< double >(x, y); - } - #else - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - return x + y*(__pyx_t_double_complex)_Complex_I; - } - #endif -#else - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - __pyx_t_double_complex z; - z.real = x; - z.imag = y; - return z; - } -#endif - -/* Arithmetic */ - #if CYTHON_CCOMPLEX -#else - static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - return (a.real == b.real) && (a.imag == b.imag); - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real + b.real; - z.imag = a.imag + b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real - b.real; - z.imag = a.imag - b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real * b.real - a.imag * b.imag; - z.imag = a.real * b.imag + a.imag * b.real; - return z; - } - #if 1 - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - if (b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); - } else if (fabs(b.real) >= fabs(b.imag)) { - if (b.real == 0 && b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); - } else { - double r = b.imag / b.real; - double s = (double)(1.0) / (b.real + b.imag * r); - return __pyx_t_double_complex_from_parts( - (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); - } - } else { - double r = b.real / b.imag; - double s = (double)(1.0) / (b.imag + b.real * r); - return __pyx_t_double_complex_from_parts( - (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); - } - } - #else - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - if (b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); - } else { - double denom = b.real * b.real + b.imag * b.imag; - return __pyx_t_double_complex_from_parts( - (a.real * b.real + a.imag * b.imag) / denom, - (a.imag * b.real - a.real * b.imag) / denom); - } - } - #endif - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { - __pyx_t_double_complex z; - z.real = -a.real; - z.imag = -a.imag; - return z; - } - static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { - return (a.real == 0) && (a.imag == 0); - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { - __pyx_t_double_complex z; - z.real = a.real; - z.imag = -a.imag; - return z; - } - #if 1 - static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { - #if !defined(HAVE_HYPOT) || defined(_MSC_VER) - return sqrt(z.real*z.real + z.imag*z.imag); - #else - return hypot(z.real, z.imag); - #endif - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - double r, lnr, theta, z_r, z_theta; - if (b.imag == 0 && b.real == (int)b.real) { - if (b.real < 0) { - double denom = a.real * a.real + a.imag * a.imag; - a.real = a.real / denom; - a.imag = -a.imag / denom; - b.real = -b.real; - } - switch ((int)b.real) { - case 0: - z.real = 1; - z.imag = 0; - return z; - case 1: - return a; - case 2: - return __Pyx_c_prod_double(a, a); - case 3: - z = __Pyx_c_prod_double(a, a); - return __Pyx_c_prod_double(z, a); - case 4: - z = __Pyx_c_prod_double(a, a); - return __Pyx_c_prod_double(z, z); - } - } - if (a.imag == 0) { - if (a.real == 0) { - return a; - } else if (b.imag == 0) { - z.real = pow(a.real, b.real); - z.imag = 0; - return z; - } else if (a.real > 0) { - r = a.real; - theta = 0; - } else { - r = -a.real; - theta = atan2(0.0, -1.0); - } - } else { - r = __Pyx_c_abs_double(a); - theta = atan2(a.imag, a.real); - } - lnr = log(r); - z_r = exp(lnr * b.real - theta * b.imag); - z_theta = theta * b.real + lnr * b.imag; - z.real = z_r * cos(z_theta); - z.imag = z_r * sin(z_theta); - return z; - } - #endif -#endif - -/* MemviewSliceCopyTemplate */ - static __Pyx_memviewslice -__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, - const char *mode, int ndim, - size_t sizeof_dtype, int contig_flag, - int dtype_is_object) -{ - __Pyx_RefNannyDeclarations - int i; - __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; - struct __pyx_memoryview_obj *from_memview = from_mvs->memview; - Py_buffer *buf = &from_memview->view; - PyObject *shape_tuple = NULL; - PyObject *temp_int = NULL; - struct __pyx_array_obj *array_obj = NULL; - struct __pyx_memoryview_obj *memview_obj = NULL; - __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); - for (i = 0; i < ndim; i++) { - if (unlikely(from_mvs->suboffsets[i] >= 0)) { - PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " - "indirect dimensions (axis %d)", i); - goto fail; - } - } - shape_tuple = PyTuple_New(ndim); - if (unlikely(!shape_tuple)) { - goto fail; - } - __Pyx_GOTREF(shape_tuple); - for(i = 0; i < ndim; i++) { - temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); - if(unlikely(!temp_int)) { - goto fail; - } else { - PyTuple_SET_ITEM(shape_tuple, i, temp_int); - temp_int = NULL; - } - } - array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); - if (unlikely(!array_obj)) { - goto fail; - } - __Pyx_GOTREF(array_obj); - memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( - (PyObject *) array_obj, contig_flag, - dtype_is_object, - from_mvs->memview->typeinfo); - if (unlikely(!memview_obj)) - goto fail; - if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) - goto fail; - if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, - dtype_is_object) < 0)) - goto fail; - goto no_fail; -fail: - __Pyx_XDECREF(new_mvs.memview); - new_mvs.memview = NULL; - new_mvs.data = NULL; -no_fail: - __Pyx_XDECREF(shape_tuple); - __Pyx_XDECREF(temp_int); - __Pyx_XDECREF(array_obj); - __Pyx_RefNannyFinishContext(); - return new_mvs; -} - -/* CIntFromPy */ - static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(int) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (int) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case 1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0]) - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) { - return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) { - return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) { - return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(int) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (int) 0; - case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(int, digit, +digits[0]) - case -2: - if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(int) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(int) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(int) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) { - return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - } -#endif - if (sizeof(int) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - int val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (int) -1; - } - } else { - int val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (int) -1; - val = __Pyx_PyInt_As_int(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to int"); - return (int) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to int"); - return (int) -1; -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(int) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(int) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(int) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(int), - little, !is_unsigned); - } -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); - } -} - -/* CIntFromPy */ - static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(size_t) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (size_t) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (size_t) 0; - case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, digits[0]) - case 2: - if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 2 * PyLong_SHIFT) { - return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 3 * PyLong_SHIFT) { - return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) >= 4 * PyLong_SHIFT) { - return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (size_t) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(size_t) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (size_t) 0; - case -1: __PYX_VERIFY_RETURN_INT(size_t, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(size_t, digit, +digits[0]) - case -2: - if (8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { - return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) { - return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); - } - } - break; - } -#endif - if (sizeof(size_t) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(size_t) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - size_t val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (size_t) -1; - } - } else { - size_t val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (size_t) -1; - val = __Pyx_PyInt_As_size_t(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to size_t"); - return (size_t) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to size_t"); - return (size_t) -1; -} - -/* CIntFromPy */ - static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(long) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (long) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case 1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0]) - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) { - return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) { - return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) { - return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(long) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (long) 0; - case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(long, digit, +digits[0]) - case -2: - if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(long) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(long) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(long) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - } -#endif - if (sizeof(long) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - long val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } -#endif - return (long) -1; - } - } else { - long val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (long) -1; - val = __Pyx_PyInt_As_long(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to long"); - return (long) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to long"); - return (long) -1; -} - -/* CIntFromPy */ - static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const char neg_one = (char) -1, const_zero = (char) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(char) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (char) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (char) 0; - case 1: __PYX_VERIFY_RETURN_INT(char, digit, digits[0]) - case 2: - if (8 * sizeof(char) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 2 * PyLong_SHIFT) { - return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(char) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 3 * PyLong_SHIFT) { - return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(char) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 4 * PyLong_SHIFT) { - return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (char) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(char) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(char) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (char) 0; - case -1: __PYX_VERIFY_RETURN_INT(char, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(char, digit, +digits[0]) - case -2: - if (8 * sizeof(char) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { - return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); 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- } - } - break; - case -4: - if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { - return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(char) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { - return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); 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- } else if (t->intern) { - *t->p = PyString_InternFromString(t->s); - } else { - *t->p = PyString_FromStringAndSize(t->s, t->n - 1); - } - #else - if (t->is_unicode | t->is_str) { - if (t->intern) { - *t->p = PyUnicode_InternFromString(t->s); - } else if (t->encoding) { - *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL); - } else { - *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1); - } - } else { - *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1); - } - #endif - if (!*t->p) - return -1; - if (PyObject_Hash(*t->p) == -1) - return -1; - ++t; - } - return 0; -} - -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { - return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str)); -} -static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { - Py_ssize_t ignore; - return __Pyx_PyObject_AsStringAndSize(o, &ignore); -} -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT -#if !CYTHON_PEP393_ENABLED -static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - char* defenc_c; - PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); - if (!defenc) return NULL; - defenc_c = PyBytes_AS_STRING(defenc); -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - { - char* end = defenc_c + PyBytes_GET_SIZE(defenc); - char* c; - for (c = defenc_c; c < end; c++) { - if ((unsigned char) (*c) >= 128) { - PyUnicode_AsASCIIString(o); - return NULL; - } - } - } -#endif - *length = PyBytes_GET_SIZE(defenc); - return defenc_c; -} -#else -static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - if (likely(PyUnicode_IS_ASCII(o))) { - *length = PyUnicode_GET_LENGTH(o); - return PyUnicode_AsUTF8(o); - } else { - PyUnicode_AsASCIIString(o); - return NULL; - } -#else - return PyUnicode_AsUTF8AndSize(o, length); -#endif -} -#endif -#endif -static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT - if ( -#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - __Pyx_sys_getdefaultencoding_not_ascii && -#endif - PyUnicode_Check(o)) { - return __Pyx_PyUnicode_AsStringAndSize(o, length); - } else -#endif -#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) - if (PyByteArray_Check(o)) { - *length = PyByteArray_GET_SIZE(o); - return PyByteArray_AS_STRING(o); - } else -#endif - { - char* result; - int r = PyBytes_AsStringAndSize(o, &result, length); - if (unlikely(r < 0)) { - return NULL; - } else { - return result; - } - } -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { - int is_true = x == Py_True; - if (is_true | (x == Py_False) | (x == Py_None)) return is_true; - else return PyObject_IsTrue(x); -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { - int retval; - if (unlikely(!x)) return -1; - retval = __Pyx_PyObject_IsTrue(x); - Py_DECREF(x); - return retval; -} -static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { -#if PY_MAJOR_VERSION >= 3 - if (PyLong_Check(result)) { - if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, - "__int__ returned non-int (type %.200s). " - "The ability to return an instance of a strict subclass of int " - "is deprecated, and may be removed in a future version of Python.", - Py_TYPE(result)->tp_name)) { - Py_DECREF(result); - return NULL; - } - return result; - } -#endif - PyErr_Format(PyExc_TypeError, - "__%.4s__ returned non-%.4s (type %.200s)", - type_name, type_name, Py_TYPE(result)->tp_name); - Py_DECREF(result); - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { -#if CYTHON_USE_TYPE_SLOTS - PyNumberMethods *m; -#endif - const char *name = NULL; - PyObject *res = NULL; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x) || PyLong_Check(x))) -#else - if (likely(PyLong_Check(x))) -#endif - return __Pyx_NewRef(x); -#if CYTHON_USE_TYPE_SLOTS - m = Py_TYPE(x)->tp_as_number; - #if PY_MAJOR_VERSION < 3 - if (m && m->nb_int) { - name = "int"; - res = m->nb_int(x); - } - else if (m && m->nb_long) { - name = "long"; - res = m->nb_long(x); - } - #else - if (likely(m && m->nb_int)) { - name = "int"; - res = m->nb_int(x); - } - #endif -#else - if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { - res = PyNumber_Int(x); - } -#endif - if (likely(res)) { -#if PY_MAJOR_VERSION < 3 - if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { -#else - if (unlikely(!PyLong_CheckExact(res))) { -#endif - return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); - } - } - else if (!PyErr_Occurred()) { - PyErr_SetString(PyExc_TypeError, - "an integer is required"); - } - return res; -} -static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { - Py_ssize_t ival; - PyObject *x; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(b))) { - if (sizeof(Py_ssize_t) >= sizeof(long)) - return PyInt_AS_LONG(b); - else - return PyInt_AsSsize_t(b); - } -#endif - if (likely(PyLong_CheckExact(b))) { - #if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)b)->ob_digit; - const Py_ssize_t size = Py_SIZE(b); - if (likely(__Pyx_sst_abs(size) <= 1)) { - ival = likely(size) ? digits[0] : 0; - if (size == -1) ival = -ival; - return ival; - } else { - switch (size) { - case 2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - } - } - #endif - return PyLong_AsSsize_t(b); - } - x = PyNumber_Index(b); - if (!x) return -1; - ival = PyInt_AsSsize_t(x); - Py_DECREF(x); - return ival; -} -static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { - if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { - return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); -#if PY_MAJOR_VERSION < 3 - } else if (likely(PyInt_CheckExact(o))) { - return PyInt_AS_LONG(o); -#endif - } else { - Py_ssize_t ival; - PyObject *x; - x = PyNumber_Index(o); - if (!x) return -1; - ival = PyInt_AsLong(x); - Py_DECREF(x); - return ival; - } -} -static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { - return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); -} -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { - return PyInt_FromSize_t(ival); -} - - -#endif /* Py_PYTHON_H */ diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so deleted file mode 100755 index 8ac56f8ab..000000000 Binary files a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so and /dev/null differ diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c deleted file mode 100644 index d0c541d3b..