diff --git a/CHANGELOGS.md b/CHANGELOGS.md index 33bd70667..eabe02cd7 100644 --- a/CHANGELOGS.md +++ b/CHANGELOGS.md @@ -1,3 +1,17 @@ +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. diff --git a/CHANGELOGS_c2.md b/CHANGELOGS_c2.md index 3fa205e27..84733c116 100644 --- a/CHANGELOGS_c2.md +++ b/CHANGELOGS_c2.md @@ -1,16 +1,20 @@ dragonpilot [Latest] - EON/C2 Release ======================== -* Synced with openpilot master 2023.03.08 commits. +* Synced with openpilot master 2023.03.26 commits. * DP Highlight - * Refactored cameraview widget. - * Updated VisionIPC to match current version. - * Rainbow mode. (fancy lol) - * Different color when Always On Lateral is enabled. - * IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779 + * 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. - * DM reverted back to 0.8.13 model and algorithm. + * 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. + * FIXED: Fixed Reverse message not showing issue. dragonpilot 2023.02.08 - EON/C2 Release ======================== diff --git a/README.md b/README.md index c9181f19c..95ddc61a8 100755 --- a/README.md +++ b/README.md @@ -121,7 +121,10 @@ Directory Structure ├── clocksd # Broadcasts current time ├── hardware # Hardware abstraction classes ├── logcatd # systemd journal as a service - └── proclogd # Logs information from /proc + ├── loggerd # Logger and uploader of car data + ├── proclogd # Logs information from /proc + ├── sensord # IMU interface code + └── ubloxd # u-blox GNSS module interface code └── selfdrive # Code needed to drive the car ├── assets # Fonts, images, and sounds for UI ├── athena # Allows communication with the app @@ -130,12 +133,10 @@ Directory Structure ├── controls # Planning and controls ├── debug # Tools to help you debug and do car ports ├── locationd # Precise localization and vehicle parameter estimation - ├── loggerd # Logger and uploader of car data ├── manager # Daemon that starts/stops all other daemons as needed ├── modeld # Driving and monitoring model runners ├── monitoring # Daemon to determine driver attention ├── navd # Turn-by-turn navigation - ├── sensord # IMU interface code ├── test # Unit tests, system tests, and a car simulator └── ui # The UI diff --git a/RELEASES.md b/RELEASES.md index 9cfcbafea..55b0dbad7 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,7 @@ Version 0.9.2 (2023-03-XX) ======================== * 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! * Škoda Fabia 2022-23 support thanks to jyoung8607! Version 0.9.1 (2023-02-28) diff --git a/cereal/car.capnp b/cereal/car.capnp index 4a6793a0f..c33ce79fb 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -118,6 +118,8 @@ struct CarEvent @0x9b1657f34caf3ad3 { #dp speedLimitActive @116; speedLimitValueChange @117; + leadMovingAlertSilent @118; + leadMovingAlert @119; radarCanErrorDEPRECATED @15; communityFeatureDisallowedDEPRECATED @62; @@ -638,6 +640,7 @@ struct CarParams { brand @6 :Text; bus @7 :UInt8; logging @8 :Bool; + obdMultiplexing @9 :Bool; } enum Ecu { @@ -656,6 +659,7 @@ struct CarParams { shiftByWire @16; adas @19; cornerRadar @21; + hvac @20; # Toyota only dsu @6; @@ -669,7 +673,7 @@ struct CarParams { hcp @18; # Hybrid Control Processor # Hyundai only - vcu @20; # Vehicle (Motor) Control Unit + parking @22; # ADAS parking ECU debug @17; } diff --git a/cereal/dp.capnp b/cereal/dp.capnp index 227a4974f..b9859ea69 100644 --- a/cereal/dp.capnp +++ b/cereal/dp.capnp @@ -53,4 +53,5 @@ struct DragonConf { dpE2EConditionalAdaptFp @45 :Bool; dpE2EConditionalAdaptAp @46 :Bool; dpE2EConditionalVoacc @47 :Bool; + dpLongLeadMovingAlert @48 :Int8; } diff --git a/cereal/libcereal_shared.so b/cereal/libcereal_shared.so index 218734b67..b187cf0a1 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 713672c7e..8db683d04 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -1041,6 +1041,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c { } } struct UiPlan { + frameId @2 :UInt32; position @0 :XYZTData; accel @1 :List(Float32); } @@ -1225,13 +1226,22 @@ struct GnssMeasurements { gpsTimeOfWeek @2 :Float64; correctedMeasurements @3 :List(CorrectedMeasurement); + ephemerisStatuses @9 :List(EphemerisStatus); kalmanPositionECEF @4 :LiveLocationKalman.Measurement; kalmanVelocityECEF @5 :LiveLocationKalman.Measurement; positionECEF @6 :LiveLocationKalman.Measurement; velocityECEF @7 :LiveLocationKalman.Measurement; + timeToFirstFix @8 :Float32; # Todo sync this with timing pulse of ublox + struct EphemerisStatus { + constellationId @0 :ConstellationId; + svId @1 :UInt8; + type @2 :EphemerisType; + source @3 :EphemerisSource; + } + struct CorrectedMeasurement { constellationId @0 :ConstellationId; svId @1 :UInt8; @@ -1244,11 +1254,11 @@ struct GnssMeasurements { # Satellite position and velocity [x,y,z] satPos @7 :List(Float64); satVel @8 :List(Float64); - ephemerisSource @9 :EphemerisSource; + ephemerisSourceDEPRECATED @9 :EphemerisSourceDEPRECATED; } - struct EphemerisSource { - type @0 :EphemerisSourceType; + struct EphemerisSourceDEPRECATED { + type @0 :EphemerisType; # first epoch in file: gpsWeek @1 :Int16; # -1 if Nav gpsTimeOfWeek @2 :Int32; # -1 if Nav. Integer for seconds is good enough for logs. @@ -1265,7 +1275,7 @@ struct GnssMeasurements { glonass @6; } - enum EphemerisSourceType { + enum EphemerisType { nav @0; # Different ultra-rapid files: nasaUltraRapid @1; @@ -1273,6 +1283,13 @@ struct GnssMeasurements { # dp - eon/c2 need this renamed qcompoly @3; } + + enum EphemerisSource { + gnssChip @0; + internet @1; + cache @2; + unknown @3; + } } struct UbloxGnss { @@ -1283,6 +1300,19 @@ struct UbloxGnss { hwStatus @3 :HwStatus; hwStatus2 @4 :HwStatus2; glonassEphemeris @5 :GlonassEphemeris; + satReport @6 :SatReport; + } + + struct SatReport { + #received time of week in gps time in seconds and gps week + iTow @0 :UInt32; + svs @1 :List(SatInfo); + + struct SatInfo { + svId @0 :UInt8; + gnssId @1 :UInt8; + flagsBitfield @2 :UInt32; + } } struct MeasurementReport { @@ -1376,7 +1406,7 @@ struct UbloxGnss { iDot @26 :Float64; codesL2 @27 :Float64; - gpsWeek @28 :Float64; + gpsWeekDEPRECATED @28 :Float64; l2 @29 :Float64; svAcc @30 :Float64; @@ -1394,6 +1424,8 @@ struct UbloxGnss { ionoBeta @39 :List(Float64); towCount @40 :UInt32; + toeWeek @41 :UInt16; + tocWeek @42 :UInt16; } struct IonoData { @@ -1472,7 +1504,7 @@ struct UbloxGnss { age @17 :UInt8; svHealth @18 :UInt8; - tk @19 :UInt16; + tkDEPRECATED @19 :UInt16; tb @20 :UInt16; tauN @21 :Float64; @@ -1484,7 +1516,12 @@ struct UbloxGnss { p3 @26 :UInt8; p4 @27 :UInt8; - freqNum @28 :UInt32; + freqNumDEPRECATED @28 :UInt32; + + n4 @29 :UInt8; + nt @30 :UInt16; + freqNum @31 :Int16; + tkSeconds @32 :UInt32; } } diff --git a/cereal/visionipc/visionipc.pxd b/cereal/visionipc/visionipc.pxd index 87999e27b..d508e2e39 100644 --- a/cereal/visionipc/visionipc.pxd +++ b/cereal/visionipc/visionipc.pxd @@ -3,6 +3,7 @@ from libcpp.string cimport string from libcpp.vector cimport vector +from libcpp.set cimport set from libc.stdint cimport uint32_t, uint64_t from libcpp cimport bool @@ -40,3 +41,5 @@ cdef extern from "cereal/visionipc/visionipc_client.h": VisionBuf * recv(VisionIpcBufExtra *, int) bool connect(bool) bool is_connected() + @staticmethod + set[VisionStreamType] getAvailableStreams(string, bool) diff --git a/cereal/visionipc/visionipc_pyx.cpp b/cereal/visionipc/visionipc_pyx.cpp index c97d6e7f2..f222a194a 100644 --- a/cereal/visionipc/visionipc_pyx.cpp +++ b/cereal/visionipc/visionipc_pyx.cpp @@ -726,6 +726,20 @@ static CYTHON_INLINE float __PYX_NAN() { #include "stdexcept" #include "typeinfo" #include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include #include "cereal/visionipc/visionbuf.h" #include "cereal/visionipc/visionipc.h" #include "cereal/visionipc/visionipc_server.h" @@ -964,8 +978,8 @@ static const char *__pyx_filename; static const char *__pyx_f[] = { - "stringsource", "cereal/visionipc/visionipc_pyx.pyx", + "stringsource", "__init__.pxd", "type.pxd", }; @@ -2040,6 +2054,10 @@ enum __Pyx_ImportType_CheckSize { 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); @@ -2346,6 +2364,9 @@ 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 *); @@ -2426,6 +2447,10 @@ static PyTypeObject *__pyx_ptype_5numpy_ufunc = 0; /* 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' */ @@ -2447,6 +2472,7 @@ 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*/ @@ -2488,6 +2514,7 @@ 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; @@ -2530,6 +2557,7 @@ 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"; @@ -2592,6 +2620,7 @@ 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__"; @@ -2606,6 +2635,7 @@ 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__"; @@ -2629,6 +2659,7 @@ static const char __pyx_k_VISION_STREAM_RGB_WIDE_ROAD[] = "VISION_STREAM_RGB_WID 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."; +static const char __pyx_k_cereal_visionipc_visionipc_pyx[] = "cereal.visionipc.visionipc_pyx"; 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_self_server_cannot_be_converted[] = "self.server cannot be converted to a Python object for pickling"; @@ -2643,6 +2674,7 @@ static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensi 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"; @@ -2692,9 +2724,13 @@ 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; @@ -2773,6 +2809,7 @@ 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; @@ -2816,8 +2853,9 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_9 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_10__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_12__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* 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 */ @@ -2907,20 +2945,22 @@ static PyObject *__pyx_tuple__23; static PyObject *__pyx_tuple__24; static PyObject *__pyx_tuple__25; static PyObject *__pyx_tuple__27; -static PyObject *__pyx_tuple__28; +static PyObject *__pyx_tuple__29; static PyObject *__pyx_tuple__30; static PyObject *__pyx_tuple__32; static PyObject *__pyx_tuple__34; -static PyObject *__pyx_tuple__35; static PyObject *__pyx_tuple__36; static PyObject *__pyx_tuple__37; static PyObject *__pyx_tuple__38; static PyObject *__pyx_tuple__39; +static PyObject *__pyx_tuple__40; +static PyObject *__pyx_tuple__41; static PyObject *__pyx_codeobj__26; -static PyObject *__pyx_codeobj__29; +static PyObject *__pyx_codeobj__28; static PyObject *__pyx_codeobj__31; static PyObject *__pyx_codeobj__33; -static PyObject *__pyx_codeobj__40; +static PyObject *__pyx_codeobj__35; +static PyObject *__pyx_codeobj__42; /* Late includes */ /* "cereal/visionipc/visionipc_pyx.pyx":31 @@ -2960,18 +3000,18 @@ static int __pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_1__init else goto __pyx_L5_argtuple_error; } if (unlikely(kw_args > 0)) { - if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__init__") < 0)) __PYX_ERR(1, 31, __pyx_L3_error) + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__init__") < 0)) __PYX_ERR(0, 31, __pyx_L3_error) } } else if (PyTuple_GET_SIZE(__pyx_args) != 1) { goto __pyx_L5_argtuple_error; } else { values[0] = PyTuple_GET_ITEM(__pyx_args, 0); } - __pyx_v_name = __pyx_convert_string_from_py_std__in_string(values[0]); if (unlikely(PyErr_Occurred())) __PYX_ERR(1, 31, __pyx_L3_error) + __pyx_v_name = __pyx_convert_string_from_py_std__in_string(values[0]); if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 31, __pyx_L3_error) } goto __pyx_L4_argument_unpacking_done; __pyx_L5_argtuple_error:; - __Pyx_RaiseArgtupleInvalid("__init__", 1, 1, 1, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(1, 31, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__init__", 1, 1, 1, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(0, 31, __pyx_L3_error) __pyx_L3_error:; __Pyx_AddTraceback("cereal.visionipc.visionipc_pyx.VisionIpcServer.__init__", __pyx_clineno, __pyx_lineno, __pyx_filename); __Pyx_RefNannyFinishContext(); @@ -3063,29 +3103,29 @@ static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_3 case 1: if (likely((values[1] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_num_buffers)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("create_buffers", 1, 5, 5, 1); __PYX_ERR(1, 34, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("create_buffers", 1, 5, 5, 1); __PYX_ERR(0, 34, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 2: if (likely((values[2] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_rgb)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("create_buffers", 1, 5, 5, 2); __PYX_ERR(1, 34, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("create_buffers", 1, 5, 5, 2); __PYX_ERR(0, 34, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 3: if (likely((values[3] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_width)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("create_buffers", 1, 5, 5, 3); __PYX_ERR(1, 34, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("create_buffers", 1, 5, 5, 3); __PYX_ERR(0, 34, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 4: if (likely((values[4] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_height)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("create_buffers", 1, 5, 5, 4); __PYX_ERR(1, 34, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("create_buffers", 1, 5, 5, 4); __PYX_ERR(0, 34, __pyx_L3_error) } } if (unlikely(kw_args > 0)) { - if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "create_buffers") < 0)) __PYX_ERR(1, 34, __pyx_L3_error) + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "create_buffers") < 0)) __PYX_ERR(0, 34, __pyx_L3_error) } } else if (PyTuple_GET_SIZE(__pyx_args) != 5) { goto __pyx_L5_argtuple_error; @@ -3096,15 +3136,15 @@ static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_3 values[3] = PyTuple_GET_ITEM(__pyx_args, 3); values[4] = PyTuple_GET_ITEM(__pyx_args, 4); } - __pyx_v_tp = ((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)__Pyx_PyInt_As_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(values[0])); if (unlikely(PyErr_Occurred())) __PYX_ERR(1, 34, __pyx_L3_error) - __pyx_v_num_buffers = __Pyx_PyInt_As_size_t(values[1]); if (unlikely((__pyx_v_num_buffers == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 34, __pyx_L3_error) - __pyx_v_rgb = __Pyx_PyObject_IsTrue(values[2]); if (unlikely((__pyx_v_rgb == ((bool)-1)) && PyErr_Occurred())) __PYX_ERR(1, 34, __pyx_L3_error) - __pyx_v_width = __Pyx_PyInt_As_size_t(values[3]); if (unlikely((__pyx_v_width == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 34, __pyx_L3_error) - __pyx_v_height = __Pyx_PyInt_As_size_t(values[4]); if (unlikely((__pyx_v_height == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 34, __pyx_L3_error) + __pyx_v_tp = ((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)__Pyx_PyInt_As_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(values[0])); if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 34, __pyx_L3_error) + __pyx_v_num_buffers = __Pyx_PyInt_As_size_t(values[1]); if (unlikely((__pyx_v_num_buffers == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 34, __pyx_L3_error) + __pyx_v_rgb = __Pyx_PyObject_IsTrue(values[2]); if (unlikely((__pyx_v_rgb == ((bool)-1)) && PyErr_Occurred())) __PYX_ERR(0, 34, __pyx_L3_error) + __pyx_v_width = __Pyx_PyInt_As_size_t(values[3]); if (unlikely((__pyx_v_width == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 34, __pyx_L3_error) + __pyx_v_height = __Pyx_PyInt_As_size_t(values[4]); if (unlikely((__pyx_v_height == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 34, __pyx_L3_error) } goto __pyx_L4_argument_unpacking_done; __pyx_L5_argtuple_error:; - __Pyx_RaiseArgtupleInvalid("create_buffers", 1, 5, 5, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(1, 34, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("create_buffers", 1, 5, 5, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(0, 34, __pyx_L3_error) __pyx_L3_error:; __Pyx_AddTraceback("cereal.visionipc.visionipc_pyx.VisionIpcServer.create_buffers", __pyx_clineno, __pyx_lineno, __pyx_filename); __Pyx_RefNannyFinishContext(); @@ -3206,47 +3246,47 @@ static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_5 case 1: if (likely((values[1] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_num_buffers)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, 1); __PYX_ERR(1, 37, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, 1); __PYX_ERR(0, 37, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 2: if (likely((values[2] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_rgb)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, 2); __PYX_ERR(1, 37, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, 2); __PYX_ERR(0, 37, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 3: if (likely((values[3] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_width)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, 3); __PYX_ERR(1, 37, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, 3); __PYX_ERR(0, 37, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 4: if (likely((values[4] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_height)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, 4); __PYX_ERR(1, 37, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, 4); __PYX_ERR(0, 37, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 5: if (likely((values[5] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_size)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, 5); __PYX_ERR(1, 37, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, 5); __PYX_ERR(0, 37, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 6: if (likely((values[6] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_stride)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, 6); __PYX_ERR(1, 37, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, 6); __PYX_ERR(0, 37, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 7: if (likely((values[7] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_uv_offset)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, 7); __PYX_ERR(1, 37, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, 7); __PYX_ERR(0, 37, __pyx_L3_error) } } if (unlikely(kw_args > 0)) { - if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "create_buffers_with_sizes") < 0)) __PYX_ERR(1, 37, __pyx_L3_error) + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "create_buffers_with_sizes") < 0)) __PYX_ERR(0, 37, __pyx_L3_error) } } else if (PyTuple_GET_SIZE(__pyx_args) != 8) { goto __pyx_L5_argtuple_error; @@ -3260,18 +3300,18 @@ static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_5 values[6] = PyTuple_GET_ITEM(__pyx_args, 6); values[7] = PyTuple_GET_ITEM(__pyx_args, 7); } - __pyx_v_tp = ((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)__Pyx_PyInt_As_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(values[0])); if (unlikely(PyErr_Occurred())) __PYX_ERR(1, 37, __pyx_L3_error) - __pyx_v_num_buffers = __Pyx_PyInt_As_size_t(values[1]); if (unlikely((__pyx_v_num_buffers == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 37, __pyx_L3_error) - __pyx_v_rgb = __Pyx_PyObject_IsTrue(values[2]); if (unlikely((__pyx_v_rgb == ((bool)-1)) && PyErr_Occurred())) __PYX_ERR(1, 37, __pyx_L3_error) - __pyx_v_width = __Pyx_PyInt_As_size_t(values[3]); if (unlikely((__pyx_v_width == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 37, __pyx_L3_error) - __pyx_v_height = __Pyx_PyInt_As_size_t(values[4]); if (unlikely((__pyx_v_height == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 37, __pyx_L3_error) - __pyx_v_size = __Pyx_PyInt_As_size_t(values[5]); if (unlikely((__pyx_v_size == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 37, __pyx_L3_error) - __pyx_v_stride = __Pyx_PyInt_As_size_t(values[6]); if (unlikely((__pyx_v_stride == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 37, __pyx_L3_error) - __pyx_v_uv_offset = __Pyx_PyInt_As_size_t(values[7]); if (unlikely((__pyx_v_uv_offset == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 37, __pyx_L3_error) + __pyx_v_tp = ((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)__Pyx_PyInt_As_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(values[0])); if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 37, __pyx_L3_error) + __pyx_v_num_buffers = __Pyx_PyInt_As_size_t(values[1]); if (unlikely((__pyx_v_num_buffers == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 37, __pyx_L3_error) + __pyx_v_rgb = __Pyx_PyObject_IsTrue(values[2]); if (unlikely((__pyx_v_rgb == ((bool)-1)) && PyErr_Occurred())) __PYX_ERR(0, 37, __pyx_L3_error) + __pyx_v_width = __Pyx_PyInt_As_size_t(values[3]); if (unlikely((__pyx_v_width == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 37, __pyx_L3_error) + __pyx_v_height = __Pyx_PyInt_As_size_t(values[4]); if (unlikely((__pyx_v_height == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 37, __pyx_L3_error) + __pyx_v_size = __Pyx_PyInt_As_size_t(values[5]); if (unlikely((__pyx_v_size == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 37, __pyx_L3_error) + __pyx_v_stride = __Pyx_PyInt_As_size_t(values[6]); if (unlikely((__pyx_v_stride == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 37, __pyx_L3_error) + __pyx_v_uv_offset = __Pyx_PyInt_As_size_t(values[7]); if (unlikely((__pyx_v_uv_offset == (size_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 37, __pyx_L3_error) } goto __pyx_L4_argument_unpacking_done; __pyx_L5_argtuple_error:; - __Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(1, 37, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(0, 37, __pyx_L3_error) __pyx_L3_error:; __Pyx_AddTraceback("cereal.visionipc.visionipc_pyx.VisionIpcServer.create_buffers_with_sizes", __pyx_clineno, __pyx_lineno, __pyx_filename); __Pyx_RefNannyFinishContext(); @@ -3364,7 +3404,7 @@ static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_7 case 1: if (likely((values[1] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_data)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("send", 0, 2, 5, 1); __PYX_ERR(1, 40, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("send", 0, 2, 5, 1); __PYX_ERR(0, 40, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 2: @@ -3386,7 +3426,7 @@ static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_7 } } if (unlikely(kw_args > 0)) { - if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "send") < 0)) __PYX_ERR(1, 40, __pyx_L3_error) + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "send") < 0)) __PYX_ERR(0, 40, __pyx_L3_error) } } else { switch (PyTuple_GET_SIZE(__pyx_args)) { @@ -3402,27 +3442,27 @@ static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_7 default: goto __pyx_L5_argtuple_error; } } - __pyx_v_tp = ((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)__Pyx_PyInt_As_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(values[0])); if (unlikely(PyErr_Occurred())) __PYX_ERR(1, 40, __pyx_L3_error) - __pyx_v_data = __Pyx_PyObject_to_MemoryviewSlice_ds_unsigned_char__const__(values[1], 0); if (unlikely(!__pyx_v_data.memview)) __PYX_ERR(1, 40, __pyx_L3_error) + __pyx_v_tp = ((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)__Pyx_PyInt_As_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(values[0])); if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 40, __pyx_L3_error) + __pyx_v_data = __Pyx_PyObject_to_MemoryviewSlice_ds_unsigned_char__const__(values[1], 0); if (unlikely(!__pyx_v_data.memview)) __PYX_ERR(0, 40, __pyx_L3_error) if (values[2]) { - __pyx_v_frame_id = __Pyx_PyInt_As_uint32_t(values[2]); if (unlikely((__pyx_v_frame_id == ((uint32_t)-1)) && PyErr_Occurred())) __PYX_ERR(1, 40, __pyx_L3_error) + __pyx_v_frame_id = __Pyx_PyInt_As_uint32_t(values[2]); if (unlikely((__pyx_v_frame_id == ((uint32_t)-1)) && PyErr_Occurred())) __PYX_ERR(0, 40, __pyx_L3_error) } else { __pyx_v_frame_id = ((uint32_t)0); } if (values[3]) { - __pyx_v_timestamp_sof = __Pyx_PyInt_As_uint64_t(values[3]); if (unlikely((__pyx_v_timestamp_sof == ((uint64_t)-1)) && PyErr_Occurred())) __PYX_ERR(1, 40, __pyx_L3_error) + __pyx_v_timestamp_sof = __Pyx_PyInt_As_uint64_t(values[3]); if (unlikely((__pyx_v_timestamp_sof == ((uint64_t)-1)) && PyErr_Occurred())) __PYX_ERR(0, 40, __pyx_L3_error) } else { __pyx_v_timestamp_sof = ((uint64_t)0); } if (values[4]) { - __pyx_v_timestamp_eof = __Pyx_PyInt_As_uint64_t(values[4]); if (unlikely((__pyx_v_timestamp_eof == ((uint64_t)-1)) && PyErr_Occurred())) __PYX_ERR(1, 40, __pyx_L3_error) + __pyx_v_timestamp_eof = __Pyx_PyInt_As_uint64_t(values[4]); if (unlikely((__pyx_v_timestamp_eof == ((uint64_t)-1)) && PyErr_Occurred())) __PYX_ERR(0, 40, __pyx_L3_error) } else { __pyx_v_timestamp_eof = ((uint64_t)0); } } goto __pyx_L4_argument_unpacking_done; __pyx_L5_argtuple_error:; - __Pyx_RaiseArgtupleInvalid("send", 0, 2, 5, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(1, 40, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("send", 0, 2, 5, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(0, 40, __pyx_L3_error) __pyx_L3_error:; __Pyx_AddTraceback("cereal.visionipc.visionipc_pyx.VisionIpcServer.send", __pyx_clineno, __pyx_lineno, __pyx_filename); __Pyx_RefNannyFinishContext(); @@ -3469,7 +3509,7 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_6 __pyx_t_1 = __Pyx_MemoryView_Len(__pyx_v_data); if (unlikely(!((__pyx_v_buf->len == __pyx_t_1) != 0))) { PyErr_SetNone(PyExc_AssertionError); - __PYX_ERR(1, 44, __pyx_L1_error) + __PYX_ERR(0, 44, __pyx_L1_error) } } #endif @@ -3489,7 +3529,7 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_6 } else if (unlikely(__pyx_t_2 >= __pyx_v_data.shape[0])) __pyx_t_3 = 0; if (unlikely(__pyx_t_3 != -1)) { __Pyx_RaiseBufferIndexError(__pyx_t_3); - __PYX_ERR(1, 45, __pyx_L1_error) + __PYX_ERR(0, 45, __pyx_L1_error) } __pyx_t_1 = __Pyx_MemoryView_Len(__pyx_v_data); (void)(memcpy(__pyx_v_buf->addr, (&(*((unsigned char const *) ( /* dim=0 */ (__pyx_v_data.data + __pyx_t_2 * __pyx_v_data.strides[0]) )))), __pyx_t_1)); @@ -3688,11 +3728,11 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_1 * def __setstate_cython__(self, __pyx_state): * raise TypeError("self.server cannot be converted to a Python object for pickling") */ - __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple_, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 2, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple_, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 2, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_Raise(__pyx_t_1, 0, 0, 0); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __PYX_ERR(0, 2, __pyx_L1_error) + __PYX_ERR(1, 2, __pyx_L1_error) /* "(tree fragment)":1 * def __reduce_cython__(self): # <<<<<<<<<<<<<< @@ -3744,11 +3784,11 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcServer_1 * def __setstate_cython__(self, __pyx_state): * raise TypeError("self.server cannot be converted to a Python object for pickling") # <<<<<<<<<<<<<< */ - __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__2, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 4, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__2, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 4, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_Raise(__pyx_t_1, 0, 0, 0); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __PYX_ERR(0, 4, __pyx_L1_error) + __PYX_ERR(1, 4, __pyx_L1_error) /* "(tree fragment)":3 * def __reduce_cython__(self): @@ -3812,17 +3852,17 @@ static int __pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_1__cini case 1: if (likely((values[1] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_stream)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("__cinit__", 1, 3, 3, 1); __PYX_ERR(1, 66, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__cinit__", 1, 3, 3, 1); __PYX_ERR(0, 66, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 2: if (likely((values[2] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_conflate)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("__cinit__", 1, 3, 3, 2); __PYX_ERR(1, 66, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__cinit__", 1, 3, 3, 2); __PYX_ERR(0, 66, __pyx_L3_error) } } if (unlikely(kw_args > 0)) { - if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__cinit__") < 0)) __PYX_ERR(1, 66, __pyx_L3_error) + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__cinit__") < 0)) __PYX_ERR(0, 66, __pyx_L3_error) } } else if (PyTuple_GET_SIZE(__pyx_args) != 3) { goto __pyx_L5_argtuple_error; @@ -3831,13 +3871,13 @@ static int __pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_1__cini values[1] = PyTuple_GET_ITEM(__pyx_args, 1); values[2] = PyTuple_GET_ITEM(__pyx_args, 2); } - __pyx_v_name = __pyx_convert_string_from_py_std__in_string(values[0]); if (unlikely(PyErr_Occurred())) __PYX_ERR(1, 66, __pyx_L3_error) - __pyx_v_stream = ((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)__Pyx_PyInt_As_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(values[1])); if (unlikely(PyErr_Occurred())) __PYX_ERR(1, 66, __pyx_L3_error) - __pyx_v_conflate = __Pyx_PyObject_IsTrue(values[2]); if (unlikely((__pyx_v_conflate == ((bool)-1)) && PyErr_Occurred())) __PYX_ERR(1, 66, __pyx_L3_error) + __pyx_v_name = __pyx_convert_string_from_py_std__in_string(values[0]); if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 66, __pyx_L3_error) + __pyx_v_stream = ((enum __pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType)__Pyx_PyInt_As_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(values[1])); if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 66, __pyx_L3_error) + __pyx_v_conflate = __Pyx_PyObject_IsTrue(values[2]); if (unlikely((__pyx_v_conflate == ((bool)-1)) && PyErr_Occurred())) __PYX_ERR(0, 66, __pyx_L3_error) } goto __pyx_L4_argument_unpacking_done; __pyx_L5_argtuple_error:; - __Pyx_RaiseArgtupleInvalid("__cinit__", 1, 3, 3, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(1, 66, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__cinit__", 1, 3, 3, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(0, 66, __pyx_L3_error) __pyx_L3_error:; __Pyx_AddTraceback("cereal.visionipc.visionipc_pyx.VisionIpcClient.__cinit__", __pyx_clineno, __pyx_lineno, __pyx_filename); __Pyx_RefNannyFinishContext(); @@ -3974,7 +4014,7 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_5 __Pyx_INCREF(Py_None); __pyx_t_1 = Py_None; } else { - __pyx_t_2 = __Pyx_PyInt_FromSize_t(__pyx_v_self->buf->width); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 75, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_FromSize_t(__pyx_v_self->buf->width); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 75, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_t_1 = __pyx_t_2; __pyx_t_2 = 0; @@ -4046,7 +4086,7 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_6 __Pyx_INCREF(Py_None); __pyx_t_1 = Py_None; } else { - __pyx_t_2 = __Pyx_PyInt_FromSize_t(__pyx_v_self->buf->height); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 79, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_FromSize_t(__pyx_v_self->buf->height); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 79, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_t_1 = __pyx_t_2; __pyx_t_2 = 0; @@ -4118,7 +4158,7 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_6 __Pyx_INCREF(Py_None); __pyx_t_1 = Py_None; } else { - __pyx_t_2 = __Pyx_PyInt_FromSize_t(__pyx_v_self->buf->stride); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 83, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_FromSize_t(__pyx_v_self->buf->stride); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 83, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_t_1 = __pyx_t_2; __pyx_t_2 = 0; @@ -4190,7 +4230,7 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_9 __Pyx_INCREF(Py_None); __pyx_t_1 = Py_None; } else { - __pyx_t_2 = __Pyx_PyInt_FromSize_t(__pyx_v_self->buf->uv_offset); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 87, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_FromSize_t(__pyx_v_self->buf->uv_offset); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 87, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_t_1 = __pyx_t_2; __pyx_t_2 = 0; @@ -4258,7 +4298,7 @@ static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_5 } } if (unlikely(kw_args > 0)) { - if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "recv") < 0)) __PYX_ERR(1, 89, __pyx_L3_error) + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "recv") < 0)) __PYX_ERR(0, 89, __pyx_L3_error) } } else { switch (PyTuple_GET_SIZE(__pyx_args)) { @@ -4269,14 +4309,14 @@ static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_5 } } if (values[0]) { - __pyx_v_timeout_ms = __Pyx_PyInt_As_int(values[0]); if (unlikely((__pyx_v_timeout_ms == (int)-1) && PyErr_Occurred())) __PYX_ERR(1, 89, __pyx_L3_error) + __pyx_v_timeout_ms = __Pyx_PyInt_As_int(values[0]); if (unlikely((__pyx_v_timeout_ms == (int)-1) && PyErr_Occurred())) __PYX_ERR(0, 89, __pyx_L3_error) } else { __pyx_v_timeout_ms = ((int)0x64); } } goto __pyx_L4_argument_unpacking_done; __pyx_L5_argtuple_error:; - __Pyx_RaiseArgtupleInvalid("recv", 0, 0, 1, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(1, 89, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("recv", 0, 0, 1, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(0, 89, __pyx_L3_error) __pyx_L3_error:; __Pyx_AddTraceback("cereal.visionipc.visionipc_pyx.VisionIpcClient.recv", __pyx_clineno, __pyx_lineno, __pyx_filename); __Pyx_RefNannyFinishContext(); @@ -4354,33 +4394,33 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_4 * cdef char[:] dat_view = dat * memcpy(&dat_view[0], self.buf.addr, self.buf.len) */ - __Pyx_GetModuleGlobalName(__pyx_t_2, __pyx_n_s_np); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 93, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_2, __pyx_n_s_np); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 93, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __pyx_t_3 = __Pyx_PyObject_GetAttrStr(__pyx_t_2, __pyx_n_s_empty); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 93, __pyx_L1_error) + __pyx_t_3 = __Pyx_PyObject_GetAttrStr(__pyx_t_2, __pyx_n_s_empty); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 93, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; - __pyx_t_2 = __Pyx_PyInt_FromSize_t(__pyx_v_self->buf->len); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 93, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_FromSize_t(__pyx_v_self->buf->len); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 93, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __pyx_t_4 = PyTuple_New(1); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 93, __pyx_L1_error) + __pyx_t_4 = PyTuple_New(1); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 93, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_GIVEREF(__pyx_t_2); PyTuple_SET_ITEM(__pyx_t_4, 0, __pyx_t_2); __pyx_t_2 = 0; - __pyx_t_2 = __Pyx_PyDict_NewPresized(1); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 93, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyDict_NewPresized(1); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 93, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __Pyx_GetModuleGlobalName(__pyx_t_5, __pyx_n_s_np); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 93, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_5, __pyx_n_s_np); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 93, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); - __pyx_t_6 = __Pyx_PyObject_GetAttrStr(__pyx_t_5, __pyx_n_s_uint8); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 93, __pyx_L1_error) + __pyx_t_6 = __Pyx_PyObject_GetAttrStr(__pyx_t_5, __pyx_n_s_uint8); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 93, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0; - if (PyDict_SetItem(__pyx_t_2, __pyx_n_s_dtype, __pyx_t_6) < 0) __PYX_ERR(1, 93, __pyx_L1_error) + if (PyDict_SetItem(__pyx_t_2, __pyx_n_s_dtype, __pyx_t_6) < 0) __PYX_ERR(0, 93, __pyx_L1_error) __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; - __pyx_t_6 = __Pyx_PyObject_Call(__pyx_t_3, __pyx_t_4, __pyx_t_2); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 93, __pyx_L1_error) + __pyx_t_6 = __Pyx_PyObject_Call(__pyx_t_3, __pyx_t_4, __pyx_t_2); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 93, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; - if (!(likely(((__pyx_t_6) == Py_None) || likely(__Pyx_TypeTest(__pyx_t_6, __pyx_ptype_5numpy_ndarray))))) __PYX_ERR(1, 93, __pyx_L1_error) + if (!(likely(((__pyx_t_6) == Py_None) || likely(__Pyx_TypeTest(__pyx_t_6, __pyx_ptype_5numpy_ndarray))))) __PYX_ERR(0, 93, __pyx_L1_error) __pyx_v_dat = ((PyArrayObject *)__pyx_t_6); __pyx_t_6 = 0; @@ -4391,7 +4431,7 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_4 * memcpy(&dat_view[0], self.buf.addr, self.buf.len) * return dat */ - __pyx_t_7 = __Pyx_PyObject_to_MemoryviewSlice_ds_char(((PyObject *)__pyx_v_dat), PyBUF_WRITABLE); if (unlikely(!__pyx_t_7.memview)) __PYX_ERR(1, 94, __pyx_L1_error) + __pyx_t_7 = __Pyx_PyObject_to_MemoryviewSlice_ds_char(((PyObject *)__pyx_v_dat), PyBUF_WRITABLE); if (unlikely(!__pyx_t_7.memview)) __PYX_ERR(0, 94, __pyx_L1_error) __pyx_v_dat_view = __pyx_t_7; __pyx_t_7.memview = NULL; __pyx_t_7.data = NULL; @@ -4411,7 +4451,7 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_4 } else if (unlikely(__pyx_t_8 >= __pyx_v_dat_view.shape[0])) __pyx_t_9 = 0; if (unlikely(__pyx_t_9 != -1)) { __Pyx_RaiseBufferIndexError(__pyx_t_9); - __PYX_ERR(1, 95, __pyx_L1_error) + __PYX_ERR(0, 95, __pyx_L1_error) } (void)(memcpy((&(*((char *) ( /* dim=0 */ (__pyx_v_dat_view.data + __pyx_t_8 * __pyx_v_dat_view.strides[0]) )))), __pyx_v_self->buf->addr, __pyx_v_self->buf->len)); @@ -4472,7 +4512,7 @@ static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_7 __Pyx_RefNannyDeclarations __Pyx_RefNannySetupContext("connect (wrapper)", 0); assert(__pyx_arg_blocking); { - __pyx_v_blocking = __Pyx_PyObject_IsTrue(__pyx_arg_blocking); if (unlikely((__pyx_v_blocking == ((bool)-1)) && PyErr_Occurred())) __PYX_ERR(1, 98, __pyx_L3_error) + __pyx_v_blocking = __Pyx_PyObject_IsTrue(__pyx_arg_blocking); if (unlikely((__pyx_v_blocking == ((bool)-1)) && PyErr_Occurred())) __PYX_ERR(0, 98, __pyx_L3_error) } goto __pyx_L4_argument_unpacking_done; __pyx_L3_error:; @@ -4504,7 +4544,7 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_6 * def is_connected(self): */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = __Pyx_PyBool_FromLong(__pyx_v_self->client->connect(__pyx_v_blocking)); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 99, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyBool_FromLong(__pyx_v_self->client->connect(__pyx_v_blocking)); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 99, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_r = __pyx_t_1; __pyx_t_1 = 0; @@ -4534,6 +4574,7 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_6 * * def is_connected(self): # <<<<<<<<<<<<<< * return self.client.is_connected() + * */ /* Python wrapper */ @@ -4562,9 +4603,11 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_8 * * def is_connected(self): * return self.client.is_connected() # <<<<<<<<<<<<<< + * + * @staticmethod */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = __Pyx_PyBool_FromLong(__pyx_v_self->client->is_connected()); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 102, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyBool_FromLong(__pyx_v_self->client->is_connected()); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 102, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_r = __pyx_t_1; __pyx_t_1 = 0; @@ -4575,6 +4618,7 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_8 * * def is_connected(self): # <<<<<<<<<<<<<< * return self.client.is_connected() + * */ /* function exit code */ @@ -4588,6 +4632,117 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_8 return __pyx_r; } +/* "cereal/visionipc/visionipc_pyx.pyx":105 + * + * @staticmethod + * def available_streams(string name, bool block): # <<<<<<<<<<<<<< + * return cppVisionIpcClient.getAvailableStreams(name, block) + */ + +/* Python wrapper */ +static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_11available_streams(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_args, PyObject *__pyx_kwds); /*proto*/ +static PyMethodDef __pyx_mdef_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_11available_streams = {"available_streams", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_11available_streams, METH_VARARGS|METH_KEYWORDS, 0}; +static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_11available_streams(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_args, PyObject *__pyx_kwds) { + std::string __pyx_v_name; + bool __pyx_v_block; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + PyObject *__pyx_r = 0; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("available_streams (wrapper)", 0); + { + static PyObject **__pyx_pyargnames[] = {&__pyx_n_s_name,&__pyx_n_s_block,0}; + PyObject* values[2] = {0,0}; + if (unlikely(__pyx_kwds)) { + Py_ssize_t kw_args; + const Py_ssize_t pos_args = PyTuple_GET_SIZE(__pyx_args); + switch (pos_args) { + case 2: values[1] = PyTuple_GET_ITEM(__pyx_args, 1); + CYTHON_FALLTHROUGH; + case 1: values[0] = PyTuple_GET_ITEM(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = PyDict_Size(__pyx_kwds); + switch (pos_args) { + case 0: + if (likely((values[0] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_name)) != 0)) kw_args--; + else goto __pyx_L5_argtuple_error; + CYTHON_FALLTHROUGH; + case 1: + if (likely((values[1] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_block)) != 0)) kw_args--; + else { + __Pyx_RaiseArgtupleInvalid("available_streams", 1, 2, 2, 1); __PYX_ERR(0, 105, __pyx_L3_error) + } + } + if (unlikely(kw_args > 0)) { + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "available_streams") < 0)) __PYX_ERR(0, 105, __pyx_L3_error) + } + } else if (PyTuple_GET_SIZE(__pyx_args) != 2) { + goto __pyx_L5_argtuple_error; + } else { + values[0] = PyTuple_GET_ITEM(__pyx_args, 0); + values[1] = PyTuple_GET_ITEM(__pyx_args, 1); + } + __pyx_v_name = __pyx_convert_string_from_py_std__in_string(values[0]); if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 105, __pyx_L3_error) + __pyx_v_block = __Pyx_PyObject_IsTrue(values[1]); if (unlikely((__pyx_v_block == ((bool)-1)) && PyErr_Occurred())) __PYX_ERR(0, 105, __pyx_L3_error) + } + goto __pyx_L4_argument_unpacking_done; + __pyx_L5_argtuple_error:; + __Pyx_RaiseArgtupleInvalid("available_streams", 1, 2, 2, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(0, 105, __pyx_L3_error) + __pyx_L3_error:; + __Pyx_AddTraceback("cereal.visionipc.visionipc_pyx.VisionIpcClient.available_streams", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_RefNannyFinishContext(); + return NULL; + __pyx_L4_argument_unpacking_done:; + __pyx_r = __pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_10available_streams(__pyx_v_name, __pyx_v_block); + + /* function exit code */ + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_10available_streams(std::string __pyx_v_name, bool __pyx_v_block) { + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + PyObject *__pyx_t_1 = NULL; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("available_streams", 0); + + /* "cereal/visionipc/visionipc_pyx.pyx":106 + * @staticmethod + * def available_streams(string name, bool block): + * return cppVisionIpcClient.getAvailableStreams(name, block) # <<<<<<<<<<<<<< + */ + __Pyx_XDECREF(__pyx_r); + __pyx_t_1 = __pyx_convert_set_to_py_enum__VisionStreamType(VisionIpcClient::getAvailableStreams(__pyx_v_name, __pyx_v_block)); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 106, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_1); + __pyx_r = __pyx_t_1; + __pyx_t_1 = 0; + goto __pyx_L0; + + /* "cereal/visionipc/visionipc_pyx.pyx":105 + * + * @staticmethod + * def available_streams(string name, bool block): # <<<<<<<<<<<<<< + * return cppVisionIpcClient.getAvailableStreams(name, block) + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_1); + __Pyx_AddTraceback("cereal.visionipc.visionipc_pyx.VisionIpcClient.available_streams", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = NULL; + __pyx_L0:; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + /* "(tree fragment)":1 * def __reduce_cython__(self): # <<<<<<<<<<<<<< * raise TypeError("no default __reduce__ due to non-trivial __cinit__") @@ -4595,19 +4750,19 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_8 */ /* Python wrapper */ -static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_11__reduce_cython__(PyObject *__pyx_v_self, CYTHON_UNUSED PyObject *unused); /*proto*/ -static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_11__reduce_cython__(PyObject *__pyx_v_self, CYTHON_UNUSED PyObject *unused) { +static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_13__reduce_cython__(PyObject *__pyx_v_self, CYTHON_UNUSED PyObject *unused); /*proto*/ +static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_13__reduce_cython__(PyObject *__pyx_v_self, CYTHON_UNUSED PyObject *unused) { PyObject *__pyx_r = 0; __Pyx_RefNannyDeclarations __Pyx_RefNannySetupContext("__reduce_cython__ (wrapper)", 0); - __pyx_r = __pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_10__reduce_cython__(((struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *)__pyx_v_self)); + __pyx_r = __pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_12__reduce_cython__(((struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *)__pyx_v_self)); /* function exit code */ __Pyx_RefNannyFinishContext(); return __pyx_r; } -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_10__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self) { +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) { PyObject *__pyx_r = NULL; __Pyx_RefNannyDeclarations PyObject *__pyx_t_1 = NULL; @@ -4622,11 +4777,11 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_1 * def __setstate_cython__(self, __pyx_state): * raise TypeError("no default __reduce__ due to non-trivial __cinit__") */ - __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__3, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 2, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__3, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 2, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_Raise(__pyx_t_1, 0, 0, 0); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __PYX_ERR(0, 2, __pyx_L1_error) + __PYX_ERR(1, 2, __pyx_L1_error) /* "(tree fragment)":1 * def __reduce_cython__(self): # <<<<<<<<<<<<<< @@ -4652,19 +4807,19 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_1 */ /* Python wrapper */ -static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_13__setstate_cython__(PyObject *__pyx_v_self, PyObject *__pyx_v___pyx_state); /*proto*/ -static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_13__setstate_cython__(PyObject *__pyx_v_self, PyObject *__pyx_v___pyx_state) { +static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_15__setstate_cython__(PyObject *__pyx_v_self, PyObject *__pyx_v___pyx_state); /*proto*/ +static PyObject *__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_15__setstate_cython__(PyObject *__pyx_v_self, PyObject *__pyx_v___pyx_state) { PyObject *__pyx_r = 0; __Pyx_RefNannyDeclarations __Pyx_RefNannySetupContext("__setstate_cython__ (wrapper)", 0); - __pyx_r = __pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_12__setstate_cython__(((struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *)__pyx_v_self), ((PyObject *)__pyx_v___pyx_state)); + __pyx_r = __pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_14__setstate_cython__(((struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *)__pyx_v_self), ((PyObject *)__pyx_v___pyx_state)); /* function exit code */ __Pyx_RefNannyFinishContext(); return __pyx_r; } -static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_12__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state) { +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) { PyObject *__pyx_r = NULL; __Pyx_RefNannyDeclarations PyObject *__pyx_t_1 = NULL; @@ -4678,11 +4833,11 @@ static PyObject *__pyx_pf_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_1 * def __setstate_cython__(self, __pyx_state): * raise TypeError("no default __reduce__ due to non-trivial __cinit__") # <<<<<<<<<<<<<< */ - __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__4, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 4, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__4, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 4, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_Raise(__pyx_t_1, 0, 0, 0); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __PYX_ERR(0, 4, __pyx_L1_error) + __PYX_ERR(1, 4, __pyx_L1_error) /* "(tree fragment)":3 * def __reduce_cython__(self): @@ -5753,7 +5908,7 @@ static std::string __pyx_convert_string_from_py_std__in_string(PyObject *__pyx_v * return string(data, length) * */ - __pyx_t_1 = __Pyx_PyObject_AsStringAndSize(__pyx_v_o, (&__pyx_v_length)); if (unlikely(__pyx_t_1 == ((char const *)NULL))) __PYX_ERR(0, 15, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_AsStringAndSize(__pyx_v_o, (&__pyx_v_length)); if (unlikely(__pyx_t_1 == ((char const *)NULL))) __PYX_ERR(1, 15, __pyx_L1_error) __pyx_v_data = __pyx_t_1; /* "string.from_py":16 @@ -5783,6 +5938,112 @@ static std::string __pyx_convert_string_from_py_std__in_string(PyObject *__pyx_v return __pyx_r; } +/* "set.to_py":129 + * + * @cname("__pyx_convert_set_to_py_enum__VisionStreamType") + * cdef object __pyx_convert_set_to_py_enum__VisionStreamType(const cpp_set[X]& s): # <<<<<<<<<<<<<< + * o = set() + * cdef cpp_set[X].const_iterator iter = s.begin() + */ + +static PyObject *__pyx_convert_set_to_py_enum__VisionStreamType(std::set const &__pyx_v_s) { + PyObject *__pyx_v_o = NULL; + std::set ::const_iterator __pyx_v_iter; + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + PyObject *__pyx_t_1 = NULL; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("__pyx_convert_set_to_py_enum__VisionStreamType", 0); + + /* "set.to_py":130 + * @cname("__pyx_convert_set_to_py_enum__VisionStreamType") + * cdef object __pyx_convert_set_to_py_enum__VisionStreamType(const cpp_set[X]& s): + * o = set() # <<<<<<<<<<<<<< + * cdef cpp_set[X].const_iterator iter = s.begin() + * while iter != s.end(): + */ + __pyx_t_1 = PySet_New(0); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 130, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_1); + __pyx_v_o = ((PyObject*)__pyx_t_1); + __pyx_t_1 = 0; + + /* "set.to_py":131 + * cdef object __pyx_convert_set_to_py_enum__VisionStreamType(const cpp_set[X]& s): + * o = set() + * cdef cpp_set[X].const_iterator iter = s.begin() # <<<<<<<<<<<<<< + * while iter != s.end(): + * o.add(cython.operator.dereference(iter)) + */ + __pyx_v_iter = __pyx_v_s.begin(); + + /* "set.to_py":132 + * o = set() + * cdef cpp_set[X].const_iterator iter = s.begin() + * while iter != s.end(): # <<<<<<<<<<<<<< + * o.add(cython.operator.dereference(iter)) + * cython.operator.preincrement(iter) + */ + while (1) { + __pyx_t_2 = ((__pyx_v_iter != __pyx_v_s.end()) != 0); + if (!__pyx_t_2) break; + + /* "set.to_py":133 + * cdef cpp_set[X].const_iterator iter = s.begin() + * while iter != s.end(): + * o.add(cython.operator.dereference(iter)) # <<<<<<<<<<<<<< + * cython.operator.preincrement(iter) + * return o + */ + __pyx_t_1 = __Pyx_PyInt_From_enum__VisionStreamType((*__pyx_v_iter)); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 133, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_1); + __pyx_t_3 = PySet_Add(__pyx_v_o, __pyx_t_1); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 133, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + + /* "set.to_py":134 + * while iter != s.end(): + * o.add(cython.operator.dereference(iter)) + * cython.operator.preincrement(iter) # <<<<<<<<<<<<<< + * return o + * + */ + (void)((++__pyx_v_iter)); + } + + /* "set.to_py":135 + * o.add(cython.operator.dereference(iter)) + * cython.operator.preincrement(iter) + * return o # <<<<<<<<<<<<<< + * + */ + __Pyx_XDECREF(__pyx_r); + __Pyx_INCREF(__pyx_v_o); + __pyx_r = __pyx_v_o; + goto __pyx_L0; + + /* "set.to_py":129 + * + * @cname("__pyx_convert_set_to_py_enum__VisionStreamType") + * cdef object __pyx_convert_set_to_py_enum__VisionStreamType(const cpp_set[X]& s): # <<<<<<<<<<<<<< + * o = set() + * cdef cpp_set[X].const_iterator iter = s.begin() + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_1); + __Pyx_AddTraceback("set.to_py.__pyx_convert_set_to_py_enum__VisionStreamType", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XDECREF(__pyx_v_o); + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + /* "EnumBase":16 * @cython.internal * cdef class __Pyx_EnumMeta(type): @@ -5828,17 +6089,17 @@ static int __pyx_pw_8EnumBase_14__Pyx_EnumMeta_1__init__(PyObject *__pyx_v_cls, case 1: if (likely((values[1] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_parents)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("__init__", 1, 3, 3, 1); __PYX_ERR(0, 16, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__init__", 1, 3, 3, 1); __PYX_ERR(1, 16, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 2: if (likely((values[2] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_dct)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("__init__", 1, 3, 3, 2); __PYX_ERR(0, 16, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__init__", 1, 3, 3, 2); __PYX_ERR(1, 16, __pyx_L3_error) } } if (unlikely(kw_args > 0)) { - if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__init__") < 0)) __PYX_ERR(0, 16, __pyx_L3_error) + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__init__") < 0)) __PYX_ERR(1, 16, __pyx_L3_error) } } else if (PyTuple_GET_SIZE(__pyx_args) != 3) { goto __pyx_L5_argtuple_error; @@ -5853,7 +6114,7 @@ static int __pyx_pw_8EnumBase_14__Pyx_EnumMeta_1__init__(PyObject *__pyx_v_cls, } goto __pyx_L4_argument_unpacking_done; __pyx_L5_argtuple_error:; - __Pyx_RaiseArgtupleInvalid("__init__", 1, 3, 3, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(0, 16, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__init__", 1, 3, 3, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(1, 16, __pyx_L3_error) __pyx_L3_error:; __Pyx_AddTraceback("EnumBase.__Pyx_EnumMeta.__init__", __pyx_clineno, __pyx_lineno, __pyx_filename); __Pyx_RefNannyFinishContext(); @@ -5886,7 +6147,7 @@ static int __pyx_pf_8EnumBase_14__Pyx_EnumMeta___init__(struct __pyx_obj___Pyx_E * cls.__members__ = __Pyx_OrderedDict() * def __iter__(cls): */ - __pyx_t_2 = __Pyx_PyObject_GetAttrStr(((PyObject *)(&PyType_Type)), __pyx_n_s_init); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 17, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_GetAttrStr(((PyObject *)(&PyType_Type)), __pyx_n_s_init); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 17, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_t_3 = NULL; __pyx_t_4 = 0; @@ -5903,7 +6164,7 @@ static int __pyx_pf_8EnumBase_14__Pyx_EnumMeta___init__(struct __pyx_obj___Pyx_E #if CYTHON_FAST_PYCALL if (PyFunction_Check(__pyx_t_2)) { PyObject *__pyx_temp[5] = {__pyx_t_3, ((PyObject *)__pyx_v_cls), __pyx_v_name, __pyx_v_parents, __pyx_v_dct}; - __pyx_t_1 = __Pyx_PyFunction_FastCall(__pyx_t_2, __pyx_temp+1-__pyx_t_4, 4+__pyx_t_4); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 17, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyFunction_FastCall(__pyx_t_2, __pyx_temp+1-__pyx_t_4, 4+__pyx_t_4); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 17, __pyx_L1_error) __Pyx_XDECREF(__pyx_t_3); __pyx_t_3 = 0; __Pyx_GOTREF(__pyx_t_1); } else @@ -5911,13 +6172,13 @@ static int __pyx_pf_8EnumBase_14__Pyx_EnumMeta___init__(struct __pyx_obj___Pyx_E #if CYTHON_FAST_PYCCALL if (__Pyx_PyFastCFunction_Check(__pyx_t_2)) { PyObject *__pyx_temp[5] = {__pyx_t_3, ((PyObject *)__pyx_v_cls), __pyx_v_name, __pyx_v_parents, __pyx_v_dct}; - __pyx_t_1 = __Pyx_PyCFunction_FastCall(__pyx_t_2, __pyx_temp+1-__pyx_t_4, 4+__pyx_t_4); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 17, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyCFunction_FastCall(__pyx_t_2, __pyx_temp+1-__pyx_t_4, 4+__pyx_t_4); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 17, __pyx_L1_error) __Pyx_XDECREF(__pyx_t_3); __pyx_t_3 = 0; __Pyx_GOTREF(__pyx_t_1); } else #endif { - __pyx_t_5 = PyTuple_New(4+__pyx_t_4); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 17, __pyx_L1_error) + __pyx_t_5 = PyTuple_New(4+__pyx_t_4); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 17, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); if (__pyx_t_3) { __Pyx_GIVEREF(__pyx_t_3); PyTuple_SET_ITEM(__pyx_t_5, 0, __pyx_t_3); __pyx_t_3 = NULL; @@ -5934,7 +6195,7 @@ static int __pyx_pf_8EnumBase_14__Pyx_EnumMeta___init__(struct __pyx_obj___Pyx_E __Pyx_INCREF(__pyx_v_dct); __Pyx_GIVEREF(__pyx_v_dct); PyTuple_SET_ITEM(__pyx_t_5, 3+__pyx_t_4, __pyx_v_dct); - __pyx_t_1 = __Pyx_PyObject_Call(__pyx_t_2, __pyx_t_5, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 17, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_Call(__pyx_t_2, __pyx_t_5, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 17, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0; } @@ -5961,10 +6222,10 @@ static int __pyx_pf_8EnumBase_14__Pyx_EnumMeta___init__(struct __pyx_obj___Pyx_E } __pyx_t_1 = (__pyx_t_5) ? __Pyx_PyObject_CallOneArg(__pyx_t_2, __pyx_t_5) : __Pyx_PyObject_CallNoArg(__pyx_t_2); __Pyx_XDECREF(__pyx_t_5); __pyx_t_5 = 0; - if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 18, __pyx_L1_error) + if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 18, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; - if (__Pyx_PyObject_SetAttrStr(((PyObject *)__pyx_v_cls), __pyx_n_s_members, __pyx_t_1) < 0) __PYX_ERR(0, 18, __pyx_L1_error) + if (__Pyx_PyObject_SetAttrStr(((PyObject *)__pyx_v_cls), __pyx_n_s_members, __pyx_t_1) < 0) __PYX_ERR(1, 18, __pyx_L1_error) __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; /* "EnumBase":16 @@ -6030,9 +6291,9 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_2__iter__(struct __pyx_obj_ * return cls.__members__[name] */ __Pyx_XDECREF(__pyx_r); - __pyx_t_2 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_cls), __pyx_n_s_members); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 20, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_cls), __pyx_n_s_members); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 20, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __pyx_t_3 = __Pyx_PyObject_GetAttrStr(__pyx_t_2, __pyx_n_s_values); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 20, __pyx_L1_error) + __pyx_t_3 = __Pyx_PyObject_GetAttrStr(__pyx_t_2, __pyx_n_s_values); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 20, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __pyx_t_2 = NULL; @@ -6047,10 +6308,10 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_2__iter__(struct __pyx_obj_ } __pyx_t_1 = (__pyx_t_2) ? __Pyx_PyObject_CallOneArg(__pyx_t_3, __pyx_t_2) : __Pyx_PyObject_CallNoArg(__pyx_t_3); __Pyx_XDECREF(__pyx_t_2); __pyx_t_2 = 0; - if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 20, __pyx_L1_error) + if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 20, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; - __pyx_t_3 = PyObject_GetIter(__pyx_t_1); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 20, __pyx_L1_error) + __pyx_t_3 = PyObject_GetIter(__pyx_t_1); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 20, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; __pyx_r = __pyx_t_3; @@ -6117,9 +6378,9 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_4__getitem__(struct __pyx_o * */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_cls), __pyx_n_s_members); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 22, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_cls), __pyx_n_s_members); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 22, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_2 = __Pyx_PyObject_GetItem(__pyx_t_1, __pyx_v_name); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 22, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_GetItem(__pyx_t_1, __pyx_v_name); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 22, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; __pyx_r = __pyx_t_2; @@ -6198,7 +6459,7 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_6__reduce_cython__(struct _ * if _dict is not None: * state += (_dict,) */ - __pyx_t_1 = __Pyx_GetAttr3(((PyObject *)__pyx_v_self), __pyx_n_s_dict, Py_None); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 6, __pyx_L1_error) + __pyx_t_1 = __Pyx_GetAttr3(((PyObject *)__pyx_v_self), __pyx_n_s_dict, Py_None); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 6, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_v__dict = __pyx_t_1; __pyx_t_1 = 0; @@ -6221,12 +6482,12 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_6__reduce_cython__(struct _ * use_setstate = True * else: */ - __pyx_t_1 = PyTuple_New(1); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 8, __pyx_L1_error) + __pyx_t_1 = PyTuple_New(1); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 8, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_INCREF(__pyx_v__dict); __Pyx_GIVEREF(__pyx_v__dict); PyTuple_SET_ITEM(__pyx_t_1, 0, __pyx_v__dict); - __pyx_t_4 = PyNumber_InPlaceAdd(__pyx_v_state, __pyx_t_1); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 8, __pyx_L1_error) + __pyx_t_4 = PyNumber_InPlaceAdd(__pyx_v_state, __pyx_t_1); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 8, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; __Pyx_DECREF_SET(__pyx_v_state, ((PyObject*)__pyx_t_4)); @@ -6281,9 +6542,9 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_6__reduce_cython__(struct _ * return __pyx_unpickle___Pyx_EnumMeta, (type(self), 0xd41d8cd, state) */ __Pyx_XDECREF(__pyx_r); - __Pyx_GetModuleGlobalName(__pyx_t_4, __pyx_n_s_pyx_unpickle___Pyx_EnumMeta); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 13, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_4, __pyx_n_s_pyx_unpickle___Pyx_EnumMeta); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 13, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); - __pyx_t_1 = PyTuple_New(3); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 13, __pyx_L1_error) + __pyx_t_1 = PyTuple_New(3); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 13, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_INCREF(((PyObject *)Py_TYPE(((PyObject *)__pyx_v_self)))); __Pyx_GIVEREF(((PyObject *)Py_TYPE(((PyObject *)__pyx_v_self)))); @@ -6294,7 +6555,7 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_6__reduce_cython__(struct _ __Pyx_INCREF(Py_None); __Pyx_GIVEREF(Py_None); PyTuple_SET_ITEM(__pyx_t_1, 2, Py_None); - __pyx_t_5 = PyTuple_New(3); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 13, __pyx_L1_error) + __pyx_t_5 = PyTuple_New(3); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 13, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); __Pyx_GIVEREF(__pyx_t_4); PyTuple_SET_ITEM(__pyx_t_5, 0, __pyx_t_4); @@ -6327,9 +6588,9 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_6__reduce_cython__(struct _ */ /*else*/ { __Pyx_XDECREF(__pyx_r); - __Pyx_GetModuleGlobalName(__pyx_t_5, __pyx_n_s_pyx_unpickle___Pyx_EnumMeta); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 15, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_5, __pyx_n_s_pyx_unpickle___Pyx_EnumMeta); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 15, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); - __pyx_t_1 = PyTuple_New(3); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 15, __pyx_L1_error) + __pyx_t_1 = PyTuple_New(3); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 15, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_INCREF(((PyObject *)Py_TYPE(((PyObject *)__pyx_v_self)))); __Pyx_GIVEREF(((PyObject *)Py_TYPE(((PyObject *)__pyx_v_self)))); @@ -6340,7 +6601,7 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_6__reduce_cython__(struct _ __Pyx_INCREF(__pyx_v_state); __Pyx_GIVEREF(__pyx_v_state); PyTuple_SET_ITEM(__pyx_t_1, 2, __pyx_v_state); - __pyx_t_4 = PyTuple_New(2); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 15, __pyx_L1_error) + __pyx_t_4 = PyTuple_New(2); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 15, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_GIVEREF(__pyx_t_5); PyTuple_SET_ITEM(__pyx_t_4, 0, __pyx_t_5); @@ -6408,8 +6669,8 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_8__setstate_cython__(struct * def __setstate_cython__(self, __pyx_state): * __pyx_unpickle___Pyx_EnumMeta__set_state(self, __pyx_state) # <<<<<<<<<<<<<< */ - if (!(likely(PyTuple_CheckExact(__pyx_v___pyx_state))||((__pyx_v___pyx_state) == Py_None)||(PyErr_Format(PyExc_TypeError, "Expected %.16s, got %.200s", "tuple", Py_TYPE(__pyx_v___pyx_state)->tp_name), 0))) __PYX_ERR(0, 17, __pyx_L1_error) - __pyx_t_1 = __pyx_unpickle___Pyx_EnumMeta__set_state(__pyx_v_self, ((PyObject*)__pyx_v___pyx_state)); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 17, __pyx_L1_error) + if (!(likely(PyTuple_CheckExact(__pyx_v___pyx_state))||((__pyx_v___pyx_state) == Py_None)||(PyErr_Format(PyExc_TypeError, "Expected %.16s, got %.200s", "tuple", Py_TYPE(__pyx_v___pyx_state)->tp_name), 0))) __PYX_ERR(1, 17, __pyx_L1_error) + __pyx_t_1 = __pyx_unpickle___Pyx_EnumMeta__set_state(__pyx_v_self, ((PyObject*)__pyx_v___pyx_state)); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 17, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; @@ -6480,7 +6741,7 @@ static PyObject *__pyx_pw_8EnumBase_14__Pyx_EnumBase_1__new__(PyObject *__pyx_se case 1: if (likely((values[1] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_value)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("__new__", 0, 2, 3, 1); __PYX_ERR(0, 28, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__new__", 0, 2, 3, 1); __PYX_ERR(1, 28, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 2: @@ -6490,7 +6751,7 @@ static PyObject *__pyx_pw_8EnumBase_14__Pyx_EnumBase_1__new__(PyObject *__pyx_se } } if (unlikely(kw_args > 0)) { - if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__new__") < 0)) __PYX_ERR(0, 28, __pyx_L3_error) + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__new__") < 0)) __PYX_ERR(1, 28, __pyx_L3_error) } } else { switch (PyTuple_GET_SIZE(__pyx_args)) { @@ -6508,7 +6769,7 @@ static PyObject *__pyx_pw_8EnumBase_14__Pyx_EnumBase_1__new__(PyObject *__pyx_se } goto __pyx_L4_argument_unpacking_done; __pyx_L5_argtuple_error:; - __Pyx_RaiseArgtupleInvalid("__new__", 0, 2, 3, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(0, 28, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__new__", 0, 2, 3, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(1, 28, __pyx_L3_error) __pyx_L3_error:; __Pyx_AddTraceback("EnumBase.__Pyx_EnumBase.__new__", __pyx_clineno, __pyx_lineno, __pyx_filename); __Pyx_RefNannyFinishContext(); @@ -6552,26 +6813,26 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObj __pyx_t_1 = __pyx_v_cls; __Pyx_INCREF(__pyx_t_1); __pyx_t_2 = 0; __pyx_t_3 = NULL; } else { - __pyx_t_2 = -1; __pyx_t_1 = PyObject_GetIter(__pyx_v_cls); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 29, __pyx_L1_error) + __pyx_t_2 = -1; __pyx_t_1 = PyObject_GetIter(__pyx_v_cls); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 29, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_3 = Py_TYPE(__pyx_t_1)->tp_iternext; if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 29, __pyx_L1_error) + __pyx_t_3 = Py_TYPE(__pyx_t_1)->tp_iternext; if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 29, __pyx_L1_error) } for (;;) { if (likely(!__pyx_t_3)) { if (likely(PyList_CheckExact(__pyx_t_1))) { if (__pyx_t_2 >= PyList_GET_SIZE(__pyx_t_1)) break; #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - __pyx_t_4 = PyList_GET_ITEM(__pyx_t_1, __pyx_t_2); __Pyx_INCREF(__pyx_t_4); __pyx_t_2++; if (unlikely(0 < 0)) __PYX_ERR(0, 29, __pyx_L1_error) + __pyx_t_4 = PyList_GET_ITEM(__pyx_t_1, __pyx_t_2); __Pyx_INCREF(__pyx_t_4); __pyx_t_2++; if (unlikely(0 < 0)) __PYX_ERR(1, 29, __pyx_L1_error) #else - __pyx_t_4 = PySequence_ITEM(__pyx_t_1, __pyx_t_2); __pyx_t_2++; if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 29, __pyx_L1_error) + __pyx_t_4 = PySequence_ITEM(__pyx_t_1, __pyx_t_2); __pyx_t_2++; if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 29, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); #endif } else { if (__pyx_t_2 >= PyTuple_GET_SIZE(__pyx_t_1)) break; #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - __pyx_t_4 = PyTuple_GET_ITEM(__pyx_t_1, __pyx_t_2); __Pyx_INCREF(__pyx_t_4); __pyx_t_2++; if (unlikely(0 < 0)) __PYX_ERR(0, 29, __pyx_L1_error) + __pyx_t_4 = PyTuple_GET_ITEM(__pyx_t_1, __pyx_t_2); __Pyx_INCREF(__pyx_t_4); __pyx_t_2++; if (unlikely(0 < 0)) __PYX_ERR(1, 29, __pyx_L1_error) #else - __pyx_t_4 = PySequence_ITEM(__pyx_t_1, __pyx_t_2); __pyx_t_2++; if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 29, __pyx_L1_error) + __pyx_t_4 = PySequence_ITEM(__pyx_t_1, __pyx_t_2); __pyx_t_2++; if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 29, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); #endif } @@ -6581,7 +6842,7 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObj PyObject* exc_type = PyErr_Occurred(); if (exc_type) { if (likely(__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) PyErr_Clear(); - else __PYX_ERR(0, 29, __pyx_L1_error) + else __PYX_ERR(1, 29, __pyx_L1_error) } break; } @@ -6597,8 +6858,8 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObj * return v * if name is None: */ - __pyx_t_4 = PyObject_RichCompare(__pyx_v_v, __pyx_v_value, Py_EQ); __Pyx_XGOTREF(__pyx_t_4); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 30, __pyx_L1_error) - __pyx_t_5 = __Pyx_PyObject_IsTrue(__pyx_t_4); if (unlikely(__pyx_t_5 < 0)) __PYX_ERR(0, 30, __pyx_L1_error) + __pyx_t_4 = PyObject_RichCompare(__pyx_v_v, __pyx_v_value, Py_EQ); __Pyx_XGOTREF(__pyx_t_4); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 30, __pyx_L1_error) + __pyx_t_5 = __Pyx_PyObject_IsTrue(__pyx_t_4); if (unlikely(__pyx_t_5 < 0)) __PYX_ERR(1, 30, __pyx_L1_error) __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; if (__pyx_t_5) { @@ -6652,14 +6913,14 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObj * res = int.__new__(cls, value) * res.name = name */ - __pyx_t_1 = __Pyx_PyString_FormatSafe(__pyx_kp_s_Unknown_enum_value_s, __pyx_v_value); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 33, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyString_FormatSafe(__pyx_kp_s_Unknown_enum_value_s, __pyx_v_value); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 33, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_4 = __Pyx_PyObject_CallOneArg(__pyx_builtin_ValueError, __pyx_t_1); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 33, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyObject_CallOneArg(__pyx_builtin_ValueError, __pyx_t_1); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 33, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; __Pyx_Raise(__pyx_t_4, 0, 0, 0); __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; - __PYX_ERR(0, 33, __pyx_L1_error) + __PYX_ERR(1, 33, __pyx_L1_error) /* "EnumBase":32 * if v == value: @@ -6677,7 +6938,7 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObj * res.name = name * setattr(cls, name, res) */ - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)(&PyInt_Type)), __pyx_n_s_new); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 34, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)(&PyInt_Type)), __pyx_n_s_new); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 34, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_t_7 = NULL; __pyx_t_8 = 0; @@ -6694,7 +6955,7 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObj #if CYTHON_FAST_PYCALL if (PyFunction_Check(__pyx_t_1)) { PyObject *__pyx_temp[3] = {__pyx_t_7, __pyx_v_cls, __pyx_v_value}; - __pyx_t_4 = __Pyx_PyFunction_FastCall(__pyx_t_1, __pyx_temp+1-__pyx_t_8, 2+__pyx_t_8); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 34, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyFunction_FastCall(__pyx_t_1, __pyx_temp+1-__pyx_t_8, 2+__pyx_t_8); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 34, __pyx_L1_error) __Pyx_XDECREF(__pyx_t_7); __pyx_t_7 = 0; __Pyx_GOTREF(__pyx_t_4); } else @@ -6702,13 +6963,13 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObj #if CYTHON_FAST_PYCCALL if (__Pyx_PyFastCFunction_Check(__pyx_t_1)) { PyObject *__pyx_temp[3] = {__pyx_t_7, __pyx_v_cls, __pyx_v_value}; - __pyx_t_4 = __Pyx_PyCFunction_FastCall(__pyx_t_1, __pyx_temp+1-__pyx_t_8, 2+__pyx_t_8); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 34, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyCFunction_FastCall(__pyx_t_1, __pyx_temp+1-__pyx_t_8, 2+__pyx_t_8); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 34, __pyx_L1_error) __Pyx_XDECREF(__pyx_t_7); __pyx_t_7 = 0; __Pyx_GOTREF(__pyx_t_4); } else #endif { - __pyx_t_9 = PyTuple_New(2+__pyx_t_8); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 34, __pyx_L1_error) + __pyx_t_9 = PyTuple_New(2+__pyx_t_8); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 34, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); if (__pyx_t_7) { __Pyx_GIVEREF(__pyx_t_7); PyTuple_SET_ITEM(__pyx_t_9, 0, __pyx_t_7); __pyx_t_7 = NULL; @@ -6719,7 +6980,7 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObj __Pyx_INCREF(__pyx_v_value); __Pyx_GIVEREF(__pyx_v_value); PyTuple_SET_ITEM(__pyx_t_9, 1+__pyx_t_8, __pyx_v_value); - __pyx_t_4 = __Pyx_PyObject_Call(__pyx_t_1, __pyx_t_9, NULL); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 34, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyObject_Call(__pyx_t_1, __pyx_t_9, NULL); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 34, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; } @@ -6734,7 +6995,7 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObj * setattr(cls, name, res) * cls.__members__[name] = res */ - if (__Pyx_PyObject_SetAttrStr(__pyx_v_res, __pyx_n_s_name, __pyx_v_name) < 0) __PYX_ERR(0, 35, __pyx_L1_error) + if (__Pyx_PyObject_SetAttrStr(__pyx_v_res, __pyx_n_s_name, __pyx_v_name) < 0) __PYX_ERR(1, 35, __pyx_L1_error) /* "EnumBase":36 * res = int.__new__(cls, value) @@ -6743,7 +7004,7 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObj * cls.__members__[name] = res * return res */ - __pyx_t_10 = PyObject_SetAttr(__pyx_v_cls, __pyx_v_name, __pyx_v_res); if (unlikely(__pyx_t_10 == ((int)-1))) __PYX_ERR(0, 36, __pyx_L1_error) + __pyx_t_10 = PyObject_SetAttr(__pyx_v_cls, __pyx_v_name, __pyx_v_res); if (unlikely(__pyx_t_10 == ((int)-1))) __PYX_ERR(1, 36, __pyx_L1_error) /* "EnumBase":37 * res.name = name @@ -6752,9 +7013,9 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObj * return res * def __repr__(self): */ - __pyx_t_4 = __Pyx_PyObject_GetAttrStr(__pyx_v_cls, __pyx_n_s_members); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 37, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyObject_GetAttrStr(__pyx_v_cls, __pyx_n_s_members); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 37, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); - if (unlikely(PyObject_SetItem(__pyx_t_4, __pyx_v_name, __pyx_v_res) < 0)) __PYX_ERR(0, 37, __pyx_L1_error) + if (unlikely(PyObject_SetItem(__pyx_t_4, __pyx_v_name, __pyx_v_res) < 0)) __PYX_ERR(1, 37, __pyx_L1_error) __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; /* "EnumBase":38 @@ -6834,14 +7095,14 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase_2__repr__(CYTHON_UNUSED PyO * return "%s.%s" % (self.__class__.__name__, self.name) */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_n_s_class); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 40, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_n_s_class); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 40, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_2 = __Pyx_PyObject_GetAttrStr(__pyx_t_1, __pyx_n_s_name_2); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 40, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_GetAttrStr(__pyx_t_1, __pyx_n_s_name_2); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 40, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_n_s_name); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 40, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_n_s_name); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 40, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_3 = PyTuple_New(3); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 40, __pyx_L1_error) + __pyx_t_3 = PyTuple_New(3); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 40, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_GIVEREF(__pyx_t_2); PyTuple_SET_ITEM(__pyx_t_3, 0, __pyx_t_2); @@ -6852,7 +7113,7 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase_2__repr__(CYTHON_UNUSED PyO PyTuple_SET_ITEM(__pyx_t_3, 2, __pyx_v_self); __pyx_t_2 = 0; __pyx_t_1 = 0; - __pyx_t_1 = __Pyx_PyString_Format(__pyx_kp_s_s_s_d, __pyx_t_3); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 40, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyString_Format(__pyx_kp_s_s_s_d, __pyx_t_3); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 40, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __pyx_r = __pyx_t_1; @@ -6921,14 +7182,14 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase_4__str__(CYTHON_UNUSED PyOb * if PY_VERSION_HEX >= 0x03040000: */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_n_s_class); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 42, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_n_s_class); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 42, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_2 = __Pyx_PyObject_GetAttrStr(__pyx_t_1, __pyx_n_s_name_2); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 42, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_GetAttrStr(__pyx_t_1, __pyx_n_s_name_2); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 42, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_n_s_name); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 42, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_n_s_name); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 42, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_3 = PyTuple_New(2); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 42, __pyx_L1_error) + __pyx_t_3 = PyTuple_New(2); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 42, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_GIVEREF(__pyx_t_2); PyTuple_SET_ITEM(__pyx_t_3, 0, __pyx_t_2); @@ -6936,7 +7197,7 @@ static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase_4__str__(CYTHON_UNUSED PyOb PyTuple_SET_ITEM(__pyx_t_3, 1, __pyx_t_1); __pyx_t_2 = 0; __pyx_t_1 = 0; - __pyx_t_1 = __Pyx_PyString_Format(__pyx_kp_s_s_s, __pyx_t_3); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 42, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyString_Format(__pyx_kp_s_s_s, __pyx_t_3); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 42, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __pyx_r = __pyx_t_1; @@ -7008,17 +7269,17 @@ static PyObject *__pyx_pw_8EnumBase_1__pyx_unpickle___Pyx_EnumMeta(PyObject *__p case 1: if (likely((values[1] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_pyx_checksum)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("__pyx_unpickle___Pyx_EnumMeta", 1, 3, 3, 1); __PYX_ERR(0, 1, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__pyx_unpickle___Pyx_EnumMeta", 1, 3, 3, 1); __PYX_ERR(1, 1, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 2: if (likely((values[2] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_pyx_state)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("__pyx_unpickle___Pyx_EnumMeta", 1, 3, 3, 2); __PYX_ERR(0, 1, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__pyx_unpickle___Pyx_EnumMeta", 1, 3, 3, 2); __PYX_ERR(1, 1, __pyx_L3_error) } } if (unlikely(kw_args > 0)) { - if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__pyx_unpickle___Pyx_EnumMeta") < 0)) __PYX_ERR(0, 1, __pyx_L3_error) + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__pyx_unpickle___Pyx_EnumMeta") < 0)) __PYX_ERR(1, 1, __pyx_L3_error) } } else if (PyTuple_GET_SIZE(__pyx_args) != 3) { goto __pyx_L5_argtuple_error; @@ -7028,12 +7289,12 @@ static PyObject *__pyx_pw_8EnumBase_1__pyx_unpickle___Pyx_EnumMeta(PyObject *__p values[2] = PyTuple_GET_ITEM(__pyx_args, 2); } __pyx_v___pyx_type = values[0]; - __pyx_v___pyx_checksum = __Pyx_PyInt_As_long(values[1]); if (unlikely((__pyx_v___pyx_checksum == (long)-1) && PyErr_Occurred())) __PYX_ERR(0, 1, __pyx_L3_error) + __pyx_v___pyx_checksum = __Pyx_PyInt_As_long(values[1]); if (unlikely((__pyx_v___pyx_checksum == (long)-1) && PyErr_Occurred())) __PYX_ERR(1, 1, __pyx_L3_error) __pyx_v___pyx_state = values[2]; } goto __pyx_L4_argument_unpacking_done; __pyx_L5_argtuple_error:; - __Pyx_RaiseArgtupleInvalid("__pyx_unpickle___Pyx_EnumMeta", 1, 3, 3, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(0, 1, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__pyx_unpickle___Pyx_EnumMeta", 1, 3, 3, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(1, 1, __pyx_L3_error) __pyx_L3_error:; __Pyx_AddTraceback("EnumBase.__pyx_unpickle___Pyx_EnumMeta", __pyx_clineno, __pyx_lineno, __pyx_filename); __Pyx_RefNannyFinishContext(); @@ -7079,15 +7340,15 @@ static PyObject *__pyx_pf_8EnumBase___pyx_unpickle___Pyx_EnumMeta(CYTHON_UNUSED * raise __pyx_PickleError("Incompatible checksums (%s vs 0xd41d8cd = ())" % __pyx_checksum) * __pyx_result = __Pyx_EnumMeta.__new__(__pyx_type) */ - __pyx_t_2 = PyList_New(1); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 5, __pyx_L1_error) + __pyx_t_2 = PyList_New(1); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 5, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_INCREF(__pyx_n_s_PickleError); __Pyx_GIVEREF(__pyx_n_s_PickleError); PyList_SET_ITEM(__pyx_t_2, 0, __pyx_n_s_PickleError); - __pyx_t_3 = __Pyx_Import(__pyx_n_s_pickle, __pyx_t_2, -1); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 5, __pyx_L1_error) + __pyx_t_3 = __Pyx_Import(__pyx_n_s_pickle, __pyx_t_2, -1); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 5, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; - __pyx_t_2 = __Pyx_ImportFrom(__pyx_t_3, __pyx_n_s_PickleError); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 5, __pyx_L1_error) + __pyx_t_2 = __Pyx_ImportFrom(__pyx_t_3, __pyx_n_s_PickleError); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 5, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_INCREF(__pyx_t_2); __pyx_v___pyx_PickleError = __pyx_t_2; @@ -7101,9 +7362,9 @@ static PyObject *__pyx_pf_8EnumBase___pyx_unpickle___Pyx_EnumMeta(CYTHON_UNUSED * __pyx_result = __Pyx_EnumMeta.