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c +++ /dev/null @@ -1,278 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ -// standard -#include -#include - -// acados -#include "acados_c/external_function_interface.h" -#include "acados_c/sim_interface.h" -#include "acados_c/external_function_interface.h" - -#include "acados/sim/sim_common.h" -#include "acados/utils/external_function_generic.h" -#include "acados/utils/print.h" - - -// example specific -#include "lat_model/lat_model.h" -#include "acados_sim_solver_lat.h" - - -// ** solver data ** - -sim_solver_capsule * lat_acados_sim_solver_create_capsule() -{ - void* capsule_mem = malloc(sizeof(sim_solver_capsule)); - sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem; - - return capsule; -} - - -int lat_acados_sim_solver_free_capsule(sim_solver_capsule * capsule) -{ - free(capsule); - return 0; -} - - -int lat_acados_sim_create(sim_solver_capsule * capsule) -{ - // initialize - const int nx = LAT_NX; - const int nu = LAT_NU; - const int nz = LAT_NZ; - const int np = LAT_NP; - bool tmp_bool; - - - double Tsim = 0.009765625; - - - // explicit ode - capsule->sim_forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); - capsule->sim_expl_ode_fun_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); - - capsule->sim_forw_vde_casadi->casadi_fun = &lat_expl_vde_forw; - capsule->sim_forw_vde_casadi->casadi_n_in = &lat_expl_vde_forw_n_in; - capsule->sim_forw_vde_casadi->casadi_n_out = &lat_expl_vde_forw_n_out; - capsule->sim_forw_vde_casadi->casadi_sparsity_in = &lat_expl_vde_forw_sparsity_in; - capsule->sim_forw_vde_casadi->casadi_sparsity_out = &lat_expl_vde_forw_sparsity_out; - capsule->sim_forw_vde_casadi->casadi_work = &lat_expl_vde_forw_work; - external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np); - - capsule->sim_expl_ode_fun_casadi->casadi_fun = &lat_expl_ode_fun; - capsule->sim_expl_ode_fun_casadi->casadi_n_in = &lat_expl_ode_fun_n_in; - capsule->sim_expl_ode_fun_casadi->casadi_n_out = &lat_expl_ode_fun_n_out; - capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &lat_expl_ode_fun_sparsity_in; - capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &lat_expl_ode_fun_sparsity_out; - capsule->sim_expl_ode_fun_casadi->casadi_work = &lat_expl_ode_fun_work; - external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np); - - - - // sim plan & config - sim_solver_plan_t plan; - plan.sim_solver = ERK; - - // create correct config based on plan - sim_config * lat_sim_config = sim_config_create(plan); - capsule->acados_sim_config = lat_sim_config; - - // sim dims - void *lat_sim_dims = sim_dims_create(lat_sim_config); - capsule->acados_sim_dims = lat_sim_dims; - sim_dims_set(lat_sim_config, lat_sim_dims, "nx", &nx); - sim_dims_set(lat_sim_config, lat_sim_dims, "nu", &nu); - sim_dims_set(lat_sim_config, lat_sim_dims, "nz", &nz); - - - // sim opts - sim_opts *lat_sim_opts = sim_opts_create(lat_sim_config, lat_sim_dims); - capsule->acados_sim_opts = lat_sim_opts; - int tmp_int = 3; - sim_opts_set(lat_sim_config, lat_sim_opts, "newton_iter", &tmp_int); - sim_collocation_type collocation_type = GAUSS_LEGENDRE; - sim_opts_set(lat_sim_config, lat_sim_opts, "collocation_type", &collocation_type); - - - tmp_int = 4; - sim_opts_set(lat_sim_config, lat_sim_opts, "num_stages", &tmp_int); - tmp_int = 1; - sim_opts_set(lat_sim_config, lat_sim_opts, "num_steps", &tmp_int); - tmp_bool = 0; - sim_opts_set(lat_sim_config, lat_sim_opts, "jac_reuse", &tmp_bool); - - - // sim in / out - sim_in *lat_sim_in = sim_in_create(lat_sim_config, lat_sim_dims); - capsule->acados_sim_in = lat_sim_in; - sim_out *lat_sim_out = sim_out_create(lat_sim_config, lat_sim_dims); - capsule->acados_sim_out = lat_sim_out; - - sim_in_set(lat_sim_config, lat_sim_dims, - lat_sim_in, "T", &Tsim); - - // model functions - lat_sim_config->model_set(lat_sim_in->model, - "expl_vde_for", capsule->sim_forw_vde_casadi); - lat_sim_config->model_set(lat_sim_in->model, - "expl_ode_fun", capsule->sim_expl_ode_fun_casadi); - - // sim solver - sim_solver *lat_sim_solver = sim_solver_create(lat_sim_config, - lat_sim_dims, lat_sim_opts); - capsule->acados_sim_solver = lat_sim_solver; - - - /* initialize parameter values */ - double* p = calloc(np, sizeof(double)); - - - lat_acados_sim_update_params(capsule, p, np); - free(p); - - - /* initialize input */ - // x - double x0[4]; - for (int ii = 0; ii < 4; ii++) - x0[ii] = 0.0; - - sim_in_set(lat_sim_config, lat_sim_dims, - lat_sim_in, "x", x0); - - - // u - double u0[1]; - for (int ii = 0; ii < 1; ii++) - u0[ii] = 0.0; - - sim_in_set(lat_sim_config, lat_sim_dims, - lat_sim_in, "u", u0); - - // S_forw - double S_forw[20]; - for (int ii = 0; ii < 20; ii++) - S_forw[ii] = 0.0; - for (int ii = 0; ii < 4; ii++) - S_forw[ii + ii * 4 ] = 1.0; - - - sim_in_set(lat_sim_config, lat_sim_dims, - lat_sim_in, "S_forw", S_forw); - - int status = sim_precompute(lat_sim_solver, lat_sim_in, lat_sim_out); - - return status; -} - - -int lat_acados_sim_solve(sim_solver_capsule *capsule) -{ - // integrate dynamics using acados sim_solver - int status = sim_solve(capsule->acados_sim_solver, - capsule->acados_sim_in, capsule->acados_sim_out); - if (status != 0) - printf("error in lat_acados_sim_solve()! Exiting.\n"); - - return status; -} - - -int lat_acados_sim_free(sim_solver_capsule *capsule) -{ - // free memory - sim_solver_destroy(capsule->acados_sim_solver); - sim_in_destroy(capsule->acados_sim_in); - sim_out_destroy(capsule->acados_sim_out); - sim_opts_destroy(capsule->acados_sim_opts); - sim_dims_destroy(capsule->acados_sim_dims); - sim_config_destroy(capsule->acados_sim_config); - - // free external function - external_function_param_casadi_free(capsule->sim_forw_vde_casadi); - external_function_param_casadi_free(capsule->sim_expl_ode_fun_casadi); - - return 0; -} - - -int lat_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np) -{ - int status = 0; - int casadi_np = LAT_NP; - - if (casadi_np != np) { - printf("lat_acados_sim_update_params: trying to set %i parameters for external functions." - " External function has %i parameters. Exiting.\n", np, casadi_np); - exit(1); - } - capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p); - capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p); - - return status; -} - -/* getters pointers to C objects*/ -sim_config * lat_acados_get_sim_config(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_config; -}; - -sim_in * lat_acados_get_sim_in(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_in; -}; - -sim_out * lat_acados_get_sim_out(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_out; -}; - -void * lat_acados_get_sim_dims(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_dims; -}; - -sim_opts * lat_acados_get_sim_opts(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_opts; -}; - -sim_solver * lat_acados_get_sim_solver(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_solver; -}; - diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h deleted file mode 100644 index 86b9c84c9..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h +++ /dev/null @@ -1,103 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -#ifndef ACADOS_SIM_lat_H_ -#define ACADOS_SIM_lat_H_ - -#include "acados_c/sim_interface.h" -#include "acados_c/external_function_interface.h" - -#define LAT_NX 4 -#define LAT_NZ 0 -#define LAT_NU 1 -#define LAT_NP 2 - -#ifdef __cplusplus -extern "C" { -#endif - - -// ** capsule for solver data ** -typedef struct sim_solver_capsule -{ - // acados objects - sim_in *acados_sim_in; - sim_out *acados_sim_out; - sim_solver *acados_sim_solver; - sim_opts *acados_sim_opts; - sim_config *acados_sim_config; - void *acados_sim_dims; - - /* external functions */ - // ERK - external_function_param_casadi * sim_forw_vde_casadi; - external_function_param_casadi * sim_expl_ode_fun_casadi; - external_function_param_casadi * sim_expl_ode_hess; - - // IRK - external_function_param_casadi * sim_impl_dae_fun; - external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z; - external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z; - external_function_param_casadi * sim_impl_dae_hess; - - // GNSF - external_function_param_casadi * sim_gnsf_phi_fun; - external_function_param_casadi * sim_gnsf_phi_fun_jac_y; - external_function_param_casadi * sim_gnsf_phi_jac_y_uhat; - external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z; - external_function_param_casadi * sim_gnsf_get_matrices_fun; - -} sim_solver_capsule; - - -ACADOS_SYMBOL_EXPORT int lat_acados_sim_create(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT int lat_acados_sim_solve(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT int lat_acados_sim_free(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT int lat_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np); - -ACADOS_SYMBOL_EXPORT sim_config * lat_acados_get_sim_config(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT sim_in * lat_acados_get_sim_in(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT sim_out * lat_acados_get_sim_out(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT void * lat_acados_get_sim_dims(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT sim_opts * lat_acados_get_sim_opts(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT sim_solver * lat_acados_get_sim_solver(sim_solver_capsule *capsule); - - -ACADOS_SYMBOL_EXPORT sim_solver_capsule * lat_acados_sim_solver_create_capsule(void); -ACADOS_SYMBOL_EXPORT int lat_acados_sim_solver_free_capsule(sim_solver_capsule *capsule); - -#ifdef __cplusplus -} -#endif - -#endif // ACADOS_SIM_lat_H_ diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd deleted file mode 100644 index 8397f8e9d..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd +++ /dev/null @@ -1,62 +0,0 @@ -# -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl -# -# This file is part of acados. -# -# The 2-Clause BSD License -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# 1. Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# -# 2. Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE.; -# - -cimport acados_solver_common - -cdef extern from "acados_solver_lat.h": - ctypedef struct nlp_solver_capsule "lat_solver_capsule": - pass - - nlp_solver_capsule * acados_create_capsule "lat_acados_create_capsule"() - int acados_free_capsule "lat_acados_free_capsule"(nlp_solver_capsule *capsule) - - int acados_create "lat_acados_create"(nlp_solver_capsule * capsule) - - int acados_create_with_discretization "lat_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps) - int acados_update_time_steps "lat_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps) - int acados_update_qp_solver_cond_N "lat_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N) - - int acados_update_params "lat_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_) - int acados_solve "lat_acados_solve"(nlp_solver_capsule * capsule) - int acados_reset "lat_acados_reset"(nlp_solver_capsule * capsule) - int acados_free "lat_acados_free"(nlp_solver_capsule * capsule) - void acados_print_stats "lat_acados_print_stats"(nlp_solver_capsule * capsule) - - acados_solver_common.ocp_nlp_in *acados_get_nlp_in "lat_acados_get_nlp_in"(nlp_solver_capsule * capsule) - acados_solver_common.ocp_nlp_out *acados_get_nlp_out "lat_acados_get_nlp_out"(nlp_solver_capsule * capsule) - acados_solver_common.ocp_nlp_out *acados_get_sens_out "lat_acados_get_sens_out"(nlp_solver_capsule * capsule) - acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "lat_acados_get_nlp_solver"(nlp_solver_capsule * capsule) - acados_solver_common.ocp_nlp_config *acados_get_nlp_config "lat_acados_get_nlp_config"(nlp_solver_capsule * capsule) - void *acados_get_nlp_opts "lat_acados_get_nlp_opts"(nlp_solver_capsule * capsule) - acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "lat_acados_get_nlp_dims"(nlp_solver_capsule * capsule) - acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "lat_acados_get_nlp_plan"(nlp_solver_capsule * capsule) diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c deleted file mode 100644 index 578d3d1b3..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c +++ /dev/null @@ -1,944 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -// standard -#include -#include -#include -// acados -// #include "acados/utils/print.h" -#include "acados_c/ocp_nlp_interface.h" -#include "acados_c/external_function_interface.h" - -// example specific -#include "lat_model/lat_model.h" - - - - -#include "lat_cost/lat_cost_y_fun.h" -#include "lat_cost/lat_cost_y_0_fun.h" -#include "lat_cost/lat_cost_y_e_fun.h" - -#include "acados_solver_lat.h" - -#define NX LAT_NX -#define NZ LAT_NZ -#define NU LAT_NU -#define NP LAT_NP -#define NBX LAT_NBX -#define NBX0 LAT_NBX0 -#define NBU LAT_NBU -#define NSBX LAT_NSBX -#define NSBU LAT_NSBU -#define NSH LAT_NSH -#define NSG LAT_NSG -#define NSPHI LAT_NSPHI -#define NSHN LAT_NSHN -#define NSGN LAT_NSGN -#define NSPHIN LAT_NSPHIN -#define NSBXN LAT_NSBXN -#define NS LAT_NS -#define NSN LAT_NSN -#define NG LAT_NG -#define NBXN LAT_NBXN -#define NGN LAT_NGN -#define NY0 LAT_NY0 -#define NY LAT_NY -#define NYN LAT_NYN -// #define N LAT_N -#define NH LAT_NH -#define NPHI LAT_NPHI -#define NHN LAT_NHN -#define NPHIN LAT_NPHIN -#define NR LAT_NR - - -// ** solver data ** - -lat_solver_capsule * lat_acados_create_capsule(void) -{ - void* capsule_mem = malloc(sizeof(lat_solver_capsule)); - lat_solver_capsule *capsule = (lat_solver_capsule *) capsule_mem; - - return capsule; -} - - -int lat_acados_free_capsule(lat_solver_capsule *capsule) -{ - free(capsule); - return 0; -} - - -int lat_acados_create(lat_solver_capsule* capsule) -{ - int N_shooting_intervals = LAT_N; - double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps - return lat_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps); -} - - -int lat_acados_update_time_steps(lat_solver_capsule* capsule, int N, double* new_time_steps) -{ - if (N != capsule->nlp_solver_plan->N) { - fprintf(stderr, "lat_acados_update_time_steps: given number of time steps (= %d) " \ - "differs from the currently allocated number of " \ - "time steps (= %d)!\n" \ - "Please recreate with new discretization and provide a new vector of time_stamps!