__new__(__pyx_type) * if __pyx_state is not None: */ - __pyx_t_2 = __Pyx_PyInt_From_long(__pyx_v___pyx_checksum); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 6, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_From_long(__pyx_v___pyx_checksum); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 6, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __pyx_t_4 = __Pyx_PyString_Format(__pyx_kp_s_Incompatible_checksums_s_vs_0xd4, __pyx_t_2); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 6, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyString_Format(__pyx_kp_s_Incompatible_checksums_s_vs_0xd4, __pyx_t_2); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 6, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __Pyx_INCREF(__pyx_v___pyx_PickleError); @@ -7120,12 +7381,12 @@ static PyObject *__pyx_pf_8EnumBase___pyx_unpickle___Pyx_EnumMeta(CYTHON_UNUSED __pyx_t_3 = (__pyx_t_5) ? __Pyx_PyObject_Call2Args(__pyx_t_2, __pyx_t_5, __pyx_t_4) : __Pyx_PyObject_CallOneArg(__pyx_t_2, __pyx_t_4); __Pyx_XDECREF(__pyx_t_5); __pyx_t_5 = 0; __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; - if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 6, __pyx_L1_error) + if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 6, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __Pyx_Raise(__pyx_t_3, 0, 0, 0); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; - __PYX_ERR(0, 6, __pyx_L1_error) + __PYX_ERR(1, 6, __pyx_L1_error) /* "(tree fragment)":4 * cdef object __pyx_PickleError @@ -7143,7 +7404,7 @@ static PyObject *__pyx_pf_8EnumBase___pyx_unpickle___Pyx_EnumMeta(CYTHON_UNUSED * if __pyx_state is not None: * __pyx_unpickle___Pyx_EnumMeta__set_state(<__Pyx_EnumMeta> __pyx_result, __pyx_state) */ - __pyx_t_2 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_ptype___Pyx_EnumMeta), __pyx_n_s_new); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 7, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_ptype___Pyx_EnumMeta), __pyx_n_s_new); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 7, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_t_4 = NULL; if (CYTHON_UNPACK_METHODS && likely(PyMethod_Check(__pyx_t_2))) { @@ -7157,7 +7418,7 @@ static PyObject *__pyx_pf_8EnumBase___pyx_unpickle___Pyx_EnumMeta(CYTHON_UNUSED } __pyx_t_3 = (__pyx_t_4) ? __Pyx_PyObject_Call2Args(__pyx_t_2, __pyx_t_4, __pyx_v___pyx_type) : __Pyx_PyObject_CallOneArg(__pyx_t_2, __pyx_v___pyx_type); __Pyx_XDECREF(__pyx_t_4); __pyx_t_4 = 0; - if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 7, __pyx_L1_error) + if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 7, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __pyx_v___pyx_result = __pyx_t_3; @@ -7181,8 +7442,8 @@ static PyObject *__pyx_pf_8EnumBase___pyx_unpickle___Pyx_EnumMeta(CYTHON_UNUSED * return __pyx_result * cdef __pyx_unpickle___Pyx_EnumMeta__set_state(__Pyx_EnumMeta __pyx_result, tuple __pyx_state): */ - if (!(likely(PyTuple_CheckExact(__pyx_v___pyx_state))||((__pyx_v___pyx_state) == Py_None)||(PyErr_Format(PyExc_TypeError, "Expected %.16s, got %.200s", "tuple", Py_TYPE(__pyx_v___pyx_state)->tp_name), 0))) __PYX_ERR(0, 9, __pyx_L1_error) - __pyx_t_3 = __pyx_unpickle___Pyx_EnumMeta__set_state(((struct __pyx_obj___Pyx_EnumMeta *)__pyx_v___pyx_result), ((PyObject*)__pyx_v___pyx_state)); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 9, __pyx_L1_error) + if (!(likely(PyTuple_CheckExact(__pyx_v___pyx_state))||((__pyx_v___pyx_state) == Py_None)||(PyErr_Format(PyExc_TypeError, "Expected %.16s, got %.200s", "tuple", Py_TYPE(__pyx_v___pyx_state)->tp_name), 0))) __PYX_ERR(1, 9, __pyx_L1_error) + __pyx_t_3 = __pyx_unpickle___Pyx_EnumMeta__set_state(((struct __pyx_obj___Pyx_EnumMeta *)__pyx_v___pyx_result), ((PyObject*)__pyx_v___pyx_state)); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 9, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; @@ -7261,16 +7522,16 @@ static PyObject *__pyx_unpickle___Pyx_EnumMeta__set_state(struct __pyx_obj___Pyx */ if (unlikely(__pyx_v___pyx_state == Py_None)) { PyErr_SetString(PyExc_TypeError, "object of type 'NoneType' has no len()"); - __PYX_ERR(0, 12, __pyx_L1_error) + __PYX_ERR(1, 12, __pyx_L1_error) } - __pyx_t_2 = PyTuple_GET_SIZE(__pyx_v___pyx_state); if (unlikely(__pyx_t_2 == ((Py_ssize_t)-1))) __PYX_ERR(0, 12, __pyx_L1_error) + __pyx_t_2 = PyTuple_GET_SIZE(__pyx_v___pyx_state); if (unlikely(__pyx_t_2 == ((Py_ssize_t)-1))) __PYX_ERR(1, 12, __pyx_L1_error) __pyx_t_3 = ((__pyx_t_2 > 0) != 0); if (__pyx_t_3) { } else { __pyx_t_1 = __pyx_t_3; goto __pyx_L4_bool_binop_done; } - __pyx_t_3 = __Pyx_HasAttr(((PyObject *)__pyx_v___pyx_result), __pyx_n_s_dict); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 12, __pyx_L1_error) + __pyx_t_3 = __Pyx_HasAttr(((PyObject *)__pyx_v___pyx_result), __pyx_n_s_dict); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 12, __pyx_L1_error) __pyx_t_4 = (__pyx_t_3 != 0); __pyx_t_1 = __pyx_t_4; __pyx_L4_bool_binop_done:; @@ -7281,16 +7542,16 @@ static PyObject *__pyx_unpickle___Pyx_EnumMeta__set_state(struct __pyx_obj___Pyx * if len(__pyx_state) > 0 and hasattr(__pyx_result, '__dict__'): * __pyx_result.__dict__.update(__pyx_state[0]) # <<<<<<<<<<<<<< */ - __pyx_t_6 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v___pyx_result), __pyx_n_s_dict); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 13, __pyx_L1_error) + __pyx_t_6 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v___pyx_result), __pyx_n_s_dict); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 13, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); - __pyx_t_7 = __Pyx_PyObject_GetAttrStr(__pyx_t_6, __pyx_n_s_update); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 13, __pyx_L1_error) + __pyx_t_7 = __Pyx_PyObject_GetAttrStr(__pyx_t_6, __pyx_n_s_update); if (unlikely(!__pyx_t_7)) __PYX_ERR(1, 13, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_7); __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; if (unlikely(__pyx_v___pyx_state == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 13, __pyx_L1_error) + __PYX_ERR(1, 13, __pyx_L1_error) } - __pyx_t_6 = __Pyx_GetItemInt_Tuple(__pyx_v___pyx_state, 0, long, 1, __Pyx_PyInt_From_long, 0, 0, 1); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 13, __pyx_L1_error) + __pyx_t_6 = __Pyx_GetItemInt_Tuple(__pyx_v___pyx_state, 0, long, 1, __Pyx_PyInt_From_long, 0, 0, 1); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 13, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __pyx_t_8 = NULL; if (CYTHON_UNPACK_METHODS && likely(PyMethod_Check(__pyx_t_7))) { @@ -7305,7 +7566,7 @@ static PyObject *__pyx_unpickle___Pyx_EnumMeta__set_state(struct __pyx_obj___Pyx __pyx_t_5 = (__pyx_t_8) ? __Pyx_PyObject_Call2Args(__pyx_t_7, __pyx_t_8, __pyx_t_6) : __Pyx_PyObject_CallOneArg(__pyx_t_7, __pyx_t_6); __Pyx_XDECREF(__pyx_t_8); __pyx_t_8 = 0; __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; - if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 13, __pyx_L1_error) + if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 13, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); __Pyx_DECREF(__pyx_t_7); __pyx_t_7 = 0; __Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0; @@ -7394,13 +7655,13 @@ static int __pyx_array___cinit__(PyObject *__pyx_v_self, PyObject *__pyx_args, P case 1: if (likely((values[1] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_itemsize)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("__cinit__", 0, 3, 5, 1); __PYX_ERR(0, 122, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__cinit__", 0, 3, 5, 1); __PYX_ERR(1, 122, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 2: if (likely((values[2] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_format)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("__cinit__", 0, 3, 5, 2); __PYX_ERR(0, 122, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__cinit__", 0, 3, 5, 2); __PYX_ERR(1, 122, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 3: @@ -7416,7 +7677,7 @@ static int __pyx_array___cinit__(PyObject *__pyx_v_self, PyObject *__pyx_args, P } } if (unlikely(kw_args > 0)) { - if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__cinit__") < 0)) __PYX_ERR(0, 122, __pyx_L3_error) + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__cinit__") < 0)) __PYX_ERR(1, 122, __pyx_L3_error) } } else { switch (PyTuple_GET_SIZE(__pyx_args)) { @@ -7432,11 +7693,11 @@ static int __pyx_array___cinit__(PyObject *__pyx_v_self, PyObject *__pyx_args, P } } __pyx_v_shape = ((PyObject*)values[0]); - __pyx_v_itemsize = __Pyx_PyIndex_AsSsize_t(values[1]); if (unlikely((__pyx_v_itemsize == (Py_ssize_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 122, __pyx_L3_error) + __pyx_v_itemsize = __Pyx_PyIndex_AsSsize_t(values[1]); if (unlikely((__pyx_v_itemsize == (Py_ssize_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 122, __pyx_L3_error) __pyx_v_format = values[2]; __pyx_v_mode = values[3]; if (values[4]) { - __pyx_v_allocate_buffer = __Pyx_PyObject_IsTrue(values[4]); if (unlikely((__pyx_v_allocate_buffer == (int)-1) && PyErr_Occurred())) __PYX_ERR(0, 123, __pyx_L3_error) + __pyx_v_allocate_buffer = __Pyx_PyObject_IsTrue(values[4]); if (unlikely((__pyx_v_allocate_buffer == (int)-1) && PyErr_Occurred())) __PYX_ERR(1, 123, __pyx_L3_error) } else { /* "View.MemoryView":123 @@ -7451,15 +7712,15 @@ static int __pyx_array___cinit__(PyObject *__pyx_v_self, PyObject *__pyx_args, P } goto __pyx_L4_argument_unpacking_done; __pyx_L5_argtuple_error:; - __Pyx_RaiseArgtupleInvalid("__cinit__", 0, 3, 5, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(0, 122, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__cinit__", 0, 3, 5, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(1, 122, __pyx_L3_error) __pyx_L3_error:; __Pyx_AddTraceback("View.MemoryView.array.__cinit__", __pyx_clineno, __pyx_lineno, __pyx_filename); __Pyx_RefNannyFinishContext(); return -1; __pyx_L4_argument_unpacking_done:; - if (unlikely(!__Pyx_ArgTypeTest(((PyObject *)__pyx_v_shape), (&PyTuple_Type), 1, "shape", 1))) __PYX_ERR(0, 122, __pyx_L1_error) + if (unlikely(!__Pyx_ArgTypeTest(((PyObject *)__pyx_v_shape), (&PyTuple_Type), 1, "shape", 1))) __PYX_ERR(1, 122, __pyx_L1_error) if (unlikely(((PyObject *)__pyx_v_format) == Py_None)) { - PyErr_Format(PyExc_TypeError, "Argument '%.200s' must not be None", "format"); __PYX_ERR(0, 122, __pyx_L1_error) + PyErr_Format(PyExc_TypeError, "Argument '%.200s' must not be None", "format"); __PYX_ERR(1, 122, __pyx_L1_error) } __pyx_r = __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(((struct __pyx_array_obj *)__pyx_v_self), __pyx_v_shape, __pyx_v_itemsize, __pyx_v_format, __pyx_v_mode, __pyx_v_allocate_buffer); @@ -7514,9 +7775,9 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ */ if (unlikely(__pyx_v_shape == Py_None)) { PyErr_SetString(PyExc_TypeError, "object of type 'NoneType' has no len()"); - __PYX_ERR(0, 129, __pyx_L1_error) + __PYX_ERR(1, 129, __pyx_L1_error) } - __pyx_t_1 = PyTuple_GET_SIZE(__pyx_v_shape); if (unlikely(__pyx_t_1 == ((Py_ssize_t)-1))) __PYX_ERR(0, 129, __pyx_L1_error) + __pyx_t_1 = PyTuple_GET_SIZE(__pyx_v_shape); if (unlikely(__pyx_t_1 == ((Py_ssize_t)-1))) __PYX_ERR(1, 129, __pyx_L1_error) __pyx_v_self->ndim = ((int)__pyx_t_1); /* "View.MemoryView":130 @@ -7545,11 +7806,11 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ * * if itemsize <= 0: */ - __pyx_t_3 = __Pyx_PyObject_Call(__pyx_builtin_ValueError, __pyx_tuple__7, NULL); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 133, __pyx_L1_error) + __pyx_t_3 = __Pyx_PyObject_Call(__pyx_builtin_ValueError, __pyx_tuple__7, NULL); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 133, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_Raise(__pyx_t_3, 0, 0, 0); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; - __PYX_ERR(0, 133, __pyx_L1_error) + __PYX_ERR(1, 133, __pyx_L1_error) /* "View.MemoryView":132 * self.itemsize = itemsize @@ -7577,11 +7838,11 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ * * if not isinstance(format, bytes): */ - __pyx_t_3 = __Pyx_PyObject_Call(__pyx_builtin_ValueError, __pyx_tuple__8, NULL); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 136, __pyx_L1_error) + __pyx_t_3 = __Pyx_PyObject_Call(__pyx_builtin_ValueError, __pyx_tuple__8, NULL); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 136, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_Raise(__pyx_t_3, 0, 0, 0); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; - __PYX_ERR(0, 136, __pyx_L1_error) + __PYX_ERR(1, 136, __pyx_L1_error) /* "View.MemoryView":135 * raise ValueError("Empty shape tuple for cython.array") @@ -7610,7 +7871,7 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ * self._format = format # keep a reference to the byte string * self.format = self._format */ - __pyx_t_5 = __Pyx_PyObject_GetAttrStr(__pyx_v_format, __pyx_n_s_encode); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 139, __pyx_L1_error) + __pyx_t_5 = __Pyx_PyObject_GetAttrStr(__pyx_v_format, __pyx_n_s_encode); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 139, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); __pyx_t_6 = NULL; if (CYTHON_UNPACK_METHODS && likely(PyMethod_Check(__pyx_t_5))) { @@ -7624,7 +7885,7 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ } __pyx_t_3 = (__pyx_t_6) ? __Pyx_PyObject_Call2Args(__pyx_t_5, __pyx_t_6, __pyx_n_s_ASCII) : __Pyx_PyObject_CallOneArg(__pyx_t_5, __pyx_n_s_ASCII); __Pyx_XDECREF(__pyx_t_6); __pyx_t_6 = 0; - if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 139, __pyx_L1_error) + if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 139, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0; __Pyx_DECREF_SET(__pyx_v_format, __pyx_t_3); @@ -7646,7 +7907,7 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ * self.format = self._format * */ - if (!(likely(PyBytes_CheckExact(__pyx_v_format))||((__pyx_v_format) == Py_None)||(PyErr_Format(PyExc_TypeError, "Expected %.16s, got %.200s", "bytes", Py_TYPE(__pyx_v_format)->tp_name), 0))) __PYX_ERR(0, 140, __pyx_L1_error) + if (!(likely(PyBytes_CheckExact(__pyx_v_format))||((__pyx_v_format) == Py_None)||(PyErr_Format(PyExc_TypeError, "Expected %.16s, got %.200s", "bytes", Py_TYPE(__pyx_v_format)->tp_name), 0))) __PYX_ERR(1, 140, __pyx_L1_error) __pyx_t_3 = __pyx_v_format; __Pyx_INCREF(__pyx_t_3); __Pyx_GIVEREF(__pyx_t_3); @@ -7664,9 +7925,9 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ */ if (unlikely(__pyx_v_self->_format == Py_None)) { PyErr_SetString(PyExc_TypeError, "expected bytes, NoneType found"); - __PYX_ERR(0, 141, __pyx_L1_error) + __PYX_ERR(1, 141, __pyx_L1_error) } - __pyx_t_7 = __Pyx_PyBytes_AsWritableString(__pyx_v_self->_format); if (unlikely((!__pyx_t_7) && PyErr_Occurred())) __PYX_ERR(0, 141, __pyx_L1_error) + __pyx_t_7 = __Pyx_PyBytes_AsWritableString(__pyx_v_self->_format); if (unlikely((!__pyx_t_7) && PyErr_Occurred())) __PYX_ERR(1, 141, __pyx_L1_error) __pyx_v_self->format = __pyx_t_7; /* "View.MemoryView":144 @@ -7704,11 +7965,11 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ * * */ - __pyx_t_3 = __Pyx_PyObject_Call(__pyx_builtin_MemoryError, __pyx_tuple__9, NULL); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 148, __pyx_L1_error) + __pyx_t_3 = __Pyx_PyObject_Call(__pyx_builtin_MemoryError, __pyx_tuple__9, NULL); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 148, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_Raise(__pyx_t_3, 0, 0, 0); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; - __PYX_ERR(0, 148, __pyx_L1_error) + __PYX_ERR(1, 148, __pyx_L1_error) /* "View.MemoryView":147 * self._strides = self._shape + self.ndim @@ -7731,12 +7992,12 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ for (;;) { if (__pyx_t_1 >= PyTuple_GET_SIZE(__pyx_t_3)) break; #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - __pyx_t_5 = PyTuple_GET_ITEM(__pyx_t_3, __pyx_t_1); __Pyx_INCREF(__pyx_t_5); __pyx_t_1++; if (unlikely(0 < 0)) __PYX_ERR(0, 151, __pyx_L1_error) + __pyx_t_5 = PyTuple_GET_ITEM(__pyx_t_3, __pyx_t_1); __Pyx_INCREF(__pyx_t_5); __pyx_t_1++; if (unlikely(0 < 0)) __PYX_ERR(1, 151, __pyx_L1_error) #else - __pyx_t_5 = PySequence_ITEM(__pyx_t_3, __pyx_t_1); __pyx_t_1++; if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 151, __pyx_L1_error) + __pyx_t_5 = PySequence_ITEM(__pyx_t_3, __pyx_t_1); __pyx_t_1++; if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 151, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); #endif - __pyx_t_9 = __Pyx_PyIndex_AsSsize_t(__pyx_t_5); if (unlikely((__pyx_t_9 == (Py_ssize_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 151, __pyx_L1_error) + __pyx_t_9 = __Pyx_PyIndex_AsSsize_t(__pyx_t_5); if (unlikely((__pyx_t_9 == (Py_ssize_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 151, __pyx_L1_error) __Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0; __pyx_v_dim = __pyx_t_9; __pyx_v_idx = __pyx_t_8; @@ -7759,11 +8020,11 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ * self._shape[idx] = dim * */ - __pyx_t_5 = __Pyx_PyInt_From_int(__pyx_v_idx); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 153, __pyx_L1_error) + __pyx_t_5 = __Pyx_PyInt_From_int(__pyx_v_idx); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 153, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); - __pyx_t_6 = PyInt_FromSsize_t(__pyx_v_dim); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 153, __pyx_L1_error) + __pyx_t_6 = PyInt_FromSsize_t(__pyx_v_dim); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 153, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); - __pyx_t_10 = PyTuple_New(2); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 153, __pyx_L1_error) + __pyx_t_10 = PyTuple_New(2); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 153, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __Pyx_GIVEREF(__pyx_t_5); PyTuple_SET_ITEM(__pyx_t_10, 0, __pyx_t_5); @@ -7771,15 +8032,15 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ PyTuple_SET_ITEM(__pyx_t_10, 1, __pyx_t_6); __pyx_t_5 = 0; __pyx_t_6 = 0; - __pyx_t_6 = __Pyx_PyString_Format(__pyx_kp_s_Invalid_shape_in_axis_d_d, __pyx_t_10); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 153, __pyx_L1_error) + __pyx_t_6 = __Pyx_PyString_Format(__pyx_kp_s_Invalid_shape_in_axis_d_d, __pyx_t_10); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 153, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; - __pyx_t_10 = __Pyx_PyObject_CallOneArg(__pyx_builtin_ValueError, __pyx_t_6); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 153, __pyx_L1_error) + __pyx_t_10 = __Pyx_PyObject_CallOneArg(__pyx_builtin_ValueError, __pyx_t_6); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 153, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; __Pyx_Raise(__pyx_t_10, 0, 0, 0); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; - __PYX_ERR(0, 153, __pyx_L1_error) + __PYX_ERR(1, 153, __pyx_L1_error) /* "View.MemoryView":152 * @@ -7816,7 +8077,7 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ * order = b'F' * self.mode = u'fortran' */ - __pyx_t_4 = (__Pyx_PyString_Equals(__pyx_v_mode, __pyx_n_s_fortran, Py_EQ)); if (unlikely(__pyx_t_4 < 0)) __PYX_ERR(0, 157, __pyx_L1_error) + __pyx_t_4 = (__Pyx_PyString_Equals(__pyx_v_mode, __pyx_n_s_fortran, Py_EQ)); if (unlikely(__pyx_t_4 < 0)) __PYX_ERR(1, 157, __pyx_L1_error) if (__pyx_t_4) { /* "View.MemoryView":158 @@ -7858,7 +8119,7 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ * order = b'C' * self.mode = u'c' */ - __pyx_t_4 = (__Pyx_PyString_Equals(__pyx_v_mode, __pyx_n_s_c, Py_EQ)); if (unlikely(__pyx_t_4 < 0)) __PYX_ERR(0, 160, __pyx_L1_error) + __pyx_t_4 = (__Pyx_PyString_Equals(__pyx_v_mode, __pyx_n_s_c, Py_EQ)); if (unlikely(__pyx_t_4 < 0)) __PYX_ERR(1, 160, __pyx_L1_error) if (likely(__pyx_t_4)) { /* "View.MemoryView":161 @@ -7901,14 +8162,14 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ * self.len = fill_contig_strides_array(self._shape, self._strides, */ /*else*/ { - __pyx_t_3 = __Pyx_PyString_FormatSafe(__pyx_kp_s_Invalid_mode_expected_c_or_fortr, __pyx_v_mode); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 164, __pyx_L1_error) + __pyx_t_3 = __Pyx_PyString_FormatSafe(__pyx_kp_s_Invalid_mode_expected_c_or_fortr, __pyx_v_mode); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 164, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); - __pyx_t_10 = __Pyx_PyObject_CallOneArg(__pyx_builtin_ValueError, __pyx_t_3); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 164, __pyx_L1_error) + __pyx_t_10 = __Pyx_PyObject_CallOneArg(__pyx_builtin_ValueError, __pyx_t_3); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 164, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __Pyx_Raise(__pyx_t_10, 0, 0, 0); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; - __PYX_ERR(0, 164, __pyx_L1_error) + __PYX_ERR(1, 164, __pyx_L1_error) } __pyx_L10:; @@ -7937,8 +8198,8 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ * if allocate_buffer: * */ - __pyx_t_10 = PyObject_RichCompare(__pyx_v_format, __pyx_n_b_O, Py_EQ); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 170, __pyx_L1_error) - __pyx_t_4 = __Pyx_PyObject_IsTrue(__pyx_t_10); if (unlikely((__pyx_t_4 == (int)-1) && PyErr_Occurred())) __PYX_ERR(0, 170, __pyx_L1_error) + __pyx_t_10 = PyObject_RichCompare(__pyx_v_format, __pyx_n_b_O, Py_EQ); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 170, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyObject_IsTrue(__pyx_t_10); if (unlikely((__pyx_t_4 == (int)-1) && PyErr_Occurred())) __PYX_ERR(1, 170, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; __pyx_v_self->dtype_is_object = __pyx_t_4; @@ -7978,11 +8239,11 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ * * if self.dtype_is_object: */ - __pyx_t_10 = __Pyx_PyObject_Call(__pyx_builtin_MemoryError, __pyx_tuple__10, NULL); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 176, __pyx_L1_error) + __pyx_t_10 = __Pyx_PyObject_Call(__pyx_builtin_MemoryError, __pyx_tuple__10, NULL); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 176, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __Pyx_Raise(__pyx_t_10, 0, 0, 0); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; - __PYX_ERR(0, 176, __pyx_L1_error) + __PYX_ERR(1, 176, __pyx_L1_error) /* "View.MemoryView":175 * @@ -8021,11 +8282,11 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __ */ if (unlikely(__pyx_v_itemsize == 0)) { PyErr_SetString(PyExc_ZeroDivisionError, "integer division or modulo by zero"); - __PYX_ERR(0, 180, __pyx_L1_error) + __PYX_ERR(1, 180, __pyx_L1_error) } else if (sizeof(Py_ssize_t) == sizeof(long) && (!(((Py_ssize_t)-1) > 0)) && unlikely(__pyx_v_itemsize == (Py_ssize_t)-1) && unlikely(UNARY_NEG_WOULD_OVERFLOW(__pyx_v_self->len))) { PyErr_SetString(PyExc_OverflowError, "value too large to perform division"); - __PYX_ERR(0, 180, __pyx_L1_error) + __PYX_ERR(1, 180, __pyx_L1_error) } __pyx_t_1 = __Pyx_div_Py_ssize_t(__pyx_v_self->len, __pyx_v_itemsize); __pyx_t_9 = __pyx_t_1; @@ -8152,7 +8413,7 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(stru * bufmode = PyBUF_C_CONTIGUOUS | PyBUF_ANY_CONTIGUOUS * elif self.mode == u"fortran": */ - __pyx_t_1 = (__Pyx_PyUnicode_Equals(__pyx_v_self->mode, __pyx_n_u_c, Py_EQ)); if (unlikely(__pyx_t_1 < 0)) __PYX_ERR(0, 187, __pyx_L1_error) + __pyx_t_1 = (__Pyx_PyUnicode_Equals(__pyx_v_self->mode, __pyx_n_u_c, Py_EQ)); if (unlikely(__pyx_t_1 < 0)) __PYX_ERR(1, 187, __pyx_L1_error) __pyx_t_2 = (__pyx_t_1 != 0); if (__pyx_t_2) { @@ -8182,7 +8443,7 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(stru * bufmode = PyBUF_F_CONTIGUOUS | PyBUF_ANY_CONTIGUOUS * if not (flags & bufmode): */ - __pyx_t_2 = (__Pyx_PyUnicode_Equals(__pyx_v_self->mode, __pyx_n_u_fortran, Py_EQ)); if (unlikely(__pyx_t_2 < 0)) __PYX_ERR(0, 189, __pyx_L1_error) + __pyx_t_2 = (__Pyx_PyUnicode_Equals(__pyx_v_self->mode, __pyx_n_u_fortran, Py_EQ)); if (unlikely(__pyx_t_2 < 0)) __PYX_ERR(1, 189, __pyx_L1_error) __pyx_t_1 = (__pyx_t_2 != 0); if (__pyx_t_1) { @@ -8222,11 +8483,11 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(stru * info.buf = self.data * info.len = self.len */ - __pyx_t_3 = __Pyx_PyObject_Call(__pyx_builtin_ValueError, __pyx_tuple__11, NULL); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 192, __pyx_L1_error) + __pyx_t_3 = __Pyx_PyObject_Call(__pyx_builtin_ValueError, __pyx_tuple__11, NULL); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 192, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_Raise(__pyx_t_3, 0, 0, 0); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; - __PYX_ERR(0, 192, __pyx_L1_error) + __PYX_ERR(1, 192, __pyx_L1_error) /* "View.MemoryView":191 * elif self.mode == u"fortran": @@ -8569,7 +8830,7 @@ static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct _ * @cname('get_memview') */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = ((struct __pyx_vtabstruct_array *)__pyx_v_self->__pyx_vtab)->get_memview(__pyx_v_self); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 223, __pyx_L1_error) + __pyx_t_1 = ((struct __pyx_vtabstruct_array *)__pyx_v_self->__pyx_vtab)->get_memview(__pyx_v_self); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 223, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_r = __pyx_t_1; __pyx_t_1 = 0; @@ -8631,11 +8892,11 @@ static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self) { * def __len__(self): */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = __Pyx_PyInt_From_int(__pyx_v_flags); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 228, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyInt_From_int(__pyx_v_flags); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 228, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_2 = __Pyx_PyBool_FromLong(__pyx_v_self->dtype_is_object); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 228, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyBool_FromLong(__pyx_v_self->dtype_is_object); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 228, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __pyx_t_3 = PyTuple_New(3); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 228, __pyx_L1_error) + __pyx_t_3 = PyTuple_New(3); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 228, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_INCREF(((PyObject *)__pyx_v_self)); __Pyx_GIVEREF(((PyObject *)__pyx_v_self)); @@ -8646,7 +8907,7 @@ static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self) { PyTuple_SET_ITEM(__pyx_t_3, 2, __pyx_t_2); __pyx_t_1 = 0; __pyx_t_2 = 0; - __pyx_t_2 = __Pyx_PyObject_Call(((PyObject *)__pyx_memoryview_type), __pyx_t_3, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 228, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_Call(((PyObject *)__pyx_memoryview_type), __pyx_t_3, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 228, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __pyx_r = __pyx_t_2; @@ -8763,9 +9024,9 @@ static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__( * def __getitem__(self, item): */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_self), __pyx_n_s_memview); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 234, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_self), __pyx_n_s_memview); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 234, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_2 = __Pyx_GetAttr(__pyx_t_1, __pyx_v_attr); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 234, __pyx_L1_error) + __pyx_t_2 = __Pyx_GetAttr(__pyx_t_1, __pyx_v_attr); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 234, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; __pyx_r = __pyx_t_2; @@ -8831,9 +9092,9 @@ static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__ * def __setitem__(self, item, value): */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_self), __pyx_n_s_memview); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 237, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_self), __pyx_n_s_memview); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 237, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_2 = __Pyx_PyObject_GetItem(__pyx_t_1, __pyx_v_item); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 237, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_GetItem(__pyx_t_1, __pyx_v_item); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 237, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; __pyx_r = __pyx_t_2; @@ -8897,9 +9158,9 @@ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struc * * */ - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_self), __pyx_n_s_memview); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 240, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_self), __pyx_n_s_memview); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 240, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - if (unlikely(PyObject_SetItem(__pyx_t_1, __pyx_v_item, __pyx_v_value) < 0)) __PYX_ERR(0, 240, __pyx_L1_error) + if (unlikely(PyObject_SetItem(__pyx_t_1, __pyx_v_item, __pyx_v_value) < 0)) __PYX_ERR(1, 240, __pyx_L1_error) __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; /* "View.MemoryView":239 @@ -8956,11 +9217,11 @@ static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __p * def __setstate_cython__(self, __pyx_state): * raise TypeError("no default __reduce__ due to non-trivial __cinit__") */ - __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__12, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 2, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__12, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 2, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_Raise(__pyx_t_1, 0, 0, 0); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __PYX_ERR(0, 2, __pyx_L1_error) + __PYX_ERR(1, 2, __pyx_L1_error) /* "(tree fragment)":1 * def __reduce_cython__(self): # <<<<<<<<<<<<<< @@ -9012,11 +9273,11 @@ static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct * def __setstate_cython__(self, __pyx_state): * raise TypeError("no default __reduce__ due to non-trivial __cinit__") # <<<<<<<<<<<<<< */ - __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__13, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 4, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__13, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 4, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_Raise(__pyx_t_1, 0, 0, 0); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __PYX_ERR(0, 4, __pyx_L1_error) + __PYX_ERR(1, 4, __pyx_L1_error) /* "(tree fragment)":3 * def __reduce_cython__(self): @@ -9074,13 +9335,13 @@ static struct __pyx_array_obj *__pyx_array_new(PyObject *__pyx_v_shape, Py_ssize * else: * result = array(shape, itemsize, format, mode.decode('ASCII'), */ - __pyx_t_2 = PyInt_FromSsize_t(__pyx_v_itemsize); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 249, __pyx_L1_error) + __pyx_t_2 = PyInt_FromSsize_t(__pyx_v_itemsize); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 249, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __pyx_t_3 = __Pyx_PyBytes_FromString(__pyx_v_format); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 249, __pyx_L1_error) + __pyx_t_3 = __Pyx_PyBytes_FromString(__pyx_v_format); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 249, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); - __pyx_t_4 = __Pyx_decode_c_string(__pyx_v_mode, 0, strlen(__pyx_v_mode), NULL, NULL, PyUnicode_DecodeASCII); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 249, __pyx_L1_error) + __pyx_t_4 = __Pyx_decode_c_string(__pyx_v_mode, 0, strlen(__pyx_v_mode), NULL, NULL, PyUnicode_DecodeASCII); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 249, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); - __pyx_t_5 = PyTuple_New(4); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 249, __pyx_L1_error) + __pyx_t_5 = PyTuple_New(4); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 249, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); __Pyx_INCREF(__pyx_v_shape); __Pyx_GIVEREF(__pyx_v_shape); @@ -9094,7 +9355,7 @@ static struct __pyx_array_obj *__pyx_array_new(PyObject *__pyx_v_shape, Py_ssize __pyx_t_2 = 0; __pyx_t_3 = 0; __pyx_t_4 = 0; - __pyx_t_4 = __Pyx_PyObject_Call(((PyObject *)__pyx_array_type), __pyx_t_5, NULL); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 249, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyObject_Call(((PyObject *)__pyx_array_type), __pyx_t_5, NULL); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 249, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0; __pyx_v_result = ((struct __pyx_array_obj *)__pyx_t_4); @@ -9118,13 +9379,13 @@ static struct __pyx_array_obj *__pyx_array_new(PyObject *__pyx_v_shape, Py_ssize * result.data = buf */ /*else*/ { - __pyx_t_4 = PyInt_FromSsize_t(__pyx_v_itemsize); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 251, __pyx_L1_error) + __pyx_t_4 = PyInt_FromSsize_t(__pyx_v_itemsize); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 251, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); - __pyx_t_5 = __Pyx_PyBytes_FromString(__pyx_v_format); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 251, __pyx_L1_error) + __pyx_t_5 = __Pyx_PyBytes_FromString(__pyx_v_format); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 251, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); - __pyx_t_3 = __Pyx_decode_c_string(__pyx_v_mode, 0, strlen(__pyx_v_mode), NULL, NULL, PyUnicode_DecodeASCII); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 251, __pyx_L1_error) + __pyx_t_3 = __Pyx_decode_c_string(__pyx_v_mode, 0, strlen(__pyx_v_mode), NULL, NULL, PyUnicode_DecodeASCII); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 251, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); - __pyx_t_2 = PyTuple_New(4); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 251, __pyx_L1_error) + __pyx_t_2 = PyTuple_New(4); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 251, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_INCREF(__pyx_v_shape); __Pyx_GIVEREF(__pyx_v_shape); @@ -9146,9 +9407,9 @@ static struct __pyx_array_obj *__pyx_array_new(PyObject *__pyx_v_shape, Py_ssize * result.data = buf * */ - __pyx_t_3 = __Pyx_PyDict_NewPresized(1); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 252, __pyx_L1_error) + __pyx_t_3 = __Pyx_PyDict_NewPresized(1); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 252, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); - if (PyDict_SetItem(__pyx_t_3, __pyx_n_s_allocate_buffer, Py_False) < 0) __PYX_ERR(0, 252, __pyx_L1_error) + if (PyDict_SetItem(__pyx_t_3, __pyx_n_s_allocate_buffer, Py_False) < 0) __PYX_ERR(1, 252, __pyx_L1_error) /* "View.MemoryView":251 * result = array(shape, itemsize, format, mode.decode('ASCII')) @@ -9157,7 +9418,7 @@ static struct __pyx_array_obj *__pyx_array_new(PyObject *__pyx_v_shape, Py_ssize * allocate_buffer=False) * result.data = buf */ - __pyx_t_5 = __Pyx_PyObject_Call(((PyObject *)__pyx_array_type), __pyx_t_2, __pyx_t_3); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 251, __pyx_L1_error) + __pyx_t_5 = __Pyx_PyObject_Call(((PyObject *)__pyx_array_type), __pyx_t_2, __pyx_t_3); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 251, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; @@ -9247,7 +9508,7 @@ static int __pyx_MemviewEnum___init__(PyObject *__pyx_v_self, PyObject *__pyx_ar else goto __pyx_L5_argtuple_error; } if (unlikely(kw_args > 0)) { - if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__init__") < 0)) __PYX_ERR(0, 281, __pyx_L3_error) + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__init__") < 0)) __PYX_ERR(1, 281, __pyx_L3_error) } } else if (PyTuple_GET_SIZE(__pyx_args) != 1) { goto __pyx_L5_argtuple_error; @@ -9258,7 +9519,7 @@ static int __pyx_MemviewEnum___init__(PyObject *__pyx_v_self, PyObject *__pyx_ar } goto __pyx_L4_argument_unpacking_done; __pyx_L5_argtuple_error:; - __Pyx_RaiseArgtupleInvalid("__init__", 1, 1, 1, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(0, 281, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__init__", 1, 1, 1, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(1, 281, __pyx_L3_error) __pyx_L3_error:; __Pyx_AddTraceback("View.MemoryView.Enum.__init__", __pyx_clineno, __pyx_lineno, __pyx_filename); __Pyx_RefNannyFinishContext(); @@ -9398,7 +9659,7 @@ static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_Memvi * _dict = getattr(self, '__dict__', None) * if _dict is not None: */ - __pyx_t_1 = PyTuple_New(1); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 5, __pyx_L1_error) + __pyx_t_1 = PyTuple_New(1); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 5, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_INCREF(__pyx_v_self->name); __Pyx_GIVEREF(__pyx_v_self->name); @@ -9413,7 +9674,7 @@ static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_Memvi * if _dict is not None: * state += (_dict,) */ - __pyx_t_1 = __Pyx_GetAttr3(((PyObject *)__pyx_v_self), __pyx_n_s_dict, Py_None); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 6, __pyx_L1_error) + __pyx_t_1 = __Pyx_GetAttr3(((PyObject *)__pyx_v_self), __pyx_n_s_dict, Py_None); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 6, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_v__dict = __pyx_t_1; __pyx_t_1 = 0; @@ -9436,12 +9697,12 @@ static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_Memvi * use_setstate = True * else: */ - __pyx_t_1 = PyTuple_New(1); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 8, __pyx_L1_error) + __pyx_t_1 = PyTuple_New(1); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 8, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_INCREF(__pyx_v__dict); __Pyx_GIVEREF(__pyx_v__dict); PyTuple_SET_ITEM(__pyx_t_1, 0, __pyx_v__dict); - __pyx_t_4 = PyNumber_InPlaceAdd(__pyx_v_state, __pyx_t_1); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 8, __pyx_L1_error) + __pyx_t_4 = PyNumber_InPlaceAdd(__pyx_v_state, __pyx_t_1); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 8, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; __Pyx_DECREF_SET(__pyx_v_state, ((PyObject*)__pyx_t_4)); @@ -9497,9 +9758,9 @@ static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_Memvi * return __pyx_unpickle_Enum, (type(self), 0xb068931, state) */ __Pyx_XDECREF(__pyx_r); - __Pyx_GetModuleGlobalName(__pyx_t_4, __pyx_n_s_pyx_unpickle_Enum); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 13, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_4, __pyx_n_s_pyx_unpickle_Enum); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 13, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); - __pyx_t_1 = PyTuple_New(3); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 13, __pyx_L1_error) + __pyx_t_1 = PyTuple_New(3); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 13, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_INCREF(((PyObject *)Py_TYPE(((PyObject *)__pyx_v_self)))); __Pyx_GIVEREF(((PyObject *)Py_TYPE(((PyObject *)__pyx_v_self)))); @@ -9510,7 +9771,7 @@ static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_Memvi __Pyx_INCREF(Py_None); __Pyx_GIVEREF(Py_None); PyTuple_SET_ITEM(__pyx_t_1, 2, Py_None); - __pyx_t_5 = PyTuple_New(3); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 13, __pyx_L1_error) + __pyx_t_5 = PyTuple_New(3); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 13, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); __Pyx_GIVEREF(__pyx_t_4); PyTuple_SET_ITEM(__pyx_t_5, 0, __pyx_t_4); @@ -9543,9 +9804,9 @@ static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_Memvi */ /*else*/ { __Pyx_XDECREF(__pyx_r); - __Pyx_GetModuleGlobalName(__pyx_t_5, __pyx_n_s_pyx_unpickle_Enum); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 15, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_5, __pyx_n_s_pyx_unpickle_Enum); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 15, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); - __pyx_t_1 = PyTuple_New(3); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 15, __pyx_L1_error) + __pyx_t_1 = PyTuple_New(3); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 15, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_INCREF(((PyObject *)Py_TYPE(((PyObject *)__pyx_v_self)))); __Pyx_GIVEREF(((PyObject *)Py_TYPE(((PyObject *)__pyx_v_self)))); @@ -9556,7 +9817,7 @@ static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_Memvi __Pyx_INCREF(__pyx_v_state); __Pyx_GIVEREF(__pyx_v_state); PyTuple_SET_ITEM(__pyx_t_1, 2, __pyx_v_state); - __pyx_t_4 = PyTuple_New(2); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 15, __pyx_L1_error) + __pyx_t_4 = PyTuple_New(2); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 15, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_GIVEREF(__pyx_t_5); PyTuple_SET_ITEM(__pyx_t_4, 0, __pyx_t_5); @@ -9624,8 +9885,8 @@ static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_Me * def __setstate_cython__(self, __pyx_state): * __pyx_unpickle_Enum__set_state(self, __pyx_state) # <<<<<<<<<<<<<< */ - if (!(likely(PyTuple_CheckExact(__pyx_v___pyx_state))||((__pyx_v___pyx_state) == Py_None)||(PyErr_Format(PyExc_TypeError, "Expected %.16s, got %.200s", "tuple", Py_TYPE(__pyx_v___pyx_state)->tp_name), 0))) __PYX_ERR(0, 17, __pyx_L1_error) - __pyx_t_1 = __pyx_unpickle_Enum__set_state(__pyx_v_self, ((PyObject*)__pyx_v___pyx_state)); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 17, __pyx_L1_error) + if (!(likely(PyTuple_CheckExact(__pyx_v___pyx_state))||((__pyx_v___pyx_state) == Py_None)||(PyErr_Format(PyExc_TypeError, "Expected %.16s, got %.200s", "tuple", Py_TYPE(__pyx_v___pyx_state)->tp_name), 0))) __PYX_ERR(1, 17, __pyx_L1_error) + __pyx_t_1 = __pyx_unpickle_Enum__set_state(__pyx_v_self, ((PyObject*)__pyx_v___pyx_state)); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 17, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; @@ -9777,7 +10038,7 @@ static int __pyx_memoryview___cinit__(PyObject *__pyx_v_self, PyObject *__pyx_ar case 1: if (likely((values[1] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_flags)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("__cinit__", 0, 2, 3, 1); __PYX_ERR(0, 345, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__cinit__", 0, 2, 3, 1); __PYX_ERR(1, 345, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 2: @@ -9787,7 +10048,7 @@ static int __pyx_memoryview___cinit__(PyObject *__pyx_v_self, PyObject *__pyx_ar } } if (unlikely(kw_args > 0)) { - if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__cinit__") < 0)) __PYX_ERR(0, 345, __pyx_L3_error) + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__cinit__") < 0)) __PYX_ERR(1, 345, __pyx_L3_error) } } else { switch (PyTuple_GET_SIZE(__pyx_args)) { @@ -9800,16 +10061,16 @@ static int __pyx_memoryview___cinit__(PyObject *__pyx_v_self, PyObject *__pyx_ar } } __pyx_v_obj = values[0]; - __pyx_v_flags = __Pyx_PyInt_As_int(values[1]); if (unlikely((__pyx_v_flags == (int)-1) && PyErr_Occurred())) __PYX_ERR(0, 345, __pyx_L3_error) + __pyx_v_flags = __Pyx_PyInt_As_int(values[1]); if (unlikely((__pyx_v_flags == (int)-1) && PyErr_Occurred())) __PYX_ERR(1, 345, __pyx_L3_error) if (values[2]) { - __pyx_v_dtype_is_object = __Pyx_PyObject_IsTrue(values[2]); if (unlikely((__pyx_v_dtype_is_object == (int)-1) && PyErr_Occurred())) __PYX_ERR(0, 345, __pyx_L3_error) + __pyx_v_dtype_is_object = __Pyx_PyObject_IsTrue(values[2]); if (unlikely((__pyx_v_dtype_is_object == (int)-1) && PyErr_Occurred())) __PYX_ERR(1, 345, __pyx_L3_error) } else { __pyx_v_dtype_is_object = ((int)0); } } goto __pyx_L4_argument_unpacking_done; __pyx_L5_argtuple_error:; - __Pyx_RaiseArgtupleInvalid("__cinit__", 0, 2, 3, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(0, 345, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__cinit__", 0, 2, 3, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(1, 345, __pyx_L3_error) __pyx_L3_error:; __Pyx_AddTraceback("View.MemoryView.memoryview.__cinit__", __pyx_clineno, __pyx_lineno, __pyx_filename); __Pyx_RefNannyFinishContext(); @@ -9883,7 +10144,7 @@ static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit_ * if self.view.obj == NULL: * (<__pyx_buffer *> &self.view).obj = Py_None */ - __pyx_t_4 = __Pyx_GetBuffer(__pyx_v_obj, (&__pyx_v_self->view), __pyx_v_flags); if (unlikely(__pyx_t_4 == ((int)-1))) __PYX_ERR(0, 349, __pyx_L1_error) + __pyx_t_4 = __Pyx_GetBuffer(__pyx_v_obj, (&__pyx_v_self->view), __pyx_v_flags); if (unlikely(__pyx_t_4 == ((int)-1))) __PYX_ERR(1, 349, __pyx_L1_error) /* "View.MemoryView":350 * if type(self) is memoryview or obj is not None: @@ -10004,7 +10265,7 @@ static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit_ * * if flags & PyBUF_FORMAT: */ - PyErr_NoMemory(); __PYX_ERR(0, 361, __pyx_L1_error) + PyErr_NoMemory(); __PYX_ERR(1, 361, __pyx_L1_error) /* "View.MemoryView":360 * if self.lock is NULL: @@ -10389,26 +10650,26 @@ static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__py __pyx_t_2 = __pyx_v_index; __Pyx_INCREF(__pyx_t_2); __pyx_t_3 = 0; __pyx_t_4 = NULL; } else { - __pyx_t_3 = -1; __pyx_t_2 = PyObject_GetIter(__pyx_v_index); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 397, __pyx_L1_error) + __pyx_t_3 = -1; __pyx_t_2 = PyObject_GetIter(__pyx_v_index); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 397, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __pyx_t_4 = Py_TYPE(__pyx_t_2)->tp_iternext; if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 397, __pyx_L1_error) + __pyx_t_4 = Py_TYPE(__pyx_t_2)->tp_iternext; if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 397, __pyx_L1_error) } for (;;) { if (likely(!__pyx_t_4)) { if (likely(PyList_CheckExact(__pyx_t_2))) { if (__pyx_t_3 >= PyList_GET_SIZE(__pyx_t_2)) break; #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - __pyx_t_5 = PyList_GET_ITEM(__pyx_t_2, __pyx_t_3); __Pyx_INCREF(__pyx_t_5); __pyx_t_3++; if (unlikely(0 < 0)) __PYX_ERR(0, 397, __pyx_L1_error) + __pyx_t_5 = PyList_GET_ITEM(__pyx_t_2, __pyx_t_3); __Pyx_INCREF(__pyx_t_5); __pyx_t_3++; if (unlikely(0 < 0)) __PYX_ERR(1, 397, __pyx_L1_error) #else - __pyx_t_5 = PySequence_ITEM(__pyx_t_2, __pyx_t_3); __pyx_t_3++; if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 397, __pyx_L1_error) + __pyx_t_5 = PySequence_ITEM(__pyx_t_2, __pyx_t_3); __pyx_t_3++; if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 397, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); #endif } else { if (__pyx_t_3 >= PyTuple_GET_SIZE(__pyx_t_2)) break; #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - __pyx_t_5 = PyTuple_GET_ITEM(__pyx_t_2, __pyx_t_3); __Pyx_INCREF(__pyx_t_5); __pyx_t_3++; if (unlikely(0 < 0)) __PYX_ERR(0, 397, __pyx_L1_error) + __pyx_t_5 = PyTuple_GET_ITEM(__pyx_t_2, __pyx_t_3); __Pyx_INCREF(__pyx_t_5); __pyx_t_3++; if (unlikely(0 < 0)) __PYX_ERR(1, 397, __pyx_L1_error) #else - __pyx_t_5 = PySequence_ITEM(__pyx_t_2, __pyx_t_3); __pyx_t_3++; if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 397, __pyx_L1_error) + __pyx_t_5 = PySequence_ITEM(__pyx_t_2, __pyx_t_3); __pyx_t_3++; if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 397, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); #endif } @@ -10418,7 +10679,7 @@ static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__py PyObject* exc_type = PyErr_Occurred(); if (exc_type) { if (likely(__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) PyErr_Clear(); - else __PYX_ERR(0, 397, __pyx_L1_error) + else __PYX_ERR(1, 397, __pyx_L1_error) } break; } @@ -10436,8 +10697,8 @@ static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__py * * return itemp */ - __pyx_t_6 = __Pyx_PyIndex_AsSsize_t(__pyx_v_idx); if (unlikely((__pyx_t_6 == (Py_ssize_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 398, __pyx_L1_error) - __pyx_t_7 = __pyx_pybuffer_index((&__pyx_v_self->view), __pyx_v_itemp, __pyx_t_6, __pyx_v_dim); if (unlikely(__pyx_t_7 == ((char *)NULL))) __PYX_ERR(0, 398, __pyx_L1_error) + __pyx_t_6 = __Pyx_PyIndex_AsSsize_t(__pyx_v_idx); if (unlikely((__pyx_t_6 == (Py_ssize_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 398, __pyx_L1_error) + __pyx_t_7 = __pyx_pybuffer_index((&__pyx_v_self->view), __pyx_v_itemp, __pyx_t_6, __pyx_v_dim); if (unlikely(__pyx_t_7 == ((char *)NULL))) __PYX_ERR(1, 398, __pyx_L1_error) __pyx_v_itemp = __pyx_t_7; /* "View.MemoryView":397 @@ -10557,7 +10818,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4_ * * cdef char *itemp */ - __pyx_t_3 = _unellipsify(__pyx_v_index, __pyx_v_self->view.ndim); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 407, __pyx_L1_error) + __pyx_t_3 = _unellipsify(__pyx_v_index, __pyx_v_self->view.ndim); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 407, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); if (likely(__pyx_t_3 != Py_None)) { PyObject* sequence = __pyx_t_3; @@ -10565,7 +10826,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4_ if (unlikely(size != 2)) { if (size > 2) __Pyx_RaiseTooManyValuesError(2); else if (size >= 0) __Pyx_RaiseNeedMoreValuesError(size); - __PYX_ERR(0, 407, __pyx_L1_error) + __PYX_ERR(1, 407, __pyx_L1_error) } #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS __pyx_t_4 = PyTuple_GET_ITEM(sequence, 0); @@ -10573,14 +10834,14 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4_ __Pyx_INCREF(__pyx_t_4); __Pyx_INCREF(__pyx_t_5); #else - __pyx_t_4 = PySequence_ITEM(sequence, 0); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 407, __pyx_L1_error) + __pyx_t_4 = PySequence_ITEM(sequence, 0); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 407, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); - __pyx_t_5 = PySequence_ITEM(sequence, 1); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 407, __pyx_L1_error) + __pyx_t_5 = PySequence_ITEM(sequence, 1); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 407, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); #endif __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; } else { - __Pyx_RaiseNoneNotIterableError(); __PYX_ERR(0, 407, __pyx_L1_error) + __Pyx_RaiseNoneNotIterableError(); __PYX_ERR(1, 407, __pyx_L1_error) } __pyx_v_have_slices = __pyx_t_4; __pyx_t_4 = 0; @@ -10594,7 +10855,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4_ * return memview_slice(self, indices) * else: */ - __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_v_have_slices); if (unlikely(__pyx_t_2 < 0)) __PYX_ERR(0, 410, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_v_have_slices); if (unlikely(__pyx_t_2 < 0)) __PYX_ERR(1, 410, __pyx_L1_error) if (__pyx_t_2) { /* "View.MemoryView":411 @@ -10605,7 +10866,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4_ * itemp = self.get_item_pointer(indices) */ __Pyx_XDECREF(__pyx_r); - __pyx_t_3 = ((PyObject *)__pyx_memview_slice(__pyx_v_self, __pyx_v_indices)); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 411, __pyx_L1_error) + __pyx_t_3 = ((PyObject *)__pyx_memview_slice(__pyx_v_self, __pyx_v_indices)); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 411, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __pyx_r = __pyx_t_3; __pyx_t_3 = 0; @@ -10628,7 +10889,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4_ * */ /*else*/ { - __pyx_t_6 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->get_item_pointer(__pyx_v_self, __pyx_v_indices); if (unlikely(__pyx_t_6 == ((char *)NULL))) __PYX_ERR(0, 413, __pyx_L1_error) + __pyx_t_6 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->get_item_pointer(__pyx_v_self, __pyx_v_indices); if (unlikely(__pyx_t_6 == ((char *)NULL))) __PYX_ERR(1, 413, __pyx_L1_error) __pyx_v_itemp = __pyx_t_6; /* "View.MemoryView":414 @@ -10639,7 +10900,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4_ * def __setitem__(memoryview self, object index, object value): */ __Pyx_XDECREF(__pyx_r); - __pyx_t_3 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->convert_item_to_object(__pyx_v_self, __pyx_v_itemp); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 414, __pyx_L1_error) + __pyx_t_3 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->convert_item_to_object(__pyx_v_self, __pyx_v_itemp); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 414, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __pyx_r = __pyx_t_3; __pyx_t_3 = 0; @@ -10722,11 +10983,11 @@ static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setit * * have_slices, index = _unellipsify(index, self.view.ndim) */ - __pyx_t_2 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__14, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 418, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__14, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 418, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_Raise(__pyx_t_2, 0, 0, 0); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; - __PYX_ERR(0, 418, __pyx_L1_error) + __PYX_ERR(1, 418, __pyx_L1_error) /* "View.MemoryView":417 * @@ -10744,7 +11005,7 @@ static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setit * * if have_slices: */ - __pyx_t_2 = _unellipsify(__pyx_v_index, __pyx_v_self->view.ndim); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 420, __pyx_L1_error) + __pyx_t_2 = _unellipsify(__pyx_v_index, __pyx_v_self->view.ndim); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 420, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); if (likely(__pyx_t_2 != Py_None)) { PyObject* sequence = __pyx_t_2; @@ -10752,7 +11013,7 @@ static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setit if (unlikely(size != 2)) { if (size > 2) __Pyx_RaiseTooManyValuesError(2); else if (size >= 0) __Pyx_RaiseNeedMoreValuesError(size); - __PYX_ERR(0, 420, __pyx_L1_error) + __PYX_ERR(1, 420, __pyx_L1_error) } #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS __pyx_t_3 = PyTuple_GET_ITEM(sequence, 0); @@ -10760,14 +11021,14 @@ static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setit __Pyx_INCREF(__pyx_t_3); __Pyx_INCREF(__pyx_t_4); #else - __pyx_t_3 = PySequence_ITEM(sequence, 0); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 420, __pyx_L1_error) + __pyx_t_3 = PySequence_ITEM(sequence, 0); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 420, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); - __pyx_t_4 = PySequence_ITEM(sequence, 1); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 420, __pyx_L1_error) + __pyx_t_4 = PySequence_ITEM(sequence, 1); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 420, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); #endif __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; } else { - __Pyx_RaiseNoneNotIterableError(); __PYX_ERR(0, 420, __pyx_L1_error) + __Pyx_RaiseNoneNotIterableError(); __PYX_ERR(1, 420, __pyx_L1_error) } __pyx_v_have_slices = __pyx_t_3; __pyx_t_3 = 0; @@ -10781,7 +11042,7 @@ static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setit * obj = self.is_slice(value) * if obj: */ - __pyx_t_1 = __Pyx_PyObject_IsTrue(__pyx_v_have_slices); if (unlikely(__pyx_t_1 < 0)) __PYX_ERR(0, 422, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_IsTrue(__pyx_v_have_slices); if (unlikely(__pyx_t_1 < 0)) __PYX_ERR(1, 422, __pyx_L1_error) if (__pyx_t_1) { /* "View.MemoryView":423 @@ -10791,7 +11052,7 @@ static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setit * if obj: * self.setitem_slice_assignment(self[index], obj) */ - __pyx_t_2 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->is_slice(__pyx_v_self, __pyx_v_value); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 423, __pyx_L1_error) + __pyx_t_2 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->is_slice(__pyx_v_self, __pyx_v_value); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 423, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_v_obj = __pyx_t_2; __pyx_t_2 = 0; @@ -10803,7 +11064,7 @@ static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setit * self.setitem_slice_assignment(self[index], obj) * else: */ - __pyx_t_1 = __Pyx_PyObject_IsTrue(__pyx_v_obj); if (unlikely(__pyx_t_1 < 0)) __PYX_ERR(0, 424, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_IsTrue(__pyx_v_obj); if (unlikely(__pyx_t_1 < 0)) __PYX_ERR(1, 424, __pyx_L1_error) if (__pyx_t_1) { /* "View.MemoryView":425 @@ -10813,9 +11074,9 @@ static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setit * else: * self.setitem_slice_assign_scalar(self[index], value) */ - __pyx_t_2 = __Pyx_PyObject_GetItem(((PyObject *)__pyx_v_self), __pyx_v_index); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 425, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_GetItem(((PyObject *)__pyx_v_self), __pyx_v_index); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 425, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __pyx_t_4 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->setitem_slice_assignment(__pyx_v_self, __pyx_t_2, __pyx_v_obj); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 425, __pyx_L1_error) + __pyx_t_4 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->setitem_slice_assignment(__pyx_v_self, __pyx_t_2, __pyx_v_obj); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 425, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; @@ -10838,10 +11099,10 @@ static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setit * self.setitem_indexed(index, value) */ /*else*/ { - __pyx_t_4 = __Pyx_PyObject_GetItem(((PyObject *)__pyx_v_self), __pyx_v_index); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 427, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyObject_GetItem(((PyObject *)__pyx_v_self), __pyx_v_index); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 427, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); - if (!(likely(((__pyx_t_4) == Py_None) || likely(__Pyx_TypeTest(__pyx_t_4, __pyx_memoryview_type))))) __PYX_ERR(0, 427, __pyx_L1_error) - __pyx_t_2 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->setitem_slice_assign_scalar(__pyx_v_self, ((struct __pyx_memoryview_obj *)__pyx_t_4), __pyx_v_value); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 427, __pyx_L1_error) + if (!(likely(((__pyx_t_4) == Py_None) || likely(__Pyx_TypeTest(__pyx_t_4, __pyx_memoryview_type))))) __PYX_ERR(1, 427, __pyx_L1_error) + __pyx_t_2 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->setitem_slice_assign_scalar(__pyx_v_self, ((struct __pyx_memoryview_obj *)__pyx_t_4), __pyx_v_value); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 427, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; @@ -10866,7 +11127,7 @@ static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setit * cdef is_slice(self, obj): */ /*else*/ { - __pyx_t_2 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->setitem_indexed(__pyx_v_self, __pyx_v_index, __pyx_v_value); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 429, __pyx_L1_error) + __pyx_t_2 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->setitem_indexed(__pyx_v_self, __pyx_v_index, __pyx_v_value); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 429, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; } @@ -10957,7 +11218,7 @@ static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_ * self.dtype_is_object) * except TypeError: */ - __pyx_t_6 = __Pyx_PyInt_From_int(((__pyx_v_self->flags & (~PyBUF_WRITABLE)) | PyBUF_ANY_CONTIGUOUS)); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 434, __pyx_L4_error) + __pyx_t_6 = __Pyx_PyInt_From_int(((__pyx_v_self->flags & (~PyBUF_WRITABLE)) | PyBUF_ANY_CONTIGUOUS)); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 434, __pyx_L4_error) __Pyx_GOTREF(__pyx_t_6); /* "View.MemoryView":435 @@ -10967,7 +11228,7 @@ static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_ * except TypeError: * return None */ - __pyx_t_7 = __Pyx_PyBool_FromLong(__pyx_v_self->dtype_is_object); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 435, __pyx_L4_error) + __pyx_t_7 = __Pyx_PyBool_FromLong(__pyx_v_self->dtype_is_object); if (unlikely(!__pyx_t_7)) __PYX_ERR(1, 435, __pyx_L4_error) __Pyx_GOTREF(__pyx_t_7); /* "View.MemoryView":434 @@ -10977,7 +11238,7 @@ static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_ * self.dtype_is_object) * except TypeError: */ - __pyx_t_8 = PyTuple_New(3); if (unlikely(!__pyx_t_8)) __PYX_ERR(0, 434, __pyx_L4_error) + __pyx_t_8 = PyTuple_New(3); if (unlikely(!__pyx_t_8)) __PYX_ERR(1, 434, __pyx_L4_error) __Pyx_GOTREF(__pyx_t_8); __Pyx_INCREF(__pyx_v_obj); __Pyx_GIVEREF(__pyx_v_obj); @@ -10988,7 +11249,7 @@ static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_ PyTuple_SET_ITEM(__pyx_t_8, 2, __pyx_t_7); __pyx_t_6 = 0; __pyx_t_7 = 0; - __pyx_t_7 = __Pyx_PyObject_Call(((PyObject *)__pyx_memoryview_type), __pyx_t_8, NULL); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 434, __pyx_L4_error) + __pyx_t_7 = __Pyx_PyObject_Call(((PyObject *)__pyx_memoryview_type), __pyx_t_8, NULL); if (unlikely(!__pyx_t_7)) __PYX_ERR(1, 434, __pyx_L4_error) __Pyx_GOTREF(__pyx_t_7); __Pyx_DECREF(__pyx_t_8); __pyx_t_8 = 0; __Pyx_DECREF_SET(__pyx_v_obj, __pyx_t_7); @@ -11021,7 +11282,7 @@ static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_ __pyx_t_9 = __Pyx_PyErr_ExceptionMatches(__pyx_builtin_TypeError); if (__pyx_t_9) { __Pyx_AddTraceback("View.MemoryView.memoryview.is_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); - if (__Pyx_GetException(&__pyx_t_7, &__pyx_t_8, &__pyx_t_6) < 0) __PYX_ERR(0, 436, __pyx_L6_except_error) + if (__Pyx_GetException(&__pyx_t_7, &__pyx_t_8, &__pyx_t_6) < 0) __PYX_ERR(1, 436, __pyx_L6_except_error) __Pyx_GOTREF(__pyx_t_7); __Pyx_GOTREF(__pyx_t_8); __Pyx_GOTREF(__pyx_t_6); @@ -11138,8 +11399,8 @@ static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryvi * get_slice_from_memview(dst, &dst_slice)[0], * src.ndim, dst.ndim, self.dtype_is_object) */ - if (!(likely(((__pyx_v_src) == Py_None) || likely(__Pyx_TypeTest(__pyx_v_src, __pyx_memoryview_type))))) __PYX_ERR(0, 445, __pyx_L1_error) - __pyx_t_1 = __pyx_memoryview_get_slice_from_memoryview(((struct __pyx_memoryview_obj *)__pyx_v_src), (&__pyx_v_src_slice)); if (unlikely(__pyx_t_1 == ((__Pyx_memviewslice *)NULL))) __PYX_ERR(0, 445, __pyx_L1_error) + if (!(likely(((__pyx_v_src) == Py_None) || likely(__Pyx_TypeTest(__pyx_v_src, __pyx_memoryview_type))))) __PYX_ERR(1, 445, __pyx_L1_error) + __pyx_t_1 = __pyx_memoryview_get_slice_from_memoryview(((struct __pyx_memoryview_obj *)__pyx_v_src), (&__pyx_v_src_slice)); if (unlikely(__pyx_t_1 == ((__Pyx_memviewslice *)NULL))) __PYX_ERR(1, 445, __pyx_L1_error) /* "View.MemoryView":446 * @@ -11148,8 +11409,8 @@ static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryvi * src.ndim, dst.ndim, self.dtype_is_object) * */ - if (!(likely(((__pyx_v_dst) == Py_None) || likely(__Pyx_TypeTest(__pyx_v_dst, __pyx_memoryview_type))))) __PYX_ERR(0, 446, __pyx_L1_error) - __pyx_t_2 = __pyx_memoryview_get_slice_from_memoryview(((struct __pyx_memoryview_obj *)__pyx_v_dst), (&__pyx_v_dst_slice)); if (unlikely(__pyx_t_2 == ((__Pyx_memviewslice *)NULL))) __PYX_ERR(0, 446, __pyx_L1_error) + if (!(likely(((__pyx_v_dst) == Py_None) || likely(__Pyx_TypeTest(__pyx_v_dst, __pyx_memoryview_type))))) __PYX_ERR(1, 446, __pyx_L1_error) + __pyx_t_2 = __pyx_memoryview_get_slice_from_memoryview(((struct __pyx_memoryview_obj *)__pyx_v_dst), (&__pyx_v_dst_slice)); if (unlikely(__pyx_t_2 == ((__Pyx_memviewslice *)NULL))) __PYX_ERR(1, 446, __pyx_L1_error) /* "View.MemoryView":447 * memoryview_copy_contents(get_slice_from_memview(src, &src_slice)[0], @@ -11158,13 +11419,13 @@ static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryvi * * cdef setitem_slice_assign_scalar(self, memoryview dst, value): */ - __pyx_t_3 = __Pyx_PyObject_GetAttrStr(__pyx_v_src, __pyx_n_s_ndim); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 447, __pyx_L1_error) + __pyx_t_3 = __Pyx_PyObject_GetAttrStr(__pyx_v_src, __pyx_n_s_ndim); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 447, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); - __pyx_t_4 = __Pyx_PyInt_As_int(__pyx_t_3); if (unlikely((__pyx_t_4 == (int)-1) && PyErr_Occurred())) __PYX_ERR(0, 447, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyInt_As_int(__pyx_t_3); if (unlikely((__pyx_t_4 == (int)-1) && PyErr_Occurred())) __PYX_ERR(1, 447, __pyx_L1_error) __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; - __pyx_t_3 = __Pyx_PyObject_GetAttrStr(__pyx_v_dst, __pyx_n_s_ndim); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 447, __pyx_L1_error) + __pyx_t_3 = __Pyx_PyObject_GetAttrStr(__pyx_v_dst, __pyx_n_s_ndim); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 447, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); - __pyx_t_5 = __Pyx_PyInt_As_int(__pyx_t_3); if (unlikely((__pyx_t_5 == (int)-1) && PyErr_Occurred())) __PYX_ERR(0, 447, __pyx_L1_error) + __pyx_t_5 = __Pyx_PyInt_As_int(__pyx_t_3); if (unlikely((__pyx_t_5 == (int)-1) && PyErr_Occurred())) __PYX_ERR(1, 447, __pyx_L1_error) __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; /* "View.MemoryView":445 @@ -11174,7 +11435,7 @@ static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryvi * get_slice_from_memview(dst, &dst_slice)[0], * src.ndim, dst.ndim, self.dtype_is_object) */ - __pyx_t_6 = __pyx_memoryview_copy_contents((__pyx_t_1[0]), (__pyx_t_2[0]), __pyx_t_4, __pyx_t_5, __pyx_v_self->dtype_is_object); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(0, 445, __pyx_L1_error) + __pyx_t_6 = __pyx_memoryview_copy_contents((__pyx_t_1[0]), (__pyx_t_2[0]), __pyx_t_4, __pyx_t_5, __pyx_v_self->dtype_is_object); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 445, __pyx_L1_error) /* "View.MemoryView":441 * return obj @@ -11246,7 +11507,7 @@ static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memor * * if self.view.itemsize > sizeof(array): */ - __pyx_t_1 = __pyx_memoryview_get_slice_from_memoryview(__pyx_v_dst, (&__pyx_v_tmp_slice)); if (unlikely(__pyx_t_1 == ((__Pyx_memviewslice *)NULL))) __PYX_ERR(0, 456, __pyx_L1_error) + __pyx_t_1 = __pyx_memoryview_get_slice_from_memoryview(__pyx_v_dst, (&__pyx_v_tmp_slice)); if (unlikely(__pyx_t_1 == ((__Pyx_memviewslice *)NULL))) __PYX_ERR(1, 456, __pyx_L1_error) __pyx_v_dst_slice = __pyx_t_1; /* "View.MemoryView":458 @@ -11285,7 +11546,7 @@ static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memor * item = tmp * else: */ - PyErr_NoMemory(); __PYX_ERR(0, 461, __pyx_L1_error) + PyErr_NoMemory(); __PYX_ERR(1, 461, __pyx_L1_error) /* "View.MemoryView":460 * if self.view.itemsize > sizeof(array): @@ -11373,7 +11634,7 @@ static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memor * */ /*else*/ { - __pyx_t_3 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->assign_item_from_object(__pyx_v_self, ((char *)__pyx_v_item), __pyx_v_value); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 470, __pyx_L6_error) + __pyx_t_3 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->assign_item_from_object(__pyx_v_self, ((char *)__pyx_v_item), __pyx_v_value); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 470, __pyx_L6_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; } @@ -11396,7 +11657,7 @@ static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memor * slice_assign_scalar(dst_slice, dst.view.ndim, self.view.itemsize, * item, self.dtype_is_object) */ - __pyx_t_3 = assert_direct_dimensions(__pyx_v_self->view.suboffsets, __pyx_v_self->view.ndim); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 475, __pyx_L6_error) + __pyx_t_3 = assert_direct_dimensions(__pyx_v_self->view.suboffsets, __pyx_v_self->view.ndim); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 475, __pyx_L6_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; @@ -11513,7 +11774,7 @@ static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *_ * self.assign_item_from_object(itemp, value) * */ - __pyx_t_1 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->get_item_pointer(__pyx_v_self, __pyx_v_index); if (unlikely(__pyx_t_1 == ((char *)NULL))) __PYX_ERR(0, 482, __pyx_L1_error) + __pyx_t_1 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->get_item_pointer(__pyx_v_self, __pyx_v_index); if (unlikely(__pyx_t_1 == ((char *)NULL))) __PYX_ERR(1, 482, __pyx_L1_error) __pyx_v_itemp = __pyx_t_1; /* "View.MemoryView":483 @@ -11523,7 +11784,7 @@ static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *_ * * cdef convert_item_to_object(self, char *itemp): */ - __pyx_t_2 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->assign_item_from_object(__pyx_v_self, __pyx_v_itemp, __pyx_v_value); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 483, __pyx_L1_error) + __pyx_t_2 = ((struct __pyx_vtabstruct_memoryview *)__pyx_v_self->__pyx_vtab)->assign_item_from_object(__pyx_v_self, __pyx_v_itemp, __pyx_v_value); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 483, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; @@ -11585,7 +11846,7 @@ static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview * cdef bytes bytesitem * */ - __pyx_t_1 = __Pyx_Import(__pyx_n_s_struct, 0, 0); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 488, __pyx_L1_error) + __pyx_t_1 = __Pyx_Import(__pyx_n_s_struct, 0, 0); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 488, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_v_struct = __pyx_t_1; __pyx_t_1 = 0; @@ -11597,7 +11858,7 @@ static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview * try: * result = struct.unpack(self.view.format, bytesitem) */ - __pyx_t_1 = __Pyx_PyBytes_FromStringAndSize(__pyx_v_itemp + 0, __pyx_v_self->view.itemsize - 0); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 491, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyBytes_FromStringAndSize(__pyx_v_itemp + 0, __pyx_v_self->view.itemsize - 0); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 491, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_v_bytesitem = ((PyObject*)__pyx_t_1); __pyx_t_1 = 0; @@ -11625,9 +11886,9 @@ static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview * except struct.error: * raise ValueError("Unable to convert item to object") */ - __pyx_t_5 = __Pyx_PyObject_GetAttrStr(__pyx_v_struct, __pyx_n_s_unpack); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 493, __pyx_L3_error) + __pyx_t_5 = __Pyx_PyObject_GetAttrStr(__pyx_v_struct, __pyx_n_s_unpack); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 493, __pyx_L3_error) __Pyx_GOTREF(__pyx_t_5); - __pyx_t_6 = __Pyx_PyBytes_FromString(__pyx_v_self->view.format); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 493, __pyx_L3_error) + __pyx_t_6 = __Pyx_PyBytes_FromString(__pyx_v_self->view.format); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 493, __pyx_L3_error) __Pyx_GOTREF(__pyx_t_6); __pyx_t_7 = NULL; __pyx_t_8 = 0; @@ -11644,7 +11905,7 @@ static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview #if CYTHON_FAST_PYCALL if (PyFunction_Check(__pyx_t_5)) { PyObject *__pyx_temp[3] = {__pyx_t_7, __pyx_t_6, __pyx_v_bytesitem}; - __pyx_t_1 = __Pyx_PyFunction_FastCall(__pyx_t_5, __pyx_temp+1-__pyx_t_8, 2+__pyx_t_8); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 493, __pyx_L3_error) + __pyx_t_1 = __Pyx_PyFunction_FastCall(__pyx_t_5, __pyx_temp+1-__pyx_t_8, 2+__pyx_t_8); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 493, __pyx_L3_error) __Pyx_XDECREF(__pyx_t_7); __pyx_t_7 = 0; __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; @@ -11653,14 +11914,14 @@ static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview #if CYTHON_FAST_PYCCALL if (__Pyx_PyFastCFunction_Check(__pyx_t_5)) { PyObject *__pyx_temp[3] = {__pyx_t_7, __pyx_t_6, __pyx_v_bytesitem}; - __pyx_t_1 = __Pyx_PyCFunction_FastCall(__pyx_t_5, __pyx_temp+1-__pyx_t_8, 2+__pyx_t_8); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 493, __pyx_L3_error) + __pyx_t_1 = __Pyx_PyCFunction_FastCall(__pyx_t_5, __pyx_temp+1-__pyx_t_8, 2+__pyx_t_8); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 493, __pyx_L3_error) __Pyx_XDECREF(__pyx_t_7); __pyx_t_7 = 0; __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; } else #endif { - __pyx_t_9 = PyTuple_New(2+__pyx_t_8); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 493, __pyx_L3_error) + __pyx_t_9 = PyTuple_New(2+__pyx_t_8); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 493, __pyx_L3_error) __Pyx_GOTREF(__pyx_t_9); if (__pyx_t_7) { __Pyx_GIVEREF(__pyx_t_7); PyTuple_SET_ITEM(__pyx_t_9, 0, __pyx_t_7); __pyx_t_7 = NULL; @@ -11671,7 +11932,7 @@ static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview __Pyx_GIVEREF(__pyx_v_bytesitem); PyTuple_SET_ITEM(__pyx_t_9, 1+__pyx_t_8, __pyx_v_bytesitem); __pyx_t_6 = 0; - __pyx_t_1 = __Pyx_PyObject_Call(__pyx_t_5, __pyx_t_9, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 493, __pyx_L3_error) + __pyx_t_1 = __Pyx_PyObject_Call(__pyx_t_5, __pyx_t_9, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 493, __pyx_L3_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; } @@ -11708,7 +11969,7 @@ static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview * */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = __Pyx_GetItemInt(__pyx_v_result, 0, long, 1, __Pyx_PyInt_From_long, 0, 0, 1); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 498, __pyx_L5_except_error) + __pyx_t_1 = __Pyx_GetItemInt(__pyx_v_result, 0, long, 1, __Pyx_PyInt_From_long, 0, 0, 1); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 498, __pyx_L5_except_error) __Pyx_GOTREF(__pyx_t_1); __pyx_r = __pyx_t_1; __pyx_t_1 = 0; @@ -11750,7 +12011,7 @@ static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview * else: */ __Pyx_ErrFetch(&__pyx_t_1, &__pyx_t_5, &__pyx_t_9); - __pyx_t_6 = __Pyx_PyObject_GetAttrStr(__pyx_v_struct, __pyx_n_s_error); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 494, __pyx_L5_except_error) + __pyx_t_6 = __Pyx_PyObject_GetAttrStr(__pyx_v_struct, __pyx_n_s_error); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 494, __pyx_L5_except_error) __Pyx_GOTREF(__pyx_t_6); __pyx_t_8 = __Pyx_PyErr_GivenExceptionMatches(__pyx_t_1, __pyx_t_6); __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; @@ -11758,7 +12019,7 @@ static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview __pyx_t_1 = 0; __pyx_t_5 = 0; __pyx_t_9 = 0; if (__pyx_t_8) { __Pyx_AddTraceback("View.MemoryView.memoryview.convert_item_to_object", __pyx_clineno, __pyx_lineno, __pyx_filename); - if (__Pyx_GetException(&__pyx_t_9, &__pyx_t_5, &__pyx_t_1) < 0) __PYX_ERR(0, 494, __pyx_L5_except_error) + if (__Pyx_GetException(&__pyx_t_9, &__pyx_t_5, &__pyx_t_1) < 0) __PYX_ERR(1, 494, __pyx_L5_except_error) __Pyx_GOTREF(__pyx_t_9); __Pyx_GOTREF(__pyx_t_5); __Pyx_GOTREF(__pyx_t_1); @@ -11770,11 +12031,11 @@ static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview * else: * if len(self.view.format) == 1: */ - __pyx_t_6 = __Pyx_PyObject_Call(__pyx_builtin_ValueError, __pyx_tuple__15, NULL); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 495, __pyx_L5_except_error) + __pyx_t_6 = __Pyx_PyObject_Call(__pyx_builtin_ValueError, __pyx_tuple__15, NULL); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 495, __pyx_L5_except_error) __Pyx_GOTREF(__pyx_t_6); __Pyx_Raise(__pyx_t_6, 0, 0, 0); __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; - __PYX_ERR(0, 495, __pyx_L5_except_error) + __PYX_ERR(1, 495, __pyx_L5_except_error) } goto __pyx_L5_except_error; __pyx_L5_except_error:; @@ -11866,7 +12127,7 @@ static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryvie * cdef char c * cdef bytes bytesvalue */ - __pyx_t_1 = __Pyx_Import(__pyx_n_s_struct, 0, 0); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 504, __pyx_L1_error) + __pyx_t_1 = __Pyx_Import(__pyx_n_s_struct, 0, 0); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 504, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_v_struct = __pyx_t_1; __pyx_t_1 = 0; @@ -11889,26 +12150,26 @@ static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryvie * else: * bytesvalue = struct.pack(self.view.format, value) */ - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v_struct, __pyx_n_s_pack); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 510, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v_struct, __pyx_n_s_pack); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 510, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_4 = __Pyx_PyBytes_FromString(__pyx_v_self->view.format); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 510, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyBytes_FromString(__pyx_v_self->view.format); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 510, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); - __pyx_t_5 = PyTuple_New(1); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 510, __pyx_L1_error) + __pyx_t_5 = PyTuple_New(1); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 510, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); __Pyx_GIVEREF(__pyx_t_4); PyTuple_SET_ITEM(__pyx_t_5, 0, __pyx_t_4); __pyx_t_4 = 0; - __pyx_t_4 = __Pyx_PySequence_Tuple(__pyx_v_value); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 510, __pyx_L1_error) + __pyx_t_4 = __Pyx_PySequence_Tuple(__pyx_v_value); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 510, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); - __pyx_t_6 = PyNumber_Add(__pyx_t_5, __pyx_t_4); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 510, __pyx_L1_error) + __pyx_t_6 = PyNumber_Add(__pyx_t_5, __pyx_t_4); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 510, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0; __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; - __pyx_t_4 = __Pyx_PyObject_Call(__pyx_t_1, __pyx_t_6, NULL); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 510, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyObject_Call(__pyx_t_1, __pyx_t_6, NULL); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 510, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; - if (!(likely(PyBytes_CheckExact(__pyx_t_4))||((__pyx_t_4) == Py_None)||(PyErr_Format(PyExc_TypeError, "Expected %.16s, got %.200s", "bytes", Py_TYPE(__pyx_t_4)->tp_name), 0))) __PYX_ERR(0, 510, __pyx_L1_error) + if (!(likely(PyBytes_CheckExact(__pyx_t_4))||((__pyx_t_4) == Py_None)||(PyErr_Format(PyExc_TypeError, "Expected %.16s, got %.200s", "bytes", Py_TYPE(__pyx_t_4)->tp_name), 0))) __PYX_ERR(1, 510, __pyx_L1_error) __pyx_v_bytesvalue = ((PyObject*)__pyx_t_4); __pyx_t_4 = 0; @@ -11930,9 +12191,9 @@ static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryvie * for i, c in enumerate(bytesvalue): */ /*else*/ { - __pyx_t_6 = __Pyx_PyObject_GetAttrStr(__pyx_v_struct, __pyx_n_s_pack); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 512, __pyx_L1_error) + __pyx_t_6 = __Pyx_PyObject_GetAttrStr(__pyx_v_struct, __pyx_n_s_pack); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 512, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); - __pyx_t_1 = __Pyx_PyBytes_FromString(__pyx_v_self->view.format); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 512, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyBytes_FromString(__pyx_v_self->view.format); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 512, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_t_5 = NULL; __pyx_t_7 = 0; @@ -11949,7 +12210,7 @@ static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryvie #if CYTHON_FAST_PYCALL if (PyFunction_Check(__pyx_t_6)) { PyObject *__pyx_temp[3] = {__pyx_t_5, __pyx_t_1, __pyx_v_value}; - __pyx_t_4 = __Pyx_PyFunction_FastCall(__pyx_t_6, __pyx_temp+1-__pyx_t_7, 2+__pyx_t_7); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 512, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyFunction_FastCall(__pyx_t_6, __pyx_temp+1-__pyx_t_7, 2+__pyx_t_7); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 512, __pyx_L1_error) __Pyx_XDECREF(__pyx_t_5); __pyx_t_5 = 0; __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; @@ -11958,14 +12219,14 @@ static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryvie #if CYTHON_FAST_PYCCALL if (__Pyx_PyFastCFunction_Check(__pyx_t_6)) { PyObject *__pyx_temp[3] = {__pyx_t_5, __pyx_t_1, __pyx_v_value}; - __pyx_t_4 = __Pyx_PyCFunction_FastCall(__pyx_t_6, __pyx_temp+1-__pyx_t_7, 2+__pyx_t_7); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 512, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyCFunction_FastCall(__pyx_t_6, __pyx_temp+1-__pyx_t_7, 2+__pyx_t_7); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 512, __pyx_L1_error) __Pyx_XDECREF(__pyx_t_5); __pyx_t_5 = 0; __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; } else #endif { - __pyx_t_8 = PyTuple_New(2+__pyx_t_7); if (unlikely(!__pyx_t_8)) __PYX_ERR(0, 512, __pyx_L1_error) + __pyx_t_8 = PyTuple_New(2+__pyx_t_7); if (unlikely(!__pyx_t_8)) __PYX_ERR(1, 512, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_8); if (__pyx_t_5) { __Pyx_GIVEREF(__pyx_t_5); PyTuple_SET_ITEM(__pyx_t_8, 0, __pyx_t_5); __pyx_t_5 = NULL; @@ -11976,12 +12237,12 @@ static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryvie __Pyx_GIVEREF(__pyx_v_value); PyTuple_SET_ITEM(__pyx_t_8, 1+__pyx_t_7, __pyx_v_value); __pyx_t_1 = 0; - __pyx_t_4 = __Pyx_PyObject_Call(__pyx_t_6, __pyx_t_8, NULL); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 512, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyObject_Call(__pyx_t_6, __pyx_t_8, NULL); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 512, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_8); __pyx_t_8 = 0; } __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; - if (!(likely(PyBytes_CheckExact(__pyx_t_4))||((__pyx_t_4) == Py_None)||(PyErr_Format(PyExc_TypeError, "Expected %.16s, got %.200s", "bytes", Py_TYPE(__pyx_t_4)->tp_name), 0))) __PYX_ERR(0, 512, __pyx_L1_error) + if (!(likely(PyBytes_CheckExact(__pyx_t_4))||((__pyx_t_4) == Py_None)||(PyErr_Format(PyExc_TypeError, "Expected %.16s, got %.200s", "bytes", Py_TYPE(__pyx_t_4)->tp_name), 0))) __PYX_ERR(1, 512, __pyx_L1_error) __pyx_v_bytesvalue = ((PyObject*)__pyx_t_4); __pyx_t_4 = 0; } @@ -11997,7 +12258,7 @@ static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryvie __pyx_t_9 = 0; if (unlikely(__pyx_v_bytesvalue == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' is not iterable"); - __PYX_ERR(0, 514, __pyx_L1_error) + __PYX_ERR(1, 514, __pyx_L1_error) } __Pyx_INCREF(__pyx_v_bytesvalue); __pyx_t_10 = __pyx_v_bytesvalue; @@ -12132,11 +12393,11 @@ static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbu * * if flags & PyBUF_ND: */ - __pyx_t_3 = __Pyx_PyObject_Call(__pyx_builtin_ValueError, __pyx_tuple__16, NULL); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 520, __pyx_L1_error) + __pyx_t_3 = __Pyx_PyObject_Call(__pyx_builtin_ValueError, __pyx_tuple__16, NULL); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 520, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_Raise(__pyx_t_3, 0, 0, 0); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; - __PYX_ERR(0, 520, __pyx_L1_error) + __PYX_ERR(1, 520, __pyx_L1_error) /* "View.MemoryView":519 * @cname('getbuffer') @@ -12447,9 +12708,9 @@ static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct _ * transpose_memslice(&result.from_slice) * return result */ - __pyx_t_1 = __pyx_memoryview_copy_object(__pyx_v_self); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 554, __pyx_L1_error) + __pyx_t_1 = __pyx_memoryview_copy_object(__pyx_v_self); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 554, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - if (!(likely(((__pyx_t_1) == Py_None) || likely(__Pyx_TypeTest(__pyx_t_1, __pyx_memoryviewslice_type))))) __PYX_ERR(0, 554, __pyx_L1_error) + if (!(likely(((__pyx_t_1) == Py_None) || likely(__Pyx_TypeTest(__pyx_t_1, __pyx_memoryviewslice_type))))) __PYX_ERR(1, 554, __pyx_L1_error) __pyx_v_result = ((struct __pyx_memoryviewslice_obj *)__pyx_t_1); __pyx_t_1 = 0; @@ -12460,7 +12721,7 @@ static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct _ * return result * */ - __pyx_t_2 = __pyx_memslice_transpose((&__pyx_v_result->from_slice)); if (unlikely(__pyx_t_2 == ((int)0))) __PYX_ERR(0, 555, __pyx_L1_error) + __pyx_t_2 = __pyx_memslice_transpose((&__pyx_v_result->from_slice)); if (unlikely(__pyx_t_2 == ((int)0))) __PYX_ERR(1, 555, __pyx_L1_error) /* "View.MemoryView":556 * cdef _memoryviewslice result = memoryview_copy(self) @@ -12590,18 +12851,18 @@ static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(stru * @property */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = PyList_New(0); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 564, __pyx_L1_error) + __pyx_t_1 = PyList_New(0); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 564, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_t_3 = (__pyx_v_self->view.shape + __pyx_v_self->view.ndim); for (__pyx_t_4 = __pyx_v_self->view.shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { __pyx_t_2 = __pyx_t_4; __pyx_v_length = (__pyx_t_2[0]); - __pyx_t_5 = PyInt_FromSsize_t(__pyx_v_length); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 564, __pyx_L1_error) + __pyx_t_5 = PyInt_FromSsize_t(__pyx_v_length); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 564, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); - if (unlikely(__Pyx_ListComp_Append(__pyx_t_1, (PyObject*)__pyx_t_5))) __PYX_ERR(0, 564, __pyx_L1_error) + if (unlikely(__Pyx_ListComp_Append(__pyx_t_1, (PyObject*)__pyx_t_5))) __PYX_ERR(1, 564, __pyx_L1_error) __Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0; } - __pyx_t_5 = PyList_AsTuple(((PyObject*)__pyx_t_1)); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 564, __pyx_L1_error) + __pyx_t_5 = PyList_AsTuple(((PyObject*)__pyx_t_1)); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 564, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; __pyx_r = __pyx_t_5; @@ -12681,11 +12942,11 @@ static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(st * * return tuple([stride for stride in self.view.strides[:self.view.ndim]]) */ - __pyx_t_2 = __Pyx_PyObject_Call(__pyx_builtin_ValueError, __pyx_tuple__17, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 570, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_Call(__pyx_builtin_ValueError, __pyx_tuple__17, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 570, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_Raise(__pyx_t_2, 0, 0, 0); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; - __PYX_ERR(0, 570, __pyx_L1_error) + __PYX_ERR(1, 570, __pyx_L1_error) /* "View.MemoryView":568 * @property @@ -12704,18 +12965,18 @@ static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(st * @property */ __Pyx_XDECREF(__pyx_r); - __pyx_t_2 = PyList_New(0); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 572, __pyx_L1_error) + __pyx_t_2 = PyList_New(0); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 572, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_t_4 = (__pyx_v_self->view.strides + __pyx_v_self->view.ndim); for (__pyx_t_5 = __pyx_v_self->view.strides; __pyx_t_5 < __pyx_t_4; __pyx_t_5++) { __pyx_t_3 = __pyx_t_5; __pyx_v_stride = (__pyx_t_3[0]); - __pyx_t_6 = PyInt_FromSsize_t(__pyx_v_stride); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 572, __pyx_L1_error) + __pyx_t_6 = PyInt_FromSsize_t(__pyx_v_stride); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 572, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); - if (unlikely(__Pyx_ListComp_Append(__pyx_t_2, (PyObject*)__pyx_t_6))) __PYX_ERR(0, 572, __pyx_L1_error) + if (unlikely(__Pyx_ListComp_Append(__pyx_t_2, (PyObject*)__pyx_t_6))) __PYX_ERR(1, 572, __pyx_L1_error) __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; } - __pyx_t_6 = PyList_AsTuple(((PyObject*)__pyx_t_2)); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 572, __pyx_L1_error) + __pyx_t_6 = PyList_AsTuple(((PyObject*)__pyx_t_2)); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 572, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __pyx_r = __pyx_t_6; @@ -12796,9 +13057,9 @@ static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get_ * return tuple([suboffset for suboffset in self.view.suboffsets[:self.view.ndim]]) */ __Pyx_XDECREF(__pyx_r); - __pyx_t_2 = __Pyx_PyInt_From_int(__pyx_v_self->view.ndim); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 577, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_From_int(__pyx_v_self->view.ndim); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 577, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __pyx_t_3 = PyNumber_Multiply(__pyx_tuple__18, __pyx_t_2); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 577, __pyx_L1_error) + __pyx_t_3 = PyNumber_Multiply(__pyx_tuple__18, __pyx_t_2); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 577, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __pyx_r = __pyx_t_3; @@ -12822,18 +13083,18 @@ static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get_ * @property */ __Pyx_XDECREF(__pyx_r); - __pyx_t_3 = PyList_New(0); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 579, __pyx_L1_error) + __pyx_t_3 = PyList_New(0); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 579, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __pyx_t_5 = (__pyx_v_self->view.suboffsets + __pyx_v_self->view.ndim); for (__pyx_t_6 = __pyx_v_self->view.suboffsets; __pyx_t_6 < __pyx_t_5; __pyx_t_6++) { __pyx_t_4 = __pyx_t_6; __pyx_v_suboffset = (__pyx_t_4[0]); - __pyx_t_2 = PyInt_FromSsize_t(__pyx_v_suboffset); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 579, __pyx_L1_error) + __pyx_t_2 = PyInt_FromSsize_t(__pyx_v_suboffset); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 579, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - if (unlikely(__Pyx_ListComp_Append(__pyx_t_3, (PyObject*)__pyx_t_2))) __PYX_ERR(0, 579, __pyx_L1_error) + if (unlikely(__Pyx_ListComp_Append(__pyx_t_3, (PyObject*)__pyx_t_2))) __PYX_ERR(1, 579, __pyx_L1_error) __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; } - __pyx_t_2 = PyList_AsTuple(((PyObject*)__pyx_t_3)); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 579, __pyx_L1_error) + __pyx_t_2 = PyList_AsTuple(((PyObject*)__pyx_t_3)); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 579, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __pyx_r = __pyx_t_2; @@ -12898,7 +13159,7 @@ static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struc * @property */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = __Pyx_PyInt_From_int(__pyx_v_self->view.ndim); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 583, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyInt_From_int(__pyx_v_self->view.ndim); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 583, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_r = __pyx_t_1; __pyx_t_1 = 0; @@ -12961,7 +13222,7 @@ static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(s * @property */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = PyInt_FromSsize_t(__pyx_v_self->view.itemsize); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 587, __pyx_L1_error) + __pyx_t_1 = PyInt_FromSsize_t(__pyx_v_self->view.itemsize); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 587, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_r = __pyx_t_1; __pyx_t_1 = 0; @@ -13026,11 +13287,11 @@ static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(str * @property */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_self), __pyx_n_s_size); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 591, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_self), __pyx_n_s_size); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 591, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_2 = PyInt_FromSsize_t(__pyx_v_self->view.itemsize); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 591, __pyx_L1_error) + __pyx_t_2 = PyInt_FromSsize_t(__pyx_v_self->view.itemsize); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 591, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __pyx_t_3 = PyNumber_Multiply(__pyx_t_1, __pyx_t_2); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 591, __pyx_L1_error) + __pyx_t_3 = PyNumber_Multiply(__pyx_t_1, __pyx_t_2); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 591, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; @@ -13127,7 +13388,7 @@ static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struc __pyx_t_4 = (__pyx_v_self->view.shape + __pyx_v_self->view.ndim); for (__pyx_t_5 = __pyx_v_self->view.shape; __pyx_t_5 < __pyx_t_4; __pyx_t_5++) { __pyx_t_3 = __pyx_t_5; - __pyx_t_6 = PyInt_FromSsize_t((__pyx_t_3[0])); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 598, __pyx_L1_error) + __pyx_t_6 = PyInt_FromSsize_t((__pyx_t_3[0])); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 598, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __Pyx_XDECREF_SET(__pyx_v_length, __pyx_t_6); __pyx_t_6 = 0; @@ -13139,7 +13400,7 @@ static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struc * * self._size = result */ - __pyx_t_6 = PyNumber_InPlaceMultiply(__pyx_v_result, __pyx_v_length); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 599, __pyx_L1_error) + __pyx_t_6 = PyNumber_InPlaceMultiply(__pyx_v_result, __pyx_v_length); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 599, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __Pyx_DECREF_SET(__pyx_v_result, __pyx_t_6); __pyx_t_6 = 0; @@ -13320,12 +13581,12 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12 * */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_self), __pyx_n_s_base); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 612, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_self), __pyx_n_s_base); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 612, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_2 = __Pyx_PyObject_GetAttrStr(__pyx_t_1, __pyx_n_s_class); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 612, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_GetAttrStr(__pyx_t_1, __pyx_n_s_class); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 612, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_t_2, __pyx_n_s_name_2); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 612, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_t_2, __pyx_n_s_name_2); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 612, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; @@ -13336,7 +13597,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12 * * def __str__(self): */ - __pyx_t_2 = __Pyx_PyObject_CallOneArg(__pyx_builtin_id, ((PyObject *)__pyx_v_self)); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 613, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_CallOneArg(__pyx_builtin_id, ((PyObject *)__pyx_v_self)); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 613, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); /* "View.MemoryView":612 @@ -13346,7 +13607,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12 * id(self)) * */ - __pyx_t_3 = PyTuple_New(2); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 612, __pyx_L1_error) + __pyx_t_3 = PyTuple_New(2); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 612, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_GIVEREF(__pyx_t_1); PyTuple_SET_ITEM(__pyx_t_3, 0, __pyx_t_1); @@ -13354,7 +13615,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12 PyTuple_SET_ITEM(__pyx_t_3, 1, __pyx_t_2); __pyx_t_1 = 0; __pyx_t_2 = 0; - __pyx_t_2 = __Pyx_PyString_Format(__pyx_kp_s_MemoryView_of_r_at_0x_x, __pyx_t_3); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 612, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyString_Format(__pyx_kp_s_MemoryView_of_r_at_0x_x, __pyx_t_3); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 612, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __pyx_r = __pyx_t_2; @@ -13421,20 +13682,20 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14 * */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_self), __pyx_n_s_base); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 616, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_self), __pyx_n_s_base); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 616, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_2 = __Pyx_PyObject_GetAttrStr(__pyx_t_1, __pyx_n_s_class); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 616, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_GetAttrStr(__pyx_t_1, __pyx_n_s_class); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 616, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_t_2, __pyx_n_s_name_2); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 616, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_t_2, __pyx_n_s_name_2); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 616, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; - __pyx_t_2 = PyTuple_New(1); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 616, __pyx_L1_error) + __pyx_t_2 = PyTuple_New(1); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 616, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_GIVEREF(__pyx_t_1); PyTuple_SET_ITEM(__pyx_t_2, 0, __pyx_t_1); __pyx_t_1 = 0; - __pyx_t_1 = __Pyx_PyString_Format(__pyx_kp_s_MemoryView_of_r_object, __pyx_t_2); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 616, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyString_Format(__pyx_kp_s_MemoryView_of_r_object, __pyx_t_2); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 616, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __pyx_r = __pyx_t_1; @@ -13501,7 +13762,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16 * return slice_is_contig(mslice[0], 'C', self.view.ndim) * */ - __pyx_t_1 = __pyx_memoryview_get_slice_from_memoryview(__pyx_v_self, (&__pyx_v_tmp)); if (unlikely(__pyx_t_1 == ((__Pyx_memviewslice *)NULL))) __PYX_ERR(0, 622, __pyx_L1_error) + __pyx_t_1 = __pyx_memoryview_get_slice_from_memoryview(__pyx_v_self, (&__pyx_v_tmp)); if (unlikely(__pyx_t_1 == ((__Pyx_memviewslice *)NULL))) __PYX_ERR(1, 622, __pyx_L1_error) __pyx_v_mslice = __pyx_t_1; /* "View.MemoryView":623 @@ -13512,7 +13773,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16 * def is_f_contig(self): */ __Pyx_XDECREF(__pyx_r); - __pyx_t_2 = __Pyx_PyBool_FromLong(__pyx_memviewslice_is_contig((__pyx_v_mslice[0]), 'C', __pyx_v_self->view.ndim)); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 623, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyBool_FromLong(__pyx_memviewslice_is_contig((__pyx_v_mslice[0]), 'C', __pyx_v_self->view.ndim)); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 623, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_r = __pyx_t_2; __pyx_t_2 = 0; @@ -13577,7 +13838,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18 * return slice_is_contig(mslice[0], 'F', self.view.ndim) * */ - __pyx_t_1 = __pyx_memoryview_get_slice_from_memoryview(__pyx_v_self, (&__pyx_v_tmp)); if (unlikely(__pyx_t_1 == ((__Pyx_memviewslice *)NULL))) __PYX_ERR(0, 628, __pyx_L1_error) + __pyx_t_1 = __pyx_memoryview_get_slice_from_memoryview(__pyx_v_self, (&__pyx_v_tmp)); if (unlikely(__pyx_t_1 == ((__Pyx_memviewslice *)NULL))) __PYX_ERR(1, 628, __pyx_L1_error) __pyx_v_mslice = __pyx_t_1; /* "View.MemoryView":629 @@ -13588,7 +13849,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18 * def copy(self): */ __Pyx_XDECREF(__pyx_r); - __pyx_t_2 = __Pyx_PyBool_FromLong(__pyx_memviewslice_is_contig((__pyx_v_mslice[0]), 'F', __pyx_v_self->view.ndim)); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 629, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyBool_FromLong(__pyx_memviewslice_is_contig((__pyx_v_mslice[0]), 'F', __pyx_v_self->view.ndim)); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 629, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_r = __pyx_t_2; __pyx_t_2 = 0; @@ -13671,7 +13932,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20 * self.view.itemsize, * flags|PyBUF_C_CONTIGUOUS, */ - __pyx_t_1 = __pyx_memoryview_copy_new_contig((&__pyx_v_mslice), ((char *)"c"), __pyx_v_self->view.ndim, __pyx_v_self->view.itemsize, (__pyx_v_flags | PyBUF_C_CONTIGUOUS), __pyx_v_self->dtype_is_object); if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 636, __pyx_L1_error) + __pyx_t_1 = __pyx_memoryview_copy_new_contig((&__pyx_v_mslice), ((char *)"c"), __pyx_v_self->view.ndim, __pyx_v_self->view.itemsize, (__pyx_v_flags | PyBUF_C_CONTIGUOUS), __pyx_v_self->dtype_is_object); if (unlikely(PyErr_Occurred())) __PYX_ERR(1, 636, __pyx_L1_error) __pyx_v_mslice = __pyx_t_1; /* "View.MemoryView":641 @@ -13682,7 +13943,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20 * def copy_fortran(self): */ __Pyx_XDECREF(__pyx_r); - __pyx_t_2 = __pyx_memoryview_copy_object_from_slice(__pyx_v_self, (&__pyx_v_mslice)); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 641, __pyx_L1_error) + __pyx_t_2 = __pyx_memoryview_copy_object_from_slice(__pyx_v_self, (&__pyx_v_mslice)); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 641, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_r = __pyx_t_2; __pyx_t_2 = 0; @@ -13766,7 +14027,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22 * self.view.itemsize, * flags|PyBUF_F_CONTIGUOUS, */ - __pyx_t_1 = __pyx_memoryview_copy_new_contig((&__pyx_v_src), ((char *)"fortran"), __pyx_v_self->view.ndim, __pyx_v_self->view.itemsize, (__pyx_v_flags | PyBUF_F_CONTIGUOUS), __pyx_v_self->dtype_is_object); if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 648, __pyx_L1_error) + __pyx_t_1 = __pyx_memoryview_copy_new_contig((&__pyx_v_src), ((char *)"fortran"), __pyx_v_self->view.ndim, __pyx_v_self->view.itemsize, (__pyx_v_flags | PyBUF_F_CONTIGUOUS), __pyx_v_self->dtype_is_object); if (unlikely(PyErr_Occurred())) __PYX_ERR(1, 648, __pyx_L1_error) __pyx_v_dst = __pyx_t_1; /* "View.MemoryView":653 @@ -13777,7 +14038,7 @@ static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22 * */ __Pyx_XDECREF(__pyx_r); - __pyx_t_2 = __pyx_memoryview_copy_object_from_slice(__pyx_v_self, (&__pyx_v_dst)); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 653, __pyx_L1_error) + __pyx_t_2 = __pyx_memoryview_copy_object_from_slice(__pyx_v_self, (&__pyx_v_dst)); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 653, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_r = __pyx_t_2; __pyx_t_2 = 0; @@ -13836,11 +14097,11 @@ static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struc * def __setstate_cython__(self, __pyx_state): * raise TypeError("no default __reduce__ due to non-trivial __cinit__") */ - __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__19, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 2, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__19, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 2, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_Raise(__pyx_t_1, 0, 0, 0); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __PYX_ERR(0, 2, __pyx_L1_error) + __PYX_ERR(1, 2, __pyx_L1_error) /* "(tree fragment)":1 * def __reduce_cython__(self): # <<<<<<<<<<<<<< @@ -13892,11 +14153,11 @@ static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED st * def __setstate_cython__(self, __pyx_state): * raise TypeError("no default __reduce__ due to non-trivial __cinit__") # <<<<<<<<<<<<<< */ - __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__20, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 4, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__20, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 4, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_Raise(__pyx_t_1, 0, 0, 0); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __PYX_ERR(0, 4, __pyx_L1_error) + __PYX_ERR(1, 4, __pyx_L1_error) /* "(tree fragment)":3 * def __reduce_cython__(self): @@ -13942,11 +14203,11 @@ static PyObject *__pyx_memoryview_new(PyObject *__pyx_v_o, int __pyx_v_flags, in * result.typeinfo = typeinfo * return result */ - __pyx_t_1 = __Pyx_PyInt_From_int(__pyx_v_flags); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 658, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyInt_From_int(__pyx_v_flags); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 658, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_2 = __Pyx_PyBool_FromLong(__pyx_v_dtype_is_object); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 658, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyBool_FromLong(__pyx_v_dtype_is_object); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 658, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __pyx_t_3 = PyTuple_New(3); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 658, __pyx_L1_error) + __pyx_t_3 = PyTuple_New(3); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 658, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_INCREF(__pyx_v_o); __Pyx_GIVEREF(__pyx_v_o); @@ -13957,7 +14218,7 @@ static PyObject *__pyx_memoryview_new(PyObject *__pyx_v_o, int __pyx_v_flags, in PyTuple_SET_ITEM(__pyx_t_3, 2, __pyx_t_2); __pyx_t_1 = 0; __pyx_t_2 = 0; - __pyx_t_2 = __Pyx_PyObject_Call(((PyObject *)__pyx_memoryview_type), __pyx_t_3, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 658, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_Call(((PyObject *)__pyx_memoryview_type), __pyx_t_3, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 658, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __pyx_v_result = ((struct __pyx_memoryview_obj *)__pyx_t_2); @@ -14097,7 +14358,7 @@ static PyObject *_unellipsify(PyObject *__pyx_v_index, int __pyx_v_ndim) { * else: * tup = index */ - __pyx_t_3 = PyTuple_New(1); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 672, __pyx_L1_error) + __pyx_t_3 = PyTuple_New(1); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 672, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_INCREF(__pyx_v_index); __Pyx_GIVEREF(__pyx_v_index); @@ -14135,7 +14396,7 @@ static PyObject *_unellipsify(PyObject *__pyx_v_index, int __pyx_v_ndim) { * have_slices = False * seen_ellipsis = False */ - __pyx_t_3 = PyList_New(0); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 676, __pyx_L1_error) + __pyx_t_3 = PyList_New(0); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 676, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __pyx_v_result = ((PyObject*)__pyx_t_3); __pyx_t_3 = 0; @@ -14171,26 +14432,26 @@ static PyObject *_unellipsify(PyObject *__pyx_v_index, int __pyx_v_ndim) { __pyx_t_4 = __pyx_v_tup; __Pyx_INCREF(__pyx_t_4); __pyx_t_5 = 0; __pyx_t_6 = NULL; } else { - __pyx_t_5 = -1; __pyx_t_4 = PyObject_GetIter(__pyx_v_tup); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 679, __pyx_L1_error) + __pyx_t_5 = -1; __pyx_t_4 = PyObject_GetIter(__pyx_v_tup); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 679, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); - __pyx_t_6 = Py_TYPE(__pyx_t_4)->tp_iternext; if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 679, __pyx_L1_error) + __pyx_t_6 = Py_TYPE(__pyx_t_4)->tp_iternext; if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 679, __pyx_L1_error) } for (;;) { if (likely(!__pyx_t_6)) { if (likely(PyList_CheckExact(__pyx_t_4))) { if (__pyx_t_5 >= PyList_GET_SIZE(__pyx_t_4)) break; #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - __pyx_t_7 = PyList_GET_ITEM(__pyx_t_4, __pyx_t_5); __Pyx_INCREF(__pyx_t_7); __pyx_t_5++; if (unlikely(0 < 0)) __PYX_ERR(0, 679, __pyx_L1_error) + __pyx_t_7 = PyList_GET_ITEM(__pyx_t_4, __pyx_t_5); __Pyx_INCREF(__pyx_t_7); __pyx_t_5++; if (unlikely(0 < 0)) __PYX_ERR(1, 679, __pyx_L1_error) #else - __pyx_t_7 = PySequence_ITEM(__pyx_t_4, __pyx_t_5); __pyx_t_5++; if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 679, __pyx_L1_error) + __pyx_t_7 = PySequence_ITEM(__pyx_t_4, __pyx_t_5); __pyx_t_5++; if (unlikely(!__pyx_t_7)) __PYX_ERR(1, 679, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_7); #endif } else { if (__pyx_t_5 >= PyTuple_GET_SIZE(__pyx_t_4)) break; #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - __pyx_t_7 = PyTuple_GET_ITEM(__pyx_t_4, __pyx_t_5); __Pyx_INCREF(__pyx_t_7); __pyx_t_5++; if (unlikely(0 < 0)) __PYX_ERR(0, 679, __pyx_L1_error) + __pyx_t_7 = PyTuple_GET_ITEM(__pyx_t_4, __pyx_t_5); __Pyx_INCREF(__pyx_t_7); __pyx_t_5++; if (unlikely(0 < 0)) __PYX_ERR(1, 679, __pyx_L1_error) #else - __pyx_t_7 = PySequence_ITEM(__pyx_t_4, __pyx_t_5); __pyx_t_5++; if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 679, __pyx_L1_error) + __pyx_t_7 = PySequence_ITEM(__pyx_t_4, __pyx_t_5); __pyx_t_5++; if (unlikely(!__pyx_t_7)) __PYX_ERR(1, 679, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_7); #endif } @@ -14200,7 +14461,7 @@ static PyObject *_unellipsify(PyObject *__pyx_v_index, int __pyx_v_ndim) { PyObject* exc_type = PyErr_Occurred(); if (exc_type) { if (likely(__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) PyErr_Clear(); - else __PYX_ERR(0, 679, __pyx_L1_error) + else __PYX_ERR(1, 679, __pyx_L1_error) } break; } @@ -14210,7 +14471,7 @@ static PyObject *_unellipsify(PyObject *__pyx_v_index, int __pyx_v_ndim) { __pyx_t_7 = 0; __Pyx_INCREF(__pyx_t_3); __Pyx_XDECREF_SET(__pyx_v_idx, __pyx_t_3); - __pyx_t_7 = __Pyx_PyInt_AddObjC(__pyx_t_3, __pyx_int_1, 1, 0, 0); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 679, __pyx_L1_error) + __pyx_t_7 = __Pyx_PyInt_AddObjC(__pyx_t_3, __pyx_int_1, 1, 0, 0); if (unlikely(!__pyx_t_7)) __PYX_ERR(1, 679, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_7); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = __pyx_t_7; @@ -14244,8 +14505,8 @@ static PyObject *_unellipsify(PyObject *__pyx_v_index, int __pyx_v_ndim) { * seen_ellipsis = True * else: */ - __pyx_t_8 = PyObject_Length(__pyx_v_tup); if (unlikely(__pyx_t_8 == ((Py_ssize_t)-1))) __PYX_ERR(0, 682, __pyx_L1_error) - __pyx_t_7 = PyList_New(1 * ((((__pyx_v_ndim - __pyx_t_8) + 1)<0) ? 0:((__pyx_v_ndim - __pyx_t_8) + 1))); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 682, __pyx_L1_error) + __pyx_t_8 = PyObject_Length(__pyx_v_tup); if (unlikely(__pyx_t_8 == ((Py_ssize_t)-1))) __PYX_ERR(1, 682, __pyx_L1_error) + __pyx_t_7 = PyList_New(1 * ((((__pyx_v_ndim - __pyx_t_8) + 1)<0) ? 0:((__pyx_v_ndim - __pyx_t_8) + 1))); if (unlikely(!__pyx_t_7)) __PYX_ERR(1, 682, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_7); { Py_ssize_t __pyx_temp; for (__pyx_temp=0; __pyx_temp < ((__pyx_v_ndim - __pyx_t_8) + 1); __pyx_temp++) { @@ -14254,7 +14515,7 @@ static PyObject *_unellipsify(PyObject *__pyx_v_index, int __pyx_v_ndim) { PyList_SET_ITEM(__pyx_t_7, __pyx_temp, __pyx_slice__21); } } - __pyx_t_9 = __Pyx_PyList_Extend(__pyx_v_result, __pyx_t_7); if (unlikely(__pyx_t_9 == ((int)-1))) __PYX_ERR(0, 682, __pyx_L1_error) + __pyx_t_9 = __Pyx_PyList_Extend(__pyx_v_result, __pyx_t_7); if (unlikely(__pyx_t_9 == ((int)-1))) __PYX_ERR(1, 682, __pyx_L1_error) __Pyx_DECREF(__pyx_t_7); __pyx_t_7 = 0; /* "View.MemoryView":683 @@ -14284,7 +14545,7 @@ static PyObject *_unellipsify(PyObject *__pyx_v_index, int __pyx_v_ndim) { * else: */ /*else*/ { - __pyx_t_9 = __Pyx_PyList_Append(__pyx_v_result, __pyx_slice__21); if (unlikely(__pyx_t_9 == ((int)-1))) __PYX_ERR(0, 685, __pyx_L1_error) + __pyx_t_9 = __Pyx_PyList_Append(__pyx_v_result, __pyx_slice__21); if (unlikely(__pyx_t_9 == ((int)-1))) __PYX_ERR(1, 685, __pyx_L1_error) } __pyx_L7:; @@ -14334,14 +14595,14 @@ static PyObject *_unellipsify(PyObject *__pyx_v_index, int __pyx_v_ndim) { * * have_slices = have_slices or isinstance(item, slice) */ - __pyx_t_7 = __Pyx_PyString_FormatSafe(__pyx_kp_s_Cannot_index_with_type_s, ((PyObject *)Py_TYPE(__pyx_v_item))); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 689, __pyx_L1_error) + __pyx_t_7 = __Pyx_PyString_FormatSafe(__pyx_kp_s_Cannot_index_with_type_s, ((PyObject *)Py_TYPE(__pyx_v_item))); if (unlikely(!__pyx_t_7)) __PYX_ERR(1, 689, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_7); - __pyx_t_11 = __Pyx_PyObject_CallOneArg(__pyx_builtin_TypeError, __pyx_t_7); if (unlikely(!__pyx_t_11)) __PYX_ERR(0, 689, __pyx_L1_error) + __pyx_t_11 = __Pyx_PyObject_CallOneArg(__pyx_builtin_TypeError, __pyx_t_7); if (unlikely(!__pyx_t_11)) __PYX_ERR(1, 689, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_11); __Pyx_DECREF(__pyx_t_7); __pyx_t_7 = 0; __Pyx_Raise(__pyx_t_11, 0, 0, 0); __Pyx_DECREF(__pyx_t_11); __pyx_t_11 = 0; - __PYX_ERR(0, 689, __pyx_L1_error) + __PYX_ERR(1, 689, __pyx_L1_error) /* "View.MemoryView":688 * have_slices = True @@ -14378,7 +14639,7 @@ static PyObject *_unellipsify(PyObject *__pyx_v_index, int __pyx_v_ndim) { * * nslices = ndim - len(result) */ - __pyx_t_9 = __Pyx_PyList_Append(__pyx_v_result, __pyx_v_item); if (unlikely(__pyx_t_9 == ((int)-1))) __PYX_ERR(0, 692, __pyx_L1_error) + __pyx_t_9 = __Pyx_PyList_Append(__pyx_v_result, __pyx_v_item); if (unlikely(__pyx_t_9 == ((int)-1))) __PYX_ERR(1, 692, __pyx_L1_error) } __pyx_L6:; @@ -14400,7 +14661,7 @@ static PyObject *_unellipsify(PyObject *__pyx_v_index, int __pyx_v_ndim) { * if nslices: * result.extend([slice(None)] * nslices) */ - __pyx_t_5 = PyList_GET_SIZE(__pyx_v_result); if (unlikely(__pyx_t_5 == ((Py_ssize_t)-1))) __PYX_ERR(0, 694, __pyx_L1_error) + __pyx_t_5 = PyList_GET_SIZE(__pyx_v_result); if (unlikely(__pyx_t_5 == ((Py_ssize_t)-1))) __PYX_ERR(1, 694, __pyx_L1_error) __pyx_v_nslices = (__pyx_v_ndim - __pyx_t_5); /* "View.MemoryView":695 @@ -14420,7 +14681,7 @@ static PyObject *_unellipsify(PyObject *__pyx_v_index, int __pyx_v_ndim) { * * return have_slices or nslices, tuple(result) */ - __pyx_t_3 = PyList_New(1 * ((__pyx_v_nslices<0) ? 0:__pyx_v_nslices)); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 696, __pyx_L1_error) + __pyx_t_3 = PyList_New(1 * ((__pyx_v_nslices<0) ? 0:__pyx_v_nslices)); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 696, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); { Py_ssize_t __pyx_temp; for (__pyx_temp=0; __pyx_temp < __pyx_v_nslices; __pyx_temp++) { @@ -14429,7 +14690,7 @@ static PyObject *_unellipsify(PyObject *__pyx_v_index, int __pyx_v_ndim) { PyList_SET_ITEM(__pyx_t_3, __pyx_temp, __pyx_slice__21); } } - __pyx_t_9 = __Pyx_PyList_Extend(__pyx_v_result, __pyx_t_3); if (unlikely(__pyx_t_9 == ((int)-1))) __PYX_ERR(0, 696, __pyx_L1_error) + __pyx_t_9 = __Pyx_PyList_Extend(__pyx_v_result, __pyx_t_3); if (unlikely(__pyx_t_9 == ((int)-1))) __PYX_ERR(1, 696, __pyx_L1_error) __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; /* "View.MemoryView":695 @@ -14451,20 +14712,20 @@ static PyObject *_unellipsify(PyObject *__pyx_v_index, int __pyx_v_ndim) { __Pyx_XDECREF(__pyx_r); if (!__pyx_v_have_slices) { } else { - __pyx_t_4 = __Pyx_PyBool_FromLong(__pyx_v_have_slices); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 698, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyBool_FromLong(__pyx_v_have_slices); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 698, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __pyx_t_3 = __pyx_t_4; __pyx_t_4 = 0; goto __pyx_L14_bool_binop_done; } - __pyx_t_4 = PyInt_FromSsize_t(__pyx_v_nslices); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 698, __pyx_L1_error) + __pyx_t_4 = PyInt_FromSsize_t(__pyx_v_nslices); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 698, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __pyx_t_3 = __pyx_t_4; __pyx_t_4 = 0; __pyx_L14_bool_binop_done:; - __pyx_t_4 = PyList_AsTuple(__pyx_v_result); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 698, __pyx_L1_error) + __pyx_t_4 = PyList_AsTuple(__pyx_v_result); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 698, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); - __pyx_t_11 = PyTuple_New(2); if (unlikely(!__pyx_t_11)) __PYX_ERR(0, 698, __pyx_L1_error) + __pyx_t_11 = PyTuple_New(2); if (unlikely(!__pyx_t_11)) __PYX_ERR(1, 698, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_11); __Pyx_GIVEREF(__pyx_t_3); PyTuple_SET_ITEM(__pyx_t_11, 0, __pyx_t_3); @@ -14553,11 +14814,11 @@ static PyObject *assert_direct_dimensions(Py_ssize_t *__pyx_v_suboffsets, int __ * * */ - __pyx_t_5 = __Pyx_PyObject_Call(__pyx_builtin_ValueError, __pyx_tuple__22, NULL); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 703, __pyx_L1_error) + __pyx_t_5 = __Pyx_PyObject_Call(__pyx_builtin_ValueError, __pyx_tuple__22, NULL); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 703, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); __Pyx_Raise(__pyx_t_5, 0, 0, 0); __Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0; - __PYX_ERR(0, 703, __pyx_L1_error) + __PYX_ERR(1, 703, __pyx_L1_error) /* "View.MemoryView":702 * cdef assert_direct_dimensions(Py_ssize_t *suboffsets, int ndim): @@ -14664,7 +14925,7 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ if (unlikely(!Py_OptimizeFlag)) { if (unlikely(!((__pyx_v_memview->view.ndim > 0) != 0))) { PyErr_SetNone(PyExc_AssertionError); - __PYX_ERR(0, 722, __pyx_L1_error) + __PYX_ERR(1, 722, __pyx_L1_error) } } #endif @@ -14687,7 +14948,7 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ * p_src = &memviewsliceobj.from_slice * else: */ - if (!(likely(((((PyObject *)__pyx_v_memview)) == Py_None) || likely(__Pyx_TypeTest(((PyObject *)__pyx_v_memview), __pyx_memoryviewslice_type))))) __PYX_ERR(0, 725, __pyx_L1_error) + if (!(likely(((((PyObject *)__pyx_v_memview)) == Py_None) || likely(__Pyx_TypeTest(((PyObject *)__pyx_v_memview), __pyx_memoryviewslice_type))))) __PYX_ERR(1, 725, __pyx_L1_error) __pyx_t_3 = ((PyObject *)__pyx_v_memview); __Pyx_INCREF(__pyx_t_3); __pyx_v_memviewsliceobj = ((struct __pyx_memoryviewslice_obj *)__pyx_t_3); @@ -14783,26 +15044,26 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ __pyx_t_3 = __pyx_v_indices; __Pyx_INCREF(__pyx_t_3); __pyx_t_7 = 0; __pyx_t_8 = NULL; } else { - __pyx_t_7 = -1; __pyx_t_3 = PyObject_GetIter(__pyx_v_indices); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 746, __pyx_L1_error) + __pyx_t_7 = -1; __pyx_t_3 = PyObject_GetIter(__pyx_v_indices); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 746, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); - __pyx_t_8 = Py_TYPE(__pyx_t_3)->tp_iternext; if (unlikely(!__pyx_t_8)) __PYX_ERR(0, 746, __pyx_L1_error) + __pyx_t_8 = Py_TYPE(__pyx_t_3)->tp_iternext; if (unlikely(!__pyx_t_8)) __PYX_ERR(1, 746, __pyx_L1_error) } for (;;) { if (likely(!__pyx_t_8)) { if (likely(PyList_CheckExact(__pyx_t_3))) { if (__pyx_t_7 >= PyList_GET_SIZE(__pyx_t_3)) break; #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - __pyx_t_9 = PyList_GET_ITEM(__pyx_t_3, __pyx_t_7); __Pyx_INCREF(__pyx_t_9); __pyx_t_7++; if (unlikely(0 < 0)) __PYX_ERR(0, 746, __pyx_L1_error) + __pyx_t_9 = PyList_GET_ITEM(__pyx_t_3, __pyx_t_7); __Pyx_INCREF(__pyx_t_9); __pyx_t_7++; if (unlikely(0 < 0)) __PYX_ERR(1, 746, __pyx_L1_error) #else - __pyx_t_9 = PySequence_ITEM(__pyx_t_3, __pyx_t_7); __pyx_t_7++; if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 746, __pyx_L1_error) + __pyx_t_9 = PySequence_ITEM(__pyx_t_3, __pyx_t_7); __pyx_t_7++; if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 746, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); #endif } else { if (__pyx_t_7 >= PyTuple_GET_SIZE(__pyx_t_3)) break; #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - __pyx_t_9 = PyTuple_GET_ITEM(__pyx_t_3, __pyx_t_7); __Pyx_INCREF(__pyx_t_9); __pyx_t_7++; if (unlikely(0 < 0)) __PYX_ERR(0, 746, __pyx_L1_error) + __pyx_t_9 = PyTuple_GET_ITEM(__pyx_t_3, __pyx_t_7); __Pyx_INCREF(__pyx_t_9); __pyx_t_7++; if (unlikely(0 < 0)) __PYX_ERR(1, 746, __pyx_L1_error) #else - __pyx_t_9 = PySequence_ITEM(__pyx_t_3, __pyx_t_7); __pyx_t_7++; if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 746, __pyx_L1_error) + __pyx_t_9 = PySequence_ITEM(__pyx_t_3, __pyx_t_7); __pyx_t_7++; if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 746, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); #endif } @@ -14812,7 +15073,7 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ PyObject* exc_type = PyErr_Occurred(); if (exc_type) { if (likely(__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) PyErr_Clear(); - else __PYX_ERR(0, 746, __pyx_L1_error) + else __PYX_ERR(1, 746, __pyx_L1_error) } break; } @@ -14840,7 +15101,7 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ * 0, 0, 0, # have_{start,stop,step} * False) */ - __pyx_t_10 = __Pyx_PyIndex_AsSsize_t(__pyx_v_index); if (unlikely((__pyx_t_10 == (Py_ssize_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 751, __pyx_L1_error) + __pyx_t_10 = __Pyx_PyIndex_AsSsize_t(__pyx_v_index); if (unlikely((__pyx_t_10 == (Py_ssize_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 751, __pyx_L1_error) /* "View.MemoryView":748 * for dim, index in enumerate(indices): @@ -14849,7 +15110,7 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ * p_dst, p_src.shape[dim], p_src.strides[dim], p_src.suboffsets[dim], * dim, new_ndim, p_suboffset_dim, */ - __pyx_t_11 = __pyx_memoryview_slice_memviewslice(__pyx_v_p_dst, (__pyx_v_p_src->shape[__pyx_v_dim]), (__pyx_v_p_src->strides[__pyx_v_dim]), (__pyx_v_p_src->suboffsets[__pyx_v_dim]), __pyx_v_dim, __pyx_v_new_ndim, __pyx_v_p_suboffset_dim, __pyx_t_10, 0, 0, 0, 0, 0, 0); if (unlikely(__pyx_t_11 == ((int)-1))) __PYX_ERR(0, 748, __pyx_L1_error) + __pyx_t_11 = __pyx_memoryview_slice_memviewslice(__pyx_v_p_dst, (__pyx_v_p_src->shape[__pyx_v_dim]), (__pyx_v_p_src->strides[__pyx_v_dim]), (__pyx_v_p_src->suboffsets[__pyx_v_dim]), __pyx_v_dim, __pyx_v_new_ndim, __pyx_v_p_suboffset_dim, __pyx_t_10, 0, 0, 0, 0, 0, 0); if (unlikely(__pyx_t_11 == ((int)-1))) __PYX_ERR(1, 748, __pyx_L1_error) /* "View.MemoryView":747 * @@ -14926,13 +15187,13 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ * step = index.step or 0 */ /*else*/ { - __pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_v_index, __pyx_n_s_start); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 760, __pyx_L1_error) + __pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_v_index, __pyx_n_s_start); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 760, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); - __pyx_t_1 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely(__pyx_t_1 < 0)) __PYX_ERR(0, 760, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely(__pyx_t_1 < 0)) __PYX_ERR(1, 760, __pyx_L1_error) if (!__pyx_t_1) { __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; } else { - __pyx_t_12 = __Pyx_PyIndex_AsSsize_t(__pyx_t_9); if (unlikely((__pyx_t_12 == (Py_ssize_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 760, __pyx_L1_error) + __pyx_t_12 = __Pyx_PyIndex_AsSsize_t(__pyx_t_9); if (unlikely((__pyx_t_12 == (Py_ssize_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 760, __pyx_L1_error) __pyx_t_10 = __pyx_t_12; __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; goto __pyx_L7_bool_binop_done; @@ -14948,13 +15209,13 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ * step = index.step or 0 * */ - __pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_v_index, __pyx_n_s_stop); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 761, __pyx_L1_error) + __pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_v_index, __pyx_n_s_stop); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 761, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); - __pyx_t_1 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely(__pyx_t_1 < 0)) __PYX_ERR(0, 761, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely(__pyx_t_1 < 0)) __PYX_ERR(1, 761, __pyx_L1_error) if (!__pyx_t_1) { __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; } else { - __pyx_t_12 = __Pyx_PyIndex_AsSsize_t(__pyx_t_9); if (unlikely((__pyx_t_12 == (Py_ssize_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 761, __pyx_L1_error) + __pyx_t_12 = __Pyx_PyIndex_AsSsize_t(__pyx_t_9); if (unlikely((__pyx_t_12 == (Py_ssize_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 761, __pyx_L1_error) __pyx_t_10 = __pyx_t_12; __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; goto __pyx_L9_bool_binop_done; @@ -14970,13 +15231,13 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ * * have_start = index.start is not None */ - __pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_v_index, __pyx_n_s_step); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 762, __pyx_L1_error) + __pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_v_index, __pyx_n_s_step); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 762, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); - __pyx_t_1 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely(__pyx_t_1 < 0)) __PYX_ERR(0, 762, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely(__pyx_t_1 < 0)) __PYX_ERR(1, 762, __pyx_L1_error) if (!__pyx_t_1) { __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; } else { - __pyx_t_12 = __Pyx_PyIndex_AsSsize_t(__pyx_t_9); if (unlikely((__pyx_t_12 == (Py_ssize_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 762, __pyx_L1_error) + __pyx_t_12 = __Pyx_PyIndex_AsSsize_t(__pyx_t_9); if (unlikely((__pyx_t_12 == (Py_ssize_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 762, __pyx_L1_error) __pyx_t_10 = __pyx_t_12; __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; goto __pyx_L11_bool_binop_done; @@ -14992,7 +15253,7 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ * have_stop = index.stop is not None * have_step = index.step is not None */ - __pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_v_index, __pyx_n_s_start); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 764, __pyx_L1_error) + __pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_v_index, __pyx_n_s_start); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 764, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_1 = (__pyx_t_9 != Py_None); __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; @@ -15005,7 +15266,7 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ * have_step = index.step is not None * */ - __pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_v_index, __pyx_n_s_stop); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 765, __pyx_L1_error) + __pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_v_index, __pyx_n_s_stop); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 765, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_1 = (__pyx_t_9 != Py_None); __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; @@ -15018,7 +15279,7 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ * * slice_memviewslice( */ - __pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_v_index, __pyx_n_s_step); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 766, __pyx_L1_error) + __pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_v_index, __pyx_n_s_step); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 766, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_1 = (__pyx_t_9 != Py_None); __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; @@ -15031,7 +15292,7 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ * p_dst, p_src.shape[dim], p_src.strides[dim], p_src.suboffsets[dim], * dim, new_ndim, p_suboffset_dim, */ - __pyx_t_11 = __pyx_memoryview_slice_memviewslice(__pyx_v_p_dst, (__pyx_v_p_src->shape[__pyx_v_dim]), (__pyx_v_p_src->strides[__pyx_v_dim]), (__pyx_v_p_src->suboffsets[__pyx_v_dim]), __pyx_v_dim, __pyx_v_new_ndim, __pyx_v_p_suboffset_dim, __pyx_v_start, __pyx_v_stop, __pyx_v_step, __pyx_v_have_start, __pyx_v_have_stop, __pyx_v_have_step, 1); if (unlikely(__pyx_t_11 == ((int)-1))) __PYX_ERR(0, 768, __pyx_L1_error) + __pyx_t_11 = __pyx_memoryview_slice_memviewslice(__pyx_v_p_dst, (__pyx_v_p_src->shape[__pyx_v_dim]), (__pyx_v_p_src->strides[__pyx_v_dim]), (__pyx_v_p_src->suboffsets[__pyx_v_dim]), __pyx_v_dim, __pyx_v_new_ndim, __pyx_v_p_suboffset_dim, __pyx_v_start, __pyx_v_stop, __pyx_v_step, __pyx_v_have_start, __pyx_v_have_stop, __pyx_v_have_step, 1); if (unlikely(__pyx_t_11 == ((int)-1))) __PYX_ERR(1, 768, __pyx_L1_error) /* "View.MemoryView":774 * have_start, have_stop, have_step, @@ -15081,7 +15342,7 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ * memviewsliceobj.to_dtype_func, * memview.dtype_is_object) */ - if (unlikely(!__pyx_v_memviewsliceobj)) { __Pyx_RaiseUnboundLocalError("memviewsliceobj"); __PYX_ERR(0, 778, __pyx_L1_error) } + if (unlikely(!__pyx_v_memviewsliceobj)) { __Pyx_RaiseUnboundLocalError("memviewsliceobj"); __PYX_ERR(1, 778, __pyx_L1_error) } /* "View.MemoryView":779 * return memoryview_fromslice(dst, new_ndim, @@ -15090,7 +15351,7 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ * memview.dtype_is_object) * else: */ - if (unlikely(!__pyx_v_memviewsliceobj)) { __Pyx_RaiseUnboundLocalError("memviewsliceobj"); __PYX_ERR(0, 779, __pyx_L1_error) } + if (unlikely(!__pyx_v_memviewsliceobj)) { __Pyx_RaiseUnboundLocalError("memviewsliceobj"); __PYX_ERR(1, 779, __pyx_L1_error) } /* "View.MemoryView":777 * @@ -15099,9 +15360,9 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ * memviewsliceobj.to_object_func, * memviewsliceobj.to_dtype_func, */ - __pyx_t_3 = __pyx_memoryview_fromslice(__pyx_v_dst, __pyx_v_new_ndim, __pyx_v_memviewsliceobj->to_object_func, __pyx_v_memviewsliceobj->to_dtype_func, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 777, __pyx_L1_error) + __pyx_t_3 = __pyx_memoryview_fromslice(__pyx_v_dst, __pyx_v_new_ndim, __pyx_v_memviewsliceobj->to_object_func, __pyx_v_memviewsliceobj->to_dtype_func, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 777, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); - if (!(likely(((__pyx_t_3) == Py_None) || likely(__Pyx_TypeTest(__pyx_t_3, __pyx_memoryview_type))))) __PYX_ERR(0, 777, __pyx_L1_error) + if (!(likely(((__pyx_t_3) == Py_None) || likely(__Pyx_TypeTest(__pyx_t_3, __pyx_memoryview_type))))) __PYX_ERR(1, 777, __pyx_L1_error) __pyx_r = ((struct __pyx_memoryview_obj *)__pyx_t_3); __pyx_t_3 = 0; goto __pyx_L0; @@ -15132,7 +15393,7 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ * * */ - __pyx_t_3 = __pyx_memoryview_fromslice(__pyx_v_dst, __pyx_v_new_ndim, NULL, NULL, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 782, __pyx_L1_error) + __pyx_t_3 = __pyx_memoryview_fromslice(__pyx_v_dst, __pyx_v_new_ndim, NULL, NULL, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 782, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); /* "View.MemoryView":782 @@ -15142,7 +15403,7 @@ static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_ * memview.dtype_is_object) * */ - if (!(likely(((__pyx_t_3) == Py_None) || likely(__Pyx_TypeTest(__pyx_t_3, __pyx_memoryview_type))))) __PYX_ERR(0, 782, __pyx_L1_error) + if (!(likely(((__pyx_t_3) == Py_None) || likely(__Pyx_TypeTest(__pyx_t_3, __pyx_memoryview_type))))) __PYX_ERR(1, 782, __pyx_L1_error) __pyx_r = ((struct __pyx_memoryview_obj *)__pyx_t_3); __pyx_t_3 = 0; goto __pyx_L0; @@ -15248,7 +15509,7 @@ static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, * else: * */ - __pyx_t_3 = __pyx_memoryview_err_dim(__pyx_builtin_IndexError, ((char *)"Index out of bounds (axis %d)"), __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 832, __pyx_L1_error) + __pyx_t_3 = __pyx_memoryview_err_dim(__pyx_builtin_IndexError, ((char *)"Index out of bounds (axis %d)"), __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 832, __pyx_L1_error) /* "View.MemoryView":831 * if start < 0: @@ -15313,7 +15574,7 @@ static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, * * */ - __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(0, 838, __pyx_L1_error) + __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 @@ -15885,7 +16146,7 @@ static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, * else: * suboffset_dim[0] = new_ndim */ - __pyx_t_3 = __pyx_memoryview_err_dim(__pyx_builtin_IndexError, ((char *)"All dimensions preceding dimension %d must be indexed and not sliced"), __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 899, __pyx_L1_error) + __pyx_t_3 = __pyx_memoryview_err_dim(__pyx_builtin_IndexError, ((char *)"All dimensions preceding dimension %d must be indexed and not sliced"), __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 899, __pyx_L1_error) } __pyx_L26:; @@ -16017,11 +16278,11 @@ static char *__pyx_pybuffer_index(Py_buffer *__pyx_v_view, char *__pyx_v_bufp, P */ if (unlikely(__pyx_v_itemsize == 0)) { PyErr_SetString(PyExc_ZeroDivisionError, "integer division or modulo by zero"); - __PYX_ERR(0, 917, __pyx_L1_error) + __PYX_ERR(1, 917, __pyx_L1_error) } else if (sizeof(Py_ssize_t) == sizeof(long) && (!(((Py_ssize_t)-1) > 0)) && unlikely(__pyx_v_itemsize == (Py_ssize_t)-1) && unlikely(UNARY_NEG_WOULD_OVERFLOW(__pyx_v_view->len))) { PyErr_SetString(PyExc_OverflowError, "value too large to perform division"); - __PYX_ERR(0, 917, __pyx_L1_error) + __PYX_ERR(1, 917, __pyx_L1_error) } __pyx_v_shape = __Pyx_div_Py_ssize_t(__pyx_v_view->len, __pyx_v_itemsize); @@ -16129,17 +16390,17 @@ static char *__pyx_pybuffer_index(Py_buffer *__pyx_v_view, char *__pyx_v_bufp, P * * if index >= shape: */ - __pyx_t_3 = PyInt_FromSsize_t(__pyx_v_dim); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 928, __pyx_L1_error) + __pyx_t_3 = PyInt_FromSsize_t(__pyx_v_dim); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 928, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); - __pyx_t_4 = __Pyx_PyString_Format(__pyx_kp_s_Out_of_bounds_on_buffer_access_a, __pyx_t_3); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 928, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyString_Format(__pyx_kp_s_Out_of_bounds_on_buffer_access_a, __pyx_t_3); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 928, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; - __pyx_t_3 = __Pyx_PyObject_CallOneArg(__pyx_builtin_IndexError, __pyx_t_4); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 928, __pyx_L1_error) + __pyx_t_3 = __Pyx_PyObject_CallOneArg(__pyx_builtin_IndexError, __pyx_t_4); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 928, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; __Pyx_Raise(__pyx_t_3, 0, 0, 0); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; - __PYX_ERR(0, 928, __pyx_L1_error) + __PYX_ERR(1, 928, __pyx_L1_error) /* "View.MemoryView":927 * if index < 0: @@ -16176,17 +16437,17 @@ static char *__pyx_pybuffer_index(Py_buffer *__pyx_v_view, char *__pyx_v_bufp, P * * resultp = bufp + index * stride */ - __pyx_t_3 = PyInt_FromSsize_t(__pyx_v_dim); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 931, __pyx_L1_error) + __pyx_t_3 = PyInt_FromSsize_t(__pyx_v_dim); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 931, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); - __pyx_t_4 = __Pyx_PyString_Format(__pyx_kp_s_Out_of_bounds_on_buffer_access_a, __pyx_t_3); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 931, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyString_Format(__pyx_kp_s_Out_of_bounds_on_buffer_access_a, __pyx_t_3); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 931, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; - __pyx_t_3 = __Pyx_PyObject_CallOneArg(__pyx_builtin_IndexError, __pyx_t_4); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 931, __pyx_L1_error) + __pyx_t_3 = __Pyx_PyObject_CallOneArg(__pyx_builtin_IndexError, __pyx_t_4); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 931, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; __Pyx_Raise(__pyx_t_3, 0, 0, 0); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; - __PYX_ERR(0, 931, __pyx_L1_error) + __PYX_ERR(1, 931, __pyx_L1_error) /* "View.MemoryView":930 * raise IndexError("Out of bounds on buffer access (axis %d)" % dim) @@ -16391,7 +16652,7 @@ static int __pyx_memslice_transpose(__Pyx_memviewslice *__pyx_v_memslice) { * * return 1 */ - __pyx_t_9 = __pyx_memoryview_err(__pyx_builtin_ValueError, ((char *)"Cannot transpose memoryview with indirect dimensions")); if (unlikely(__pyx_t_9 == ((int)-1))) __PYX_ERR(0, 957, __pyx_L1_error) + __pyx_t_9 = __pyx_memoryview_err(__pyx_builtin_ValueError, ((char *)"Cannot transpose memoryview with indirect dimensions")); if (unlikely(__pyx_t_9 == ((int)-1))) __PYX_ERR(1, 957, __pyx_L1_error) /* "View.MemoryView":956 * shape[i], shape[j] = shape[j], shape[i] @@ -16517,7 +16778,7 @@ static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memor * return memoryview.convert_item_to_object(self, itemp) */ __Pyx_XDECREF(__pyx_r); - __pyx_t_2 = __pyx_v_self->to_object_func(__pyx_v_itemp); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 981, __pyx_L1_error) + __pyx_t_2 = __pyx_v_self->to_object_func(__pyx_v_itemp); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 981, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_r = __pyx_t_2; __pyx_t_2 = 0; @@ -16541,7 +16802,7 @@ static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memor */ /*else*/ { __Pyx_XDECREF(__pyx_r); - __pyx_t_2 = __pyx_memoryview_convert_item_to_object(((struct __pyx_memoryview_obj *)__pyx_v_self), __pyx_v_itemp); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 983, __pyx_L1_error) + __pyx_t_2 = __pyx_memoryview_convert_item_to_object(((struct __pyx_memoryview_obj *)__pyx_v_self), __pyx_v_itemp); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 983, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_r = __pyx_t_2; __pyx_t_2 = 0; @@ -16603,7 +16864,7 @@ static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memo * else: * memoryview.assign_item_from_object(self, itemp, value) */ - __pyx_t_2 = __pyx_v_self->to_dtype_func(__pyx_v_itemp, __pyx_v_value); if (unlikely(__pyx_t_2 == ((int)0))) __PYX_ERR(0, 987, __pyx_L1_error) + __pyx_t_2 = __pyx_v_self->to_dtype_func(__pyx_v_itemp, __pyx_v_value); if (unlikely(__pyx_t_2 == ((int)0))) __PYX_ERR(1, 987, __pyx_L1_error) /* "View.MemoryView":986 * @@ -16623,7 +16884,7 @@ static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memo * @property */ /*else*/ { - __pyx_t_3 = __pyx_memoryview_assign_item_from_object(((struct __pyx_memoryview_obj *)__pyx_v_self), __pyx_v_itemp, __pyx_v_value); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 989, __pyx_L1_error) + __pyx_t_3 = __pyx_memoryview_assign_item_from_object(((struct __pyx_memoryview_obj *)__pyx_v_self), __pyx_v_itemp, __pyx_v_value); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 989, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; } @@ -16737,11 +16998,11 @@ static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED * def __setstate_cython__(self, __pyx_state): * raise TypeError("no default __reduce__ due to non-trivial __cinit__") */ - __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__23, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 2, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__23, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 2, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_Raise(__pyx_t_1, 0, 0, 0); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __PYX_ERR(0, 2, __pyx_L1_error) + __PYX_ERR(1, 2, __pyx_L1_error) /* "(tree fragment)":1 * def __reduce_cython__(self): # <<<<<<<<<<<<<< @@ -16793,11 +17054,11 @@ static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUS * def __setstate_cython__(self, __pyx_state): * raise TypeError("no default __reduce__ due to non-trivial __cinit__") # <<<<<<<<<<<<<< */ - __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__24, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 4, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_Call(__pyx_builtin_TypeError, __pyx_tuple__24, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 4, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_Raise(__pyx_t_1, 0, 0, 0); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __PYX_ERR(0, 4, __pyx_L1_error) + __PYX_ERR(1, 4, __pyx_L1_error) /* "(tree fragment)":3 * def __reduce_cython__(self): @@ -16881,9 +17142,9 @@ static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice __pyx_v_memviewsl * * result.from_slice = memviewslice */ - __pyx_t_2 = __Pyx_PyBool_FromLong(__pyx_v_dtype_is_object); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 1013, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyBool_FromLong(__pyx_v_dtype_is_object); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 1013, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __pyx_t_3 = PyTuple_New(3); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 1013, __pyx_L1_error) + __pyx_t_3 = PyTuple_New(3); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 1013, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_INCREF(Py_None); __Pyx_GIVEREF(Py_None); @@ -16894,7 +17155,7 @@ static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice __pyx_v_memviewsl __Pyx_GIVEREF(__pyx_t_2); PyTuple_SET_ITEM(__pyx_t_3, 2, __pyx_t_2); __pyx_t_2 = 0; - __pyx_t_2 = __Pyx_PyObject_Call(((PyObject *)__pyx_memoryviewslice_type), __pyx_t_3, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 1013, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_Call(((PyObject *)__pyx_memoryviewslice_type), __pyx_t_3, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 1013, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __pyx_v_result = ((struct __pyx_memoryviewslice_obj *)__pyx_t_2); @@ -16925,7 +17186,7 @@ static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice __pyx_v_memviewsl * result.typeinfo = memviewslice.memview.typeinfo * */ - __pyx_t_2 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_memviewslice.memview), __pyx_n_s_base); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 1018, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_memviewslice.memview), __pyx_n_s_base); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 1018, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_GIVEREF(__pyx_t_2); __Pyx_GOTREF(__pyx_v_result->from_object); @@ -17128,7 +17389,7 @@ static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice __pyx_v_memviewsl __pyx_t_7 = (__pyx_v_result->__pyx_base.view.shape + __pyx_v_ndim); for (__pyx_t_8 = __pyx_v_result->__pyx_base.view.shape; __pyx_t_8 < __pyx_t_7; __pyx_t_8++) { __pyx_t_6 = __pyx_t_8; - __pyx_t_2 = PyInt_FromSsize_t((__pyx_t_6[0])); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 1043, __pyx_L1_error) + __pyx_t_2 = PyInt_FromSsize_t((__pyx_t_6[0])); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 1043, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_XDECREF_SET(__pyx_v_length, __pyx_t_2); __pyx_t_2 = 0; @@ -17140,12 +17401,12 @@ static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice __pyx_v_memviewsl * * result.to_object_func = to_object_func */ - __pyx_t_2 = PyInt_FromSsize_t(__pyx_v_result->__pyx_base.view.len); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 1044, __pyx_L1_error) + __pyx_t_2 = PyInt_FromSsize_t(__pyx_v_result->__pyx_base.view.len); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 1044, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __pyx_t_3 = PyNumber_InPlaceMultiply(__pyx_t_2, __pyx_v_length); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 1044, __pyx_L1_error) + __pyx_t_3 = PyNumber_InPlaceMultiply(__pyx_t_2, __pyx_v_length); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 1044, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; - __pyx_t_9 = __Pyx_PyIndex_AsSsize_t(__pyx_t_3); if (unlikely((__pyx_t_9 == (Py_ssize_t)-1) && PyErr_Occurred())) __PYX_ERR(0, 1044, __pyx_L1_error) + __pyx_t_9 = __Pyx_PyIndex_AsSsize_t(__pyx_t_3); if (unlikely((__pyx_t_9 == (Py_ssize_t)-1) && PyErr_Occurred())) __PYX_ERR(1, 1044, __pyx_L1_error) __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __pyx_v_result->__pyx_base.view.len = __pyx_t_9; } @@ -17240,7 +17501,7 @@ static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __p * return &obj.from_slice * else: */ - if (!(likely(((((PyObject *)__pyx_v_memview)) == Py_None) || likely(__Pyx_TypeTest(((PyObject *)__pyx_v_memview), __pyx_memoryviewslice_type))))) __PYX_ERR(0, 1056, __pyx_L1_error) + if (!(likely(((((PyObject *)__pyx_v_memview)) == Py_None) || likely(__Pyx_TypeTest(((PyObject *)__pyx_v_memview), __pyx_memoryviewslice_type))))) __PYX_ERR(1, 1056, __pyx_L1_error) __pyx_t_3 = ((PyObject *)__pyx_v_memview); __Pyx_INCREF(__pyx_t_3); __pyx_v_obj = ((struct __pyx_memoryviewslice_obj *)__pyx_t_3); @@ -17466,7 +17727,7 @@ static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *__pyx * @cname('__pyx_memoryview_copy_object_from_slice') */ __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = __pyx_memoryview_copy_object_from_slice(__pyx_v_memview, (&__pyx_v_memviewslice)); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 1084, __pyx_L1_error) + __pyx_t_1 = __pyx_memoryview_copy_object_from_slice(__pyx_v_memview, (&__pyx_v_memviewslice)); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 1084, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_r = __pyx_t_1; __pyx_t_1 = 0; @@ -17592,7 +17853,7 @@ static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview * * */ - __pyx_t_5 = __pyx_memoryview_fromslice((__pyx_v_memviewslice[0]), __pyx_v_memview->view.ndim, __pyx_v_to_object_func, __pyx_v_to_dtype_func, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 1101, __pyx_L1_error) + __pyx_t_5 = __pyx_memoryview_fromslice((__pyx_v_memviewslice[0]), __pyx_v_memview->view.ndim, __pyx_v_to_object_func, __pyx_v_to_dtype_func, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 1101, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); __pyx_r = __pyx_t_5; __pyx_t_5 = 0; @@ -18403,7 +18664,7 @@ static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *__pyx_v_src, * * */ - __pyx_t_3 = __pyx_memoryview_err(__pyx_builtin_MemoryError, NULL); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 1224, __pyx_L1_error) + __pyx_t_3 = __pyx_memoryview_err(__pyx_builtin_MemoryError, NULL); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 1224, __pyx_L1_error) /* "View.MemoryView":1223 * @@ -18619,13 +18880,13 @@ static int __pyx_memoryview_err_extents(int __pyx_v_i, Py_ssize_t __pyx_v_extent * * @cname('__pyx_memoryview_err_dim') */ - __pyx_t_1 = __Pyx_PyInt_From_int(__pyx_v_i); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 1254, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyInt_From_int(__pyx_v_i); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 1254, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_2 = PyInt_FromSsize_t(__pyx_v_extent1); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 1254, __pyx_L1_error) + __pyx_t_2 = PyInt_FromSsize_t(__pyx_v_extent1); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 1254, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __pyx_t_3 = PyInt_FromSsize_t(__pyx_v_extent2); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 1254, __pyx_L1_error) + __pyx_t_3 = PyInt_FromSsize_t(__pyx_v_extent2); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 1254, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); - __pyx_t_4 = PyTuple_New(3); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 1254, __pyx_L1_error) + __pyx_t_4 = PyTuple_New(3); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 1254, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_GIVEREF(__pyx_t_1); PyTuple_SET_ITEM(__pyx_t_4, 0, __pyx_t_1); @@ -18644,15 +18905,15 @@ static int __pyx_memoryview_err_extents(int __pyx_v_i, Py_ssize_t __pyx_v_extent * (i, extent1, extent2)) * */ - __pyx_t_3 = __Pyx_PyString_Format(__pyx_kp_s_got_differing_extents_in_dimensi, __pyx_t_4); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 1253, __pyx_L1_error) + __pyx_t_3 = __Pyx_PyString_Format(__pyx_kp_s_got_differing_extents_in_dimensi, __pyx_t_4); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 1253, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; - __pyx_t_4 = __Pyx_PyObject_CallOneArg(__pyx_builtin_ValueError, __pyx_t_3); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 1253, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyObject_CallOneArg(__pyx_builtin_ValueError, __pyx_t_3); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 1253, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __Pyx_Raise(__pyx_t_4, 0, 0, 0); __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; - __PYX_ERR(0, 1253, __pyx_L1_error) + __PYX_ERR(1, 1253, __pyx_L1_error) /* "View.MemoryView":1251 * @@ -18708,11 +18969,11 @@ static int __pyx_memoryview_err_dim(PyObject *__pyx_v_error, char *__pyx_v_msg, * * @cname('__pyx_memoryview_err') */ - __pyx_t_2 = __Pyx_decode_c_string(__pyx_v_msg, 0, strlen(__pyx_v_msg), NULL, NULL, PyUnicode_DecodeASCII); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 1258, __pyx_L1_error) + __pyx_t_2 = __Pyx_decode_c_string(__pyx_v_msg, 0, strlen(__pyx_v_msg), NULL, NULL, PyUnicode_DecodeASCII); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 1258, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __pyx_t_3 = __Pyx_PyInt_From_int(__pyx_v_dim); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 1258, __pyx_L1_error) + __pyx_t_3 = __Pyx_PyInt_From_int(__pyx_v_dim); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 1258, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); - __pyx_t_4 = PyUnicode_Format(__pyx_t_2, __pyx_t_3); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 1258, __pyx_L1_error) + __pyx_t_4 = PyUnicode_Format(__pyx_t_2, __pyx_t_3); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 1258, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; @@ -18730,12 +18991,12 @@ static int __pyx_memoryview_err_dim(PyObject *__pyx_v_error, char *__pyx_v_msg, __pyx_t_1 = (__pyx_t_2) ? __Pyx_PyObject_Call2Args(__pyx_t_3, __pyx_t_2, __pyx_t_4) : __Pyx_PyObject_CallOneArg(__pyx_t_3, __pyx_t_4); __Pyx_XDECREF(__pyx_t_2); __pyx_t_2 = 0; __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; - if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 1258, __pyx_L1_error) + if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 1258, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __Pyx_Raise(__pyx_t_1, 0, 0, 0); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __PYX_ERR(0, 1258, __pyx_L1_error) + __PYX_ERR(1, 1258, __pyx_L1_error) /* "View.MemoryView":1257 * @@ -18803,7 +19064,7 @@ static int __pyx_memoryview_err(PyObject *__pyx_v_error, char *__pyx_v_msg) { * else: * raise error */ - __pyx_t_3 = __Pyx_decode_c_string(__pyx_v_msg, 0, strlen(__pyx_v_msg), NULL, NULL, PyUnicode_DecodeASCII); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 1263, __pyx_L1_error) + __pyx_t_3 = __Pyx_decode_c_string(__pyx_v_msg, 0, strlen(__pyx_v_msg), NULL, NULL, PyUnicode_DecodeASCII); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 1263, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_INCREF(__pyx_v_error); __pyx_t_4 = __pyx_v_error; __pyx_t_5 = NULL; @@ -18819,12 +19080,12 @@ static int __pyx_memoryview_err(PyObject *__pyx_v_error, char *__pyx_v_msg) { __pyx_t_2 = (__pyx_t_5) ? __Pyx_PyObject_Call2Args(__pyx_t_4, __pyx_t_5, __pyx_t_3) : __Pyx_PyObject_CallOneArg(__pyx_t_4, __pyx_t_3); __Pyx_XDECREF(__pyx_t_5); __pyx_t_5 = 0; __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; - if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 1263, __pyx_L1_error) + if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 1263, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; __Pyx_Raise(__pyx_t_2, 0, 0, 0); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; - __PYX_ERR(0, 1263, __pyx_L1_error) + __PYX_ERR(1, 1263, __pyx_L1_error) /* "View.MemoryView":1262 * @cname('__pyx_memoryview_err') @@ -18844,7 +19105,7 @@ static int __pyx_memoryview_err(PyObject *__pyx_v_error, char *__pyx_v_msg) { */ /*else*/ { __Pyx_Raise(__pyx_v_error, 0, 0, 0); - __PYX_ERR(0, 1265, __pyx_L1_error) + __PYX_ERR(1, 1265, __pyx_L1_error) } /* "View.MemoryView":1261 @@ -19089,7 +19350,7 @@ static int __pyx_memoryview_copy_contents(__Pyx_memviewslice __pyx_v_src, __Pyx_ * 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(0, 1297, __pyx_L1_error) + __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:; @@ -19119,7 +19380,7 @@ static int __pyx_memoryview_copy_contents(__Pyx_memviewslice __pyx_v_src, __Pyx_ * * 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(0, 1300, __pyx_L1_error) + __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]) @@ -19176,7 +19437,7 @@ static int __pyx_memoryview_copy_contents(__Pyx_memviewslice __pyx_v_src, __Pyx_ * 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(0, 1307, __pyx_L1_error) + __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 @@ -19360,7 +19621,7 @@ static int __pyx_memoryview_copy_contents(__Pyx_memviewslice __pyx_v_src, __Pyx_ * transpose_memslice(&dst) * */ - __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)0))) __PYX_ERR(0, 1329, __pyx_L1_error) + __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 * @@ -19369,7 +19630,7 @@ static int __pyx_memoryview_copy_contents(__Pyx_memviewslice __pyx_v_src, __Pyx_ * * 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(0, 1330, __pyx_L1_error) + __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 @@ -20007,17 +20268,17 @@ static PyObject *__pyx_pw_15View_dot_MemoryView_1__pyx_unpickle_Enum(PyObject *_ case 1: if (likely((values[1] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_pyx_checksum)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("__pyx_unpickle_Enum", 1, 3, 3, 1); __PYX_ERR(0, 1, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__pyx_unpickle_Enum", 1, 3, 3, 1); __PYX_ERR(1, 1, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 2: if (likely((values[2] = __Pyx_PyDict_GetItemStr(__pyx_kwds, __pyx_n_s_pyx_state)) != 0)) kw_args--; else { - __Pyx_RaiseArgtupleInvalid("__pyx_unpickle_Enum", 1, 3, 3, 2); __PYX_ERR(0, 1, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__pyx_unpickle_Enum", 1, 3, 3, 2); __PYX_ERR(1, 1, __pyx_L3_error) } } if (unlikely(kw_args > 0)) { - if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__pyx_unpickle_Enum") < 0)) __PYX_ERR(0, 1, __pyx_L3_error) + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_pyargnames, 0, values, pos_args, "__pyx_unpickle_Enum") < 0)) __PYX_ERR(1, 1, __pyx_L3_error) } } else if (PyTuple_GET_SIZE(__pyx_args) != 3) { goto __pyx_L5_argtuple_error; @@ -20027,12 +20288,12 @@ static PyObject *__pyx_pw_15View_dot_MemoryView_1__pyx_unpickle_Enum(PyObject *_ values[2] = PyTuple_GET_ITEM(__pyx_args, 2); } __pyx_v___pyx_type = values[0]; - __pyx_v___pyx_checksum = __Pyx_PyInt_As_long(values[1]); if (unlikely((__pyx_v___pyx_checksum == (long)-1) && PyErr_Occurred())) __PYX_ERR(0, 1, __pyx_L3_error) + __pyx_v___pyx_checksum = __Pyx_PyInt_As_long(values[1]); if (unlikely((__pyx_v___pyx_checksum == (long)-1) && PyErr_Occurred())) __PYX_ERR(1, 1, __pyx_L3_error) __pyx_v___pyx_state = values[2]; } goto __pyx_L4_argument_unpacking_done; __pyx_L5_argtuple_error:; - __Pyx_RaiseArgtupleInvalid("__pyx_unpickle_Enum", 1, 3, 3, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(0, 1, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("__pyx_unpickle_Enum", 1, 3, 3, PyTuple_GET_SIZE(__pyx_args)); __PYX_ERR(1, 1, __pyx_L3_error) __pyx_L3_error:; __Pyx_AddTraceback("View.MemoryView.__pyx_unpickle_Enum", __pyx_clineno, __pyx_lineno, __pyx_filename); __Pyx_RefNannyFinishContext(); @@ -20078,15 +20339,15 @@ static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSE * raise __pyx_PickleError("Incompatible checksums (%s vs 0xb068931 = (name))" % __pyx_checksum) * __pyx_result = Enum.__new__(__pyx_type) */ - __pyx_t_2 = PyList_New(1); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 5, __pyx_L1_error) + __pyx_t_2 = PyList_New(1); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 5, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_INCREF(__pyx_n_s_PickleError); __Pyx_GIVEREF(__pyx_n_s_PickleError); PyList_SET_ITEM(__pyx_t_2, 0, __pyx_n_s_PickleError); - __pyx_t_3 = __Pyx_Import(__pyx_n_s_pickle, __pyx_t_2, 0); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 5, __pyx_L1_error) + __pyx_t_3 = __Pyx_Import(__pyx_n_s_pickle, __pyx_t_2, 0); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 5, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; - __pyx_t_2 = __Pyx_ImportFrom(__pyx_t_3, __pyx_n_s_PickleError); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 5, __pyx_L1_error) + __pyx_t_2 = __Pyx_ImportFrom(__pyx_t_3, __pyx_n_s_PickleError); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 5, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_INCREF(__pyx_t_2); __pyx_v___pyx_PickleError = __pyx_t_2; @@ -20100,9 +20361,9 @@ static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSE * __pyx_result = Enum.__new__(__pyx_type) * if __pyx_state is not None: */ - __pyx_t_2 = __Pyx_PyInt_From_long(__pyx_v___pyx_checksum); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 6, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_From_long(__pyx_v___pyx_checksum); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 6, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - __pyx_t_4 = __Pyx_PyString_Format(__pyx_kp_s_Incompatible_checksums_s_vs_0xb0, __pyx_t_2); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 6, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyString_Format(__pyx_kp_s_Incompatible_checksums_s_vs_0xb0, __pyx_t_2); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 6, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __Pyx_INCREF(__pyx_v___pyx_PickleError); @@ -20119,12 +20380,12 @@ static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSE __pyx_t_3 = (__pyx_t_5) ? __Pyx_PyObject_Call2Args(__pyx_t_2, __pyx_t_5, __pyx_t_4) : __Pyx_PyObject_CallOneArg(__pyx_t_2, __pyx_t_4); __Pyx_XDECREF(__pyx_t_5); __pyx_t_5 = 0; __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; - if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 6, __pyx_L1_error) + if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 6, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __Pyx_Raise(__pyx_t_3, 0, 0, 0); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; - __PYX_ERR(0, 6, __pyx_L1_error) + __PYX_ERR(1, 6, __pyx_L1_error) /* "(tree fragment)":4 * cdef object __pyx_PickleError @@ -20142,7 +20403,7 @@ static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSE * if __pyx_state is not None: * __pyx_unpickle_Enum__set_state( __pyx_result, __pyx_state) */ - __pyx_t_2 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_MemviewEnum_type), __pyx_n_s_new); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 7, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_MemviewEnum_type), __pyx_n_s_new); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 7, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_t_4 = NULL; if (CYTHON_UNPACK_METHODS && likely(PyMethod_Check(__pyx_t_2))) { @@ -20156,7 +20417,7 @@ static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSE } __pyx_t_3 = (__pyx_t_4) ? __Pyx_PyObject_Call2Args(__pyx_t_2, __pyx_t_4, __pyx_v___pyx_type) : __Pyx_PyObject_CallOneArg(__pyx_t_2, __pyx_v___pyx_type); __Pyx_XDECREF(__pyx_t_4); __pyx_t_4 = 0; - if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 7, __pyx_L1_error) + if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 7, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __pyx_v___pyx_result = __pyx_t_3; @@ -20180,8 +20441,8 @@ static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSE * return __pyx_result * cdef __pyx_unpickle_Enum__set_state(Enum __pyx_result, tuple __pyx_state): */ - if (!(likely(PyTuple_CheckExact(__pyx_v___pyx_state))||((__pyx_v___pyx_state) == Py_None)||(PyErr_Format(PyExc_TypeError, "Expected %.16s, got %.200s", "tuple", Py_TYPE(__pyx_v___pyx_state)->tp_name), 0))) __PYX_ERR(0, 9, __pyx_L1_error) - __pyx_t_3 = __pyx_unpickle_Enum__set_state(((struct __pyx_MemviewEnum_obj *)__pyx_v___pyx_result), ((PyObject*)__pyx_v___pyx_state)); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 9, __pyx_L1_error) + if (!(likely(PyTuple_CheckExact(__pyx_v___pyx_state))||((__pyx_v___pyx_state) == Py_None)||(PyErr_Format(PyExc_TypeError, "Expected %.16s, got %.200s", "tuple", Py_TYPE(__pyx_v___pyx_state)->tp_name), 0))) __PYX_ERR(1, 9, __pyx_L1_error) + __pyx_t_3 = __pyx_unpickle_Enum__set_state(((struct __pyx_MemviewEnum_obj *)__pyx_v___pyx_result), ((PyObject*)__pyx_v___pyx_state)); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 9, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; @@ -20261,9 +20522,9 @@ static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *__ */ if (unlikely(__pyx_v___pyx_state == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 12, __pyx_L1_error) + __PYX_ERR(1, 12, __pyx_L1_error) } - __pyx_t_1 = __Pyx_GetItemInt_Tuple(__pyx_v___pyx_state, 0, long, 1, __Pyx_PyInt_From_long, 0, 0, 1); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 12, __pyx_L1_error) + __pyx_t_1 = __Pyx_GetItemInt_Tuple(__pyx_v___pyx_state, 0, long, 1, __Pyx_PyInt_From_long, 0, 0, 1); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 12, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_GIVEREF(__pyx_t_1); __Pyx_GOTREF(__pyx_v___pyx_result->name); @@ -20279,16 +20540,16 @@ static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *__ */ if (unlikely(__pyx_v___pyx_state == Py_None)) { PyErr_SetString(PyExc_TypeError, "object of type 'NoneType' has no len()"); - __PYX_ERR(0, 13, __pyx_L1_error) + __PYX_ERR(1, 13, __pyx_L1_error) } - __pyx_t_3 = PyTuple_GET_SIZE(__pyx_v___pyx_state); if (unlikely(__pyx_t_3 == ((Py_ssize_t)-1))) __PYX_ERR(0, 13, __pyx_L1_error) + __pyx_t_3 = PyTuple_GET_SIZE(__pyx_v___pyx_state); if (unlikely(__pyx_t_3 == ((Py_ssize_t)-1))) __PYX_ERR(1, 13, __pyx_L1_error) __pyx_t_4 = ((__pyx_t_3 > 1) != 0); if (__pyx_t_4) { } else { __pyx_t_2 = __pyx_t_4; goto __pyx_L4_bool_binop_done; } - __pyx_t_4 = __Pyx_HasAttr(((PyObject *)__pyx_v___pyx_result), __pyx_n_s_dict); if (unlikely(__pyx_t_4 == ((int)-1))) __PYX_ERR(0, 13, __pyx_L1_error) + __pyx_t_4 = __Pyx_HasAttr(((PyObject *)__pyx_v___pyx_result), __pyx_n_s_dict); if (unlikely(__pyx_t_4 == ((int)-1))) __PYX_ERR(1, 13, __pyx_L1_error) __pyx_t_5 = (__pyx_t_4 != 0); __pyx_t_2 = __pyx_t_5; __pyx_L4_bool_binop_done:; @@ -20299,16 +20560,16 @@ static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *__ * if len(__pyx_state) > 1 and hasattr(__pyx_result, '__dict__'): * __pyx_result.__dict__.update(__pyx_state[1]) # <<<<<<<<<<<<<< */ - __pyx_t_6 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v___pyx_result), __pyx_n_s_dict); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 14, __pyx_L1_error) + __pyx_t_6 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v___pyx_result), __pyx_n_s_dict); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 14, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); - __pyx_t_7 = __Pyx_PyObject_GetAttrStr(__pyx_t_6, __pyx_n_s_update); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 14, __pyx_L1_error) + __pyx_t_7 = __Pyx_PyObject_GetAttrStr(__pyx_t_6, __pyx_n_s_update); if (unlikely(!__pyx_t_7)) __PYX_ERR(1, 14, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_7); __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; if (unlikely(__pyx_v___pyx_state == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 14, __pyx_L1_error) + __PYX_ERR(1, 14, __pyx_L1_error) } - __pyx_t_6 = __Pyx_GetItemInt_Tuple(__pyx_v___pyx_state, 1, long, 1, __Pyx_PyInt_From_long, 0, 0, 1); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 14, __pyx_L1_error) + __pyx_t_6 = __Pyx_GetItemInt_Tuple(__pyx_v___pyx_state, 1, long, 1, __Pyx_PyInt_From_long, 0, 0, 1); if (unlikely(!