\n", - N, capsule->nlp_solver_plan->N); - return 1; - } - - ocp_nlp_config * nlp_config = capsule->nlp_config; - ocp_nlp_dims * nlp_dims = capsule->nlp_dims; - ocp_nlp_in * nlp_in = capsule->nlp_in; - - for (int i = 0; i < N; i++) - { - ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]); - } - return 0; -} - -/** - * Internal function for lat_acados_create: step 1 - */ -void lat_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, const int N) -{ - assert(N == nlp_solver_plan->N); - - /************************************************ - * plan - ************************************************/ - nlp_solver_plan->nlp_solver = SQP_RTI; - - nlp_solver_plan->ocp_qp_solver_plan.qp_solver = PARTIAL_CONDENSING_HPIPM; - - nlp_solver_plan->nlp_cost[0] = NONLINEAR_LS; - for (int i = 1; i < N; i++) - nlp_solver_plan->nlp_cost[i] = NONLINEAR_LS; - - nlp_solver_plan->nlp_cost[N] = NONLINEAR_LS; - - for (int i = 0; i < N; i++) - { - nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL; - nlp_solver_plan->sim_solver_plan[i].sim_solver = ERK; - } - - for (int i = 0; i < N; i++) - {nlp_solver_plan->nlp_constraints[i] = BGH; - } - nlp_solver_plan->nlp_constraints[N] = BGH; -} - - -/** - * Internal function for lat_acados_create: step 2 - */ -ocp_nlp_dims* lat_acados_create_2_create_and_set_dimensions(lat_solver_capsule* capsule) -{ - ocp_nlp_plan_t* nlp_solver_plan = capsule->nlp_solver_plan; - const int N = nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - - /************************************************ - * dimensions - ************************************************/ - #define NINTNP1MEMS 17 - int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS ); - - int* nx = intNp1mem + (N+1)*0; - int* nu = intNp1mem + (N+1)*1; - int* nbx = intNp1mem + (N+1)*2; - int* nbu = intNp1mem + (N+1)*3; - int* nsbx = intNp1mem + (N+1)*4; - int* nsbu = intNp1mem + (N+1)*5; - int* nsg = intNp1mem + (N+1)*6; - int* nsh = intNp1mem + (N+1)*7; - int* nsphi = intNp1mem + (N+1)*8; - int* ns = intNp1mem + (N+1)*9; - int* ng = intNp1mem + (N+1)*10; - int* nh = intNp1mem + (N+1)*11; - int* nphi = intNp1mem + (N+1)*12; - int* nz = intNp1mem + (N+1)*13; - int* ny = intNp1mem + (N+1)*14; - int* nr = intNp1mem + (N+1)*15; - int* nbxe = intNp1mem + (N+1)*16; - - for (int i = 0; i < N+1; i++) - { - // common - nx[i] = NX; - nu[i] = NU; - nz[i] = NZ; - ns[i] = NS; - // cost - ny[i] = NY; - // constraints - nbx[i] = NBX; - nbu[i] = NBU; - nsbx[i] = NSBX; - nsbu[i] = NSBU; - nsg[i] = NSG; - nsh[i] = NSH; - nsphi[i] = NSPHI; - ng[i] = NG; - nh[i] = NH; - nphi[i] = NPHI; - nr[i] = NR; - nbxe[i] = 0; - } - - // for initial state - nbx[0] = NBX0; - nsbx[0] = 0; - ns[0] = NS - NSBX; - nbxe[0] = 4; - ny[0] = NY0; - - // terminal - common - nu[N] = 0; - nz[N] = 0; - ns[N] = NSN; - // cost - ny[N] = NYN; - // constraint - nbx[N] = NBXN; - nbu[N] = 0; - ng[N] = NGN; - nh[N] = NHN; - nphi[N] = NPHIN; - nr[N] = 0; - - nsbx[N] = NSBXN; - nsbu[N] = 0; - nsg[N] = NSGN; - nsh[N] = NSHN; - nsphi[N] = NSPHIN; - - /* create and set ocp_nlp_dims */ - ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config); - - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx); - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu); - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz); - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns); - - for (int i = 0; i <= N; i++) - { - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]); - } - ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]); - for (int i = 1; i < N; i++) - ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]); - - for (int i = 0; i < N; i++) - { - } - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]); - ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]); - free(intNp1mem); -return nlp_dims; -} - - -/** - * Internal function for lat_acados_create: step 3 - */ -void lat_acados_create_3_create_and_set_functions(lat_solver_capsule* capsule) -{ - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - - /************************************************ - * external functions - ************************************************/ - -#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \ - capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\ - capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \ - capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \ - capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \ - capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \ - capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \ - external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , 2); \ - }while(false) - - - - - // explicit ode - capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(forw_vde_casadi[i], lat_expl_vde_forw); - } - - capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(expl_ode_fun[i], lat_expl_ode_fun); - } - - - // nonlinear least squares function - MAP_CASADI_FNC(cost_y_0_fun, lat_cost_y_0_fun); - MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, lat_cost_y_0_fun_jac_ut_xt); - MAP_CASADI_FNC(cost_y_0_hess, lat_cost_y_0_hess); - // nonlinear least squares cost - capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(cost_y_fun[i], lat_cost_y_fun); - } - - capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], lat_cost_y_fun_jac_ut_xt); - } - - capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(cost_y_hess[i], lat_cost_y_hess); - } - // nonlinear least square function - MAP_CASADI_FNC(cost_y_e_fun, lat_cost_y_e_fun); - MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, lat_cost_y_e_fun_jac_ut_xt); - MAP_CASADI_FNC(cost_y_e_hess, lat_cost_y_e_hess); - -#undef MAP_CASADI_FNC -} - - -/** - * Internal function for lat_acados_create: step 4 - */ -void lat_acados_create_4_set_default_parameters(lat_solver_capsule* capsule) { - const int N = capsule->nlp_solver_plan->N; - // initialize parameters to nominal value - double* p = calloc(NP, sizeof(double)); - - for (int i = 0; i <= N; i++) { - lat_acados_update_params(capsule, i, p, NP); - } - free(p); -} - - -/** - * Internal function for lat_acados_create: step 5 - */ -void lat_acados_create_5_set_nlp_in(lat_solver_capsule* capsule, const int N, double* new_time_steps) -{ - assert(N == capsule->nlp_solver_plan->N); - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - - /************************************************ - * nlp_in - ************************************************/ -// ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims); -// capsule->nlp_in = nlp_in; - ocp_nlp_in * nlp_in = capsule->nlp_in; - - // set up time_steps - - - if (new_time_steps) { - lat_acados_update_time_steps(capsule, N, new_time_steps); - } else {// time_steps are different - double* time_steps = malloc(N*sizeof(double)); - time_steps[0] = 0.009765625; - time_steps[1] = 0.029296875; - time_steps[2] = 0.048828125; - time_steps[3] = 0.068359375; - time_steps[4] = 0.087890625; - time_steps[5] = 0.107421875; - time_steps[6] = 0.126953125; - time_steps[7] = 0.146484375; - time_steps[8] = 0.166015625; - time_steps[9] = 0.185546875; - time_steps[10] = 0.205078125; - time_steps[11] = 0.224609375; - time_steps[12] = 0.244140625; - time_steps[13] = 0.263671875; - time_steps[14] = 0.283203125; - time_steps[15] = 0.302734375; - lat_acados_update_time_steps(capsule, N, time_steps); - free(time_steps); - } - - /**** Dynamics ****/ - for (int i = 0; i < N; i++) - { - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]); - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]); - - } - - /**** Cost ****/ - double* W_0 = calloc(NY0*NY0, sizeof(double)); - // change only the non-zero elements: - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0); - free(W_0); - - double* yref_0 = calloc(NY0, sizeof(double)); - // change only the non-zero elements: - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0); - free(yref_0); - double* W = calloc(NY*NY, sizeof(double)); - // change only the non-zero elements: - - double* yref = calloc(NY, sizeof(double)); - // change only the non-zero elements: - - for (int i = 1; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref); - } - free(W); - free(yref); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess); - for (int i = 1; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]); - } - - // terminal cost - double* yref_e = calloc(NYN, sizeof(double)); - // change only the non-zero elements: - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e); - free(yref_e); - - double* W_e = calloc(NYN*NYN, sizeof(double)); - // change only the non-zero elements: - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e); - free(W_e); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess); - - - - /**** Constraints ****/ - - // bounds for initial stage - // x0 - int* idxbx0 = malloc(NBX0 * sizeof(int)); - idxbx0[0] = 0; - idxbx0[1] = 1; - idxbx0[2] = 2; - idxbx0[3] = 3; - - double* lubx0 = calloc(2*NBX0, sizeof(double)); - double* lbx0 = lubx0; - double* ubx0 = lubx0 + NBX0; - // change only the non-zero elements: - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); - free(idxbx0); - free(lubx0); - // idxbxe_0 - int* idxbxe_0 = malloc(4 * sizeof(int)); - - idxbxe_0[0] = 0; - idxbxe_0[1] = 1; - idxbxe_0[2] = 2; - idxbxe_0[3] = 3; - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0); - free(idxbxe_0); - - /* constraints that are the same for initial and intermediate */ - - - - - - - - - // x - int* idxbx = malloc(NBX * sizeof(int)); - - idxbx[0] = 2; - idxbx[1] = 3; - double* lubx = calloc(2*NBX, sizeof(double)); - double* lbx = lubx; - double* ubx = lubx + NBX; - - lbx[0] = -1.5707963267948966; - ubx[0] = 1.5707963267948966; - lbx[1] = -0.8726646259971648; - ubx[1] = 0.8726646259971648; - - for (int i = 1; i < N; i++) - { - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbx", idxbx); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbx", lbx); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubx", ubx); - } - free(idxbx); - free(lubx); - - - - - - - - /* terminal constraints */ - - - - - - - - - - - - - - - -} - - -/** - * Internal function for lat_acados_create: step 6 - */ -void lat_acados_create_6_set_opts(lat_solver_capsule* capsule) -{ - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - void *nlp_opts = capsule->nlp_opts; - - /************************************************ - * opts - ************************************************/ - - - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step");int full_step_dual = 0; - ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual); - - // set collocation type (relevant for implicit integrators) - sim_collocation_type collocation_type = GAUSS_LEGENDRE; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type); - - // set up sim_method_num_steps - // all sim_method_num_steps are identical - int sim_method_num_steps = 1; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps); - - // set up sim_method_num_stages - // all sim_method_num_stages are identical - int sim_method_num_stages = 4; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages); - - int newton_iter_val = 3; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val); - - - // set up sim_method_jac_reuse - bool tmp_bool = (bool) 0; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool); - - double nlp_solver_step_length = 1; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length); - - double levenberg_marquardt = 0; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt); - - /* options QP solver */ - int qp_solver_cond_N; - - const int qp_solver_cond_N_ori = 1; - qp_solver_cond_N = N < qp_solver_cond_N_ori ? N : qp_solver_cond_N_ori; // use the minimum value here - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N); - // set HPIPM mode: should be done before setting other QP solver options - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "BALANCE"); - - - - int qp_solver_iter_max = 1; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max); - -int print_level = 0; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level); - - - int ext_cost_num_hess = 0; -} - - -/** - * Internal function for lat_acados_create: step 7 - */ -void lat_acados_create_7_set_nlp_out(lat_solver_capsule* capsule) -{ - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - ocp_nlp_out* nlp_out = capsule->nlp_out; - - // initialize primal solution - double* xu0 = calloc(NX+NU, sizeof(double)); - double* x0 = xu0; - - // initialize with x0 - - - - double* u0 = xu0 + NX; - - for (int i = 0; i < N; i++) - { - // x0 - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0); - // u0 - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); - } - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0); - free(xu0); -} - - -/** - * Internal function for lat_acados_create: step 8 - */ -//void lat_acados_create_8_create_solver(lat_solver_capsule* capsule) -//{ -// capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); -//} - -/** - * Internal function for lat_acados_create: step 9 - */ -int lat_acados_create_9_precompute(lat_solver_capsule* capsule) { - int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); - - if (status != ACADOS_SUCCESS) { - printf("\nocp_nlp_precompute failed!\n\n"); - exit(1); - } - - return status; -} - - -int lat_acados_create_with_discretization(lat_solver_capsule* capsule, int N, double* new_time_steps) -{ - // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given. - if (N != LAT_N && !new_time_steps) { - fprintf(stderr, "lat_acados_create_with_discretization: new_time_steps is NULL " \ - "but the number of shooting intervals (= %d) differs from the number of " \ - "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \ - N, LAT_N); - return 1; - } - - // number of expected runtime parameters - capsule->nlp_np = NP; - - // 1) create and set nlp_solver_plan; create nlp_config - capsule->nlp_solver_plan = ocp_nlp_plan_create(N); - lat_acados_create_1_set_plan(capsule->nlp_solver_plan, N); - capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan); - - // 3) create and set dimensions - capsule->nlp_dims = lat_acados_create_2_create_and_set_dimensions(capsule); - lat_acados_create_3_create_and_set_functions(capsule); - - // 4) set default parameters in functions - lat_acados_create_4_set_default_parameters(capsule); - - // 5) create and set nlp_in - capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims); - lat_acados_create_5_set_nlp_in(capsule, N, new_time_steps); - - // 6) create and set nlp_opts - capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims); - lat_acados_create_6_set_opts(capsule); - - // 7) create and set nlp_out - // 7.1) nlp_out - capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); - // 7.2) sens_out - capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); - lat_acados_create_7_set_nlp_out(capsule); - - // 8) create solver - capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); - //lat_acados_create_8_create_solver(capsule); - - // 9) do precomputations - int status = lat_acados_create_9_precompute(capsule); - return status; -} - -/** - * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export. - */ -int lat_acados_update_qp_solver_cond_N(lat_solver_capsule* capsule, int qp_solver_cond_N) -{ - // 1) destroy solver - ocp_nlp_solver_destroy(capsule->nlp_solver); - - // 2) set new value for "qp_cond_N" - const int N = capsule->nlp_solver_plan->N; - if(qp_solver_cond_N > N) - printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N); - ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N); - - // 3) continue with the remaining steps from lat_acados_create_with_discretization(...): - // -> 8) create solver - capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); - - // -> 9) do precomputations - int status = lat_acados_create_9_precompute(capsule); - return status; -} - - -int lat_acados_reset(lat_solver_capsule* capsule) -{ - - // set initialization to all zeros - - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - ocp_nlp_out* nlp_out = capsule->nlp_out; - ocp_nlp_in* nlp_in = capsule->nlp_in; - ocp_nlp_solver* nlp_solver = capsule->nlp_solver; - - int nx, nu, nv, ns, nz, ni, dim; - - double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double)); - - for(int i=0; i reset memory - int qp_status; - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status); - if (qp_status == 3) - { - // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status); - ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out); - } - - free(buffer); - return 0; -} - - - - -int lat_acados_update_params(lat_solver_capsule* capsule, int stage, double *p, int np) -{ - int solver_status = 0; - - int casadi_np = 2; - if (casadi_np != np) { - printf("acados_update_params: trying to set %i parameters for external functions." - " External function has %i parameters. Exiting.\n", np, casadi_np); - exit(1); - } - const int N = capsule->nlp_solver_plan->N; - if (stage < N && stage >= 0) - { - capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p); - capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p); - - - // constraints - - - // cost - if (stage == 0) - { - capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p); - capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p); - capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p); - } - else // 0 < stage < N - { - capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p); - capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p); - capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p); - } - } - - else // stage == N - { - // terminal shooting node has no dynamics - // cost - capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p); - capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p); - capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p); - // constraints - - } - - - return solver_status; -} - - - -int lat_acados_solve(lat_solver_capsule* capsule) -{ - // solve NLP - int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); - - return solver_status; -} - - -int lat_acados_free(lat_solver_capsule* capsule) -{ - // before destroying, keep some info - const int N = capsule->nlp_solver_plan->N; - // free memory - ocp_nlp_solver_opts_destroy(capsule->nlp_opts); - ocp_nlp_in_destroy(capsule->nlp_in); - ocp_nlp_out_destroy(capsule->nlp_out); - ocp_nlp_out_destroy(capsule->sens_out); - ocp_nlp_solver_destroy(capsule->nlp_solver); - ocp_nlp_dims_destroy(capsule->nlp_dims); - ocp_nlp_config_destroy(capsule->nlp_config); - ocp_nlp_plan_destroy(capsule->nlp_solver_plan); - - /* free external function */ - // dynamics - for (int i = 0; i < N; i++) - { - external_function_param_casadi_free(&capsule->forw_vde_casadi[i]); - external_function_param_casadi_free(&capsule->expl_ode_fun[i]); - } - free(capsule->forw_vde_casadi); - free(capsule->expl_ode_fun); - - // cost - external_function_param_casadi_free(&capsule->cost_y_0_fun); - external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt); - external_function_param_casadi_free(&capsule->cost_y_0_hess); - for (int i = 0; i < N - 1; i++) - { - external_function_param_casadi_free(&capsule->cost_y_fun[i]); - external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]); - external_function_param_casadi_free(&capsule->cost_y_hess[i]); - } - free(capsule->cost_y_fun); - free(capsule->cost_y_fun_jac_ut_xt); - free(capsule->cost_y_hess); - external_function_param_casadi_free(&capsule->cost_y_e_fun); - external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt); - external_function_param_casadi_free(&capsule->cost_y_e_hess); - - // constraints - - return 0; -} - -ocp_nlp_in *lat_acados_get_nlp_in(lat_solver_capsule* capsule) { return capsule->nlp_in; } -ocp_nlp_out *lat_acados_get_nlp_out(lat_solver_capsule* capsule) { return capsule->nlp_out; } -ocp_nlp_out *lat_acados_get_sens_out(lat_solver_capsule* capsule) { return capsule->sens_out; } -ocp_nlp_solver *lat_acados_get_nlp_solver(lat_solver_capsule* capsule) { return capsule->nlp_solver; } -ocp_nlp_config *lat_acados_get_nlp_config(lat_solver_capsule* capsule) { return capsule->nlp_config; } -void *lat_acados_get_nlp_opts(lat_solver_capsule* capsule) { return capsule->nlp_opts; } -ocp_nlp_dims *lat_acados_get_nlp_dims(lat_solver_capsule* capsule) { return capsule->nlp_dims; } -ocp_nlp_plan_t *lat_acados_get_nlp_plan(lat_solver_capsule* capsule) { return capsule->nlp_solver_plan; } - - -void lat_acados_print_stats(lat_solver_capsule* capsule) -{ - int sqp_iter, stat_m, stat_n, tmp_int; - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter); - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n); - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m); - - - double stat[1200]; - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat); - - int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m; - printf("iter\tqp_stat\tqp_iter\n"); - for (int i = 0; i < nrow; i++) - { - for (int j = 0; j < stat_n + 1; j++) - { - tmp_int = (int) stat[i + j * nrow]; - printf("%d\t", tmp_int); - } - printf("\n"); - } -} - diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_solver_sfunction_lat.