__pyx_t_6)) __PYX_ERR(1, 14, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __pyx_t_8 = NULL; if (CYTHON_UNPACK_METHODS && likely(PyMethod_Check(__pyx_t_7))) { @@ -20323,7 +20584,7 @@ static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *__ __pyx_t_1 = (__pyx_t_8) ? __Pyx_PyObject_Call2Args(__pyx_t_7, __pyx_t_8, __pyx_t_6) : __Pyx_PyObject_CallOneArg(__pyx_t_7, __pyx_t_6); __Pyx_XDECREF(__pyx_t_8); __pyx_t_8 = 0; __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; - if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 14, __pyx_L1_error) + if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 14, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_7); __pyx_t_7 = 0; __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; @@ -20522,8 +20783,9 @@ static PyMethodDef __pyx_methods_6cereal_9visionipc_13visionipc_pyx_VisionIpcCli {"recv", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_5recv, METH_VARARGS|METH_KEYWORDS, 0}, {"connect", (PyCFunction)__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_7connect, METH_O, 0}, {"is_connected", (PyCFunction)__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_9is_connected, METH_NOARGS, 0}, - {"__reduce_cython__", (PyCFunction)__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_11__reduce_cython__, METH_NOARGS, 0}, - {"__setstate_cython__", (PyCFunction)__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_13__setstate_cython__, METH_O, 0}, + {"available_streams", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_11available_streams, METH_VARARGS|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_13__reduce_cython__, METH_NOARGS, 0}, + {"__setstate_cython__", (PyCFunction)__pyx_pw_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_15__setstate_cython__, METH_O, 0}, {0, 0, 0, 0} }; @@ -21557,9 +21819,13 @@ static __Pyx_StringTabEntry __pyx_string_tab[] = { {&__pyx_n_s_VisionIpcServer, __pyx_k_VisionIpcServer, sizeof(__pyx_k_VisionIpcServer), 0, 0, 1, 1}, {&__pyx_n_s_VisionStreamType, __pyx_k_VisionStreamType, sizeof(__pyx_k_VisionStreamType), 0, 0, 1, 1}, {&__pyx_n_s_allocate_buffer, __pyx_k_allocate_buffer, sizeof(__pyx_k_allocate_buffer), 0, 0, 1, 1}, + {&__pyx_n_s_available_streams, __pyx_k_available_streams, sizeof(__pyx_k_available_streams), 0, 0, 1, 1}, {&__pyx_n_s_base, __pyx_k_base, sizeof(__pyx_k_base), 0, 0, 1, 1}, + {&__pyx_n_s_block, __pyx_k_block, sizeof(__pyx_k_block), 0, 0, 1, 1}, {&__pyx_n_s_c, __pyx_k_c, sizeof(__pyx_k_c), 0, 0, 1, 1}, {&__pyx_n_u_c, __pyx_k_c, sizeof(__pyx_k_c), 0, 1, 0, 1}, + {&__pyx_n_s_cereal_visionipc_visionipc_pyx, __pyx_k_cereal_visionipc_visionipc_pyx, sizeof(__pyx_k_cereal_visionipc_visionipc_pyx), 0, 0, 1, 1}, + {&__pyx_kp_s_cereal_visionipc_visionipc_pyx_p, __pyx_k_cereal_visionipc_visionipc_pyx_p, sizeof(__pyx_k_cereal_visionipc_visionipc_pyx_p), 0, 0, 1, 0}, {&__pyx_n_s_class, __pyx_k_class, sizeof(__pyx_k_class), 0, 0, 1, 1}, {&__pyx_n_s_cline_in_traceback, __pyx_k_cline_in_traceback, sizeof(__pyx_k_cline_in_traceback), 0, 0, 1, 1}, {&__pyx_n_s_cls, __pyx_k_cls, sizeof(__pyx_k_cls), 0, 0, 1, 1}, @@ -21638,6 +21904,7 @@ static __Pyx_StringTabEntry __pyx_string_tab[] = { {&__pyx_n_s_shape, __pyx_k_shape, sizeof(__pyx_k_shape), 0, 0, 1, 1}, {&__pyx_n_s_size, __pyx_k_size, sizeof(__pyx_k_size), 0, 0, 1, 1}, {&__pyx_n_s_start, __pyx_k_start, sizeof(__pyx_k_start), 0, 0, 1, 1}, + {&__pyx_n_s_staticmethod, __pyx_k_staticmethod, sizeof(__pyx_k_staticmethod), 0, 0, 1, 1}, {&__pyx_n_s_step, __pyx_k_step, sizeof(__pyx_k_step), 0, 0, 1, 1}, {&__pyx_n_s_stop, __pyx_k_stop, sizeof(__pyx_k_stop), 0, 0, 1, 1}, {&__pyx_n_s_str, __pyx_k_str, sizeof(__pyx_k_str), 0, 0, 1, 1}, @@ -21667,15 +21934,16 @@ static __Pyx_StringTabEntry __pyx_string_tab[] = { {0, 0, 0, 0, 0, 0, 0} }; static CYTHON_SMALL_CODE int __Pyx_InitCachedBuiltins(void) { - __pyx_builtin_TypeError = __Pyx_GetBuiltinName(__pyx_n_s_TypeError); if (!__pyx_builtin_TypeError) __PYX_ERR(0, 2, __pyx_L1_error) + __pyx_builtin_staticmethod = __Pyx_GetBuiltinName(__pyx_n_s_staticmethod); if (!__pyx_builtin_staticmethod) __PYX_ERR(0, 104, __pyx_L1_error) + __pyx_builtin_TypeError = __Pyx_GetBuiltinName(__pyx_n_s_TypeError); if (!__pyx_builtin_TypeError) __PYX_ERR(1, 2, __pyx_L1_error) __pyx_builtin_ImportError = __Pyx_GetBuiltinName(__pyx_n_s_ImportError); if (!__pyx_builtin_ImportError) __PYX_ERR(2, 945, __pyx_L1_error) - __pyx_builtin_ValueError = __Pyx_GetBuiltinName(__pyx_n_s_ValueError); if (!__pyx_builtin_ValueError) __PYX_ERR(0, 33, __pyx_L1_error) - __pyx_builtin_MemoryError = __Pyx_GetBuiltinName(__pyx_n_s_MemoryError); if (!__pyx_builtin_MemoryError) __PYX_ERR(0, 148, __pyx_L1_error) - __pyx_builtin_enumerate = __Pyx_GetBuiltinName(__pyx_n_s_enumerate); if (!__pyx_builtin_enumerate) __PYX_ERR(0, 151, __pyx_L1_error) - __pyx_builtin_range = __Pyx_GetBuiltinName(__pyx_n_s_range); if (!__pyx_builtin_range) __PYX_ERR(0, 180, __pyx_L1_error) - __pyx_builtin_Ellipsis = __Pyx_GetBuiltinName(__pyx_n_s_Ellipsis); if (!__pyx_builtin_Ellipsis) __PYX_ERR(0, 404, __pyx_L1_error) - __pyx_builtin_id = __Pyx_GetBuiltinName(__pyx_n_s_id); if (!__pyx_builtin_id) __PYX_ERR(0, 613, __pyx_L1_error) - __pyx_builtin_IndexError = __Pyx_GetBuiltinName(__pyx_n_s_IndexError); if (!__pyx_builtin_IndexError) __PYX_ERR(0, 832, __pyx_L1_error) + __pyx_builtin_ValueError = __Pyx_GetBuiltinName(__pyx_n_s_ValueError); if (!__pyx_builtin_ValueError) __PYX_ERR(1, 33, __pyx_L1_error) + __pyx_builtin_MemoryError = __Pyx_GetBuiltinName(__pyx_n_s_MemoryError); if (!__pyx_builtin_MemoryError) __PYX_ERR(1, 148, __pyx_L1_error) + __pyx_builtin_enumerate = __Pyx_GetBuiltinName(__pyx_n_s_enumerate); if (!__pyx_builtin_enumerate) __PYX_ERR(1, 151, __pyx_L1_error) + __pyx_builtin_range = __Pyx_GetBuiltinName(__pyx_n_s_range); if (!__pyx_builtin_range) __PYX_ERR(1, 180, __pyx_L1_error) + __pyx_builtin_Ellipsis = __Pyx_GetBuiltinName(__pyx_n_s_Ellipsis); if (!__pyx_builtin_Ellipsis) __PYX_ERR(1, 404, __pyx_L1_error) + __pyx_builtin_id = __Pyx_GetBuiltinName(__pyx_n_s_id); if (!__pyx_builtin_id) __PYX_ERR(1, 613, __pyx_L1_error) + __pyx_builtin_IndexError = __Pyx_GetBuiltinName(__pyx_n_s_IndexError); if (!__pyx_builtin_IndexError) __PYX_ERR(1, 832, __pyx_L1_error) return 0; __pyx_L1_error:; return -1; @@ -21691,7 +21959,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * def __setstate_cython__(self, __pyx_state): * raise TypeError("self.server cannot be converted to a Python object for pickling") */ - __pyx_tuple_ = PyTuple_Pack(1, __pyx_kp_s_self_server_cannot_be_converted); if (unlikely(!__pyx_tuple_)) __PYX_ERR(0, 2, __pyx_L1_error) + __pyx_tuple_ = PyTuple_Pack(1, __pyx_kp_s_self_server_cannot_be_converted); if (unlikely(!__pyx_tuple_)) __PYX_ERR(1, 2, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple_); __Pyx_GIVEREF(__pyx_tuple_); @@ -21700,7 +21968,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * def __setstate_cython__(self, __pyx_state): * raise TypeError("self.server cannot be converted to a Python object for pickling") # <<<<<<<<<<<<<< */ - __pyx_tuple__2 = PyTuple_Pack(1, __pyx_kp_s_self_server_cannot_be_converted); if (unlikely(!__pyx_tuple__2)) __PYX_ERR(0, 4, __pyx_L1_error) + __pyx_tuple__2 = PyTuple_Pack(1, __pyx_kp_s_self_server_cannot_be_converted); if (unlikely(!__pyx_tuple__2)) __PYX_ERR(1, 4, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__2); __Pyx_GIVEREF(__pyx_tuple__2); @@ -21710,7 +21978,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * def __setstate_cython__(self, __pyx_state): * raise TypeError("no default __reduce__ due to non-trivial __cinit__") */ - __pyx_tuple__3 = PyTuple_Pack(1, __pyx_kp_s_no_default___reduce___due_to_non); if (unlikely(!__pyx_tuple__3)) __PYX_ERR(0, 2, __pyx_L1_error) + __pyx_tuple__3 = PyTuple_Pack(1, __pyx_kp_s_no_default___reduce___due_to_non); if (unlikely(!__pyx_tuple__3)) __PYX_ERR(1, 2, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__3); __Pyx_GIVEREF(__pyx_tuple__3); @@ -21719,7 +21987,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * def __setstate_cython__(self, __pyx_state): * raise TypeError("no default __reduce__ due to non-trivial __cinit__") # <<<<<<<<<<<<<< */ - __pyx_tuple__4 = PyTuple_Pack(1, __pyx_kp_s_no_default___reduce___due_to_non); if (unlikely(!__pyx_tuple__4)) __PYX_ERR(0, 4, __pyx_L1_error) + __pyx_tuple__4 = PyTuple_Pack(1, __pyx_kp_s_no_default___reduce___due_to_non); if (unlikely(!__pyx_tuple__4)) __PYX_ERR(1, 4, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__4); __Pyx_GIVEREF(__pyx_tuple__4); @@ -21752,7 +22020,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * * if itemsize <= 0: */ - __pyx_tuple__7 = PyTuple_Pack(1, __pyx_kp_s_Empty_shape_tuple_for_cython_arr); if (unlikely(!__pyx_tuple__7)) __PYX_ERR(0, 133, __pyx_L1_error) + __pyx_tuple__7 = PyTuple_Pack(1, __pyx_kp_s_Empty_shape_tuple_for_cython_arr); if (unlikely(!__pyx_tuple__7)) __PYX_ERR(1, 133, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__7); __Pyx_GIVEREF(__pyx_tuple__7); @@ -21763,7 +22031,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * * if not isinstance(format, bytes): */ - __pyx_tuple__8 = PyTuple_Pack(1, __pyx_kp_s_itemsize_0_for_cython_array); if (unlikely(!__pyx_tuple__8)) __PYX_ERR(0, 136, __pyx_L1_error) + __pyx_tuple__8 = PyTuple_Pack(1, __pyx_kp_s_itemsize_0_for_cython_array); if (unlikely(!__pyx_tuple__8)) __PYX_ERR(1, 136, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__8); __Pyx_GIVEREF(__pyx_tuple__8); @@ -21774,7 +22042,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * * */ - __pyx_tuple__9 = PyTuple_Pack(1, __pyx_kp_s_unable_to_allocate_shape_and_str); if (unlikely(!__pyx_tuple__9)) __PYX_ERR(0, 148, __pyx_L1_error) + __pyx_tuple__9 = PyTuple_Pack(1, __pyx_kp_s_unable_to_allocate_shape_and_str); if (unlikely(!__pyx_tuple__9)) __PYX_ERR(1, 148, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__9); __Pyx_GIVEREF(__pyx_tuple__9); @@ -21785,7 +22053,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * * if self.dtype_is_object: */ - __pyx_tuple__10 = PyTuple_Pack(1, __pyx_kp_s_unable_to_allocate_array_data); if (unlikely(!__pyx_tuple__10)) __PYX_ERR(0, 176, __pyx_L1_error) + __pyx_tuple__10 = PyTuple_Pack(1, __pyx_kp_s_unable_to_allocate_array_data); if (unlikely(!__pyx_tuple__10)) __PYX_ERR(1, 176, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__10); __Pyx_GIVEREF(__pyx_tuple__10); @@ -21796,7 +22064,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * info.buf = self.data * info.len = self.len */ - __pyx_tuple__11 = PyTuple_Pack(1, __pyx_kp_s_Can_only_create_a_buffer_that_is); if (unlikely(!__pyx_tuple__11)) __PYX_ERR(0, 192, __pyx_L1_error) + __pyx_tuple__11 = PyTuple_Pack(1, __pyx_kp_s_Can_only_create_a_buffer_that_is); if (unlikely(!__pyx_tuple__11)) __PYX_ERR(1, 192, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__11); __Pyx_GIVEREF(__pyx_tuple__11); @@ -21806,7 +22074,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * def __setstate_cython__(self, __pyx_state): * raise TypeError("no default __reduce__ due to non-trivial __cinit__") */ - __pyx_tuple__12 = PyTuple_Pack(1, __pyx_kp_s_no_default___reduce___due_to_non); if (unlikely(!__pyx_tuple__12)) __PYX_ERR(0, 2, __pyx_L1_error) + __pyx_tuple__12 = PyTuple_Pack(1, __pyx_kp_s_no_default___reduce___due_to_non); if (unlikely(!__pyx_tuple__12)) __PYX_ERR(1, 2, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__12); __Pyx_GIVEREF(__pyx_tuple__12); @@ -21815,7 +22083,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * def __setstate_cython__(self, __pyx_state): * raise TypeError("no default __reduce__ due to non-trivial __cinit__") # <<<<<<<<<<<<<< */ - __pyx_tuple__13 = PyTuple_Pack(1, __pyx_kp_s_no_default___reduce___due_to_non); if (unlikely(!__pyx_tuple__13)) __PYX_ERR(0, 4, __pyx_L1_error) + __pyx_tuple__13 = PyTuple_Pack(1, __pyx_kp_s_no_default___reduce___due_to_non); if (unlikely(!__pyx_tuple__13)) __PYX_ERR(1, 4, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__13); __Pyx_GIVEREF(__pyx_tuple__13); @@ -21826,7 +22094,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * * have_slices, index = _unellipsify(index, self.view.ndim) */ - __pyx_tuple__14 = PyTuple_Pack(1, __pyx_kp_s_Cannot_assign_to_read_only_memor); if (unlikely(!__pyx_tuple__14)) __PYX_ERR(0, 418, __pyx_L1_error) + __pyx_tuple__14 = PyTuple_Pack(1, __pyx_kp_s_Cannot_assign_to_read_only_memor); if (unlikely(!__pyx_tuple__14)) __PYX_ERR(1, 418, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__14); __Pyx_GIVEREF(__pyx_tuple__14); @@ -21837,7 +22105,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * else: * if len(self.view.format) == 1: */ - __pyx_tuple__15 = PyTuple_Pack(1, __pyx_kp_s_Unable_to_convert_item_to_object); if (unlikely(!__pyx_tuple__15)) __PYX_ERR(0, 495, __pyx_L1_error) + __pyx_tuple__15 = PyTuple_Pack(1, __pyx_kp_s_Unable_to_convert_item_to_object); if (unlikely(!__pyx_tuple__15)) __PYX_ERR(1, 495, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__15); __Pyx_GIVEREF(__pyx_tuple__15); @@ -21848,7 +22116,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * * if flags & PyBUF_ND: */ - __pyx_tuple__16 = PyTuple_Pack(1, __pyx_kp_s_Cannot_create_writable_memory_vi); if (unlikely(!__pyx_tuple__16)) __PYX_ERR(0, 520, __pyx_L1_error) + __pyx_tuple__16 = PyTuple_Pack(1, __pyx_kp_s_Cannot_create_writable_memory_vi); if (unlikely(!__pyx_tuple__16)) __PYX_ERR(1, 520, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__16); __Pyx_GIVEREF(__pyx_tuple__16); @@ -21859,7 +22127,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * * return tuple([stride for stride in self.view.strides[:self.view.ndim]]) */ - __pyx_tuple__17 = PyTuple_Pack(1, __pyx_kp_s_Buffer_view_does_not_expose_stri); if (unlikely(!__pyx_tuple__17)) __PYX_ERR(0, 570, __pyx_L1_error) + __pyx_tuple__17 = PyTuple_Pack(1, __pyx_kp_s_Buffer_view_does_not_expose_stri); if (unlikely(!__pyx_tuple__17)) __PYX_ERR(1, 570, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__17); __Pyx_GIVEREF(__pyx_tuple__17); @@ -21870,7 +22138,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * * return tuple([suboffset for suboffset in self.view.suboffsets[:self.view.ndim]]) */ - __pyx_tuple__18 = PyTuple_New(1); if (unlikely(!__pyx_tuple__18)) __PYX_ERR(0, 577, __pyx_L1_error) + __pyx_tuple__18 = PyTuple_New(1); if (unlikely(!__pyx_tuple__18)) __PYX_ERR(1, 577, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__18); __Pyx_INCREF(__pyx_int_neg_1); __Pyx_GIVEREF(__pyx_int_neg_1); @@ -21883,7 +22151,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * def __setstate_cython__(self, __pyx_state): * raise TypeError("no default __reduce__ due to non-trivial __cinit__") */ - __pyx_tuple__19 = PyTuple_Pack(1, __pyx_kp_s_no_default___reduce___due_to_non); if (unlikely(!__pyx_tuple__19)) __PYX_ERR(0, 2, __pyx_L1_error) + __pyx_tuple__19 = PyTuple_Pack(1, __pyx_kp_s_no_default___reduce___due_to_non); if (unlikely(!__pyx_tuple__19)) __PYX_ERR(1, 2, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__19); __Pyx_GIVEREF(__pyx_tuple__19); @@ -21892,7 +22160,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * def __setstate_cython__(self, __pyx_state): * raise TypeError("no default __reduce__ due to non-trivial __cinit__") # <<<<<<<<<<<<<< */ - __pyx_tuple__20 = PyTuple_Pack(1, __pyx_kp_s_no_default___reduce___due_to_non); if (unlikely(!__pyx_tuple__20)) __PYX_ERR(0, 4, __pyx_L1_error) + __pyx_tuple__20 = PyTuple_Pack(1, __pyx_kp_s_no_default___reduce___due_to_non); if (unlikely(!__pyx_tuple__20)) __PYX_ERR(1, 4, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__20); __Pyx_GIVEREF(__pyx_tuple__20); @@ -21903,7 +22171,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * seen_ellipsis = True * else: */ - __pyx_slice__21 = PySlice_New(Py_None, Py_None, Py_None); if (unlikely(!__pyx_slice__21)) __PYX_ERR(0, 682, __pyx_L1_error) + __pyx_slice__21 = PySlice_New(Py_None, Py_None, Py_None); if (unlikely(!__pyx_slice__21)) __PYX_ERR(1, 682, __pyx_L1_error) __Pyx_GOTREF(__pyx_slice__21); __Pyx_GIVEREF(__pyx_slice__21); @@ -21914,7 +22182,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * * */ - __pyx_tuple__22 = PyTuple_Pack(1, __pyx_kp_s_Indirect_dimensions_not_supporte); if (unlikely(!__pyx_tuple__22)) __PYX_ERR(0, 703, __pyx_L1_error) + __pyx_tuple__22 = PyTuple_Pack(1, __pyx_kp_s_Indirect_dimensions_not_supporte); if (unlikely(!__pyx_tuple__22)) __PYX_ERR(1, 703, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__22); __Pyx_GIVEREF(__pyx_tuple__22); @@ -21924,7 +22192,7 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * def __setstate_cython__(self, __pyx_state): * raise TypeError("no default __reduce__ due to non-trivial __cinit__") */ - __pyx_tuple__23 = PyTuple_Pack(1, __pyx_kp_s_no_default___reduce___due_to_non); if (unlikely(!__pyx_tuple__23)) __PYX_ERR(0, 2, __pyx_L1_error) + __pyx_tuple__23 = PyTuple_Pack(1, __pyx_kp_s_no_default___reduce___due_to_non); if (unlikely(!__pyx_tuple__23)) __PYX_ERR(1, 2, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__23); __Pyx_GIVEREF(__pyx_tuple__23); @@ -21933,10 +22201,21 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * def __setstate_cython__(self, __pyx_state): * raise TypeError("no default __reduce__ due to non-trivial __cinit__") # <<<<<<<<<<<<<< */ - __pyx_tuple__24 = PyTuple_Pack(1, __pyx_kp_s_no_default___reduce___due_to_non); if (unlikely(!__pyx_tuple__24)) __PYX_ERR(0, 4, __pyx_L1_error) + __pyx_tuple__24 = PyTuple_Pack(1, __pyx_kp_s_no_default___reduce___due_to_non); if (unlikely(!__pyx_tuple__24)) __PYX_ERR(1, 4, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__24); __Pyx_GIVEREF(__pyx_tuple__24); + /* "cereal/visionipc/visionipc_pyx.pyx":105 + * + * @staticmethod + * def available_streams(string name, bool block): # <<<<<<<<<<<<<< + * return cppVisionIpcClient.getAvailableStreams(name, block) + */ + __pyx_tuple__25 = PyTuple_Pack(2, __pyx_n_s_name, __pyx_n_s_block); if (unlikely(!__pyx_tuple__25)) __PYX_ERR(0, 105, __pyx_L1_error) + __Pyx_GOTREF(__pyx_tuple__25); + __Pyx_GIVEREF(__pyx_tuple__25); + __pyx_codeobj__26 = (PyObject*)__Pyx_PyCode_New(2, 0, 2, 0, CO_OPTIMIZED|CO_NEWLOCALS, __pyx_empty_bytes, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_tuple__25, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_kp_s_cereal_visionipc_visionipc_pyx_p, __pyx_n_s_available_streams, 105, __pyx_empty_bytes); if (unlikely(!__pyx_codeobj__26)) __PYX_ERR(0, 105, __pyx_L1_error) + /* "EnumBase":28 * class __Pyx_EnumBase(int): * __metaclass__ = __Pyx_EnumMeta @@ -21944,13 +22223,13 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * for v in cls: * if v == value: */ - __pyx_tuple__25 = PyTuple_Pack(5, __pyx_n_s_cls, __pyx_n_s_value, __pyx_n_s_name, __pyx_n_s_v, __pyx_n_s_res); if (unlikely(!__pyx_tuple__25)) __PYX_ERR(0, 28, __pyx_L1_error) - __Pyx_GOTREF(__pyx_tuple__25); - __Pyx_GIVEREF(__pyx_tuple__25); - __pyx_codeobj__26 = (PyObject*)__Pyx_PyCode_New(3, 0, 5, 0, CO_OPTIMIZED|CO_NEWLOCALS, __pyx_empty_bytes, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_tuple__25, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_kp_s_stringsource, __pyx_n_s_new, 28, __pyx_empty_bytes); if (unlikely(!__pyx_codeobj__26)) __PYX_ERR(0, 28, __pyx_L1_error) - __pyx_tuple__27 = PyTuple_Pack(1, ((PyObject *)Py_None)); if (unlikely(!__pyx_tuple__27)) __PYX_ERR(0, 28, __pyx_L1_error) + __pyx_tuple__27 = PyTuple_Pack(5, __pyx_n_s_cls, __pyx_n_s_value, __pyx_n_s_name, __pyx_n_s_v, __pyx_n_s_res); if (unlikely(!__pyx_tuple__27)) __PYX_ERR(1, 28, __pyx_L1_error) __Pyx_GOTREF(__pyx_tuple__27); __Pyx_GIVEREF(__pyx_tuple__27); + __pyx_codeobj__28 = (PyObject*)__Pyx_PyCode_New(3, 0, 5, 0, CO_OPTIMIZED|CO_NEWLOCALS, __pyx_empty_bytes, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_tuple__27, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_kp_s_stringsource, __pyx_n_s_new, 28, __pyx_empty_bytes); if (unlikely(!__pyx_codeobj__28)) __PYX_ERR(1, 28, __pyx_L1_error) + __pyx_tuple__29 = PyTuple_Pack(1, ((PyObject *)Py_None)); if (unlikely(!__pyx_tuple__29)) __PYX_ERR(1, 28, __pyx_L1_error) + __Pyx_GOTREF(__pyx_tuple__29); + __Pyx_GIVEREF(__pyx_tuple__29); /* "EnumBase":39 * cls.__members__[name] = res @@ -21959,10 +22238,10 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * return "<%s.%s: %d>" % (self.__class__.__name__, self.name, self) * def __str__(self): */ - __pyx_tuple__28 = PyTuple_Pack(1, __pyx_n_s_self); if (unlikely(!__pyx_tuple__28)) __PYX_ERR(0, 39, __pyx_L1_error) - __Pyx_GOTREF(__pyx_tuple__28); - __Pyx_GIVEREF(__pyx_tuple__28); - __pyx_codeobj__29 = (PyObject*)__Pyx_PyCode_New(1, 0, 1, 0, CO_OPTIMIZED|CO_NEWLOCALS, __pyx_empty_bytes, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_tuple__28, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_kp_s_stringsource, __pyx_n_s_repr, 39, __pyx_empty_bytes); if (unlikely(!__pyx_codeobj__29)) __PYX_ERR(0, 39, __pyx_L1_error) + __pyx_tuple__30 = PyTuple_Pack(1, __pyx_n_s_self); if (unlikely(!__pyx_tuple__30)) __PYX_ERR(1, 39, __pyx_L1_error) + __Pyx_GOTREF(__pyx_tuple__30); + __Pyx_GIVEREF(__pyx_tuple__30); + __pyx_codeobj__31 = (PyObject*)__Pyx_PyCode_New(1, 0, 1, 0, CO_OPTIMIZED|CO_NEWLOCALS, __pyx_empty_bytes, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_tuple__30, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_kp_s_stringsource, __pyx_n_s_repr, 39, __pyx_empty_bytes); if (unlikely(!__pyx_codeobj__31)) __PYX_ERR(1, 39, __pyx_L1_error) /* "EnumBase":41 * def __repr__(self): @@ -21971,20 +22250,20 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * return "%s.%s" % (self.__class__.__name__, self.name) * */ - __pyx_tuple__30 = PyTuple_Pack(1, __pyx_n_s_self); if (unlikely(!__pyx_tuple__30)) __PYX_ERR(0, 41, __pyx_L1_error) - __Pyx_GOTREF(__pyx_tuple__30); - __Pyx_GIVEREF(__pyx_tuple__30); - __pyx_codeobj__31 = (PyObject*)__Pyx_PyCode_New(1, 0, 1, 0, CO_OPTIMIZED|CO_NEWLOCALS, __pyx_empty_bytes, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_tuple__30, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_kp_s_stringsource, __pyx_n_s_str, 41, __pyx_empty_bytes); if (unlikely(!__pyx_codeobj__31)) __PYX_ERR(0, 41, __pyx_L1_error) + __pyx_tuple__32 = PyTuple_Pack(1, __pyx_n_s_self); if (unlikely(!__pyx_tuple__32)) __PYX_ERR(1, 41, __pyx_L1_error) + __Pyx_GOTREF(__pyx_tuple__32); + __Pyx_GIVEREF(__pyx_tuple__32); + __pyx_codeobj__33 = (PyObject*)__Pyx_PyCode_New(1, 0, 1, 0, CO_OPTIMIZED|CO_NEWLOCALS, __pyx_empty_bytes, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_tuple__32, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_kp_s_stringsource, __pyx_n_s_str, 41, __pyx_empty_bytes); if (unlikely(!__pyx_codeobj__33)) __PYX_ERR(1, 41, __pyx_L1_error) /* "(tree fragment)":1 * def __pyx_unpickle___Pyx_EnumMeta(__pyx_type, long __pyx_checksum, __pyx_state): # <<<<<<<<<<<<<< * cdef object __pyx_PickleError * cdef object __pyx_result */ - __pyx_tuple__32 = PyTuple_Pack(5, __pyx_n_s_pyx_type, __pyx_n_s_pyx_checksum, __pyx_n_s_pyx_state, __pyx_n_s_pyx_PickleError, __pyx_n_s_pyx_result); if (unlikely(!__pyx_tuple__32)) __PYX_ERR(0, 1, __pyx_L1_error) - __Pyx_GOTREF(__pyx_tuple__32); - __Pyx_GIVEREF(__pyx_tuple__32); - __pyx_codeobj__33 = (PyObject*)__Pyx_PyCode_New(3, 0, 5, 0, CO_OPTIMIZED|CO_NEWLOCALS, __pyx_empty_bytes, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_tuple__32, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_kp_s_stringsource, __pyx_n_s_pyx_unpickle___Pyx_EnumMeta, 1, __pyx_empty_bytes); if (unlikely(!__pyx_codeobj__33)) __PYX_ERR(0, 1, __pyx_L1_error) + __pyx_tuple__34 = PyTuple_Pack(5, __pyx_n_s_pyx_type, __pyx_n_s_pyx_checksum, __pyx_n_s_pyx_state, __pyx_n_s_pyx_PickleError, __pyx_n_s_pyx_result); if (unlikely(!__pyx_tuple__34)) __PYX_ERR(1, 1, __pyx_L1_error) + __Pyx_GOTREF(__pyx_tuple__34); + __Pyx_GIVEREF(__pyx_tuple__34); + __pyx_codeobj__35 = (PyObject*)__Pyx_PyCode_New(3, 0, 5, 0, CO_OPTIMIZED|CO_NEWLOCALS, __pyx_empty_bytes, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_tuple__34, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_kp_s_stringsource, __pyx_n_s_pyx_unpickle___Pyx_EnumMeta, 1, __pyx_empty_bytes); if (unlikely(!__pyx_codeobj__35)) __PYX_ERR(1, 1, __pyx_L1_error) /* "View.MemoryView":286 * return self.name @@ -21993,9 +22272,9 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * cdef strided = Enum("") # default * cdef indirect = Enum("") */ - __pyx_tuple__34 = PyTuple_Pack(1, __pyx_kp_s_strided_and_direct_or_indirect); if (unlikely(!__pyx_tuple__34)) __PYX_ERR(0, 286, __pyx_L1_error) - __Pyx_GOTREF(__pyx_tuple__34); - __Pyx_GIVEREF(__pyx_tuple__34); + __pyx_tuple__36 = PyTuple_Pack(1, __pyx_kp_s_strided_and_direct_or_indirect); if (unlikely(!__pyx_tuple__36)) __PYX_ERR(1, 286, __pyx_L1_error) + __Pyx_GOTREF(__pyx_tuple__36); + __Pyx_GIVEREF(__pyx_tuple__36); /* "View.MemoryView":287 * @@ -22004,9 +22283,9 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * cdef indirect = Enum("") * */ - __pyx_tuple__35 = PyTuple_Pack(1, __pyx_kp_s_strided_and_direct); if (unlikely(!__pyx_tuple__35)) __PYX_ERR(0, 287, __pyx_L1_error) - __Pyx_GOTREF(__pyx_tuple__35); - __Pyx_GIVEREF(__pyx_tuple__35); + __pyx_tuple__37 = PyTuple_Pack(1, __pyx_kp_s_strided_and_direct); if (unlikely(!__pyx_tuple__37)) __PYX_ERR(1, 287, __pyx_L1_error) + __Pyx_GOTREF(__pyx_tuple__37); + __Pyx_GIVEREF(__pyx_tuple__37); /* "View.MemoryView":288 * cdef generic = Enum("") @@ -22015,9 +22294,9 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * * */ - __pyx_tuple__36 = PyTuple_Pack(1, __pyx_kp_s_strided_and_indirect); if (unlikely(!__pyx_tuple__36)) __PYX_ERR(0, 288, __pyx_L1_error) - __Pyx_GOTREF(__pyx_tuple__36); - __Pyx_GIVEREF(__pyx_tuple__36); + __pyx_tuple__38 = PyTuple_Pack(1, __pyx_kp_s_strided_and_indirect); if (unlikely(!__pyx_tuple__38)) __PYX_ERR(1, 288, __pyx_L1_error) + __Pyx_GOTREF(__pyx_tuple__38); + __Pyx_GIVEREF(__pyx_tuple__38); /* "View.MemoryView":291 * @@ -22026,9 +22305,9 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * cdef indirect_contiguous = Enum("") * */ - __pyx_tuple__37 = PyTuple_Pack(1, __pyx_kp_s_contiguous_and_direct); if (unlikely(!__pyx_tuple__37)) __PYX_ERR(0, 291, __pyx_L1_error) - __Pyx_GOTREF(__pyx_tuple__37); - __Pyx_GIVEREF(__pyx_tuple__37); + __pyx_tuple__39 = PyTuple_Pack(1, __pyx_kp_s_contiguous_and_direct); if (unlikely(!__pyx_tuple__39)) __PYX_ERR(1, 291, __pyx_L1_error) + __Pyx_GOTREF(__pyx_tuple__39); + __Pyx_GIVEREF(__pyx_tuple__39); /* "View.MemoryView":292 * @@ -22037,19 +22316,19 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { * * */ - __pyx_tuple__38 = PyTuple_Pack(1, __pyx_kp_s_contiguous_and_indirect); if (unlikely(!__pyx_tuple__38)) __PYX_ERR(0, 292, __pyx_L1_error) - __Pyx_GOTREF(__pyx_tuple__38); - __Pyx_GIVEREF(__pyx_tuple__38); + __pyx_tuple__40 = PyTuple_Pack(1, __pyx_kp_s_contiguous_and_indirect); if (unlikely(!__pyx_tuple__40)) __PYX_ERR(1, 292, __pyx_L1_error) + __Pyx_GOTREF(__pyx_tuple__40); + __Pyx_GIVEREF(__pyx_tuple__40); /* "(tree fragment)":1 * def __pyx_unpickle_Enum(__pyx_type, long __pyx_checksum, __pyx_state): # <<<<<<<<<<<<<< * cdef object __pyx_PickleError * cdef object __pyx_result */ - __pyx_tuple__39 = PyTuple_Pack(5, __pyx_n_s_pyx_type, __pyx_n_s_pyx_checksum, __pyx_n_s_pyx_state, __pyx_n_s_pyx_PickleError, __pyx_n_s_pyx_result); if (unlikely(!__pyx_tuple__39)) __PYX_ERR(0, 1, __pyx_L1_error) - __Pyx_GOTREF(__pyx_tuple__39); - __Pyx_GIVEREF(__pyx_tuple__39); - __pyx_codeobj__40 = (PyObject*)__Pyx_PyCode_New(3, 0, 5, 0, CO_OPTIMIZED|CO_NEWLOCALS, __pyx_empty_bytes, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_tuple__39, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_kp_s_stringsource, __pyx_n_s_pyx_unpickle_Enum, 1, __pyx_empty_bytes); if (unlikely(!__pyx_codeobj__40)) __PYX_ERR(0, 1, __pyx_L1_error) + __pyx_tuple__41 = PyTuple_Pack(5, __pyx_n_s_pyx_type, __pyx_n_s_pyx_checksum, __pyx_n_s_pyx_state, __pyx_n_s_pyx_PickleError, __pyx_n_s_pyx_result); if (unlikely(!__pyx_tuple__41)) __PYX_ERR(1, 1, __pyx_L1_error) + __Pyx_GOTREF(__pyx_tuple__41); + __Pyx_GIVEREF(__pyx_tuple__41); + __pyx_codeobj__42 = (PyObject*)__Pyx_PyCode_New(3, 0, 5, 0, CO_OPTIMIZED|CO_NEWLOCALS, __pyx_empty_bytes, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_tuple__41, __pyx_empty_tuple, __pyx_empty_tuple, __pyx_kp_s_stringsource, __pyx_n_s_pyx_unpickle_Enum, 1, __pyx_empty_bytes); if (unlikely(!__pyx_codeobj__42)) __PYX_ERR(1, 1, __pyx_L1_error) __Pyx_RefNannyFinishContext(); return 0; __pyx_L1_error:; @@ -22058,12 +22337,12 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { } static CYTHON_SMALL_CODE int __Pyx_InitGlobals(void) { - if (__Pyx_InitStrings(__pyx_string_tab) < 0) __PYX_ERR(1, 1, __pyx_L1_error); - __pyx_int_0 = PyInt_FromLong(0); if (unlikely(!__pyx_int_0)) __PYX_ERR(1, 1, __pyx_L1_error) - __pyx_int_1 = PyInt_FromLong(1); if (unlikely(!__pyx_int_1)) __PYX_ERR(1, 1, __pyx_L1_error) - __pyx_int_184977713 = PyInt_FromLong(184977713L); if (unlikely(!__pyx_int_184977713)) __PYX_ERR(1, 1, __pyx_L1_error) - __pyx_int_222419149 = PyInt_FromLong(222419149L); if (unlikely(!__pyx_int_222419149)) __PYX_ERR(1, 1, __pyx_L1_error) - __pyx_int_neg_1 = PyInt_FromLong(-1); if (unlikely(!__pyx_int_neg_1)) __PYX_ERR(1, 1, __pyx_L1_error) + if (__Pyx_InitStrings(__pyx_string_tab) < 0) __PYX_ERR(0, 1, __pyx_L1_error); + __pyx_int_0 = PyInt_FromLong(0); if (unlikely(!__pyx_int_0)) __PYX_ERR(0, 1, __pyx_L1_error) + __pyx_int_1 = PyInt_FromLong(1); if (unlikely(!__pyx_int_1)) __PYX_ERR(0, 1, __pyx_L1_error) + __pyx_int_184977713 = PyInt_FromLong(184977713L); if (unlikely(!__pyx_int_184977713)) __PYX_ERR(0, 1, __pyx_L1_error) + __pyx_int_222419149 = PyInt_FromLong(222419149L); if (unlikely(!__pyx_int_222419149)) __PYX_ERR(0, 1, __pyx_L1_error) + __pyx_int_neg_1 = PyInt_FromLong(-1); if (unlikely(!__pyx_int_neg_1)) __PYX_ERR(0, 1, __pyx_L1_error) return 0; __pyx_L1_error:; return -1; @@ -22116,53 +22395,53 @@ static int __Pyx_modinit_type_init_code(void) { int __pyx_clineno = 0; __Pyx_RefNannySetupContext("__Pyx_modinit_type_init_code", 0); /*--- Type init code ---*/ - if (PyType_Ready(&__pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer) < 0) __PYX_ERR(1, 28, __pyx_L1_error) + if (PyType_Ready(&__pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer) < 0) __PYX_ERR(0, 28, __pyx_L1_error) #if PY_VERSION_HEX < 0x030800B1 __pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer.tp_print = 0; #endif if ((CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP) && likely(!__pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer.tp_dictoffset && __pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer.tp_getattro == PyObject_GenericGetAttr)) { __pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer.tp_getattro = __Pyx_PyObject_GenericGetAttr; } - if (PyObject_SetAttr(__pyx_m, __pyx_n_s_VisionIpcServer, (PyObject *)&__pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer) < 0) __PYX_ERR(1, 28, __pyx_L1_error) - if (__Pyx_setup_reduce((PyObject*)&__pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer) < 0) __PYX_ERR(1, 28, __pyx_L1_error) + if (PyObject_SetAttr(__pyx_m, __pyx_n_s_VisionIpcServer, (PyObject *)&__pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer) < 0) __PYX_ERR(0, 28, __pyx_L1_error) + if (__Pyx_setup_reduce((PyObject*)&__pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer) < 0) __PYX_ERR(0, 28, __pyx_L1_error) __pyx_ptype_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer = &__pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcServer; - if (PyType_Ready(&__pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient) < 0) __PYX_ERR(1, 62, __pyx_L1_error) + if (PyType_Ready(&__pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient) < 0) __PYX_ERR(0, 62, __pyx_L1_error) #if PY_VERSION_HEX < 0x030800B1 __pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient.tp_print = 0; #endif if ((CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP) && likely(!__pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient.tp_dictoffset && __pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient.tp_getattro == PyObject_GenericGetAttr)) { __pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient.tp_getattro = __Pyx_PyObject_GenericGetAttr; } - if (PyObject_SetAttr(__pyx_m, __pyx_n_s_VisionIpcClient, (PyObject *)&__pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient) < 0) __PYX_ERR(1, 62, __pyx_L1_error) - if (__Pyx_setup_reduce((PyObject*)&__pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient) < 0) __PYX_ERR(1, 62, __pyx_L1_error) + if (PyObject_SetAttr(__pyx_m, __pyx_n_s_VisionIpcClient, (PyObject *)&__pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient) < 0) __PYX_ERR(0, 62, __pyx_L1_error) + if (__Pyx_setup_reduce((PyObject*)&__pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient) < 0) __PYX_ERR(0, 62, __pyx_L1_error) __pyx_ptype_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient = &__pyx_type_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient; __Pyx_EnumMeta.tp_base = (&PyType_Type); - if (PyType_Ready(&__Pyx_EnumMeta) < 0) __PYX_ERR(0, 15, __pyx_L1_error) + if (PyType_Ready(&__Pyx_EnumMeta) < 0) __PYX_ERR(1, 15, __pyx_L1_error) #if PY_VERSION_HEX < 0x030800B1 __Pyx_EnumMeta.tp_print = 0; #endif if ((CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP) && likely(!__Pyx_EnumMeta.tp_dictoffset && __Pyx_EnumMeta.tp_getattro == PyObject_GenericGetAttr)) { __Pyx_EnumMeta.tp_getattro = __Pyx_PyObject_GenericGetAttr; } - if (__Pyx_setup_reduce((PyObject*)&__Pyx_EnumMeta) < 0) __PYX_ERR(0, 15, __pyx_L1_error) + if (__Pyx_setup_reduce((PyObject*)&__Pyx_EnumMeta) < 0) __PYX_ERR(1, 15, __pyx_L1_error) __pyx_ptype___Pyx_EnumMeta = &__Pyx_EnumMeta; __pyx_vtabptr_array = &__pyx_vtable_array; __pyx_vtable_array.get_memview = (PyObject *(*)(struct __pyx_array_obj *))__pyx_array_get_memview; - if (PyType_Ready(&__pyx_type___pyx_array) < 0) __PYX_ERR(0, 105, __pyx_L1_error) + if (PyType_Ready(&__pyx_type___pyx_array) < 0) __PYX_ERR(1, 105, __pyx_L1_error) #if PY_VERSION_HEX < 0x030800B1 __pyx_type___pyx_array.tp_print = 0; #endif - if (__Pyx_SetVtable(__pyx_type___pyx_array.tp_dict, __pyx_vtabptr_array) < 0) __PYX_ERR(0, 105, __pyx_L1_error) - if (__Pyx_setup_reduce((PyObject*)&__pyx_type___pyx_array) < 0) __PYX_ERR(0, 105, __pyx_L1_error) + if (__Pyx_SetVtable(__pyx_type___pyx_array.tp_dict, __pyx_vtabptr_array) < 0) __PYX_ERR(1, 105, __pyx_L1_error) + if (__Pyx_setup_reduce((PyObject*)&__pyx_type___pyx_array) < 0) __PYX_ERR(1, 105, __pyx_L1_error) __pyx_array_type = &__pyx_type___pyx_array; - if (PyType_Ready(&__pyx_type___pyx_MemviewEnum) < 0) __PYX_ERR(0, 279, __pyx_L1_error) + if (PyType_Ready(&__pyx_type___pyx_MemviewEnum) < 0) __PYX_ERR(1, 279, __pyx_L1_error) #if PY_VERSION_HEX < 0x030800B1 __pyx_type___pyx_MemviewEnum.tp_print = 0; #endif if ((CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP) && likely(!__pyx_type___pyx_MemviewEnum.tp_dictoffset && __pyx_type___pyx_MemviewEnum.tp_getattro == PyObject_GenericGetAttr)) { __pyx_type___pyx_MemviewEnum.tp_getattro = __Pyx_PyObject_GenericGetAttr; } - if (__Pyx_setup_reduce((PyObject*)&__pyx_type___pyx_MemviewEnum) < 0) __PYX_ERR(0, 279, __pyx_L1_error) + if (__Pyx_setup_reduce((PyObject*)&__pyx_type___pyx_MemviewEnum) < 0) __PYX_ERR(1, 279, __pyx_L1_error) __pyx_MemviewEnum_type = &__pyx_type___pyx_MemviewEnum; __pyx_vtabptr_memoryview = &__pyx_vtable_memoryview; __pyx_vtable_memoryview.get_item_pointer = (char *(*)(struct __pyx_memoryview_obj *, PyObject *))__pyx_memoryview_get_item_pointer; @@ -22172,30 +22451,30 @@ static int __Pyx_modinit_type_init_code(void) { __pyx_vtable_memoryview.setitem_indexed = (PyObject *(*)(struct __pyx_memoryview_obj *, PyObject *, PyObject *))__pyx_memoryview_setitem_indexed; __pyx_vtable_memoryview.convert_item_to_object = (PyObject *(*)(struct __pyx_memoryview_obj *, char *))__pyx_memoryview_convert_item_to_object; __pyx_vtable_memoryview.assign_item_from_object = (PyObject *(*)(struct __pyx_memoryview_obj *, char *, PyObject *))__pyx_memoryview_assign_item_from_object; - if (PyType_Ready(&__pyx_type___pyx_memoryview) < 0) __PYX_ERR(0, 330, __pyx_L1_error) + if (PyType_Ready(&__pyx_type___pyx_memoryview) < 0) __PYX_ERR(1, 330, __pyx_L1_error) #if PY_VERSION_HEX < 0x030800B1 __pyx_type___pyx_memoryview.tp_print = 0; #endif if ((CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP) && likely(!__pyx_type___pyx_memoryview.tp_dictoffset && __pyx_type___pyx_memoryview.tp_getattro == PyObject_GenericGetAttr)) { __pyx_type___pyx_memoryview.tp_getattro = __Pyx_PyObject_GenericGetAttr; } - if (__Pyx_SetVtable(__pyx_type___pyx_memoryview.tp_dict, __pyx_vtabptr_memoryview) < 0) __PYX_ERR(0, 330, __pyx_L1_error) - if (__Pyx_setup_reduce((PyObject*)&__pyx_type___pyx_memoryview) < 0) __PYX_ERR(0, 330, __pyx_L1_error) + if (__Pyx_SetVtable(__pyx_type___pyx_memoryview.tp_dict, __pyx_vtabptr_memoryview) < 0) __PYX_ERR(1, 330, __pyx_L1_error) + if (__Pyx_setup_reduce((PyObject*)&__pyx_type___pyx_memoryview) < 0) __PYX_ERR(1, 330, __pyx_L1_error) __pyx_memoryview_type = &__pyx_type___pyx_memoryview; __pyx_vtabptr__memoryviewslice = &__pyx_vtable__memoryviewslice; __pyx_vtable__memoryviewslice.__pyx_base = *__pyx_vtabptr_memoryview; __pyx_vtable__memoryviewslice.__pyx_base.convert_item_to_object = (PyObject *(*)(struct __pyx_memoryview_obj *, char *))__pyx_memoryviewslice_convert_item_to_object; __pyx_vtable__memoryviewslice.__pyx_base.assign_item_from_object = (PyObject *(*)(struct __pyx_memoryview_obj *, char *, PyObject *))__pyx_memoryviewslice_assign_item_from_object; __pyx_type___pyx_memoryviewslice.tp_base = __pyx_memoryview_type; - if (PyType_Ready(&__pyx_type___pyx_memoryviewslice) < 0) __PYX_ERR(0, 965, __pyx_L1_error) + if (PyType_Ready(&__pyx_type___pyx_memoryviewslice) < 0) __PYX_ERR(1, 965, __pyx_L1_error) #if PY_VERSION_HEX < 0x030800B1 __pyx_type___pyx_memoryviewslice.tp_print = 0; #endif if ((CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP) && likely(!__pyx_type___pyx_memoryviewslice.tp_dictoffset && __pyx_type___pyx_memoryviewslice.tp_getattro == PyObject_GenericGetAttr)) { __pyx_type___pyx_memoryviewslice.tp_getattro = __Pyx_PyObject_GenericGetAttr; } - if (__Pyx_SetVtable(__pyx_type___pyx_memoryviewslice.tp_dict, __pyx_vtabptr__memoryviewslice) < 0) __PYX_ERR(0, 965, __pyx_L1_error) - if (__Pyx_setup_reduce((PyObject*)&__pyx_type___pyx_memoryviewslice) < 0) __PYX_ERR(0, 965, __pyx_L1_error) + if (__Pyx_SetVtable(__pyx_type___pyx_memoryviewslice.tp_dict, __pyx_vtabptr__memoryviewslice) < 0) __PYX_ERR(1, 965, __pyx_L1_error) + if (__Pyx_setup_reduce((PyObject*)&__pyx_type___pyx_memoryviewslice) < 0) __PYX_ERR(1, 965, __pyx_L1_error) __pyx_memoryviewslice_type = &__pyx_type___pyx_memoryviewslice; __Pyx_RefNannyFinishContext(); return 0; @@ -22375,8 +22654,8 @@ static CYTHON_SMALL_CODE int __pyx_pymod_exec_visionipc_pyx(PyObject *__pyx_pyin #endif { PyObject *__pyx_t_1 = NULL; - int __pyx_t_2; - PyObject *__pyx_t_3 = NULL; + PyObject *__pyx_t_2 = NULL; + int __pyx_t_3; PyObject *__pyx_t_4 = NULL; PyObject *__pyx_t_5 = NULL; static PyThread_type_lock __pyx_t_6[8]; @@ -22407,30 +22686,30 @@ if (!__Pyx_RefNanny) { } #endif __Pyx_RefNannySetupContext("__Pyx_PyMODINIT_FUNC PyInit_visionipc_pyx(void)", 0); - if (__Pyx_check_binary_version() < 0) __PYX_ERR(1, 1, __pyx_L1_error) + if (__Pyx_check_binary_version() < 0) __PYX_ERR(0, 1, __pyx_L1_error) #ifdef __Pxy_PyFrame_Initialize_Offsets __Pxy_PyFrame_Initialize_Offsets(); #endif - __pyx_empty_tuple = PyTuple_New(0); if (unlikely(!__pyx_empty_tuple)) __PYX_ERR(1, 1, __pyx_L1_error) - __pyx_empty_bytes = PyBytes_FromStringAndSize("", 0); if (unlikely(!__pyx_empty_bytes)) __PYX_ERR(1, 1, __pyx_L1_error) - __pyx_empty_unicode = PyUnicode_FromStringAndSize("", 0); if (unlikely(!__pyx_empty_unicode)) __PYX_ERR(1, 1, __pyx_L1_error) + __pyx_empty_tuple = PyTuple_New(0); if (unlikely(!__pyx_empty_tuple)) __PYX_ERR(0, 1, __pyx_L1_error) + __pyx_empty_bytes = PyBytes_FromStringAndSize("", 0); if (unlikely(!__pyx_empty_bytes)) __PYX_ERR(0, 1, __pyx_L1_error) + __pyx_empty_unicode = PyUnicode_FromStringAndSize("", 0); if (unlikely(!__pyx_empty_unicode)) __PYX_ERR(0, 1, __pyx_L1_error) #ifdef __Pyx_CyFunction_USED - if (__pyx_CyFunction_init() < 0) __PYX_ERR(1, 1, __pyx_L1_error) + if (__pyx_CyFunction_init() < 0) __PYX_ERR(0, 1, __pyx_L1_error) #endif #ifdef __Pyx_FusedFunction_USED - if (__pyx_FusedFunction_init() < 0) __PYX_ERR(1, 1, __pyx_L1_error) + if (__pyx_FusedFunction_init() < 0) __PYX_ERR(0, 1, __pyx_L1_error) #endif #ifdef __Pyx_Coroutine_USED - if (__pyx_Coroutine_init() < 0) __PYX_ERR(1, 1, __pyx_L1_error) + if (__pyx_Coroutine_init() < 0) __PYX_ERR(0, 1, __pyx_L1_error) #endif #ifdef __Pyx_Generator_USED - if (__pyx_Generator_init() < 0) __PYX_ERR(1, 1, __pyx_L1_error) + if (__pyx_Generator_init() < 0) __PYX_ERR(0, 1, __pyx_L1_error) #endif #ifdef __Pyx_AsyncGen_USED - if (__pyx_AsyncGen_init() < 0) __PYX_ERR(1, 1, __pyx_L1_error) + if (__pyx_AsyncGen_init() < 0) __PYX_ERR(0, 1, __pyx_L1_error) #endif #ifdef __Pyx_StopAsyncIteration_USED - if (__pyx_StopAsyncIteration_init() < 0) __PYX_ERR(1, 1, __pyx_L1_error) + if (__pyx_StopAsyncIteration_init() < 0) __PYX_ERR(0, 1, __pyx_L1_error) #endif /*--- Library function declarations ---*/ /*--- Threads initialization code ---*/ @@ -22447,46 +22726,46 @@ if (!__Pyx_RefNanny) { #else __pyx_m = PyModule_Create(&__pyx_moduledef); #endif - if (unlikely(!__pyx_m)) __PYX_ERR(1, 1, __pyx_L1_error) + if (unlikely(!__pyx_m)) __PYX_ERR(0, 1, __pyx_L1_error) #endif - __pyx_d = PyModule_GetDict(__pyx_m); if (unlikely(!__pyx_d)) __PYX_ERR(1, 1, __pyx_L1_error) + __pyx_d = PyModule_GetDict(__pyx_m); if (unlikely(!__pyx_d)) __PYX_ERR(0, 1, __pyx_L1_error) Py_INCREF(__pyx_d); - __pyx_b = PyImport_AddModule(__Pyx_BUILTIN_MODULE_NAME); if (unlikely(!__pyx_b)) __PYX_ERR(1, 1, __pyx_L1_error) + __pyx_b = PyImport_AddModule(__Pyx_BUILTIN_MODULE_NAME); if (unlikely(!__pyx_b)) __PYX_ERR(0, 1, __pyx_L1_error) Py_INCREF(__pyx_b); - __pyx_cython_runtime = PyImport_AddModule((char *) "cython_runtime"); if (unlikely(!__pyx_cython_runtime)) __PYX_ERR(1, 1, __pyx_L1_error) + __pyx_cython_runtime = PyImport_AddModule((char *) "cython_runtime"); if (unlikely(!__pyx_cython_runtime)) __PYX_ERR(0, 1, __pyx_L1_error) Py_INCREF(__pyx_cython_runtime); - if (PyObject_SetAttrString(__pyx_m, "__builtins__", __pyx_b) < 0) __PYX_ERR(1, 1, __pyx_L1_error); + if (PyObject_SetAttrString(__pyx_m, "__builtins__", __pyx_b) < 0) __PYX_ERR(0, 1, __pyx_L1_error); /*--- Initialize various global constants etc. ---*/ - if (__Pyx_InitGlobals() < 0) __PYX_ERR(1, 1, __pyx_L1_error) + if (__Pyx_InitGlobals() < 0) __PYX_ERR(0, 1, __pyx_L1_error) #if PY_MAJOR_VERSION < 3 && (__PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT) - if (__Pyx_init_sys_getdefaultencoding_params() < 0) __PYX_ERR(1, 1, __pyx_L1_error) + if (__Pyx_init_sys_getdefaultencoding_params() < 0) __PYX_ERR(0, 1, __pyx_L1_error) #endif if (__pyx_module_is_main_cereal__visionipc__visionipc_pyx) { - if (PyObject_SetAttr(__pyx_m, __pyx_n_s_name_2, __pyx_n_s_main) < 0) __PYX_ERR(1, 1, __pyx_L1_error) + if (PyObject_SetAttr(__pyx_m, __pyx_n_s_name_2, __pyx_n_s_main) < 0) __PYX_ERR(0, 1, __pyx_L1_error) } #if PY_MAJOR_VERSION >= 3 { - PyObject *modules = PyImport_GetModuleDict(); if (unlikely(!modules)) __PYX_ERR(1, 1, __pyx_L1_error) + PyObject *modules = PyImport_GetModuleDict(); if (unlikely(!modules)) __PYX_ERR(0, 1, __pyx_L1_error) if (!PyDict_GetItemString(modules, "cereal.visionipc.visionipc_pyx")) { - if (unlikely(PyDict_SetItemString(modules, "cereal.visionipc.visionipc_pyx", __pyx_m) < 0)) __PYX_ERR(1, 1, __pyx_L1_error) + if (unlikely(PyDict_SetItemString(modules, "cereal.visionipc.visionipc_pyx", __pyx_m) < 0)) __PYX_ERR(0, 1, __pyx_L1_error) } } #endif /*--- Builtin init code ---*/ - if (__Pyx_InitCachedBuiltins() < 0) __PYX_ERR(1, 1, __pyx_L1_error) + if (__Pyx_InitCachedBuiltins() < 0) __PYX_ERR(0, 1, __pyx_L1_error) /*--- Constants init code ---*/ - if (__Pyx_InitCachedConstants() < 0) __PYX_ERR(1, 1, __pyx_L1_error) + if (__Pyx_InitCachedConstants() < 0) __PYX_ERR(0, 1, __pyx_L1_error) /*--- Global type/function init code ---*/ (void)__Pyx_modinit_global_init_code(); (void)__Pyx_modinit_variable_export_code(); (void)__Pyx_modinit_function_export_code(); - if (unlikely(__Pyx_modinit_type_init_code() < 0)) __PYX_ERR(1, 1, __pyx_L1_error) - if (unlikely(__Pyx_modinit_type_import_code() < 0)) __PYX_ERR(1, 1, __pyx_L1_error) + if (unlikely(__Pyx_modinit_type_init_code() < 0)) __PYX_ERR(0, 1, __pyx_L1_error) + if (unlikely(__Pyx_modinit_type_import_code() < 0)) __PYX_ERR(0, 1, __pyx_L1_error) (void)__Pyx_modinit_variable_import_code(); (void)__Pyx_modinit_function_import_code(); /*--- Execution code ---*/ #if defined(__Pyx_Generator_USED) || defined(__Pyx_Coroutine_USED) - if (__Pyx_patch_abc() < 0) __PYX_ERR(1, 1, __pyx_L1_error) + if (__Pyx_patch_abc() < 0) __PYX_ERR(0, 1, __pyx_L1_error) #endif /* "cereal/visionipc/visionipc_pyx.pyx":4 @@ -22496,9 +22775,9 @@ if (!__Pyx_RefNanny) { * import numpy as np * cimport numpy as cnp */ - __pyx_t_1 = __Pyx_Import(__pyx_n_s_sys, 0, 0); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 4, __pyx_L1_error) + __pyx_t_1 = __Pyx_Import(__pyx_n_s_sys, 0, 0); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 4, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - if (PyDict_SetItem(__pyx_d, __pyx_n_s_sys, __pyx_t_1) < 0) __PYX_ERR(1, 4, __pyx_L1_error) + if (PyDict_SetItem(__pyx_d, __pyx_n_s_sys, __pyx_t_1) < 0) __PYX_ERR(0, 4, __pyx_L1_error) __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; /* "cereal/visionipc/visionipc_pyx.pyx":5 @@ -22508,20 +22787,48 @@ if (!__Pyx_RefNanny) { * cimport numpy as cnp * from cython.view cimport array */ - __pyx_t_1 = __Pyx_Import(__pyx_n_s_numpy, 0, 0); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 5, __pyx_L1_error) + __pyx_t_1 = __Pyx_Import(__pyx_n_s_numpy, 0, 0); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 5, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - if (PyDict_SetItem(__pyx_d, __pyx_n_s_np, __pyx_t_1) < 0) __PYX_ERR(1, 5, __pyx_L1_error) + if (PyDict_SetItem(__pyx_d, __pyx_n_s_np, __pyx_t_1) < 0) __PYX_ERR(0, 5, __pyx_L1_error) __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + /* "cereal/visionipc/visionipc_pyx.pyx":105 + * + * @staticmethod + * def available_streams(string name, bool block): # <<<<<<<<<<<<<< + * return cppVisionIpcClient.getAvailableStreams(name, block) + */ + __pyx_t_1 = PyCFunction_NewEx(&__pyx_mdef_6cereal_9visionipc_13visionipc_pyx_15VisionIpcClient_11available_streams, NULL, __pyx_n_s_cereal_visionipc_visionipc_pyx); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 105, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_1); + if (PyDict_SetItem((PyObject *)__pyx_ptype_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient->tp_dict, __pyx_n_s_available_streams, __pyx_t_1) < 0) __PYX_ERR(0, 105, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + PyType_Modified(__pyx_ptype_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient); + + /* "cereal/visionipc/visionipc_pyx.pyx":104 + * return self.client.is_connected() + * + * @staticmethod # <<<<<<<<<<<<<< + * def available_streams(string name, bool block): + * return cppVisionIpcClient.getAvailableStreams(name, block) + */ + __Pyx_GetNameInClass(__pyx_t_1, (PyObject *)__pyx_ptype_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient, __pyx_n_s_available_streams); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 105, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_1); + __pyx_t_2 = __Pyx_PyObject_CallOneArg(__pyx_builtin_staticmethod, __pyx_t_1); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 104, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + if (PyDict_SetItem((PyObject *)__pyx_ptype_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient->tp_dict, __pyx_n_s_available_streams, __pyx_t_2) < 0) __PYX_ERR(0, 105, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; + PyType_Modified(__pyx_ptype_6cereal_9visionipc_13visionipc_pyx_VisionIpcClient); + /* "cereal/visionipc/visionipc_pyx.pyx":1 * # distutils: language = c++ # <<<<<<<<<<<<<< * # cython: c_string_encoding=ascii, language_level=3 * */ - __pyx_t_1 = __Pyx_PyDict_NewPresized(0); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 1, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - if (PyDict_SetItem(__pyx_d, __pyx_n_s_test, __pyx_t_1) < 0) __PYX_ERR(1, 1, __pyx_L1_error) - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __pyx_t_2 = __Pyx_PyDict_NewPresized(0); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 1, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + if (PyDict_SetItem(__pyx_d, __pyx_n_s_test, __pyx_t_2) < 0) __PYX_ERR(0, 1, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; /* "EnumBase":9 * @@ -22530,8 +22837,8 @@ if (!__Pyx_RefNanny) { * from collections import OrderedDict as __Pyx_OrderedDict * else: */ - __pyx_t_2 = ((PY_VERSION_HEX >= 0x02070000) != 0); - if (__pyx_t_2) { + __pyx_t_3 = ((PY_VERSION_HEX >= 0x02070000) != 0); + if (__pyx_t_3) { /* "EnumBase":10 * cdef object __Pyx_OrderedDict @@ -22540,22 +22847,22 @@ if (!__Pyx_RefNanny) { * else: * __Pyx_OrderedDict = dict */ - __pyx_t_1 = PyList_New(1); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 10, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); + __pyx_t_2 = PyList_New(1); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 10, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_INCREF(__pyx_n_s_OrderedDict); __Pyx_GIVEREF(__pyx_n_s_OrderedDict); - PyList_SET_ITEM(__pyx_t_1, 0, __pyx_n_s_OrderedDict); - __pyx_t_3 = __Pyx_Import(__pyx_n_s_collections, __pyx_t_1, -1); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 10, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_3); - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __pyx_t_1 = __Pyx_ImportFrom(__pyx_t_3, __pyx_n_s_OrderedDict); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 10, __pyx_L1_error) + PyList_SET_ITEM(__pyx_t_2, 0, __pyx_n_s_OrderedDict); + __pyx_t_1 = __Pyx_Import(__pyx_n_s_collections, __pyx_t_2, -1); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 10, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __Pyx_INCREF(__pyx_t_1); + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; + __pyx_t_2 = __Pyx_ImportFrom(__pyx_t_1, __pyx_n_s_OrderedDict); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 10, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __Pyx_INCREF(__pyx_t_2); __Pyx_XGOTREF(__Pyx_OrderedDict); - __Pyx_DECREF_SET(__Pyx_OrderedDict, __pyx_t_1); - __Pyx_GIVEREF(__pyx_t_1); + __Pyx_DECREF_SET(__Pyx_OrderedDict, __pyx_t_2); + __Pyx_GIVEREF(__pyx_t_2); + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; /* "EnumBase":9 * @@ -22589,14 +22896,14 @@ if (!__Pyx_RefNanny) { * __metaclass__ = __Pyx_EnumMeta * def __new__(cls, value, name=None): */ - __pyx_t_3 = PyTuple_New(1); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 26, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_3); + __pyx_t_1 = PyTuple_New(1); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 26, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_1); __Pyx_INCREF(((PyObject *)(&PyInt_Type))); __Pyx_GIVEREF(((PyObject *)(&PyInt_Type))); - PyTuple_SET_ITEM(__pyx_t_3, 0, ((PyObject *)(&PyInt_Type))); - __pyx_t_1 = __Pyx_CalculateMetaclass(NULL, __pyx_t_3); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 26, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __pyx_t_4 = __Pyx_Py3MetaclassPrepare(__pyx_t_1, __pyx_t_3, __pyx_n_s_Pyx_EnumBase, __pyx_n_s_Pyx_EnumBase, (PyObject *) NULL, __pyx_n_s_EnumBase, (PyObject *) NULL); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 26, __pyx_L1_error) + PyTuple_SET_ITEM(__pyx_t_1, 0, ((PyObject *)(&PyInt_Type))); + __pyx_t_2 = __Pyx_CalculateMetaclass(NULL, __pyx_t_1); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 26, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __pyx_t_4 = __Pyx_Py3MetaclassPrepare(__pyx_t_2, __pyx_t_1, __pyx_n_s_Pyx_EnumBase, __pyx_n_s_Pyx_EnumBase, (PyObject *) NULL, __pyx_n_s_EnumBase, (PyObject *) NULL); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 26, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); /* "EnumBase":27 @@ -22606,7 +22913,7 @@ if (!__Pyx_RefNanny) { * def __new__(cls, value, name=None): * for v in cls: */ - if (__Pyx_SetNameInClass(__pyx_t_4, __pyx_n_s_metaclass, ((PyObject *)__pyx_ptype___Pyx_EnumMeta)) < 0) __PYX_ERR(0, 27, __pyx_L1_error) + if (__Pyx_SetNameInClass(__pyx_t_4, __pyx_n_s_metaclass, ((PyObject *)__pyx_ptype___Pyx_EnumMeta)) < 0) __PYX_ERR(1, 27, __pyx_L1_error) /* "EnumBase":28 * class __Pyx_EnumBase(int): @@ -22615,10 +22922,10 @@ if (!__Pyx_RefNanny) { * for v in cls: * if v == value: */ - __pyx_t_5 = __Pyx_CyFunction_New(&__pyx_mdef_8EnumBase_14__Pyx_EnumBase_1__new__, __Pyx_CYFUNCTION_STATICMETHOD, __pyx_n_s_Pyx_EnumBase___new, NULL, __pyx_n_s_EnumBase, __pyx_d, ((PyObject *)__pyx_codeobj__26)); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 28, __pyx_L1_error) + __pyx_t_5 = __Pyx_CyFunction_New(&__pyx_mdef_8EnumBase_14__Pyx_EnumBase_1__new__, __Pyx_CYFUNCTION_STATICMETHOD, __pyx_n_s_Pyx_EnumBase___new, NULL, __pyx_n_s_EnumBase, __pyx_d, ((PyObject *)__pyx_codeobj__28)); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 28, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); - __Pyx_CyFunction_SetDefaultsTuple(__pyx_t_5, __pyx_tuple__27); - if (__Pyx_SetNameInClass(__pyx_t_4, __pyx_n_s_new, __pyx_t_5) < 0) __PYX_ERR(0, 28, __pyx_L1_error) + __Pyx_CyFunction_SetDefaultsTuple(__pyx_t_5, __pyx_tuple__29); + if (__Pyx_SetNameInClass(__pyx_t_4, __pyx_n_s_new, __pyx_t_5) < 0) __PYX_ERR(1, 28, __pyx_L1_error) __Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0; /* "EnumBase":39 @@ -22628,9 +22935,9 @@ if (!__Pyx_RefNanny) { * return "<%s.%s: %d>" % (self.__class__.__name__, self.name, self) * def __str__(self): */ - __pyx_t_5 = __Pyx_CyFunction_New(&__pyx_mdef_8EnumBase_14__Pyx_EnumBase_3__repr__, 0, __pyx_n_s_Pyx_EnumBase___repr, NULL, __pyx_n_s_EnumBase, __pyx_d, ((PyObject *)__pyx_codeobj__29)); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 39, __pyx_L1_error) + __pyx_t_5 = __Pyx_CyFunction_New(&__pyx_mdef_8EnumBase_14__Pyx_EnumBase_3__repr__, 0, __pyx_n_s_Pyx_EnumBase___repr, NULL, __pyx_n_s_EnumBase, __pyx_d, ((PyObject *)__pyx_codeobj__31)); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 39, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); - if (__Pyx_SetNameInClass(__pyx_t_4, __pyx_n_s_repr, __pyx_t_5) < 0) __PYX_ERR(0, 39, __pyx_L1_error) + if (__Pyx_SetNameInClass(__pyx_t_4, __pyx_n_s_repr, __pyx_t_5) < 0) __PYX_ERR(1, 39, __pyx_L1_error) __Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0; /* "EnumBase":41 @@ -22640,9 +22947,9 @@ if (!__Pyx_RefNanny) { * return "%s.%s" % (self.__class__.__name__, self.name) * */ - __pyx_t_5 = __Pyx_CyFunction_New(&__pyx_mdef_8EnumBase_14__Pyx_EnumBase_5__str__, 0, __pyx_n_s_Pyx_EnumBase___str, NULL, __pyx_n_s_EnumBase, __pyx_d, ((PyObject *)__pyx_codeobj__31)); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 41, __pyx_L1_error) + __pyx_t_5 = __Pyx_CyFunction_New(&__pyx_mdef_8EnumBase_14__Pyx_EnumBase_5__str__, 0, __pyx_n_s_Pyx_EnumBase___str, NULL, __pyx_n_s_EnumBase, __pyx_d, ((PyObject *)__pyx_codeobj__33)); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 41, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); - if (__Pyx_SetNameInClass(__pyx_t_4, __pyx_n_s_str, __pyx_t_5) < 0) __PYX_ERR(0, 41, __pyx_L1_error) + if (__Pyx_SetNameInClass(__pyx_t_4, __pyx_n_s_str, __pyx_t_5) < 0) __PYX_ERR(1, 41, __pyx_L1_error) __Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0; /* "EnumBase":26 @@ -22652,15 +22959,15 @@ if (!__Pyx_RefNanny) { * __metaclass__ = __Pyx_EnumMeta * def __new__(cls, value, name=None): */ - __pyx_t_5 = __Pyx_Py3ClassCreate(__pyx_t_1, __pyx_n_s_Pyx_EnumBase, __pyx_t_3, __pyx_t_4, NULL, 0, 1); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 26, __pyx_L1_error) + __pyx_t_5 = __Pyx_Py3ClassCreate(__pyx_t_2, __pyx_n_s_Pyx_EnumBase, __pyx_t_1, __pyx_t_4, NULL, 0, 1); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 26, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); __Pyx_XGOTREF(__Pyx_EnumBase); __Pyx_DECREF_SET(__Pyx_EnumBase, __pyx_t_5); __Pyx_GIVEREF(__pyx_t_5); __pyx_t_5 = 0; __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; /* "EnumBase":44 * return "%s.%s" % (self.__class__.__name__, self.name) @@ -22669,8 +22976,8 @@ if (!__Pyx_RefNanny) { * from enum import IntEnum as __Pyx_EnumBase * */ - __pyx_t_2 = ((PY_VERSION_HEX >= 0x03040000) != 0); - if (__pyx_t_2) { + __pyx_t_3 = ((PY_VERSION_HEX >= 0x03040000) != 0); + if (__pyx_t_3) { /* "EnumBase":45 * @@ -22678,22 +22985,22 @@ if (!__Pyx_RefNanny) { * from enum import IntEnum as __Pyx_EnumBase # <<<<<<<<<<<<<< * */ - __pyx_t_3 = PyList_New(1); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 45, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_3); + __pyx_t_1 = PyList_New(1); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 45, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_1); __Pyx_INCREF(__pyx_n_s_IntEnum); __Pyx_GIVEREF(__pyx_n_s_IntEnum); - PyList_SET_ITEM(__pyx_t_3, 0, __pyx_n_s_IntEnum); - __pyx_t_1 = __Pyx_Import(__pyx_n_s_enum, __pyx_t_3, -1); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 45, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; - __pyx_t_3 = __Pyx_ImportFrom(__pyx_t_1, __pyx_n_s_IntEnum); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 45, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_3); - __Pyx_INCREF(__pyx_t_3); - __Pyx_XGOTREF(__Pyx_EnumBase); - __Pyx_DECREF_SET(__Pyx_EnumBase, __pyx_t_3); - __Pyx_GIVEREF(__pyx_t_3); - __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; + PyList_SET_ITEM(__pyx_t_1, 0, __pyx_n_s_IntEnum); + __pyx_t_2 = __Pyx_Import(__pyx_n_s_enum, __pyx_t_1, -1); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 45, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __pyx_t_1 = __Pyx_ImportFrom(__pyx_t_2, __pyx_n_s_IntEnum); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 45, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_1); + __Pyx_INCREF(__pyx_t_1); + __Pyx_XGOTREF(__Pyx_EnumBase); + __Pyx_DECREF_SET(__Pyx_EnumBase, __pyx_t_1); + __Pyx_GIVEREF(__pyx_t_1); + __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; /* "EnumBase":44 * return "%s.%s" % (self.__class__.__name__, self.name) @@ -22709,10 +23016,10 @@ if (!__Pyx_RefNanny) { * cdef object __pyx_PickleError * cdef object __pyx_result */ - __pyx_t_1 = PyCFunction_NewEx(&__pyx_mdef_8EnumBase_1__pyx_unpickle___Pyx_EnumMeta, NULL, __pyx_n_s_EnumBase); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 1, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - if (PyDict_SetItem(__pyx_d, __pyx_n_s_pyx_unpickle___Pyx_EnumMeta, __pyx_t_1) < 0) __PYX_ERR(0, 1, __pyx_L1_error) - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __pyx_t_2 = PyCFunction_NewEx(&__pyx_mdef_8EnumBase_1__pyx_unpickle___Pyx_EnumMeta, NULL, __pyx_n_s_EnumBase); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 1, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + if (PyDict_SetItem(__pyx_d, __pyx_n_s_pyx_unpickle___Pyx_EnumMeta, __pyx_t_2) < 0) __PYX_ERR(1, 1, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; /* "View.MemoryView":209 * info.obj = self @@ -22721,10 +23028,10 @@ if (!__Pyx_RefNanny) { * * def __dealloc__(array self): */ - __pyx_t_1 = __pyx_capsule_create(((void *)(&__pyx_array_getbuffer)), ((char *)"getbuffer(obj, view, flags)")); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 209, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - if (PyDict_SetItem((PyObject *)__pyx_array_type->tp_dict, __pyx_n_s_pyx_getbuffer, __pyx_t_1) < 0) __PYX_ERR(0, 209, __pyx_L1_error) - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __pyx_t_2 = __pyx_capsule_create(((void *)(&__pyx_array_getbuffer)), ((char *)"getbuffer(obj, view, flags)")); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 209, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + if (PyDict_SetItem((PyObject *)__pyx_array_type->tp_dict, __pyx_n_s_pyx_getbuffer, __pyx_t_2) < 0) __PYX_ERR(1, 209, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; PyType_Modified(__pyx_array_type); /* "View.MemoryView":286 @@ -22734,12 +23041,12 @@ if (!__Pyx_RefNanny) { * cdef strided = Enum("") # default * cdef indirect = Enum("") */ - __pyx_t_1 = __Pyx_PyObject_Call(((PyObject *)__pyx_MemviewEnum_type), __pyx_tuple__34, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 286, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); + __pyx_t_2 = __Pyx_PyObject_Call(((PyObject *)__pyx_MemviewEnum_type), __pyx_tuple__36, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 286, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_XGOTREF(generic); - __Pyx_DECREF_SET(generic, __pyx_t_1); - __Pyx_GIVEREF(__pyx_t_1); - __pyx_t_1 = 0; + __Pyx_DECREF_SET(generic, __pyx_t_2); + __Pyx_GIVEREF(__pyx_t_2); + __pyx_t_2 = 0; /* "View.MemoryView":287 * @@ -22748,12 +23055,12 @@ if (!__Pyx_RefNanny) { * cdef indirect = Enum("") * */ - __pyx_t_1 = __Pyx_PyObject_Call(((PyObject *)__pyx_MemviewEnum_type), __pyx_tuple__35, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 287, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); + __pyx_t_2 = __Pyx_PyObject_Call(((PyObject *)__pyx_MemviewEnum_type), __pyx_tuple__37, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 287, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_XGOTREF(strided); - __Pyx_DECREF_SET(strided, __pyx_t_1); - __Pyx_GIVEREF(__pyx_t_1); - __pyx_t_1 = 0; + __Pyx_DECREF_SET(strided, __pyx_t_2); + __Pyx_GIVEREF(__pyx_t_2); + __pyx_t_2 = 0; /* "View.MemoryView":288 * cdef generic = Enum("") @@ -22762,12 +23069,12 @@ if (!__Pyx_RefNanny) { * * */ - __pyx_t_1 = __Pyx_PyObject_Call(((PyObject *)__pyx_MemviewEnum_type), __pyx_tuple__36, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 288, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); + __pyx_t_2 = __Pyx_PyObject_Call(((PyObject *)__pyx_MemviewEnum_type), __pyx_tuple__38, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 288, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_XGOTREF(indirect); - __Pyx_DECREF_SET(indirect, __pyx_t_1); - __Pyx_GIVEREF(__pyx_t_1); - __pyx_t_1 = 0; + __Pyx_DECREF_SET(indirect, __pyx_t_2); + __Pyx_GIVEREF(__pyx_t_2); + __pyx_t_2 = 0; /* "View.MemoryView":291 * @@ -22776,12 +23083,12 @@ if (!__Pyx_RefNanny) { * cdef indirect_contiguous = Enum("") * */ - __pyx_t_1 = __Pyx_PyObject_Call(((PyObject *)__pyx_MemviewEnum_type), __pyx_tuple__37, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 291, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); + __pyx_t_2 = __Pyx_PyObject_Call(((PyObject *)__pyx_MemviewEnum_type), __pyx_tuple__39, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 291, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_XGOTREF(contiguous); - __Pyx_DECREF_SET(contiguous, __pyx_t_1); - __Pyx_GIVEREF(__pyx_t_1); - __pyx_t_1 = 0; + __Pyx_DECREF_SET(contiguous, __pyx_t_2); + __Pyx_GIVEREF(__pyx_t_2); + __pyx_t_2 = 0; /* "View.MemoryView":292 * @@ -22790,12 +23097,12 @@ if (!__Pyx_RefNanny) { * * */ - __pyx_t_1 = __Pyx_PyObject_Call(((PyObject *)__pyx_MemviewEnum_type), __pyx_tuple__38, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 292, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); + __pyx_t_2 = __Pyx_PyObject_Call(((PyObject *)__pyx_MemviewEnum_type), __pyx_tuple__40, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 292, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_XGOTREF(indirect_contiguous); - __Pyx_DECREF_SET(indirect_contiguous, __pyx_t_1); - __Pyx_GIVEREF(__pyx_t_1); - __pyx_t_1 = 0; + __Pyx_DECREF_SET(indirect_contiguous, __pyx_t_2); + __Pyx_GIVEREF(__pyx_t_2); + __pyx_t_2 = 0; /* "View.MemoryView":316 * @@ -22830,10 +23137,10 @@ if (!__Pyx_RefNanny) { * * */ - __pyx_t_1 = __pyx_capsule_create(((void *)(&__pyx_memoryview_getbuffer)), ((char *)"getbuffer(obj, view, flags)")); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 549, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - if (PyDict_SetItem((PyObject *)__pyx_memoryview_type->tp_dict, __pyx_n_s_pyx_getbuffer, __pyx_t_1) < 0) __PYX_ERR(0, 549, __pyx_L1_error) - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __pyx_t_2 = __pyx_capsule_create(((void *)(&__pyx_memoryview_getbuffer)), ((char *)"getbuffer(obj, view, flags)")); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 549, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + if (PyDict_SetItem((PyObject *)__pyx_memoryview_type->tp_dict, __pyx_n_s_pyx_getbuffer, __pyx_t_2) < 0) __PYX_ERR(1, 549, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; PyType_Modified(__pyx_memoryview_type); /* "View.MemoryView":995 @@ -22843,10 +23150,10 @@ if (!__Pyx_RefNanny) { * * */ - __pyx_t_1 = __pyx_capsule_create(((void *)(&__pyx_memoryview_getbuffer)), ((char *)"getbuffer(obj, view, flags)")); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 995, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - if (PyDict_SetItem((PyObject *)__pyx_memoryviewslice_type->tp_dict, __pyx_n_s_pyx_getbuffer, __pyx_t_1) < 0) __PYX_ERR(0, 995, __pyx_L1_error) - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __pyx_t_2 = __pyx_capsule_create(((void *)(&__pyx_memoryview_getbuffer)), ((char *)"getbuffer(obj, view, flags)")); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 995, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + if (PyDict_SetItem((PyObject *)__pyx_memoryviewslice_type->tp_dict, __pyx_n_s_pyx_getbuffer, __pyx_t_2) < 0) __PYX_ERR(1, 995, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; PyType_Modified(__pyx_memoryviewslice_type); /* "(tree fragment)":1 @@ -22854,10 +23161,10 @@ if (!__Pyx_RefNanny) { * cdef object __pyx_PickleError * cdef object __pyx_result */ - __pyx_t_1 = PyCFunction_NewEx(&__pyx_mdef_15View_dot_MemoryView_1__pyx_unpickle_Enum, NULL, __pyx_n_s_View_MemoryView); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 1, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - if (PyDict_SetItem(__pyx_d, __pyx_n_s_pyx_unpickle_Enum, __pyx_t_1) < 0) __PYX_ERR(0, 1, __pyx_L1_error) - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __pyx_t_2 = PyCFunction_NewEx(&__pyx_mdef_15View_dot_MemoryView_1__pyx_unpickle_Enum, NULL, __pyx_n_s_View_MemoryView); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 1, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + if (PyDict_SetItem(__pyx_d, __pyx_n_s_pyx_unpickle_Enum, __pyx_t_2) < 0) __PYX_ERR(1, 1, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; /* "EnumType":50 * @@ -22866,13 +23173,13 @@ if (!__Pyx_RefNanny) { * if PY_VERSION_HEX >= 0x03040000: * */ - __pyx_t_1 = __Pyx_Globals(); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 50, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - if (!(likely(PyDict_CheckExact(__pyx_t_1))||((__pyx_t_1) == Py_None)||(PyErr_Format(PyExc_TypeError, "Expected %.16s, got %.200s", "dict", Py_TYPE(__pyx_t_1)->tp_name), 0))) __PYX_ERR(0, 50, __pyx_L1_error) + __pyx_t_2 = __Pyx_Globals(); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 50, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + if (!(likely(PyDict_CheckExact(__pyx_t_2))||((__pyx_t_2) == Py_None)||(PyErr_Format(PyExc_TypeError, "Expected %.16s, got %.200s", "dict", Py_TYPE(__pyx_t_2)->tp_name), 0))) __PYX_ERR(1, 50, __pyx_L1_error) __Pyx_XGOTREF(__Pyx_globals); - __Pyx_DECREF_SET(__Pyx_globals, ((PyObject*)__pyx_t_1)); - __Pyx_GIVEREF(__pyx_t_1); - __pyx_t_1 = 0; + __Pyx_DECREF_SET(__Pyx_globals, ((PyObject*)__pyx_t_2)); + __Pyx_GIVEREF(__pyx_t_2); + __pyx_t_2 = 0; /* "EnumType":51 * @@ -22881,8 +23188,8 @@ if (!__Pyx_RefNanny) { * * VisionStreamType = __Pyx_EnumBase('VisionStreamType', __Pyx_OrderedDict([ */ - __pyx_t_2 = ((PY_VERSION_HEX >= 0x03040000) != 0); - if (__pyx_t_2) { + __pyx_t_3 = ((PY_VERSION_HEX >= 0x03040000) != 0); + if (__pyx_t_3) { /* "EnumType":54 * @@ -22891,16 +23198,16 @@ if (!__Pyx_RefNanny) { * ('VISION_STREAM_RGB_DRIVER', VISION_STREAM_RGB_DRIVER), * ('VISION_STREAM_RGB_WIDE_ROAD', VISION_STREAM_RGB_WIDE_ROAD), */ - __pyx_t_1 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_RGB_ROAD); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 54, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_RGB_ROAD); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 54, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __pyx_t_1 = PyTuple_New(2); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 54, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_t_3 = PyTuple_New(2); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 54, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_3); __Pyx_INCREF(__pyx_n_s_VISION_STREAM_RGB_ROAD); __Pyx_GIVEREF(__pyx_n_s_VISION_STREAM_RGB_ROAD); - PyTuple_SET_ITEM(__pyx_t_3, 0, __pyx_n_s_VISION_STREAM_RGB_ROAD); - __Pyx_GIVEREF(__pyx_t_1); - PyTuple_SET_ITEM(__pyx_t_3, 1, __pyx_t_1); - __pyx_t_1 = 0; + PyTuple_SET_ITEM(__pyx_t_1, 0, __pyx_n_s_VISION_STREAM_RGB_ROAD); + __Pyx_GIVEREF(__pyx_t_2); + PyTuple_SET_ITEM(__pyx_t_1, 1, __pyx_t_2); + __pyx_t_2 = 0; /* "EnumType":55 * VisionStreamType = __Pyx_EnumBase('VisionStreamType', __Pyx_OrderedDict([ @@ -22909,16 +23216,16 @@ if (!__Pyx_RefNanny) { * ('VISION_STREAM_RGB_WIDE_ROAD', VISION_STREAM_RGB_WIDE_ROAD), * ('VISION_STREAM_ROAD', VISION_STREAM_ROAD), */ - __pyx_t_1 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_RGB_DRIVER); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 55, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __pyx_t_4 = PyTuple_New(2); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 55, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_RGB_DRIVER); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 55, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __pyx_t_4 = PyTuple_New(2); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 55, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_INCREF(__pyx_n_s_VISION_STREAM_RGB_DRIVER); __Pyx_GIVEREF(__pyx_n_s_VISION_STREAM_RGB_DRIVER); PyTuple_SET_ITEM(__pyx_t_4, 0, __pyx_n_s_VISION_STREAM_RGB_DRIVER); - __Pyx_GIVEREF(__pyx_t_1); - PyTuple_SET_ITEM(__pyx_t_4, 1, __pyx_t_1); - __pyx_t_1 = 0; + __Pyx_GIVEREF(__pyx_t_2); + PyTuple_SET_ITEM(__pyx_t_4, 1, __pyx_t_2); + __pyx_t_2 = 0; /* "EnumType":56 * ('VISION_STREAM_RGB_ROAD', VISION_STREAM_RGB_ROAD), @@ -22927,16 +23234,16 @@ if (!__Pyx_RefNanny) { * ('VISION_STREAM_ROAD', VISION_STREAM_ROAD), * ('VISION_STREAM_DRIVER', VISION_STREAM_DRIVER), */ - __pyx_t_1 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_RGB_WIDE_ROAD); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 56, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __pyx_t_5 = PyTuple_New(2); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 56, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_RGB_WIDE_ROAD); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 56, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __pyx_t_5 = PyTuple_New(2); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 56, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); __Pyx_INCREF(__pyx_n_s_VISION_STREAM_RGB_WIDE_ROAD); __Pyx_GIVEREF(__pyx_n_s_VISION_STREAM_RGB_WIDE_ROAD); PyTuple_SET_ITEM(__pyx_t_5, 0, __pyx_n_s_VISION_STREAM_RGB_WIDE_ROAD); - __Pyx_GIVEREF(__pyx_t_1); - PyTuple_SET_ITEM(__pyx_t_5, 1, __pyx_t_1); - __pyx_t_1 = 0; + __Pyx_GIVEREF(__pyx_t_2); + PyTuple_SET_ITEM(__pyx_t_5, 1, __pyx_t_2); + __pyx_t_2 = 0; /* "EnumType":57 * ('VISION_STREAM_RGB_DRIVER', VISION_STREAM_RGB_DRIVER), @@ -22945,16 +23252,16 @@ if (!__Pyx_RefNanny) { * ('VISION_STREAM_DRIVER', VISION_STREAM_DRIVER), * ('VISION_STREAM_WIDE_ROAD', VISION_STREAM_WIDE_ROAD), */ - __pyx_t_1 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_ROAD); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 57, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __pyx_t_7 = PyTuple_New(2); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 57, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_ROAD); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 57, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __pyx_t_7 = PyTuple_New(2); if (unlikely(!__pyx_t_7)) __PYX_ERR(1, 57, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_7); __Pyx_INCREF(__pyx_n_s_VISION_STREAM_ROAD); __Pyx_GIVEREF(__pyx_n_s_VISION_STREAM_ROAD); PyTuple_SET_ITEM(__pyx_t_7, 0, __pyx_n_s_VISION_STREAM_ROAD); - __Pyx_GIVEREF(__pyx_t_1); - PyTuple_SET_ITEM(__pyx_t_7, 1, __pyx_t_1); - __pyx_t_1 = 0; + __Pyx_GIVEREF(__pyx_t_2); + PyTuple_SET_ITEM(__pyx_t_7, 1, __pyx_t_2); + __pyx_t_2 = 0; /* "EnumType":58 * ('VISION_STREAM_RGB_WIDE_ROAD', VISION_STREAM_RGB_WIDE_ROAD), @@ -22963,16 +23270,16 @@ if (!__Pyx_RefNanny) { * ('VISION_STREAM_WIDE_ROAD', VISION_STREAM_WIDE_ROAD), * ('VISION_STREAM_MAP', VISION_STREAM_MAP), */ - __pyx_t_1 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_DRIVER); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 58, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __pyx_t_8 = PyTuple_New(2); if (unlikely(!__pyx_t_8)) __PYX_ERR(0, 58, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_DRIVER); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 58, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __pyx_t_8 = PyTuple_New(2); if (unlikely(!__pyx_t_8)) __PYX_ERR(1, 58, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_8); __Pyx_INCREF(__pyx_n_s_VISION_STREAM_DRIVER); __Pyx_GIVEREF(__pyx_n_s_VISION_STREAM_DRIVER); PyTuple_SET_ITEM(__pyx_t_8, 0, __pyx_n_s_VISION_STREAM_DRIVER); - __Pyx_GIVEREF(__pyx_t_1); - PyTuple_SET_ITEM(__pyx_t_8, 1, __pyx_t_1); - __pyx_t_1 = 0; + __Pyx_GIVEREF(__pyx_t_2); + PyTuple_SET_ITEM(__pyx_t_8, 1, __pyx_t_2); + __pyx_t_2 = 0; /* "EnumType":59 * ('VISION_STREAM_ROAD', VISION_STREAM_ROAD), @@ -22981,16 +23288,16 @@ if (!__Pyx_RefNanny) { * ('VISION_STREAM_MAP', VISION_STREAM_MAP), * ])) */ - __pyx_t_1 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_WIDE_ROAD); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 59, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __pyx_t_9 = PyTuple_New(2); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 59, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_WIDE_ROAD); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 59, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __pyx_t_9 = PyTuple_New(2); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 59, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __Pyx_INCREF(__pyx_n_s_VISION_STREAM_WIDE_ROAD); __Pyx_GIVEREF(__pyx_n_s_VISION_STREAM_WIDE_ROAD); PyTuple_SET_ITEM(__pyx_t_9, 0, __pyx_n_s_VISION_STREAM_WIDE_ROAD); - __Pyx_GIVEREF(__pyx_t_1); - PyTuple_SET_ITEM(__pyx_t_9, 1, __pyx_t_1); - __pyx_t_1 = 0; + __Pyx_GIVEREF(__pyx_t_2); + PyTuple_SET_ITEM(__pyx_t_9, 1, __pyx_t_2); + __pyx_t_2 = 0; /* "EnumType":60 * ('VISION_STREAM_DRIVER', VISION_STREAM_DRIVER), @@ -22999,16 +23306,16 @@ if (!__Pyx_RefNanny) { * ])) * __Pyx_globals['VISION_STREAM_RGB_ROAD'] = VisionStreamType.VISION_STREAM_RGB_ROAD */ - __pyx_t_1 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_MAP); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 60, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __pyx_t_10 = PyTuple_New(2); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 60, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_MAP); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 60, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __pyx_t_10 = PyTuple_New(2); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 60, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __Pyx_INCREF(__pyx_n_s_VISION_STREAM_MAP); __Pyx_GIVEREF(__pyx_n_s_VISION_STREAM_MAP); PyTuple_SET_ITEM(__pyx_t_10, 0, __pyx_n_s_VISION_STREAM_MAP); - __Pyx_GIVEREF(__pyx_t_1); - PyTuple_SET_ITEM(__pyx_t_10, 1, __pyx_t_1); - __pyx_t_1 = 0; + __Pyx_GIVEREF(__pyx_t_2); + PyTuple_SET_ITEM(__pyx_t_10, 1, __pyx_t_2); + __pyx_t_2 = 0; /* "EnumType":53 * if PY_VERSION_HEX >= 0x03040000: @@ -23017,44 +23324,44 @@ if (!__Pyx_RefNanny) { * ('VISION_STREAM_RGB_ROAD', VISION_STREAM_RGB_ROAD), * ('VISION_STREAM_RGB_DRIVER', VISION_STREAM_RGB_DRIVER), */ - __pyx_t_1 = PyList_New(7); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 53, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __Pyx_GIVEREF(__pyx_t_3); - PyList_SET_ITEM(__pyx_t_1, 0, __pyx_t_3); + __pyx_t_2 = PyList_New(7); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 53, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __Pyx_GIVEREF(__pyx_t_1); + PyList_SET_ITEM(__pyx_t_2, 0, __pyx_t_1); __Pyx_GIVEREF(__pyx_t_4); - PyList_SET_ITEM(__pyx_t_1, 1, __pyx_t_4); + PyList_SET_ITEM(__pyx_t_2, 1, __pyx_t_4); __Pyx_GIVEREF(__pyx_t_5); - PyList_SET_ITEM(__pyx_t_1, 2, __pyx_t_5); + PyList_SET_ITEM(__pyx_t_2, 2, __pyx_t_5); __Pyx_GIVEREF(__pyx_t_7); - PyList_SET_ITEM(__pyx_t_1, 3, __pyx_t_7); + PyList_SET_ITEM(__pyx_t_2, 3, __pyx_t_7); __Pyx_GIVEREF(__pyx_t_8); - PyList_SET_ITEM(__pyx_t_1, 4, __pyx_t_8); + PyList_SET_ITEM(__pyx_t_2, 4, __pyx_t_8); __Pyx_GIVEREF(__pyx_t_9); - PyList_SET_ITEM(__pyx_t_1, 5, __pyx_t_9); + PyList_SET_ITEM(__pyx_t_2, 5, __pyx_t_9); __Pyx_GIVEREF(__pyx_t_10); - PyList_SET_ITEM(__pyx_t_1, 6, __pyx_t_10); - __pyx_t_3 = 0; + PyList_SET_ITEM(__pyx_t_2, 6, __pyx_t_10); + __pyx_t_1 = 0; __pyx_t_4 = 0; __pyx_t_5 = 0; __pyx_t_7 = 0; __pyx_t_8 = 0; __pyx_t_9 = 0; __pyx_t_10 = 0; - __pyx_t_10 = __Pyx_PyObject_CallOneArg(__Pyx_OrderedDict, __pyx_t_1); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 53, __pyx_L1_error) + __pyx_t_10 = __Pyx_PyObject_CallOneArg(__Pyx_OrderedDict, __pyx_t_2); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 53, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - __pyx_t_1 = PyTuple_New(2); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 53, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; + __pyx_t_2 = PyTuple_New(2); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 53, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_INCREF(__pyx_n_s_VisionStreamType); __Pyx_GIVEREF(__pyx_n_s_VisionStreamType); - PyTuple_SET_ITEM(__pyx_t_1, 0, __pyx_n_s_VisionStreamType); + PyTuple_SET_ITEM(__pyx_t_2, 0, __pyx_n_s_VisionStreamType); __Pyx_GIVEREF(__pyx_t_10); - PyTuple_SET_ITEM(__pyx_t_1, 1, __pyx_t_10); + PyTuple_SET_ITEM(__pyx_t_2, 1, __pyx_t_10); __pyx_t_10 = 0; - __pyx_t_10 = __Pyx_PyObject_Call(__Pyx_EnumBase, __pyx_t_1, NULL); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 53, __pyx_L1_error) + __pyx_t_10 = __Pyx_PyObject_Call(__Pyx_EnumBase, __pyx_t_2, NULL); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 53, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; - if (PyDict_SetItem(__pyx_d, __pyx_n_s_VisionStreamType, __pyx_t_10) < 0) __PYX_ERR(0, 53, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; + if (PyDict_SetItem(__pyx_d, __pyx_n_s_VisionStreamType, __pyx_t_10) < 0) __PYX_ERR(1, 53, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; /* "EnumType":62 @@ -23064,17 +23371,17 @@ if (!__Pyx_RefNanny) { * __Pyx_globals['VISION_STREAM_RGB_DRIVER'] = VisionStreamType.VISION_STREAM_RGB_DRIVER * __Pyx_globals['VISION_STREAM_RGB_WIDE_ROAD'] = VisionStreamType.VISION_STREAM_RGB_WIDE_ROAD */ - __Pyx_GetModuleGlobalName(__pyx_t_10, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 62, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_10, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 62, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_t_10, __pyx_n_s_VISION_STREAM_RGB_ROAD); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 62, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); + __pyx_t_2 = __Pyx_PyObject_GetAttrStr(__pyx_t_10, __pyx_n_s_VISION_STREAM_RGB_ROAD); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 62, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; if (unlikely(__Pyx_globals == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 62, __pyx_L1_error) + __PYX_ERR(1, 62, __pyx_L1_error) } - if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_RGB_ROAD, __pyx_t_1) < 0)) __PYX_ERR(0, 62, __pyx_L1_error) - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_RGB_ROAD, __pyx_t_2) < 0)) __PYX_ERR(1, 62, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; /* "EnumType":63 * ])) @@ -23083,16 +23390,16 @@ if (!__Pyx_RefNanny) { * __Pyx_globals['VISION_STREAM_RGB_WIDE_ROAD'] = VisionStreamType.VISION_STREAM_RGB_WIDE_ROAD * __Pyx_globals['VISION_STREAM_ROAD'] = VisionStreamType.VISION_STREAM_ROAD */ - __Pyx_GetModuleGlobalName(__pyx_t_1, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 63, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __pyx_t_10 = __Pyx_PyObject_GetAttrStr(__pyx_t_1, __pyx_n_s_VISION_STREAM_RGB_DRIVER); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 63, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_2, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 63, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __pyx_t_10 = __Pyx_PyObject_GetAttrStr(__pyx_t_2, __pyx_n_s_VISION_STREAM_RGB_DRIVER); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 63, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; if (unlikely(__Pyx_globals == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 63, __pyx_L1_error) + __PYX_ERR(1, 63, __pyx_L1_error) } - if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_RGB_DRIVER, __pyx_t_10) < 0)) __PYX_ERR(0, 63, __pyx_L1_error) + if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_RGB_DRIVER, __pyx_t_10) < 0)) __PYX_ERR(1, 63, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; /* "EnumType":64 @@ -23102,17 +23409,17 @@ if (!__Pyx_RefNanny) { * __Pyx_globals['VISION_STREAM_ROAD'] = VisionStreamType.VISION_STREAM_ROAD * __Pyx_globals['VISION_STREAM_DRIVER'] = VisionStreamType.VISION_STREAM_DRIVER */ - __Pyx_GetModuleGlobalName(__pyx_t_10, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 64, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_10, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 64, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_t_10, __pyx_n_s_VISION_STREAM_RGB_WIDE_ROAD); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 64, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); + __pyx_t_2 = __Pyx_PyObject_GetAttrStr(__pyx_t_10, __pyx_n_s_VISION_STREAM_RGB_WIDE_ROAD); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 64, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; if (unlikely(__Pyx_globals == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 64, __pyx_L1_error) + __PYX_ERR(1, 64, __pyx_L1_error) } - if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_RGB_WIDE_ROAD, __pyx_t_1) < 0)) __PYX_ERR(0, 64, __pyx_L1_error) - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_RGB_WIDE_ROAD, __pyx_t_2) < 0)) __PYX_ERR(1, 64, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; /* "EnumType":65 * __Pyx_globals['VISION_STREAM_RGB_DRIVER'] = VisionStreamType.VISION_STREAM_RGB_DRIVER @@ -23121,16 +23428,16 @@ if (!__Pyx_RefNanny) { * __Pyx_globals['VISION_STREAM_DRIVER'] = VisionStreamType.VISION_STREAM_DRIVER * __Pyx_globals['VISION_STREAM_WIDE_ROAD'] = VisionStreamType.VISION_STREAM_WIDE_ROAD */ - __Pyx_GetModuleGlobalName(__pyx_t_1, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 65, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __pyx_t_10 = __Pyx_PyObject_GetAttrStr(__pyx_t_1, __pyx_n_s_VISION_STREAM_ROAD); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 65, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_2, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 65, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __pyx_t_10 = __Pyx_PyObject_GetAttrStr(__pyx_t_2, __pyx_n_s_VISION_STREAM_ROAD); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 65, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; if (unlikely(__Pyx_globals == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 65, __pyx_L1_error) + __PYX_ERR(1, 65, __pyx_L1_error) } - if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_ROAD, __pyx_t_10) < 0)) __PYX_ERR(0, 65, __pyx_L1_error) + if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_ROAD, __pyx_t_10) < 0)) __PYX_ERR(1, 65, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; /* "EnumType":66 @@ -23140,17 +23447,17 @@ if (!