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_solver_sfunction_lat.c deleted file mode 100644 index 827b6c7f0..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/acados_solver_sfunction_lat.c +++ /dev/null @@ -1,264 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -#define S_FUNCTION_NAME acados_solver_sfunction_lat -#define S_FUNCTION_LEVEL 2 - -#define MDL_START - -// acados -// #include "acados/utils/print.h" -#include "acados_c/sim_interface.h" -#include "acados_c/external_function_interface.h" - -// example specific -#include "lat_model/lat_model.h" -#include "acados_solver_lat.h" - -#include "simstruc.h" - -#define SAMPLINGTIME 0.009765625 - -static void mdlInitializeSizes (SimStruct *S) -{ - // specify the number of continuous and discrete states - ssSetNumContStates(S, 0); - ssSetNumDiscStates(S, 0);// specify the number of input ports - if ( !ssSetNumInputPorts(S, 8) ) - return; - - // specify the number of output ports - if ( !ssSetNumOutputPorts(S, 6) ) - return; - - // specify dimension information for the input ports - // lbx_0 - ssSetInputPortVectorDimension(S, 0, 4); - // ubx_0 - ssSetInputPortVectorDimension(S, 1, 4); - // parameters - ssSetInputPortVectorDimension(S, 2, (16+1) * 2); - // y_ref_0 - ssSetInputPortVectorDimension(S, 3, 3); - // y_ref - ssSetInputPortVectorDimension(S, 4, 45); - // y_ref_e - ssSetInputPortVectorDimension(S, 5, 2); - // lbx - ssSetInputPortVectorDimension(S, 6, 30); - // ubx - ssSetInputPortVectorDimension(S, 7, 30);/* specify dimension information for the OUTPUT ports */ - ssSetOutputPortVectorDimension(S, 0, 1 ); - ssSetOutputPortVectorDimension(S, 1, 1 ); - ssSetOutputPortVectorDimension(S, 2, 1 ); - ssSetOutputPortVectorDimension(S, 3, 4 ); // state at shooting node 1 - ssSetOutputPortVectorDimension(S, 4, 1); - ssSetOutputPortVectorDimension(S, 5, 1 ); - - // specify the direct feedthrough status - // should be set to 1 for all inputs used in mdlOutputs - ssSetInputPortDirectFeedThrough(S, 0, 1); - ssSetInputPortDirectFeedThrough(S, 1, 1); - ssSetInputPortDirectFeedThrough(S, 2, 1); - ssSetInputPortDirectFeedThrough(S, 3, 1); - ssSetInputPortDirectFeedThrough(S, 4, 1); - ssSetInputPortDirectFeedThrough(S, 5, 1); - ssSetInputPortDirectFeedThrough(S, 6, 1); - ssSetInputPortDirectFeedThrough(S, 7, 1); - - // one sample time - ssSetNumSampleTimes(S, 1); -} - - -#if defined(MATLAB_MEX_FILE) - -#define MDL_SET_INPUT_PORT_DIMENSION_INFO -#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO - -static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) -{ - if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) ) - return; -} - -static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) -{ - if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) ) - return; -} - -#endif /* MATLAB_MEX_FILE */ - - -static void mdlInitializeSampleTimes(SimStruct *S) -{ - ssSetSampleTime(S, 0, SAMPLINGTIME); - ssSetOffsetTime(S, 0, 0.0); -} - - -static void mdlStart(SimStruct *S) -{ - lat_solver_capsule *capsule = lat_acados_create_capsule(); - lat_acados_create(capsule); - - ssSetUserData(S, (void*)capsule); -} - - -static void mdlOutputs(SimStruct *S, int_T tid) -{ - lat_solver_capsule *capsule = ssGetUserData(S); - ocp_nlp_config *nlp_config = lat_acados_get_nlp_config(capsule); - ocp_nlp_dims *nlp_dims = lat_acados_get_nlp_dims(capsule); - ocp_nlp_in *nlp_in = lat_acados_get_nlp_in(capsule); - ocp_nlp_out *nlp_out = lat_acados_get_nlp_out(capsule); - - InputRealPtrsType in_sign; - - // local buffer - real_t buffer[4]; - - /* go through inputs */ - // lbx_0 - in_sign = ssGetInputPortRealSignalPtrs(S, 0); - for (int i = 0; i < 4; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", buffer); - // ubx_0 - in_sign = ssGetInputPortRealSignalPtrs(S, 1); - for (int i = 0; i < 4; i++) - buffer[i] = (double)(*in_sign[i]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer); - // parameters - stage-variant !!! - in_sign = ssGetInputPortRealSignalPtrs(S, 2); - - // update value of parameters - for (int ii = 0; ii <= 16; ii++) - { - for (int jj = 0; jj < 2; jj++) - buffer[jj] = (double)(*in_sign[ii*2+jj]); - lat_acados_update_params(capsule, ii, buffer, 2); - } - - - // y_ref_0 - in_sign = ssGetInputPortRealSignalPtrs(S, 3); - - for (int i = 0; i < 3; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", (void *) buffer); - - - // y_ref - for stages 1 to N-1 - in_sign = ssGetInputPortRealSignalPtrs(S, 4); - - for (int ii = 1; ii < 16; ii++) - { - for (int jj = 0; jj < 3; jj++) - buffer[jj] = (double)(*in_sign[(ii-1)*3+jj]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "yref", (void *) buffer); - } - - - // y_ref_e - in_sign = ssGetInputPortRealSignalPtrs(S, 5); - - for (int i = 0; i < 2; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 16, "yref", (void *) buffer); - // lbx - in_sign = ssGetInputPortRealSignalPtrs(S, 6); - for (int ii = 1; ii < 16; ii++) - { - for (int jj = 0; jj < 2; jj++) - buffer[jj] = (double)(*in_sign[(ii-1)*2+jj]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbx", (void *) buffer); - } - // ubx - in_sign = ssGetInputPortRealSignalPtrs(S, 7); - for (int ii = 1; ii < 16; ii++) - { - for (int jj = 0; jj < 2; jj++) - buffer[jj] = (double)(*in_sign[(ii-1)*2+jj]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubx", (void *) buffer); - } - - /* call solver */ - int rti_phase = 0; - ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "rti_phase", &rti_phase); - int acados_status = lat_acados_solve(capsule); - - - /* set outputs */ - // assign pointers to output signals - real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin; - int tmp_int; - out_u0 = ssGetOutputPortRealSignal(S, 0); - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "u", (void *) out_u0); - - - out_status = ssGetOutputPortRealSignal(S, 1); - *out_status = (real_t) acados_status; - out_KKT_res = ssGetOutputPortRealSignal(S, 2); - *out_KKT_res = (real_t) nlp_out->inf_norm_res; - out_x1 = ssGetOutputPortRealSignal(S, 3); - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 1, "x", (void *) out_x1); - out_cpu_time = ssGetOutputPortRealSignal(S, 4); - // get solution time - ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time); - out_sqp_iter = ssGetOutputPortRealSignal(S, 5); - // get sqp iter - ocp_nlp_get(nlp_config, capsule->nlp_solver, "sqp_iter", (void *) &tmp_int); - *out_sqp_iter = (real_t) tmp_int; - -} - -static void mdlTerminate(SimStruct *S) -{ - lat_solver_capsule *capsule = ssGetUserData(S); - - lat_acados_free(capsule); - lat_acados_free_capsule(capsule); -} - - -#ifdef MATLAB_MEX_FILE -#include "simulink.c" -#else -#include "cg_sfun.h" -#endif diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c deleted file mode 100644 index 8bdbd2750..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c +++ /dev/null @@ -1,154 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_0_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[7] = {3, 1, 0, 3, 0, 1, 2}; - -/* lat_cost_y_0_fun:(i0[4],i1,i2[2])->(o0[3]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=5.; - a2=(a0+a1); - a3=arg[0]? arg[0][2] : 0; - a2=(a2*a3); - if (res[0]!=0) res[0][1]=a2; - a2=4.; - a0=(a0+a1); - a2=(a2*a0); - a0=arg[1]? arg[1][0] : 0; - a2=(a2*a0); - if (res[0]!=0) res[0][2]=a2; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_0_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c deleted file mode 100644 index f8f0b6ad0..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c +++ /dev/null @@ -1,162 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_0_fun_jac_ut_xt_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s4[9] = {5, 3, 0, 1, 2, 3, 2, 3, 0}; - -/* lat_cost_y_0_fun_jac_ut_xt:(i0[4],i1,i2[2])->(o0[3],o1[5x3,3nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=5.; - a2=(a0+a1); - a3=arg[0]? arg[0][2] : 0; - a3=(a2*a3); - if (res[0]!=0) res[0][1]=a3; - a3=4.; - a0=(a0+a1); - a3=(a3*a0); - a0=arg[1]? arg[1][0] : 0; - a0=(a3*a0); - if (res[0]!=0) res[0][2]=a0; - a0=1.; - if (res[1]!=0) res[1][0]=a0; - if (res[1]!=0) res[1][1]=a2; - if (res[1]!=0) res[1][2]=a3; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_fun_jac_ut_xt_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_jac_ut_xt_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_fun_jac_ut_xt_n_out(void) { return 2;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_0_fun_jac_ut_xt_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_jac_ut_xt_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_fun_jac_ut_xt_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_jac_ut_xt_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_fun_jac_ut_xt_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - case 1: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 2; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c deleted file mode 100644 index 90dbbfb1e..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c +++ /dev/null @@ -1,143 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_0_hess_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s4[8] = {5, 5, 0, 0, 0, 0, 0, 0}; - -/* lat_cost_y_0_hess:(i0[4],i1,i2[3],i3[2])->(o0[5x5,0nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_0_hess_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_hess_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_0_hess_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_0_hess_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_hess_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_0_hess_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_hess_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - case 3: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_0_hess_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_0_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c deleted file mode 100644 index a940186ce..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c +++ /dev/null @@ -1,146 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_e_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[3] = {0, 0, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; - -/* lat_cost_y_e_fun:(i0[4],i1[],i2[2])->(o0[2]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=5.; - a0=(a0+a1); - a1=arg[0]? arg[0][2] : 0; - a0=(a0*a1); - if (res[0]!=0) res[0][1]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_e_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c deleted file mode 100644 index 9b91f812c..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c +++ /dev/null @@ -1,153 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_e_fun_jac_ut_xt_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[3] = {0, 0, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[7] = {4, 2, 0, 1, 2, 1, 2}; - -/* lat_cost_y_e_fun_jac_ut_xt:(i0[4],i1[],i2[2])->(o0[2],o1[4x2,2nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=5.; - a0=(a0+a1); - a1=arg[0]? arg[0][2] : 0; - a1=(a0*a1); - if (res[0]!=0) res[0][1]=a1; - a1=1.; - if (res[1]!=0) res[1][0]=a1; - if (res[1]!=0) res[1][1]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_fun_jac_ut_xt_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_jac_ut_xt_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_fun_jac_ut_xt_n_out(void) { return 2;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_e_fun_jac_ut_xt_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_jac_ut_xt_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_fun_jac_ut_xt_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_jac_ut_xt_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_fun_jac_ut_xt_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s2; - case 1: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 2; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c deleted file mode 100644 index 781daffaa..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c +++ /dev/null @@ -1,141 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_e_hess_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[3] = {0, 0, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[7] = {4, 4, 0, 0, 0, 0, 0}; - -/* lat_cost_y_e_hess:(i0[4],i1[],i2[2],i3[2])->(o0[4x4,0nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_e_hess_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_hess_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_e_hess_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_e_hess_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_hess_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_e_hess_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_hess_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - case 3: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_e_hess_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_e_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c deleted file mode 100644 index e300e8da2..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c +++ /dev/null @@ -1,154 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[7] = {3, 1, 0, 3, 0, 1, 2}; - -/* lat_cost_y_fun:(i0[4],i1,i2[2])->(o0[3]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=5.; - a2=(a0+a1); - a3=arg[0]? arg[0][2] : 0; - a2=(a2*a3); - if (res[0]!=0) res[0][1]=a2; - a2=4.; - a0=(a0+a1); - a2=(a2*a0); - a0=arg[1]? arg[1][0] : 0; - a2=(a2*a0); - if (res[0]!=0) res[0][2]=a2; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c deleted file mode 100644 index cc725e8c6..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c +++ /dev/null @@ -1,162 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_fun_jac_ut_xt_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s4[9] = {5, 3, 0, 1, 2, 3, 2, 3, 0}; - -/* lat_cost_y_fun_jac_ut_xt:(i0[4],i1,i2[2])->(o0[3],o1[5x3,3nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3; - a0=arg[0]? arg[0][1] : 0; - if (res[0]!=0) res[0][0]=a0; - a0=arg[2]? arg[2][0] : 0; - a1=5.; - a2=(a0+a1); - a3=arg[0]? arg[0][2] : 0; - a3=(a2*a3); - if (res[0]!=0) res[0][1]=a3; - a3=4.; - a0=(a0+a1); - a3=(a3*a0); - a0=arg[1]? arg[1][0] : 0; - a0=(a3*a0); - if (res[0]!=0) res[0][2]=a0; - a0=1.; - if (res[1]!=0) res[1][0]=a0; - if (res[1]!=0) res[1][1]=a2; - if (res[1]!=0) res[1][2]=a3; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_fun_jac_ut_xt_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_jac_ut_xt_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_fun_jac_ut_xt_n_out(void) { return 2;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_fun_jac_ut_xt_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_jac_ut_xt_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_fun_jac_ut_xt_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_jac_ut_xt_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_fun_jac_ut_xt_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - case 1: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 2; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c deleted file mode 100644 index 2a4258b0d..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c +++ /dev/null @@ -1,143 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_cost_y_hess_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) -#define casadi_s4 CASADI_PREFIX(s4) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[7] = {3, 1, 0, 3, 0, 1, 2}; -static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s4[8] = {5, 5, 0, 0, 0, 0, 0, 0}; - -/* lat_cost_y_hess:(i0[4],i1,i2[3],i3[2])->(o0[5x5,0nz]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_hess_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_hess_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_hess_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_hess_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_hess_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_hess_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_cost_y_hess_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_hess_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int lat_cost_y_hess_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_cost_y_hess_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_hess_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_cost_y_hess_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_hess_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - case 3: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_cost_y_hess_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s4; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_cost_y_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c deleted file mode 100644 index 084aef3f3..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c +++ /dev/null @@ -1,162 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_expl_ode_fun_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; - -/* lat_expl_ode_fun:(i0[4],i1,i2[2])->(o0[4]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3, a4, a5, a6; - a0=arg[2]? arg[2][0] : 0; - a1=arg[0]? arg[0][2] : 0; - a2=cos(a1); - a2=(a0*a2); - a3=arg[2]? arg[2][1] : 0; - a4=sin(a1); - a4=(a3*a4); - a5=arg[0]? arg[0][3] : 0; - a6=(a0*a5); - a4=(a4*a6); - a2=(a2-a4); - if (res[0]!=0) res[0][0]=a2; - a2=sin(a1); - a2=(a0*a2); - a1=cos(a1); - a3=(a3*a1); - a1=(a0*a5); - a3=(a3*a1); - a2=(a2+a3); - if (res[0]!=0) res[0][1]=a2; - a0=(a0*a5); - if (res[0]!=0) res[0][2]=a0; - a0=arg[1]? arg[1][0] : 0; - if (res[0]!=0) res[0][3]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_ode_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_ode_fun_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_ode_fun_n_in(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_ode_fun_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_expl_ode_fun_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_ode_fun_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_ode_fun_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_ode_fun_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_ode_fun_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_expl_ode_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 3; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_adj.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_adj.c deleted file mode 100644 index a407cded8..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_adj.c +++ /dev/null @@ -1,186 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_expl_vde_adj_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s2[6] = {2, 1, 0, 2, 0, 1}; -static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; - -/* lat_expl_vde_adj:(i0[4],i1[4],i2,i3[2])->(o0[5]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a2, a3, a4, a5, a6, a7; - a0=0.; - if (res[0]!=0) res[0][0]=a0; - if (res[0]!=0) res[0][1]=a0; - a0=arg[0]? arg[0][2] : 0; - a1=cos(a0); - a2=arg[3]? arg[3][0] : 0; - a3=arg[1]? arg[1][1] : 0; - a4=(a2*a3); - a1=(a1*a4); - a4=sin(a0); - a5=arg[3]? arg[3][1] : 0; - a6=arg[0]? arg[0][3] : 0; - a7=(a2*a6); - a7=(a7*a3); - a7=(a5*a7); - a4=(a4*a7); - a1=(a1-a4); - a4=cos(a0); - a6=(a2*a6); - a7=arg[1]? arg[1][0] : 0; - a6=(a6*a7); - a6=(a5*a6); - a4=(a4*a6); - a1=(a1-a4); - a4=sin(a0); - a6=(a2*a7); - a4=(a4*a6); - a1=(a1-a4); - if (res[0]!=0) res[0][2]=a1; - a1=arg[1]? arg[1][2] : 0; - a1=(a2*a1); - a4=cos(a0); - a4=(a5*a4); - a4=(a4*a3); - a4=(a2*a4); - a1=(a1+a4); - a0=sin(a0); - a5=(a5*a0); - a5=(a5*a7); - a2=(a2*a5); - a1=(a1-a2); - if (res[0]!=0) res[0][3]=a1; - a1=arg[1]? arg[1][3] : 0; - if (res[0]!=0) res[0][4]=a1; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_adj(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_adj_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_adj_n_in(void) { return 4;} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_adj_n_out(void) { return 1;} - -CASADI_SYMBOL_EXPORT casadi_real lat_expl_vde_adj_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_vde_adj_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_vde_adj_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_adj_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s0; - case 2: return casadi_s1; - case 3: return casadi_s2; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_adj_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_adj_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 4; - if (sz_res) *sz_res = 1; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c deleted file mode 100644 index 832f63096..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c +++ /dev/null @@ -1,312 +0,0 @@ -/* This file was automatically generated by CasADi. - The CasADi copyright holders make no ownership claim of its contents. */ -#ifdef __cplusplus -extern "C" { -#endif - -/* How to prefix internal symbols */ -#ifdef CASADI_CODEGEN_PREFIX - #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) - #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID - #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) -#else - #define CASADI_PREFIX(ID) lat_expl_vde_forw_ ## ID -#endif - -#include - -#ifndef casadi_real -#define casadi_real double -#endif - -#ifndef casadi_int -#define casadi_int int -#endif - -/* Add prefix to internal symbols */ -#define casadi_f0 CASADI_PREFIX(f0) -#define casadi_s0 CASADI_PREFIX(s0) -#define casadi_s1 CASADI_PREFIX(s1) -#define casadi_s2 CASADI_PREFIX(s2) -#define casadi_s3 CASADI_PREFIX(s3) - -/* Symbol visibility in DLLs */ -#ifndef CASADI_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define CASADI_SYMBOL_EXPORT - #else - #define CASADI_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) - #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define CASADI_SYMBOL_EXPORT - #endif -#endif - -static const casadi_int casadi_s0[8] = {4, 1, 0, 4, 0, 1, 2, 3}; -static const casadi_int casadi_s1[23] = {4, 4, 0, 4, 8, 12, 16, 0, 1, 2, 3, 0, 1, 2, 3, 0, 1, 2, 3, 0, 1, 2, 3}; -static const casadi_int casadi_s2[5] = {1, 1, 0, 1, 0}; -static const casadi_int casadi_s3[6] = {2, 1, 0, 2, 0, 1}; - -/* lat_expl_vde_forw:(i0[4],i1[4x4],i2[4],i3,i4[2])->(o0[4],o1[4x4],o2[4]) */ -static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { - casadi_real a0, a1, a10, a11, a12, a13, a14, a15, a16, a2, a3, a4, a5, a6, a7, a8, a9; - a0=arg[4]? arg[4][0] : 0; - a1=arg[0]? arg[0][2] : 0; - a2=cos(a1); - a2=(a0*a2); - a3=arg[4]? arg[4][1] : 0; - a4=sin(a1); - a4=(a3*a4); - a5=arg[0]? arg[0][3] : 0; - a6=(a0*a5); - a7=(a4*a6); - a2=(a2-a7); - if (res[0]!=0) res[0][0]=a2; - a2=sin(a1); - a2=(a0*a2); - a7=cos(a1); - a7=(a3*a7); - a8=(a0*a5); - a9=(a7*a8); - a2=(a2+a9); - if (res[0]!=0) res[0][1]=a2; - a5=(a0*a5); - if (res[0]!=0) res[0][2]=a5; - a5=arg[3]? arg[3][0] : 0; - if (res[0]!=0) res[0][3]=a5; - a5=sin(a1); - a2=arg[1]? arg[1][2] : 0; - a9=(a5*a2); - a9=(a0*a9); - a10=cos(a1); - a11=(a10*a2); - a11=(a3*a11); - a11=(a6*a11); - a12=arg[1]? arg[1][3] : 0; - a13=(a0*a12); - a13=(a4*a13); - a11=(a11+a13); - a9=(a9+a11); - a9=(-a9); - if (res[1]!=0) res[1][0]=a9; - a9=cos(a1); - a11=(a9*a2); - a11=(a0*a11); - a13=(a0*a12); - a13=(a7*a13); - a14=sin(a1); - a2=(a14*a2); - a2=(a3*a2); - a2=(a8*a2); - a13=(a13-a2); - a11=(a11+a13); - if (res[1]!=0) res[1][1]=a11; - a12=(a0*a12); - if (res[1]!=0) res[1][2]=a12; - a12=0.; - if (res[1]!=0) res[1][3]=a12; - a11=arg[1]? arg[1][6] : 0; - a13=(a5*a11); - a13=(a0*a13); - a2=(a10*a11); - a2=(a3*a2); - a2=(a6*a2); - a15=arg[1]? arg[1][7] : 0; - a16=(a0*a15); - a16=(a4*a16); - a2=(a2+a16); - a13=(a13+a2); - a13=(-a13); - if (res[1]!=0) res[1][4]=a13; - a13=(a9*a11); - a13=(a0*a13); - a2=(a0*a15); - a2=(a7*a2); - a11=(a14*a11); - a11=(a3*a11); - a11=(a8*a11); - a2=(a2-a11); - a13=(a13+a2); - if (res[1]!=0) res[1][5]=a13; - a15=(a0*a15); - if (res[1]!=0) res[1][6]=a15; - if (res[1]!=0) res[1][7]=a12; - a15=arg[1]? arg[1][10] : 0; - a13=(a5*a15); - a13=(a0*a13); - a2=(a10*a15); - a2=(a3*a2); - a2=(a6*a2); - a11=arg[1]? arg[1][11] : 0; - a16=(a0*a11); - a16=(a4*a16); - a2=(a2+a16); - a13=(a13+a2); - a13=(-a13); - if (res[1]!=0) res[1][8]=a13; - a13=(a9*a15); - a13=(a0*a13); - a2=(a0*a11); - a2=(a7*a2); - a15=(a14*a15); - a15=(a3*a15); - a15=(a8*a15); - a2=(a2-a15); - a13=(a13+a2); - if (res[1]!=0) res[1][9]=a13; - a11=(a0*a11); - if (res[1]!=0) res[1][10]=a11; - if (res[1]!=0) res[1][11]=a12; - a11=arg[1]? arg[1][14] : 0; - a5=(a5*a11); - a5=(a0*a5); - a10=(a10*a11); - a10=(a3*a10); - a10=(a6*a10); - a13=arg[1]? arg[1][15] : 0; - a2=(a0*a13); - a2=(a4*a2); - a10=(a10+a2); - a5=(a5+a10); - a5=(-a5); - if (res[1]!=0) res[1][12]=a5; - a9=(a9*a11); - a9=(a0*a9); - a5=(a0*a13); - a5=(a7*a5); - a14=(a14*a11); - a14=(a3*a14); - a14=(a8*a14); - a5=(a5-a14); - a9=(a9+a5); - if (res[1]!=0) res[1][13]=a9; - a13=(a0*a13); - if (res[1]!=0) res[1][14]=a13; - if (res[1]!=0) res[1][15]=a12; - a12=sin(a1); - a13=arg[2]? arg[2][2] : 0; - a12=(a12*a13); - a12=(a0*a12); - a9=cos(a1); - a9=(a9*a13); - a9=(a3*a9); - a6=(a6*a9); - a9=arg[2]? arg[2][3] : 0; - a5=(a0*a9); - a4=(a4*a5); - a6=(a6+a4); - a12=(a12+a6); - a12=(-a12); - if (res[2]!=0) res[2][0]=a12; - a12=cos(a1); - a12=(a12*a13); - a12=(a0*a12); - a6=(a0*a9); - a7=(a7*a6); - a1=sin(a1); - a1=(a1*a13); - a3=(a3*a1); - a8=(a8*a3); - a7=(a7-a8); - a12=(a12+a7); - if (res[2]!=0) res[2][1]=a12; - a0=(a0*a9); - if (res[2]!=0) res[2][2]=a0; - a0=1.; - if (res[2]!=0) res[2][3]=a0; - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_forw(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ - return casadi_f0(arg, res, iw, w, mem); -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_alloc_mem(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_init_mem(int mem) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_free_mem(int mem) { -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_checkout(void) { - return 0; -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_release(int mem) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_incref(void) { -} - -CASADI_SYMBOL_EXPORT void lat_expl_vde_forw_decref(void) { -} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_forw_n_in(void) { return 5;} - -CASADI_SYMBOL_EXPORT casadi_int lat_expl_vde_forw_n_out(void) { return 3;} - -CASADI_SYMBOL_EXPORT casadi_real lat_expl_vde_forw_default_in(casadi_int i){ - switch (i) { - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_vde_forw_name_in(casadi_int i){ - switch (i) { - case 0: return "i0"; - case 1: return "i1"; - case 2: return "i2"; - case 3: return "i3"; - case 4: return "i4"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const char* lat_expl_vde_forw_name_out(casadi_int i){ - switch (i) { - case 0: return "o0"; - case 1: return "o1"; - case 2: return "o2"; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_forw_sparsity_in(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s0; - case 3: return casadi_s2; - case 4: return casadi_s3; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT const casadi_int* lat_expl_vde_forw_sparsity_out(casadi_int i) { - switch (i) { - case 0: return casadi_s0; - case 1: return casadi_s1; - case 2: return casadi_s0; - default: return 0; - } -} - -CASADI_SYMBOL_EXPORT int lat_expl_vde_forw_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { - if (sz_arg) *sz_arg = 5; - if (sz_res) *sz_res = 3; - if (sz_iw) *sz_iw = 0; - if (sz_w) *sz_w = 0; - return 0; -} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so deleted file mode 100755 index cbb22c625..000000000 Binary files a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so and /dev/null differ diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/main_lat.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/main_lat.c deleted file mode 100644 index 53809769a..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/main_lat.c +++ /dev/null @@ -1,216 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -// standard -#include -#include -// acados -#include "acados/utils/print.h" -#include "acados/utils/math.h" -#include "acados_c/ocp_nlp_interface.h" -#include "acados_c/external_function_interface.h" -#include "acados_solver_lat.h" - -#define NX LAT_NX -#define NZ LAT_NZ -#define NU LAT_NU -#define NP LAT_NP -#define NBX LAT_NBX -#define NBX0 LAT_NBX0 -#define NBU LAT_NBU -#define NSBX LAT_NSBX -#define NSBU LAT_NSBU -#define NSH LAT_NSH -#define NSG LAT_NSG -#define NSPHI LAT_NSPHI -#define NSHN LAT_NSHN -#define NSGN LAT_NSGN -#define NSPHIN LAT_NSPHIN -#define NSBXN LAT_NSBXN -#define NS LAT_NS -#define NSN LAT_NSN -#define NG LAT_NG -#define NBXN LAT_NBXN -#define NGN LAT_NGN -#define NY0 LAT_NY0 -#define NY LAT_NY -#define NYN LAT_NYN -#define NH LAT_NH -#define NPHI LAT_NPHI -#define NHN LAT_NHN -#define NPHIN LAT_NPHIN -#define NR LAT_NR - - -int main() -{ - - lat_solver_capsule *acados_ocp_capsule = lat_acados_create_capsule(); - // there is an opportunity to change the number of shooting intervals in C without new code generation - int N = LAT_N; - // allocate the array and fill it accordingly - double* new_time_steps = NULL; - int status = lat_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps); - - if (status) - { - printf("lat_acados_create() returned status %d. Exiting.\n", status); - exit(1); - } - - ocp_nlp_config *nlp_config = lat_acados_get_nlp_config(acados_ocp_capsule); - ocp_nlp_dims *nlp_dims = lat_acados_get_nlp_dims(acados_ocp_capsule); - ocp_nlp_in *nlp_in = lat_acados_get_nlp_in(acados_ocp_capsule); - ocp_nlp_out *nlp_out = lat_acados_get_nlp_out(acados_ocp_capsule); - ocp_nlp_solver *nlp_solver = lat_acados_get_nlp_solver(acados_ocp_capsule); - void *nlp_opts = lat_acados_get_nlp_opts(acados_ocp_capsule); - - // initial condition - int idxbx0[NBX0]; - idxbx0[0] = 0; - idxbx0[1] = 1; - idxbx0[2] = 2; - idxbx0[3] = 3; - - double lbx0[NBX0]; - double ubx0[NBX0]; - lbx0[0] = 0; - ubx0[0] = 0; - lbx0[1] = 0; - ubx0[1] = 0; - lbx0[2] = 0; - ubx0[2] = 0; - lbx0[3] = 0; - ubx0[3] = 0; - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); - - // initialization for state values - double x_init[NX]; - x_init[0] = 0.0; - x_init[1] = 0.0; - x_init[2] = 0.0; - x_init[3] = 0.0; - - // initial value for control input - double u0[NU]; - u0[0] = 0.0; - // set parameters - double p[NP]; - p[0] = 0; - p[1] = 0; - - for (int ii = 0; ii <= N; ii++) - { - lat_acados_update_params(acados_ocp_capsule, ii, p, NP); - } - - - // prepare evaluation - int NTIMINGS = 1; - double min_time = 1e12; - double kkt_norm_inf; - double elapsed_time; - int sqp_iter; - - double xtraj[NX * (N+1)]; - double utraj[NU * N]; - - - // solve ocp in loop - int rti_phase = 0; - - for (int ii = 0; ii < NTIMINGS; ii++) - { - // initialize solution - for (int i = 0; i < N; i++) - { - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init); - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); - } - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init); - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase); - status = lat_acados_solve(acados_ocp_capsule); - ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time); - min_time = MIN(elapsed_time, min_time); - } - - /* print solution and statistics */ - for (int ii = 0; ii <= nlp_dims->N; ii++) - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]); - for (int ii = 0; ii < nlp_dims->N; ii++) - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]); - - printf("\n--- xtraj ---\n"); - d_print_exp_tran_mat( NX, N+1, xtraj, NX); - printf("\n--- utraj ---\n"); - d_print_exp_tran_mat( NU, N, utraj, NU ); - // ocp_nlp_out_print(nlp_solver->dims, nlp_out); - - printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS); - - if (status == ACADOS_SUCCESS) - { - printf("lat_acados_solve(): SUCCESS!\n"); - } - else - { - printf("lat_acados_solve() failed with status %d.\n", status); - } - - // get solution - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf); - ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter); - - lat_acados_print_stats(acados_ocp_capsule); - - printf("\nSolver info:\n"); - printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n", - sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf); - - // free solver - status = lat_acados_free(acados_ocp_capsule); - if (status) { - printf("lat_acados_free() returned status %d. \n", status); - } - // free solver capsule - status = lat_acados_free_capsule(acados_ocp_capsule); - if (status) { - printf("lat_acados_free_capsule() returned status %d. \n", status); - } - - return status; -} diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c deleted file mode 100644 index c536654fd..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c +++ /dev/null @@ -1,128 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -// standard -#include -#include -// acados -#include "acados/utils/print.h" -#include "acados/utils/math.h" -#include "acados_c/sim_interface.h" -#include "acados_sim_solver_lat.h" - -#define NX LAT_NX -#define NZ LAT_NZ -#define NU LAT_NU -#define NP LAT_NP - - -int main() -{ - int status = 0; - sim_solver_capsule *capsule = lat_acados_sim_solver_create_capsule(); - status = lat_acados_sim_create(capsule); - - if (status) - { - printf("acados_create() returned status %d. Exiting.