__Pyx_RefNanny) { * __Pyx_globals['VISION_STREAM_WIDE_ROAD'] = VisionStreamType.VISION_STREAM_WIDE_ROAD * __Pyx_globals['VISION_STREAM_MAP'] = VisionStreamType.VISION_STREAM_MAP */ - __Pyx_GetModuleGlobalName(__pyx_t_10, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 66, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_10, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 66, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_t_10, __pyx_n_s_VISION_STREAM_DRIVER); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 66, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); + __pyx_t_2 = __Pyx_PyObject_GetAttrStr(__pyx_t_10, __pyx_n_s_VISION_STREAM_DRIVER); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 66, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; if (unlikely(__Pyx_globals == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 66, __pyx_L1_error) + __PYX_ERR(1, 66, __pyx_L1_error) } - if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_DRIVER, __pyx_t_1) < 0)) __PYX_ERR(0, 66, __pyx_L1_error) - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_DRIVER, __pyx_t_2) < 0)) __PYX_ERR(1, 66, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; /* "EnumType":67 * __Pyx_globals['VISION_STREAM_ROAD'] = VisionStreamType.VISION_STREAM_ROAD @@ -23159,16 +23466,16 @@ if (!__Pyx_RefNanny) { * __Pyx_globals['VISION_STREAM_MAP'] = VisionStreamType.VISION_STREAM_MAP * else: */ - __Pyx_GetModuleGlobalName(__pyx_t_1, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 67, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __pyx_t_10 = __Pyx_PyObject_GetAttrStr(__pyx_t_1, __pyx_n_s_VISION_STREAM_WIDE_ROAD); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 67, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_2, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 67, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __pyx_t_10 = __Pyx_PyObject_GetAttrStr(__pyx_t_2, __pyx_n_s_VISION_STREAM_WIDE_ROAD); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 67, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; if (unlikely(__Pyx_globals == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 67, __pyx_L1_error) + __PYX_ERR(1, 67, __pyx_L1_error) } - if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_WIDE_ROAD, __pyx_t_10) < 0)) __PYX_ERR(0, 67, __pyx_L1_error) + if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_WIDE_ROAD, __pyx_t_10) < 0)) __PYX_ERR(1, 67, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; /* "EnumType":68 @@ -23178,17 +23485,17 @@ if (!__Pyx_RefNanny) { * else: * class VisionStreamType(__Pyx_EnumBase): */ - __Pyx_GetModuleGlobalName(__pyx_t_10, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 68, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_10, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 68, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_t_10, __pyx_n_s_VISION_STREAM_MAP); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 68, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); + __pyx_t_2 = __Pyx_PyObject_GetAttrStr(__pyx_t_10, __pyx_n_s_VISION_STREAM_MAP); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 68, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; if (unlikely(__Pyx_globals == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 68, __pyx_L1_error) + __PYX_ERR(1, 68, __pyx_L1_error) } - if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_MAP, __pyx_t_1) < 0)) __PYX_ERR(0, 68, __pyx_L1_error) - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_MAP, __pyx_t_2) < 0)) __PYX_ERR(1, 68, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; /* "EnumType":51 * @@ -23208,22 +23515,22 @@ if (!__Pyx_RefNanny) { * __Pyx_globals['VISION_STREAM_RGB_ROAD'] = VisionStreamType(VISION_STREAM_RGB_ROAD, 'VISION_STREAM_RGB_ROAD') */ /*else*/ { - __pyx_t_1 = PyTuple_New(1); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 70, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); + __pyx_t_2 = PyTuple_New(1); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 70, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_INCREF(__Pyx_EnumBase); __Pyx_GIVEREF(__Pyx_EnumBase); - PyTuple_SET_ITEM(__pyx_t_1, 0, __Pyx_EnumBase); - __pyx_t_10 = __Pyx_CalculateMetaclass(NULL, __pyx_t_1); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 70, __pyx_L1_error) + PyTuple_SET_ITEM(__pyx_t_2, 0, __Pyx_EnumBase); + __pyx_t_10 = __Pyx_CalculateMetaclass(NULL, __pyx_t_2); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 70, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __pyx_t_9 = __Pyx_Py3MetaclassPrepare(__pyx_t_10, __pyx_t_1, __pyx_n_s_VisionStreamType, __pyx_n_s_VisionStreamType, (PyObject *) NULL, __pyx_n_s_EnumType, (PyObject *) NULL); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 70, __pyx_L1_error) + __pyx_t_9 = __Pyx_Py3MetaclassPrepare(__pyx_t_10, __pyx_t_2, __pyx_n_s_VisionStreamType, __pyx_n_s_VisionStreamType, (PyObject *) NULL, __pyx_n_s_EnumType, (PyObject *) NULL); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 70, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); - __pyx_t_8 = __Pyx_Py3ClassCreate(__pyx_t_10, __pyx_n_s_VisionStreamType, __pyx_t_1, __pyx_t_9, NULL, 0, 1); if (unlikely(!__pyx_t_8)) __PYX_ERR(0, 70, __pyx_L1_error) + __pyx_t_8 = __Pyx_Py3ClassCreate(__pyx_t_10, __pyx_n_s_VisionStreamType, __pyx_t_2, __pyx_t_9, NULL, 0, 1); if (unlikely(!__pyx_t_8)) __PYX_ERR(1, 70, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_8); - if (PyDict_SetItem(__pyx_d, __pyx_n_s_VisionStreamType, __pyx_t_8) < 0) __PYX_ERR(0, 70, __pyx_L1_error) + if (PyDict_SetItem(__pyx_d, __pyx_n_s_VisionStreamType, __pyx_t_8) < 0) __PYX_ERR(1, 70, __pyx_L1_error) __Pyx_DECREF(__pyx_t_8); __pyx_t_8 = 0; __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; /* "EnumType":72 * class VisionStreamType(__Pyx_EnumBase): @@ -23232,11 +23539,11 @@ if (!__Pyx_RefNanny) { * __Pyx_globals['VISION_STREAM_RGB_DRIVER'] = VisionStreamType(VISION_STREAM_RGB_DRIVER, 'VISION_STREAM_RGB_DRIVER') * __Pyx_globals['VISION_STREAM_RGB_WIDE_ROAD'] = VisionStreamType(VISION_STREAM_RGB_WIDE_ROAD, 'VISION_STREAM_RGB_WIDE_ROAD') */ - __Pyx_GetModuleGlobalName(__pyx_t_1, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 72, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __pyx_t_10 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_RGB_ROAD); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 72, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_2, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 72, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __pyx_t_10 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_RGB_ROAD); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 72, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __pyx_t_9 = PyTuple_New(2); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 72, __pyx_L1_error) + __pyx_t_9 = PyTuple_New(2); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 72, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __Pyx_GIVEREF(__pyx_t_10); PyTuple_SET_ITEM(__pyx_t_9, 0, __pyx_t_10); @@ -23244,15 +23551,15 @@ if (!__Pyx_RefNanny) { __Pyx_GIVEREF(__pyx_n_s_VISION_STREAM_RGB_ROAD); PyTuple_SET_ITEM(__pyx_t_9, 1, __pyx_n_s_VISION_STREAM_RGB_ROAD); __pyx_t_10 = 0; - __pyx_t_10 = __Pyx_PyObject_Call(__pyx_t_1, __pyx_t_9, NULL); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 72, __pyx_L1_error) + __pyx_t_10 = __Pyx_PyObject_Call(__pyx_t_2, __pyx_t_9, NULL); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 72, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; if (unlikely(__Pyx_globals == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 72, __pyx_L1_error) + __PYX_ERR(1, 72, __pyx_L1_error) } - if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_RGB_ROAD, __pyx_t_10) < 0)) __PYX_ERR(0, 72, __pyx_L1_error) + if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_RGB_ROAD, __pyx_t_10) < 0)) __PYX_ERR(1, 72, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; /* "EnumType":73 @@ -23262,27 +23569,27 @@ if (!__Pyx_RefNanny) { * __Pyx_globals['VISION_STREAM_RGB_WIDE_ROAD'] = VisionStreamType(VISION_STREAM_RGB_WIDE_ROAD, 'VISION_STREAM_RGB_WIDE_ROAD') * __Pyx_globals['VISION_STREAM_ROAD'] = VisionStreamType(VISION_STREAM_ROAD, 'VISION_STREAM_ROAD') */ - __Pyx_GetModuleGlobalName(__pyx_t_10, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 73, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_10, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 73, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __pyx_t_9 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_RGB_DRIVER); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 73, __pyx_L1_error) + __pyx_t_9 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_RGB_DRIVER); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 73, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); - __pyx_t_1 = PyTuple_New(2); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 73, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); + __pyx_t_2 = PyTuple_New(2); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 73, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_GIVEREF(__pyx_t_9); - PyTuple_SET_ITEM(__pyx_t_1, 0, __pyx_t_9); + PyTuple_SET_ITEM(__pyx_t_2, 0, __pyx_t_9); __Pyx_INCREF(__pyx_n_s_VISION_STREAM_RGB_DRIVER); __Pyx_GIVEREF(__pyx_n_s_VISION_STREAM_RGB_DRIVER); - PyTuple_SET_ITEM(__pyx_t_1, 1, __pyx_n_s_VISION_STREAM_RGB_DRIVER); + PyTuple_SET_ITEM(__pyx_t_2, 1, __pyx_n_s_VISION_STREAM_RGB_DRIVER); __pyx_t_9 = 0; - __pyx_t_9 = __Pyx_PyObject_Call(__pyx_t_10, __pyx_t_1, NULL); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 73, __pyx_L1_error) + __pyx_t_9 = __Pyx_PyObject_Call(__pyx_t_10, __pyx_t_2, NULL); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 73, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; if (unlikely(__Pyx_globals == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 73, __pyx_L1_error) + __PYX_ERR(1, 73, __pyx_L1_error) } - if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_RGB_DRIVER, __pyx_t_9) < 0)) __PYX_ERR(0, 73, __pyx_L1_error) + if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_RGB_DRIVER, __pyx_t_9) < 0)) __PYX_ERR(1, 73, __pyx_L1_error) __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; /* "EnumType":74 @@ -23292,28 +23599,28 @@ if (!__Pyx_RefNanny) { * __Pyx_globals['VISION_STREAM_ROAD'] = VisionStreamType(VISION_STREAM_ROAD, 'VISION_STREAM_ROAD') * __Pyx_globals['VISION_STREAM_DRIVER'] = VisionStreamType(VISION_STREAM_DRIVER, 'VISION_STREAM_DRIVER') */ - __Pyx_GetModuleGlobalName(__pyx_t_9, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 74, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_9, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 74, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); - __pyx_t_1 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_RGB_WIDE_ROAD); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 74, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __pyx_t_10 = PyTuple_New(2); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 74, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_RGB_WIDE_ROAD); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 74, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __pyx_t_10 = PyTuple_New(2); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 74, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __Pyx_GIVEREF(__pyx_t_1); - PyTuple_SET_ITEM(__pyx_t_10, 0, __pyx_t_1); + __Pyx_GIVEREF(__pyx_t_2); + PyTuple_SET_ITEM(__pyx_t_10, 0, __pyx_t_2); __Pyx_INCREF(__pyx_n_s_VISION_STREAM_RGB_WIDE_ROAD); __Pyx_GIVEREF(__pyx_n_s_VISION_STREAM_RGB_WIDE_ROAD); PyTuple_SET_ITEM(__pyx_t_10, 1, __pyx_n_s_VISION_STREAM_RGB_WIDE_ROAD); - __pyx_t_1 = 0; - __pyx_t_1 = __Pyx_PyObject_Call(__pyx_t_9, __pyx_t_10, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 74, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); + __pyx_t_2 = 0; + __pyx_t_2 = __Pyx_PyObject_Call(__pyx_t_9, __pyx_t_10, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 74, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; if (unlikely(__Pyx_globals == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 74, __pyx_L1_error) + __PYX_ERR(1, 74, __pyx_L1_error) } - if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_RGB_WIDE_ROAD, __pyx_t_1) < 0)) __PYX_ERR(0, 74, __pyx_L1_error) - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_RGB_WIDE_ROAD, __pyx_t_2) < 0)) __PYX_ERR(1, 74, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; /* "EnumType":75 * __Pyx_globals['VISION_STREAM_RGB_DRIVER'] = VisionStreamType(VISION_STREAM_RGB_DRIVER, 'VISION_STREAM_RGB_DRIVER') @@ -23322,11 +23629,11 @@ if (!__Pyx_RefNanny) { * __Pyx_globals['VISION_STREAM_DRIVER'] = VisionStreamType(VISION_STREAM_DRIVER, 'VISION_STREAM_DRIVER') * __Pyx_globals['VISION_STREAM_WIDE_ROAD'] = VisionStreamType(VISION_STREAM_WIDE_ROAD, 'VISION_STREAM_WIDE_ROAD') */ - __Pyx_GetModuleGlobalName(__pyx_t_1, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 75, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __pyx_t_10 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_ROAD); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 75, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_2, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 75, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __pyx_t_10 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_ROAD); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 75, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __pyx_t_9 = PyTuple_New(2); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 75, __pyx_L1_error) + __pyx_t_9 = PyTuple_New(2); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 75, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __Pyx_GIVEREF(__pyx_t_10); PyTuple_SET_ITEM(__pyx_t_9, 0, __pyx_t_10); @@ -23334,15 +23641,15 @@ if (!__Pyx_RefNanny) { __Pyx_GIVEREF(__pyx_n_s_VISION_STREAM_ROAD); PyTuple_SET_ITEM(__pyx_t_9, 1, __pyx_n_s_VISION_STREAM_ROAD); __pyx_t_10 = 0; - __pyx_t_10 = __Pyx_PyObject_Call(__pyx_t_1, __pyx_t_9, NULL); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 75, __pyx_L1_error) + __pyx_t_10 = __Pyx_PyObject_Call(__pyx_t_2, __pyx_t_9, NULL); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 75, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; if (unlikely(__Pyx_globals == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 75, __pyx_L1_error) + __PYX_ERR(1, 75, __pyx_L1_error) } - if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_ROAD, __pyx_t_10) < 0)) __PYX_ERR(0, 75, __pyx_L1_error) + if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_ROAD, __pyx_t_10) < 0)) __PYX_ERR(1, 75, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; /* "EnumType":76 @@ -23352,27 +23659,27 @@ if (!__Pyx_RefNanny) { * __Pyx_globals['VISION_STREAM_WIDE_ROAD'] = VisionStreamType(VISION_STREAM_WIDE_ROAD, 'VISION_STREAM_WIDE_ROAD') * __Pyx_globals['VISION_STREAM_MAP'] = VisionStreamType(VISION_STREAM_MAP, 'VISION_STREAM_MAP') */ - __Pyx_GetModuleGlobalName(__pyx_t_10, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 76, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_10, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 76, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __pyx_t_9 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_DRIVER); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 76, __pyx_L1_error) + __pyx_t_9 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_DRIVER); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 76, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); - __pyx_t_1 = PyTuple_New(2); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 76, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); + __pyx_t_2 = PyTuple_New(2); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 76, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_GIVEREF(__pyx_t_9); - PyTuple_SET_ITEM(__pyx_t_1, 0, __pyx_t_9); + PyTuple_SET_ITEM(__pyx_t_2, 0, __pyx_t_9); __Pyx_INCREF(__pyx_n_s_VISION_STREAM_DRIVER); __Pyx_GIVEREF(__pyx_n_s_VISION_STREAM_DRIVER); - PyTuple_SET_ITEM(__pyx_t_1, 1, __pyx_n_s_VISION_STREAM_DRIVER); + PyTuple_SET_ITEM(__pyx_t_2, 1, __pyx_n_s_VISION_STREAM_DRIVER); __pyx_t_9 = 0; - __pyx_t_9 = __Pyx_PyObject_Call(__pyx_t_10, __pyx_t_1, NULL); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 76, __pyx_L1_error) + __pyx_t_9 = __Pyx_PyObject_Call(__pyx_t_10, __pyx_t_2, NULL); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 76, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; if (unlikely(__Pyx_globals == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 76, __pyx_L1_error) + __PYX_ERR(1, 76, __pyx_L1_error) } - if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_DRIVER, __pyx_t_9) < 0)) __PYX_ERR(0, 76, __pyx_L1_error) + if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_DRIVER, __pyx_t_9) < 0)) __PYX_ERR(1, 76, __pyx_L1_error) __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; /* "EnumType":77 @@ -23382,28 +23689,28 @@ if (!__Pyx_RefNanny) { * __Pyx_globals['VISION_STREAM_MAP'] = VisionStreamType(VISION_STREAM_MAP, 'VISION_STREAM_MAP') * */ - __Pyx_GetModuleGlobalName(__pyx_t_9, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 77, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_9, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 77, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); - __pyx_t_1 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_WIDE_ROAD); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 77, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __pyx_t_10 = PyTuple_New(2); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 77, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_WIDE_ROAD); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 77, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __pyx_t_10 = PyTuple_New(2); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 77, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __Pyx_GIVEREF(__pyx_t_1); - PyTuple_SET_ITEM(__pyx_t_10, 0, __pyx_t_1); + __Pyx_GIVEREF(__pyx_t_2); + PyTuple_SET_ITEM(__pyx_t_10, 0, __pyx_t_2); __Pyx_INCREF(__pyx_n_s_VISION_STREAM_WIDE_ROAD); __Pyx_GIVEREF(__pyx_n_s_VISION_STREAM_WIDE_ROAD); PyTuple_SET_ITEM(__pyx_t_10, 1, __pyx_n_s_VISION_STREAM_WIDE_ROAD); - __pyx_t_1 = 0; - __pyx_t_1 = __Pyx_PyObject_Call(__pyx_t_9, __pyx_t_10, NULL); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 77, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); + __pyx_t_2 = 0; + __pyx_t_2 = __Pyx_PyObject_Call(__pyx_t_9, __pyx_t_10, NULL); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 77, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; if (unlikely(__Pyx_globals == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 77, __pyx_L1_error) + __PYX_ERR(1, 77, __pyx_L1_error) } - if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_WIDE_ROAD, __pyx_t_1) < 0)) __PYX_ERR(0, 77, __pyx_L1_error) - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_WIDE_ROAD, __pyx_t_2) < 0)) __PYX_ERR(1, 77, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; /* "EnumType":78 * __Pyx_globals['VISION_STREAM_DRIVER'] = VisionStreamType(VISION_STREAM_DRIVER, 'VISION_STREAM_DRIVER') @@ -23411,11 +23718,11 @@ if (!__Pyx_RefNanny) { * __Pyx_globals['VISION_STREAM_MAP'] = VisionStreamType(VISION_STREAM_MAP, 'VISION_STREAM_MAP') # <<<<<<<<<<<<<< * */ - __Pyx_GetModuleGlobalName(__pyx_t_1, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 78, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_1); - __pyx_t_10 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_MAP); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 78, __pyx_L1_error) + __Pyx_GetModuleGlobalName(__pyx_t_2, __pyx_n_s_VisionStreamType); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 78, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_2); + __pyx_t_10 = __Pyx_PyInt_From_enum____pyx_t_6cereal_9visionipc_13visionipc_pyx_VisionStreamType(__pyx_e_6cereal_9visionipc_13visionipc_pyx_VISION_STREAM_MAP); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 78, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __pyx_t_9 = PyTuple_New(2); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 78, __pyx_L1_error) + __pyx_t_9 = PyTuple_New(2); if (unlikely(!__pyx_t_9)) __PYX_ERR(1, 78, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __Pyx_GIVEREF(__pyx_t_10); PyTuple_SET_ITEM(__pyx_t_9, 0, __pyx_t_10); @@ -23423,15 +23730,15 @@ if (!__Pyx_RefNanny) { __Pyx_GIVEREF(__pyx_n_s_VISION_STREAM_MAP); PyTuple_SET_ITEM(__pyx_t_9, 1, __pyx_n_s_VISION_STREAM_MAP); __pyx_t_10 = 0; - __pyx_t_10 = __Pyx_PyObject_Call(__pyx_t_1, __pyx_t_9, NULL); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 78, __pyx_L1_error) + __pyx_t_10 = __Pyx_PyObject_Call(__pyx_t_2, __pyx_t_9, NULL); if (unlikely(!__pyx_t_10)) __PYX_ERR(1, 78, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); - __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; if (unlikely(__Pyx_globals == Py_None)) { PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable"); - __PYX_ERR(0, 78, __pyx_L1_error) + __PYX_ERR(1, 78, __pyx_L1_error) } - if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_MAP, __pyx_t_10) < 0)) __PYX_ERR(0, 78, __pyx_L1_error) + if (unlikely(PyDict_SetItem(__Pyx_globals, __pyx_n_s_VISION_STREAM_MAP, __pyx_t_10) < 0)) __PYX_ERR(1, 78, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; } __pyx_L4:; @@ -23441,7 +23748,7 @@ if (!__Pyx_RefNanny) { goto __pyx_L0; __pyx_L1_error:; __Pyx_XDECREF(__pyx_t_1); - __Pyx_XDECREF(__pyx_t_3); + __Pyx_XDECREF(__pyx_t_2); __Pyx_XDECREF(__pyx_t_4); __Pyx_XDECREF(__pyx_t_5); __Pyx_XDECREF(__pyx_t_7); @@ -25469,6 +25776,26 @@ bad: } #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); @@ -28787,6 +29114,44 @@ raise_neg_overflow: } } +/* 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 diff --git a/cereal/visionipc/visionipc_pyx.so b/cereal/visionipc/visionipc_pyx.so index e8785c0da..b3c9c2184 100755 Binary files a/cereal/visionipc/visionipc_pyx.so and b/cereal/visionipc/visionipc_pyx.so differ diff --git a/common/dp_conf.py b/common/dp_conf.py index 8f97c1bcd..cc5cef81a 100644 --- a/common/dp_conf.py +++ b/common/dp_conf.py @@ -197,6 +197,10 @@ confs = [ # {'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': False, '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']}, ] def get_definition(name): diff --git a/common/params_pyx.so b/common/params_pyx.so index e1432b80f..ef062ecba 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/common/version.h b/common/version.h index 502c19664..ee4dc3529 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "2023.03.27" +#define COMMA_VERSION "2023.03.29" diff --git a/docs/CARS.md b/docs/CARS.md index 070d068ca..3e23316bd 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ 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. -# 238 Supported Cars +# 239 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -17,6 +17,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Audi|Q3 2019-23|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|| |Audi|RS3 2018|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|| |Audi|S3 2015-17|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|| +|Buick|LaCrosse 2017-19[3](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| |Cadillac|Escalade 2017[3](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| |Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| |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|| @@ -116,7 +117,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Seltos 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 A|| |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| |Kia|Sorento 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|Sorento 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| +|Kia|Sorento 2021-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| |Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Kia|Sportage 2023[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|| |Kia|Sportage 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 N|| @@ -125,14 +126,14 @@ A supported vehicle is one that just works when you install a comma three. All s |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 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|Lexus Safety System+|openpilot available[2](#footnotes)|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|| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|RX 2016|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|RX 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 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| @@ -148,7 +149,7 @@ A supported vehicle is one that just works when you install a comma three. All s |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|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 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|| +|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|| |SEAT|Ateca 2018|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|| |SEAT|Leon 2014-20|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|| |Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index ad40e0e5b..68b3650f2 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -221,18 +221,6 @@ function agnos_init { fi $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST fi - - #dp: change splash logo - if [ -f "/usr/comma/.dp_splash" ]; then - echo "DP splash exists." - else - echo "DP splash not deployed yet" - sudo mount -o rw,remount / - sudo cp /data/openpilot/selfdrive/dragonpilot/bg.jpg /usr/comma/bg.jpg - sudo touch /usr/comma/.dp_splash - sudo mount -o ro,remount / - sudo reboot - fi } function launch { diff --git a/opendbc/can/libdbc.so b/opendbc/can/libdbc.so index f235d741a..da73b1d2c 100755 Binary files a/opendbc/can/libdbc.so and b/opendbc/can/libdbc.so differ diff --git a/opendbc/can/parser_pyx.so b/opendbc/can/parser_pyx.so index 7f750d9a9..c3adc3ded 100755 Binary files a/opendbc/can/parser_pyx.so and b/opendbc/can/parser_pyx.so differ diff --git a/opendbc/generator/toyota/_toyota_2017.dbc b/opendbc/generator/toyota/_toyota_2017.dbc index bf999afa1..1bb2857b6 100644 --- a/opendbc/generator/toyota/_toyota_2017.dbc +++ b/opendbc/generator/toyota/_toyota_2017.dbc @@ -82,6 +82,7 @@ BO_ 466 PCM_CRUISE: 8 XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 467 PCM_CRUISE_2: 8 XXX + SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX diff --git a/opendbc/generator/toyota/toyota_new_mc_pt.dbc b/opendbc/generator/toyota/toyota_new_mc_pt.dbc index c3a6b5f5b..2e74a5e8d 100644 --- a/opendbc/generator/toyota/toyota_new_mc_pt.dbc +++ b/opendbc/generator/toyota/toyota_new_mc_pt.dbc @@ -11,6 +11,9 @@ BO_ 610 EPS_STATUS: 5 EPS SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX +BO_ 1178 BRAKE_RELATED: 8 XXX + SG_ BRAKE_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX + CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force"; CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; diff --git a/opendbc/toyota_new_mc_pt_generated.dbc b/opendbc/toyota_new_mc_pt_generated.dbc index 0e114678d..7ad8ce5ad 100644 --- a/opendbc/toyota_new_mc_pt_generated.dbc +++ b/opendbc/toyota_new_mc_pt_generated.dbc @@ -132,6 +132,7 @@ BO_ 466 PCM_CRUISE: 8 XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 467 PCM_CRUISE_2: 8 XXX + SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX @@ -552,6 +553,9 @@ BO_ 610 EPS_STATUS: 5 EPS SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX +BO_ 1178 BRAKE_RELATED: 8 XXX + SG_ BRAKE_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX + CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force"; CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; diff --git a/opendbc/toyota_nodsu_pt_generated.dbc b/opendbc/toyota_nodsu_pt_generated.dbc index 153deb082..4a85f621c 100644 --- a/opendbc/toyota_nodsu_pt_generated.dbc +++ b/opendbc/toyota_nodsu_pt_generated.dbc @@ -133,6 +133,7 @@ BO_ 466 PCM_CRUISE: 8 XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 467 PCM_CRUISE_2: 8 XXX + SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX diff --git a/opendbc/toyota_tnga_k_pt_generated.dbc b/opendbc/toyota_tnga_k_pt_generated.dbc index d615d787f..5e4a9c3d6 100644 --- a/opendbc/toyota_tnga_k_pt_generated.dbc +++ b/opendbc/toyota_tnga_k_pt_generated.dbc @@ -132,6 +132,7 @@ BO_ 466 PCM_CRUISE: 8 XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 467 PCM_CRUISE_2: 8 XXX + SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX diff --git a/opendbc/vw_golf_mk4.dbc b/opendbc/vw_golf_mk4.dbc index b266a7f4c..8e1bb6360 100644 --- a/opendbc/vw_golf_mk4.dbc +++ b/opendbc/vw_golf_mk4.dbc @@ -1086,10 +1086,10 @@ BO_ 872 ACC_System: 8 XXX SG_ ACS_Sollbeschl : 24|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" XXX SG_ ACS_Anhaltewunsch : 38|1@1+ (1,0) [0|1] "" XXX SG_ ACS_Fehler : 39|1@1+ (1,0) [0|1] "" XXX - SG_ ACS_zul_Regelabw : 40|8@1+ (1,0.005) [0|1.265] "Unit_MeterPerSeconSquar" XXX - SG_ ACS_max_AendGrad : 48|8@1+ (1,0.02) [0.02|5.06] "Unit_MeterPerSeconSquar" XXX + SG_ ACS_zul_Regelabw : 40|8@1+ (0.005,0) [0|1.265] "Unit_MeterPerSeconSquar" XXX + SG_ ACS_max_AendGrad : 48|8@1+ (0.02,0) [0.02|5.06] "Unit_MeterPerSeconSquar" XXX -BO_ 1386 ACC_GRA_Anziege: 8 XXX +BO_ 1386 ACC_GRA_Anzeige: 8 XXX SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ ACA_StaACC : 8|3@1+ (1,0) [0|7] "" XXX SG_ ACA_ID_StaACC : 11|5@1+ (1,0) [0|31] "" XXX @@ -1100,7 +1100,7 @@ BO_ 1386 ACC_GRA_Anziege: 8 XXX SG_ ACA_kmh_mph : 32|1@1+ (1,0) [0|1] "" XXX SG_ ACA_Akustik1 : 33|1@1+ (1,0) [0|1] "" XXX SG_ ACA_Akustik2 : 34|1@1+ (1,0) [0|1] "" XXX - SG_ ACA_PrioDisp : 35|1@1+ (1,0) [0|1] "" XXX + SG_ ACA_PrioDisp : 35|2@1+ (1,0) [0|3] "" XXX SG_ ACA_gemZeitl : 40|4@1+ (1,0) [0|15] "" XXX SG_ ACA_ACC_Verz : 44|1@1+ (1,0) [0|1] "" XXX SG_ ACA_StaGRA : 48|3@1+ (1,0) [0|7] "" XXX @@ -1153,8 +1153,8 @@ BO_ 644 Motor_Bremse: 6 XXX SG_ MOB_COUNTER : 8|4@1+ (1,0) [0|15] "" Bremse_MK25AESP SG_ TSK_v_Begrenzung_aktiv : 15|1@0+ (1,0) [0|1] "" XXX SG_ TSK_ax_Getriebe_01 : 40|8@1+ (0.048,0) [0|255] "m/s2" XXX - SG_ MOB_Bremsstgr : 16|11@1+ (0.76,0) [0|100] "Unit_PerCent" Vector__XXX - SG_ MOB_Bremsmom : 27|13@1+ (1,0) [0|8190] "Unit_NewtoMeter" Bremse_MK25AESP + SG_ MOB_Bremsstgr : 16|11@1+ (0.048852,0) [0|100] "Unit_PerCent" Vector__XXX + SG_ MOB_Bremsmom : 27|13@1+ (4,0) [0|32760] "Unit_NewtoMeter" Bremse_MK25AESP BO_ 870 AWV: 5 XXX SG_ AWV_2_Gurtstraffer : 39|1@1+ (1,0) [0|1] "" Bremsbooster @@ -1531,5 +1531,36 @@ CM_ SG_ 1470 XX_DLCORTLC2 "Might be DLC or TLC, might have wrong size"; CM_ SG_ 1550 MFA_v_Signal_02 "0=km/h, 1=mph"; +VAL_ 872 ACS_Sta_ADR 2 "ADR_passiv" 0 "ADR_nicht_aktiv" 1 "ADR_aktiv" 3 "irrev_Fehler" ; +VAL_ 872 ACS_ADR_Schub 1 "Verz_begr_auf_Schub" 0 "Verz_nicht_begr_auf_Schub" ; +VAL_ 872 ACS_Schubabsch 1 "SA_nicht_zulaessig" 0 "SA_zulaessig" ; +VAL_ 872 ACS_StSt_Info 3 "Systemfehler" 0 "Motorlauf_nn" 1 "Stoppverbot_Motoranlauf_nn" 2 "Motoranlauf_notwendig" ; +VAL_ 872 ACS_MomEingriff 1 "MomEingr_verhindern" 0 "keine_Beeinfl_MomEingr_Mot" ; +VAL_ 872 ACS_Typ_ACC 0 "Basis_ACC" 1 "ACC_mit_FollowToStop" 3 "frei" 2 "frei" ; +VAL_ 872 ACS_FreigSollB 0 "Sollbeschl_nicht_freigeg" 1 "Sollbeschl_freigeg" ; +VAL_ 872 ACS_Sollbeschl 2046 "ADR_nicht_aktiv" 2047 "Fehler" ; +VAL_ 872 ACS_Anhaltewunsch 0 "kein_Haltewunsch" 1 "Fzg_haelt_an" ; +VAL_ 872 ACS_Fehler 1 "Fehlerspeichereintrag" 0 "kein_Fehlerspeichereintrag" ; +VAL_ 872 ACS_zul_Regelabw 254 "ADR_nicht_aktiv" 255 "Fehler" ; +VAL_ 872 ACS_max_AendGrad 254 "Neutralwert" 0 "Neutralwert" 255 "Fehler" ; + VAL_ 978 LH2_Sta_HCA 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active"; VAL_ 1088 Waehlhebelposition__Getriebe_1_ 8 "P" 7 "R" 6 "N" 5 "D" 9 "U" 12 "S" 14 "T" 10 "T" 11 "T"; + +VAL_ 1386 ACA_StaACC 6 "ACC_rev_aus" 0 "Hauptschalter_aus" 4 "ACC_im_Hintergrund" 3 "ACC_aktiv" 1 "Reserve" 2 "ACC_passiv" 7 "ACC_irrev_aus" 5 "frei" ; +VAL_ 1386 ACA_ID_StaACC 0 "keine_Anzeige" ; +VAL_ 1386 ACA_Fahrerhinw 1 "Ein" 0 "Aus" ; +VAL_ 1386 ACA_AnzDisplay 1 "Anzeige_erw" 0 "Anzeige_nicht_erw" ; +VAL_ 1386 ACA_Zeitluecke 3 "Zeitluecke3" 10 "Zeitluecke10" 4 "Zeitluecke4" 14 "Zeitluecke14" 11 "Zeitluecke11" 2 "Zeitluecke2" 13 "Zeitluecke13" 9 "Zeitluecke9" 1 "Zeitluecke1" 8 "Zeitluecke8" 5 "Zeitluecke5" 15 "Zeitluecke15" 0 "nicht_definiert" 12 "Zeitluecke12" 6 "Zeitluecke6" 7 "Zeitluecke7" ; +VAL_ 1386 ACA_V_Wunsch 255 "kein_Wert_im_Speicher" ; +VAL_ 1386 ACA_kmh_mph 0 "km_h" 1 "mph" ; +VAL_ 1386 ACA_Akustik1 0 "kein_Gong" 1 "Gong" ; +VAL_ 1386 ACA_Akustik2 0 "kein_Summer" 1 "Summer" ; +VAL_ 1386 ACA_PrioDisp 1 "mittlere_Prio" 3 "keine_Anzeige_Anf" 0 "hohe_Prio" 2 "niedrige_Prio" ; +VAL_ 1386 ACA_gemZeitl 6 "Zeitluecke6" 2 "Zeitluecke2" 7 "Zeitluecke7" 13 "Zeitluecke13" 11 "Zeitluecke11" 4 "Zeitluecke4" 8 "Zeitluecke8" 12 "Zeitluecke12" 10 "Zeitluecke10" 0 "Kein_Objekt_erfasst" 1 "Zeitluecke1" 3 "Zeitluecke3" 9 "Zeitluecke9" 15 "Zeitluecke15" 14 "Zeitluecke14" 5 "Zeitluecke5" ; +VAL_ 1386 ACA_ACC_Verz 0 "ACC_verzoegert_nicht" 1 "ACC_verzoegert" ; +VAL_ 1386 ACA_StaGRA 3 "GRA_aktiv" 4 "GRA_uebertreten" 2 "GRA_passiv" 0 "Hauptschalter_aus" 6 "frei" 7 "GRA_Fehler" 1 "Reserve" 5 "frei" ; +VAL_ 1386 ACA_ID_StaGRA 0 "keine_Anzeige" ; +VAL_ 1386 ACA_Codierung 0 "ACC" 1 "GRA" ; +VAL_ 1386 ACA_Tachokranz 0 "nicht_beleuchtet" 1 "beleuchtet" ; +VAL_ 1386 ACA_Aend_Zeitluecke 1 "Anzeige_angef" 0 "keine_Anzeige" ; diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 9738fadf7..012d07244 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 96c32d9b3..3be5d39b8 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 08acc17ce..45e1c5005 100644 --- a/panda/python/__init__.py +++ b/panda/python/__init__.py @@ -201,6 +201,7 @@ class Panda: # first byte is for EPS scaling factor FLAG_TOYOTA_ALT_BRAKE = (1 << 8) FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8) + FLAG_TOYOTA_LTA = (4 << 8) FLAG_HONDA_ALT_BRAKE = 1 FLAG_HONDA_BOSCH_LONG = 2 @@ -404,6 +405,10 @@ class Panda: if not enter_bootloader and reconnect: self.reconnect() + @property + def connected(self) -> bool: + return self._handle_open + def reconnect(self): if self._handle_open: self.close() diff --git a/rednose/helpers/ekf_sym_pyx.so b/rednose/helpers/ekf_sym_pyx.so index 9bc0cbfb9..f01995858 100755 Binary files a/rednose/helpers/ekf_sym_pyx.so and b/rednose/helpers/ekf_sym_pyx.so differ diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py index 93ba6964a..b87619273 100755 --- a/selfdrive/athena/registration.py +++ b/selfdrive/athena/registration.py @@ -100,7 +100,7 @@ def register(show_spinner=False) -> Optional[str]: 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 8f11aad28..35f7bd906 100755 Binary files a/selfdrive/boardd/boardd and b/selfdrive/boardd/boardd differ diff --git a/selfdrive/boardd/boardd_api_impl.so b/selfdrive/boardd/boardd_api_impl.so index 7f755d120..0ddc2543c 100755 Binary files a/selfdrive/boardd/boardd_api_impl.so and b/selfdrive/boardd/boardd_api_impl.so differ diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py index e9bbcb458..d614f0b12 100755 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -51,7 +51,7 @@ class TestBoardd(unittest.TestCase): cp.safetyConfigs = [safety_config]*num_pandas params = Params() - params.put("CarVin", b"0"*17) + params.put_bool("FirmwareQueryDone", True) params.put_bool("ControlsReady", True) params.put("CarParams", cp.to_bytes()) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 8dd9adea4..40a8c85a6 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -8,7 +8,7 @@ from common.basedir import BASEDIR 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 -from selfdrive.car.fw_versions import disable_obd_multiplexing, get_fw_versions_ordered, match_fw_to_car, get_present_ecus +from selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing from system.swaglog import cloudlog import cereal.messaging as messaging from selfdrive.car import gen_empty_fingerprint @@ -85,6 +85,7 @@ def fingerprint(logcan, sendcan, num_pandas): fixed_fingerprint = os.environ.get('FINGERPRINT', "") skip_fw_query = os.environ.get('SKIP_FW_QUERY', False) ecu_rx_addrs = set() + params = Params() dp_car_assigned = Params().get('dp_car_assigned', encoding='utf8') if not fixed_fingerprint and dp_car_assigned is not None: @@ -95,7 +96,7 @@ def fingerprint(logcan, sendcan, num_pandas): # Vin query only reliably works through OBDII bus = 1 - cached_params = Params().get("CarParamsCache") + cached_params = params.get("CarParamsCache") if cached_params is not None: cached_params = car.CarParams.from_bytes(cached_params) if cached_params.carName == "mock": @@ -108,6 +109,7 @@ def fingerprint(logcan, sendcan, num_pandas): cached = True else: cloudlog.warning("Getting VIN & FW versions") + set_obd_multiplexing(params, True) vin_rx_addr, vin = get_vin(logcan, sendcan, bus) ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas) car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas) @@ -123,10 +125,11 @@ def fingerprint(logcan, sendcan, num_pandas): cloudlog.event("Malformed VIN", vin=vin, error=True) vin = VIN_UNKNOWN cloudlog.warning("VIN %s", vin) - - params = Params() params.put("CarVin", vin) - disable_obd_multiplexing(params) + + # disable OBD multiplexing for potential ECU knockouts + set_obd_multiplexing(params, False) + params.put_bool("FirmwareQueryDone", True) finger = gen_empty_fingerprint() candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1 @@ -225,7 +228,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas) if candidate is None: - cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints) + cloudlog.event("car doesn't match any fingerprints", fingerprints=fingerprints, error=True) candidate = "mock" y = threading.Thread(target=crash_log2, args=(fingerprints,car_fw,)) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 2af5246b8..8799f073c 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -50,6 +50,7 @@ class CarControllerParams: self.STEER_DELTA_DOWN = 3 self.STEER_MAX = 261 # higher than this faults the EPS + STEER_THRESHOLD = 120 RAM_DT = {CAR.RAM_1500, } @@ -62,6 +63,7 @@ class ChryslerCarInfo(CarInfo): package: str = "Adaptive Cruise Control (ACC)" harness: Enum = Harness.fca + 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 @@ -73,10 +75,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { ], CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), - CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram), + CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness=Harness.ram), CAR.RAM_HD: [ ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram), - ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram), + ChryslerCarInfo("Ram 3500 2019-22", harness=Harness.ram), ], } @@ -99,7 +101,7 @@ FINGERPRINTS = { 55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 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, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 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, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8 }, { - 55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 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, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 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, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8 + 55: 8, 58: 6, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 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, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 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, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8 }], CAR.PACIFICA_2020: [{ 55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 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, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 536: 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, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 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, 882: 8, 886: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 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, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 2015: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8 @@ -180,79 +182,153 @@ FW_QUERY_CONFIG = FwQueryConfig( ) FW_VERSIONS = { - CAR.RAM_1500: { + CAR.JEEP_CHEROKEE_2019: { (Ecu.combinationMeter, 0x742, None): [ - b'68294063AH', - b'68294063AG', - b'68434860AC', - b'68527375AD', - b'68453503AC', + b'68402971AD', ], (Ecu.srs, 0x744, None): [ - b'68441329AB', - b'68490898AA', - b'68428609AB', - b'68500728AA', + b'68355363AB', ], (Ecu.abs, 0x747, None): [ - b'68432418AD', - b'68432418AB', - b'68436004AE', - b'68438454AD', - b'68436004AD', - b'68535469AB', - b'68438454AC', + b'68408639AD', ], (Ecu.fwdRadar, 0x753, None): [ - b'68320950AL', - b'68320950AJ', - b'68454268AB', - b'68475160AG', - b'04672892AB', - b'68475160AE', + b'68456722AC', ], (Ecu.eps, 0x75A, None): [ - b'68273275AG', - b'68469901AA', - b'68552788AA', + b'68453431AA', ], (Ecu.engine, 0x7e0, None): [ - b'68448163AJ', - b'68500630AD', - b'68539650AD', + b'05035674AB ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035707AA', + ], + }, + + CAR.RAM_1500: { + (Ecu.combinationMeter, 0x742, None): [ + b'68294051AG', + b'68294051AI', + b'68294052AG', + b'68294063AG', + b'68294063AH', + b'68294063AI', + b'68434846AC', + b'68434858AC', + b'68434860AC', + b'68453503AC', + b'68453505AC', + b'68453511AC', + b'68453513AD', + b'68453514AD', + b'68510283AG', + b'68527375AD', + ], + (Ecu.srs, 0x744, None): [ + b'68428609AB', + b'68441329AB', + b'68473844AB', + b'68490898AA', + b'68500728AA', + b'68615033AA', + ], + (Ecu.abs, 0x747, None): [ + b'68292406AH', + b'68432418AB', + b'68432418AD', + b'68436004AD', + b'68436004AE', + b'68438454AC', + b'68438454AD', + b'68438456AE', + b'68438456AF', + b'68535469AB', + b'68535470AC', + b'68586307AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672892AB', + b'04672932AB', + b'68320950AH', + b'68320950AI', + b'68320950AJ', + b'68320950AL', + b'68320950AM', + b'68454268AB', + b'68475160AE', + b'68475160AF', + b'68475160AG', + ], + (Ecu.eps, 0x75A, None): [ + b'68273275AF', + b'68273275AG', + b'68312176AE', + b'68312176AG', + b'68440789AC', + b'68466110AB', + b'68469901AA', + b'68522583AB', + b'68522585AB', + b'68552788AA', + b'68552790AA', + b'68585112AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'05036065AE ', + b'05036066AE ', + b'68378701AI ', b'68378758AM ', + b'68448163AJ', + b'68448165AK', + b'68500630AD', + b'68500630AE', + b'68539650AD', ], (Ecu.transmission, 0x7e1, None): [ b'68360078AL', - b'68384328AD', - b'68360085AL', + b'68360080AM', b'68360081AM', - b'68502994AD', + b'68360085AL', + b'68384328AD', + b'68384332AD', b'68445533AB', - b'68540431AB', b'68484467AC', + b'68502994AD', + b'68540431AB', ], }, CAR.RAM_HD: { (Ecu.combinationMeter, 0x742, None): [ b'68361606AH', + b'68437735AC', b'68492693AD', + b'68525485AB', + b'68525487AB', + b'68525498AB', ], (Ecu.srs, 0x744, None): [ b'68399794AC', b'68428503AA', b'68428505AA', + b'68428507AA', ], (Ecu.abs, 0x747, None): [ b'68334977AH', + b'68455481AC', + b'68504022AA', b'68504022AB', - b'68530686AB', b'68504022AC', + b'68530686AB', + b'68530686AC', ], (Ecu.fwdRadar, 0x753, None): [ b'04672895AB', b'56029827AG', + b'56029827AH', + b'68462657AE', + b'68484694AD', b'68484694AE', ], (Ecu.eps, 0x761, None): [ @@ -260,7 +336,13 @@ FW_VERSIONS = { b'68507906AB', ], (Ecu.engine, 0x7e0, None): [ + b'52370131AF', + b'52370231AF', + b'52370231AG', + b'52370931CT', + b'52401032AE', b'52421132AF', + b'68527616AD ', b'M2370131MB', b'M2421132MB', ], diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index e5d550fac..86bae91b0 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -9,6 +9,8 @@ from selfdrive.car import make_can_msg from selfdrive.boardd.boardd import can_list_to_can_capnp from system.swaglog import cloudlog +EcuAddrBusType = Tuple[int, Optional[int], int] + def make_tester_present_msg(addr, bus, subaddr=None): dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0] @@ -33,16 +35,16 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd return False -def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[Tuple[int, Optional[int], int]]: +def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[EcuAddrBusType]: addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)] - queries: Set[Tuple[int, Optional[int], int]] = {(addr, None, bus) for addr in addr_list} + queries: Set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list} responses = queries return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug) -def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[Tuple[int, Optional[int], int]], - responses: Set[Tuple[int, Optional[int], int]], timeout: float = 1, debug: bool = False) -> Set[Tuple[int, Optional[int], int]]: - ecu_responses: Set[Tuple[int, Optional[int], int]] = set() # set((addr, subaddr, bus),) +def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[EcuAddrBusType], + responses: Set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> Set[EcuAddrBusType]: + ecu_responses: Set[EcuAddrBusType] = set() # set((addr, subaddr, bus),) try: msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries] diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index dd3b19f6d..7ae9bee40 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import capnp +import copy from dataclasses import dataclass, field import struct from typing import Dict, List, Optional, Tuple @@ -57,10 +58,12 @@ class Request: whitelist_ecus: List[int] = field(default_factory=list) rx_offset: int = 0x8 bus: int = 1 + # Whether this query should be run on the first auxiliary panda (CAN FD cars for example) + auxiliary: bool = False # FW responses from these queries will not be used for fingerprinting logging: bool = False - # These requests are done once OBD multiplexing is disabled, after all others - non_obd: bool = False + # boardd toggles OBD multiplexing on/off as needed + obd_multiplexing: bool = True @dataclass @@ -71,3 +74,10 @@ class FwQueryConfig: non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict) # Ecus added for data collection, not to be fingerprinted on extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list) + + def __post_init__(self): + for i in range(len(self.requests)): + if self.requests[i].auxiliary: + new_request = copy.deepcopy(self.requests[i]) + new_request.bus += 4 + self.requests.append(new_request) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 8092ac0b7..f85b7f6b7 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -1,12 +1,12 @@ #!/usr/bin/env python3 from collections import defaultdict -from typing import Any, Optional, Set, Tuple +from typing import Any, Dict, List, Set from tqdm import tqdm import panda.python.uds as uds from cereal import car from common.params import Params -from selfdrive.car.ecu_addrs import get_ecu_addrs +from selfdrive.car.ecu_addrs import EcuAddrBusType, get_ecu_addrs from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.fingerprints import FW_VERSIONS from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery @@ -19,7 +19,7 @@ FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True) VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e} -REQUESTS = [(brand, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests] +REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests] def chunks(l, n=128): @@ -39,6 +39,8 @@ def build_fw_dict(fw_versions, filter_brand=None): def get_brand_addrs(): brand_addrs = defaultdict(set) for brand, cars in VERSIONS.items(): + # Add ecus in database + extra ecus to match against + brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus} for fw in cars.values(): brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()} return brand_addrs @@ -146,38 +148,43 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): return True, set() -def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[int], int]]: - queries = list() - parallel_queries = list() +def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: + params = Params() + # queries are split by OBD multiplexing mode + queries: Dict[bool, List[List[EcuAddrBusType]]] = {True: [], False: []} + parallel_queries: Dict[bool, List[EcuAddrBusType]] = {True: [], False: []} responses = set() - for brand, r in REQUESTS: + for brand, config, r in REQUESTS: # Skip query if no panda available if r.bus > num_pandas * 4 - 1: continue for brand_versions in VERSIONS[brand].values(): - for ecu_type, addr, sub_addr in brand_versions: + for ecu_type, addr, sub_addr in list(brand_versions) + config.extra_ecus: # Only query ecus in whitelist if whitelist is not empty if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus: a = (addr, sub_addr, r.bus) # Build set of queries if sub_addr is None: - if a not in parallel_queries: - parallel_queries.append(a) + if a not in parallel_queries[r.obd_multiplexing]: + parallel_queries[r.obd_multiplexing].append(a) else: # subaddresses must be queried one by one - if [a] not in queries: - queries.append([a]) + if [a] not in queries[r.obd_multiplexing]: + queries[r.obd_multiplexing].append([a]) # Build set of expected responses to filter response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset) responses.add((response_addr, sub_addr, r.bus)) - queries.insert(0, parallel_queries) + for obd_multiplexing in queries: + queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing]) ecu_responses = set() - for query in queries: - ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1)) + for obd_multiplexing in queries: + set_obd_multiplexing(params, obd_multiplexing) + for query in queries[obd_multiplexing]: + ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1)) return ecu_responses @@ -185,9 +192,9 @@ def get_brand_ecu_matches(ecu_rx_addrs): """Returns dictionary of brands and matches with ECUs in their FW versions""" brand_addrs = get_brand_addrs() - brand_matches = {brand: set() for brand, _ in REQUESTS} + brand_matches = {brand: set() for brand, _, _ in REQUESTS} - brand_rx_offsets = set((brand, r.rx_offset) for brand, r in REQUESTS) + brand_rx_offsets = set((brand, r.rx_offset) for brand, _, r in REQUESTS) for addr, sub_addr, _ in ecu_rx_addrs: # Since we can't know what request an ecu responded to, add matches for all possible rx offsets for brand, rx_offset in brand_rx_offsets: @@ -198,13 +205,13 @@ def get_brand_ecu_matches(ecu_rx_addrs): return brand_matches -def disable_obd_multiplexing(params): - if not params.get_bool("ObdMultiplexingDisabled"): - params.put_bool("FirmwareObdQueryDone", True) - - cloudlog.warning("Waiting for OBD multiplexing to be disabled") - params.get_bool("ObdMultiplexingDisabled", block=True) - cloudlog.warning("OBD multiplexing disabled") +def set_obd_multiplexing(params: Params, obd_multiplexing: bool): + if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing: + cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}") + params.remove("ObdMultiplexingChanged") + params.put_bool("ObdMultiplexingEnabled", obd_multiplexing) + params.get_bool("ObdMultiplexingChanged", block=True) + cloudlog.warning("OBD multiplexing set successfully") def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False): @@ -212,7 +219,6 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand all_car_fw = [] brand_matches = get_brand_ecu_matches(ecu_rx_addrs) - matched_brand: Optional[str] = None for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True): car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress) @@ -220,21 +226,14 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand # Try to match using FW returned from this brand only matches = match_fw_to_car_exact(build_fw_dict(car_fw)) if len(matches) == 1: - matched_brand = brand break - disable_obd_multiplexing(Params()) - - # Do non-OBD queries for matched brand, or all if no match is found - for brand in FW_QUERY_CONFIGS.keys(): - if brand == matched_brand or matched_brand is None: - all_car_fw.extend(get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, obd_multiplexed=False, debug=debug, progress=progress)) - return all_car_fw -def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, obd_multiplexed=True, debug=False, progress=False): +def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False): versions = VERSIONS.copy() + params = Params() # Each brand can define extra ECUs to query for data collection for brand, config in FW_QUERY_CONFIGS.items(): @@ -250,19 +249,15 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, # ECUs using a subaddress need be queried one by one, the rest can be done in parallel addrs = [] parallel_addrs = [] - logging_addrs = [] ecu_types = {} for brand, brand_versions in versions.items(): - for candidate, ecu in brand_versions.items(): + for ecu in brand_versions.values(): for ecu_type, addr, sub_addr in ecu.keys(): a = (brand, addr, sub_addr) if a not in ecu_types: ecu_types[a] = ecu_type - if a not in logging_addrs and candidate == "debug": - logging_addrs.append(a) - if sub_addr is None: if a not in parallel_addrs: parallel_addrs.append(a) @@ -274,16 +269,17 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, # Get versions and build capnp list to put into CarParams car_fw = [] - requests = [(brand, r) for brand, r in REQUESTS if query_brand is None or brand == query_brand] + requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand] for addr in tqdm(addrs, disable=not progress): for addr_chunk in chunks(addr): - for brand, r in requests: + for brand, config, r in requests: # Skip query if no panda available if r.bus > num_pandas * 4 - 1: continue - # Or if request is not designated for current multiplexing mode - elif r.non_obd == obd_multiplexed: - continue + + # Toggle OBD multiplexing for each request + if r.bus % 4 == 1: + set_obd_multiplexing(params, r.obd_multiplexing) try: addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and @@ -294,15 +290,15 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, for (tx_addr, sub_addr), version in query.get_data(timeout).items(): f = car.CarParams.CarFw.new_message() - ecu_key = (brand, tx_addr, sub_addr) - f.ecu = ecu_types.get(ecu_key, Ecu.unknown) + f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown) f.fwVersion = version f.address = tx_addr f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset) f.request = r.request f.brand = brand f.bus = r.bus - f.logging = r.logging or ecu_key in logging_addrs + f.logging = r.logging or (f.ecu, tx_addr, sub_addr) in config.extra_ecus + f.obdMultiplexing = r.obd_multiplexing if sub_addr is not None: f.subAddress = sub_addr diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index cb72464ea..376cc3646 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -78,7 +78,6 @@ class CarInterface(CarInterfaceBase): ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling ret.vEgoStopping = 0.25 ret.vEgoStarting = 0.25 - ret.longitudinalActuatorDelayUpperBound = 0.5 if experimental_long: ret.pcmCruise = False @@ -116,6 +115,7 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz + ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking if candidate == CAR.VOLT: ret.mass = 1607. + STD_CARGO_KG @@ -151,7 +151,13 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.4 # end to end is 13.46 ret.centerToFront = ret.wheelbase * 0.4 ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia() - ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking + + elif candidate == CAR.BUICK_LACROSSE: + ret.mass = 1712. + STD_CARGO_KG + ret.wheelbase = 2.91 + ret.steerRatio = 15.8 + ret.centerToFront = ret.wheelbase * 0.4 # wild guess + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.BUICK_REGAL: ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2 @@ -171,7 +177,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.95 # 116 inches in meters ret.steerRatio = 17.3 ret.centerToFront = ret.wheelbase * 0.5 - ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.ESCALADE_ESV: diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 954f41d25..8f0f33ab6 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -66,6 +66,7 @@ class CAR: CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018" MALIBU = "CHEVROLET MALIBU PREMIER 2017" ACADIA = "GMC ACADIA DENALI 2018" + BUICK_LACROSSE = "BUICK LACROSSE 2017" BUICK_REGAL = "BUICK REGAL ESSENCE 2018" ESCALADE = "CADILLAC ESCALADE 2017" ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016" @@ -100,6 +101,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"), CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"), CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), + CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"), CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"), CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"), CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), @@ -160,6 +162,11 @@ FINGERPRINTS = { { 170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7 }], + CAR.BUICK_LACROSSE: [ + # LaCrosse Premium AWD 2017 + { + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 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, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8 + }], CAR.BUICK_REGAL : [ # Regal TourX Essence w/ ACC 2018 { diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index a4f4f62aa..77984edd2 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -188,7 +188,7 @@ FW_QUERY_CONFIG = FwQueryConfig( [StdQueries.UDS_VERSION_RESPONSE], bus=1, logging=True, - non_obd=True, + obd_multiplexing=False, ), ], extra_ecus=[ diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index cf0143543..bb26d6832 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -224,7 +224,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "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 2022-23", harness=Harness.hyundai_k), + CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness=Harness.hyundai_k), CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", harness=Harness.hyundai_a), CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n), CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), @@ -335,10 +335,15 @@ FINGERPRINTS = { HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(0xf100) # Long description + +HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(0xf110) # Alt long description + HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \ p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \ p16(0xf100) + HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) FW_QUERY_CONFIG = FwQueryConfig( @@ -355,22 +360,46 @@ FW_QUERY_CONFIG = FwQueryConfig( [HYUNDAI_VERSION_RESPONSE], whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar], ), - # CAN-FD queries (camera) + + # CAN-FD queries (from camera) + # TODO: combine shared whitelists with CAN requests Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar], - bus=4, + whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac], + bus=0, + auxiliary=True, ), Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar], - bus=5, + whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac], + bus=1, + auxiliary=True, + obd_multiplexing=False, + ), + + # CAN-FD debugging queries + Request( + [HYUNDAI_VERSION_REQUEST_ALT], + [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.parking], + bus=0, + auxiliary=True, + ), + Request( + [HYUNDAI_VERSION_REQUEST_ALT], + [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.parking], + bus=1, + auxiliary=True, + obd_multiplexing=False, ), ], 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.hvac, 0x7b3, None), # HVAC Control Assembly (Ecu.cornerRadar, 0x7b7, None), ], ) @@ -1552,6 +1581,8 @@ FW_VERSIONS = { b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.06 99210-CV000 220328', 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 1.06 99210-CV000 220328', ], }, CAR.IONIQ_5: { @@ -1562,6 +1593,7 @@ FW_VERSIONS = { b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206', b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', + b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206', @@ -1628,6 +1660,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU100 211215', b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU000 211215', + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.03 99211-CU000 221118', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ', @@ -1636,14 +1669,17 @@ FW_VERSIONS = { CAR.KIA_SORENTO_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.05 99210-R5000 210623', + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.03 99210-R5000 200903', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ', + b'\xf1\x00MQ4_ SCC F-CUP 1.00 1.06 99110-P2000 ', ], }, CAR.KIA_NIRO_HEV_2ND_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.08 99211-AT000 220531', + b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.09 99211-AT000 220801', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 5c7d3f5e4..9c4447631 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -273,9 +273,11 @@ FW_VERSIONS = { b'\xa3 \031\024\000', b'\xa3 \x14\x01', b'\xf1\x00\xbb\r\x05', + b'\xa3 \x18&\x00', ], (Ecu.eps, 0x746, None): [ b'\x8d\xc0\x04\x00', + b'\x8d\xc0\x00\x00', ], (Ecu.fwdCamera, 0x787, None): [ b'\x00\x00e!\x1f@ \x11', @@ -292,6 +294,7 @@ FW_VERSIONS = { b'\xcb\"`p\a', b'\xf1\x00\xa2\x10\n', b'\xcf"`p\x07', + b'\xb6\xa2`A\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\032\xf6B0\000', @@ -299,6 +302,7 @@ FW_VERSIONS = { b'\032\xf6b`\000', b'\x1a\xf6B`\x00', b'\x1a\xf6b0\x00', + b'\x1a\xe6B1\x00', ], }, CAR.FORESTER_PREGLOBAL: { diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index cc1681bce..75051316f 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -7,6 +7,10 @@ NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan] NISSAN LEAF 2018: [.nan, 1.5, .nan] NISSAN ROGUE 2019: [.nan, 1.5, .nan] +# Toyota LTA also has torque +TOYOTA RAV4 2023: [.nan, 3.0, .nan] +TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan] + # Tesla has high torque TESLA AP1 MODEL S: [.nan, 2.5, .nan] TESLA AP2 MODEL S: [.nan, 2.5, .nan] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 6f8cfe0ce..cb423e1d8 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -30,7 +30,7 @@ HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019] HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276] HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482] -HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 3.2961956260770484, 0.12359762054065548] +HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 2.307336938253934, 0.12359762054065548] HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651] HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945] HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963] diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 68fe38737..13e00b209 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -51,6 +51,7 @@ 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 diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 63733f2fc..87a50fc46 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -104,6 +104,11 @@ class CarController: apply_steer_req = 0 self.steer_rate_counter = 0 + # Never actuate with LKA on cars that only support LTA + if self.CP.steerControlType == car.CarParams.SteerControlType.angle: + apply_steer = 0 + apply_steer_req = 0 + # TODO: probably can delete this. CS.pcm_acc_status uses a different signal # than CS.cruiseState.enabled. confirm they're not meaningfully different if not CC.enabled and CS.pcm_acc_status: diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 68adb5e6f..bb9a94e9c 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -2,7 +2,8 @@ from cereal import car from common.conversions import Conversions as CV from panda import Panda -from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR +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 from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from common.params import Params @@ -30,16 +31,22 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)] ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate] - if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH): + # BRAKE_MODULE is on a different address for these cars + if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated": ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE + if candidate in ANGLE_CONTROL_CAR: + ret.dashcamOnly = True + ret.steerControlType = car.CarParams.SteerControlType.angle + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA + else: + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay ret.steerLimitTimer = 0.4 ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop stop_and_go = False - steering_angle_deadzone_deg = 0.0 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) params = Params() if candidate == CAR.PRIUS: @@ -50,15 +57,13 @@ class CarInterface(CarInterfaceBase): 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"): - steering_angle_deadzone_deg = 0.2 ret.steerActuatorDelay = 0.25 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) + 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': - steering_angle_deadzone_deg = 0.2 ret.steerActuatorDelay = 0.25 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2) elif candidate == CAR.PRIUS_V: stop_and_go = True @@ -118,7 +123,8 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.7983 ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022): + elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, + CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023): stop_and_go = True ret.wheelbase = 2.68986 ret.steerRatio = 14.3 @@ -202,7 +208,7 @@ 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) + 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 @@ -245,15 +251,15 @@ class CarInterface(CarInterfaceBase): tune.deadzoneBP = [0., 9.] tune.deadzoneV = [.0, .15] if candidate in TSS2_CAR or ret.enableGasInterceptor: - tune.kpBP = [0., 5., 20., 30.] - tune.kpV = [1.3, 1.0, 0.7, 0.1] - tune.kiBP = [0., 3.1, 13.9, 19.4, 30., 33., 40.] - tune.kiV = [.032, .073, .16, .176, .01, .005, .0005] + 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] 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 = 0.01 # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4 + 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 ### diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index 923baf207..ba6d0438e 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -17,7 +17,7 @@ def create_lta_steer_command(packer, steer, steer_req, raw_cnt): "SETME_X1": 1, "SETME_X3": 3, "PERCENTAGE": 100, - "SETME_X64": 0x64, + "SETME_X64": 0, "ANGLE": 0, "STEER_ANGLE_CMD": steer, "STEER_REQUEST": steer_req, diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 1296278c8..a712ee04a 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -70,8 +70,10 @@ class CAR: RAV4H = "TOYOTA RAV4 HYBRID 2017" RAV4_TSS2 = "TOYOTA RAV4 2019" RAV4_TSS2_2022 = "TOYOTA RAV4 2022" + RAV4_TSS2_2023 = "TOYOTA RAV4 2023" RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019" RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022" + RAV4H_TSS2_2023 = "TOYOTA RAV4 HYBRID 2023" MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5 SIENNA = "TOYOTA SIENNA 2018" @@ -160,14 +162,16 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ], CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"), + CAR.RAV4_TSS2_2023: ToyotaCarInfo("Toyota RAV4 2023"), CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"), CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), + CAR.RAV4H_TSS2_2023: ToyotaCarInfo("Toyota RAV4 Hybrid 2023"), CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"), CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED), # Lexus CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"), - CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+"), + 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"), CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), @@ -175,7 +179,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"), CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"), CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"), - CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"), + CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"), CAR.LEXUS_RX: [ ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"), ToyotaCarInfo("Lexus RX 2017-19"), @@ -530,14 +534,18 @@ FW_VERSIONS = { CAR.CAMRY_TSS2: { (Ecu.eps, 0x7a1, None): [ b'8965B33630\x00\x00\x00\x00\x00\x00', + b'8965B33640\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'\x01F152606370\x00\x00\x00\x00\x00\x00', b'\x01F152606390\x00\x00\x00\x00\x00\x00', b'\x01F152606400\x00\x00\x00\x00\x00\x00', + b'\x01F152606431\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x018966306Q5000\x00\x00\x00\x00', + b'\x018966306Q9000\x00\x00\x00\x00', + b'\x018966306R3000\x00\x00\x00\x00', b'\x018966306T3100\x00\x00\x00\x00', b'\x018966306T3200\x00\x00\x00\x00', b'\x018966306T4000\x00\x00\x00\x00', @@ -545,12 +553,15 @@ FW_VERSIONS = { ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F6201200\x00\x00\x00\x00', + b'\x018821F6201300\x00\x00\x00\x00', ], (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'\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', + b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, CAR.CAMRYH_TSS2: { @@ -1457,6 +1468,23 @@ FW_VERSIONS = { b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00', ], }, + CAR.RAV4_TSS2_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\x01F15260R450\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x01896634AJ2000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F0R03100\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00', + ], + }, CAR.RAV4H_TSS2: { (Ecu.engine, 0x700, None): [ b'\x01896634A15000\x00\x00\x00\x00', @@ -1544,6 +1572,23 @@ FW_VERSIONS = { b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00', ], }, + CAR.RAV4H_TSS2_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\x01F15264283200\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x01896634AE1001\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F0R03100\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00', + ], + }, CAR.SIENNA: { (Ecu.engine, 0x700, None): [ b'\x01896630832100\x00\x00\x00\x00', @@ -1640,6 +1685,7 @@ FW_VERSIONS = { b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00', b'\x01896633T38000\x00\x00\x00\x00', b'\x01896633T58000\x00\x00\x00\x00', @@ -1731,6 +1777,7 @@ FW_VERSIONS = { b'\x018966378B2100\x00\x00\x00\x00', b'\x018966378B3000\x00\x00\x00\x00', b'\x018966378B4100\x00\x00\x00\x00', + b'\x018966378G2000\x00\x00\x00\x00', b'\x018966378G3000\x00\x00\x00\x00', b'\x018966378B2000\x00\x00\x00\x00', ], @@ -1753,6 +1800,7 @@ FW_VERSIONS = { CAR.LEXUS_NXH_TSS2: { (Ecu.engine, 0x7e0, None): [ b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F152678210\x00\x00\x00\x00\x00\x00', @@ -1762,6 +1810,7 @@ FW_VERSIONS = { ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F3301400\x00\x00\x00\x00', + b'\x018821F3301300\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', @@ -2098,6 +2147,7 @@ DBC = { CAR.AVALONH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None), + 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_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -2108,6 +2158,7 @@ DBC = { CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None), + CAR.RAV4H_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None), CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -2122,8 +2173,8 @@ DBC = { EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100}) # Toyota/Lexus Safety Sense 2.0 and 2.5 -TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, - CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, +TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, + CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2} NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} @@ -2132,10 +2183,13 @@ NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC} # these cars have a radar which sends ACC messages instead of the camera -RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.CHR_TSS2, CAR.CHRH_TSS2} +RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2} + +# these cars use the Lane Tracing Assist (LTA) message for lateral control +ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023} EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS, - CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH, + CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH, CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2} # no resume button press required diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 26fc53967..d1dc236dc 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -230,13 +230,13 @@ class CarState(CarStateBase): ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"]) ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2) if self.CP.pcmCruise: - ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7) + ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7) else: ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3 # Update ACC setpoint. When the setpoint reads as 255, the driver has not # yet established an ACC setpoint, so treat it as zero. - ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anziege"]["ACA_V_Wunsch"] * CV.KPH_TO_MS + ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_V_Wunsch"] * CV.KPH_TO_MS if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint ret.cruiseState.speed = 0 @@ -520,12 +520,12 @@ class PqExtraSignals: # Additional signal and message lists for optional or bus-portable controllers fwd_radar_signals = [ ("ACS_Typ_ACC", "ACC_System"), # Basic vs FtS (no SnG support on PQ) - ("ACA_StaACC", "ACC_GRA_Anziege"), # ACC drivetrain coordinator status - ("ACA_V_Wunsch", "ACC_GRA_Anziege"), # ACC set speed + ("ACA_StaACC", "ACC_GRA_Anzeige"), # ACC drivetrain coordinator status + ("ACA_V_Wunsch", "ACC_GRA_Anzeige"), # ACC set speed ] fwd_radar_checks = [ ("ACC_System", 50), # From J428 ACC radar control module - ("ACC_GRA_Anziege", 25), # From J428 ACC radar control module + ("ACC_GRA_Anzeige", 25), # From J428 ACC radar control module ] bsm_radar_signals = [ ("SWA_Infostufe_SWA_li", "SWA_1"), # Blind spot object info, left diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index 130f10795..84200c292 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -88,4 +88,4 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint } - return packer.make_can_msg("ACC_GRA_Anziege", bus, values) + 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 8e51081e9..b79e82fe7 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -36,7 +36,7 @@ class CarControllerParams: if CP.carFingerprint in PQ_CARS: self.LDW_STEP = 5 # LDW_1 message frequency 20Hz - self.ACC_HUD_STEP = 4 # ACC_GRA_Anziege frequency 25Hz + self.ACC_HUD_STEP = 4 # ACC_GRA_Anzeige frequency 25Hz self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm self.STEER_DELTA_UP = 6 # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00)) self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60)) @@ -300,6 +300,7 @@ FW_VERSIONS = { b'\xf1\x873G0906259N \xf1\x890004', b'\xf1\x873G0906259P \xf1\x890001', b'\xf1\x875NA907115H \xf1\x890002', + b'\xf1\x873G0906259G \xf1\x890004', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158L \xf1\x893611', @@ -311,17 +312,19 @@ FW_VERSIONS = { 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\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567B0020800', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800', b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572T \xf1\x890383', b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572R \xf1\x890771', ], }, CAR.ATLAS_MK1: { @@ -401,6 +404,7 @@ FW_VERSIONS = { b'\xf1\x8704L906021DT\xf1\x895520', b'\xf1\x8704L906021DT\xf1\x898127', b'\xf1\x8704L906021N \xf1\x895518', + b'\xf1\x8704L906026BN\xf1\x891197', b'\xf1\x8704L906026BP\xf1\x897608', b'\xf1\x8704L906026NF\xf1\x899528', b'\xf1\x8704L906056CL\xf1\x893823', @@ -521,6 +525,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0', b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1', @@ -1080,6 +1085,8 @@ FW_VERSIONS = { b'\xf1\x8704L906026DE\xf1\x895418', b'\xf1\x8704L906026EJ\xf1\x893661', b'\xf1\x8704L906026HT\xf1\x893617', + b'\xf1\x8783A907115E \xf1\x890001', + b'\xf1\x8705E906018DJ\xf1\x890915', b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', ], @@ -1089,6 +1096,8 @@ FW_VERSIONS = { b'\xf1\x870DL300012M \xf1\x892107', b'\xf1\x870DL300012N \xf1\x892110', b'\xf1\x870DL300013G \xf1\x892119', + b'\xf1\x870GC300014N \xf1\x892801', + b'\xf1\x870GC300046Q \xf1\x892802', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211', @@ -1096,11 +1105,13 @@ FW_VERSIONS = { b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100', b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100', b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111', + b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405', b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6060405', b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600', ], (Ecu.fwdRadar, 0x757, None): [ @@ -1108,6 +1119,7 @@ FW_VERSIONS = { b'\xf1\x872Q0907572R \xf1\x890372', b'\xf1\x872Q0907572T \xf1\x890383', b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572AB\xf1\x890397', ], }, CAR.SKODA_OCTAVIA_MK3: { diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 9f06f0e7a..6f8916501 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -136,6 +136,9 @@ class Controls: 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 # read params self.is_metric = self.params.get_bool("IsMetric") @@ -544,6 +547,16 @@ 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.distance_traveled > 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 diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index f3de09b18..b4051b4b9 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -913,9 +913,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.PERMANENT: Alert( _("Reverse\nGear"), "", - AlertStatus.normal, AlertSize.none, + AlertStatus.normal, AlertSize.full, Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5), - # ET.USER_DISABLE: ImmediateDisableAlert(_("Reverse Gear")), + ET.USER_DISABLE: ImmediateDisableAlert(_("Reverse Gear")), ET.NO_ENTRY: NoEntryAlert(_("Reverse Gear")), }, diff --git a/selfdrive/controls/lib/lateral_mpc_lib/acados_ocp_lat.json b/selfdrive/controls/lib/lateral_mpc_lib/acados_ocp_lat.json new file mode 100644 index 000000000..af9c99f25 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/acados_ocp_lat.json @@ -0,0 +1,544 @@ +{ + "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/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 + ], + "ubx_0": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "ubx_e": [], + "ug": [], + "ug_e": [], + "uh": [], + "uh_e": [], + "uphi": [], + "uphi_e": [], + "usbu": [], + "usbx": [], + "usbx_e": [], + "usg": [], + "usg_e": [], + "ush": [], + "ush_e": [], + "usphi": [], + "usphi_e": [] + }, + "cost": { + "Vu": [ + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "Vu_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, + 0.0, + 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, + 0.0, + 0.0 + ] + ], + "Vx_e": [ + [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "Vz": [], + "Vz_0": [], + "W": [ + [ + 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, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "W_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, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "W_e": [ + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0 + ] + ], + "Zl": [], + "Zl_e": [], + "Zu": [], + "Zu_e": [], + "cost_ext_fun_type": "casadi", + "cost_ext_fun_type_0": "casadi", + "cost_ext_fun_type_e": "casadi", + "cost_type": "NONLINEAR_LS", + "cost_type_0": "NONLINEAR_LS", + "cost_type_e": "NONLINEAR_LS", + "yref": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "yref_0": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "yref_e": [ + 0.0, + 0.0, + 0.0 + ], + "zl": [], + "zl_e": [], + "zu": [], + "zu_e": [] + }, + "cython_include_dirs": "/data/data/com.termux/files/usr/lib/python3.8/site-packages/numpy/core/include", + "dims": { + "N": 16, + "nbu": 0, + "nbx": 2, + "nbx_0": 4, + "nbx_e": 0, + "nbxe_0": 4, + "ng": 0, + "ng_e": 0, + "nh": 0, + "nh_e": 0, + "np": 2, + "nphi": 0, + "nphi_e": 0, + "nr": 0, + "nr_e": 0, + "ns": 0, + "ns_e": 0, + "nsbu": 0, + "nsbx": 0, + "nsbx_e": 0, + "nsg": 0, + "nsg_e": 0, + "nsh": 0, + "nsh_e": 0, + "nsphi": 0, + "nsphi_e": 0, + "nu": 1, + "nx": 4, + "ny": 5, + "ny_0": 5, + "ny_e": 3, + "nz": 0 + }, + "model": { + "dyn_disc_fun": null, + "dyn_disc_fun_jac": null, + "dyn_disc_fun_jac_hess": null, + "dyn_ext_fun_type": "casadi", + "dyn_source_discrete": null, + "gnsf": { + "nontrivial_f_LO": 1, + "purely_linear": 0 + }, + "name": "lat" + }, + "parameter_values": [ + 0.0, + 0.0 + ], + "problem_class": "OCP", + "simulink_opts": { + "inputs": { + "cost_W": 0, + "cost_W_0": 0, + "cost_W_e": 0, + "lbu": 1, + "lbx": 1, + "lbx_0": 1, + "lbx_e": 1, + "lg": 1, + "lh": 1, + "parameter_traj": 1, + "reset_solver": 0, + "u_init": 0, + "ubu": 1, + "ubx": 1, + "ubx_0": 1, + "ubx_e": 1, + "ug": 1, + "uh": 1, + "x_init": 0, + "y_ref": 1, + "y_ref_0": 1, + "y_ref_e": 1 + }, + "outputs": { + "CPU_time": 1, + "CPU_time_lin": 0, + "CPU_time_qp": 0, + "CPU_time_sim": 0, + "KKT_residual": 1, + "solver_status": 1, + "sqp_iter": 1, + "u0": 1, + "utraj": 0, + "x1": 1, + "xtraj": 0 + }, + "samplingtime": "t0" + }, + "solver_options": { + "Tsim": 0.009765625, + "alpha_min": 0.05, + "alpha_reduction": 0.7, + "collocation_type": "GAUSS_LEGENDRE", + "eps_sufficient_descent": 0.0001, + "exact_hess_constr": 1, + "exact_hess_cost": 1, + "exact_hess_dyn": 1, + "ext_cost_num_hess": 0, + "full_step_dual": 0, + "globalization": "FIXED_STEP", + "globalization_use_SOC": 0, + "hessian_approx": "GAUSS_NEWTON", + "hpipm_mode": "BALANCE", + "initialize_t_slacks": 0, + "integrator_type": "ERK", + "levenberg_marquardt": 0.0, + "line_search_use_sufficient_descent": 0, + "model_external_shared_lib_dir": null, + "model_external_shared_lib_name": null, + "nlp_solver_max_iter": 100, + "nlp_solver_step_length": 1.0, + "nlp_solver_tol_comp": 1e-06, + "nlp_solver_tol_eq": 1e-06, + "nlp_solver_tol_ineq": 1e-06, + "nlp_solver_tol_stat": 1e-06, + "nlp_solver_type": "SQP_RTI", + "print_level": 0, + "qp_solver": "PARTIAL_CONDENSING_HPIPM", + "qp_solver_cond_N": 1, + "qp_solver_iter_max": 1, + "qp_solver_tol_comp": null, + "qp_solver_tol_eq": null, + "qp_solver_tol_ineq": null, + "qp_solver_tol_stat": null, + "qp_solver_warm_start": 0, + "regularize_method": null, + "sim_method_jac_reuse": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "sim_method_newton_iter": 3, + "sim_method_num_stages": [ + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4, + 4 + ], + "sim_method_num_steps": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ], + "tf": 2.5, + "time_steps": [ + 0.009765625, + 0.029296875, + 0.048828125, + 0.068359375, + 0.087890625, + 0.107421875, + 0.126953125, + 0.146484375, + 0.166015625, + 0.185546875, + 0.205078125, + 0.224609375, + 0.244140625, + 0.263671875, + 0.283203125, + 0.302734375 + ] + } +} \ No newline at end of file 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 new file mode 100644 index 000000000..d0c541d3b --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c @@ -0,0 +1,278 @@ +/* + * 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_sim_solver_lat.h b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h new file mode 100644 index 000000000..86b9c84c9 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h @@ -0,0 +1,103 @@ +/* + * 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/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 index f95047dae..578d3d1b3 100644 --- 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 @@ -405,22 +405,6 @@ void lat_acados_create_5_set_nlp_in(lat_solver_capsule* capsule, const int N, do time_steps[13] = 0.263671875; time_steps[14] = 0.283203125; time_steps[15] = 0.302734375; - time_steps[16] = 0.322265625; - time_steps[17] = 0.341796875; - time_steps[18] = 0.361328125; - time_steps[19] = 0.380859375; - time_steps[20] = 0.400390625; - time_steps[21] = 0.419921875; - time_steps[22] = 0.439453125; - time_steps[23] = 0.458984375; - time_steps[24] = 0.478515625; - time_steps[25] = 0.498046875; - time_steps[26] = 0.517578125; - time_steps[27] = 0.537109375; - time_steps[28] = 0.556640625; - time_steps[29] = 0.576171875; - time_steps[30] = 0.595703125; - time_steps[31] = 0.615234375; lat_acados_update_time_steps(capsule, N, time_steps); free(time_steps); } diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.h b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.h index 0ef4698c2..9e6844651 100644 --- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.h +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.h @@ -63,7 +63,7 @@ #define LAT_NY0 5 #define LAT_NY 5 #define LAT_NYN 3 -#define LAT_N 32 +#define LAT_N 16 #define LAT_NH 0 #define LAT_NPHI 0 #define LAT_NHN 0 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 new file mode 100644 index 000000000..9294d2b70 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_sfunction_lat.c @@ -0,0 +1,264 @@ +/* + * 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/libacados_ocp_solver_lat.so b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so index 8146258fa..660363082 100755 Binary files a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so and b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so differ 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 new file mode 100644 index 000000000..c536654fd --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c @@ -0,0 +1,128 @@ +/* + * 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/c_generated_code/make_sfun_lat.m b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/make_sfun_lat.m new file mode 100644 index 000000000..f8371f3e8 --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/make_sfun_lat.m @@ -0,0 +1,125 @@ +% +% 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 [5]\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 [75]\n '); +i_in = i_in + 1; +input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [3]\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/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index ca7b991e6..ae85a957d 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -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 = 32 def gen_lat_model(): model = AcadosModel() @@ -168,14 +168,14 @@ class LateralMpc(): 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, 0] + v_ego = p_cp[0] # rotation_radius = p_cp[1] self.yref[:,1] = heading_pts * (v_ego + SPEED_OFFSET) self.yref[:,2] = yaw_rate_pts * (v_ego + SPEED_OFFSET) for i in range(N): self.solver.cost_set(i, "yref", self.yref[i]) - self.solver.set(i, "p", p_cp[i]) - self.solver.set(N, "p", p_cp[N]) + self.solver.set(i, "p", p_cp) + self.solver.set(N, "p", p_cp) self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) t = sec_since_boot() diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 3a90daec7..53f104bf7 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -9,7 +9,7 @@ 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 system.hardware import TICI +from selfdrive.hardware import TICI from common.params import Params TRAJECTORY_SIZE = 33 @@ -19,12 +19,12 @@ CAMERA_OFFSET = 0.04 PATH_COST = 1.0 LATERAL_MOTION_COST = 0.11 LATERAL_ACCEL_COST = 0.0 -LATERAL_JERK_COST = 0.04 +LATERAL_JERK_COST = 0.05 # Extreme steering rate is unpleasant, even # when it does not cause bad jerk. # TODO this cost should be lowered when low # speed lateral control is stable on all cars -STEERING_RATE_COST = 700.0 +STEERING_RATE_COST = 800.0 class LateralPlanner: @@ -46,7 +46,6 @@ class LateralPlanner: self.solution_invalid_cnt = 0 self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) - self.velocity_xyz = np.zeros((TRAJECTORY_SIZE, 3)) self.plan_yaw = np.zeros((TRAJECTORY_SIZE,)) self.plan_yaw_rate = np.zeros((TRAJECTORY_SIZE,)) self.t_idxs = np.arange(TRAJECTORY_SIZE) @@ -62,6 +61,7 @@ class LateralPlanner: def update(self, sm): # 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 @@ -79,16 +79,12 @@ class LateralPlanner: self.t_idxs = np.array(md.position.t) self.plan_yaw = np.array(md.orientation.z) self.plan_yaw_rate = np.array(md.orientationRate.z) - self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z]) - car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf) - self.v_ego = self.v_plan[0] 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: - # dp -- tab spacing begin (stock logic) -- + # dp -- tab spacing begin (stock logic) -- # Lane change logic desire_state = md.meta.desireState if len(desire_state): @@ -103,16 +99,16 @@ class LateralPlanner: LATERAL_ACCEL_COST, LATERAL_JERK_COST, STEERING_RATE_COST) - y_pts = d_path_xyz[:LAT_MPC_N+1, 1] - heading_pts = self.plan_yaw[:LAT_MPC_N+1] - yaw_rate_pts = self.plan_yaw_rate[:LAT_MPC_N+1] + y_pts = np.interp(self.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(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw) + yaw_rate_pts = np.interp(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw_rate) self.y_pts = y_pts assert len(y_pts) == LAT_MPC_N + 1 assert len(heading_pts) == LAT_MPC_N + 1 assert len(yaw_rate_pts) == LAT_MPC_N + 1 - lateral_factor = np.clip(self.factor1 - (self.factor2 * self.v_plan**2), 0.0, np.inf) - p = np.column_stack([self.v_plan, lateral_factor]) + lateral_factor = max(0, self.factor1 - (self.factor2 * self.v_ego**2)) + p = np.array([self.v_ego, lateral_factor]) self.lat_mpc.run(self.x0, p, y_pts, diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 000040ba8..13f449033 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -40,14 +40,14 @@ DP_ACCEL_NORMAL = 1 DP_ACCEL_SPORT = 2 # accel profile by @arne182 modified by cgw -_DP_CRUISE_MIN_V = [-0.50, -0.50, -0.50, -0.50, -0.50, -0.45, -0.45] -_DP_CRUISE_MIN_V_ECO = [-0.40, -0.40, -0.40, -0.40, -0.40, -0.40, -0.40] -_DP_CRUISE_MIN_V_SPORT = [-0.52, -0.52, -0.52, -0.52, -0.52, -0.47, -0.47] -_DP_CRUISE_MIN_BP = [0., 0.07, 3.1, 10., 20., 30., 55.] +_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, 0.45, 0.34, 0.13] +_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, 1.61, 1.1, 0.63, 0.50, 0.33] +_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 @@ -240,8 +240,8 @@ class LongitudinalPlanner: return desired_tf if self.dp_following_profile_ctrl: if self.dp_following_profile == 0: - x_vel = [1.1, 13.89, 25.0, 41.67] - y_dist = [1.35, 1.35, 1.27, 1.32] + 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] diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 027b4a552..1ca74bfae 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -23,6 +23,7 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner): 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() @@ -66,8 +67,8 @@ 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) + # if lat_version == 0: + # publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner) def main(sm=None, pm=None): plannerd_thread(sm, pm) diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index 07ce5ebdd..3a0ff33cb 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -32,6 +32,9 @@ SUPPORTED_FW_VERSIONS = { b"DN8_ SCC FHCUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues( default_config=b"\x00\x00\x00\x01\x00\x00", tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + b"DN8_ SCC F-CUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), # 2021 SONATA HYBRID b"DNhe SCC FHCUP 1.00 1.02 99110-L5000 \x01#\x15# ": ConfigValues( default_config=b"\x00\x00\x00\x01\x00\x00", diff --git a/selfdrive/dragonpilot/bg.jpg b/selfdrive/dragonpilot/bg.jpg deleted file mode 100644 index f55b8b8c0..000000000 Binary files a/selfdrive/dragonpilot/bg.jpg and /dev/null differ diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index bca03f75d..59176c586 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import json import math import os import time @@ -8,7 +7,7 @@ from collections import defaultdict from concurrent.futures import Future, ProcessPoolExecutor from datetime import datetime from enum import IntEnum -from typing import List, Optional +from typing import List, Optional, Dict, Any import numpy as np @@ -17,9 +16,9 @@ from common.params import Params, put_nonblocking from laika import AstroDog from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.downloader import DownloadFailed -from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_gps_ephem, convert_ublox_glonass_ephem, parse_qcom_ephem +from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem from laika.gps_time import GPSTime -from laika.helpers import ConstellationId +from laika.helpers import ConstellationId, get_sv_id from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind @@ -28,15 +27,53 @@ from selfdrive.locationd.models.gnss_kf import States as GStates from system.swaglog import cloudlog MAX_TIME_GAP = 10 -EPHEMERIS_CACHE = 'LaikadEphemerisV2' +EPHEMERIS_CACHE = 'LaikadEphemerisV3' DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/" CACHE_VERSION = 0.2 POS_FIX_RESIDUAL_THRESHOLD = 100.0 +class LogEphemerisType(IntEnum): + nav = 0 + nasaUltraRapid = 1 + glonassIacUltraRapid = 2 + qcom = 3 + +class EphemerisSource(IntEnum): + gnssChip = 0 + internet = 1 + cache = 2 + unknown = 3 + +def get_log_eph_type(ephem): + if ephem.eph_type == EphemerisType.NAV: + source_type = LogEphemerisType.nav + elif ephem.eph_type == EphemerisType.QCOM_POLY: + source_type = LogEphemerisType.qcom + else: + assert ephem.file_epoch is not None + file_src = ephem.file_source + if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z' + source_type = LogEphemerisType.nasaUltraRapid + elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3' + source_type = LogEphemerisType.glonassIacUltraRapid + else: + raise Exception(f"Didn't expect file source {file_src}") + return source_type + +def get_log_eph_source(ephem): + if ephem.file_name == 'qcom' or ephem.file_name == 'ublox': + source = EphemerisSource.gnssChip + elif ephem.file_name == EPHEMERIS_CACHE: + source = EphemerisSource.cache + else: + source = EphemerisSource.internet + return source + + class Laikad: - def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_navs=True, auto_update=False, - valid_ephem_types=(EphemerisType.NAV,), + def __init__(self, valid_const=(ConstellationId.GPS, ConstellationId.GLONASS), auto_fetch_navs=True, auto_update=False, + valid_ephem_types=(EphemerisType.NAV, EphemerisType.QCOM_POLY), save_ephemeris=False, use_qcom=False): """ valid_const: GNSS constellation which can be used @@ -51,10 +88,11 @@ class Laikad: self.auto_fetch_navs = auto_fetch_navs self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None self.orbit_fetch_future: Optional[Future] = None - - self.last_fetch_navs_t = None self.got_first_gnss_msg = False - self.last_cached_t = None + + self.last_report_time = GPSTime(0, 0) + self.last_fetch_navs_t = GPSTime(0, 0) + self.last_cached_t = GPSTime(0, 0) self.save_ephemeris = save_ephemeris self.load_cache() @@ -64,36 +102,58 @@ class Laikad: self.last_fix_t = None self.gps_week = None self.use_qcom = use_qcom + self.first_log_time = None + self.ttff = -1 def load_cache(self): if not self.save_ephemeris: return - cache = Params().get(EPHEMERIS_CACHE) - if not cache: + cache_bytes = Params().get(EPHEMERIS_CACHE) + if not cache_bytes: return + nav_dict = {} try: - cache = json.loads(cache, object_hook=deserialize_hook) - if cache['version'] == CACHE_VERSION: - self.astro_dog.add_navs(cache['navs']) - self.last_fetch_navs_t = cache['last_fetch_navs_t'] - else: - cache['navs'] = {} - except json.decoder.JSONDecodeError: + ephem_cache = ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) + glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides] + gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides] + for e in sum([glonass_navs, gps_navs], []): + if e.prn not in nav_dict: + nav_dict[e.prn] = [] + nav_dict[e.prn].append(e) + self.astro_dog.add_navs(nav_dict) + except Exception: cloudlog.exception("Error parsing cache") - timestamp = self.last_fetch_navs_t.as_datetime() if self.last_fetch_navs_t is not None else 'Nan' cloudlog.debug( - f"Loaded navs ({sum([len(v) for v in cache['navs']])}) cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['navs'].keys())} " + - f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in self.astro_dog.navs_fetched_times._ranges]}") + f"Loaded navs ({sum([len(nav_dict[prn]) for prn in nav_dict.keys()])}). Unique orbit and nav sats: {list(nav_dict.keys())} ") - def cache_ephemeris(self, t: GPSTime): - if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN): - put_nonblocking(EPHEMERIS_CACHE, json.dumps( - {'version': CACHE_VERSION, 'last_fetch_navs_t': self.last_fetch_navs_t, 'navs': self.astro_dog.navs}, - cls=CacheSerializer)) + def cache_ephemeris(self): + + if self.save_ephemeris and (self.last_report_time - self.last_cached_t > SECS_IN_MIN): + nav_list: List = sum([v for k,v in self.astro_dog.navs.items()], []) + ephem_cache = ephemeris_structs.EphemerisCache(**{'glonassEphemerides': [e.data for e in nav_list if e.prn[0]=='R'], + 'gpsEphemerides': [e.data for e in nav_list if e.prn[0]=='G']}) + + put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes()) cloudlog.debug("Cache saved") - self.last_cached_t = t + self.last_cached_t = self.last_report_time + + def create_ephem_statuses(self): + ephemeris_statuses = [] + prns_to_check = list(self.astro_dog.get_all_ephem_prns()) + prns_to_check.sort() + for prn in prns_to_check: + eph = self.astro_dog.get_eph(prn, self.last_report_time) + if eph is not None: + status = log.GnssMeasurements.EphemerisStatus.new_message() + status.constellationId = ConstellationId.from_rinex_char(prn[0]).value + status.svId = get_sv_id(prn) + status.type = get_log_eph_type(eph).value + status.source = get_log_eph_source(eph).value + ephemeris_statuses.append(status) + return ephemeris_statuses + def get_lsq_fix(self, t, measurements): if self.last_fix_t is None or abs(self.last_fix_t - t) > 0: @@ -121,8 +181,15 @@ class Laikad: def is_good_report(self, gnss_msg): if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom: constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) - # TODO support GLONASS - return constellation_id in [ConstellationId.GPS, ConstellationId.SBAS] + # TODO: Understand and use remaining unknown constellations + try: + good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS] + except NotImplementedError: + good_constellation = False + # gpsWeek 65535 is received rarely from quectel, this cannot be + # passed to GnssMeasurements's gpsWeek (Int16) + good_week = not getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max + return good_constellation and good_week elif gnss_msg.which() == 'measurementReport' and not self.use_qcom: return True else: @@ -139,6 +206,7 @@ class Laikad: week = report.gpsWeek tow = report.rcvTow new_meas = read_raw_ublox(report) + self.last_report_time = GPSTime(week, tow) return week, tow, new_meas def is_ephemeris(self, gnss_msg): @@ -153,28 +221,34 @@ class Laikad: if self.gps_week is None: return ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week) + self.astro_dog.add_qcom_polys({ephem.prn: [ephem]}) + else: if gnss_msg.which() == 'ephemeris': - ephem = convert_ublox_gps_ephem(gnss_msg.ephemeris) + data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict()) + ephem = GPSEphemeris(data_struct, file_name='ublox') elif gnss_msg.which() == 'glonassEphemeris': - ephem = convert_ublox_glonass_ephem(gnss_msg.glonassEphemeris) + data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict()) + ephem = GLONASSEphemeris(data_struct, file_name='ublox') else: cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}") return - self.astro_dog.add_navs({ephem.prn: [ephem]}) - self.cache_ephemeris(t=ephem.epoch) + self.astro_dog.add_navs({ephem.prn: [ephem]}) + self.cache_ephemeris() def process_report(self, new_meas, t): # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7] processed_measurements = process_measurements(new_meas, self.astro_dog) if self.last_fix_pos is not None: - corrected_measurements = correct_measurements(processed_measurements, self.last_fix_pos, self.astro_dog) - instant_fix = self.get_lsq_fix(t, corrected_measurements) - #instant_fix = self.get_lsq_fix(t, processed_measurements) + est_pos = self.last_fix_pos else: - corrected_measurements = [] - instant_fix = self.get_lsq_fix(t, processed_measurements) + est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() + corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) + return corrected_measurements + + def calc_fix(self, t, measurements): + instant_fix = self.get_lsq_fix(t, measurements) if instant_fix is None: return None else: @@ -182,60 +256,53 @@ class Laikad: self.last_fix_t = t self.last_fix_pos = position_estimate self.lat_fix_pos_std = position_std - if (t*1e9) % 10 == 0: - cloudlog.debug(f"Measurements Incoming/Processed/Corrected: {len(new_meas), len(processed_measurements), len(corrected_measurements)}") - return position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, processed_measurements + return position_estimate, position_std, velocity_estimate, velocity_std def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): + out_msg = messaging.new_message("gnssMeasurements") + t = gnss_mono_time * 1e-9 + msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time} + if self.first_log_time is None: + self.first_log_time = 1e-9 * gnss_mono_time if self.is_ephemeris(gnss_msg): self.read_ephemeris(gnss_msg) - return None elif self.is_good_report(gnss_msg): - week, tow, new_meas = self.read_report(gnss_msg) self.gps_week = week - if len(new_meas) == 0: - return None - - t = gnss_mono_time * 1e-9 if week > 0: self.got_first_gnss_msg = True latest_msg_t = GPSTime(week, tow) if self.auto_fetch_navs: self.fetch_navs(latest_msg_t, block) - output = self.process_report(new_meas, t) - if output is None: - return None - position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, _ = output + corrected_measurements = self.process_report(new_meas, t) + msg_dict['correctedMeasurements'] = [create_measurement_msg(m) for m in corrected_measurements] - self.update_localizer(position_estimate, t, corrected_measurements) - meas_msgs = [create_measurement_msg(m) for m in corrected_measurements] - msg = messaging.new_message("gnssMeasurements") + fix = self.calc_fix(t, corrected_measurements) measurement_msg = log.LiveLocationKalman.Measurement.new_message + if fix is not None: + position_estimate, position_std, velocity_estimate, velocity_std = fix + if self.ttff <= 0: + self.ttff = max(1e-3, t - self.first_log_time) + msg_dict["positionECEF"] = measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t)) + msg_dict["velocityECEF"] = measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)) + self.update_localizer(self.last_fix_pos, t, corrected_measurements) P_diag = self.gnss_kf.P.diagonal() kf_valid = all(self.kf_valid(t)) - msg.gnssMeasurements = { - "gpsWeek": week, - "gpsTimeOfWeek": tow, - "kalmanPositionECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(), + msg_dict["kalmanPositionECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(), std=np.sqrt(P_diag[GStates.ECEF_POS]).tolist(), - valid=kf_valid), - "kalmanVelocityECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(), + valid=kf_valid) + msg_dict["kalmanVelocityECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(), std=np.sqrt(P_diag[GStates.ECEF_VELOCITY]).tolist(), - valid=kf_valid), - "positionECEF": measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t)), - "velocityECEF": measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)), - - "measTime": gnss_mono_time, - "correctedMeasurements": meas_msgs - } - return msg - - #elif gnss_msg.which() == 'ionoData': - # TODO: add this, Needed to better correct messages offline. First fix ublox_msg.cc to sent them. + valid=kf_valid) + msg_dict['gpsWeek'] = self.last_report_time.week + msg_dict['gpsTimeOfWeek'] = self.last_report_time.tow + msg_dict['timeToFirstFix'] = self.ttff + msg_dict['ephemerisStatuses'] = self.create_ephem_statuses() + out_msg.gnssMeasurements = msg_dict + return out_msg def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]): # Check time and outputs are valid @@ -247,7 +314,7 @@ class Laikad: cloudlog.error("Time gap of over 10s detected, gnss kalman reset") elif not valid[2]: cloudlog.error("Gnss kalman filter state is nan") - if len(est_pos) > 0: + if est_pos is not None and len(est_pos) > 0: cloudlog.info(f"Reset kalman filter with {est_pos}") self.init_gnss_localizer(est_pos) else: @@ -272,7 +339,7 @@ class Laikad: def fetch_navs(self, t: GPSTime, block): # Download new navs if 1 hour of navs data left - if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (self.last_fetch_navs_t is None or abs(t - self.last_fetch_navs_t) > SECS_IN_MIN): + if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (abs(t - self.last_fetch_navs_t) > SECS_IN_MIN): astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir ret = None @@ -290,7 +357,7 @@ class Laikad: self.last_fetch_navs_t = ret[2] else: self.astro_dog.navs, self.astro_dog.navs_fetched_times, self.last_fetch_navs_t = ret - self.cache_ephemeris(t=t) + self.cache_ephemeris() def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cache_dir): @@ -320,31 +387,8 @@ def create_measurement_msg(meas: GNSSMeasurement): c.satPos = meas.sat_pos_final.tolist() c.satVel = meas.sat_vel.tolist() c.satVel = meas.sat_vel.tolist() - ephem = meas.sat_ephemeris - assert ephem is not None - week, time_of_week = -1, -1 - if ephem.eph_type == EphemerisType.NAV: - source_type = EphemerisSourceType.nav - elif ephem.eph_type == EphemerisType.QCOM_POLY: - source_type = EphemerisSourceType.qcompoly - else: - assert ephem.file_epoch is not None - week = ephem.file_epoch.week - time_of_week = ephem.file_epoch.tow - file_src = ephem.file_source - if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z' - source_type = EphemerisSourceType.nasaUltraRapid - elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3' - source_type = EphemerisSourceType.glonassIacUltraRapid - else: - raise Exception(f"Didn't expect file source {file_src}") - - c.ephemerisSource.type = source_type.value - c.ephemerisSource.gpsWeek = week - c.ephemerisSource.gpsTimeOfWeek = int(time_of_week) return c - def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMeasurement]): ekf_data = defaultdict(list) for m in measurements: @@ -360,69 +404,29 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe gnss_kf.predict_and_observe(t, kind, data) -class CacheSerializer(json.JSONEncoder): - - def default(self, o): - if isinstance(o, Ephemeris): - return o.to_json() - if isinstance(o, GPSTime): - return o.__dict__ - if isinstance(o, np.ndarray): - return o.tolist() - return json.JSONEncoder.default(self, o) - - -def deserialize_hook(dct): - if 'ephemeris' in dct: - return Ephemeris.from_json(dct) - if 'week' in dct: - return GPSTime(dct['week'], dct['tow']) - return dct - - -class EphemerisSourceType(IntEnum): - nav = 0 - nasaUltraRapid = 1 - glonassIacUltraRapid = 2 - qcom = 3 - - -def process_msg(laikad, gnss_msg, mono_time, block=False): - # TODO: Understand and use remaining unknown constellations - if gnss_msg.which() == "drMeasurementReport": - if getattr(gnss_msg, gnss_msg.which()).source not in ['glonass', 'gps', 'beidou', 'sbas']: - return None - - if getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max: - # gpsWeek 65535 is received rarely from quectel, this cannot be - # passed to GnssMeasurements's gpsWeek (Int16) - return None - - return laikad.process_gnss_msg(gnss_msg, mono_time, block=block) - - def clear_tmp_cache(): if os.path.exists(DOWNLOADS_CACHE_FOLDER): shutil.rmtree(DOWNLOADS_CACHE_FOLDER) os.mkdir(DOWNLOADS_CACHE_FOLDER) -def main(sm=None, pm=None, qc=None): +def main(sm=None, pm=None): #clear_tmp_cache() use_qcom = not Params().get_bool("UbloxAvailable", block=True) - if use_qcom or (qc is not None and qc): - raw_gnss_socket = "qcomGnss" + if use_qcom: + raw_name = "qcomGnss" else: - raw_gnss_socket = "ubloxGnss" + raw_name = "ubloxGnss" + raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False, timeout=1000) if sm is None: - sm = messaging.SubMaster([raw_gnss_socket, 'clocks']) + sm = messaging.SubMaster(['clocks',]) if pm is None: pm = messaging.PubMaster(['gnssMeasurements']) # disable until set as main gps source, to better analyze startup time - use_internet = False #"LAIKAD_NO_INTERNET" not in os.environ + use_internet = False # "LAIKAD_NO_INTERNET" not in os.environ replay = "REPLAY" in os.environ if replay or "CI" in os.environ: @@ -431,22 +435,17 @@ def main(sm=None, pm=None, qc=None): laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom) while True: - sm.update() - - if sm.updated[raw_gnss_socket]: - gnss_msg = sm[raw_gnss_socket] - - msg = process_msg(laikad, gnss_msg, sm.logMonoTime[raw_gnss_socket], replay) - if msg is None: - # TODO: beautify this, locationd needs a valid message - msg = messaging.new_message("gnssMeasurements") - pm.send('gnssMeasurements', msg) + for in_msg in messaging.drain_sock(raw_gnss_sock): + out_msg = laikad.process_gnss_msg(getattr(in_msg, raw_name), in_msg.logMonoTime, replay) + pm.send('gnssMeasurements', out_msg) + sm.update(0) if not laikad.got_first_gnss_msg and sm.updated['clocks']: clocks_msg = sm['clocks'] t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9)) if laikad.auto_fetch_navs: laikad.fetch_navs(t, block=replay) + if __name__ == "__main__": main() diff --git a/selfdrive/locationd/locationd b/selfdrive/locationd/locationd index fbb95a975..e0ec3a77f 100755 Binary files a/selfdrive/locationd/locationd and b/selfdrive/locationd/locationd differ diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 824d03b48..65b861dc1 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/selfdrive/locationd/models/generated/car.cpp @@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_559111814741085424) { - out_559111814741085424[0] = delta_x[0] + nom_x[0]; - out_559111814741085424[1] = delta_x[1] + nom_x[1]; - out_559111814741085424[2] = delta_x[2] + nom_x[2]; - out_559111814741085424[3] = delta_x[3] + nom_x[3]; - out_559111814741085424[4] = delta_x[4] + nom_x[4]; - out_559111814741085424[5] = delta_x[5] + nom_x[5]; - out_559111814741085424[6] = delta_x[6] + nom_x[6]; - out_559111814741085424[7] = delta_x[7] + nom_x[7]; - out_559111814741085424[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_5634330020296848070) { + out_5634330020296848070[0] = delta_x[0] + nom_x[0]; + out_5634330020296848070[1] = delta_x[1] + nom_x[1]; + out_5634330020296848070[2] = delta_x[2] + nom_x[2]; + out_5634330020296848070[3] = delta_x[3] + nom_x[3]; + out_5634330020296848070[4] = delta_x[4] + nom_x[4]; + out_5634330020296848070[5] = delta_x[5] + nom_x[5]; + out_5634330020296848070[6] = delta_x[6] + nom_x[6]; + out_5634330020296848070[7] = delta_x[7] + nom_x[7]; + out_5634330020296848070[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8525802223358923727) { - out_8525802223358923727[0] = -nom_x[0] + true_x[0]; - out_8525802223358923727[1] = -nom_x[1] + true_x[1]; - out_8525802223358923727[2] = -nom_x[2] + true_x[2]; - out_8525802223358923727[3] = -nom_x[3] + true_x[3]; - out_8525802223358923727[4] = -nom_x[4] + true_x[4]; - out_8525802223358923727[5] = -nom_x[5] + true_x[5]; - out_8525802223358923727[6] = -nom_x[6] + true_x[6]; - out_8525802223358923727[7] = -nom_x[7] + true_x[7]; - out_8525802223358923727[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1061559027503315281) { + out_1061559027503315281[0] = -nom_x[0] + true_x[0]; + out_1061559027503315281[1] = -nom_x[1] + true_x[1]; + out_1061559027503315281[2] = -nom_x[2] + true_x[2]; + out_1061559027503315281[3] = -nom_x[3] + true_x[3]; + out_1061559027503315281[4] = -nom_x[4] + true_x[4]; + out_1061559027503315281[5] = -nom_x[5] + true_x[5]; + out_1061559027503315281[6] = -nom_x[6] + true_x[6]; + out_1061559027503315281[7] = -nom_x[7] + true_x[7]; + out_1061559027503315281[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6521334698987505192) { - out_6521334698987505192[0] = 1.0; - out_6521334698987505192[1] = 0; - out_6521334698987505192[2] = 0; - out_6521334698987505192[3] = 0; - out_6521334698987505192[4] = 0; - out_6521334698987505192[5] = 0; - out_6521334698987505192[6] = 0; - out_6521334698987505192[7] = 0; - out_6521334698987505192[8] = 0; - out_6521334698987505192[9] = 0; - out_6521334698987505192[10] = 1.0; - out_6521334698987505192[11] = 0; - out_6521334698987505192[12] = 0; - out_6521334698987505192[13] = 0; - out_6521334698987505192[14] = 0; - out_6521334698987505192[15] = 0; - out_6521334698987505192[16] = 0; - out_6521334698987505192[17] = 0; - out_6521334698987505192[18] = 0; - out_6521334698987505192[19] = 0; - out_6521334698987505192[20] = 1.0; - out_6521334698987505192[21] = 0; - out_6521334698987505192[22] = 0; - out_6521334698987505192[23] = 0; - out_6521334698987505192[24] = 0; - out_6521334698987505192[25] = 0; - out_6521334698987505192[26] = 0; - out_6521334698987505192[27] = 0; - out_6521334698987505192[28] = 0; - out_6521334698987505192[29] = 0; - out_6521334698987505192[30] = 1.0; - out_6521334698987505192[31] = 0; - out_6521334698987505192[32] = 0; - out_6521334698987505192[33] = 0; - out_6521334698987505192[34] = 0; - out_6521334698987505192[35] = 0; - out_6521334698987505192[36] = 0; - out_6521334698987505192[37] = 0; - out_6521334698987505192[38] = 0; - out_6521334698987505192[39] = 0; - out_6521334698987505192[40] = 1.0; - out_6521334698987505192[41] = 0; - out_6521334698987505192[42] = 0; - out_6521334698987505192[43] = 0; - out_6521334698987505192[44] = 0; - out_6521334698987505192[45] = 0; - out_6521334698987505192[46] = 0; - out_6521334698987505192[47] = 0; - out_6521334698987505192[48] = 0; - out_6521334698987505192[49] = 0; - out_6521334698987505192[50] = 1.0; - out_6521334698987505192[51] = 0; - out_6521334698987505192[52] = 0; - out_6521334698987505192[53] = 0; - out_6521334698987505192[54] = 0; - out_6521334698987505192[55] = 0; - out_6521334698987505192[56] = 0; - out_6521334698987505192[57] = 0; - out_6521334698987505192[58] = 0; - out_6521334698987505192[59] = 0; - out_6521334698987505192[60] = 1.0; - out_6521334698987505192[61] = 0; - out_6521334698987505192[62] = 0; - out_6521334698987505192[63] = 0; - out_6521334698987505192[64] = 0; - out_6521334698987505192[65] = 0; - out_6521334698987505192[66] = 0; - out_6521334698987505192[67] = 0; - out_6521334698987505192[68] = 0; - out_6521334698987505192[69] = 0; - out_6521334698987505192[70] = 1.0; - out_6521334698987505192[71] = 0; - out_6521334698987505192[72] = 0; - out_6521334698987505192[73] = 0; - out_6521334698987505192[74] = 0; - out_6521334698987505192[75] = 0; - out_6521334698987505192[76] = 0; - out_6521334698987505192[77] = 0; - out_6521334698987505192[78] = 0; - out_6521334698987505192[79] = 0; - out_6521334698987505192[80] = 1.0; +void H_mod_fun(double *state, double *out_1567569310651922730) { + out_1567569310651922730[0] = 1.0; + out_1567569310651922730[1] = 0; + out_1567569310651922730[2] = 0; + out_1567569310651922730[3] = 0; + out_1567569310651922730[4] = 0; + out_1567569310651922730[5] = 0; + out_1567569310651922730[6] = 0; + out_1567569310651922730[7] = 0; + out_1567569310651922730[8] = 0; + out_1567569310651922730[9] = 0; + out_1567569310651922730[10] = 1.0; + out_1567569310651922730[11] = 0; + out_1567569310651922730[12] = 0; + out_1567569310651922730[13] = 0; + out_1567569310651922730[14] = 0; + out_1567569310651922730[15] = 0; + out_1567569310651922730[16] = 0; + out_1567569310651922730[17] = 0; + out_1567569310651922730[18] = 0; + out_1567569310651922730[19] = 0; + out_1567569310651922730[20] = 1.0; + out_1567569310651922730[21] = 0; + out_1567569310651922730[22] = 0; + out_1567569310651922730[23] = 0; + out_1567569310651922730[24] = 0; + out_1567569310651922730[25] = 0; + out_1567569310651922730[26] = 0; + out_1567569310651922730[27] = 0; + out_1567569310651922730[28] = 0; + out_1567569310651922730[29] = 0; + out_1567569310651922730[30] = 1.0; + out_1567569310651922730[31] = 0; + out_1567569310651922730[32] = 0; + out_1567569310651922730[33] = 0; + out_1567569310651922730[34] = 0; + out_1567569310651922730[35] = 0; + out_1567569310651922730[36] = 0; + out_1567569310651922730[37] = 0; + out_1567569310651922730[38] = 0; + out_1567569310651922730[39] = 0; + out_1567569310651922730[40] = 1.0; + out_1567569310651922730[41] = 0; + out_1567569310651922730[42] = 0; + out_1567569310651922730[43] = 0; + out_1567569310651922730[44] = 0; + out_1567569310651922730[45] = 0; + out_1567569310651922730[46] = 0; + out_1567569310651922730[47] = 0; + out_1567569310651922730[48] = 0; + out_1567569310651922730[49] = 0; + out_1567569310651922730[50] = 1.0; + out_1567569310651922730[51] = 0; + out_1567569310651922730[52] = 0; + out_1567569310651922730[53] = 0; + out_1567569310651922730[54] = 0; + out_1567569310651922730[55] = 0; + out_1567569310651922730[56] = 0; + out_1567569310651922730[57] = 0; + out_1567569310651922730[58] = 0; + out_1567569310651922730[59] = 0; + out_1567569310651922730[60] = 1.0; + out_1567569310651922730[61] = 0; + out_1567569310651922730[62] = 0; + out_1567569310651922730[63] = 0; + out_1567569310651922730[64] = 0; + out_1567569310651922730[65] = 0; + out_1567569310651922730[66] = 0; + out_1567569310651922730[67] = 0; + out_1567569310651922730[68] = 0; + out_1567569310651922730[69] = 0; + out_1567569310651922730[70] = 1.0; + out_1567569310651922730[71] = 0; + out_1567569310651922730[72] = 0; + out_1567569310651922730[73] = 0; + out_1567569310651922730[74] = 0; + out_1567569310651922730[75] = 0; + out_1567569310651922730[76] = 0; + out_1567569310651922730[77] = 0; + out_1567569310651922730[78] = 0; + out_1567569310651922730[79] = 0; + out_1567569310651922730[80] = 1.0; } -void f_fun(double *state, double dt, double *out_5157815911269073647) { - out_5157815911269073647[0] = state[0]; - out_5157815911269073647[1] = state[1]; - out_5157815911269073647[2] = state[2]; - out_5157815911269073647[3] = state[3]; - out_5157815911269073647[4] = state[4]; - out_5157815911269073647[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; - out_5157815911269073647[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; - out_5157815911269073647[7] = state[7]; - out_5157815911269073647[8] = state[8]; +void f_fun(double *state, double dt, double *out_1208381054458531187) { + out_1208381054458531187[0] = state[0]; + out_1208381054458531187[1] = state[1]; + out_1208381054458531187[2] = state[2]; + out_1208381054458531187[3] = state[3]; + out_1208381054458531187[4] = state[4]; + out_1208381054458531187[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_1208381054458531187[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_1208381054458531187[7] = state[7]; + out_1208381054458531187[8] = state[8]; } -void F_fun(double *state, double dt, double *out_4341564588224271600) { - out_4341564588224271600[0] = 1; - out_4341564588224271600[1] = 0; - out_4341564588224271600[2] = 0; - out_4341564588224271600[3] = 0; - out_4341564588224271600[4] = 0; - out_4341564588224271600[5] = 0; - out_4341564588224271600[6] = 0; - out_4341564588224271600[7] = 0; - out_4341564588224271600[8] = 0; - out_4341564588224271600[9] = 0; - out_4341564588224271600[10] = 1; - out_4341564588224271600[11] = 0; - out_4341564588224271600[12] = 0; - out_4341564588224271600[13] = 0; - out_4341564588224271600[14] = 0; - out_4341564588224271600[15] = 0; - out_4341564588224271600[16] = 0; - out_4341564588224271600[17] = 0; - out_4341564588224271600[18] = 0; - out_4341564588224271600[19] = 0; - out_4341564588224271600[20] = 1; - out_4341564588224271600[21] = 0; - out_4341564588224271600[22] = 0; - out_4341564588224271600[23] = 0; - out_4341564588224271600[24] = 0; - out_4341564588224271600[25] = 0; - out_4341564588224271600[26] = 0; - out_4341564588224271600[27] = 0; - out_4341564588224271600[28] = 0; - out_4341564588224271600[29] = 0; - out_4341564588224271600[30] = 1; - out_4341564588224271600[31] = 0; - out_4341564588224271600[32] = 0; - out_4341564588224271600[33] = 0; - out_4341564588224271600[34] = 0; - out_4341564588224271600[35] = 0; - out_4341564588224271600[36] = 0; - out_4341564588224271600[37] = 0; - out_4341564588224271600[38] = 0; - out_4341564588224271600[39] = 0; - out_4341564588224271600[40] = 1; - out_4341564588224271600[41] = 0; - out_4341564588224271600[42] = 0; - out_4341564588224271600[43] = 0; - out_4341564588224271600[44] = 0; - out_4341564588224271600[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); - out_4341564588224271600[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_4341564588224271600[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_4341564588224271600[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_4341564588224271600[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); - out_4341564588224271600[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_4341564588224271600[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_4341564588224271600[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_4341564588224271600[53] = -9.8000000000000007*dt; - out_4341564588224271600[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); - out_4341564588224271600[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_4341564588224271600[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4341564588224271600[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4341564588224271600[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); - out_4341564588224271600[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_4341564588224271600[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; - out_4341564588224271600[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4341564588224271600[62] = 0; - out_4341564588224271600[63] = 0; - out_4341564588224271600[64] = 0; - out_4341564588224271600[65] = 0; - out_4341564588224271600[66] = 0; - out_4341564588224271600[67] = 0; - out_4341564588224271600[68] = 0; - out_4341564588224271600[69] = 0; - out_4341564588224271600[70] = 1; - out_4341564588224271600[71] = 0; - out_4341564588224271600[72] = 0; - out_4341564588224271600[73] = 0; - out_4341564588224271600[74] = 0; - out_4341564588224271600[75] = 0; - out_4341564588224271600[76] = 0; - out_4341564588224271600[77] = 0; - out_4341564588224271600[78] = 0; - out_4341564588224271600[79] = 0; - out_4341564588224271600[80] = 1; +void F_fun(double *state, double dt, double *out_8824004521572161416) { + out_8824004521572161416[0] = 1; + out_8824004521572161416[1] = 0; + out_8824004521572161416[2] = 0; + out_8824004521572161416[3] = 0; + out_8824004521572161416[4] = 0; + out_8824004521572161416[5] = 0; + out_8824004521572161416[6] = 0; + out_8824004521572161416[7] = 0; + out_8824004521572161416[8] = 0; + out_8824004521572161416[9] = 0; + out_8824004521572161416[10] = 1; + out_8824004521572161416[11] = 0; + out_8824004521572161416[12] = 0; + out_8824004521572161416[13] = 0; + out_8824004521572161416[14] = 0; + out_8824004521572161416[15] = 0; + out_8824004521572161416[16] = 0; + out_8824004521572161416[17] = 0; + out_8824004521572161416[18] = 0; + out_8824004521572161416[19] = 0; + out_8824004521572161416[20] = 1; + out_8824004521572161416[21] = 0; + out_8824004521572161416[22] = 0; + out_8824004521572161416[23] = 0; + out_8824004521572161416[24] = 0; + out_8824004521572161416[25] = 0; + out_8824004521572161416[26] = 0; + out_8824004521572161416[27] = 0; + out_8824004521572161416[28] = 0; + out_8824004521572161416[29] = 0; + out_8824004521572161416[30] = 1; + out_8824004521572161416[31] = 0; + out_8824004521572161416[32] = 0; + out_8824004521572161416[33] = 0; + out_8824004521572161416[34] = 0; + out_8824004521572161416[35] = 0; + out_8824004521572161416[36] = 0; + out_8824004521572161416[37] = 0; + out_8824004521572161416[38] = 0; + out_8824004521572161416[39] = 0; + out_8824004521572161416[40] = 1; + out_8824004521572161416[41] = 0; + out_8824004521572161416[42] = 0; + out_8824004521572161416[43] = 0; + out_8824004521572161416[44] = 0; + out_8824004521572161416[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_8824004521572161416[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_8824004521572161416[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8824004521572161416[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8824004521572161416[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_8824004521572161416[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_8824004521572161416[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_8824004521572161416[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_8824004521572161416[53] = -9.8000000000000007*dt; + out_8824004521572161416[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_8824004521572161416[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_8824004521572161416[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8824004521572161416[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8824004521572161416[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_8824004521572161416[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_8824004521572161416[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_8824004521572161416[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8824004521572161416[62] = 0; + out_8824004521572161416[63] = 0; + out_8824004521572161416[64] = 0; + out_8824004521572161416[65] = 0; + out_8824004521572161416[66] = 0; + out_8824004521572161416[67] = 0; + out_8824004521572161416[68] = 0; + out_8824004521572161416[69] = 0; + out_8824004521572161416[70] = 1; + out_8824004521572161416[71] = 0; + out_8824004521572161416[72] = 0; + out_8824004521572161416[73] = 0; + out_8824004521572161416[74] = 0; + out_8824004521572161416[75] = 0; + out_8824004521572161416[76] = 0; + out_8824004521572161416[77] = 0; + out_8824004521572161416[78] = 0; + out_8824004521572161416[79] = 0; + out_8824004521572161416[80] = 1; } -void h_25(double *state, double *unused, double *out_8809968363646297090) { - out_8809968363646297090[0] = state[6]; +void h_25(double *state, double *unused, double *out_1789446864250922111) { + out_1789446864250922111[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1959634654218019643) { - out_1959634654218019643[0] = 0; - out_1959634654218019643[1] = 0; - out_1959634654218019643[2] = 0; - out_1959634654218019643[3] = 0; - out_1959634654218019643[4] = 0; - out_1959634654218019643[5] = 0; - out_1959634654218019643[6] = 1; - out_1959634654218019643[7] = 0; - out_1959634654218019643[8] = 0; +void H_25(double *state, double *unused, double *out_9129886545195087354) { + out_9129886545195087354[0] = 0; + out_9129886545195087354[1] = 0; + out_9129886545195087354[2] = 0; + out_9129886545195087354[3] = 0; + out_9129886545195087354[4] = 0; + out_9129886545195087354[5] = 0; + out_9129886545195087354[6] = 1; + out_9129886545195087354[7] = 0; + out_9129886545195087354[8] = 0; } -void h_24(double *state, double *unused, double *out_8028835485487409495) { - out_8028835485487409495[0] = state[4]; - out_8028835485487409495[1] = state[5]; +void h_24(double *state, double *unused, double *out_3299160385053087312) { + out_3299160385053087312[0] = state[4]; + out_3299160385053087312[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2786874672748489391) { - out_2786874672748489391[0] = 0; - out_2786874672748489391[1] = 0; - out_2786874672748489391[2] = 0; - out_2786874672748489391[3] = 0; - out_2786874672748489391[4] = 1; - out_2786874672748489391[5] = 0; - out_2786874672748489391[6] = 0; - out_2786874672748489391[7] = 0; - out_2786874672748489391[8] = 0; - out_2786874672748489391[9] = 0; - out_2786874672748489391[10] = 0; - out_2786874672748489391[11] = 0; - out_2786874672748489391[12] = 0; - out_2786874672748489391[13] = 0; - out_2786874672748489391[14] = 1; - out_2786874672748489391[15] = 0; - out_2786874672748489391[16] = 0; - out_2786874672748489391[17] = 0; +void H_24(double *state, double *unused, double *out_7144207929508964696) { + out_7144207929508964696[0] = 0; + out_7144207929508964696[1] = 0; + out_7144207929508964696[2] = 0; + out_7144207929508964696[3] = 0; + out_7144207929508964696[4] = 1; + out_7144207929508964696[5] = 0; + out_7144207929508964696[6] = 0; + out_7144207929508964696[7] = 0; + out_7144207929508964696[8] = 0; + out_7144207929508964696[9] = 0; + out_7144207929508964696[10] = 0; + out_7144207929508964696[11] = 0; + out_7144207929508964696[12] = 0; + out_7144207929508964696[13] = 0; + out_7144207929508964696[14] = 1; + out_7144207929508964696[15] = 0; + out_7144207929508964696[16] = 0; + out_7144207929508964696[17] = 0; } -void h_30(double *state, double *unused, double *out_8967155031997426235) { - out_8967155031997426235[0] = state[4]; +void h_30(double *state, double *unused, double *out_7348270420432929071) { + out_7348270420432929071[0] = state[4]; } -void H_30(double *state, double *unused, double *out_4477967612725268270) { - out_4477967612725268270[0] = 0; - out_4477967612725268270[1] = 0; - out_4477967612725268270[2] = 0; - out_4477967612725268270[3] = 0; - out_4477967612725268270[4] = 1; - out_4477967612725268270[5] = 0; - out_4477967612725268270[6] = 0; - out_4477967612725268270[7] = 0; - out_4477967612725268270[8] = 0; +void H_30(double *state, double *unused, double *out_6611553586687838727) { + out_6611553586687838727[0] = 0; + out_6611553586687838727[1] = 0; + out_6611553586687838727[2] = 0; + out_6611553586687838727[3] = 0; + out_6611553586687838727[4] = 1; + out_6611553586687838727[5] = 0; + out_6611553586687838727[6] = 0; + out_6611553586687838727[7] = 0; + out_6611553586687838727[8] = 0; } -void h_26(double *state, double *unused, double *out_4004775034316133003) { - out_4004775034316133003[0] = state[7]; +void h_26(double *state, double *unused, double *out_6096800385615776900) { + out_6096800385615776900[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5264160623978820244) { - out_5264160623978820244[0] = 0; - out_5264160623978820244[1] = 0; - out_5264160623978820244[2] = 0; - out_5264160623978820244[3] = 0; - out_5264160623978820244[4] = 0; - out_5264160623978820244[5] = 0; - out_5264160623978820244[6] = 0; - out_5264160623978820244[7] = 1; - out_5264160623978820244[8] = 0; +void H_26(double *state, double *unused, double *out_5575354209640408038) { + out_5575354209640408038[0] = 0; + out_5575354209640408038[1] = 0; + out_5575354209640408038[2] = 0; + out_5575354209640408038[3] = 0; + out_5575354209640408038[4] = 0; + out_5575354209640408038[5] = 0; + out_5575354209640408038[6] = 0; + out_5575354209640408038[7] = 1; + out_5575354209640408038[8] = 0; } -void h_27(double *state, double *unused, double *out_6824223606793401143) { - out_6824223606793401143[0] = state[3]; +void h_27(double *state, double *unused, double *out_1247339187193410574) { + out_1247339187193410574[0] = state[3]; } -void H_27(double *state, double *unused, double *out_2303204300924843359) { - out_2303204300924843359[0] = 0; - out_2303204300924843359[1] = 0; - out_2303204300924843359[2] = 0; - out_2303204300924843359[3] = 1; - out_2303204300924843359[4] = 0; - out_2303204300924843359[5] = 0; - out_2303204300924843359[6] = 0; - out_2303204300924843359[7] = 0; - out_2303204300924843359[8] = 0; +void H_27(double *state, double *unused, double *out_2614397886586431153) { + out_2614397886586431153[0] = 0; + out_2614397886586431153[1] = 0; + out_2614397886586431153[2] = 0; + out_2614397886586431153[3] = 1; + out_2614397886586431153[4] = 0; + out_2614397886586431153[5] = 0; + out_2614397886586431153[6] = 0; + out_2614397886586431153[7] = 0; + out_2614397886586431153[8] = 0; } -void h_29(double *state, double *unused, double *out_53388380443050207) { - out_53388380443050207[0] = state[1]; +void h_29(double *state, double *unused, double *out_1705540549351972236) { + out_1705540549351972236[0] = state[1]; } -void H_29(double *state, double *unused, double *out_4988198957039660454) { - out_4988198957039660454[0] = 0; - out_4988198957039660454[1] = 1; - out_4988198957039660454[2] = 0; - out_4988198957039660454[3] = 0; - out_4988198957039660454[4] = 0; - out_4988198957039660454[5] = 0; - out_4988198957039660454[6] = 0; - out_4988198957039660454[7] = 0; - out_4988198957039660454[8] = 0; +void H_29(double *state, double *unused, double *out_5299392542701248248) { + out_5299392542701248248[0] = 0; + out_5299392542701248248[1] = 1; + out_5299392542701248248[2] = 0; + out_5299392542701248248[3] = 0; + out_5299392542701248248[4] = 0; + out_5299392542701248248[5] = 0; + out_5299392542701248248[6] = 0; + out_5299392542701248248[7] = 0; + out_5299392542701248248[8] = 0; } -void h_28(double *state, double *unused, double *out_6620847199255304828) { - out_6620847199255304828[0] = state[0]; +void h_28(double *state, double *unused, double *out_4170451758575142464) { + out_4170451758575142464[0] = state[0]; } -void H_28(double *state, double *unused, double *out_94200060029870120) { - out_94200060029870120[0] = 1; - out_94200060029870120[1] = 0; - out_94200060029870120[2] = 0; - out_94200060029870120[3] = 0; - out_94200060029870120[4] = 0; - out_94200060029870120[5] = 0; - out_94200060029870120[6] = 0; - out_94200060029870120[7] = 0; - out_94200060029870120[8] = 0; +void H_28(double *state, double *unused, double *out_7263022814266574499) { + out_7263022814266574499[0] = 1; + out_7263022814266574499[1] = 0; + out_7263022814266574499[2] = 0; + out_7263022814266574499[3] = 0; + out_7263022814266574499[4] = 0; + out_7263022814266574499[5] = 0; + out_7263022814266574499[6] = 0; + out_7263022814266574499[7] = 0; + out_7263022814266574499[8] = 0; } -void h_31(double *state, double *unused, double *out_9085162425930802979) { - out_9085162425930802979[0] = state[8]; +void h_31(double *state, double *unused, double *out_1514252801966416222) { + out_1514252801966416222[0] = state[8]; } -void H_31(double *state, double *unused, double *out_4637952521745468768) { - out_4637952521745468768[0] = 0; - out_4637952521745468768[1] = 0; - out_4637952521745468768[2] = 0; - out_4637952521745468768[3] = 0; - out_4637952521745468768[4] = 0; - out_4637952521745468768[5] = 0; - out_4637952521745468768[6] = 0; - out_4637952521745468768[7] = 0; - out_4637952521745468768[8] = 1; +void H_31(double *state, double *unused, double *out_4949146107407056562) { + out_4949146107407056562[0] = 0; + out_4949146107407056562[1] = 0; + out_4949146107407056562[2] = 0; + out_4949146107407056562[3] = 0; + out_4949146107407056562[4] = 0; + out_4949146107407056562[5] = 0; + out_4949146107407056562[6] = 0; + out_4949146107407056562[7] = 0; + out_4949146107407056562[8] = 1; } #include #include @@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31); } -void car_err_fun(double *nom_x, double *delta_x, double *out_559111814741085424) { - err_fun(nom_x, delta_x, out_559111814741085424); +void car_err_fun(double *nom_x, double *delta_x, double *out_5634330020296848070) { + err_fun(nom_x, delta_x, out_5634330020296848070); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8525802223358923727) { - inv_err_fun(nom_x, true_x, out_8525802223358923727); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1061559027503315281) { + inv_err_fun(nom_x, true_x, out_1061559027503315281); } -void car_H_mod_fun(double *state, double *out_6521334698987505192) { - H_mod_fun(state, out_6521334698987505192); +void car_H_mod_fun(double *state, double *out_1567569310651922730) { + H_mod_fun(state, out_1567569310651922730); } -void car_f_fun(double *state, double dt, double *out_5157815911269073647) { - f_fun(state, dt, out_5157815911269073647); +void car_f_fun(double *state, double dt, double *out_1208381054458531187) { + f_fun(state, dt, out_1208381054458531187); } -void car_F_fun(double *state, double dt, double *out_4341564588224271600) { - F_fun(state, dt, out_4341564588224271600); +void car_F_fun(double *state, double dt, double *out_8824004521572161416) { + F_fun(state, dt, out_8824004521572161416); } -void car_h_25(double *state, double *unused, double *out_8809968363646297090) { - h_25(state, unused, out_8809968363646297090); +void car_h_25(double *state, double *unused, double *out_1789446864250922111) { + h_25(state, unused, out_1789446864250922111); } -void car_H_25(double *state, double *unused, double *out_1959634654218019643) { - H_25(state, unused, out_1959634654218019643); +void car_H_25(double *state, double *unused, double *out_9129886545195087354) { + H_25(state, unused, out_9129886545195087354); } -void car_h_24(double *state, double *unused, double *out_8028835485487409495) { - h_24(state, unused, out_8028835485487409495); +void car_h_24(double *state, double *unused, double *out_3299160385053087312) { + h_24(state, unused, out_3299160385053087312); } -void car_H_24(double *state, double *unused, double *out_2786874672748489391) { - H_24(state, unused, out_2786874672748489391); +void car_H_24(double *state, double *unused, double *out_7144207929508964696) { + H_24(state, unused, out_7144207929508964696); } -void car_h_30(double *state, double *unused, double *out_8967155031997426235) { - h_30(state, unused, out_8967155031997426235); +void car_h_30(double *state, double *unused, double *out_7348270420432929071) { + h_30(state, unused, out_7348270420432929071); } -void car_H_30(double *state, double *unused, double *out_4477967612725268270) { - H_30(state, unused, out_4477967612725268270); +void car_H_30(double *state, double *unused, double *out_6611553586687838727) { + H_30(state, unused, out_6611553586687838727); } -void car_h_26(double *state, double *unused, double *out_4004775034316133003) { - h_26(state, unused, out_4004775034316133003); +void car_h_26(double *state, double *unused, double *out_6096800385615776900) { + h_26(state, unused, out_6096800385615776900); } -void car_H_26(double *state, double *unused, double *out_5264160623978820244) { - H_26(state, unused, out_5264160623978820244); +void car_H_26(double *state, double *unused, double *out_5575354209640408038) { + H_26(state, unused, out_5575354209640408038); } -void car_h_27(double *state, double *unused, double *out_6824223606793401143) { - h_27(state, unused, out_6824223606793401143); +void car_h_27(double *state, double *unused, double *out_1247339187193410574) { + h_27(state, unused, out_1247339187193410574); } -void car_H_27(double *state, double *unused, double *out_2303204300924843359) { - H_27(state, unused, out_2303204300924843359); +void car_H_27(double *state, double *unused, double *out_2614397886586431153) { + H_27(state, unused, out_2614397886586431153); } -void car_h_29(double *state, double *unused, double *out_53388380443050207) { - h_29(state, unused, out_53388380443050207); +void car_h_29(double *state, double *unused, double *out_1705540549351972236) { + h_29(state, unused, out_1705540549351972236); } -void car_H_29(double *state, double *unused, double *out_4988198957039660454) { - H_29(state, unused, out_4988198957039660454); +void car_H_29(double *state, double *unused, double *out_5299392542701248248) { + H_29(state, unused, out_5299392542701248248); } -void car_h_28(double *state, double *unused, double *out_6620847199255304828) { - h_28(state, unused, out_6620847199255304828); +void car_h_28(double *state, double *unused, double *out_4170451758575142464) { + h_28(state, unused, out_4170451758575142464); } -void car_H_28(double *state, double *unused, double *out_94200060029870120) { - H_28(state, unused, out_94200060029870120); +void car_H_28(double *state, double *unused, double *out_7263022814266574499) { + H_28(state, unused, out_7263022814266574499); } -void car_h_31(double *state, double *unused, double *out_9085162425930802979) { - h_31(state, unused, out_9085162425930802979); +void car_h_31(double *state, double *unused, double *out_1514252801966416222) { + h_31(state, unused, out_1514252801966416222); } -void car_H_31(double *state, double *unused, double *out_4637952521745468768) { - H_31(state, unused, out_4637952521745468768); +void car_H_31(double *state, double *unused, double *out_4949146107407056562) { + H_31(state, unused, out_4949146107407056562); } void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h index 38b7d94b2..3fd634938 100644 --- a/selfdrive/locationd/models/generated/car.h +++ b/selfdrive/locationd/models/generated/car.h @@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void car_err_fun(double *nom_x, double *delta_x, double *out_559111814741085424); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8525802223358923727); -void car_H_mod_fun(double *state, double *out_6521334698987505192); -void car_f_fun(double *state, double dt, double *out_5157815911269073647); -void car_F_fun(double *state, double dt, double *out_4341564588224271600); -void car_h_25(double *state, double *unused, double *out_8809968363646297090); -void car_H_25(double *state, double *unused, double *out_1959634654218019643); -void car_h_24(double *state, double *unused, double *out_8028835485487409495); -void car_H_24(double *state, double *unused, double *out_2786874672748489391); -void car_h_30(double *state, double *unused, double *out_8967155031997426235); -void car_H_30(double *state, double *unused, double *out_4477967612725268270); -void car_h_26(double *state, double *unused, double *out_4004775034316133003); -void car_H_26(double *state, double *unused, double *out_5264160623978820244); -void car_h_27(double *state, double *unused, double *out_6824223606793401143); -void car_H_27(double *state, double *unused, double *out_2303204300924843359); -void car_h_29(double *state, double *unused, double *out_53388380443050207); -void car_H_29(double *state, double *unused, double *out_4988198957039660454); -void car_h_28(double *state, double *unused, double *out_6620847199255304828); -void car_H_28(double *state, double *unused, double *out_94200060029870120); -void car_h_31(double *state, double *unused, double *out_9085162425930802979); -void car_H_31(double *state, double *unused, double *out_4637952521745468768); +void car_err_fun(double *nom_x, double *delta_x, double *out_5634330020296848070); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1061559027503315281); +void car_H_mod_fun(double *state, double *out_1567569310651922730); +void car_f_fun(double *state, double dt, double *out_1208381054458531187); +void car_F_fun(double *state, double dt, double *out_8824004521572161416); +void car_h_25(double *state, double *unused, double *out_1789446864250922111); +void car_H_25(double *state, double *unused, double *out_9129886545195087354); +void car_h_24(double *state, double *unused, double *out_3299160385053087312); +void car_H_24(double *state, double *unused, double *out_7144207929508964696); +void car_h_30(double *state, double *unused, double *out_7348270420432929071); +void car_H_30(double *state, double *unused, double *out_6611553586687838727); +void car_h_26(double *state, double *unused, double *out_6096800385615776900); +void car_H_26(double *state, double *unused, double *out_5575354209640408038); +void car_h_27(double *state, double *unused, double *out_1247339187193410574); +void car_H_27(double *state, double *unused, double *out_2614397886586431153); +void car_h_29(double *state, double *unused, double *out_1705540549351972236); +void car_H_29(double *state, double *unused, double *out_5299392542701248248); +void car_h_28(double *state, double *unused, double *out_4170451758575142464); +void car_H_28(double *state, double *unused, double *out_7263022814266574499); +void car_h_31(double *state, double *unused, double *out_1514252801966416222); +void car_H_31(double *state, double *unused, double *out_4949146107407056562); void car_predict(double *in_x, double *in_P, double *in_Q, double dt); void car_set_mass(double x); void car_set_rotational_inertia(double x); diff --git a/selfdrive/locationd/models/generated/gnss.cpp b/selfdrive/locationd/models/generated/gnss.cpp index 84946aada..481ee2b48 100644 --- a/selfdrive/locationd/models/generated/gnss.cpp +++ b/selfdrive/locationd/models/generated/gnss.cpp @@ -17,354 +17,354 @@ const static double MAHA_THRESH_21 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_654910612427940843) { - out_654910612427940843[0] = delta_x[0] + nom_x[0]; - out_654910612427940843[1] = delta_x[1] + nom_x[1]; - out_654910612427940843[2] = delta_x[2] + nom_x[2]; - out_654910612427940843[3] = delta_x[3] + nom_x[3]; - out_654910612427940843[4] = delta_x[4] + nom_x[4]; - out_654910612427940843[5] = delta_x[5] + nom_x[5]; - out_654910612427940843[6] = delta_x[6] + nom_x[6]; - out_654910612427940843[7] = delta_x[7] + nom_x[7]; - out_654910612427940843[8] = delta_x[8] + nom_x[8]; - out_654910612427940843[9] = delta_x[9] + nom_x[9]; - out_654910612427940843[10] = delta_x[10] + nom_x[10]; +void err_fun(double *nom_x, double *delta_x, double *out_8218999594846759964) { + out_8218999594846759964[0] = delta_x[0] + nom_x[0]; + out_8218999594846759964[1] = delta_x[1] + nom_x[1]; + out_8218999594846759964[2] = delta_x[2] + nom_x[2]; + out_8218999594846759964[3] = delta_x[3] + nom_x[3]; + out_8218999594846759964[4] = delta_x[4] + nom_x[4]; + out_8218999594846759964[5] = delta_x[5] + nom_x[5]; + out_8218999594846759964[6] = delta_x[6] + nom_x[6]; + out_8218999594846759964[7] = delta_x[7] + nom_x[7]; + out_8218999594846759964[8] = delta_x[8] + nom_x[8]; + out_8218999594846759964[9] = delta_x[9] + nom_x[9]; + out_8218999594846759964[10] = delta_x[10] + nom_x[10]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6637724801134549563) { - out_6637724801134549563[0] = -nom_x[0] + true_x[0]; - out_6637724801134549563[1] = -nom_x[1] + true_x[1]; - out_6637724801134549563[2] = -nom_x[2] + true_x[2]; - out_6637724801134549563[3] = -nom_x[3] + true_x[3]; - out_6637724801134549563[4] = -nom_x[4] + true_x[4]; - out_6637724801134549563[5] = -nom_x[5] + true_x[5]; - out_6637724801134549563[6] = -nom_x[6] + true_x[6]; - out_6637724801134549563[7] = -nom_x[7] + true_x[7]; - out_6637724801134549563[8] = -nom_x[8] + true_x[8]; - out_6637724801134549563[9] = -nom_x[9] + true_x[9]; - out_6637724801134549563[10] = -nom_x[10] + true_x[10]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6004490369099356165) { + out_6004490369099356165[0] = -nom_x[0] + true_x[0]; + out_6004490369099356165[1] = -nom_x[1] + true_x[1]; + out_6004490369099356165[2] = -nom_x[2] + true_x[2]; + out_6004490369099356165[3] = -nom_x[3] + true_x[3]; + out_6004490369099356165[4] = -nom_x[4] + true_x[4]; + out_6004490369099356165[5] = -nom_x[5] + true_x[5]; + out_6004490369099356165[6] = -nom_x[6] + true_x[6]; + out_6004490369099356165[7] = -nom_x[7] + true_x[7]; + out_6004490369099356165[8] = -nom_x[8] + true_x[8]; + out_6004490369099356165[9] = -nom_x[9] + true_x[9]; + out_6004490369099356165[10] = -nom_x[10] + true_x[10]; } -void H_mod_fun(double *state, double *out_805386010827368873) { - out_805386010827368873[0] = 1.0; - out_805386010827368873[1] = 0; - out_805386010827368873[2] = 0; - out_805386010827368873[3] = 0; - out_805386010827368873[4] = 0; - out_805386010827368873[5] = 0; - out_805386010827368873[6] = 0; - out_805386010827368873[7] = 0; - out_805386010827368873[8] = 0; - out_805386010827368873[9] = 0; - out_805386010827368873[10] = 0; - out_805386010827368873[11] = 0; - out_805386010827368873[12] = 1.0; - out_805386010827368873[13] = 0; - out_805386010827368873[14] = 0; - out_805386010827368873[15] = 0; - out_805386010827368873[16] = 0; - out_805386010827368873[17] = 0; - out_805386010827368873[18] = 0; - out_805386010827368873[19] = 0; - out_805386010827368873[20] = 0; - out_805386010827368873[21] = 0; - out_805386010827368873[22] = 0; - out_805386010827368873[23] = 0; - out_805386010827368873[24] = 1.0; - out_805386010827368873[25] = 0; - out_805386010827368873[26] = 0; - out_805386010827368873[27] = 0; - out_805386010827368873[28] = 0; - out_805386010827368873[29] = 0; - out_805386010827368873[30] = 0; - out_805386010827368873[31] = 0; - out_805386010827368873[32] = 0; - out_805386010827368873[33] = 0; - out_805386010827368873[34] = 0; - out_805386010827368873[35] = 0; - out_805386010827368873[36] = 1.0; - out_805386010827368873[37] = 0; - out_805386010827368873[38] = 0; - out_805386010827368873[39] = 0; - out_805386010827368873[40] = 0; - out_805386010827368873[41] = 0; - out_805386010827368873[42] = 0; - out_805386010827368873[43] = 0; - out_805386010827368873[44] = 0; - out_805386010827368873[45] = 0; - out_805386010827368873[46] = 0; - out_805386010827368873[47] = 0; - out_805386010827368873[48] = 1.0; - out_805386010827368873[49] = 0; - out_805386010827368873[50] = 0; - out_805386010827368873[51] = 0; - out_805386010827368873[52] = 0; - out_805386010827368873[53] = 0; - out_805386010827368873[54] = 0; - out_805386010827368873[55] = 0; - out_805386010827368873[56] = 0; - out_805386010827368873[57] = 0; - out_805386010827368873[58] = 0; - out_805386010827368873[59] = 0; - out_805386010827368873[60] = 1.0; - out_805386010827368873[61] = 0; - out_805386010827368873[62] = 0; - out_805386010827368873[63] = 0; - out_805386010827368873[64] = 0; - out_805386010827368873[65] = 0; - out_805386010827368873[66] = 0; - out_805386010827368873[67] = 0; - out_805386010827368873[68] = 0; - out_805386010827368873[69] = 0; - out_805386010827368873[70] = 0; - out_805386010827368873[71] = 0; - out_805386010827368873[72] = 1.0; - out_805386010827368873[73] = 0; - out_805386010827368873[74] = 0; - out_805386010827368873[75] = 0; - out_805386010827368873[76] = 0; - out_805386010827368873[77] = 0; - out_805386010827368873[78] = 0; - out_805386010827368873[79] = 0; - out_805386010827368873[80] = 0; - out_805386010827368873[81] = 0; - out_805386010827368873[82] = 0; - out_805386010827368873[83] = 0; - out_805386010827368873[84] = 1.0; - out_805386010827368873[85] = 0; - out_805386010827368873[86] = 0; - out_805386010827368873[87] = 0; - out_805386010827368873[88] = 0; - out_805386010827368873[89] = 0; - out_805386010827368873[90] = 0; - out_805386010827368873[91] = 0; - out_805386010827368873[92] = 0; - out_805386010827368873[93] = 0; - out_805386010827368873[94] = 0; - out_805386010827368873[95] = 0; - out_805386010827368873[96] = 1.0; - out_805386010827368873[97] = 0; - out_805386010827368873[98] = 0; - out_805386010827368873[99] = 0; - out_805386010827368873[100] = 0; - out_805386010827368873[101] = 0; - out_805386010827368873[102] = 0; - out_805386010827368873[103] = 0; - out_805386010827368873[104] = 0; - out_805386010827368873[105] = 0; - out_805386010827368873[106] = 0; - out_805386010827368873[107] = 0; - out_805386010827368873[108] = 1.0; - out_805386010827368873[109] = 0; - out_805386010827368873[110] = 0; - out_805386010827368873[111] = 0; - out_805386010827368873[112] = 0; - out_805386010827368873[113] = 0; - out_805386010827368873[114] = 0; - out_805386010827368873[115] = 0; - out_805386010827368873[116] = 0; - out_805386010827368873[117] = 0; - out_805386010827368873[118] = 0; - out_805386010827368873[119] = 0; - out_805386010827368873[120] = 1.0; +void H_mod_fun(double *state, double *out_5465143194872640210) { + out_5465143194872640210[0] = 1.0; + out_5465143194872640210[1] = 0; + out_5465143194872640210[2] = 0; + out_5465143194872640210[3] = 0; + out_5465143194872640210[4] = 0; + out_5465143194872640210[5] = 0; + out_5465143194872640210[6] = 0; + out_5465143194872640210[7] = 0; + out_5465143194872640210[8] = 0; + out_5465143194872640210[9] = 0; + out_5465143194872640210[10] = 0; + out_5465143194872640210[11] = 0; + out_5465143194872640210[12] = 1.0; + out_5465143194872640210[13] = 0; + out_5465143194872640210[14] = 0; + out_5465143194872640210[15] = 0; + out_5465143194872640210[16] = 0; + out_5465143194872640210[17] = 0; + out_5465143194872640210[18] = 0; + out_5465143194872640210[19] = 0; + out_5465143194872640210[20] = 0; + out_5465143194872640210[21] = 0; + out_5465143194872640210[22] = 0; + out_5465143194872640210[23] = 0; + out_5465143194872640210[24] = 1.0; + out_5465143194872640210[25] = 0; + out_5465143194872640210[26] = 0; + out_5465143194872640210[27] = 0; + out_5465143194872640210[28] = 0; + out_5465143194872640210[29] = 0; + out_5465143194872640210[30] = 0; + out_5465143194872640210[31] = 0; + out_5465143194872640210[32] = 0; + out_5465143194872640210[33] = 0; + out_5465143194872640210[34] = 0; + out_5465143194872640210[35] = 0; + out_5465143194872640210[36] = 1.0; + out_5465143194872640210[37] = 0; + out_5465143194872640210[38] = 0; + out_5465143194872640210[39] = 0; + out_5465143194872640210[40] = 0; + out_5465143194872640210[41] = 0; + out_5465143194872640210[42] = 0; + out_5465143194872640210[43] = 0; + out_5465143194872640210[44] = 0; + out_5465143194872640210[45] = 0; + out_5465143194872640210[46] = 0; + out_5465143194872640210[47] = 0; + out_5465143194872640210[48] = 1.0; + out_5465143194872640210[49] = 0; + out_5465143194872640210[50] = 0; + out_5465143194872640210[51] = 0; + out_5465143194872640210[52] = 0; + out_5465143194872640210[53] = 0; + out_5465143194872640210[54] = 0; + out_5465143194872640210[55] = 0; + out_5465143194872640210[56] = 0; + out_5465143194872640210[57] = 0; + out_5465143194872640210[58] = 0; + out_5465143194872640210[59] = 0; + out_5465143194872640210[60] = 1.0; + out_5465143194872640210[61] = 0; + out_5465143194872640210[62] = 0; + out_5465143194872640210[63] = 0; + out_5465143194872640210[64] = 0; + out_5465143194872640210[65] = 0; + out_5465143194872640210[66] = 0; + out_5465143194872640210[67] = 0; + out_5465143194872640210[68] = 0; + out_5465143194872640210[69] = 0; + out_5465143194872640210[70] = 0; + out_5465143194872640210[71] = 0; + out_5465143194872640210[72] = 1.0; + out_5465143194872640210[73] = 0; + out_5465143194872640210[74] = 0; + out_5465143194872640210[75] = 0; + out_5465143194872640210[76] = 0; + out_5465143194872640210[77] = 0; + out_5465143194872640210[78] = 0; + out_5465143194872640210[79] = 0; + out_5465143194872640210[80] = 0; + out_5465143194872640210[81] = 0; + out_5465143194872640210[82] = 0; + out_5465143194872640210[83] = 0; + out_5465143194872640210[84] = 1.0; + out_5465143194872640210[85] = 0; + out_5465143194872640210[86] = 0; + out_5465143194872640210[87] = 0; + out_5465143194872640210[88] = 0; + out_5465143194872640210[89] = 0; + out_5465143194872640210[90] = 0; + out_5465143194872640210[91] = 0; + out_5465143194872640210[92] = 0; + out_5465143194872640210[93] = 0; + out_5465143194872640210[94] = 0; + out_5465143194872640210[95] = 0; + out_5465143194872640210[96] = 1.0; + out_5465143194872640210[97] = 0; + out_5465143194872640210[98] = 0; + out_5465143194872640210[99] = 0; + out_5465143194872640210[100] = 0; + out_5465143194872640210[101] = 0; + out_5465143194872640210[102] = 0; + out_5465143194872640210[103] = 0; + out_5465143194872640210[104] = 0; + out_5465143194872640210[105] = 0; + out_5465143194872640210[106] = 0; + out_5465143194872640210[107] = 0; + out_5465143194872640210[108] = 1.0; + out_5465143194872640210[109] = 0; + out_5465143194872640210[110] = 0; + out_5465143194872640210[111] = 0; + out_5465143194872640210[112] = 0; + out_5465143194872640210[113] = 0; + out_5465143194872640210[114] = 0; + out_5465143194872640210[115] = 0; + out_5465143194872640210[116] = 0; + out_5465143194872640210[117] = 0; + out_5465143194872640210[118] = 0; + out_5465143194872640210[119] = 0; + out_5465143194872640210[120] = 1.0; } -void f_fun(double *state, double dt, double *out_4766656596405504851) { - out_4766656596405504851[0] = dt*state[3] + state[0]; - out_4766656596405504851[1] = dt*state[4] + state[1]; - out_4766656596405504851[2] = dt*state[5] + state[2]; - out_4766656596405504851[3] = state[3]; - out_4766656596405504851[4] = state[4]; - out_4766656596405504851[5] = state[5]; - out_4766656596405504851[6] = dt*state[7] + state[6]; - out_4766656596405504851[7] = dt*state[8] + state[7]; - out_4766656596405504851[8] = state[8]; - out_4766656596405504851[9] = state[9]; - out_4766656596405504851[10] = state[10]; +void f_fun(double *state, double dt, double *out_6477589900664112980) { + out_6477589900664112980[0] = dt*state[3] + state[0]; + out_6477589900664112980[1] = dt*state[4] + state[1]; + out_6477589900664112980[2] = dt*state[5] + state[2]; + out_6477589900664112980[3] = state[3]; + out_6477589900664112980[4] = state[4]; + out_6477589900664112980[5] = state[5]; + out_6477589900664112980[6] = dt*state[7] + state[6]; + out_6477589900664112980[7] = dt*state[8] + state[7]; + out_6477589900664112980[8] = state[8]; + out_6477589900664112980[9] = state[9]; + out_6477589900664112980[10] = state[10]; } -void F_fun(double *state, double dt, double *out_4029299056587768608) { - out_4029299056587768608[0] = 1; - out_4029299056587768608[1] = 0; - out_4029299056587768608[2] = 0; - out_4029299056587768608[3] = dt; - out_4029299056587768608[4] = 0; - out_4029299056587768608[5] = 0; - out_4029299056587768608[6] = 0; - out_4029299056587768608[7] = 0; - out_4029299056587768608[8] = 0; - out_4029299056587768608[9] = 0; - out_4029299056587768608[10] = 0; - out_4029299056587768608[11] = 0; - out_4029299056587768608[12] = 1; - out_4029299056587768608[13] = 0; - out_4029299056587768608[14] = 0; - out_4029299056587768608[15] = dt; - out_4029299056587768608[16] = 0; - out_4029299056587768608[17] = 0; - out_4029299056587768608[18] = 0; - out_4029299056587768608[19] = 0; - out_4029299056587768608[20] = 0; - out_4029299056587768608[21] = 0; - out_4029299056587768608[22] = 0; - out_4029299056587768608[23] = 0; - out_4029299056587768608[24] = 1; - out_4029299056587768608[25] = 0; - out_4029299056587768608[26] = 0; - out_4029299056587768608[27] = dt; - out_4029299056587768608[28] = 0; - out_4029299056587768608[29] = 0; - out_4029299056587768608[30] = 0; - out_4029299056587768608[31] = 0; - out_4029299056587768608[32] = 0; - out_4029299056587768608[33] = 0; - out_4029299056587768608[34] = 0; - out_4029299056587768608[35] = 0; - out_4029299056587768608[36] = 1; - out_4029299056587768608[37] = 0; - out_4029299056587768608[38] = 0; - out_4029299056587768608[39] = 0; - out_4029299056587768608[40] = 0; - out_4029299056587768608[41] = 0; - out_4029299056587768608[42] = 0; - out_4029299056587768608[43] = 0; - out_4029299056587768608[44] = 0; - out_4029299056587768608[45] = 0; - out_4029299056587768608[46] = 0; - out_4029299056587768608[47] = 0; - out_4029299056587768608[48] = 1; - out_4029299056587768608[49] = 0; - out_4029299056587768608[50] = 0; - out_4029299056587768608[51] = 0; - out_4029299056587768608[52] = 0; - out_4029299056587768608[53] = 0; - out_4029299056587768608[54] = 0; - out_4029299056587768608[55] = 0; - out_4029299056587768608[56] = 0; - out_4029299056587768608[57] = 0; - out_4029299056587768608[58] = 0; - out_4029299056587768608[59] = 0; - out_4029299056587768608[60] = 1; - out_4029299056587768608[61] = 0; - out_4029299056587768608[62] = 0; - out_4029299056587768608[63] = 0; - out_4029299056587768608[64] = 0; - out_4029299056587768608[65] = 0; - out_4029299056587768608[66] = 0; - out_4029299056587768608[67] = 0; - out_4029299056587768608[68] = 0; - out_4029299056587768608[69] = 0; - out_4029299056587768608[70] = 0; - out_4029299056587768608[71] = 0; - out_4029299056587768608[72] = 1; - out_4029299056587768608[73] = dt; - out_4029299056587768608[74] = 0; - out_4029299056587768608[75] = 0; - out_4029299056587768608[76] = 0; - out_4029299056587768608[77] = 0; - out_4029299056587768608[78] = 0; - out_4029299056587768608[79] = 0; - out_4029299056587768608[80] = 0; - out_4029299056587768608[81] = 0; - out_4029299056587768608[82] = 0; - out_4029299056587768608[83] = 0; - out_4029299056587768608[84] = 1; - out_4029299056587768608[85] = dt; - out_4029299056587768608[86] = 0; - out_4029299056587768608[87] = 0; - out_4029299056587768608[88] = 0; - out_4029299056587768608[89] = 0; - out_4029299056587768608[90] = 0; - out_4029299056587768608[91] = 0; - out_4029299056587768608[92] = 0; - out_4029299056587768608[93] = 0; - out_4029299056587768608[94] = 0; - out_4029299056587768608[95] = 0; - out_4029299056587768608[96] = 1; - out_4029299056587768608[97] = 0; - out_4029299056587768608[98] = 0; - out_4029299056587768608[99] = 0; - out_4029299056587768608[100] = 0; - out_4029299056587768608[101] = 0; - out_4029299056587768608[102] = 0; - out_4029299056587768608[103] = 0; - out_4029299056587768608[104] = 0; - out_4029299056587768608[105] = 0; - out_4029299056587768608[106] = 0; - out_4029299056587768608[107] = 0; - out_4029299056587768608[108] = 1; - out_4029299056587768608[109] = 0; - out_4029299056587768608[110] = 0; - out_4029299056587768608[111] = 0; - out_4029299056587768608[112] = 0; - out_4029299056587768608[113] = 0; - out_4029299056587768608[114] = 0; - out_4029299056587768608[115] = 0; - out_4029299056587768608[116] = 0; - out_4029299056587768608[117] = 0; - out_4029299056587768608[118] = 0; - out_4029299056587768608[119] = 0; - out_4029299056587768608[120] = 1; +void F_fun(double *state, double dt, double *out_159332577828599777) { + out_159332577828599777[0] = 1; + out_159332577828599777[1] = 0; + out_159332577828599777[2] = 0; + out_159332577828599777[3] = dt; + out_159332577828599777[4] = 0; + out_159332577828599777[5] = 0; + out_159332577828599777[6] = 0; + out_159332577828599777[7] = 0; + out_159332577828599777[8] = 0; + out_159332577828599777[9] = 0; + out_159332577828599777[10] = 0; + out_159332577828599777[11] = 0; + out_159332577828599777[12] = 1; + out_159332577828599777[13] = 0; + out_159332577828599777[14] = 0; + out_159332577828599777[15] = dt; + out_159332577828599777[16] = 0; + out_159332577828599777[17] = 0; + out_159332577828599777[18] = 0; + out_159332577828599777[19] = 0; + out_159332577828599777[20] = 0; + out_159332577828599777[21] = 0; + out_159332577828599777[22] = 0; + out_159332577828599777[23] = 0; + out_159332577828599777[24] = 1; + out_159332577828599777[25] = 0; + out_159332577828599777[26] = 0; + out_159332577828599777[27] = dt; + out_159332577828599777[28] = 0; + out_159332577828599777[29] = 0; + out_159332577828599777[30] = 0; + out_159332577828599777[31] = 0; + out_159332577828599777[32] = 0; + out_159332577828599777[33] = 0; + out_159332577828599777[34] = 0; + out_159332577828599777[35] = 0; + out_159332577828599777[36] = 1; + out_159332577828599777[37] = 0; + out_159332577828599777[38] = 0; + out_159332577828599777[39] = 0; + out_159332577828599777[40] = 0; + out_159332577828599777[41] = 0; + out_159332577828599777[42] = 0; + out_159332577828599777[43] = 0; + out_159332577828599777[44] = 0; + out_159332577828599777[45] = 0; + out_159332577828599777[46] = 0; + out_159332577828599777[47] = 0; + out_159332577828599777[48] = 1; + out_159332577828599777[49] = 0; + out_159332577828599777[50] = 0; + out_159332577828599777[51] = 0; + out_159332577828599777[52] = 0; + out_159332577828599777[53] = 0; + out_159332577828599777[54] = 0; + out_159332577828599777[55] = 0; + out_159332577828599777[56] = 0; + out_159332577828599777[57] = 0; + out_159332577828599777[58] = 0; + out_159332577828599777[59] = 0; + out_159332577828599777[60] = 1; + out_159332577828599777[61] = 0; + out_159332577828599777[62] = 0; + out_159332577828599777[63] = 0; + out_159332577828599777[64] = 0; + out_159332577828599777[65] = 0; + out_159332577828599777[66] = 0; + out_159332577828599777[67] = 0; + out_159332577828599777[68] = 0; + out_159332577828599777[69] = 0; + out_159332577828599777[70] = 0; + out_159332577828599777[71] = 0; + out_159332577828599777[72] = 1; + out_159332577828599777[73] = dt; + out_159332577828599777[74] = 0; + out_159332577828599777[75] = 0; + out_159332577828599777[76] = 0; + out_159332577828599777[77] = 0; + out_159332577828599777[78] = 0; + out_159332577828599777[79] = 0; + out_159332577828599777[80] = 0; + out_159332577828599777[81] = 0; + out_159332577828599777[82] = 0; + out_159332577828599777[83] = 0; + out_159332577828599777[84] = 1; + out_159332577828599777[85] = dt; + out_159332577828599777[86] = 0; + out_159332577828599777[87] = 0; + out_159332577828599777[88] = 0; + out_159332577828599777[89] = 0; + out_159332577828599777[90] = 0; + out_159332577828599777[91] = 0; + out_159332577828599777[92] = 0; + out_159332577828599777[93] = 0; + out_159332577828599777[94] = 0; + out_159332577828599777[95] = 0; + out_159332577828599777[96] = 1; + out_159332577828599777[97] = 0; + out_159332577828599777[98] = 0; + out_159332577828599777[99] = 0; + out_159332577828599777[100] = 0; + out_159332577828599777[101] = 0; + out_159332577828599777[102] = 0; + out_159332577828599777[103] = 0; + out_159332577828599777[104] = 0; + out_159332577828599777[105] = 0; + out_159332577828599777[106] = 0; + out_159332577828599777[107] = 