\n", status); - exit(1); - } - - sim_config *acados_sim_config = lat_acados_get_sim_config(capsule); - sim_in *acados_sim_in = lat_acados_get_sim_in(capsule); - sim_out *acados_sim_out = lat_acados_get_sim_out(capsule); - void *acados_sim_dims = lat_acados_get_sim_dims(capsule); - - // initial condition - double x_current[NX]; - x_current[0] = 0.0; - x_current[1] = 0.0; - x_current[2] = 0.0; - x_current[3] = 0.0; - - - x_current[0] = 0; - x_current[1] = 0; - x_current[2] = 0; - x_current[3] = 0; - - - - - // initial value for control input - double u0[NU]; - u0[0] = 0.0; - // set parameters - double p[NP]; - p[0] = 0; - p[1] = 0; - - lat_acados_sim_update_params(capsule, p, NP); - - - int n_sim_steps = 3; - // solve ocp in loop - for (int ii = 0; ii < n_sim_steps; ii++) - { - sim_in_set(acados_sim_config, acados_sim_dims, - acados_sim_in, "x", x_current); - status = lat_acados_sim_solve(capsule); - - if (status != ACADOS_SUCCESS) - { - printf("acados_solve() failed with status %d.\n", status); - } - - sim_out_get(acados_sim_config, acados_sim_dims, - acados_sim_out, "x", x_current); - - printf("\nx_current, %d\n", ii); - for (int jj = 0; jj < NX; jj++) - { - printf("%e\n", x_current[jj]); - } - } - - printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps); - - // free solver - status = lat_acados_sim_free(capsule); - if (status) { - printf("lat_acados_sim_free() returned status %d. \n", status); - } - - lat_acados_sim_solver_free_capsule(capsule); - - return status; -} diff --git a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/make_sfun_lat.m b/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/make_sfun_lat.m deleted file mode 100644 index 2c6679ecb..000000000 --- a/selfdrive/dragonpilot/controls_0816/lib/lateral_mpc_lib/c_generated_code/make_sfun_lat.m +++ /dev/null @@ -1,125 +0,0 @@ -% -% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl -% -% This file is part of acados. -% -% The 2-Clause BSD License -% -% Redistribution and use in source and binary forms, with or without -% modification, are permitted provided that the following conditions are met: -% -% 1. Redistributions of source code must retain the above copyright notice, -% this list of conditions and the following disclaimer. -% -% 2. Redistributions in binary form must reproduce the above copyright notice, -% this list of conditions and the following disclaimer in the documentation -% and/or other materials provided with the distribution. -% -% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -% POSSIBILITY OF SUCH DAMAGE.; -% - -SOURCES = { ... - 'lat_model/lat_expl_ode_fun.c', ... - 'lat_model/lat_expl_vde_forw.c',... - 'lat_cost/lat_cost_y_0_fun.c',... - 'lat_cost/lat_cost_y_0_fun_jac_ut_xt.c',... - 'lat_cost/lat_cost_y_0_hess.c',... - 'lat_cost/lat_cost_y_fun.c',... - 'lat_cost/lat_cost_y_fun_jac_ut_xt.c',... - 'lat_cost/lat_cost_y_hess.c',... - 'lat_cost/lat_cost_y_e_fun.c',... - 'lat_cost/lat_cost_y_e_fun_jac_ut_xt.c',... - 'lat_cost/lat_cost_y_e_hess.c',... - 'acados_solver_sfunction_lat.c', ... - 'acados_solver_lat.c' - }; - -INC_PATH = '/data/openpilot/third_party/acados/include/acados/include'; - -INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ... - ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ... - ['-I', fullfile(INC_PATH, 'acados')], ... - ['-I', fullfile(INC_PATH)]}; - - - -CFLAGS = 'CFLAGS=$CFLAGS'; -LDFLAGS = 'LDFLAGS=$LDFLAGS'; -COMPFLAGS = 'COMPFLAGS=$COMPFLAGS'; -COMPDEFINES = 'COMPDEFINES=$COMPDEFINES'; - - - -LIB_PATH = ['-L', fullfile('/data/openpilot/third_party/acados/include/acados/lib')]; - -LIBS = {'-lacados', '-lhpipm', '-lblasfeo'}; - -% acados linking libraries and flags - - -mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ... - LIB_PATH, LIBS{:}, SOURCES{:}, ... - '-output', 'acados_solver_sfunction_lat' ); - -fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_lat', '.', ... - eval('mexext')] ); - - -%% print note on usage of s-function -fprintf('\n\nNote: Usage of Sfunction is as follows:\n') -input_note = 'Inputs are:\n'; -i_in = 1; -input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',... - ' size [4]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',... - ' size [4]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N+1,',... - ' size [34]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [3]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',... - ' size [45]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [2]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [30]\n '); -i_in = i_in + 1; -input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [30]\n '); -i_in = i_in + 1; - -fprintf(input_note) - -disp(' ') - -output_note = 'Outputs are:\n'; -i_out = 0; -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [1]\n '); -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n '); -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') KKT residual\n '); -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n '); -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') CPU time\n '); -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n '); - -fprintf(output_note) diff --git a/selfdrive/dragonpilot/dashcamd.py b/selfdrive/dragonpilot/dashcamd.py deleted file mode 100644 index ccb389817..000000000 --- a/selfdrive/dragonpilot/dashcamd.py +++ /dev/null @@ -1,95 +0,0 @@ -#!/usr/bin/env python3.7 -# The MIT License -# -# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. -# -# Permission is hereby granted, free of charge, to any person obtaining a copy -# of this software and associated documentation files (the "Software"), to deal -# in the Software without restriction, including without limitation the rights -# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -# copies of the Software, and to permit persons to whom the Software is -# furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included in -# all copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -# THE SOFTWARE. - -import os -import datetime -from common.realtime import sec_since_boot - -DASHCAM_VIDEOS_PATH = '/data/media/0/dashcam/' -DASHCAM_DURATION = 180 # max is 180 -DASHCAM_BIT_RATES = 4000000 # max is 4000000 -DASHCAM_MAX_SIZE_PER_FILE = DASHCAM_BIT_RATES/8*DASHCAM_DURATION # 4Mbps / 8 * 180 = 90MB per 180 seconds -DASHCAM_FREESPACE_LIMIT = 15 # we start cleaning up footage when freespace is below 15% -DASHCAM_KEPT_MIN_SIZE = DASHCAM_MAX_SIZE_PER_FILE * 240 # 12 hrs of video = 21GB - -class Dashcamd(): - def __init__(self): - self.dashcam_folder_exists = False - self.dashcam_mkdir_retry = 0 - self.dashcam_next_time = 0 - self.started = False - self.free_space = 1. - - def run(self, started, free_space): - self.free_space = free_space - if self.started and not started: - self.stop() - self.started = started - self.make_folder() - if self.dashcam_folder_exists: - self.start() - self.clean_up() - - def stop(self): - os.system("killall -SIGINT screenrecord") - self.dashcam_next_time = 0 - - def make_folder(self): - if not self.dashcam_folder_exists and self.dashcam_mkdir_retry <= 5: - # create dashcam folder if not exist - try: - if not os.path.exists(DASHCAM_VIDEOS_PATH): - os.makedirs(DASHCAM_VIDEOS_PATH) - else: - self.dashcam_folder_exists = True - except OSError: - self.dashcam_folder_exists = False - self.dashcam_mkdir_retry += 1 - - def start(self): - # start recording - if self.started: - ts = sec_since_boot() - if ts >= self.dashcam_next_time: - now = datetime.datetime.now() - file_name = now.strftime("%Y-%m-%d_%H-%M-%S") - os.system("LD_LIBRARY_PATH= screenrecord --bit-rate %s --time-limit %s %s%s.mp4 &" % (DASHCAM_BIT_RATES, DASHCAM_DURATION, DASHCAM_VIDEOS_PATH, file_name)) - self.dashcam_next_time = ts + DASHCAM_DURATION - 1 - else: - self.dashcam_next_time = 0 - - def clean_up(self): - # clean up - if (self.free_space < DASHCAM_FREESPACE_LIMIT) or (self.get_used_spaces() > DASHCAM_KEPT_MIN_SIZE): - try: - files = [f for f in sorted(os.listdir(DASHCAM_VIDEOS_PATH)) if os.path.isfile(DASHCAM_VIDEOS_PATH + f)] - os.system("rm -fr %s &" % (DASHCAM_VIDEOS_PATH + files[0])) - except (IndexError, FileNotFoundError, OSError): - pass - - def get_used_spaces(self): - try: - val = sum(os.path.getsize(DASHCAM_VIDEOS_PATH + f) for f in os.listdir(DASHCAM_VIDEOS_PATH) if os.path.isfile(DASHCAM_VIDEOS_PATH + f)) - except (IndexError, FileNotFoundError, OSError): - val = 0 - return val diff --git a/selfdrive/dragonpilot/dpmonitoringd.py b/selfdrive/dragonpilot/dpmonitoringd.py deleted file mode 100755 index f4d1e831b..000000000 --- a/selfdrive/dragonpilot/dpmonitoringd.py +++ /dev/null @@ -1,88 +0,0 @@ -#!/usr/bin/env python3 -# a simple steering only driver monitor module for C2 - -import gc - -import cereal.messaging as messaging -from common.realtime import set_realtime_priority -from selfdrive.controls.lib.events import Events -from selfdrive.dragonpilot.driver_monitor import DriverStatus -from cereal import car - -from common.realtime import DT_DMON -MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts -MAX_TERMINAL_DURATION = int(30 / DT_DMON) # not allowed to engage after 30s of terminal alerts -from common.realtime import Ratekeeper - -def dpmonitoringd_thread(sm=None, pm=None): - rk = Ratekeeper(10, print_delay_threshold=None) # Keeps rate at 10 hz - gc.disable() - set_realtime_priority(2) - - if pm is None: - pm = messaging.PubMaster(['driverMonitoringState']) - - if sm is None: - sm = messaging.SubMaster(['carState', 'controlsState']) - - driver_status = DriverStatus() - - sm['carState'].buttonEvents = [] - sm['carState'].standstill = True - - v_cruise_last = 0 - driver_engaged = False - - while True: - sm.update() - - # Get interaction - if sm.updated['carState']: - v_cruise = sm['carState'].cruiseState.speed - driver_engaged = len(sm['carState'].buttonEvents) > 0 or \ - v_cruise != v_cruise_last or \ - sm['carState'].steeringPressed or \ - sm['carState'].gasPressed or \ - sm['carState'].brakePressed - v_cruise_last = v_cruise - - events = Events() - - if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or \ - driver_status.terminal_time >= MAX_TERMINAL_DURATION: - events.add(car.CarEvent.EventName.tooDistracted) - - # Update events from driver state - driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled, sm['carState'].standstill) - # driver_status.update_events(events, driver_engaged, True, False) - - # build driverMonitoringState packet - dat = messaging.new_message('driverMonitoringState') - dat.driverMonitoringState = { - "events": events.to_msg(), - # "faceDetected": False, - # "isDistracted": True, - # "distractedType": sum(driver_status.distracted_types), - "awarenessStatus": driver_status.awareness, - # "posePitchOffset": driver_status.pose.pitch_offseter.filtered_stat.mean(), - # "posePitchValidCount": driver_status.pose.pitch_offseter.filtered_stat.n, - # "poseYawOffset": driver_status.pose.yaw_offseter.filtered_stat.mean(), - # "poseYawValidCount": driver_status.pose.yaw_offseter.filtered_stat.n, - # "stepChange": driver_status.step_change, - # "awarenessActive": driver_status.awareness_active, - # "awarenessPassive": driver_status.awareness_passive, - # "isLowStd": driver_status.pose.low_std, - # "hiStdCount": driver_status.hi_stds, - "isActiveMode": driver_status.awareness <= driver_status.threshold_prompt, - # "isRHD": driver_status.wheel_on_right, - } - pm.send('driverMonitoringState', dat) - rk.keep_time() - - -def main(sm=None, pm=None): - dpmonitoringd_thread(sm, pm) - - -if __name__ == '__main__': - main() diff --git a/selfdrive/dragonpilot/driver_monitor.py b/selfdrive/dragonpilot/driver_monitor.py deleted file mode 100644 index 654063d3c..000000000 --- a/selfdrive/dragonpilot/driver_monitor.py +++ /dev/null @@ -1,61 +0,0 @@ -#!/usr/bin/env python3 -# a simple steering only driver monitor module for C2 - -from cereal import car -EventName = car.CarEvent.EventName -from common.realtime import DT_DMON # 0.05 = 20hz - -# ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2 -_AWARENESS_TIME = 30. # 30 secs limit without user touching steering wheels make the car enter a terminal status -_AWARENESS_PRE_TIME_TILL_TERMINAL = 15. # a first alert is issued 15s before expiration -_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6. # a second alert is issued 6s before start decelerating the car - -class DriverStatus(): - def __init__(self): - self.terminal_alert_cnt = 0 - self.terminal_time = 0 - - self.awareness = 1. - - self.ts_last_check = 0. - - self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / _AWARENESS_TIME - self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / _AWARENESS_TIME - self.step_change = DT_DMON / _AWARENESS_TIME - - def update_events(self, events, driver_engaged, ctrl_active, standstill): - if (driver_engaged and self.awareness > 0) or not ctrl_active: - # always reset if driver is in control (unless we are in red alert state) or op isn't active - self.awareness = 1. - return - - awareness_prev = self.awareness - - if not (standstill and self.awareness - self.step_change <= self.threshold_prompt): - self.awareness = max(self.awareness - self.step_change, -0.1) - - alert = None - if self.awareness <= 0.: - # terminal red alert: disengagement required - alert = EventName.driverUnresponsive - self.terminal_time += 1 - if awareness_prev > 0.: - self.terminal_alert_cnt += 1 - elif self.awareness <= self.threshold_prompt: - # prompt orange alert - alert = EventName.promptDriverUnresponsive - elif self.awareness <= self.threshold_pre: - # pre green alert - alert = EventName.preDriverUnresponsive - - # print("trigger to green in: %s secs" % ((self.threshold_pre - self.awareness) / self.step_change * DT_DMON)) - # print("trigger to orange in: %s secs" % ((self.threshold_prompt - self.awareness) / self.step_change * DT_DMON)) - # print("trigger to red in: %s secs" % ((0 - self.awareness) / self.step_change * DT_DMON)) - # print("---------------------------------------------------------------------------") - - if alert is not None: - events.add(alert) - -if __name__ == "__main__": - pass - diff --git a/selfdrive/dragonpilot/gpx_uploader.py b/selfdrive/dragonpilot/gpx_uploader.py deleted file mode 100644 index 5f7c6cc37..000000000 --- a/selfdrive/dragonpilot/gpx_uploader.py +++ /dev/null @@ -1,142 +0,0 @@ -#!/usr/bin/env python3 -# The MIT License -# -# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. -# -# Permission is hereby granted, free of charge, to any person obtaining a copy -# of this software and associated documentation files (the "Software"), to deal -# in the Software without restriction, including without limitation the rights -# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -# copies of the Software, and to permit persons to whom the Software is -# furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included in -# all copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -# THE SOFTWARE. - -import os -import time -from common.params import Params -from system.version import get_version - -# for uploader -from selfdrive.loggerd.xattr_cache import getxattr, setxattr -import glob -import requests -import json - -# customisable values -GPX_LOG_PATH = '/data/media/0/gpx_logs/' -LOG_HERTZ = 1/10 # 0.1 Hz = 10 sec, higher for higher accuracy, 10hz seems fine - -# uploader -UPLOAD_ATTR_NAME = 'user.upload' -UPLOAD_ATTR_VALUE = b'1' -LOG_PATH = '/data/media/0/gpx_logs/' - -# osm api -API_HEADER = {'Authorization': 'Bearer 2pvUyXfk9vizuh7PwQFSEYBtFWcM-Pu7vxApUjSA0fc'} -VERSION_URL = 'https://api.openstreetmap.org/api/versions' -UPLOAD_URL = 'https://api.openstreetmap.org/api/0.6/gpx/create' - -_DEBUG = False - -def _debug(msg): - if not _DEBUG: - return - print(msg, flush=True) - -class GpxUploader(): - def __init__(self): - self._delete_after_upload = not Params().get_bool('dp_gpxd') - self._car_model = "Unknown Model" - # read model from LiveParameters - params = Params().get("LiveParameters") - if params is not None: - params = json.loads(params) - self._car_model = params.get('carFingerprint', self._car_model) - self._dp_version = get_version() - _debug("GpxUploader init - _delete_after_upload = %s" % self._delete_after_upload) - _debug("GpxUploader init - _car_model = %s" % self._car_model) - - def _is_online(self): - try: - r = requests.get(VERSION_URL, headers=API_HEADER) - _debug("is_online? status_code = %s" % r.status_code) - return r.status_code >= 200 - except Exception: - return False - - def _get_is_uploaded(self, filename): - _debug("%s is uploaded: %s" % (filename, getxattr(filename, UPLOAD_ATTR_NAME) is not None)) - return getxattr(filename, UPLOAD_ATTR_NAME) is not None - - def _set_is_uploaded(self, filename): - _debug("%s set to uploaded" % filename) - setxattr(filename, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE) - - def _get_files(self): - return sorted( filter( os.path.isfile, glob.glob(LOG_PATH + '*') ) ) - - def _get_files_to_be_uploaded(self): - files = self._get_files() - files_to_be_uploaded = [] - for file in files: - if not self._get_is_uploaded(file): - files_to_be_uploaded.append(file) - return files_to_be_uploaded - - def _do_upload(self, filename): - fn = os.path.basename(filename) - data = { - 'description': "Routes from dragonpilot %s (%s)." % (self._dp_version, self._car_model), - 'visibility': 'identifiable' - } - files = { - "file": (fn, open(filename, 'rb')) - } - try: - r = requests.post(UPLOAD_URL, files=files, data=data, headers=API_HEADER) - _debug("do_upload - %s - %s" % (filename, r.status_code)) - return r.status_code == 200 - except Exception: - return False - - def run(self): - while True: - files = self._get_files_to_be_uploaded() - if len(files) == 0: - _debug("run - no files") - elif not self._is_online() and self._delete_after_upload: - _debug("run - not online & delete_after_upload") - for file in files: - os.remove(file) - else: - for file in files: - if self._do_upload(file): - if self._delete_after_upload: - _debug("run - _delete_after_upload") - os.remove(file) - else: - _debug("run - set_is_uploaded") - self._set_is_uploaded(file) - # sleep for 300 secs if offroad - # otherwise sleep 60 secs - time.sleep(300 if Params().get_bool("IsOffroad") else 60) - -def gpx_uploader_thread(): - gpx_uploader = GpxUploader() - gpx_uploader.run() - -def main(): - gpx_uploader_thread() - -if __name__ == "__main__": - main() diff --git a/selfdrive/dragonpilot/gpxd.py b/selfdrive/dragonpilot/gpxd.py deleted file mode 100644 index 5bd37488e..000000000 --- a/selfdrive/dragonpilot/gpxd.py +++ /dev/null @@ -1,171 +0,0 @@ -#!