0; + out_159332577828599777[108] = 1; + out_159332577828599777[109] = 0; + out_159332577828599777[110] = 0; + out_159332577828599777[111] = 0; + out_159332577828599777[112] = 0; + out_159332577828599777[113] = 0; + out_159332577828599777[114] = 0; + out_159332577828599777[115] = 0; + out_159332577828599777[116] = 0; + out_159332577828599777[117] = 0; + out_159332577828599777[118] = 0; + out_159332577828599777[119] = 0; + out_159332577828599777[120] = 1; } -void h_6(double *state, double *sat_pos, double *out_1067178731754715050) { - out_1067178731754715050[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + state[6]; +void h_6(double *state, double *sat_pos, double *out_822185378282268145) { + out_822185378282268145[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + state[6]; } -void H_6(double *state, double *sat_pos, double *out_7962220724729872721) { - out_7962220724729872721[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); - out_7962220724729872721[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); - out_7962220724729872721[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); - out_7962220724729872721[3] = 0; - out_7962220724729872721[4] = 0; - out_7962220724729872721[5] = 0; - out_7962220724729872721[6] = 1; - out_7962220724729872721[7] = 0; - out_7962220724729872721[8] = 0; - out_7962220724729872721[9] = 0; - out_7962220724729872721[10] = 0; +void H_6(double *state, double *sat_pos, double *out_2954217689973778176) { + out_2954217689973778176[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); + out_2954217689973778176[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); + out_2954217689973778176[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); + out_2954217689973778176[3] = 0; + out_2954217689973778176[4] = 0; + out_2954217689973778176[5] = 0; + out_2954217689973778176[6] = 1; + out_2954217689973778176[7] = 0; + out_2954217689973778176[8] = 0; + out_2954217689973778176[9] = 0; + out_2954217689973778176[10] = 0; } -void h_20(double *state, double *sat_pos, double *out_7444431052127272697) { - out_7444431052127272697[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + sat_pos[3]*state[10] + state[6] + state[9]; +void h_20(double *state, double *sat_pos, double *out_3775340380998125465) { + out_3775340380998125465[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + sat_pos[3]*state[10] + state[6] + state[9]; } -void H_20(double *state, double *sat_pos, double *out_799492558915393744) { - out_799492558915393744[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); - out_799492558915393744[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); - out_799492558915393744[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); - out_799492558915393744[3] = 0; - out_799492558915393744[4] = 0; - out_799492558915393744[5] = 0; - out_799492558915393744[6] = 1; - out_799492558915393744[7] = 0; - out_799492558915393744[8] = 0; - out_799492558915393744[9] = 1; - out_799492558915393744[10] = sat_pos[3]; +void H_20(double *state, double *sat_pos, double *out_4124080333257632986) { + out_4124080333257632986[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); + out_4124080333257632986[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); + out_4124080333257632986[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); + out_4124080333257632986[3] = 0; + out_4124080333257632986[4] = 0; + out_4124080333257632986[5] = 0; + out_4124080333257632986[6] = 1; + out_4124080333257632986[7] = 0; + out_4124080333257632986[8] = 0; + out_4124080333257632986[9] = 1; + out_4124080333257632986[10] = sat_pos[3]; } -void h_7(double *state, double *sat_pos_vel, double *out_7430002568771021643) { - out_7430002568771021643[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7]; +void h_7(double *state, double *sat_pos_vel, double *out_750344228235882460) { + out_750344228235882460[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7]; } -void H_7(double *state, double *sat_pos_vel, double *out_7060224876276749950) { - out_7060224876276749950[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_7060224876276749950[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_7060224876276749950[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_7060224876276749950[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_7060224876276749950[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_7060224876276749950[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_7060224876276749950[6] = 0; - out_7060224876276749950[7] = 1; - out_7060224876276749950[8] = 0; - out_7060224876276749950[9] = 0; - out_7060224876276749950[10] = 0; +void H_7(double *state, double *sat_pos_vel, double *out_1618262330099536806) { + out_1618262330099536806[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_1618262330099536806[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_1618262330099536806[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_1618262330099536806[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_1618262330099536806[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_1618262330099536806[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_1618262330099536806[6] = 0; + out_1618262330099536806[7] = 1; + out_1618262330099536806[8] = 0; + out_1618262330099536806[9] = 0; + out_1618262330099536806[10] = 0; } -void h_21(double *state, double *sat_pos_vel, double *out_7430002568771021643) { - out_7430002568771021643[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7]; +void h_21(double *state, double *sat_pos_vel, double *out_750344228235882460) { + out_750344228235882460[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7]; } -void H_21(double *state, double *sat_pos_vel, double *out_7060224876276749950) { - out_7060224876276749950[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_7060224876276749950[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_7060224876276749950[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_7060224876276749950[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_7060224876276749950[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_7060224876276749950[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_7060224876276749950[6] = 0; - out_7060224876276749950[7] = 1; - out_7060224876276749950[8] = 0; - out_7060224876276749950[9] = 0; - out_7060224876276749950[10] = 0; +void H_21(double *state, double *sat_pos_vel, double *out_1618262330099536806) { + out_1618262330099536806[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_1618262330099536806[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_1618262330099536806[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_1618262330099536806[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_1618262330099536806[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_1618262330099536806[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_1618262330099536806[6] = 0; + out_1618262330099536806[7] = 1; + out_1618262330099536806[8] = 0; + out_1618262330099536806[9] = 0; + out_1618262330099536806[10] = 0; } #include #include @@ -506,44 +506,44 @@ void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, doubl void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<1, 3, 0>(in_x, in_P, h_21, H_21, NULL, in_z, in_R, in_ea, MAHA_THRESH_21); } -void gnss_err_fun(double *nom_x, double *delta_x, double *out_654910612427940843) { - err_fun(nom_x, delta_x, out_654910612427940843); +void gnss_err_fun(double *nom_x, double *delta_x, double *out_8218999594846759964) { + err_fun(nom_x, delta_x, out_8218999594846759964); } -void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_6637724801134549563) { - inv_err_fun(nom_x, true_x, out_6637724801134549563); +void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_6004490369099356165) { + inv_err_fun(nom_x, true_x, out_6004490369099356165); } -void gnss_H_mod_fun(double *state, double *out_805386010827368873) { - H_mod_fun(state, out_805386010827368873); +void gnss_H_mod_fun(double *state, double *out_5465143194872640210) { + H_mod_fun(state, out_5465143194872640210); } -void gnss_f_fun(double *state, double dt, double *out_4766656596405504851) { - f_fun(state, dt, out_4766656596405504851); +void gnss_f_fun(double *state, double dt, double *out_6477589900664112980) { + f_fun(state, dt, out_6477589900664112980); } -void gnss_F_fun(double *state, double dt, double *out_4029299056587768608) { - F_fun(state, dt, out_4029299056587768608); +void gnss_F_fun(double *state, double dt, double *out_159332577828599777) { + F_fun(state, dt, out_159332577828599777); } -void gnss_h_6(double *state, double *sat_pos, double *out_1067178731754715050) { - h_6(state, sat_pos, out_1067178731754715050); +void gnss_h_6(double *state, double *sat_pos, double *out_822185378282268145) { + h_6(state, sat_pos, out_822185378282268145); } -void gnss_H_6(double *state, double *sat_pos, double *out_7962220724729872721) { - H_6(state, sat_pos, out_7962220724729872721); +void gnss_H_6(double *state, double *sat_pos, double *out_2954217689973778176) { + H_6(state, sat_pos, out_2954217689973778176); } -void gnss_h_20(double *state, double *sat_pos, double *out_7444431052127272697) { - h_20(state, sat_pos, out_7444431052127272697); +void gnss_h_20(double *state, double *sat_pos, double *out_3775340380998125465) { + h_20(state, sat_pos, out_3775340380998125465); } -void gnss_H_20(double *state, double *sat_pos, double *out_799492558915393744) { - H_20(state, sat_pos, out_799492558915393744); +void gnss_H_20(double *state, double *sat_pos, double *out_4124080333257632986) { + H_20(state, sat_pos, out_4124080333257632986); } -void gnss_h_7(double *state, double *sat_pos_vel, double *out_7430002568771021643) { - h_7(state, sat_pos_vel, out_7430002568771021643); +void gnss_h_7(double *state, double *sat_pos_vel, double *out_750344228235882460) { + h_7(state, sat_pos_vel, out_750344228235882460); } -void gnss_H_7(double *state, double *sat_pos_vel, double *out_7060224876276749950) { - H_7(state, sat_pos_vel, out_7060224876276749950); +void gnss_H_7(double *state, double *sat_pos_vel, double *out_1618262330099536806) { + H_7(state, sat_pos_vel, out_1618262330099536806); } -void gnss_h_21(double *state, double *sat_pos_vel, double *out_7430002568771021643) { - h_21(state, sat_pos_vel, out_7430002568771021643); +void gnss_h_21(double *state, double *sat_pos_vel, double *out_750344228235882460) { + h_21(state, sat_pos_vel, out_750344228235882460); } -void gnss_H_21(double *state, double *sat_pos_vel, double *out_7060224876276749950) { - H_21(state, sat_pos_vel, out_7060224876276749950); +void gnss_H_21(double *state, double *sat_pos_vel, double *out_1618262330099536806) { + H_21(state, sat_pos_vel, out_1618262330099536806); } void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/gnss.h b/selfdrive/locationd/models/generated/gnss.h index 4d7136256..8cb47ea78 100644 --- a/selfdrive/locationd/models/generated/gnss.h +++ b/selfdrive/locationd/models/generated/gnss.h @@ -5,18 +5,18 @@ void gnss_update_6(double *in_x, double *in_P, double *in_z, double *in_R, doubl void gnss_update_20(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void gnss_err_fun(double *nom_x, double *delta_x, double *out_654910612427940843); -void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_6637724801134549563); -void gnss_H_mod_fun(double *state, double *out_805386010827368873); -void gnss_f_fun(double *state, double dt, double *out_4766656596405504851); -void gnss_F_fun(double *state, double dt, double *out_4029299056587768608); -void gnss_h_6(double *state, double *sat_pos, double *out_1067178731754715050); -void gnss_H_6(double *state, double *sat_pos, double *out_7962220724729872721); -void gnss_h_20(double *state, double *sat_pos, double *out_7444431052127272697); -void gnss_H_20(double *state, double *sat_pos, double *out_799492558915393744); -void gnss_h_7(double *state, double *sat_pos_vel, double *out_7430002568771021643); -void gnss_H_7(double *state, double *sat_pos_vel, double *out_7060224876276749950); -void gnss_h_21(double *state, double *sat_pos_vel, double *out_7430002568771021643); -void gnss_H_21(double *state, double *sat_pos_vel, double *out_7060224876276749950); +void gnss_err_fun(double *nom_x, double *delta_x, double *out_8218999594846759964); +void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_6004490369099356165); +void gnss_H_mod_fun(double *state, double *out_5465143194872640210); +void gnss_f_fun(double *state, double dt, double *out_6477589900664112980); +void gnss_F_fun(double *state, double dt, double *out_159332577828599777); +void gnss_h_6(double *state, double *sat_pos, double *out_822185378282268145); +void gnss_H_6(double *state, double *sat_pos, double *out_2954217689973778176); +void gnss_h_20(double *state, double *sat_pos, double *out_3775340380998125465); +void gnss_H_20(double *state, double *sat_pos, double *out_4124080333257632986); +void gnss_h_7(double *state, double *sat_pos_vel, double *out_750344228235882460); +void gnss_H_7(double *state, double *sat_pos_vel, double *out_1618262330099536806); +void gnss_h_21(double *state, double *sat_pos_vel, double *out_750344228235882460); +void gnss_H_21(double *state, double *sat_pos_vel, double *out_1618262330099536806); void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/libkf.so b/selfdrive/locationd/models/generated/libkf.so index 6e8cfa41c..49360ab1f 100755 Binary files a/selfdrive/locationd/models/generated/libkf.so and b/selfdrive/locationd/models/generated/libkf.so differ diff --git a/selfdrive/locationd/models/generated/live.cpp b/selfdrive/locationd/models/generated/live.cpp index b4326ddc3..cfa051d01 100644 --- a/selfdrive/locationd/models/generated/live.cpp +++ b/selfdrive/locationd/models/generated/live.cpp @@ -22,1683 +22,1683 @@ const static double MAHA_THRESH_33 = 7.814727903251177; * * * This file is part of 'ekf' * ******************************************************************************/ -void H(double *in_vec, double *out_2989134609448912360) { - out_2989134609448912360[0] = 0; - out_2989134609448912360[1] = -sin(in_vec[1])*sin(in_vec[2])*in_vec[4] - sin(in_vec[1])*cos(in_vec[2])*in_vec[3] - cos(in_vec[1])*in_vec[5]; - out_2989134609448912360[2] = -sin(in_vec[2])*cos(in_vec[1])*in_vec[3] + cos(in_vec[1])*cos(in_vec[2])*in_vec[4]; - out_2989134609448912360[3] = cos(in_vec[1])*cos(in_vec[2]); - out_2989134609448912360[4] = sin(in_vec[2])*cos(in_vec[1]); - out_2989134609448912360[5] = -sin(in_vec[1]); - out_2989134609448912360[6] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (-sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*in_vec[5]; - out_2989134609448912360[7] = -sin(in_vec[0])*sin(in_vec[1])*in_vec[5] + sin(in_vec[0])*sin(in_vec[2])*cos(in_vec[1])*in_vec[4] + sin(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3]; - out_2989134609448912360[8] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]))*in_vec[4]; - out_2989134609448912360[9] = sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]); - out_2989134609448912360[10] = sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) + cos(in_vec[0])*cos(in_vec[2]); - out_2989134609448912360[11] = sin(in_vec[0])*cos(in_vec[1]); - out_2989134609448912360[12] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (-sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) + sin(in_vec[2])*cos(in_vec[0]))*in_vec[3] - sin(in_vec[0])*cos(in_vec[1])*in_vec[5]; - out_2989134609448912360[13] = -sin(in_vec[1])*cos(in_vec[0])*in_vec[5] + sin(in_vec[2])*cos(in_vec[0])*cos(in_vec[1])*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3]; - out_2989134609448912360[14] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (sin(in_vec[0])*cos(in_vec[2]) - sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[3]; - out_2989134609448912360[15] = sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]); - out_2989134609448912360[16] = -sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]); - out_2989134609448912360[17] = cos(in_vec[0])*cos(in_vec[1]); +void H(double *in_vec, double *out_7959907782308194627) { + out_7959907782308194627[0] = 0; + out_7959907782308194627[1] = -sin(in_vec[1])*sin(in_vec[2])*in_vec[4] - sin(in_vec[1])*cos(in_vec[2])*in_vec[3] - cos(in_vec[1])*in_vec[5]; + out_7959907782308194627[2] = -sin(in_vec[2])*cos(in_vec[1])*in_vec[3] + cos(in_vec[1])*cos(in_vec[2])*in_vec[4]; + out_7959907782308194627[3] = cos(in_vec[1])*cos(in_vec[2]); + out_7959907782308194627[4] = sin(in_vec[2])*cos(in_vec[1]); + out_7959907782308194627[5] = -sin(in_vec[1]); + out_7959907782308194627[6] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (-sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*in_vec[5]; + out_7959907782308194627[7] = -sin(in_vec[0])*sin(in_vec[1])*in_vec[5] + sin(in_vec[0])*sin(in_vec[2])*cos(in_vec[1])*in_vec[4] + sin(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3]; + out_7959907782308194627[8] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]))*in_vec[4]; + out_7959907782308194627[9] = sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]); + out_7959907782308194627[10] = sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) + cos(in_vec[0])*cos(in_vec[2]); + out_7959907782308194627[11] = sin(in_vec[0])*cos(in_vec[1]); + out_7959907782308194627[12] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (-sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) + sin(in_vec[2])*cos(in_vec[0]))*in_vec[3] - sin(in_vec[0])*cos(in_vec[1])*in_vec[5]; + out_7959907782308194627[13] = -sin(in_vec[1])*cos(in_vec[0])*in_vec[5] + sin(in_vec[2])*cos(in_vec[0])*cos(in_vec[1])*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3]; + out_7959907782308194627[14] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (sin(in_vec[0])*cos(in_vec[2]) - sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[3]; + out_7959907782308194627[15] = sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]); + out_7959907782308194627[16] = -sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]); + out_7959907782308194627[17] = cos(in_vec[0])*cos(in_vec[1]); } -void err_fun(double *nom_x, double *delta_x, double *out_4134642150611912562) { - out_4134642150611912562[0] = delta_x[0] + nom_x[0]; - out_4134642150611912562[1] = delta_x[1] + nom_x[1]; - out_4134642150611912562[2] = delta_x[2] + nom_x[2]; - out_4134642150611912562[3] = -0.5*delta_x[3]*nom_x[4] - 0.5*delta_x[4]*nom_x[5] - 0.5*delta_x[5]*nom_x[6] + 1.0*nom_x[3]; - out_4134642150611912562[4] = 0.5*delta_x[3]*nom_x[3] + 0.5*delta_x[4]*nom_x[6] - 0.5*delta_x[5]*nom_x[5] + 1.0*nom_x[4]; - out_4134642150611912562[5] = -0.5*delta_x[3]*nom_x[6] + 0.5*delta_x[4]*nom_x[3] + 0.5*delta_x[5]*nom_x[4] + 1.0*nom_x[5]; - out_4134642150611912562[6] = 0.5*delta_x[3]*nom_x[5] - 0.5*delta_x[4]*nom_x[4] + 0.5*delta_x[5]*nom_x[3] + 1.0*nom_x[6]; - out_4134642150611912562[7] = delta_x[6] + nom_x[7]; - out_4134642150611912562[8] = delta_x[7] + nom_x[8]; - out_4134642150611912562[9] = delta_x[8] + nom_x[9]; - out_4134642150611912562[10] = delta_x[9] + nom_x[10]; - out_4134642150611912562[11] = delta_x[10] + nom_x[11]; - out_4134642150611912562[12] = delta_x[11] + nom_x[12]; - out_4134642150611912562[13] = delta_x[12] + nom_x[13]; - out_4134642150611912562[14] = delta_x[13] + nom_x[14]; - out_4134642150611912562[15] = delta_x[14] + nom_x[15]; - out_4134642150611912562[16] = delta_x[15] + nom_x[16]; - out_4134642150611912562[17] = delta_x[16] + nom_x[17]; - out_4134642150611912562[18] = delta_x[17] + nom_x[18]; - out_4134642150611912562[19] = delta_x[18] + nom_x[19]; - out_4134642150611912562[20] = delta_x[19] + nom_x[20]; - out_4134642150611912562[21] = delta_x[20] + nom_x[21]; +void err_fun(double *nom_x, double *delta_x, double *out_6929774310989775988) { + out_6929774310989775988[0] = delta_x[0] + nom_x[0]; + out_6929774310989775988[1] = delta_x[1] + nom_x[1]; + out_6929774310989775988[2] = delta_x[2] + nom_x[2]; + out_6929774310989775988[3] = -0.5*delta_x[3]*nom_x[4] - 0.5*delta_x[4]*nom_x[5] - 0.5*delta_x[5]*nom_x[6] + 1.0*nom_x[3]; + out_6929774310989775988[4] = 0.5*delta_x[3]*nom_x[3] + 0.5*delta_x[4]*nom_x[6] - 0.5*delta_x[5]*nom_x[5] + 1.0*nom_x[4]; + out_6929774310989775988[5] = -0.5*delta_x[3]*nom_x[6] + 0.5*delta_x[4]*nom_x[3] + 0.5*delta_x[5]*nom_x[4] + 1.0*nom_x[5]; + out_6929774310989775988[6] = 0.5*delta_x[3]*nom_x[5] - 0.5*delta_x[4]*nom_x[4] + 0.5*delta_x[5]*nom_x[3] + 1.0*nom_x[6]; + out_6929774310989775988[7] = delta_x[6] + nom_x[7]; + out_6929774310989775988[8] = delta_x[7] + nom_x[8]; + out_6929774310989775988[9] = delta_x[8] + nom_x[9]; + out_6929774310989775988[10] = delta_x[9] + nom_x[10]; + out_6929774310989775988[11] = delta_x[10] + nom_x[11]; + out_6929774310989775988[12] = delta_x[11] + nom_x[12]; + out_6929774310989775988[13] = delta_x[12] + nom_x[13]; + out_6929774310989775988[14] = delta_x[13] + nom_x[14]; + out_6929774310989775988[15] = delta_x[14] + nom_x[15]; + out_6929774310989775988[16] = delta_x[15] + nom_x[16]; + out_6929774310989775988[17] = delta_x[16] + nom_x[17]; + out_6929774310989775988[18] = delta_x[17] + nom_x[18]; + out_6929774310989775988[19] = delta_x[18] + nom_x[19]; + out_6929774310989775988[20] = delta_x[19] + nom_x[20]; + out_6929774310989775988[21] = delta_x[20] + nom_x[21]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_102578031842580524) { - out_102578031842580524[0] = -nom_x[0] + true_x[0]; - out_102578031842580524[1] = -nom_x[1] + true_x[1]; - out_102578031842580524[2] = -nom_x[2] + true_x[2]; - out_102578031842580524[3] = 2*nom_x[3]*true_x[4] - 2*nom_x[4]*true_x[3] + 2*nom_x[5]*true_x[6] - 2*nom_x[6]*true_x[5]; - out_102578031842580524[4] = 2*nom_x[3]*true_x[5] - 2*nom_x[4]*true_x[6] - 2*nom_x[5]*true_x[3] + 2*nom_x[6]*true_x[4]; - out_102578031842580524[5] = 2*nom_x[3]*true_x[6] + 2*nom_x[4]*true_x[5] - 2*nom_x[5]*true_x[4] - 2*nom_x[6]*true_x[3]; - out_102578031842580524[6] = -nom_x[7] + true_x[7]; - out_102578031842580524[7] = -nom_x[8] + true_x[8]; - out_102578031842580524[8] = -nom_x[9] + true_x[9]; - out_102578031842580524[9] = -nom_x[10] + true_x[10]; - out_102578031842580524[10] = -nom_x[11] + true_x[11]; - out_102578031842580524[11] = -nom_x[12] + true_x[12]; - out_102578031842580524[12] = -nom_x[13] + true_x[13]; - out_102578031842580524[13] = -nom_x[14] + true_x[14]; - out_102578031842580524[14] = -nom_x[15] + true_x[15]; - out_102578031842580524[15] = -nom_x[16] + true_x[16]; - out_102578031842580524[16] = -nom_x[17] + true_x[17]; - out_102578031842580524[17] = -nom_x[18] + true_x[18]; - out_102578031842580524[18] = -nom_x[19] + true_x[19]; - out_102578031842580524[19] = -nom_x[20] + true_x[20]; - out_102578031842580524[20] = -nom_x[21] + true_x[21]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6193789776824585571) { + out_6193789776824585571[0] = -nom_x[0] + true_x[0]; + out_6193789776824585571[1] = -nom_x[1] + true_x[1]; + out_6193789776824585571[2] = -nom_x[2] + true_x[2]; + out_6193789776824585571[3] = 2*nom_x[3]*true_x[4] - 2*nom_x[4]*true_x[3] + 2*nom_x[5]*true_x[6] - 2*nom_x[6]*true_x[5]; + out_6193789776824585571[4] = 2*nom_x[3]*true_x[5] - 2*nom_x[4]*true_x[6] - 2*nom_x[5]*true_x[3] + 2*nom_x[6]*true_x[4]; + out_6193789776824585571[5] = 2*nom_x[3]*true_x[6] + 2*nom_x[4]*true_x[5] - 2*nom_x[5]*true_x[4] - 2*nom_x[6]*true_x[3]; + out_6193789776824585571[6] = -nom_x[7] + true_x[7]; + out_6193789776824585571[7] = -nom_x[8] + true_x[8]; + out_6193789776824585571[8] = -nom_x[9] + true_x[9]; + out_6193789776824585571[9] = -nom_x[10] + true_x[10]; + out_6193789776824585571[10] = -nom_x[11] + true_x[11]; + out_6193789776824585571[11] = -nom_x[12] + true_x[12]; + out_6193789776824585571[12] = -nom_x[13] + true_x[13]; + out_6193789776824585571[13] = -nom_x[14] + true_x[14]; + out_6193789776824585571[14] = -nom_x[15] + true_x[15]; + out_6193789776824585571[15] = -nom_x[16] + true_x[16]; + out_6193789776824585571[16] = -nom_x[17] + true_x[17]; + out_6193789776824585571[17] = -nom_x[18] + true_x[18]; + out_6193789776824585571[18] = -nom_x[19] + true_x[19]; + out_6193789776824585571[19] = -nom_x[20] + true_x[20]; + out_6193789776824585571[20] = -nom_x[21] + true_x[21]; } -void H_mod_fun(double *state, double *out_1333467034631963441) { - out_1333467034631963441[0] = 1.0; - out_1333467034631963441[1] = 0; - out_1333467034631963441[2] = 0; - out_1333467034631963441[3] = 0; - out_1333467034631963441[4] = 0; - out_1333467034631963441[5] = 0; - out_1333467034631963441[6] = 0; - out_1333467034631963441[7] = 0; - out_1333467034631963441[8] = 0; - out_1333467034631963441[9] = 0; - out_1333467034631963441[10] = 0; - out_1333467034631963441[11] = 0; - out_1333467034631963441[12] = 0; - out_1333467034631963441[13] = 0; - out_1333467034631963441[14] = 0; - out_1333467034631963441[15] = 0; - out_1333467034631963441[16] = 0; - out_1333467034631963441[17] = 0; - out_1333467034631963441[18] = 0; - out_1333467034631963441[19] = 0; - out_1333467034631963441[20] = 0; - out_1333467034631963441[21] = 0; - out_1333467034631963441[22] = 1.0; - out_1333467034631963441[23] = 0; - out_1333467034631963441[24] = 0; - out_1333467034631963441[25] = 0; - out_1333467034631963441[26] = 0; - out_1333467034631963441[27] = 0; - out_1333467034631963441[28] = 0; - out_1333467034631963441[29] = 0; - out_1333467034631963441[30] = 0; - out_1333467034631963441[31] = 0; - out_1333467034631963441[32] = 0; - out_1333467034631963441[33] = 0; - out_1333467034631963441[34] = 0; - out_1333467034631963441[35] = 0; - out_1333467034631963441[36] = 0; - out_1333467034631963441[37] = 0; - out_1333467034631963441[38] = 0; - out_1333467034631963441[39] = 0; - out_1333467034631963441[40] = 0; - out_1333467034631963441[41] = 0; - out_1333467034631963441[42] = 0; - out_1333467034631963441[43] = 0; - out_1333467034631963441[44] = 1.0; - out_1333467034631963441[45] = 0; - out_1333467034631963441[46] = 0; - out_1333467034631963441[47] = 0; - out_1333467034631963441[48] = 0; - out_1333467034631963441[49] = 0; - out_1333467034631963441[50] = 0; - out_1333467034631963441[51] = 0; - out_1333467034631963441[52] = 0; - out_1333467034631963441[53] = 0; - out_1333467034631963441[54] = 0; - out_1333467034631963441[55] = 0; - out_1333467034631963441[56] = 0; - out_1333467034631963441[57] = 0; - out_1333467034631963441[58] = 0; - out_1333467034631963441[59] = 0; - out_1333467034631963441[60] = 0; - out_1333467034631963441[61] = 0; - out_1333467034631963441[62] = 0; - out_1333467034631963441[63] = 0; - out_1333467034631963441[64] = 0; - out_1333467034631963441[65] = 0; - out_1333467034631963441[66] = -0.5*state[4]; - out_1333467034631963441[67] = -0.5*state[5]; - out_1333467034631963441[68] = -0.5*state[6]; - out_1333467034631963441[69] = 0; - out_1333467034631963441[70] = 0; - out_1333467034631963441[71] = 0; - out_1333467034631963441[72] = 0; - out_1333467034631963441[73] = 0; - out_1333467034631963441[74] = 0; - out_1333467034631963441[75] = 0; - out_1333467034631963441[76] = 0; - out_1333467034631963441[77] = 0; - out_1333467034631963441[78] = 0; - out_1333467034631963441[79] = 0; - out_1333467034631963441[80] = 0; - out_1333467034631963441[81] = 0; - out_1333467034631963441[82] = 0; - out_1333467034631963441[83] = 0; - out_1333467034631963441[84] = 0; - out_1333467034631963441[85] = 0; - out_1333467034631963441[86] = 0; - out_1333467034631963441[87] = 0.5*state[3]; - out_1333467034631963441[88] = 0.5*state[6]; - out_1333467034631963441[89] = -0.5*state[5]; - out_1333467034631963441[90] = 0; - out_1333467034631963441[91] = 0; - out_1333467034631963441[92] = 0; - out_1333467034631963441[93] = 0; - out_1333467034631963441[94] = 0; - out_1333467034631963441[95] = 0; - out_1333467034631963441[96] = 0; - out_1333467034631963441[97] = 0; - out_1333467034631963441[98] = 0; - out_1333467034631963441[99] = 0; - out_1333467034631963441[100] = 0; - out_1333467034631963441[101] = 0; - out_1333467034631963441[102] = 0; - out_1333467034631963441[103] = 0; - out_1333467034631963441[104] = 0; - out_1333467034631963441[105] = 0; - out_1333467034631963441[106] = 0; - out_1333467034631963441[107] = 0; - out_1333467034631963441[108] = -0.5*state[6]; - out_1333467034631963441[109] = 0.5*state[3]; - out_1333467034631963441[110] = 0.5*state[4]; - out_1333467034631963441[111] = 0; - out_1333467034631963441[112] = 0; - out_1333467034631963441[113] = 0; - out_1333467034631963441[114] = 0; - out_1333467034631963441[115] = 0; - out_1333467034631963441[116] = 0; - out_1333467034631963441[117] = 0; - out_1333467034631963441[118] = 0; - out_1333467034631963441[119] = 0; - out_1333467034631963441[120] = 0; - out_1333467034631963441[121] = 0; - out_1333467034631963441[122] = 0; - out_1333467034631963441[123] = 0; - out_1333467034631963441[124] = 0; - out_1333467034631963441[125] = 0; - out_1333467034631963441[126] = 0; - out_1333467034631963441[127] = 0; - out_1333467034631963441[128] = 0; - out_1333467034631963441[129] = 0.5*state[5]; - out_1333467034631963441[130] = -0.5*state[4]; - out_1333467034631963441[131] = 0.5*state[3]; - out_1333467034631963441[132] = 0; - out_1333467034631963441[133] = 0; - out_1333467034631963441[134] = 0; - out_1333467034631963441[135] = 0; - out_1333467034631963441[136] = 0; - out_1333467034631963441[137] = 0; - out_1333467034631963441[138] = 0; - out_1333467034631963441[139] = 0; - out_1333467034631963441[140] = 0; - out_1333467034631963441[141] = 0; - out_1333467034631963441[142] = 0; - out_1333467034631963441[143] = 0; - out_1333467034631963441[144] = 0; - out_1333467034631963441[145] = 0; - out_1333467034631963441[146] = 0; - out_1333467034631963441[147] = 0; - out_1333467034631963441[148] = 0; - out_1333467034631963441[149] = 0; - out_1333467034631963441[150] = 0; - out_1333467034631963441[151] = 0; - out_1333467034631963441[152] = 0; - out_1333467034631963441[153] = 1.0; - out_1333467034631963441[154] = 0; - out_1333467034631963441[155] = 0; - out_1333467034631963441[156] = 0; - out_1333467034631963441[157] = 0; - out_1333467034631963441[158] = 0; - out_1333467034631963441[159] = 0; - out_1333467034631963441[160] = 0; - out_1333467034631963441[161] = 0; - out_1333467034631963441[162] = 0; - out_1333467034631963441[163] = 0; - out_1333467034631963441[164] = 0; - out_1333467034631963441[165] = 0; - out_1333467034631963441[166] = 0; - out_1333467034631963441[167] = 0; - out_1333467034631963441[168] = 0; - out_1333467034631963441[169] = 0; - out_1333467034631963441[170] = 0; - out_1333467034631963441[171] = 0; - out_1333467034631963441[172] = 0; - out_1333467034631963441[173] = 0; - out_1333467034631963441[174] = 0; - out_1333467034631963441[175] = 1.0; - out_1333467034631963441[176] = 0; - out_1333467034631963441[177] = 0; - out_1333467034631963441[178] = 0; - out_1333467034631963441[179] = 0; - out_1333467034631963441[180] = 0; - out_1333467034631963441[181] = 0; - out_1333467034631963441[182] = 0; - out_1333467034631963441[183] = 0; - out_1333467034631963441[184] = 0; - out_1333467034631963441[185] = 0; - out_1333467034631963441[186] = 0; - out_1333467034631963441[187] = 0; - out_1333467034631963441[188] = 0; - out_1333467034631963441[189] = 0; - out_1333467034631963441[190] = 0; - out_1333467034631963441[191] = 0; - out_1333467034631963441[192] = 0; - out_1333467034631963441[193] = 0; - out_1333467034631963441[194] = 0; - out_1333467034631963441[195] = 0; - out_1333467034631963441[196] = 0; - out_1333467034631963441[197] = 1.0; - out_1333467034631963441[198] = 0; - out_1333467034631963441[199] = 0; - out_1333467034631963441[200] = 0; - out_1333467034631963441[201] = 0; - out_1333467034631963441[202] = 0; - out_1333467034631963441[203] = 0; - out_1333467034631963441[204] = 0; - out_1333467034631963441[205] = 0; - out_1333467034631963441[206] = 0; - out_1333467034631963441[207] = 0; - out_1333467034631963441[208] = 0; - out_1333467034631963441[209] = 0; - out_1333467034631963441[210] = 0; - out_1333467034631963441[211] = 0; - out_1333467034631963441[212] = 0; - out_1333467034631963441[213] = 0; - out_1333467034631963441[214] = 0; - out_1333467034631963441[215] = 0; - out_1333467034631963441[216] = 0; - out_1333467034631963441[217] = 0; - out_1333467034631963441[218] = 0; - out_1333467034631963441[219] = 1.0; - out_1333467034631963441[220] = 0; - out_1333467034631963441[221] = 0; - out_1333467034631963441[222] = 0; - out_1333467034631963441[223] = 0; - out_1333467034631963441[224] = 0; - out_1333467034631963441[225] = 0; - out_1333467034631963441[226] = 0; - out_1333467034631963441[227] = 0; - out_1333467034631963441[228] = 0; - out_1333467034631963441[229] = 0; - out_1333467034631963441[230] = 0; - out_1333467034631963441[231] = 0; - out_1333467034631963441[232] = 0; - out_1333467034631963441[233] = 0; - out_1333467034631963441[234] = 0; - out_1333467034631963441[235] = 0; - out_1333467034631963441[236] = 0; - out_1333467034631963441[237] = 0; - out_1333467034631963441[238] = 0; - out_1333467034631963441[239] = 0; - out_1333467034631963441[240] = 0; - out_1333467034631963441[241] = 1.0; - out_1333467034631963441[242] = 0; - out_1333467034631963441[243] = 0; - out_1333467034631963441[244] = 0; - out_1333467034631963441[245] = 0; - out_1333467034631963441[246] = 0; - out_1333467034631963441[247] = 0; - out_1333467034631963441[248] = 0; - out_1333467034631963441[249] = 0; - out_1333467034631963441[250] = 0; - out_1333467034631963441[251] = 0; - out_1333467034631963441[252] = 0; - out_1333467034631963441[253] = 0; - out_1333467034631963441[254] = 0; - out_1333467034631963441[255] = 0; - out_1333467034631963441[256] = 0; - out_1333467034631963441[257] = 0; - out_1333467034631963441[258] = 0; - out_1333467034631963441[259] = 0; - out_1333467034631963441[260] = 0; - out_1333467034631963441[261] = 0; - out_1333467034631963441[262] = 0; - out_1333467034631963441[263] = 1.0; - out_1333467034631963441[264] = 0; - out_1333467034631963441[265] = 0; - out_1333467034631963441[266] = 0; - out_1333467034631963441[267] = 0; - out_1333467034631963441[268] = 0; - out_1333467034631963441[269] = 0; - out_1333467034631963441[270] = 0; - out_1333467034631963441[271] = 0; - out_1333467034631963441[272] = 0; - out_1333467034631963441[273] = 0; - out_1333467034631963441[274] = 0; - out_1333467034631963441[275] = 0; - out_1333467034631963441[276] = 0; - out_1333467034631963441[277] = 0; - out_1333467034631963441[278] = 0; - out_1333467034631963441[279] = 0; - out_1333467034631963441[280] = 0; - out_1333467034631963441[281] = 0; - out_1333467034631963441[282] = 0; - out_1333467034631963441[283] = 0; - out_1333467034631963441[284] = 0; - out_1333467034631963441[285] = 1.0; - out_1333467034631963441[286] = 0; - out_1333467034631963441[287] = 0; - out_1333467034631963441[288] = 0; - out_1333467034631963441[289] = 0; - out_1333467034631963441[290] = 0; - out_1333467034631963441[291] = 0; - out_1333467034631963441[292] = 0; - out_1333467034631963441[293] = 0; - out_1333467034631963441[294] = 0; - out_1333467034631963441[295] = 0; - out_1333467034631963441[296] = 0; - out_1333467034631963441[297] = 0; - out_1333467034631963441[298] = 0; - out_1333467034631963441[299] = 0; - out_1333467034631963441[300] = 0; - out_1333467034631963441[301] = 0; - out_1333467034631963441[302] = 0; - out_1333467034631963441[303] = 0; - out_1333467034631963441[304] = 0; - out_1333467034631963441[305] = 0; - out_1333467034631963441[306] = 0; - out_1333467034631963441[307] = 1.0; - out_1333467034631963441[308] = 0; - out_1333467034631963441[309] = 0; - out_1333467034631963441[310] = 0; - out_1333467034631963441[311] = 0; - out_1333467034631963441[312] = 0; - out_1333467034631963441[313] = 0; - out_1333467034631963441[314] = 0; - out_1333467034631963441[315] = 0; - out_1333467034631963441[316] = 0; - out_1333467034631963441[317] = 0; - out_1333467034631963441[318] = 0; - out_1333467034631963441[319] = 0; - out_1333467034631963441[320] = 0; - out_1333467034631963441[321] = 0; - out_1333467034631963441[322] = 0; - out_1333467034631963441[323] = 0; - out_1333467034631963441[324] = 0; - out_1333467034631963441[325] = 0; - out_1333467034631963441[326] = 0; - out_1333467034631963441[327] = 0; - out_1333467034631963441[328] = 0; - out_1333467034631963441[329] = 1.0; - out_1333467034631963441[330] = 0; - out_1333467034631963441[331] = 0; - out_1333467034631963441[332] = 0; - out_1333467034631963441[333] = 0; - out_1333467034631963441[334] = 0; - out_1333467034631963441[335] = 0; - out_1333467034631963441[336] = 0; - out_1333467034631963441[337] = 0; - out_1333467034631963441[338] = 0; - out_1333467034631963441[339] = 0; - out_1333467034631963441[340] = 0; - out_1333467034631963441[341] = 0; - out_1333467034631963441[342] = 0; - out_1333467034631963441[343] = 0; - out_1333467034631963441[344] = 0; - out_1333467034631963441[345] = 0; - out_1333467034631963441[346] = 0; - out_1333467034631963441[347] = 0; - out_1333467034631963441[348] = 0; - out_1333467034631963441[349] = 0; - out_1333467034631963441[350] = 0; - out_1333467034631963441[351] = 1.0; - out_1333467034631963441[352] = 0; - out_1333467034631963441[353] = 0; - out_1333467034631963441[354] = 0; - out_1333467034631963441[355] = 0; - out_1333467034631963441[356] = 0; - out_1333467034631963441[357] = 0; - out_1333467034631963441[358] = 0; - out_1333467034631963441[359] = 0; - out_1333467034631963441[360] = 0; - out_1333467034631963441[361] = 0; - out_1333467034631963441[362] = 0; - out_1333467034631963441[363] = 0; - out_1333467034631963441[364] = 0; - out_1333467034631963441[365] = 0; - out_1333467034631963441[366] = 0; - out_1333467034631963441[367] = 0; - out_1333467034631963441[368] = 0; - out_1333467034631963441[369] = 0; - out_1333467034631963441[370] = 0; - out_1333467034631963441[371] = 0; - out_1333467034631963441[372] = 0; - out_1333467034631963441[373] = 1.0; - out_1333467034631963441[374] = 0; - out_1333467034631963441[375] = 0; - out_1333467034631963441[376] = 0; - out_1333467034631963441[377] = 0; - out_1333467034631963441[378] = 0; - out_1333467034631963441[379] = 0; - out_1333467034631963441[380] = 0; - out_1333467034631963441[381] = 0; - out_1333467034631963441[382] = 0; - out_1333467034631963441[383] = 0; - out_1333467034631963441[384] = 0; - out_1333467034631963441[385] = 0; - out_1333467034631963441[386] = 0; - out_1333467034631963441[387] = 0; - out_1333467034631963441[388] = 0; - out_1333467034631963441[389] = 0; - out_1333467034631963441[390] = 0; - out_1333467034631963441[391] = 0; - out_1333467034631963441[392] = 0; - out_1333467034631963441[393] = 0; - out_1333467034631963441[394] = 0; - out_1333467034631963441[395] = 1.0; - out_1333467034631963441[396] = 0; - out_1333467034631963441[397] = 0; - out_1333467034631963441[398] = 0; - out_1333467034631963441[399] = 0; - out_1333467034631963441[400] = 0; - out_1333467034631963441[401] = 0; - out_1333467034631963441[402] = 0; - out_1333467034631963441[403] = 0; - out_1333467034631963441[404] = 0; - out_1333467034631963441[405] = 0; - out_1333467034631963441[406] = 0; - out_1333467034631963441[407] = 0; - out_1333467034631963441[408] = 0; - out_1333467034631963441[409] = 0; - out_1333467034631963441[410] = 0; - out_1333467034631963441[411] = 0; - out_1333467034631963441[412] = 0; - out_1333467034631963441[413] = 0; - out_1333467034631963441[414] = 0; - out_1333467034631963441[415] = 0; - out_1333467034631963441[416] = 0; - out_1333467034631963441[417] = 1.0; - out_1333467034631963441[418] = 0; - out_1333467034631963441[419] = 0; - out_1333467034631963441[420] = 0; - out_1333467034631963441[421] = 0; - out_1333467034631963441[422] = 0; - out_1333467034631963441[423] = 0; - out_1333467034631963441[424] = 0; - out_1333467034631963441[425] = 0; - out_1333467034631963441[426] = 0; - out_1333467034631963441[427] = 0; - out_1333467034631963441[428] = 0; - out_1333467034631963441[429] = 0; - out_1333467034631963441[430] = 0; - out_1333467034631963441[431] = 0; - out_1333467034631963441[432] = 0; - out_1333467034631963441[433] = 0; - out_1333467034631963441[434] = 0; - out_1333467034631963441[435] = 0; - out_1333467034631963441[436] = 0; - out_1333467034631963441[437] = 0; - out_1333467034631963441[438] = 0; - out_1333467034631963441[439] = 1.0; - out_1333467034631963441[440] = 0; - out_1333467034631963441[441] = 0; - out_1333467034631963441[442] = 0; - out_1333467034631963441[443] = 0; - out_1333467034631963441[444] = 0; - out_1333467034631963441[445] = 0; - out_1333467034631963441[446] = 0; - out_1333467034631963441[447] = 0; - out_1333467034631963441[448] = 0; - out_1333467034631963441[449] = 0; - out_1333467034631963441[450] = 0; - out_1333467034631963441[451] = 0; - out_1333467034631963441[452] = 0; - out_1333467034631963441[453] = 0; - out_1333467034631963441[454] = 0; - out_1333467034631963441[455] = 0; - out_1333467034631963441[456] = 0; - out_1333467034631963441[457] = 0; - out_1333467034631963441[458] = 0; - out_1333467034631963441[459] = 0; - out_1333467034631963441[460] = 0; - out_1333467034631963441[461] = 1.0; +void H_mod_fun(double *state, double *out_8547509152961498922) { + out_8547509152961498922[0] = 1.0; + out_8547509152961498922[1] = 0; + out_8547509152961498922[2] = 0; + out_8547509152961498922[3] = 0; + out_8547509152961498922[4] = 0; + out_8547509152961498922[5] = 0; + out_8547509152961498922[6] = 0; + out_8547509152961498922[7] = 0; + out_8547509152961498922[8] = 0; + out_8547509152961498922[9] = 0; + out_8547509152961498922[10] = 0; + out_8547509152961498922[11] = 0; + out_8547509152961498922[12] = 0; + out_8547509152961498922[13] = 0; + out_8547509152961498922[14] = 0; + out_8547509152961498922[15] = 0; + out_8547509152961498922[16] = 0; + out_8547509152961498922[17] = 0; + out_8547509152961498922[18] = 0; + out_8547509152961498922[19] = 0; + out_8547509152961498922[20] = 0; + out_8547509152961498922[21] = 0; + out_8547509152961498922[22] = 1.0; + out_8547509152961498922[23] = 0; + out_8547509152961498922[24] = 0; + out_8547509152961498922[25] = 0; + out_8547509152961498922[26] = 0; + out_8547509152961498922[27] = 0; + out_8547509152961498922[28] = 0; + out_8547509152961498922[29] = 0; + out_8547509152961498922[30] = 0; + out_8547509152961498922[31] = 0; + out_8547509152961498922[32] = 0; + out_8547509152961498922[33] = 0; + out_8547509152961498922[34] = 0; + out_8547509152961498922[35] = 0; + out_8547509152961498922[36] = 0; + out_8547509152961498922[37] = 0; + out_8547509152961498922[38] = 0; + out_8547509152961498922[39] = 0; + out_8547509152961498922[40] = 0; + out_8547509152961498922[41] = 0; + out_8547509152961498922[42] = 0; + out_8547509152961498922[43] = 0; + out_8547509152961498922[44] = 1.0; + out_8547509152961498922[45] = 0; + out_8547509152961498922[46] = 0; + out_8547509152961498922[47] = 0; + out_8547509152961498922[48] = 0; + out_8547509152961498922[49] = 0; + out_8547509152961498922[50] = 0; + out_8547509152961498922[51] = 0; + out_8547509152961498922[52] = 0; + out_8547509152961498922[53] = 0; + out_8547509152961498922[54] = 0; + out_8547509152961498922[55] = 0; + out_8547509152961498922[56] = 0; + out_8547509152961498922[57] = 0; + out_8547509152961498922[58] = 0; + out_8547509152961498922[59] = 0; + out_8547509152961498922[60] = 0; + out_8547509152961498922[61] = 0; + out_8547509152961498922[62] = 0; + out_8547509152961498922[63] = 0; + out_8547509152961498922[64] = 0; + out_8547509152961498922[65] = 0; + out_8547509152961498922[66] = -0.5*state[4]; + out_8547509152961498922[67] = -0.5*state[5]; + out_8547509152961498922[68] = -0.5*state[6]; + out_8547509152961498922[69] = 0; + out_8547509152961498922[70] = 0; + out_8547509152961498922[71] = 0; + out_8547509152961498922[72] = 0; + out_8547509152961498922[73] = 0; + out_8547509152961498922[74] = 0; + out_8547509152961498922[75] = 0; + out_8547509152961498922[76] = 0; + out_8547509152961498922[77] = 0; + out_8547509152961498922[78] = 0; + out_8547509152961498922[79] = 0; + out_8547509152961498922[80] = 0; + out_8547509152961498922[81] = 0; + out_8547509152961498922[82] = 0; + out_8547509152961498922[83] = 0; + out_8547509152961498922[84] = 0; + out_8547509152961498922[85] = 0; + out_8547509152961498922[86] = 0; + out_8547509152961498922[87] = 0.5*state[3]; + out_8547509152961498922[88] = 0.5*state[6]; + out_8547509152961498922[89] = -0.5*state[5]; + out_8547509152961498922[90] = 0; + out_8547509152961498922[91] = 0; + out_8547509152961498922[92] = 0; + out_8547509152961498922[93] = 0; + out_8547509152961498922[94] = 0; + out_8547509152961498922[95] = 0; + out_8547509152961498922[96] = 0; + out_8547509152961498922[97] = 0; + out_8547509152961498922[98] = 0; + out_8547509152961498922[99] = 0; + out_8547509152961498922[100] = 0; + out_8547509152961498922[101] = 0; + out_8547509152961498922[102] = 0; + out_8547509152961498922[103] = 0; + out_8547509152961498922[104] = 0; + out_8547509152961498922[105] = 0; + out_8547509152961498922[106] = 0; + out_8547509152961498922[107] = 0; + out_8547509152961498922[108] = -0.5*state[6]; + out_8547509152961498922[109] = 0.5*state[3]; + out_8547509152961498922[110] = 0.5*state[4]; + out_8547509152961498922[111] = 0; + out_8547509152961498922[112] = 0; + out_8547509152961498922[113] = 0; + out_8547509152961498922[114] = 0; + out_8547509152961498922[115] = 0; + out_8547509152961498922[116] = 0; + out_8547509152961498922[117] = 0; + out_8547509152961498922[118] = 0; + out_8547509152961498922[119] = 0; + out_8547509152961498922[120] = 0; + out_8547509152961498922[121] = 0; + out_8547509152961498922[122] = 0; + out_8547509152961498922[123] = 0; + out_8547509152961498922[124] = 0; + out_8547509152961498922[125] = 0; + out_8547509152961498922[126] = 0; + out_8547509152961498922[127] = 0; + out_8547509152961498922[128] = 0; + out_8547509152961498922[129] = 0.5*state[5]; + out_8547509152961498922[130] = -0.5*state[4]; + out_8547509152961498922[131] = 0.5*state[3]; + out_8547509152961498922[132] = 0; + out_8547509152961498922[133] = 0; + out_8547509152961498922[134] = 0; + out_8547509152961498922[135] = 0; + out_8547509152961498922[136] = 0; + out_8547509152961498922[137] = 0; + out_8547509152961498922[138] = 0; + out_8547509152961498922[139] = 0; + out_8547509152961498922[140] = 0; + out_8547509152961498922[141] = 0; + out_8547509152961498922[142] = 0; + out_8547509152961498922[143] = 0; + out_8547509152961498922[144] = 0; + out_8547509152961498922[145] = 0; + out_8547509152961498922[146] = 0; + out_8547509152961498922[147] = 0; + out_8547509152961498922[148] = 0; + out_8547509152961498922[149] = 0; + out_8547509152961498922[150] = 0; + out_8547509152961498922[151] = 0; + out_8547509152961498922[152] = 0; + out_8547509152961498922[153] = 1.0; + out_8547509152961498922[154] = 0; + out_8547509152961498922[155] = 0; + out_8547509152961498922[156] = 0; + out_8547509152961498922[157] = 0; + out_8547509152961498922[158] = 0; + out_8547509152961498922[159] = 0; + out_8547509152961498922[160] = 0; + out_8547509152961498922[161] = 0; + out_8547509152961498922[162] = 0; + out_8547509152961498922[163] = 0; + out_8547509152961498922[164] = 0; + out_8547509152961498922[165] = 0; + out_8547509152961498922[166] = 0; + out_8547509152961498922[167] = 0; + out_8547509152961498922[168] = 0; + out_8547509152961498922[169] = 0; + out_8547509152961498922[170] = 0; + out_8547509152961498922[171] = 0; + out_8547509152961498922[172] = 0; + out_8547509152961498922[173] = 0; + out_8547509152961498922[174] = 0; + out_8547509152961498922[175] = 1.0; + out_8547509152961498922[176] = 0; + out_8547509152961498922[177] = 0; + out_8547509152961498922[178] = 0; + out_8547509152961498922[179] = 0; + out_8547509152961498922[180] = 0; + out_8547509152961498922[181] = 0; + out_8547509152961498922[182] = 0; + out_8547509152961498922[183] = 0; + out_8547509152961498922[184] = 0; + out_8547509152961498922[185] = 0; + out_8547509152961498922[186] = 0; + out_8547509152961498922[187] = 0; + out_8547509152961498922[188] = 0; + out_8547509152961498922[189] = 0; + out_8547509152961498922[190] = 0; + out_8547509152961498922[191] = 0; + out_8547509152961498922[192] = 0; + out_8547509152961498922[193] = 0; + out_8547509152961498922[194] = 0; + out_8547509152961498922[195] = 0; + out_8547509152961498922[196] = 0; + out_8547509152961498922[197] = 1.0; + out_8547509152961498922[198] = 0; + out_8547509152961498922[199] = 0; + out_8547509152961498922[200] = 0; + out_8547509152961498922[201] = 0; + out_8547509152961498922[202] = 0; + out_8547509152961498922[203] = 0; + out_8547509152961498922[204] = 0; + out_8547509152961498922[205] = 0; + out_8547509152961498922[206] = 0; + out_8547509152961498922[207] = 0; + out_8547509152961498922[208] = 0; + out_8547509152961498922[209] = 0; + out_8547509152961498922[210] = 0; + out_8547509152961498922[211] = 0; + out_8547509152961498922[212] = 0; + out_8547509152961498922[213] = 0; + out_8547509152961498922[214] = 0; + out_8547509152961498922[215] = 0; + out_8547509152961498922[216] = 0; + out_8547509152961498922[217] = 0; + out_8547509152961498922[218] = 0; + out_8547509152961498922[219] = 1.0; + out_8547509152961498922[220] = 0; + out_8547509152961498922[221] = 0; + out_8547509152961498922[222] = 0; + out_8547509152961498922[223] = 0; + out_8547509152961498922[224] = 0; + out_8547509152961498922[225] = 0; + out_8547509152961498922[226] = 0; + out_8547509152961498922[227] = 0; + out_8547509152961498922[228] = 0; + out_8547509152961498922[229] = 0; + out_8547509152961498922[230] = 0; + out_8547509152961498922[231] = 0; + out_8547509152961498922[232] = 0; + out_8547509152961498922[233] = 0; + out_8547509152961498922[234] = 0; + out_8547509152961498922[235] = 0; + out_8547509152961498922[236] = 0; + out_8547509152961498922[237] = 0; + out_8547509152961498922[238] = 0; + out_8547509152961498922[239] = 0; + out_8547509152961498922[240] = 0; + out_8547509152961498922[241] = 1.0; + out_8547509152961498922[242] = 0; + out_8547509152961498922[243] = 0; + out_8547509152961498922[244] = 0; + out_8547509152961498922[245] = 0; + out_8547509152961498922[246] = 0; + out_8547509152961498922[247] = 0; + out_8547509152961498922[248] = 0; + out_8547509152961498922[249] = 0; + out_8547509152961498922[250] = 0; + out_8547509152961498922[251] = 0; + out_8547509152961498922[252] = 0; + out_8547509152961498922[253] = 0; + out_8547509152961498922[254] = 0; + out_8547509152961498922[255] = 0; + out_8547509152961498922[256] = 0; + out_8547509152961498922[257] = 0; + out_8547509152961498922[258] = 0; + out_8547509152961498922[259] = 0; + out_8547509152961498922[260] = 0; + out_8547509152961498922[261] = 0; + out_8547509152961498922[262] = 0; + out_8547509152961498922[263] = 1.0; + out_8547509152961498922[264] = 0; + out_8547509152961498922[265] = 0; + out_8547509152961498922[266] = 0; + out_8547509152961498922[267] = 0; + out_8547509152961498922[268] = 0; + out_8547509152961498922[269] = 0; + out_8547509152961498922[270] = 0; + out_8547509152961498922[271] = 0; + out_8547509152961498922[272] = 0; + out_8547509152961498922[273] = 0; + out_8547509152961498922[274] = 0; + out_8547509152961498922[275] = 0; + out_8547509152961498922[276] = 0; + out_8547509152961498922[277] = 0; + out_8547509152961498922[278] = 0; + out_8547509152961498922[279] = 0; + out_8547509152961498922[280] = 0; + out_8547509152961498922[281] = 0; + out_8547509152961498922[282] = 0; + out_8547509152961498922[283] = 0; + out_8547509152961498922[284] = 0; + out_8547509152961498922[285] = 1.0; + out_8547509152961498922[286] = 0; + out_8547509152961498922[287] = 0; + out_8547509152961498922[288] = 0; + out_8547509152961498922[289] = 0; + out_8547509152961498922[290] = 0; + out_8547509152961498922[291] = 0; + out_8547509152961498922[292] = 0; + out_8547509152961498922[293] = 0; + out_8547509152961498922[294] = 0; + out_8547509152961498922[295] = 0; + out_8547509152961498922[296] = 0; + out_8547509152961498922[297] = 0; + out_8547509152961498922[298] = 0; + out_8547509152961498922[299] = 0; + out_8547509152961498922[300] = 0; + out_8547509152961498922[301] = 0; + out_8547509152961498922[302] = 0; + out_8547509152961498922[303] = 0; + out_8547509152961498922[304] = 0; + out_8547509152961498922[305] = 0; + out_8547509152961498922[306] = 0; + out_8547509152961498922[307] = 1.0; + out_8547509152961498922[308] = 0; + out_8547509152961498922[309] = 0; + out_8547509152961498922[310] = 0; + out_8547509152961498922[311] = 0; + out_8547509152961498922[312] = 0; + out_8547509152961498922[313] = 0; + out_8547509152961498922[314] = 0; + out_8547509152961498922[315] = 0; + out_8547509152961498922[316] = 0; + out_8547509152961498922[317] = 0; + out_8547509152961498922[318] = 0; + out_8547509152961498922[319] = 0; + out_8547509152961498922[320] = 0; + out_8547509152961498922[321] = 0; + out_8547509152961498922[322] = 0; + out_8547509152961498922[323] = 0; + out_8547509152961498922[324] = 0; + out_8547509152961498922[325] = 0; + out_8547509152961498922[326] = 0; + out_8547509152961498922[327] = 0; + out_8547509152961498922[328] = 0; + out_8547509152961498922[329] = 1.0; + out_8547509152961498922[330] = 0; + out_8547509152961498922[331] = 0; + out_8547509152961498922[332] = 0; + out_8547509152961498922[333] = 0; + out_8547509152961498922[334] = 0; + out_8547509152961498922[335] = 0; + out_8547509152961498922[336] = 0; + out_8547509152961498922[337] = 0; + out_8547509152961498922[338] = 0; + out_8547509152961498922[339] = 0; + out_8547509152961498922[340] = 0; + out_8547509152961498922[341] = 0; + out_8547509152961498922[342] = 0; + out_8547509152961498922[343] = 0; + out_8547509152961498922[344] = 0; + out_8547509152961498922[345] = 0; + out_8547509152961498922[346] = 0; + out_8547509152961498922[347] = 0; + out_8547509152961498922[348] = 0; + out_8547509152961498922[349] = 0; + out_8547509152961498922[350] = 0; + out_8547509152961498922[351] = 1.0; + out_8547509152961498922[352] = 0; + out_8547509152961498922[353] = 0; + out_8547509152961498922[354] = 0; + out_8547509152961498922[355] = 0; + out_8547509152961498922[356] = 0; + out_8547509152961498922[357] = 0; + out_8547509152961498922[358] = 0; + out_8547509152961498922[359] = 0; + out_8547509152961498922[360] = 0; + out_8547509152961498922[361] = 0; + out_8547509152961498922[362] = 0; + out_8547509152961498922[363] = 0; + out_8547509152961498922[364] = 0; + out_8547509152961498922[365] = 0; + out_8547509152961498922[366] = 0; + out_8547509152961498922[367] = 0; + out_8547509152961498922[368] = 0; + out_8547509152961498922[369] = 0; + out_8547509152961498922[370] = 0; + out_8547509152961498922[371] = 0; + out_8547509152961498922[372] = 0; + out_8547509152961498922[373] = 1.0; + out_8547509152961498922[374] = 0; + out_8547509152961498922[375] = 0; + out_8547509152961498922[376] = 0; + out_8547509152961498922[377] = 0; + out_8547509152961498922[378] = 0; + out_8547509152961498922[379] = 0; + out_8547509152961498922[380] = 0; + out_8547509152961498922[381] = 0; + out_8547509152961498922[382] = 0; + out_8547509152961498922[383] = 0; + out_8547509152961498922[384] = 0; + out_8547509152961498922[385] = 0; + out_8547509152961498922[386] = 0; + out_8547509152961498922[387] = 0; + out_8547509152961498922[388] = 0; + out_8547509152961498922[389] = 0; + out_8547509152961498922[390] = 0; + out_8547509152961498922[391] = 0; + out_8547509152961498922[392] = 0; + out_8547509152961498922[393] = 0; + out_8547509152961498922[394] = 0; + out_8547509152961498922[395] = 1.0; + out_8547509152961498922[396] = 0; + out_8547509152961498922[397] = 0; + out_8547509152961498922[398] = 0; + out_8547509152961498922[399] = 0; + out_8547509152961498922[400] = 0; + out_8547509152961498922[401] = 0; + out_8547509152961498922[402] = 0; + out_8547509152961498922[403] = 0; + out_8547509152961498922[404] = 0; + out_8547509152961498922[405] = 0; + out_8547509152961498922[406] = 0; + out_8547509152961498922[407] = 0; + out_8547509152961498922[408] = 0; + out_8547509152961498922[409] = 0; + out_8547509152961498922[410] = 0; + out_8547509152961498922[411] = 0; + out_8547509152961498922[412] = 0; + out_8547509152961498922[413] = 0; + out_8547509152961498922[414] = 0; + out_8547509152961498922[415] = 0; + out_8547509152961498922[416] = 0; + out_8547509152961498922[417] = 1.0; + out_8547509152961498922[418] = 0; + out_8547509152961498922[419] = 0; + out_8547509152961498922[420] = 0; + out_8547509152961498922[421] = 0; + out_8547509152961498922[422] = 0; + out_8547509152961498922[423] = 0; + out_8547509152961498922[424] = 0; + out_8547509152961498922[425] = 0; + out_8547509152961498922[426] = 0; + out_8547509152961498922[427] = 0; + out_8547509152961498922[428] = 0; + out_8547509152961498922[429] = 0; + out_8547509152961498922[430] = 0; + out_8547509152961498922[431] = 0; + out_8547509152961498922[432] = 0; + out_8547509152961498922[433] = 0; + out_8547509152961498922[434] = 0; + out_8547509152961498922[435] = 0; + out_8547509152961498922[436] = 0; + out_8547509152961498922[437] = 0; + out_8547509152961498922[438] = 0; + out_8547509152961498922[439] = 1.0; + out_8547509152961498922[440] = 0; + out_8547509152961498922[441] = 0; + out_8547509152961498922[442] = 0; + out_8547509152961498922[443] = 0; + out_8547509152961498922[444] = 0; + out_8547509152961498922[445] = 0; + out_8547509152961498922[446] = 0; + out_8547509152961498922[447] = 0; + out_8547509152961498922[448] = 0; + out_8547509152961498922[449] = 0; + out_8547509152961498922[450] = 0; + out_8547509152961498922[451] = 0; + out_8547509152961498922[452] = 0; + out_8547509152961498922[453] = 0; + out_8547509152961498922[454] = 0; + out_8547509152961498922[455] = 0; + out_8547509152961498922[456] = 0; + out_8547509152961498922[457] = 0; + out_8547509152961498922[458] = 0; + out_8547509152961498922[459] = 0; + out_8547509152961498922[460] = 0; + out_8547509152961498922[461] = 1.0; } -void f_fun(double *state, double dt, double *out_1638653065682139689) { - out_1638653065682139689[0] = dt*state[7] + state[0]; - out_1638653065682139689[1] = dt*state[8] + state[1]; - out_1638653065682139689[2] = dt*state[9] + state[2]; - out_1638653065682139689[3] = dt*(-0.5*state[4]*state[10] - 0.5*state[5]*state[11] - 0.5*state[6]*state[12]) + state[3]; - out_1638653065682139689[4] = dt*(0.5*state[3]*state[10] + 0.5*state[5]*state[12] - 0.5*state[6]*state[11]) + state[4]; - out_1638653065682139689[5] = dt*(0.5*state[3]*state[11] - 0.5*state[4]*state[12] + 0.5*state[6]*state[10]) + state[5]; - out_1638653065682139689[6] = dt*(0.5*state[3]*state[12] + 0.5*state[4]*state[11] - 0.5*state[5]*state[10]) + state[6]; - out_1638653065682139689[7] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[18] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[17] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[16]) + state[7]; - out_1638653065682139689[8] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[18] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[16] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[17]) + state[8]; - out_1638653065682139689[9] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[17] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]) + state[9]; - out_1638653065682139689[10] = state[10]; - out_1638653065682139689[11] = state[11]; - out_1638653065682139689[12] = state[12]; - out_1638653065682139689[13] = state[13]; - out_1638653065682139689[14] = state[14]; - out_1638653065682139689[15] = state[15]; - out_1638653065682139689[16] = state[16]; - out_1638653065682139689[17] = state[17]; - out_1638653065682139689[18] = state[18]; - out_1638653065682139689[19] = state[19]; - out_1638653065682139689[20] = state[20]; - out_1638653065682139689[21] = state[21]; +void f_fun(double *state, double dt, double *out_8100393315288221642) { + out_8100393315288221642[0] = dt*state[7] + state[0]; + out_8100393315288221642[1] = dt*state[8] + state[1]; + out_8100393315288221642[2] = dt*state[9] + state[2]; + out_8100393315288221642[3] = dt*(-0.5*state[4]*state[10] - 0.5*state[5]*state[11] - 0.5*state[6]*state[12]) + state[3]; + out_8100393315288221642[4] = dt*(0.5*state[3]*state[10] + 0.5*state[5]*state[12] - 0.5*state[6]*state[11]) + state[4]; + out_8100393315288221642[5] = dt*(0.5*state[3]*state[11] - 0.5*state[4]*state[12] + 0.5*state[6]*state[10]) + state[5]; + out_8100393315288221642[6] = dt*(0.5*state[3]*state[12] + 0.5*state[4]*state[11] - 0.5*state[5]*state[10]) + state[6]; + out_8100393315288221642[7] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[18] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[17] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[16]) + state[7]; + out_8100393315288221642[8] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[18] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[16] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[17]) + state[8]; + out_8100393315288221642[9] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[17] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]) + state[9]; + out_8100393315288221642[10] = state[10]; + out_8100393315288221642[11] = state[11]; + out_8100393315288221642[12] = state[12]; + out_8100393315288221642[13] = state[13]; + out_8100393315288221642[14] = state[14]; + out_8100393315288221642[15] = state[15]; + out_8100393315288221642[16] = state[16]; + out_8100393315288221642[17] = state[17]; + out_8100393315288221642[18] = state[18]; + out_8100393315288221642[19] = state[19]; + out_8100393315288221642[20] = state[20]; + out_8100393315288221642[21] = state[21]; } -void F_fun(double *state, double dt, double *out_3627592268953963269) { - out_3627592268953963269[0] = 1; - out_3627592268953963269[1] = 0; - out_3627592268953963269[2] = 0; - out_3627592268953963269[3] = 0; - out_3627592268953963269[4] = 0; - out_3627592268953963269[5] = 0; - out_3627592268953963269[6] = dt; - out_3627592268953963269[7] = 0; - out_3627592268953963269[8] = 0; - out_3627592268953963269[9] = 0; - out_3627592268953963269[10] = 0; - out_3627592268953963269[11] = 0; - out_3627592268953963269[12] = 0; - out_3627592268953963269[13] = 0; - out_3627592268953963269[14] = 0; - out_3627592268953963269[15] = 0; - out_3627592268953963269[16] = 0; - out_3627592268953963269[17] = 0; - out_3627592268953963269[18] = 0; - out_3627592268953963269[19] = 0; - out_3627592268953963269[20] = 0; - out_3627592268953963269[21] = 0; - out_3627592268953963269[22] = 1; - out_3627592268953963269[23] = 0; - out_3627592268953963269[24] = 0; - out_3627592268953963269[25] = 0; - out_3627592268953963269[26] = 0; - out_3627592268953963269[27] = 0; - out_3627592268953963269[28] = dt; - out_3627592268953963269[29] = 0; - out_3627592268953963269[30] = 0; - out_3627592268953963269[31] = 0; - out_3627592268953963269[32] = 0; - out_3627592268953963269[33] = 0; - out_3627592268953963269[34] = 0; - out_3627592268953963269[35] = 0; - out_3627592268953963269[36] = 0; - out_3627592268953963269[37] = 0; - out_3627592268953963269[38] = 0; - out_3627592268953963269[39] = 0; - out_3627592268953963269[40] = 0; - out_3627592268953963269[41] = 0; - out_3627592268953963269[42] = 0; - out_3627592268953963269[43] = 0; - out_3627592268953963269[44] = 1; - out_3627592268953963269[45] = 0; - out_3627592268953963269[46] = 0; - out_3627592268953963269[47] = 0; - out_3627592268953963269[48] = 0; - out_3627592268953963269[49] = 0; - out_3627592268953963269[50] = dt; - out_3627592268953963269[51] = 0; - out_3627592268953963269[52] = 0; - out_3627592268953963269[53] = 0; - out_3627592268953963269[54] = 0; - out_3627592268953963269[55] = 0; - out_3627592268953963269[56] = 0; - out_3627592268953963269[57] = 0; - out_3627592268953963269[58] = 0; - out_3627592268953963269[59] = 0; - out_3627592268953963269[60] = 0; - out_3627592268953963269[61] = 0; - out_3627592268953963269[62] = 0; - out_3627592268953963269[63] = 0; - out_3627592268953963269[64] = 0; - out_3627592268953963269[65] = 0; - out_3627592268953963269[66] = 1; - out_3627592268953963269[67] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[11] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[10] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[12]); - out_3627592268953963269[68] = dt*((2*state[3]*state[4] - 2*state[5]*state[6])*state[12] + (-2*state[3]*state[6] - 2*state[4]*state[5])*state[10] + (-pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[11]); - out_3627592268953963269[69] = 0; - out_3627592268953963269[70] = 0; - out_3627592268953963269[71] = 0; - out_3627592268953963269[72] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); - out_3627592268953963269[73] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); - out_3627592268953963269[74] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); - out_3627592268953963269[75] = 0; - out_3627592268953963269[76] = 0; - out_3627592268953963269[77] = 0; - out_3627592268953963269[78] = 0; - out_3627592268953963269[79] = 0; - out_3627592268953963269[80] = 0; - out_3627592268953963269[81] = 0; - out_3627592268953963269[82] = 0; - out_3627592268953963269[83] = 0; - out_3627592268953963269[84] = 0; - out_3627592268953963269[85] = 0; - out_3627592268953963269[86] = 0; - out_3627592268953963269[87] = dt*(-(2*state[3]*state[4] + 2*state[5]*state[6])*state[11] - (-2*state[3]*state[5] + 2*state[4]*state[6])*state[10] - (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[12]); - out_3627592268953963269[88] = 1; - out_3627592268953963269[89] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[12] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[11] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[10]); - out_3627592268953963269[90] = 0; - out_3627592268953963269[91] = 0; - out_3627592268953963269[92] = 0; - out_3627592268953963269[93] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); - out_3627592268953963269[94] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); - out_3627592268953963269[95] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); - out_3627592268953963269[96] = 0; - out_3627592268953963269[97] = 0; - out_3627592268953963269[98] = 0; - out_3627592268953963269[99] = 0; - out_3627592268953963269[100] = 0; - out_3627592268953963269[101] = 0; - out_3627592268953963269[102] = 0; - out_3627592268953963269[103] = 0; - out_3627592268953963269[104] = 0; - out_3627592268953963269[105] = 0; - out_3627592268953963269[106] = 0; - out_3627592268953963269[107] = 0; - out_3627592268953963269[108] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[12] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[10] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[11]); - out_3627592268953963269[109] = dt*((-2*state[3]*state[5] - 2*state[4]*state[6])*state[12] + (2*state[3]*state[6] - 2*state[4]*state[5])*state[11] + (-pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) + pow(state[6], 2))*state[10]); - out_3627592268953963269[110] = 1; - out_3627592268953963269[111] = 0; - out_3627592268953963269[112] = 0; - out_3627592268953963269[113] = 0; - out_3627592268953963269[114] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); - out_3627592268953963269[115] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); - out_3627592268953963269[116] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); - out_3627592268953963269[117] = 0; - out_3627592268953963269[118] = 0; - out_3627592268953963269[119] = 0; - out_3627592268953963269[120] = 0; - out_3627592268953963269[121] = 0; - out_3627592268953963269[122] = 0; - out_3627592268953963269[123] = 0; - out_3627592268953963269[124] = 0; - out_3627592268953963269[125] = 0; - out_3627592268953963269[126] = 0; - out_3627592268953963269[127] = 0; - out_3627592268953963269[128] = 0; - out_3627592268953963269[129] = 0; - out_3627592268953963269[130] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[17] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]); - out_3627592268953963269[131] = dt*((2*state[3]*state[4] - 2*state[5]*state[6])*state[18] + (-2*state[3]*state[6] - 2*state[4]*state[5])*state[16] + (-pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[17]); - out_3627592268953963269[132] = 1; - out_3627592268953963269[133] = 0; - out_3627592268953963269[134] = 0; - out_3627592268953963269[135] = 0; - out_3627592268953963269[136] = 0; - out_3627592268953963269[137] = 0; - out_3627592268953963269[138] = 0; - out_3627592268953963269[139] = 0; - out_3627592268953963269[140] = 0; - out_3627592268953963269[141] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); - out_3627592268953963269[142] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); - out_3627592268953963269[143] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); - out_3627592268953963269[144] = 0; - out_3627592268953963269[145] = 0; - out_3627592268953963269[146] = 0; - out_3627592268953963269[147] = 0; - out_3627592268953963269[148] = 0; - out_3627592268953963269[149] = 0; - out_3627592268953963269[150] = dt*(-(2*state[3]*state[4] + 2*state[5]*state[6])*state[17] - (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] - (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]); - out_3627592268953963269[151] = 0; - out_3627592268953963269[152] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[18] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[17] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[16]); - out_3627592268953963269[153] = 0; - out_3627592268953963269[154] = 1; - out_3627592268953963269[155] = 0; - out_3627592268953963269[156] = 0; - out_3627592268953963269[157] = 0; - out_3627592268953963269[158] = 0; - out_3627592268953963269[159] = 0; - out_3627592268953963269[160] = 0; - out_3627592268953963269[161] = 0; - out_3627592268953963269[162] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); - out_3627592268953963269[163] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); - out_3627592268953963269[164] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); - out_3627592268953963269[165] = 0; - out_3627592268953963269[166] = 0; - out_3627592268953963269[167] = 0; - out_3627592268953963269[168] = 0; - out_3627592268953963269[169] = 0; - out_3627592268953963269[170] = 0; - out_3627592268953963269[171] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[18] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[16] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[17]); - out_3627592268953963269[172] = dt*((-2*state[3]*state[5] - 2*state[4]*state[6])*state[18] + (2*state[3]*state[6] - 2*state[4]*state[5])*state[17] + (-pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) + pow(state[6], 2))*state[16]); - out_3627592268953963269[173] = 0; - out_3627592268953963269[174] = 0; - out_3627592268953963269[175] = 0; - out_3627592268953963269[176] = 1; - out_3627592268953963269[177] = 0; - out_3627592268953963269[178] = 0; - out_3627592268953963269[179] = 0; - out_3627592268953963269[180] = 0; - out_3627592268953963269[181] = 0; - out_3627592268953963269[182] = 0; - out_3627592268953963269[183] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); - out_3627592268953963269[184] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); - out_3627592268953963269[185] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); - out_3627592268953963269[186] = 0; - out_3627592268953963269[187] = 0; - out_3627592268953963269[188] = 0; - out_3627592268953963269[189] = 0; - out_3627592268953963269[190] = 0; - out_3627592268953963269[191] = 0; - out_3627592268953963269[192] = 0; - out_3627592268953963269[193] = 0; - out_3627592268953963269[194] = 0; - out_3627592268953963269[195] = 0; - out_3627592268953963269[196] = 0; - out_3627592268953963269[197] = 0; - out_3627592268953963269[198] = 1; - out_3627592268953963269[199] = 0; - out_3627592268953963269[200] = 0; - out_3627592268953963269[201] = 0; - out_3627592268953963269[202] = 0; - out_3627592268953963269[203] = 0; - out_3627592268953963269[204] = 0; - out_3627592268953963269[205] = 0; - out_3627592268953963269[206] = 0; - out_3627592268953963269[207] = 0; - out_3627592268953963269[208] = 0; - out_3627592268953963269[209] = 0; - out_3627592268953963269[210] = 0; - out_3627592268953963269[211] = 0; - out_3627592268953963269[212] = 0; - out_3627592268953963269[213] = 0; - out_3627592268953963269[214] = 0; - out_3627592268953963269[215] = 0; - out_3627592268953963269[216] = 0; - out_3627592268953963269[217] = 0; - out_3627592268953963269[218] = 0; - out_3627592268953963269[219] = 0; - out_3627592268953963269[220] = 1; - out_3627592268953963269[221] = 0; - out_3627592268953963269[222] = 0; - out_3627592268953963269[223] = 0; - out_3627592268953963269[224] = 0; - out_3627592268953963269[225] = 0; - out_3627592268953963269[226] = 0; - out_3627592268953963269[227] = 0; - out_3627592268953963269[228] = 0; - out_3627592268953963269[229] = 0; - out_3627592268953963269[230] = 0; - out_3627592268953963269[231] = 0; - out_3627592268953963269[232] = 0; - out_3627592268953963269[233] = 0; - out_3627592268953963269[234] = 0; - out_3627592268953963269[235] = 0; - out_3627592268953963269[236] = 0; - out_3627592268953963269[237] = 0; - out_3627592268953963269[238] = 0; - out_3627592268953963269[239] = 0; - out_3627592268953963269[240] = 0; - out_3627592268953963269[241] = 0; - out_3627592268953963269[242] = 1; - out_3627592268953963269[243] = 0; - out_3627592268953963269[244] = 0; - out_3627592268953963269[245] = 0; - out_3627592268953963269[246] = 0; - out_3627592268953963269[247] = 0; - out_3627592268953963269[248] = 0; - out_3627592268953963269[249] = 0; - out_3627592268953963269[250] = 0; - out_3627592268953963269[251] = 0; - out_3627592268953963269[252] = 0; - out_3627592268953963269[253] = 0; - out_3627592268953963269[254] = 0; - out_3627592268953963269[255] = 0; - out_3627592268953963269[256] = 0; - out_3627592268953963269[257] = 0; - out_3627592268953963269[258] = 0; - out_3627592268953963269[259] = 0; - out_3627592268953963269[260] = 0; - out_3627592268953963269[261] = 0; - out_3627592268953963269[262] = 0; - out_3627592268953963269[263] = 0; - out_3627592268953963269[264] = 1; - out_3627592268953963269[265] = 0; - out_3627592268953963269[266] = 0; - out_3627592268953963269[267] = 0; - out_3627592268953963269[268] = 0; - out_3627592268953963269[269] = 0; - out_3627592268953963269[270] = 0; - out_3627592268953963269[271] = 0; - out_3627592268953963269[272] = 0; - out_3627592268953963269[273] = 0; - out_3627592268953963269[274] = 0; - out_3627592268953963269[275] = 0; - out_3627592268953963269[276] = 0; - out_3627592268953963269[277] = 0; - out_3627592268953963269[278] = 0; - out_3627592268953963269[279] = 0; - out_3627592268953963269[280] = 0; - out_3627592268953963269[281] = 0; - out_3627592268953963269[282] = 0; - out_3627592268953963269[283] = 0; - out_3627592268953963269[284] = 0; - out_3627592268953963269[285] = 0; - out_3627592268953963269[286] = 1; - out_3627592268953963269[287] = 0; - out_3627592268953963269[288] = 0; - out_3627592268953963269[289] = 0; - out_3627592268953963269[290] = 0; - out_3627592268953963269[291] = 0; - out_3627592268953963269[292] = 0; - out_3627592268953963269[293] = 0; - out_3627592268953963269[294] = 0; - out_3627592268953963269[295] = 0; - out_3627592268953963269[296] = 0; - out_3627592268953963269[297] = 0; - out_3627592268953963269[298] = 0; - out_3627592268953963269[299] = 0; - out_3627592268953963269[300] = 0; - out_3627592268953963269[301] = 0; - out_3627592268953963269[302] = 0; - out_3627592268953963269[303] = 0; - out_3627592268953963269[304] = 0; - out_3627592268953963269[305] = 0; - out_3627592268953963269[306] = 0; - out_3627592268953963269[307] = 0; - out_3627592268953963269[308] = 1; - out_3627592268953963269[309] = 0; - out_3627592268953963269[310] = 0; - out_3627592268953963269[311] = 0; - out_3627592268953963269[312] = 0; - out_3627592268953963269[313] = 0; - out_3627592268953963269[314] = 0; - out_3627592268953963269[315] = 0; - out_3627592268953963269[316] = 0; - out_3627592268953963269[317] = 0; - out_3627592268953963269[318] = 0; - out_3627592268953963269[319] = 0; - out_3627592268953963269[320] = 0; - out_3627592268953963269[321] = 0; - out_3627592268953963269[322] = 0; - out_3627592268953963269[323] = 0; - out_3627592268953963269[324] = 0; - out_3627592268953963269[325] = 0; - out_3627592268953963269[326] = 0; - out_3627592268953963269[327] = 0; - out_3627592268953963269[328] = 0; - out_3627592268953963269[329] = 0; - out_3627592268953963269[330] = 1; - out_3627592268953963269[331] = 0; - out_3627592268953963269[332] = 0; - out_3627592268953963269[333] = 0; - out_3627592268953963269[334] = 0; - out_3627592268953963269[335] = 0; - out_3627592268953963269[336] = 0; - out_3627592268953963269[337] = 0; - out_3627592268953963269[338] = 0; - out_3627592268953963269[339] = 0; - out_3627592268953963269[340] = 0; - out_3627592268953963269[341] = 0; - out_3627592268953963269[342] = 0; - out_3627592268953963269[343] = 0; - out_3627592268953963269[344] = 0; - out_3627592268953963269[345] = 0; - out_3627592268953963269[346] = 0; - out_3627592268953963269[347] = 0; - out_3627592268953963269[348] = 0; - out_3627592268953963269[349] = 0; - out_3627592268953963269[350] = 0; - out_3627592268953963269[351] = 0; - out_3627592268953963269[352] = 1; - out_3627592268953963269[353] = 0; - out_3627592268953963269[354] = 0; - out_3627592268953963269[355] = 0; - out_3627592268953963269[356] = 0; - out_3627592268953963269[357] = 0; - out_3627592268953963269[358] = 0; - out_3627592268953963269[359] = 0; - out_3627592268953963269[360] = 0; - out_3627592268953963269[361] = 0; - out_3627592268953963269[362] = 0; - out_3627592268953963269[363] = 0; - out_3627592268953963269[364] = 0; - out_3627592268953963269[365] = 0; - out_3627592268953963269[366] = 0; - out_3627592268953963269[367] = 0; - out_3627592268953963269[368] = 0; - out_3627592268953963269[369] = 0; - out_3627592268953963269[370] = 0; - out_3627592268953963269[371] = 0; - out_3627592268953963269[372] = 0; - out_3627592268953963269[373] = 0; - out_3627592268953963269[374] = 1; - out_3627592268953963269[375] = 0; - out_3627592268953963269[376] = 0; - out_3627592268953963269[377] = 0; - out_3627592268953963269[378] = 0; - out_3627592268953963269[379] = 0; - out_3627592268953963269[380] = 0; - out_3627592268953963269[381] = 0; - out_3627592268953963269[382] = 0; - out_3627592268953963269[383] = 0; - out_3627592268953963269[384] = 0; - out_3627592268953963269[385] = 0; - out_3627592268953963269[386] = 0; - out_3627592268953963269[387] = 0; - out_3627592268953963269[388] = 0; - out_3627592268953963269[389] = 0; - out_3627592268953963269[390] = 0; - out_3627592268953963269[391] = 0; - out_3627592268953963269[392] = 0; - out_3627592268953963269[393] = 0; - out_3627592268953963269[394] = 0; - out_3627592268953963269[395] = 0; - out_3627592268953963269[396] = 1; - out_3627592268953963269[397] = 0; - out_3627592268953963269[398] = 0; - out_3627592268953963269[399] = 0; - out_3627592268953963269[400] = 0; - out_3627592268953963269[401] = 0; - out_3627592268953963269[402] = 0; - out_3627592268953963269[403] = 0; - out_3627592268953963269[404] = 0; - out_3627592268953963269[405] = 0; - out_3627592268953963269[406] = 0; - out_3627592268953963269[407] = 0; - out_3627592268953963269[408] = 0; - out_3627592268953963269[409] = 0; - out_3627592268953963269[410] = 0; - out_3627592268953963269[411] = 0; - out_3627592268953963269[412] = 0; - out_3627592268953963269[413] = 0; - out_3627592268953963269[414] = 0; - out_3627592268953963269[415] = 0; - out_3627592268953963269[416] = 0; - out_3627592268953963269[417] = 0; - out_3627592268953963269[418] = 1; - out_3627592268953963269[419] = 0; - out_3627592268953963269[420] = 0; - out_3627592268953963269[421] = 0; - out_3627592268953963269[422] = 0; - out_3627592268953963269[423] = 0; - out_3627592268953963269[424] = 0; - out_3627592268953963269[425] = 0; - out_3627592268953963269[426] = 0; - out_3627592268953963269[427] = 0; - out_3627592268953963269[428] = 0; - out_3627592268953963269[429] = 0; - out_3627592268953963269[430] = 0; - out_3627592268953963269[431] = 0; - out_3627592268953963269[432] = 0; - out_3627592268953963269[433] = 0; - out_3627592268953963269[434] = 0; - out_3627592268953963269[435] = 0; - out_3627592268953963269[436] = 0; - out_3627592268953963269[437] = 0; - out_3627592268953963269[438] = 0; - out_3627592268953963269[439] = 0; - out_3627592268953963269[440] = 1; +void F_fun(double *state, double dt, double *out_7769089323050102648) { + out_7769089323050102648[0] = 1; + out_7769089323050102648[1] = 0; + out_7769089323050102648[2] = 0; + out_7769089323050102648[3] = 0; + out_7769089323050102648[4] = 0; + out_7769089323050102648[5] = 0; + out_7769089323050102648[6] = dt; + out_7769089323050102648[7] = 0; + out_7769089323050102648[8] = 0; + out_7769089323050102648[9] = 0; + out_7769089323050102648[10] = 0; + out_7769089323050102648[11] = 0; + out_7769089323050102648[12] = 0; + out_7769089323050102648[13] = 0; + out_7769089323050102648[14] = 0; + out_7769089323050102648[15] = 0; + out_7769089323050102648[16] = 0; + out_7769089323050102648[17] = 0; + out_7769089323050102648[18] = 0; + out_7769089323050102648[19] = 0; + out_7769089323050102648[20] = 0; + out_7769089323050102648[21] = 0; + out_7769089323050102648[22] = 1; + out_7769089323050102648[23] = 0; + out_7769089323050102648[24] = 0; + out_7769089323050102648[25] = 0; + out_7769089323050102648[26] = 0; + out_7769089323050102648[27] = 0; + out_7769089323050102648[28] = dt; + out_7769089323050102648[29] = 0; + out_7769089323050102648[30] = 0; + out_7769089323050102648[31] = 0; + out_7769089323050102648[32] = 0; + out_7769089323050102648[33] = 0; + out_7769089323050102648[34] = 0; + out_7769089323050102648[35] = 0; + out_7769089323050102648[36] = 0; + out_7769089323050102648[37] = 0; + out_7769089323050102648[38] = 0; + out_7769089323050102648[39] = 0; + out_7769089323050102648[40] = 0; + out_7769089323050102648[41] = 0; + out_7769089323050102648[42] = 0; + out_7769089323050102648[43] = 0; + out_7769089323050102648[44] = 1; + out_7769089323050102648[45] = 0; + out_7769089323050102648[46] = 0; + out_7769089323050102648[47] = 0; + out_7769089323050102648[48] = 0; + out_7769089323050102648[49] = 0; + out_7769089323050102648[50] = dt; + out_7769089323050102648[51] = 0; + out_7769089323050102648[52] = 0; + out_7769089323050102648[53] = 0; + out_7769089323050102648[54] = 0; + out_7769089323050102648[55] = 0; + out_7769089323050102648[56] = 0; + out_7769089323050102648[57] = 0; + out_7769089323050102648[58] = 0; + out_7769089323050102648[59] = 0; + out_7769089323050102648[60] = 0; + out_7769089323050102648[61] = 0; + out_7769089323050102648[62] = 0; + out_7769089323050102648[63] = 0; + out_7769089323050102648[64] = 0; + out_7769089323050102648[65] = 0; + out_7769089323050102648[66] = 