/usr/bin/env python3 -#pylint: skip-file -# The MIT License -# -# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. -# -# Permission is hereby granted, free of charge, to any person obtaining a copy -# of this software and associated documentation files (the "Software"), to deal -# in the Software without restriction, including without limitation the rights -# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -# copies of the Software, and to permit persons to whom the Software is -# furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included in -# all copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -# THE SOFTWARE. - -import cereal.messaging as messaging -import os -import datetime -import signal -import threading -from common.realtime import Ratekeeper -import math -from cereal import log -from system.swaglog import cloudlog - -# customisable values -GPX_LOG_PATH = '/data/media/0/gpx_logs/' -LOG_HERTZ = 10 # 10 hz = 0.1 sec, higher for higher accuracy, 10hz seems fine -LOG_LENGTH = 10 # mins, higher means it keeps more data in the memory, will take more time to write into a file too. -LOST_SIGNAL_COUNT_LENGTH = 10 # secs, output log file if we lost signal for this long - -# do not change -LOST_SIGNAL_COUNT_MAX = LOST_SIGNAL_COUNT_LENGTH * LOG_HERTZ # secs, -LOGS_PER_FILE = LOG_LENGTH * 60 * LOG_HERTZ # e.g. 10 * 60 * 10 = 6000 points per file - -_DEBUG = False -_CLOUDLOG_DEBUG = True - - -def _debug(msg, log_to_cloud=True): - if _CLOUDLOG_DEBUG and log_to_cloud: - cloudlog.debug(msg) - if _DEBUG: - print(msg) - -class WaitTimeHelper: - ready_event = threading.Event() - shutdown = False - - def __init__(self): - signal.signal(signal.SIGTERM, self.graceful_shutdown) - signal.signal(signal.SIGINT, self.graceful_shutdown) - signal.signal(signal.SIGHUP, self.graceful_shutdown) - - def graceful_shutdown(self, signum, frame): - self.shutdown = True - self.ready_event.set() - -class GpxD(): - def __init__(self): - self.log_count = 0 - self.logs = list() - self.lost_signal_count = 0 - self.wait_helper = WaitTimeHelper() - self.started_time = datetime.datetime.utcnow().isoformat() - self.v_ego_prev = 0. - self.pause = True - - def log(self, sm): - location = sm['liveLocationKalman'] - gps = sm['gpsLocationExternal'] - v_ego = sm['carState'].vEgo - - if abs(v_ego) > 0.01: - self.pause = False - - location_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid - _debug("gpxd: location_valid - %s" % location_valid) - if not location_valid or self.pause: - if self.log_count > 0: - self.lost_signal_count += 1 - else: - lat = location.positionGeodetic.value[0] - lon = location.positionGeodetic.value[1] - alt = gps.altitude - - _debug("gpxd: logged - %s %s %s %s" % (datetime.datetime.utcfromtimestamp(location.unixTimestampMillis*0.001).isoformat(), str(lat), str(lon), str(alt))) - self.logs.append([datetime.datetime.utcfromtimestamp(location.unixTimestampMillis*0.001).isoformat(), str(lat), str(lon), str(alt)]) - self.log_count += 1 - self.lost_signal_count = 0 - - if not self.pause and abs(v_ego) < 0.01: - _debug("gpxd: paused") - self.pause = True - - self.v_ego_prev = v_ego - - def write_log(self, force = False): - if self.log_count == 0: - return - - if force or (self.log_count >= LOGS_PER_FILE or self.lost_signal_count >= LOST_SIGNAL_COUNT_MAX): - _debug("gpxd: save to log") - self._write_gpx() - self.lost_signal_count = 0 - self.log_count = 0 - self.logs.clear() - self.started_time = datetime.datetime.utcnow().isoformat() - - def _write_gpx(self): - if len(self.logs) > 1: - if not os.path.exists(GPX_LOG_PATH): - os.makedirs(GPX_LOG_PATH) - filename = self.started_time.replace(':','-') - str = '' - str += "\n" - str += "\n" - str += "\n" - str += " " + self.started_time + "" - str += " \n" - for trkpt in self.logs: - str += self._trkpt_template(trkpt[1], trkpt[2], trkpt[3], trkpt[0]) - str += " \n" - str += "\n" - str += "\n" - try: - f = open('%s%sZ.gpx' % (GPX_LOG_PATH, filename), 'w') - f.write(str) - f.close() - except: - pass - - def _trkpt_template(self, lat, lon, ele, time): - str = "" - str += " \n" - str += " " + ele + "\n" - str += " \n" - str += " \n" - return str - -def gpxd_thread(sm=None, pm=None): - if sm is None: - sm = messaging.SubMaster(['liveLocationKalman', 'gpsLocationExternal', 'carState']) - - wait_helper = WaitTimeHelper() - gpxd = GpxD() - rk = Ratekeeper(LOG_HERTZ, print_delay_threshold=None) - - while True: - sm.update(0) - gpxd.log(sm) - gpxd.write_log() - if wait_helper.shutdown: - gpxd.write_log(True) - break - rk.keep_time() - -def main(sm=None, pm=None): - gpxd_thread(sm, pm) - -if __name__ == "__main__": - main() diff --git a/selfdrive/dragonpilot/otisserv.py b/selfdrive/dragonpilot/otisserv.py deleted file mode 100644 index 060d54609..000000000 --- a/selfdrive/dragonpilot/otisserv.py +++ /dev/null @@ -1,412 +0,0 @@ -#!/usr/bin/env python3.8 -#pylint: skip-file -# The MIT License -# -# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. -# -# Permission is hereby granted, free of charge, to any person obtaining a copy -# of this software and associated documentation files (the "Software"), to deal -# in the Software without restriction, including without limitation the rights -# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -# copies of the Software, and to permit persons to whom the Software is -# furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included in -# all copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -# THE SOFTWARE. - -from http.server import BaseHTTPRequestHandler, HTTPServer -from cgi import parse_header, parse_multipart -from urllib.parse import parse_qs, unquote -import json -import requests -import math -from common.basedir import BASEDIR -from common.params import Params -from common.i18n import supported_languages -params = Params() - -hostName = "" -serverPort = 8082 - -pi = 3.1415926535897932384626 -x_pi = 3.14159265358979324 * 3000.0 / 180.0 -a = 6378245.0 -ee = 0.00669342162296594323 - - -class OtisServ(BaseHTTPRequestHandler): - def do_GET(self): - use_amap = params.get_bool('dp_nav_amap_enable') - use_gmap = not use_amap and params.get_bool('dp_nav_gmap_enable') - - if self.path == '/logo.png': - self.get_logo() - return - if self.path == '/?reset=1': - params.put("NavDestination", "") - if use_amap: - if self.path == '/style.css': - self.send_response(200) - self.send_header("Content-type", "text/css") - self.end_headers() - self.get_amap_css() - return - elif self.path == '/index.js': - self.send_response(200) - self.send_header("Content-type", "text/javascript") - self.end_headers() - self.get_amap_js() - return - else: - self.send_response(200) - self.send_header("Content-type", "text/html") - self.end_headers() - if self.get_amap_key() is None or self.get_amap_key_2() is None: - self.display_page_amap_key() - return - if self.get_app_token() is None: - self.display_page_app_token() - return - self.display_page_amap() - elif use_gmap: - if self.path == '/style.css': - self.send_response(200) - self.send_header("Content-type", "text/css") - self.end_headers() - self.get_gmap_css() - return - elif self.path == '/index.js': - self.send_response(200) - self.send_header("Content-type", "text/javascript") - self.end_headers() - self.get_gmap_js() - return - else: - self.send_response(200) - self.send_header("Content-type", "text/html") - self.end_headers() - if self.get_gmap_key() is None: - self.display_page_gmap_key() - return - if self.get_app_token() is None: - self.display_page_app_token() - return - self.display_page_gmap() - else: - self.send_response(200) - self.send_header("Content-type", "text/html") - self.end_headers() - if self.get_public_token() is None: - self.display_page_public_token() - return - if self.get_app_token() is None: - self.display_page_app_token() - return - self.display_page_addr_input() - - def do_POST(self): - use_amap = params.get_bool('dp_nav_amap_enable') - use_gmap = not use_amap and params.get_bool('dp_nav_gmap_enable') - - postvars = self.parse_POST() - self.send_response(200) - self.send_header("Content-type", "text/html") - self.end_headers() - - if use_amap: - # amap token - if self.get_amap_key() is None or self.get_amap_key_2() is None: - if postvars is None or \ - ("amap_key_val" not in postvars or postvars.get("amap_key_val")[0] == "") or \ - ("amap_key_val_2" not in postvars or postvars.get("amap_key_val_2")[0] == ""): - self.display_page_amap_key() - return - params.put('dp_nav_amap_key', postvars.get("amap_key_val")[0]) - params.put('dp_nav_amap_key_2', postvars.get("amap_key_val_2")[0]) - - elif use_gmap: - # gmap token - if self.get_gmap_key() is None: - if postvars is None or "gmap_key_val" not in postvars or postvars.get("gmap_key_val")[0] == "": - self.display_page_gmap_key() - return - params.put('dp_nav_gmap_key', postvars.get("gmap_key_val")[0]) - - else: - # mapbox public key - if self.get_public_token() is None: - if postvars is None or "pk_token_val" not in postvars or postvars.get("pk_token_val")[0] == "": - self.display_page_public_token() - return - token = postvars.get("pk_token_val")[0] - if "pk." not in token: - self.display_page_public_token("Your token was incorrect!") - return - params.put('dp_nav_mapbox_token_pk', token) - - # app key - if self.get_app_token() is None: - if postvars is None or "sk_token_val" not in postvars or postvars.get("sk_token_val")[0] == "": - self.display_page_app_token() - return - token = postvars.get("sk_token_val")[0] - if "sk." not in token: - self.display_page_app_token("Your token was incorrect!") - return - params.put('dp_nav_mapbox_token_sk', token) - - # nav confirmed - if postvars is not None: - if "lat" in postvars and postvars.get("lat")[0] != "" and "lon" in postvars and postvars.get("lon")[0] != "": - lat = float(postvars.get("lat")[0]) - lng = float(postvars.get("lon")[0]) - save_type = postvars.get("save_type")[0] - name = postvars.get("name")[0] if postvars.get("name") is not None else "" - if use_amap: - lng, lat = self.gcj02towgs84(lng, lat) - params.put('NavDestination', "{\"latitude\": %f, \"longitude\": %f, \"place_name\": \"%s\"}" % (lat, lng, name)) - self.to_json(lat, lng, save_type, name) - # search - if not use_gmap and "addr_val" in postvars: - addr = postvars.get("addr_val")[0] - if addr != "": - real_addr, lat, lon = self.query_addr(addr) - if real_addr is not None: - self.display_page_nav_confirmation(real_addr, lon, lat) - return - else: - self.display_page_addr_input("Place Not Found") - return - if use_amap: - self.display_page_amap() - elif use_gmap: - self.display_page_gmap() - else: - self.display_page_addr_input() - - def get_logo(self): - self.send_response(200) - self.send_header('Content-type','image/png') - self.end_headers() - f = open("%s/selfdrive/assets/img_spinner_comma.png" % BASEDIR, "rb") - self.wfile.write(f.read()) - f.close() - - def get_gmap_css(self): - self.wfile.write(bytes(self.get_parsed_template("gmap/style.css"), "utf-8")) - - def get_gmap_js(self): - lon, lat = self.get_last_lon_lat() - self.wfile.write(bytes(self.get_parsed_template("gmap/index.js", {"{{lat}}": lat, "{{lon}}": lon}), "utf-8")) - - def get_gmap_key(self): - token = params.get("dp_nav_gmap_key", encoding='utf8') - if token is not None and token != "": - return token.rstrip('\x00') - return None - - def get_amap_css(self): - self.wfile.write(bytes(self.get_parsed_template("amap/style.css"), "utf-8")) - - def get_amap_js(self): - lon, lat = self.get_last_lon_lat() - self.wfile.write(bytes(self.get_parsed_template("amap/index.js", {"{{lat}}": lat, "{{lon}}": lon}), "utf-8")) - - def get_amap_key(self): - token = params.get("dp_nav_amap_key", encoding='utf8') - if token is not None and token != "": - return token.rstrip('\x00') - return None - - def get_amap_key_2(self): - token = params.get("dp_nav_amap_key_2", encoding='utf8') - if token is not None and token != "": - return token.rstrip('\x00') - return None - - def get_public_token(self): - token = params.get("dp_nav_mapbox_token_pk", encoding='utf8') - if token is not None and token != "": - return token.rstrip('\x00') - return None - - def get_app_token(self): - token = params.get("dp_nav_mapbox_token_sk", encoding='utf8') - if token is not None and token != "": - return token.rstrip('\x00') - return None - - def get_last_lon_lat(self): - last_pos = Params().get("LastGPSPosition") - if last_pos is not None and last_pos != "": - l = json.loads(last_pos) - return l["longitude"], l["latitude"] - else: - locale = params.get("dp_locale", encoding='utf8') - if locale == "zh-TW": - return "121.3149803", "24.996256935" - return "-117.1662042", "32.7207742" - - def get_lang(self): - lang = params.get("LanguageSetting", encoding='utf8') - try: - if lang is not None: - lang = supported_languages[lang.strip()] - else: - lang = "en-US" - except KeyError: - lang = "en-US" - return lang - - def display_page_gmap_key(self): - self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("gmap/key_input")}), "utf-8")) - - def display_page_amap_key(self): - self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("amap/key_input")}), "utf-8")) - - def display_page_public_token(self, msg = ""): - self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("public_token_input", {"{{msg}}": msg})}), "utf-8")) - - def display_page_app_token(self, msg = ""): - self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("app_token_input", {"{{msg}}": msg})}), "utf-8")) - - def display_page_addr_input(self, msg = ""): - self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("addr_input", {"{{msg}}": msg})}), "utf-8")) - - def display_page_nav_confirmation(self, addr, lon, lat): - content = self.get_parsed_template("addr_input", {"{{msg}}": ""}) + self.get_parsed_template("nav_confirmation", {"{{token}}": self.get_public_token(), "{{lon}}": lon, "{{lat}}": lat, "{{addr}}": addr}) - self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": content }), "utf-8")) - - def display_page_gmap(self): - self.wfile.write(bytes(self.get_parsed_template("gmap/index.html", {"{{gmap_key}}": self.get_gmap_key(), "{{language}}": self.get_lang()}), "utf-8")) - - def display_page_amap(self): - self.wfile.write(bytes(self.get_parsed_template("amap/index.html", {"{{amap_key}}": self.get_amap_key(), "{{amap_key_2}}": self.get_amap_key_2()}), "utf-8")) - - def get_parsed_template(self, name, replace = {}): - f = open('%s/selfdrive/dragonpilot/tpl/%s.tpl' % (BASEDIR, name), mode='r', encoding='utf-8') - content = f.read() - for key in replace: - content = content.replace(key, str(replace[key])) - f.close() - return content - - def query_addr(self, addr): - if addr == "": - return None, None, None - query = "https://api.mapbox.com/geocoding/v5/mapbox.places/" + unquote(addr) + ".json?access_token=" + self.get_public_token() + "&limit=1" - # focus on place around last gps position - last_pos = Params().get("LastGPSPosition") - if last_pos is not None and last_pos != "": - l = json.loads(last_pos) - query += "&proximity=%s,%s" % (l["longitude"], l["latitude"]) - - r = requests.get(query) - if r.status_code != 200: - return None, None, None - - j = json.loads(r.text) - if not j["features"]: - return None, None, None - - feature = j["features"][0] - return feature["place_name"], feature["center"][1], feature["center"][0] - - def parse_POST(self): - ctype, pdict = parse_header(self.headers['content-type']) - if ctype == 'application/x-www-form-urlencoded': - length = int(self.headers['content-length']) - postvars = parse_qs( - self.rfile.read(length).decode('utf-8'), - keep_blank_values=1) - else: - postvars = {} - return postvars - - def gcj02towgs84(self, lng, lat): - dlat = self.transform_lat(lng - 105.0, lat - 35.0) - dlng = self.transform_lng(lng - 105.0, lat - 35.0) - radlat = lat / 180.0 * pi - magic = math.sin(radlat) - magic = 1 - ee * magic * magic - sqrtmagic = math.sqrt(magic) - dlat = (dlat * 180.0) / ((a * (1 - ee)) / (magic * sqrtmagic) * pi) - dlng = (dlng * 180.0) / (a / sqrtmagic * math.cos(radlat) * pi) - mglat = lat + dlat - mglng = lng + dlng - return [lng * 2 - mglng, lat * 2 - mglat] - - def transform_lat(self, lng, lat): - ret = -100.0 + 2.0 * lng + 3.0 * lat + 0.2 * lat * lat + 0.1 * lng * lat + 0.2 * math.sqrt(abs(lng)) - ret += (20.0 * math.sin(6.0 * lng * pi) + 20.0 * math.sin(2.0 * lng * pi)) * 2.0 / 3.0 - ret += (20.0 * math.sin(lat * pi) + 40.0 * math.sin(lat / 3.0 * pi)) * 2.0 / 3.0 - ret += (160.0 * math.sin(lat / 12.0 * pi) + 320 * math.sin(lat * pi / 30.0)) * 2.0 / 3.0 - return ret - - def transform_lng(self, lng, lat): - ret = 300.0 + lng + 2.0 * lat + 0.1 * lng * lng + 0.1 * lng * lat + 0.1 * math.sqrt(abs(lng)) - ret += (20.0 * math.sin(6.0 * lng * pi) + 20.0 * math.sin(2.0 * lng * pi)) * 2.0 / 3.0 - ret += (20.0 * math.sin(lng * pi) + 40.0 * math.sin(lng / 3.0 * pi)) * 2.0 / 3.0 - ret += (150.0 * math.sin(lng / 12.0 * pi) + 300.0 * math.sin(lng / 30.0 * pi)) * 2.0 / 3.0 - return ret - - def to_json(self, lat, lng, type = "recent", name = ""): - if name == "": - name = str(lat) + "," + str(lng) - new_dest = {"latitude": float(lat), "longitude": float(lng), "place_name": name} - - if type == "recent": - new_dest["save_type"] = "recent" - else: - new_dest["save_type"] = "favorite" - new_dest["label"] = type - - val = params.get("ApiCache_NavDestinations", encoding='utf8') - if val is not None: - val = val.rstrip('\x00') - dests = [] if val is None else json.loads(val) - - # type idx - type_label_ids = {"home": None, "work": None, "recent": []} - idx = 0 - for d in dests: - if d["save_type"] == "favorite": - type_label_ids[d["label"]] = idx - else: - type_label_ids["recent"].append(idx) - idx += 1 - - if type == "recent": - id = None - if len(type_label_ids["recent"]) > 10: - dests.pop(type_label_ids["recent"][-1]) - else: - id = type_label_ids[type] - - if id is None: - dests.insert(0, new_dest) - else: - dests[id] = new_dest - - params.put("ApiCache_NavDestinations", json.dumps(dests).rstrip("\n\r")) - -def main(): - webServer = HTTPServer((hostName, serverPort), OtisServ) - - try: - webServer.serve_forever() - except KeyboardInterrupt: - pass - - webServer.server_close() - -if __name__ == "__main__": - main() diff --git a/selfdrive/dragonpilot/systemd.py b/selfdrive/dragonpilot/systemd.py deleted file mode 100644 index 056c5f202..000000000 --- a/selfdrive/dragonpilot/systemd.py +++ /dev/null @@ -1,279 +0,0 @@ -#!/usr/bin/env python3 -#pylint: disable=W0105 -# The MIT License -# -# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. -# -# Permission is hereby granted, free of charge, to any person obtaining a copy -# of this software and associated documentation files (the "Software"), to deal -# in the Software without restriction, including without limitation the rights -# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -# copies of the Software, and to permit persons to whom the Software is -# furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included in -# all copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -# THE SOFTWARE. - -''' -This is a service that broadcast dp config values to openpilot's messaging queues -''' -import cereal.messaging as messaging - -from common.dp_conf import confs, get_struct_name, to_struct_val -from common.params import Params, put_bool_nonblocking -import os -params = Params() -from common.dp_helpers import get_last_modified, LAST_MODIFIED_TIMER_SYSTEMD -from selfdrive.dragonpilot.dashcamd import Dashcamd -import socket -from common.realtime import Ratekeeper -import threading -from selfdrive.dragonpilot.gpx_uploader import gpx_uploader_thread -from typing import Dict, Any -import capnp - -PARAM_PATH = params.get_param_path() + "/" - -HERTZ = 1 - -last_modified_confs: Dict[str, Any] = {} - -def confd_thread(): - sm = messaging.SubMaster(['deviceState']) - pm = messaging.PubMaster(['dragonConf']) - - last_dp_msg = None - frame = 0 - update_params = False - modified = None - last_modified = None - last_modified_check = None - started = False - free_space = 1. - last_started = False - dashcamd = Dashcamd() - rk = Ratekeeper(HERTZ, print_delay_threshold=None) # Keeps rate at 2 hz - uploader_thread = None - dp_jetson = params.get_bool('dp_jetson') - - while True: - if uploader_thread is None: - uploader_thread = threading.Thread(target=gpx_uploader_thread) - uploader_thread.start() - - msg = messaging.new_message('dragonConf') - if last_dp_msg is not None: - msg.dragonConf = last_dp_msg - - ''' - =================================================== - load thermalState data every 3 seconds - =================================================== - ''' - if frame % (HERTZ * 3) == 0: - sm.update(0) - if sm.updated['deviceState']: - started = sm['deviceState'].started - free_space = sm['deviceState'].freeSpacePercent - ''' - =================================================== - hotspot on boot - we do it after 30 secs just in case - =================================================== - ''' - if frame == (HERTZ * 30) and params.get_bool("dp_hotspot_on_boot"): - os.system("service call wifi 37 i32 0 i32 1 &") - ''' - =================================================== - check dp_last_modified every second - =================================================== - ''' - if not update_params: - last_modified_check, modified = get_last_modified(LAST_MODIFIED_TIMER_SYSTEMD, last_modified_check, modified) - if last_modified != modified: - update_params = True - last_modified = modified - ''' - =================================================== - conditionally set update_params to true - =================================================== - ''' - # force updating param when just started or `started` changed - if frame == 0 or last_started != started: - update_params = True - ''' - =================================================== - push param vals to message - =================================================== - ''' - if update_params: - msg = update_conf_all(confs, msg, frame == 0) - update_params = False - ''' - =================================================== - push once - =================================================== - ''' - # if frame == 0: - # setattr(msg.dragonConf, get_struct_name('dp_locale'), params.get("dp_locale")) - # - # # mirror EndToEndToggle to dp_lane_less_model_ctrl first time, after all - # put_nonblocking('dp_lane_less_mode_ctrl', "1" if params.get_bool('EndToEndToggle') else "0") - ''' - =================================================== - push ip addr every 10 secs - =================================================== - ''' - if frame % (HERTZ * 10) == 0: - msg = update_ip(msg) - ''' - =================================================== - update msg based on some custom logic - =================================================== - ''' - msg = update_custom_logic(msg) - if dp_jetson: - msg.dragonConf.dpUiFace = False - ''' - =================================================== - battery ctrl every 30 secs - PowerMonitor in thermald turns back on every mins - so lets turn it off more frequent - =================================================== - ''' - # if frame % (HERTZ * 30) == 0: - # last_charging_ctrl = process_charging_ctrl(msg, last_charging_ctrl, battery_percent) - ''' - =================================================== - dashcam - =================================================== - ''' - if msg.dragonConf.dpDashcamd and frame % HERTZ == 0: - dashcamd.run(started, free_space) - ''' - =================================================== - finalise - =================================================== - ''' - last_dp_msg = msg.dragonConf - last_started = started - pm.send('dragonConf', msg) - frame += 1 - rk.keep_time() - -def update_conf(msg, conf, first_run = False): - conf_type = conf.get('conf_type') - - if 'param' in conf_type and 'struct' in conf_type: - access_time = os.path.getatime(PARAM_PATH + conf['name']) - if (last_modified_confs.get(conf['name'])) is not None and last_modified_confs.get(conf['name']) == access_time: - return msg - - update_this_conf = True - - if not first_run: - update_once = conf.get('update_once') - if update_once is not None and update_once is True: - return msg - if update_this_conf: - update_this_conf = check_dependencies(msg, conf) - - if update_this_conf: - msg = set_message(msg, conf) - if os.path.isfile(PARAM_PATH + conf['name']): - last_modified_confs[conf['name']] = access_time - return msg - -def update_conf_all(confs, msg, first_run = False): - for conf in confs: - msg = update_conf(msg, conf, first_run) - return msg - -# def process_charging_ctrl(msg, last_charging_ctrl, battery_percent): -# charging_ctrl = msg.dragonConf.dpChargingCtrl -# if last_charging_ctrl != charging_ctrl: -# HARDWARE.set_battery_charging(True) -# if charging_ctrl: -# if battery_percent >= msg.dragonConf.dpDischargingAt and HARDWARE.get_battery_charging(): -# HARDWARE.set_battery_charging(False) -# elif battery_percent <= msg.dragonConf.dpChargingAt and not HARDWARE.get_battery_charging(): -# HARDWARE.set_battery_charging(True) -# return charging_ctrl - -def update_custom_logic(msg): - return msg -# if msg.dragonConf.dpAtl: -# msg.dragonConf.dpAllowGas = True -# msg.dragonConf.dpGearCheck = False -# if not msg.dragonConf.dpAtlOpLong: -# # msg.dragonConf.dpFollowingProfileCtrl = False -# msg.dragonConf.dpAccelProfileCtrl = False -# if msg.dragonConf.dpLcMinMph > msg.dragonConf.dpLcAutoMinMph: -# put_nonblocking('dp_lc_auto_min_mph', str(msg.dragonConf.dpLcMinMph)) -# msg.dragonConf.dpLcAutoMinMph = msg.dragonConf.dpLcMinMph -# return msg - - -def update_ip(msg): - val = 'N/A' - s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) - try: - # doesn't even have to be reachable - s.connect(('10.255.255.255', 1)) - IP = s.getsockname()[0] - except: - IP = 'N/A' - finally: - s.close() - setattr(msg.dragonConf, get_struct_name('dp_ip_addr'), IP) - return msg - - -def set_message(msg, conf): - val = params.get(conf['name'], encoding='utf8') - if val is not None: - val = val.rstrip('\x00') - else: - val = conf.get('default') - params.put(conf['name'], str(val)) - struct_val = to_struct_val(conf['name'], val) - orig_val = struct_val - if struct_val is not None: - if conf.get('min') is not None: - struct_val = max(struct_val, conf.get('min')) - if conf.get('max') is not None: - struct_val = min(struct_val, conf.get('max')) - if orig_val != struct_val: - params.put(conf['name'], str(struct_val)) - try: - setattr(msg.dragonConf, get_struct_name(conf['name']), struct_val) - except capnp.lib.capnp.KjException: - pass - - return msg - -def check_dependencies(msg, conf): - passed = True - # if has dependency and the depend param val is not in depend_vals, we dont update that conf val - # this should reduce chance of reading unnecessary params - dependencies = conf.get('depends') - if dependencies is not None: - for dependency in dependencies: - if getattr(msg.dragonConf, get_struct_name(dependency['name'])) not in dependency['vals']: - passed = False - break - return passed - -def main(): - confd_thread() - -if __name__ == "__main__": - main() diff --git a/selfdrive/dragonpilot/tpl/addr_input.tpl b/selfdrive/dragonpilot/tpl/addr_input.tpl deleted file mode 100644 index 4bb2bac1e..000000000 --- a/selfdrive/dragonpilot/tpl/addr_input.tpl +++ /dev/null @@ -1,9 +0,0 @@ -
-
-
- -
{{msg}}
- -
-
-
\ No newline at end of file diff --git a/selfdrive/dragonpilot/tpl/amap/index.html.tpl b/selfdrive/dragonpilot/tpl/amap/index.html.tpl deleted file mode 100644 index e7fd6dd4a..000000000 --- a/selfdrive/dragonpilot/tpl/amap/index.html.tpl +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - 输入提示后查询 - - - - - - - - - - - - -
-
-
- -
-
- -
-
- - -
- - - \ No newline at end of file diff --git a/selfdrive/dragonpilot/tpl/amap/index.js.tpl b/selfdrive/dragonpilot/tpl/amap/index.js.tpl deleted file mode 100644 index 845c65bff..000000000 --- a/selfdrive/dragonpilot/tpl/amap/index.js.tpl +++ /dev/null @@ -1,120 +0,0 @@ -var windowsArr = []; -var markers = []; -var map = new AMap.Map("container", { - resizeEnable: true, - center: [{{lon}}, {{lat}}], //地图中心点 - zoom: 13, //地图显示的缩放级别 - keyboardEnable: false, -}); - -var infoWindow; -function openInfo(name, addr, lng, lat) { - //构建信息窗体中显示的内容 - var info = []; - info.push('
'); - info.push(''); - info.push("

" + name + "

"); - info.push("

" + addr + "

"); - info.push('
'); - info.push('
'); - info.push(' '); - info.push(' '); - info.push(' '); - info.push(' '); - info.push(' '); - info.push('
'); - info.push('
'); - info.push("
"); - - var pos = new AMap.LngLat(lng, lat) - infoWindow = new AMap.InfoWindow({ - position: pos, - isCustom: true, - offset: new AMap.Pixel(0, -30), - content: info.join(""), //使用默认信息窗体框样式，显示信息内容 - }); - - infoWindow.open(map, pos); -} -AMap.plugin(["AMap.Autocomplete", "AMap.PlaceSearch"], function () { - var autoOptions = { - city: "全国", //城市，默认全国 - input: "keyword", //使用联想输入的input的id - }; - autocomplete = new AMap.Autocomplete(autoOptions); - var placeSearch = new AMap.PlaceSearch({ - map: "", - }); - AMap.event.addListener(autocomplete, "select", function (e) { - //TODO 针对选中的poi实现自己的功能 - //重寫搜尋點及其提示資訊begin===== - placeSearch.setCity(e.poi.adcode); - if (e.poi && e.poi.location) { - map.setZoom(17); - map.setCenter(e.poi.location); - } - placeSearch.search(e.poi.name, check_dest); //關鍵字查詢查詢 - - function check_dest(status, result) { - if (status === "complete" && result.info === "OK") { - for (var h = 0; h < result.poiList.pois.length; h++) { - //返回搜尋列表迴圈繫結marker - var jy = result.poiList.pois[h]["location"]; //經緯度 - var name = result.poiList.pois[h]["name"]; //地址 - marker = new AMap.Marker({ - //加點 - map: map, - position: jy, - }); - marker.extData = { - getLng: jy["lng"], - getLat: jy["lat"], - name: name, - address: result.poiList.pois[h]["address"], - }; //自定義想傳入的引數 - - marker.on("click", function (e) { - var hs = e.target.extData; - var content = openInfo( - hs["name"], - hs["address"], - hs["getLng"], - hs["getLat"] - ); - }); - markers.push(marker); - } - } - } - //重寫搜尋點及其提示資訊end===== - }); -}); -var clickEventListener = map.on('click', function(e) { - map.remove(markers); - document.getElementById('longitude').value = e.lnglat.getLng(); - document.getElementById('latitude').value = e.lnglat.getLat(); - lnglatXY = [e.lnglat.getLng(), e.lnglat.getLat()]; - var marker = new AMap.Marker({ - //加點 - map: map, - position: lnglatXY, - }); - marker.extData = { - getLng: e.lnglat.getLng(), - getLat: e.lnglat.getLat(), - }; //自定義想傳入的引數 - - marker.on("click", function (e) { - var hs = e.target.extData; - var content = openInfo( - "", - "(" + hs["getLat"] + ", " + hs["getLng"] + ")", - hs["getLng"], - hs["getLat"] - ); - }); - markers.push(marker); - if (typeof(infoWindow) != "undefined") { - infoWindow.close(); - } -}); \ No newline at end of file diff --git a/selfdrive/dragonpilot/tpl/amap/key_input.tpl b/selfdrive/dragonpilot/tpl/amap/key_input.tpl deleted file mode 100644 index f7efbb150..000000000 --- a/selfdrive/dragonpilot/tpl/amap/key_input.tpl +++ /dev/null @@ -1,11 +0,0 @@ -
-
- 请输入您的高德地图 API KEY -
因系统升级，若于 2021/12/02 前申请 key 的人请重新申请新的「key」和「安全密钥」配对。
-
- - - -
-
-
\ No newline at end of file diff --git a/selfdrive/dragonpilot/tpl/amap/style.css.tpl b/selfdrive/dragonpilot/tpl/amap/style.css.tpl deleted file mode 100644 index c83bb043f..000000000 --- a/selfdrive/dragonpilot/tpl/amap/style.css.tpl +++ /dev/null @@ -1,40 +0,0 @@ -html, body { - margin: 0; - height: 100%; - width: 100%; - position: absolute; -} - -#mapContainer { - top: 0; - left: 0; - right: 0; - bottom: 0; - width: 100%; - height: 100%; -} - -.button-group { - position: absolute; - bottom: 20px; - right: 20px; - font-size: 12px; - padding: 10px; -} - -.button-group .button { - height: 28px; - line-height: 28px; - background-color: #0D9BF2; - color: #FFF; - border: 0; - outline: none; - padding-left: 5px; - padding-right: 5px; - border-radius: 3px; - margin-bottom: 4px; - cursor: pointer; -} -.amap-info-content { - font-size: 12px; -} \ No newline at end of file diff --git a/selfdrive/dragonpilot/tpl/app_token_input.tpl b/selfdrive/dragonpilot/tpl/app_token_input.tpl deleted file mode 100644 index 7bd9b0b66..000000000 --- a/selfdrive/dragonpilot/tpl/app_token_input.tpl +++ /dev/null @@ -1,10 +0,0 @@ -
-
- Set your Mapbox APP TOKEN -
{{msg}}
-
- - -
-
-
\ No newline at end of file diff --git a/selfdrive/dragonpilot/tpl/body.tpl b/selfdrive/dragonpilot/tpl/body.tpl deleted file mode 100644 index 39276e5d7..000000000 --- a/selfdrive/dragonpilot/tpl/body.tpl +++ /dev/null @@ -1,20 +0,0 @@ - - - - - dragonpilot - - - - - - - - - -
-
- {{content}} -
- - \ No newline at end of file diff --git a/selfdrive/dragonpilot/tpl/gmap/index.html.tpl b/selfdrive/dragonpilot/tpl/gmap/index.html.tpl deleted file mode 100644 index d89b82fdc..000000000 --- a/selfdrive/dragonpilot/tpl/gmap/index.html.tpl +++ /dev/null @@ -1,39 +0,0 @@ - - - - - dragonpilot - - - - - - - - - - - - - -
-
-
- -
-
- -
-
-
- - - - diff --git a/selfdrive/dragonpilot/tpl/gmap/index.js.tpl b/selfdrive/dragonpilot/tpl/gmap/index.js.tpl deleted file mode 100644 index 201a2ef02..000000000 --- a/selfdrive/dragonpilot/tpl/gmap/index.js.tpl +++ /dev/null @@ -1,86 +0,0 @@ -// This example adds a search box to a map, using the Google Place Autocomplete -// feature. People can enter geographical searches. The search box will return a -// pick list containing a mix of places and predicted search terms. -// This example requires the Places library. Include the libraries=places -// parameter when you first load the API. For example: -//