1; + out_7769089323050102648[67] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[11] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[10] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[12]); + out_7769089323050102648[68] = dt*((2*state[3]*state[4] - 2*state[5]*state[6])*state[12] + (-2*state[3]*state[6] - 2*state[4]*state[5])*state[10] + (-pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[11]); + out_7769089323050102648[69] = 0; + out_7769089323050102648[70] = 0; + out_7769089323050102648[71] = 0; + out_7769089323050102648[72] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_7769089323050102648[73] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); + out_7769089323050102648[74] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); + out_7769089323050102648[75] = 0; + out_7769089323050102648[76] = 0; + out_7769089323050102648[77] = 0; + out_7769089323050102648[78] = 0; + out_7769089323050102648[79] = 0; + out_7769089323050102648[80] = 0; + out_7769089323050102648[81] = 0; + out_7769089323050102648[82] = 0; + out_7769089323050102648[83] = 0; + out_7769089323050102648[84] = 0; + out_7769089323050102648[85] = 0; + out_7769089323050102648[86] = 0; + out_7769089323050102648[87] = dt*(-(2*state[3]*state[4] + 2*state[5]*state[6])*state[11] - (-2*state[3]*state[5] + 2*state[4]*state[6])*state[10] - (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[12]); + out_7769089323050102648[88] = 1; + out_7769089323050102648[89] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[12] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[11] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[10]); + out_7769089323050102648[90] = 0; + out_7769089323050102648[91] = 0; + out_7769089323050102648[92] = 0; + out_7769089323050102648[93] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); + out_7769089323050102648[94] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_7769089323050102648[95] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); + out_7769089323050102648[96] = 0; + out_7769089323050102648[97] = 0; + out_7769089323050102648[98] = 0; + out_7769089323050102648[99] = 0; + out_7769089323050102648[100] = 0; + out_7769089323050102648[101] = 0; + out_7769089323050102648[102] = 0; + out_7769089323050102648[103] = 0; + out_7769089323050102648[104] = 0; + out_7769089323050102648[105] = 0; + out_7769089323050102648[106] = 0; + out_7769089323050102648[107] = 0; + out_7769089323050102648[108] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[12] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[10] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[11]); + out_7769089323050102648[109] = dt*((-2*state[3]*state[5] - 2*state[4]*state[6])*state[12] + (2*state[3]*state[6] - 2*state[4]*state[5])*state[11] + (-pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) + pow(state[6], 2))*state[10]); + out_7769089323050102648[110] = 1; + out_7769089323050102648[111] = 0; + out_7769089323050102648[112] = 0; + out_7769089323050102648[113] = 0; + out_7769089323050102648[114] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); + out_7769089323050102648[115] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); + out_7769089323050102648[116] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_7769089323050102648[117] = 0; + out_7769089323050102648[118] = 0; + out_7769089323050102648[119] = 0; + out_7769089323050102648[120] = 0; + out_7769089323050102648[121] = 0; + out_7769089323050102648[122] = 0; + out_7769089323050102648[123] = 0; + out_7769089323050102648[124] = 0; + out_7769089323050102648[125] = 0; + out_7769089323050102648[126] = 0; + out_7769089323050102648[127] = 0; + out_7769089323050102648[128] = 0; + out_7769089323050102648[129] = 0; + out_7769089323050102648[130] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[17] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]); + out_7769089323050102648[131] = dt*((2*state[3]*state[4] - 2*state[5]*state[6])*state[18] + (-2*state[3]*state[6] - 2*state[4]*state[5])*state[16] + (-pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[17]); + out_7769089323050102648[132] = 1; + out_7769089323050102648[133] = 0; + out_7769089323050102648[134] = 0; + out_7769089323050102648[135] = 0; + out_7769089323050102648[136] = 0; + out_7769089323050102648[137] = 0; + out_7769089323050102648[138] = 0; + out_7769089323050102648[139] = 0; + out_7769089323050102648[140] = 0; + out_7769089323050102648[141] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_7769089323050102648[142] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); + out_7769089323050102648[143] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); + out_7769089323050102648[144] = 0; + out_7769089323050102648[145] = 0; + out_7769089323050102648[146] = 0; + out_7769089323050102648[147] = 0; + out_7769089323050102648[148] = 0; + out_7769089323050102648[149] = 0; + out_7769089323050102648[150] = dt*(-(2*state[3]*state[4] + 2*state[5]*state[6])*state[17] - (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] - (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]); + out_7769089323050102648[151] = 0; + out_7769089323050102648[152] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[18] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[17] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[16]); + out_7769089323050102648[153] = 0; + out_7769089323050102648[154] = 1; + out_7769089323050102648[155] = 0; + out_7769089323050102648[156] = 0; + out_7769089323050102648[157] = 0; + out_7769089323050102648[158] = 0; + out_7769089323050102648[159] = 0; + out_7769089323050102648[160] = 0; + out_7769089323050102648[161] = 0; + out_7769089323050102648[162] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); + out_7769089323050102648[163] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_7769089323050102648[164] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); + out_7769089323050102648[165] = 0; + out_7769089323050102648[166] = 0; + out_7769089323050102648[167] = 0; + out_7769089323050102648[168] = 0; + out_7769089323050102648[169] = 0; + out_7769089323050102648[170] = 0; + out_7769089323050102648[171] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[18] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[16] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[17]); + out_7769089323050102648[172] = dt*((-2*state[3]*state[5] - 2*state[4]*state[6])*state[18] + (2*state[3]*state[6] - 2*state[4]*state[5])*state[17] + (-pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) + pow(state[6], 2))*state[16]); + out_7769089323050102648[173] = 0; + out_7769089323050102648[174] = 0; + out_7769089323050102648[175] = 0; + out_7769089323050102648[176] = 1; + out_7769089323050102648[177] = 0; + out_7769089323050102648[178] = 0; + out_7769089323050102648[179] = 0; + out_7769089323050102648[180] = 0; + out_7769089323050102648[181] = 0; + out_7769089323050102648[182] = 0; + out_7769089323050102648[183] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); + out_7769089323050102648[184] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); + out_7769089323050102648[185] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_7769089323050102648[186] = 0; + out_7769089323050102648[187] = 0; + out_7769089323050102648[188] = 0; + out_7769089323050102648[189] = 0; + out_7769089323050102648[190] = 0; + out_7769089323050102648[191] = 0; + out_7769089323050102648[192] = 0; + out_7769089323050102648[193] = 0; + out_7769089323050102648[194] = 0; + out_7769089323050102648[195] = 0; + out_7769089323050102648[196] = 0; + out_7769089323050102648[197] = 0; + out_7769089323050102648[198] = 1; + out_7769089323050102648[199] = 0; + out_7769089323050102648[200] = 0; + out_7769089323050102648[201] = 0; + out_7769089323050102648[202] = 0; + out_7769089323050102648[203] = 0; + out_7769089323050102648[204] = 0; + out_7769089323050102648[205] = 0; + out_7769089323050102648[206] = 0; + out_7769089323050102648[207] = 0; + out_7769089323050102648[208] = 0; + out_7769089323050102648[209] = 0; + out_7769089323050102648[210] = 0; + out_7769089323050102648[211] = 0; + out_7769089323050102648[212] = 0; + out_7769089323050102648[213] = 0; + out_7769089323050102648[214] = 0; + out_7769089323050102648[215] = 0; + out_7769089323050102648[216] = 0; + out_7769089323050102648[217] = 0; + out_7769089323050102648[218] = 0; + out_7769089323050102648[219] = 0; + out_7769089323050102648[220] = 1; + out_7769089323050102648[221] = 0; + out_7769089323050102648[222] = 0; + out_7769089323050102648[223] = 0; + out_7769089323050102648[224] = 0; + out_7769089323050102648[225] = 0; + out_7769089323050102648[226] = 0; + out_7769089323050102648[227] = 0; + out_7769089323050102648[228] = 0; + out_7769089323050102648[229] = 0; + out_7769089323050102648[230] = 0; + out_7769089323050102648[231] = 0; + out_7769089323050102648[232] = 0; + out_7769089323050102648[233] = 0; + out_7769089323050102648[234] = 0; + out_7769089323050102648[235] = 0; + out_7769089323050102648[236] = 0; + out_7769089323050102648[237] = 0; + out_7769089323050102648[238] = 0; + out_7769089323050102648[239] = 0; + out_7769089323050102648[240] = 0; + out_7769089323050102648[241] = 0; + out_7769089323050102648[242] = 1; + out_7769089323050102648[243] = 0; + out_7769089323050102648[244] = 0; + out_7769089323050102648[245] = 0; + out_7769089323050102648[246] = 0; + out_7769089323050102648[247] = 0; + out_7769089323050102648[248] = 0; + out_7769089323050102648[249] = 0; + out_7769089323050102648[250] = 0; + out_7769089323050102648[251] = 0; + out_7769089323050102648[252] = 0; + out_7769089323050102648[253] = 0; + out_7769089323050102648[254] = 0; + out_7769089323050102648[255] = 0; + out_7769089323050102648[256] = 0; + out_7769089323050102648[257] = 0; + out_7769089323050102648[258] = 0; + out_7769089323050102648[259] = 0; + out_7769089323050102648[260] = 0; + out_7769089323050102648[261] = 0; + out_7769089323050102648[262] = 0; + out_7769089323050102648[263] = 0; + out_7769089323050102648[264] = 1; + out_7769089323050102648[265] = 0; + out_7769089323050102648[266] = 0; + out_7769089323050102648[267] = 0; + out_7769089323050102648[268] = 0; + out_7769089323050102648[269] = 0; + out_7769089323050102648[270] = 0; + out_7769089323050102648[271] = 0; + out_7769089323050102648[272] = 0; + out_7769089323050102648[273] = 0; + out_7769089323050102648[274] = 0; + out_7769089323050102648[275] = 0; + out_7769089323050102648[276] = 0; + out_7769089323050102648[277] = 0; + out_7769089323050102648[278] = 0; + out_7769089323050102648[279] = 0; + out_7769089323050102648[280] = 0; + out_7769089323050102648[281] = 0; + out_7769089323050102648[282] = 0; + out_7769089323050102648[283] = 0; + out_7769089323050102648[284] = 0; + out_7769089323050102648[285] = 0; + out_7769089323050102648[286] = 1; + out_7769089323050102648[287] = 0; + out_7769089323050102648[288] = 0; + out_7769089323050102648[289] = 0; + out_7769089323050102648[290] = 0; + out_7769089323050102648[291] = 0; + out_7769089323050102648[292] = 0; + out_7769089323050102648[293] = 0; + out_7769089323050102648[294] = 0; + out_7769089323050102648[295] = 0; + out_7769089323050102648[296] = 0; + out_7769089323050102648[297] = 0; + out_7769089323050102648[298] = 0; + out_7769089323050102648[299] = 0; + out_7769089323050102648[300] = 0; + out_7769089323050102648[301] = 0; + out_7769089323050102648[302] = 0; + out_7769089323050102648[303] = 0; + out_7769089323050102648[304] = 0; + out_7769089323050102648[305] = 0; + out_7769089323050102648[306] = 0; + out_7769089323050102648[307] = 0; + out_7769089323050102648[308] = 1; + out_7769089323050102648[309] = 0; + out_7769089323050102648[310] = 0; + out_7769089323050102648[311] = 0; + out_7769089323050102648[312] = 0; + out_7769089323050102648[313] = 0; + out_7769089323050102648[314] = 0; + out_7769089323050102648[315] = 0; + out_7769089323050102648[316] = 0; + out_7769089323050102648[317] = 0; + out_7769089323050102648[318] = 0; + out_7769089323050102648[319] = 0; + out_7769089323050102648[320] = 0; + out_7769089323050102648[321] = 0; + out_7769089323050102648[322] = 0; + out_7769089323050102648[323] = 0; + out_7769089323050102648[324] = 0; + out_7769089323050102648[325] = 0; + out_7769089323050102648[326] = 0; + out_7769089323050102648[327] = 0; + out_7769089323050102648[328] = 0; + out_7769089323050102648[329] = 0; + out_7769089323050102648[330] = 1; + out_7769089323050102648[331] = 0; + out_7769089323050102648[332] = 0; + out_7769089323050102648[333] = 0; + out_7769089323050102648[334] = 0; + out_7769089323050102648[335] = 0; + out_7769089323050102648[336] = 0; + out_7769089323050102648[337] = 0; + out_7769089323050102648[338] = 0; + out_7769089323050102648[339] = 0; + out_7769089323050102648[340] = 0; + out_7769089323050102648[341] = 0; + out_7769089323050102648[342] = 0; + out_7769089323050102648[343] = 0; + out_7769089323050102648[344] = 0; + out_7769089323050102648[345] = 0; + out_7769089323050102648[346] = 0; + out_7769089323050102648[347] = 0; + out_7769089323050102648[348] = 0; + out_7769089323050102648[349] = 0; + out_7769089323050102648[350] = 0; + out_7769089323050102648[351] = 0; + out_7769089323050102648[352] = 1; + out_7769089323050102648[353] = 0; + out_7769089323050102648[354] = 0; + out_7769089323050102648[355] = 0; + out_7769089323050102648[356] = 0; + out_7769089323050102648[357] = 0; + out_7769089323050102648[358] = 0; + out_7769089323050102648[359] = 0; + out_7769089323050102648[360] = 0; + out_7769089323050102648[361] = 0; + out_7769089323050102648[362] = 0; + out_7769089323050102648[363] = 0; + out_7769089323050102648[364] = 0; + out_7769089323050102648[365] = 0; + out_7769089323050102648[366] = 0; + out_7769089323050102648[367] = 0; + out_7769089323050102648[368] = 0; + out_7769089323050102648[369] = 0; + out_7769089323050102648[370] = 0; + out_7769089323050102648[371] = 0; + out_7769089323050102648[372] = 0; + out_7769089323050102648[373] = 0; + out_7769089323050102648[374] = 1; + out_7769089323050102648[375] = 0; + out_7769089323050102648[376] = 0; + out_7769089323050102648[377] = 0; + out_7769089323050102648[378] = 0; + out_7769089323050102648[379] = 0; + out_7769089323050102648[380] = 0; + out_7769089323050102648[381] = 0; + out_7769089323050102648[382] = 0; + out_7769089323050102648[383] = 0; + out_7769089323050102648[384] = 0; + out_7769089323050102648[385] = 0; + out_7769089323050102648[386] = 0; + out_7769089323050102648[387] = 0; + out_7769089323050102648[388] = 0; + out_7769089323050102648[389] = 0; + out_7769089323050102648[390] = 0; + out_7769089323050102648[391] = 0; + out_7769089323050102648[392] = 0; + out_7769089323050102648[393] = 0; + out_7769089323050102648[394] = 0; + out_7769089323050102648[395] = 0; + out_7769089323050102648[396] = 1; + out_7769089323050102648[397] = 0; + out_7769089323050102648[398] = 0; + out_7769089323050102648[399] = 0; + out_7769089323050102648[400] = 0; + out_7769089323050102648[401] = 0; + out_7769089323050102648[402] = 0; + out_7769089323050102648[403] = 0; + out_7769089323050102648[404] = 0; + out_7769089323050102648[405] = 0; + out_7769089323050102648[406] = 0; + out_7769089323050102648[407] = 0; + out_7769089323050102648[408] = 0; + out_7769089323050102648[409] = 0; + out_7769089323050102648[410] = 0; + out_7769089323050102648[411] = 0; + out_7769089323050102648[412] = 0; + out_7769089323050102648[413] = 0; + out_7769089323050102648[414] = 0; + out_7769089323050102648[415] = 0; + out_7769089323050102648[416] = 0; + out_7769089323050102648[417] = 0; + out_7769089323050102648[418] = 1; + out_7769089323050102648[419] = 0; + out_7769089323050102648[420] = 0; + out_7769089323050102648[421] = 0; + out_7769089323050102648[422] = 0; + out_7769089323050102648[423] = 0; + out_7769089323050102648[424] = 0; + out_7769089323050102648[425] = 0; + out_7769089323050102648[426] = 0; + out_7769089323050102648[427] = 0; + out_7769089323050102648[428] = 0; + out_7769089323050102648[429] = 0; + out_7769089323050102648[430] = 0; + out_7769089323050102648[431] = 0; + out_7769089323050102648[432] = 0; + out_7769089323050102648[433] = 0; + out_7769089323050102648[434] = 0; + out_7769089323050102648[435] = 0; + out_7769089323050102648[436] = 0; + out_7769089323050102648[437] = 0; + out_7769089323050102648[438] = 0; + out_7769089323050102648[439] = 0; + out_7769089323050102648[440] = 1; } -void h_4(double *state, double *unused, double *out_8187072558274677226) { - out_8187072558274677226[0] = state[10] + state[13]; - out_8187072558274677226[1] = state[11] + state[14]; - out_8187072558274677226[2] = state[12] + state[15]; +void h_4(double *state, double *unused, double *out_6579737165675804813) { + out_6579737165675804813[0] = state[10] + state[13]; + out_6579737165675804813[1] = state[11] + state[14]; + out_6579737165675804813[2] = state[12] + state[15]; } -void H_4(double *state, double *unused, double *out_5073553165915915446) { - out_5073553165915915446[0] = 0; - out_5073553165915915446[1] = 0; - out_5073553165915915446[2] = 0; - out_5073553165915915446[3] = 0; - out_5073553165915915446[4] = 0; - out_5073553165915915446[5] = 0; - out_5073553165915915446[6] = 0; - out_5073553165915915446[7] = 0; - out_5073553165915915446[8] = 0; - out_5073553165915915446[9] = 0; - out_5073553165915915446[10] = 1; - out_5073553165915915446[11] = 0; - out_5073553165915915446[12] = 0; - out_5073553165915915446[13] = 1; - out_5073553165915915446[14] = 0; - out_5073553165915915446[15] = 0; - out_5073553165915915446[16] = 0; - out_5073553165915915446[17] = 0; - out_5073553165915915446[18] = 0; - out_5073553165915915446[19] = 0; - out_5073553165915915446[20] = 0; - out_5073553165915915446[21] = 0; - out_5073553165915915446[22] = 0; - out_5073553165915915446[23] = 0; - out_5073553165915915446[24] = 0; - out_5073553165915915446[25] = 0; - out_5073553165915915446[26] = 0; - out_5073553165915915446[27] = 0; - out_5073553165915915446[28] = 0; - out_5073553165915915446[29] = 0; - out_5073553165915915446[30] = 0; - out_5073553165915915446[31] = 0; - out_5073553165915915446[32] = 0; - out_5073553165915915446[33] = 1; - out_5073553165915915446[34] = 0; - out_5073553165915915446[35] = 0; - out_5073553165915915446[36] = 1; - out_5073553165915915446[37] = 0; - out_5073553165915915446[38] = 0; - out_5073553165915915446[39] = 0; - out_5073553165915915446[40] = 0; - out_5073553165915915446[41] = 0; - out_5073553165915915446[42] = 0; - out_5073553165915915446[43] = 0; - out_5073553165915915446[44] = 0; - out_5073553165915915446[45] = 0; - out_5073553165915915446[46] = 0; - out_5073553165915915446[47] = 0; - out_5073553165915915446[48] = 0; - out_5073553165915915446[49] = 0; - out_5073553165915915446[50] = 0; - out_5073553165915915446[51] = 0; - out_5073553165915915446[52] = 0; - out_5073553165915915446[53] = 0; - out_5073553165915915446[54] = 0; - out_5073553165915915446[55] = 0; - out_5073553165915915446[56] = 1; - out_5073553165915915446[57] = 0; - out_5073553165915915446[58] = 0; - out_5073553165915915446[59] = 1; - out_5073553165915915446[60] = 0; - out_5073553165915915446[61] = 0; - out_5073553165915915446[62] = 0; - out_5073553165915915446[63] = 0; - out_5073553165915915446[64] = 0; - out_5073553165915915446[65] = 0; +void H_4(double *state, double *unused, double *out_8985066658053328462) { + out_8985066658053328462[0] = 0; + out_8985066658053328462[1] = 0; + out_8985066658053328462[2] = 0; + out_8985066658053328462[3] = 0; + out_8985066658053328462[4] = 0; + out_8985066658053328462[5] = 0; + out_8985066658053328462[6] = 0; + out_8985066658053328462[7] = 0; + out_8985066658053328462[8] = 0; + out_8985066658053328462[9] = 0; + out_8985066658053328462[10] = 1; + out_8985066658053328462[11] = 0; + out_8985066658053328462[12] = 0; + out_8985066658053328462[13] = 1; + out_8985066658053328462[14] = 0; + out_8985066658053328462[15] = 0; + out_8985066658053328462[16] = 0; + out_8985066658053328462[17] = 0; + out_8985066658053328462[18] = 0; + out_8985066658053328462[19] = 0; + out_8985066658053328462[20] = 0; + out_8985066658053328462[21] = 0; + out_8985066658053328462[22] = 0; + out_8985066658053328462[23] = 0; + out_8985066658053328462[24] = 0; + out_8985066658053328462[25] = 0; + out_8985066658053328462[26] = 0; + out_8985066658053328462[27] = 0; + out_8985066658053328462[28] = 0; + out_8985066658053328462[29] = 0; + out_8985066658053328462[30] = 0; + out_8985066658053328462[31] = 0; + out_8985066658053328462[32] = 0; + out_8985066658053328462[33] = 1; + out_8985066658053328462[34] = 0; + out_8985066658053328462[35] = 0; + out_8985066658053328462[36] = 1; + out_8985066658053328462[37] = 0; + out_8985066658053328462[38] = 0; + out_8985066658053328462[39] = 0; + out_8985066658053328462[40] = 0; + out_8985066658053328462[41] = 0; + out_8985066658053328462[42] = 0; + out_8985066658053328462[43] = 0; + out_8985066658053328462[44] = 0; + out_8985066658053328462[45] = 0; + out_8985066658053328462[46] = 0; + out_8985066658053328462[47] = 0; + out_8985066658053328462[48] = 0; + out_8985066658053328462[49] = 0; + out_8985066658053328462[50] = 0; + out_8985066658053328462[51] = 0; + out_8985066658053328462[52] = 0; + out_8985066658053328462[53] = 0; + out_8985066658053328462[54] = 0; + out_8985066658053328462[55] = 0; + out_8985066658053328462[56] = 1; + out_8985066658053328462[57] = 0; + out_8985066658053328462[58] = 0; + out_8985066658053328462[59] = 1; + out_8985066658053328462[60] = 0; + out_8985066658053328462[61] = 0; + out_8985066658053328462[62] = 0; + out_8985066658053328462[63] = 0; + out_8985066658053328462[64] = 0; + out_8985066658053328462[65] = 0; } -void h_9(double *state, double *unused, double *out_7751183598308146162) { - out_7751183598308146162[0] = state[10]; - out_7751183598308146162[1] = state[11]; - out_7751183598308146162[2] = state[12]; +void h_9(double *state, double *unused, double *out_6592276556226636800) { + out_6592276556226636800[0] = state[10]; + out_6592276556226636800[1] = state[11]; + out_6592276556226636800[2] = state[12]; } -void H_9(double *state, double *unused, double *out_6085971972529188700) { - out_6085971972529188700[0] = 0; - out_6085971972529188700[1] = 0; - out_6085971972529188700[2] = 0; - out_6085971972529188700[3] = 0; - out_6085971972529188700[4] = 0; - out_6085971972529188700[5] = 0; - out_6085971972529188700[6] = 0; - out_6085971972529188700[7] = 0; - out_6085971972529188700[8] = 0; - out_6085971972529188700[9] = 0; - out_6085971972529188700[10] = 1; - out_6085971972529188700[11] = 0; - out_6085971972529188700[12] = 0; - out_6085971972529188700[13] = 0; - out_6085971972529188700[14] = 0; - out_6085971972529188700[15] = 0; - out_6085971972529188700[16] = 0; - out_6085971972529188700[17] = 0; - out_6085971972529188700[18] = 0; - out_6085971972529188700[19] = 0; - out_6085971972529188700[20] = 0; - out_6085971972529188700[21] = 0; - out_6085971972529188700[22] = 0; - out_6085971972529188700[23] = 0; - out_6085971972529188700[24] = 0; - out_6085971972529188700[25] = 0; - out_6085971972529188700[26] = 0; - out_6085971972529188700[27] = 0; - out_6085971972529188700[28] = 0; - out_6085971972529188700[29] = 0; - out_6085971972529188700[30] = 0; - out_6085971972529188700[31] = 0; - out_6085971972529188700[32] = 0; - out_6085971972529188700[33] = 1; - out_6085971972529188700[34] = 0; - out_6085971972529188700[35] = 0; - out_6085971972529188700[36] = 0; - out_6085971972529188700[37] = 0; - out_6085971972529188700[38] = 0; - out_6085971972529188700[39] = 0; - out_6085971972529188700[40] = 0; - out_6085971972529188700[41] = 0; - out_6085971972529188700[42] = 0; - out_6085971972529188700[43] = 0; - out_6085971972529188700[44] = 0; - out_6085971972529188700[45] = 0; - out_6085971972529188700[46] = 0; - out_6085971972529188700[47] = 0; - out_6085971972529188700[48] = 0; - out_6085971972529188700[49] = 0; - out_6085971972529188700[50] = 0; - out_6085971972529188700[51] = 0; - out_6085971972529188700[52] = 0; - out_6085971972529188700[53] = 0; - out_6085971972529188700[54] = 0; - out_6085971972529188700[55] = 0; - out_6085971972529188700[56] = 1; - out_6085971972529188700[57] = 0; - out_6085971972529188700[58] = 0; - out_6085971972529188700[59] = 0; - out_6085971972529188700[60] = 0; - out_6085971972529188700[61] = 0; - out_6085971972529188700[62] = 0; - out_6085971972529188700[63] = 0; - out_6085971972529188700[64] = 0; - out_6085971972529188700[65] = 0; +void H_9(double *state, double *unused, double *out_6096205105773249120) { + out_6096205105773249120[0] = 0; + out_6096205105773249120[1] = 0; + out_6096205105773249120[2] = 0; + out_6096205105773249120[3] = 0; + out_6096205105773249120[4] = 0; + out_6096205105773249120[5] = 0; + out_6096205105773249120[6] = 0; + out_6096205105773249120[7] = 0; + out_6096205105773249120[8] = 0; + out_6096205105773249120[9] = 0; + out_6096205105773249120[10] = 1; + out_6096205105773249120[11] = 0; + out_6096205105773249120[12] = 0; + out_6096205105773249120[13] = 0; + out_6096205105773249120[14] = 0; + out_6096205105773249120[15] = 0; + out_6096205105773249120[16] = 0; + out_6096205105773249120[17] = 0; + out_6096205105773249120[18] = 0; + out_6096205105773249120[19] = 0; + out_6096205105773249120[20] = 0; + out_6096205105773249120[21] = 0; + out_6096205105773249120[22] = 0; + out_6096205105773249120[23] = 0; + out_6096205105773249120[24] = 0; + out_6096205105773249120[25] = 0; + out_6096205105773249120[26] = 0; + out_6096205105773249120[27] = 0; + out_6096205105773249120[28] = 0; + out_6096205105773249120[29] = 0; + out_6096205105773249120[30] = 0; + out_6096205105773249120[31] = 0; + out_6096205105773249120[32] = 0; + out_6096205105773249120[33] = 1; + out_6096205105773249120[34] = 0; + out_6096205105773249120[35] = 0; + out_6096205105773249120[36] = 0; + out_6096205105773249120[37] = 0; + out_6096205105773249120[38] = 0; + out_6096205105773249120[39] = 0; + out_6096205105773249120[40] = 0; + out_6096205105773249120[41] = 0; + out_6096205105773249120[42] = 0; + out_6096205105773249120[43] = 0; + out_6096205105773249120[44] = 0; + out_6096205105773249120[45] = 0; + out_6096205105773249120[46] = 0; + out_6096205105773249120[47] = 0; + out_6096205105773249120[48] = 0; + out_6096205105773249120[49] = 0; + out_6096205105773249120[50] = 0; + out_6096205105773249120[51] = 0; + out_6096205105773249120[52] = 0; + out_6096205105773249120[53] = 0; + out_6096205105773249120[54] = 0; + out_6096205105773249120[55] = 0; + out_6096205105773249120[56] = 1; + out_6096205105773249120[57] = 0; + out_6096205105773249120[58] = 0; + out_6096205105773249120[59] = 0; + out_6096205105773249120[60] = 0; + out_6096205105773249120[61] = 0; + out_6096205105773249120[62] = 0; + out_6096205105773249120[63] = 0; + out_6096205105773249120[64] = 0; + out_6096205105773249120[65] = 0; } -void h_10(double *state, double *unused, double *out_7475415363803884616) { - out_7475415363803884616[0] = 398600500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2] + 398600500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0] + state[16] + state[19]; - out_7475415363803884616[1] = 398600500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2] + 398600500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[1] + state[17] + state[20]; - out_7475415363803884616[2] = 398600500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1] + 398600500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[2] + state[18] + state[21]; +void h_10(double *state, double *unused, double *out_3043512482999151809) { + out_3043512482999151809[0] = 398600500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2] + 398600500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0] + state[16] + state[19]; + out_3043512482999151809[1] = 398600500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2] + 398600500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[1] + state[17] + state[20]; + out_3043512482999151809[2] = 398600500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1] + 398600500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[2] + state[18] + state[21]; } -void H_10(double *state, double *unused, double *out_7599748917935120017) { - out_7599748917935120017[0] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*pow(state[0], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); - out_7599748917935120017[1] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[1], 2) + 398600500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0]*state[1]; - out_7599748917935120017[2] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[2], 2) + 398600500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0]*state[2]; - out_7599748917935120017[3] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; - out_7599748917935120017[4] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; - out_7599748917935120017[5] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; - out_7599748917935120017[6] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; - out_7599748917935120017[7] = 0; - out_7599748917935120017[8] = 0; - out_7599748917935120017[9] = 0; - out_7599748917935120017[10] = 0; - out_7599748917935120017[11] = 0; - out_7599748917935120017[12] = 0; - out_7599748917935120017[13] = 0; - out_7599748917935120017[14] = 0; - out_7599748917935120017[15] = 0; - out_7599748917935120017[16] = 1; - out_7599748917935120017[17] = 0; - out_7599748917935120017[18] = 0; - out_7599748917935120017[19] = 1; - out_7599748917935120017[20] = 0; - out_7599748917935120017[21] = 0; - out_7599748917935120017[22] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[0], 2) + 398600500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[0]*state[1]; - out_7599748917935120017[23] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*pow(state[1], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); - out_7599748917935120017[24] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[2], 2) + 398600500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[1]*state[2]; - out_7599748917935120017[25] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; - out_7599748917935120017[26] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; - out_7599748917935120017[27] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; - out_7599748917935120017[28] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; - out_7599748917935120017[29] = 0; - out_7599748917935120017[30] = 0; - out_7599748917935120017[31] = 0; - out_7599748917935120017[32] = 0; - out_7599748917935120017[33] = 0; - out_7599748917935120017[34] = 0; - out_7599748917935120017[35] = 0; - out_7599748917935120017[36] = 0; - out_7599748917935120017[37] = 0; - out_7599748917935120017[38] = 0; - out_7599748917935120017[39] = 1; - out_7599748917935120017[40] = 0; - out_7599748917935120017[41] = 0; - out_7599748917935120017[42] = 1; - out_7599748917935120017[43] = 0; - out_7599748917935120017[44] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[0], 2) + 398600500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[0]*state[2]; - out_7599748917935120017[45] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[1], 2) + 398600500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[1]*state[2]; - out_7599748917935120017[46] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*pow(state[2], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); - out_7599748917935120017[47] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; - out_7599748917935120017[48] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; - out_7599748917935120017[49] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; - out_7599748917935120017[50] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; - out_7599748917935120017[51] = 0; - out_7599748917935120017[52] = 0; - out_7599748917935120017[53] = 0; - out_7599748917935120017[54] = 0; - out_7599748917935120017[55] = 0; - out_7599748917935120017[56] = 0; - out_7599748917935120017[57] = 0; - out_7599748917935120017[58] = 0; - out_7599748917935120017[59] = 0; - out_7599748917935120017[60] = 0; - out_7599748917935120017[61] = 0; - out_7599748917935120017[62] = 1; - out_7599748917935120017[63] = 0; - out_7599748917935120017[64] = 0; - out_7599748917935120017[65] = 1; +void H_10(double *state, double *unused, double *out_7192958685017806166) { + out_7192958685017806166[0] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*pow(state[0], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_7192958685017806166[1] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[1], 2) + 398600500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0]*state[1]; + out_7192958685017806166[2] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[2], 2) + 398600500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0]*state[2]; + out_7192958685017806166[3] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; + out_7192958685017806166[4] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; + out_7192958685017806166[5] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; + out_7192958685017806166[6] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; + out_7192958685017806166[7] = 0; + out_7192958685017806166[8] = 0; + out_7192958685017806166[9] = 0; + out_7192958685017806166[10] = 0; + out_7192958685017806166[11] = 0; + out_7192958685017806166[12] = 0; + out_7192958685017806166[13] = 0; + out_7192958685017806166[14] = 0; + out_7192958685017806166[15] = 0; + out_7192958685017806166[16] = 1; + out_7192958685017806166[17] = 0; + out_7192958685017806166[18] = 0; + out_7192958685017806166[19] = 1; + out_7192958685017806166[20] = 0; + out_7192958685017806166[21] = 0; + out_7192958685017806166[22] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[0], 2) + 398600500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[0]*state[1]; + out_7192958685017806166[23] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*pow(state[1], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_7192958685017806166[24] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[2], 2) + 398600500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[1]*state[2]; + out_7192958685017806166[25] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; + out_7192958685017806166[26] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; + out_7192958685017806166[27] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; + out_7192958685017806166[28] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; + out_7192958685017806166[29] = 0; + out_7192958685017806166[30] = 0; + out_7192958685017806166[31] = 0; + out_7192958685017806166[32] = 0; + out_7192958685017806166[33] = 0; + out_7192958685017806166[34] = 0; + out_7192958685017806166[35] = 0; + out_7192958685017806166[36] = 0; + out_7192958685017806166[37] = 0; + out_7192958685017806166[38] = 0; + out_7192958685017806166[39] = 1; + out_7192958685017806166[40] = 0; + out_7192958685017806166[41] = 0; + out_7192958685017806166[42] = 1; + out_7192958685017806166[43] = 0; + out_7192958685017806166[44] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[0], 2) + 398600500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[0]*state[2]; + out_7192958685017806166[45] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[1], 2) + 398600500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[1]*state[2]; + out_7192958685017806166[46] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*pow(state[2], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_7192958685017806166[47] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; + out_7192958685017806166[48] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; + out_7192958685017806166[49] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; + out_7192958685017806166[50] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; + out_7192958685017806166[51] = 0; + out_7192958685017806166[52] = 0; + out_7192958685017806166[53] = 0; + out_7192958685017806166[54] = 0; + out_7192958685017806166[55] = 0; + out_7192958685017806166[56] = 0; + out_7192958685017806166[57] = 0; + out_7192958685017806166[58] = 0; + out_7192958685017806166[59] = 0; + out_7192958685017806166[60] = 0; + out_7192958685017806166[61] = 0; + out_7192958685017806166[62] = 1; + out_7192958685017806166[63] = 0; + out_7192958685017806166[64] = 0; + out_7192958685017806166[65] = 1; } -void h_12(double *state, double *unused, double *out_4560316742219209161) { - out_4560316742219209161[0] = state[0]; - out_4560316742219209161[1] = state[1]; - out_4560316742219209161[2] = state[2]; +void h_12(double *state, double *unused, double *out_6151089362108428494) { + out_6151089362108428494[0] = state[0]; + out_6151089362108428494[1] = state[1]; + out_6151089362108428494[2] = state[2]; } -void H_12(double *state, double *unused, double *out_8353734499761674375) { - out_8353734499761674375[0] = 1; - out_8353734499761674375[1] = 0; - out_8353734499761674375[2] = 0; - out_8353734499761674375[3] = 0; - out_8353734499761674375[4] = 0; - out_8353734499761674375[5] = 0; - out_8353734499761674375[6] = 0; - out_8353734499761674375[7] = 0; - out_8353734499761674375[8] = 0; - out_8353734499761674375[9] = 0; - out_8353734499761674375[10] = 0; - out_8353734499761674375[11] = 0; - out_8353734499761674375[12] = 0; - out_8353734499761674375[13] = 0; - out_8353734499761674375[14] = 0; - out_8353734499761674375[15] = 0; - out_8353734499761674375[16] = 0; - out_8353734499761674375[17] = 0; - out_8353734499761674375[18] = 0; - out_8353734499761674375[19] = 0; - out_8353734499761674375[20] = 0; - out_8353734499761674375[21] = 0; - out_8353734499761674375[22] = 0; - out_8353734499761674375[23] = 1; - out_8353734499761674375[24] = 0; - out_8353734499761674375[25] = 0; - out_8353734499761674375[26] = 0; - out_8353734499761674375[27] = 0; - out_8353734499761674375[28] = 0; - out_8353734499761674375[29] = 0; - out_8353734499761674375[30] = 0; - out_8353734499761674375[31] = 0; - out_8353734499761674375[32] = 0; - out_8353734499761674375[33] = 0; - out_8353734499761674375[34] = 0; - out_8353734499761674375[35] = 0; - out_8353734499761674375[36] = 0; - out_8353734499761674375[37] = 0; - out_8353734499761674375[38] = 0; - out_8353734499761674375[39] = 0; - out_8353734499761674375[40] = 0; - out_8353734499761674375[41] = 0; - out_8353734499761674375[42] = 0; - out_8353734499761674375[43] = 0; - out_8353734499761674375[44] = 0; - out_8353734499761674375[45] = 0; - out_8353734499761674375[46] = 1; - out_8353734499761674375[47] = 0; - out_8353734499761674375[48] = 0; - out_8353734499761674375[49] = 0; - out_8353734499761674375[50] = 0; - out_8353734499761674375[51] = 0; - out_8353734499761674375[52] = 0; - out_8353734499761674375[53] = 0; - out_8353734499761674375[54] = 0; - out_8353734499761674375[55] = 0; - out_8353734499761674375[56] = 0; - out_8353734499761674375[57] = 0; - out_8353734499761674375[58] = 0; - out_8353734499761674375[59] = 0; - out_8353734499761674375[60] = 0; - out_8353734499761674375[61] = 0; - out_8353734499761674375[62] = 0; - out_8353734499761674375[63] = 0; - out_8353734499761674375[64] = 0; - out_8353734499761674375[65] = 0; +void H_12(double *state, double *unused, double *out_1317938344370877970) { + out_1317938344370877970[0] = 1; + out_1317938344370877970[1] = 0; + out_1317938344370877970[2] = 0; + out_1317938344370877970[3] = 0; + out_1317938344370877970[4] = 0; + out_1317938344370877970[5] = 0; + out_1317938344370877970[6] = 0; + out_1317938344370877970[7] = 0; + out_1317938344370877970[8] = 0; + out_1317938344370877970[9] = 0; + out_1317938344370877970[10] = 0; + out_1317938344370877970[11] = 0; + out_1317938344370877970[12] = 0; + out_1317938344370877970[13] = 0; + out_1317938344370877970[14] = 0; + out_1317938344370877970[15] = 0; + out_1317938344370877970[16] = 0; + out_1317938344370877970[17] = 0; + out_1317938344370877970[18] = 0; + out_1317938344370877970[19] = 0; + out_1317938344370877970[20] = 0; + out_1317938344370877970[21] = 0; + out_1317938344370877970[22] = 0; + out_1317938344370877970[23] = 1; + out_1317938344370877970[24] = 0; + out_1317938344370877970[25] = 0; + out_1317938344370877970[26] = 0; + out_1317938344370877970[27] = 0; + out_1317938344370877970[28] = 0; + out_1317938344370877970[29] = 0; + out_1317938344370877970[30] = 0; + out_1317938344370877970[31] = 0; + out_1317938344370877970[32] = 0; + out_1317938344370877970[33] = 0; + out_1317938344370877970[34] = 0; + out_1317938344370877970[35] = 0; + out_1317938344370877970[36] = 0; + out_1317938344370877970[37] = 0; + out_1317938344370877970[38] = 0; + out_1317938344370877970[39] = 0; + out_1317938344370877970[40] = 0; + out_1317938344370877970[41] = 0; + out_1317938344370877970[42] = 0; + out_1317938344370877970[43] = 0; + out_1317938344370877970[44] = 0; + out_1317938344370877970[45] = 0; + out_1317938344370877970[46] = 1; + out_1317938344370877970[47] = 0; + out_1317938344370877970[48] = 0; + out_1317938344370877970[49] = 0; + out_1317938344370877970[50] = 0; + out_1317938344370877970[51] = 0; + out_1317938344370877970[52] = 0; + out_1317938344370877970[53] = 0; + out_1317938344370877970[54] = 0; + out_1317938344370877970[55] = 0; + out_1317938344370877970[56] = 0; + out_1317938344370877970[57] = 0; + out_1317938344370877970[58] = 0; + out_1317938344370877970[59] = 0; + out_1317938344370877970[60] = 0; + out_1317938344370877970[61] = 0; + out_1317938344370877970[62] = 0; + out_1317938344370877970[63] = 0; + out_1317938344370877970[64] = 0; + out_1317938344370877970[65] = 0; } -void h_35(double *state, double *unused, double *out_395256144382285655) { - out_395256144382285655[0] = state[7]; - out_395256144382285655[1] = state[8]; - out_395256144382285655[2] = state[9]; +void h_35(double *state, double *unused, double *out_1134950865722680502) { + out_1134950865722680502[0] = state[7]; + out_1134950865722680502[1] = state[8]; + out_1134950865722680502[2] = state[9]; } -void H_35(double *state, double *unused, double *out_5608171467436660666) { - out_5608171467436660666[0] = 0; - out_5608171467436660666[1] = 0; - out_5608171467436660666[2] = 0; - out_5608171467436660666[3] = 0; - out_5608171467436660666[4] = 0; - out_5608171467436660666[5] = 0; - out_5608171467436660666[6] = 0; - out_5608171467436660666[7] = 1; - out_5608171467436660666[8] = 0; - out_5608171467436660666[9] = 0; - out_5608171467436660666[10] = 0; - out_5608171467436660666[11] = 0; - out_5608171467436660666[12] = 0; - out_5608171467436660666[13] = 0; - out_5608171467436660666[14] = 0; - out_5608171467436660666[15] = 0; - out_5608171467436660666[16] = 0; - out_5608171467436660666[17] = 0; - out_5608171467436660666[18] = 0; - out_5608171467436660666[19] = 0; - out_5608171467436660666[20] = 0; - out_5608171467436660666[21] = 0; - out_5608171467436660666[22] = 0; - out_5608171467436660666[23] = 0; - out_5608171467436660666[24] = 0; - out_5608171467436660666[25] = 0; - out_5608171467436660666[26] = 0; - out_5608171467436660666[27] = 0; - out_5608171467436660666[28] = 0; - out_5608171467436660666[29] = 0; - out_5608171467436660666[30] = 1; - out_5608171467436660666[31] = 0; - out_5608171467436660666[32] = 0; - out_5608171467436660666[33] = 0; - out_5608171467436660666[34] = 0; - out_5608171467436660666[35] = 0; - out_5608171467436660666[36] = 0; - out_5608171467436660666[37] = 0; - out_5608171467436660666[38] = 0; - out_5608171467436660666[39] = 0; - out_5608171467436660666[40] = 0; - out_5608171467436660666[41] = 0; - out_5608171467436660666[42] = 0; - out_5608171467436660666[43] = 0; - out_5608171467436660666[44] = 0; - out_5608171467436660666[45] = 0; - out_5608171467436660666[46] = 0; - out_5608171467436660666[47] = 0; - out_5608171467436660666[48] = 0; - out_5608171467436660666[49] = 0; - out_5608171467436660666[50] = 0; - out_5608171467436660666[51] = 0; - out_5608171467436660666[52] = 0; - out_5608171467436660666[53] = 1; - out_5608171467436660666[54] = 0; - out_5608171467436660666[55] = 0; - out_5608171467436660666[56] = 0; - out_5608171467436660666[57] = 0; - out_5608171467436660666[58] = 0; - out_5608171467436660666[59] = 0; - out_5608171467436660666[60] = 0; - out_5608171467436660666[61] = 0; - out_5608171467436660666[62] = 0; - out_5608171467436660666[63] = 0; - out_5608171467436660666[64] = 0; - out_5608171467436660666[65] = 0; +void H_35(double *state, double *unused, double *out_1427624687954135739) { + out_1427624687954135739[0] = 0; + out_1427624687954135739[1] = 0; + out_1427624687954135739[2] = 0; + out_1427624687954135739[3] = 0; + out_1427624687954135739[4] = 0; + out_1427624687954135739[5] = 0; + out_1427624687954135739[6] = 0; + out_1427624687954135739[7] = 1; + out_1427624687954135739[8] = 0; + out_1427624687954135739[9] = 0; + out_1427624687954135739[10] = 0; + out_1427624687954135739[11] = 0; + out_1427624687954135739[12] = 0; + out_1427624687954135739[13] = 0; + out_1427624687954135739[14] = 0; + out_1427624687954135739[15] = 0; + out_1427624687954135739[16] = 0; + out_1427624687954135739[17] = 0; + out_1427624687954135739[18] = 0; + out_1427624687954135739[19] = 0; + out_1427624687954135739[20] = 0; + out_1427624687954135739[21] = 0; + out_1427624687954135739[22] = 0; + out_1427624687954135739[23] = 0; + out_1427624687954135739[24] = 0; + out_1427624687954135739[25] = 0; + out_1427624687954135739[26] = 0; + out_1427624687954135739[27] = 0; + out_1427624687954135739[28] = 0; + out_1427624687954135739[29] = 0; + out_1427624687954135739[30] = 1; + out_1427624687954135739[31] = 0; + out_1427624687954135739[32] = 0; + out_1427624687954135739[33] = 0; + out_1427624687954135739[34] = 0; + out_1427624687954135739[35] = 0; + out_1427624687954135739[36] = 0; + out_1427624687954135739[37] = 0; + out_1427624687954135739[38] = 0; + out_1427624687954135739[39] = 0; + out_1427624687954135739[40] = 0; + out_1427624687954135739[41] = 0; + out_1427624687954135739[42] = 0; + out_1427624687954135739[43] = 0; + out_1427624687954135739[44] = 0; + out_1427624687954135739[45] = 0; + out_1427624687954135739[46] = 0; + out_1427624687954135739[47] = 0; + out_1427624687954135739[48] = 0; + out_1427624687954135739[49] = 0; + out_1427624687954135739[50] = 0; + out_1427624687954135739[51] = 0; + out_1427624687954135739[52] = 0; + out_1427624687954135739[53] = 1; + out_1427624687954135739[54] = 0; + out_1427624687954135739[55] = 0; + out_1427624687954135739[56] = 0; + out_1427624687954135739[57] = 0; + out_1427624687954135739[58] = 0; + out_1427624687954135739[59] = 0; + out_1427624687954135739[60] = 0; + out_1427624687954135739[61] = 0; + out_1427624687954135739[62] = 0; + out_1427624687954135739[63] = 0; + out_1427624687954135739[64] = 0; + out_1427624687954135739[65] = 0; } -void h_32(double *state, double *unused, double *out_2629447041285500641) { - out_2629447041285500641[0] = state[3]; - out_2629447041285500641[1] = state[4]; - out_2629447041285500641[2] = state[5]; - out_2629447041285500641[3] = state[6]; +void h_32(double *state, double *unused, double *out_4721207292266360875) { + out_4721207292266360875[0] = state[3]; + out_4721207292266360875[1] = state[4]; + out_4721207292266360875[2] = state[5]; + out_4721207292266360875[3] = state[6]; } -void H_32(double *state, double *unused, double *out_5477006682495920197) { - out_5477006682495920197[0] = 0; - out_5477006682495920197[1] = 0; - out_5477006682495920197[2] = 0; - out_5477006682495920197[3] = 1; - out_5477006682495920197[4] = 0; - out_5477006682495920197[5] = 0; - out_5477006682495920197[6] = 0; - out_5477006682495920197[7] = 0; - out_5477006682495920197[8] = 0; - out_5477006682495920197[9] = 0; - out_5477006682495920197[10] = 0; - out_5477006682495920197[11] = 0; - out_5477006682495920197[12] = 0; - out_5477006682495920197[13] = 0; - out_5477006682495920197[14] = 0; - out_5477006682495920197[15] = 0; - out_5477006682495920197[16] = 0; - out_5477006682495920197[17] = 0; - out_5477006682495920197[18] = 0; - out_5477006682495920197[19] = 0; - out_5477006682495920197[20] = 0; - out_5477006682495920197[21] = 0; - out_5477006682495920197[22] = 0; - out_5477006682495920197[23] = 0; - out_5477006682495920197[24] = 0; - out_5477006682495920197[25] = 0; - out_5477006682495920197[26] = 1; - out_5477006682495920197[27] = 0; - out_5477006682495920197[28] = 0; - out_5477006682495920197[29] = 0; - out_5477006682495920197[30] = 0; - out_5477006682495920197[31] = 0; - out_5477006682495920197[32] = 0; - out_5477006682495920197[33] = 0; - out_5477006682495920197[34] = 0; - out_5477006682495920197[35] = 0; - out_5477006682495920197[36] = 0; - out_5477006682495920197[37] = 0; - out_5477006682495920197[38] = 0; - out_5477006682495920197[39] = 0; - out_5477006682495920197[40] = 0; - out_5477006682495920197[41] = 0; - out_5477006682495920197[42] = 0; - out_5477006682495920197[43] = 0; - out_5477006682495920197[44] = 0; - out_5477006682495920197[45] = 0; - out_5477006682495920197[46] = 0; - out_5477006682495920197[47] = 0; - out_5477006682495920197[48] = 0; - out_5477006682495920197[49] = 1; - out_5477006682495920197[50] = 0; - out_5477006682495920197[51] = 0; - out_5477006682495920197[52] = 0; - out_5477006682495920197[53] = 0; - out_5477006682495920197[54] = 0; - out_5477006682495920197[55] = 0; - out_5477006682495920197[56] = 0; - out_5477006682495920197[57] = 0; - out_5477006682495920197[58] = 0; - out_5477006682495920197[59] = 0; - out_5477006682495920197[60] = 0; - out_5477006682495920197[61] = 0; - out_5477006682495920197[62] = 0; - out_5477006682495920197[63] = 0; - out_5477006682495920197[64] = 0; - out_5477006682495920197[65] = 0; - out_5477006682495920197[66] = 0; - out_5477006682495920197[67] = 0; - out_5477006682495920197[68] = 0; - out_5477006682495920197[69] = 0; - out_5477006682495920197[70] = 0; - out_5477006682495920197[71] = 0; - out_5477006682495920197[72] = 1; - out_5477006682495920197[73] = 0; - out_5477006682495920197[74] = 0; - out_5477006682495920197[75] = 0; - out_5477006682495920197[76] = 0; - out_5477006682495920197[77] = 0; - out_5477006682495920197[78] = 0; - out_5477006682495920197[79] = 0; - out_5477006682495920197[80] = 0; - out_5477006682495920197[81] = 0; - out_5477006682495920197[82] = 0; - out_5477006682495920197[83] = 0; - out_5477006682495920197[84] = 0; - out_5477006682495920197[85] = 0; - out_5477006682495920197[86] = 0; - out_5477006682495920197[87] = 0; +void H_32(double *state, double *unused, double *out_2913380087778971149) { + out_2913380087778971149[0] = 0; + out_2913380087778971149[1] = 0; + out_2913380087778971149[2] = 0; + out_2913380087778971149[3] = 1; + out_2913380087778971149[4] = 0; + out_2913380087778971149[5] = 0; + out_2913380087778971149[6] = 0; + out_2913380087778971149[7] = 0; + out_2913380087778971149[8] = 0; + out_2913380087778971149[9] = 0; + out_2913380087778971149[10] = 0; + out_2913380087778971149[11] = 0; + out_2913380087778971149[12] = 0; + out_2913380087778971149[13] = 0; + out_2913380087778971149[14] = 0; + out_2913380087778971149[15] = 0; + out_2913380087778971149[16] = 0; + out_2913380087778971149[17] = 0; + out_2913380087778971149[18] = 0; + out_2913380087778971149[19] = 0; + out_2913380087778971149[20] = 0; + out_2913380087778971149[21] = 0; + out_2913380087778971149[22] = 0; + out_2913380087778971149[23] = 0; + out_2913380087778971149[24] = 0; + out_2913380087778971149[25] = 0; + out_2913380087778971149[26] = 1; + out_2913380087778971149[27] = 0; + out_2913380087778971149[28] = 0; + out_2913380087778971149[29] = 0; + out_2913380087778971149[30] = 0; + out_2913380087778971149[31] = 0; + out_2913380087778971149[32] = 0; + out_2913380087778971149[33] = 0; + out_2913380087778971149[34] = 0; + out_2913380087778971149[35] = 0; + out_2913380087778971149[36] = 0; + out_2913380087778971149[37] = 0; + out_2913380087778971149[38] = 0; + out_2913380087778971149[39] = 0; + out_2913380087778971149[40] = 0; + out_2913380087778971149[41] = 0; + out_2913380087778971149[42] = 0; + out_2913380087778971149[43] = 0; + out_2913380087778971149[44] = 0; + out_2913380087778971149[45] = 0; + out_2913380087778971149[46] = 0; + out_2913380087778971149[47] = 0; + out_2913380087778971149[48] = 0; + out_2913380087778971149[49] = 1; + out_2913380087778971149[50] = 0; + out_2913380087778971149[51] = 0; + out_2913380087778971149[52] = 0; + out_2913380087778971149[53] = 0; + out_2913380087778971149[54] = 0; + out_2913380087778971149[55] = 0; + out_2913380087778971149[56] = 0; + out_2913380087778971149[57] = 0; + out_2913380087778971149[58] = 0; + out_2913380087778971149[59] = 0; + out_2913380087778971149[60] = 0; + out_2913380087778971149[61] = 0; + out_2913380087778971149[62] = 0; + out_2913380087778971149[63] = 0; + out_2913380087778971149[64] = 0; + out_2913380087778971149[65] = 0; + out_2913380087778971149[66] = 0; + out_2913380087778971149[67] = 0; + out_2913380087778971149[68] = 0; + out_2913380087778971149[69] = 0; + out_2913380087778971149[70] = 0; + out_2913380087778971149[71] = 0; + out_2913380087778971149[72] = 1; + out_2913380087778971149[73] = 0; + out_2913380087778971149[74] = 0; + out_2913380087778971149[75] = 0; + out_2913380087778971149[76] = 0; + out_2913380087778971149[77] = 0; + out_2913380087778971149[78] = 0; + out_2913380087778971149[79] = 0; + out_2913380087778971149[80] = 0; + out_2913380087778971149[81] = 0; + out_2913380087778971149[82] = 0; + out_2913380087778971149[83] = 0; + out_2913380087778971149[84] = 0; + out_2913380087778971149[85] = 0; + out_2913380087778971149[86] = 0; + out_2913380087778971149[87] = 0; } -void h_13(double *state, double *unused, double *out_4411752618062649722) { - out_4411752618062649722[0] = (-2*state[3]*state[5] + 2*state[4]*state[6])*state[9] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[8] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[7]; - out_4411752618062649722[1] = (2*state[3]*state[4] + 2*state[5]*state[6])*state[9] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[7] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[8]; - out_4411752618062649722[2] = (-2*state[3]*state[4] + 2*state[5]*state[6])*state[8] + (2*state[3]*state[5] + 2*state[4]*state[6])*state[7] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[9]; +void h_13(double *state, double *unused, double *out_364134050257467252) { + out_364134050257467252[0] = (-2*state[3]*state[5] + 2*state[4]*state[6])*state[9] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[8] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[7]; + out_364134050257467252[1] = (2*state[3]*state[4] + 2*state[5]*state[6])*state[9] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[7] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[8]; + out_364134050257467252[2] = (-2*state[3]*state[4] + 2*state[5]*state[6])*state[8] + (2*state[3]*state[5] + 2*state[4]*state[6])*state[7] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[9]; } -void H_13(double *state, double *unused, double *out_6527861414729128748) { - out_6527861414729128748[0] = 0; - out_6527861414729128748[1] = 0; - out_6527861414729128748[2] = 0; - out_6527861414729128748[3] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; - out_6527861414729128748[4] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; - out_6527861414729128748[5] = -2*state[3]*state[9] + 2*state[4]*state[8] - 2*state[5]*state[7]; - out_6527861414729128748[6] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; - out_6527861414729128748[7] = pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2); - out_6527861414729128748[8] = 2*state[3]*state[6] + 2*state[4]*state[5]; - out_6527861414729128748[9] = -2*state[3]*state[5] + 2*state[4]*state[6]; - out_6527861414729128748[10] = 0; - out_6527861414729128748[11] = 0; - out_6527861414729128748[12] = 0; - out_6527861414729128748[13] = 0; - out_6527861414729128748[14] = 0; - out_6527861414729128748[15] = 0; - out_6527861414729128748[16] = 0; - out_6527861414729128748[17] = 0; - out_6527861414729128748[18] = 0; - out_6527861414729128748[19] = 0; - out_6527861414729128748[20] = 0; - out_6527861414729128748[21] = 0; - out_6527861414729128748[22] = 0; - out_6527861414729128748[23] = 0; - out_6527861414729128748[24] = 0; - out_6527861414729128748[25] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; - out_6527861414729128748[26] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; - out_6527861414729128748[27] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; - out_6527861414729128748[28] = -2*state[3]*state[7] + 2*state[5]*state[9] - 2*state[6]*state[8]; - out_6527861414729128748[29] = -2*state[3]*state[6] + 2*state[4]*state[5]; - out_6527861414729128748[30] = pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2); - out_6527861414729128748[31] = 2*state[3]*state[4] + 2*state[5]*state[6]; - out_6527861414729128748[32] = 0; - out_6527861414729128748[33] = 0; - out_6527861414729128748[34] = 0; - out_6527861414729128748[35] = 0; - out_6527861414729128748[36] = 0; - out_6527861414729128748[37] = 0; - out_6527861414729128748[38] = 0; - out_6527861414729128748[39] = 0; - out_6527861414729128748[40] = 0; - out_6527861414729128748[41] = 0; - out_6527861414729128748[42] = 0; - out_6527861414729128748[43] = 0; - out_6527861414729128748[44] = 0; - out_6527861414729128748[45] = 0; - out_6527861414729128748[46] = 0; - out_6527861414729128748[47] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; - out_6527861414729128748[48] = -2*state[3]*state[8] - 2*state[4]*state[9] + 2*state[6]*state[7]; - out_6527861414729128748[49] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; - out_6527861414729128748[50] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; - out_6527861414729128748[51] = 2*state[3]*state[5] + 2*state[4]*state[6]; - out_6527861414729128748[52] = -2*state[3]*state[4] + 2*state[5]*state[6]; - out_6527861414729128748[53] = pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2); - out_6527861414729128748[54] = 0; - out_6527861414729128748[55] = 0; - out_6527861414729128748[56] = 0; - out_6527861414729128748[57] = 0; - out_6527861414729128748[58] = 0; - out_6527861414729128748[59] = 0; - out_6527861414729128748[60] = 0; - out_6527861414729128748[61] = 0; - out_6527861414729128748[62] = 0; - out_6527861414729128748[63] = 0; - out_6527861414729128748[64] = 0; - out_6527861414729128748[65] = 0; +void H_13(double *state, double *unused, double *out_5486592313647626777) { + out_5486592313647626777[0] = 0; + out_5486592313647626777[1] = 0; + out_5486592313647626777[2] = 0; + out_5486592313647626777[3] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; + out_5486592313647626777[4] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_5486592313647626777[5] = -2*state[3]*state[9] + 2*state[4]*state[8] - 2*state[5]*state[7]; + out_5486592313647626777[6] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; + out_5486592313647626777[7] = pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2); + out_5486592313647626777[8] = 2*state[3]*state[6] + 2*state[4]*state[5]; + out_5486592313647626777[9] = -2*state[3]*state[5] + 2*state[4]*state[6]; + out_5486592313647626777[10] = 0; + out_5486592313647626777[11] = 0; + out_5486592313647626777[12] = 0; + out_5486592313647626777[13] = 0; + out_5486592313647626777[14] = 0; + out_5486592313647626777[15] = 0; + out_5486592313647626777[16] = 0; + out_5486592313647626777[17] = 0; + out_5486592313647626777[18] = 0; + out_5486592313647626777[19] = 0; + out_5486592313647626777[20] = 0; + out_5486592313647626777[21] = 0; + out_5486592313647626777[22] = 0; + out_5486592313647626777[23] = 0; + out_5486592313647626777[24] = 0; + out_5486592313647626777[25] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; + out_5486592313647626777[26] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; + out_5486592313647626777[27] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_5486592313647626777[28] = -2*state[3]*state[7] + 2*state[5]*state[9] - 2*state[6]*state[8]; + out_5486592313647626777[29] = -2*state[3]*state[6] + 2*state[4]*state[5]; + out_5486592313647626777[30] = pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2); + out_5486592313647626777[31] = 2*state[3]*state[4] + 2*state[5]*state[6]; + out_5486592313647626777[32] = 0; + out_5486592313647626777[33] = 0; + out_5486592313647626777[34] = 0; + out_5486592313647626777[35] = 0; + out_5486592313647626777[36] = 0; + out_5486592313647626777[37] = 0; + out_5486592313647626777[38] = 0; + out_5486592313647626777[39] = 0; + out_5486592313647626777[40] = 0; + out_5486592313647626777[41] = 0; + out_5486592313647626777[42] = 0; + out_5486592313647626777[43] = 0; + out_5486592313647626777[44] = 0; + out_5486592313647626777[45] = 0; + out_5486592313647626777[46] = 0; + out_5486592313647626777[47] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; + out_5486592313647626777[48] = -2*state[3]*state[8] - 2*state[4]*state[9] + 2*state[6]*state[7]; + out_5486592313647626777[49] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; + out_5486592313647626777[50] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_5486592313647626777[51] = 2*state[3]*state[5] + 2*state[4]*state[6]; + out_5486592313647626777[52] = -2*state[3]*state[4] + 2*state[5]*state[6]; + out_5486592313647626777[53] = pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2); + out_5486592313647626777[54] = 0; + out_5486592313647626777[55] = 0; + out_5486592313647626777[56] = 0; + out_5486592313647626777[57] = 0; + out_5486592313647626777[58] = 0; + out_5486592313647626777[59] = 0; + out_5486592313647626777[60] = 0; + out_5486592313647626777[61] = 0; + out_5486592313647626777[62] = 0; + out_5486592313647626777[63] = 0; + out_5486592313647626777[64] = 0; + out_5486592313647626777[65] = 0; } -void h_14(double *state, double *unused, double *out_7751183598308146162) { - out_7751183598308146162[0] = state[10]; - out_7751183598308146162[1] = state[11]; - out_7751183598308146162[2] = state[12]; +void h_14(double *state, double *unused, double *out_6592276556226636800) { + out_6592276556226636800[0] = state[10]; + out_6592276556226636800[1] = state[11]; + out_6592276556226636800[2] = state[12]; } -void H_14(double *state, double *unused, double *out_6085971972529188700) { - out_6085971972529188700[0] = 0; - out_6085971972529188700[1] = 0; - out_6085971972529188700[2] = 0; - out_6085971972529188700[3] = 0; - out_6085971972529188700[4] = 0; - out_6085971972529188700[5] = 0; - out_6085971972529188700[6] = 0; - out_6085971972529188700[7] = 0; - out_6085971972529188700[8] = 0; - out_6085971972529188700[9] = 0; - out_6085971972529188700[10] = 1; - out_6085971972529188700[11] = 0; - out_6085971972529188700[12] = 0; - out_6085971972529188700[13] = 0; - out_6085971972529188700[14] = 0; - out_6085971972529188700[15] = 0; - out_6085971972529188700[16] = 0; - out_6085971972529188700[17] = 0; - out_6085971972529188700[18] = 0; - out_6085971972529188700[19] = 0; - out_6085971972529188700[20] = 0; - out_6085971972529188700[21] = 0; - out_6085971972529188700[22] = 0; - out_6085971972529188700[23] = 0; - out_6085971972529188700[24] = 0; - out_6085971972529188700[25] = 0; - out_6085971972529188700[26] = 0; - out_6085971972529188700[27] = 0; - out_6085971972529188700[28] = 0; - out_6085971972529188700[29] = 0; - out_6085971972529188700[30] = 0; - out_6085971972529188700[31] = 0; - out_6085971972529188700[32] = 0; - out_6085971972529188700[33] = 1; - out_6085971972529188700[34] = 0; - out_6085971972529188700[35] = 0; - out_6085971972529188700[36] = 0; - out_6085971972529188700[37] = 0; - out_6085971972529188700[38] = 0; - out_6085971972529188700[39] = 0; - out_6085971972529188700[40] = 0; - out_6085971972529188700[41] = 0; - out_6085971972529188700[42] = 0; - out_6085971972529188700[43] = 0; - out_6085971972529188700[44] = 0; - out_6085971972529188700[45] = 0; - out_6085971972529188700[46] = 0; - out_6085971972529188700[47] = 0; - out_6085971972529188700[48] = 0; - out_6085971972529188700[49] = 0; - out_6085971972529188700[50] = 0; - out_6085971972529188700[51] = 0; - out_6085971972529188700[52] = 0; - out_6085971972529188700[53] = 0; - out_6085971972529188700[54] = 0; - out_6085971972529188700[55] = 0; - out_6085971972529188700[56] = 1; - out_6085971972529188700[57] = 0; - out_6085971972529188700[58] = 0; - out_6085971972529188700[59] = 0; - out_6085971972529188700[60] = 0; - out_6085971972529188700[61] = 0; - out_6085971972529188700[62] = 0; - out_6085971972529188700[63] = 0; - out_6085971972529188700[64] = 0; - out_6085971972529188700[65] = 0; +void H_14(double *state, double *unused, double *out_6096205105773249120) { + out_6096205105773249120[0] = 0; + out_6096205105773249120[1] = 0; + out_6096205105773249120[2] = 0; + out_6096205105773249120[3] = 0; + out_6096205105773249120[4] = 0; + out_6096205105773249120[5] = 0; + out_6096205105773249120[6] = 0; + out_6096205105773249120[7] = 0; + out_6096205105773249120[8] = 0; + out_6096205105773249120[9] = 0; + out_6096205105773249120[10] = 1; + out_6096205105773249120[11] = 0; + out_6096205105773249120[12] = 0; + out_6096205105773249120[13] = 0; + out_6096205105773249120[14] = 0; + out_6096205105773249120[15] = 0; + out_6096205105773249120[16] = 0; + out_6096205105773249120[17] = 0; + out_6096205105773249120[18] = 0; + out_6096205105773249120[19] = 0; + out_6096205105773249120[20] = 0; + out_6096205105773249120[21] = 0; + out_6096205105773249120[22] = 0; + out_6096205105773249120[23] = 0; + out_6096205105773249120[24] = 0; + out_6096205105773249120[25] = 0; + out_6096205105773249120[26] = 0; + out_6096205105773249120[27] = 0; + out_6096205105773249120[28] = 0; + out_6096205105773249120[29] = 0; + out_6096205105773249120[30] = 0; + out_6096205105773249120[31] = 0; + out_6096205105773249120[32] = 0; + out_6096205105773249120[33] = 1; + out_6096205105773249120[34] = 0; + out_6096205105773249120[35] = 0; + out_6096205105773249120[36] = 0; + out_6096205105773249120[37] = 0; + out_6096205105773249120[38] = 0; + out_6096205105773249120[39] = 0; + out_6096205105773249120[40] = 0; + out_6096205105773249120[41] = 0; + out_6096205105773249120[42] = 0; + out_6096205105773249120[43] = 0; + out_6096205105773249120[44] = 0; + out_6096205105773249120[45] = 0; + out_6096205105773249120[46] = 0; + out_6096205105773249120[47] = 0; + out_6096205105773249120[48] = 0; + out_6096205105773249120[49] = 0; + out_6096205105773249120[50] = 0; + out_6096205105773249120[51] = 0; + out_6096205105773249120[52] = 0; + out_6096205105773249120[53] = 0; + out_6096205105773249120[54] = 0; + out_6096205105773249120[55] = 0; + out_6096205105773249120[56] = 1; + out_6096205105773249120[57] = 0; + out_6096205105773249120[58] = 0; + out_6096205105773249120[59] = 0; + out_6096205105773249120[60] = 0; + out_6096205105773249120[61] = 0; + out_6096205105773249120[62] = 0; + out_6096205105773249120[63] = 0; + out_6096205105773249120[64] = 0; + out_6096205105773249120[65] = 0; } -void h_33(double *state, double *unused, double *out_6706316243285295529) { - out_6706316243285295529[0] = state[16]; - out_6706316243285295529[1] = state[17]; - out_6706316243285295529[2] = state[18]; +void h_33(double *state, double *unused, double *out_3737322617129334857) { + out_3737322617129334857[0] = state[16]; + out_3737322617129334857[1] = state[17]; + out_3737322617129334857[2] = state[18]; } -void H_33(double *state, double *unused, double *out_2457614462797803062) { - out_2457614462797803062[0] = 0; - out_2457614462797803062[1] = 0; - out_2457614462797803062[2] = 0; - out_2457614462797803062[3] = 0; - out_2457614462797803062[4] = 0; - out_2457614462797803062[5] = 0; - out_2457614462797803062[6] = 0; - out_2457614462797803062[7] = 0; - out_2457614462797803062[8] = 0; - out_2457614462797803062[9] = 0; - out_2457614462797803062[10] = 0; - out_2457614462797803062[11] = 0; - out_2457614462797803062[12] = 0; - out_2457614462797803062[13] = 0; - out_2457614462797803062[14] = 0; - out_2457614462797803062[15] = 0; - out_2457614462797803062[16] = 1; - out_2457614462797803062[17] = 0; - out_2457614462797803062[18] = 0; - out_2457614462797803062[19] = 0; - out_2457614462797803062[20] = 0; - out_2457614462797803062[21] = 0; - out_2457614462797803062[22] = 0; - out_2457614462797803062[23] = 0; - out_2457614462797803062[24] = 0; - out_2457614462797803062[25] = 0; - out_2457614462797803062[26] = 0; - out_2457614462797803062[27] = 0; - out_2457614462797803062[28] = 0; - out_2457614462797803062[29] = 0; - out_2457614462797803062[30] = 0; - out_2457614462797803062[31] = 0; - out_2457614462797803062[32] = 0; - out_2457614462797803062[33] = 0; - out_2457614462797803062[34] = 0; - out_2457614462797803062[35] = 0; - out_2457614462797803062[36] = 0; - out_2457614462797803062[37] = 0; - out_2457614462797803062[38] = 0; - out_2457614462797803062[39] = 1; - out_2457614462797803062[40] = 0; - out_2457614462797803062[41] = 0; - out_2457614462797803062[42] = 0; - out_2457614462797803062[43] = 0; - out_2457614462797803062[44] = 0; - out_2457614462797803062[45] = 0; - out_2457614462797803062[46] = 0; - out_2457614462797803062[47] = 0; - out_2457614462797803062[48] = 0; - out_2457614462797803062[49] = 0; - out_2457614462797803062[50] = 0; - out_2457614462797803062[51] = 0; - out_2457614462797803062[52] = 0; - out_2457614462797803062[53] = 0; - out_2457614462797803062[54] = 0; - out_2457614462797803062[55] = 0; - out_2457614462797803062[56] = 0; - out_2457614462797803062[57] = 0; - out_2457614462797803062[58] = 0; - out_2457614462797803062[59] = 0; - out_2457614462797803062[60] = 0; - out_2457614462797803062[61] = 0; - out_2457614462797803062[62] = 1; - out_2457614462797803062[63] = 0; - out_2457614462797803062[64] = 0; - out_2457614462797803062[65] = 0; +void H_33(double *state, double *unused, double *out_4578181692592993343) { + out_4578181692592993343[0] = 0; + out_4578181692592993343[1] = 0; + out_4578181692592993343[2] = 0; + out_4578181692592993343[3] = 0; + out_4578181692592993343[4] = 0; + out_4578181692592993343[5] = 0; + out_4578181692592993343[6] = 0; + out_4578181692592993343[7] = 0; + out_4578181692592993343[8] = 0; + out_4578181692592993343[9] = 0; + out_4578181692592993343[10] = 0; + out_4578181692592993343[11] = 0; + out_4578181692592993343[12] = 0; + out_4578181692592993343[13] = 0; + out_4578181692592993343[14] = 0; + out_4578181692592993343[15] = 0; + out_4578181692592993343[16] = 1; + out_4578181692592993343[17] = 0; + out_4578181692592993343[18] = 0; + out_4578181692592993343[19] = 0; + out_4578181692592993343[20] = 0; + out_4578181692592993343[21] = 0; + out_4578181692592993343[22] = 0; + out_4578181692592993343[23] = 0; + out_4578181692592993343[24] = 0; + out_4578181692592993343[25] = 0; + out_4578181692592993343[26] = 0; + out_4578181692592993343[27] = 0; + out_4578181692592993343[28] = 0; + out_4578181692592993343[29] = 0; + out_4578181692592993343[30] = 0; + out_4578181692592993343[31] = 0; + out_4578181692592993343[32] = 0; + out_4578181692592993343[33] = 0; + out_4578181692592993343[34] = 0; + out_4578181692592993343[35] = 0; + out_4578181692592993343[36] = 0; + out_4578181692592993343[37] = 0; + out_4578181692592993343[38] = 0; + out_4578181692592993343[39] = 1; + out_4578181692592993343[40] = 0; + out_4578181692592993343[41] = 0; + out_4578181692592993343[42] = 0; + out_4578181692592993343[43] = 0; + out_4578181692592993343[44] = 0; + out_4578181692592993343[45] = 0; + out_4578181692592993343[46] = 0; + out_4578181692592993343[47] = 0; + out_4578181692592993343[48] = 0; + out_4578181692592993343[49] = 0; + out_4578181692592993343[50] = 0; + out_4578181692592993343[51] = 0; + out_4578181692592993343[52] = 0; + out_4578181692592993343[53] = 0; + out_4578181692592993343[54] = 0; + out_4578181692592993343[55] = 0; + out_4578181692592993343[56] = 0; + out_4578181692592993343[57] = 0; + out_4578181692592993343[58] = 0; + out_4578181692592993343[59] = 0; + out_4578181692592993343[60] = 0; + out_4578181692592993343[61] = 0; + out_4578181692592993343[62] = 1; + out_4578181692592993343[63] = 0; + out_4578181692592993343[64] = 0; + out_4578181692592993343[65] = 0; } #include #include @@ -1855,77 +1855,77 @@ void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, doub void live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<3, 3, 0>(in_x, in_P, h_33, H_33, NULL, in_z, in_R, in_ea, MAHA_THRESH_33); } -void live_H(double *in_vec, double *out_2989134609448912360) { - H(in_vec, out_2989134609448912360); +void live_H(double *in_vec, double *out_7959907782308194627) { + H(in_vec, out_7959907782308194627); } -void live_err_fun(double *nom_x, double *delta_x, double *out_4134642150611912562) { - err_fun(nom_x, delta_x, out_4134642150611912562); +void live_err_fun(double *nom_x, double *delta_x, double *out_6929774310989775988) { + err_fun(nom_x, delta_x, out_6929774310989775988); } -void live_inv_err_fun(double *nom_x, double *true_x, double *out_102578031842580524) { - inv_err_fun(nom_x, true_x, out_102578031842580524); +void live_inv_err_fun(double *nom_x, double *true_x, double *out_6193789776824585571) { + inv_err_fun(nom_x, true_x, out_6193789776824585571); } -void live_H_mod_fun(double *state, double *out_1333467034631963441) { - H_mod_fun(state, out_1333467034631963441); +void live_H_mod_fun(double *state, double *out_8547509152961498922) { + H_mod_fun(state, out_8547509152961498922); } -void live_f_fun(double *state, double dt, double *out_1638653065682139689) { - f_fun(state, dt, out_1638653065682139689); +void live_f_fun(double *state, double dt, double *out_8100393315288221642) { + f_fun(state, dt, out_8100393315288221642); } -void live_F_fun(double *state, double dt, double *out_3627592268953963269) { - F_fun(state, dt, out_3627592268953963269); +void live_F_fun(double *state, double dt, double *out_7769089323050102648) { + F_fun(state, dt, out_7769089323050102648); } -void live_h_4(double *state, double *unused, double *out_8187072558274677226) { - h_4(state, unused, out_8187072558274677226); +void live_h_4(double *state, double *unused, double *out_6579737165675804813) { + h_4(state, unused, out_6579737165675804813); } -void live_H_4(double *state, double *unused, double *out_5073553165915915446) { - H_4(state, unused, out_5073553165915915446); +void live_H_4(double *state, double *unused, double *out_8985066658053328462) { + H_4(state, unused, out_8985066658053328462); } -void live_h_9(double *state, double *unused, double *out_7751183598308146162) { - h_9(state, unused, out_7751183598308146162); +void live_h_9(double *state, double *unused, double *out_6592276556226636800) { + h_9(state, unused, out_6592276556226636800); } -void live_H_9(double *state, double *unused, double *out_6085971972529188700) { - H_9(state, unused, out_6085971972529188700); +void live_H_9(double *state, double *unused, double *out_6096205105773249120) { + H_9(state, unused, out_6096205105773249120); } -void live_h_10(double *state, double *unused, double *out_7475415363803884616) { - h_10(state, unused, out_7475415363803884616); +void live_h_10(double *state, double *unused, double *out_3043512482999151809) { + h_10(state, unused, out_3043512482999151809); } -void live_H_10(double *state, double *unused, double *out_7599748917935120017) { - H_10(state, unused, out_7599748917935120017); +void live_H_10(double *state, double *unused, double *out_7192958685017806166) { + H_10(state, unused, out_7192958685017806166); } -void live_h_12(double *state, double *unused, double *out_4560316742219209161) { - h_12(state, unused, out_4560316742219209161); +void live_h_12(double *state, double *unused, double *out_6151089362108428494) { + h_12(state, unused, out_6151089362108428494); } -void live_H_12(double *state, double *unused, double *out_8353734499761674375) { - H_12(state, unused, out_8353734499761674375); +void live_H_12(double *state, double *unused, double *out_1317938344370877970) { + H_12(state, unused, out_1317938344370877970); } -void live_h_35(double *state, double *unused, double *out_395256144382285655) { - h_35(state, unused, out_395256144382285655); +void live_h_35(double *state, double *unused, double *out_1134950865722680502) { + h_35(state, unused, out_1134950865722680502); } -void live_H_35(double *state, double *unused, double *out_5608171467436660666) { - H_35(state, unused, out_5608171467436660666); +void live_H_35(double *state, double *unused, double *out_1427624687954135739) { + H_35(state, unused, out_1427624687954135739); } -void live_h_32(double *state, double *unused, double *out_2629447041285500641) { - h_32(state, unused, out_2629447041285500641); +void live_h_32(double *state, double *unused, double *out_4721207292266360875) { + h_32(state, unused, out_4721207292266360875); } -void live_H_32(double *state, double *unused, double *out_5477006682495920197) { - H_32(state, unused, out_5477006682495920197); +void live_H_32(double *state, double *unused, double *out_2913380087778971149) { + H_32(state, unused, out_2913380087778971149); } -void live_h_13(double *state, double *unused, double *out_4411752618062649722) { - h_13(state, unused, out_4411752618062649722); +void live_h_13(double *state, double *unused, double *out_364134050257467252) { + h_13(state, unused, out_364134050257467252); } -void live_H_13(double *state, double *unused, double *out_6527861414729128748) { - H_13(state, unused, out_6527861414729128748); +void live_H_13(double *state, double *unused, double *out_5486592313647626777) { + H_13(state, unused, out_5486592313647626777); } -void live_h_14(double *state, double *unused, double *out_7751183598308146162) { - h_14(state, unused, out_7751183598308146162); +void live_h_14(double *state, double *unused, double *out_6592276556226636800) { + h_14(state, unused, out_6592276556226636800); } -void live_H_14(double *state, double *unused, double *out_6085971972529188700) { - H_14(state, unused, out_6085971972529188700); +void live_H_14(double *state, double *unused, double *out_6096205105773249120) { + H_14(state, unused, out_6096205105773249120); } -void live_h_33(double *state, double *unused, double *out_6706316243285295529) { - h_33(state, unused, out_6706316243285295529); +void live_h_33(double *state, double *unused, double *out_3737322617129334857) { + h_33(state, unused, out_3737322617129334857); } -void live_H_33(double *state, double *unused, double *out_2457614462797803062) { - H_33(state, unused, out_2457614462797803062); +void live_H_33(double *state, double *unused, double *out_4578181692592993343) { + H_33(state, unused, out_4578181692592993343); } void live_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/live.h b/selfdrive/locationd/models/generated/live.h index 3746ea9bf..88f8b3be8 100644 --- a/selfdrive/locationd/models/generated/live.h +++ b/selfdrive/locationd/models/generated/live.h @@ -10,29 +10,29 @@ void live_update_32(double *in_x, double *in_P, double *in_z, double *in_R, doub void live_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void live_H(double *in_vec, double *out_2989134609448912360); -void live_err_fun(double *nom_x, double *delta_x, double *out_4134642150611912562); -void live_inv_err_fun(double *nom_x, double *true_x, double *out_102578031842580524); -void live_H_mod_fun(double *state, double *out_1333467034631963441); -void live_f_fun(double *state, double dt, double *out_1638653065682139689); -void live_F_fun(double *state, double dt, double *out_3627592268953963269); -void live_h_4(double *state, double *unused, double *out_8187072558274677226); -void live_H_4(double *state, double *unused, double *out_5073553165915915446); -void live_h_9(double *state, double *unused, double *out_7751183598308146162); -void live_H_9(double *state, double *unused, double *out_6085971972529188700); -void live_h_10(double *state, double *unused, double *out_7475415363803884616); -void live_H_10(double *state, double *unused, double *out_7599748917935120017); -void live_h_12(double *state, double *unused, double *out_4560316742219209161); -void live_H_12(double *state, double *unused, double *out_8353734499761674375); -void live_h_35(double *state, double *unused, double *out_395256144382285655); -void live_H_35(double *state, double *unused, double *out_5608171467436660666); -void live_h_32(double *state, double *unused, double *out_2629447041285500641); -void live_H_32(double *state, double *unused, double *out_5477006682495920197); -void live_h_13(double *state, double *unused, double *out_4411752618062649722); -void live_H_13(double *state, double *unused, double *out_6527861414729128748); -void live_h_14(double *state, double *unused, double *out_7751183598308146162); -void live_H_14(double *state, double *unused, double *out_6085971972529188700); -void live_h_33(double *state, double *unused, double *out_6706316243285295529); -void live_H_33(double *state, double *unused, double *out_2457614462797803062); +void live_H(double *in_vec, double *out_7959907782308194627); +void live_err_fun(double *nom_x, double *delta_x, double *out_6929774310989775988); +void live_inv_err_fun(double *nom_x, double *true_x, double *out_6193789776824585571); +void live_H_mod_fun(double *state, double *out_8547509152961498922); +void live_f_fun(double *state, double dt, double *out_8100393315288221642); +void live_F_fun(double *state, double dt, double *out_7769089323050102648); +void live_h_4(double *state, double *unused, double *out_6579737165675804813); +void live_H_4(double *state, double *unused, double *out_8985066658053328462); +void live_h_9(double *state, double *unused, double *out_6592276556226636800); +void live_H_9(double *state, double *unused, double *out_6096205105773249120); +void live_h_10(double *state, double *unused, double *out_3043512482999151809); +void live_H_10(double *state, double *unused, double *out_7192958685017806166); +void live_h_12(double *state, double *unused, double *out_6151089362108428494); +void live_H_12(double *state, double *unused, double *out_1317938344370877970); +void live_h_35(double *state, double *unused, double *out_1134950865722680502); +void live_H_35(double *state, double *unused, double *out_1427624687954135739); +void live_h_32(double *state, double *unused, double *out_4721207292266360875); +void live_H_32(double *state, double *unused, double *out_2913380087778971149); +void live_h_13(double *state, double *unused, double *out_364134050257467252); +void live_H_13(double *state, double *unused, double *out_5486592313647626777); +void live_h_14(double *state, double *unused, double *out_6592276556226636800); +void live_H_14(double *state, double *unused, double *out_6096205105773249120); +void live_h_33(double *state, double *unused, double *out_3737322617129334857); +void live_H_33(double *state, double *unused, double *out_4578181692592993343); void live_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/logcatd/logcatd b/selfdrive/logcatd/logcatd index 9ea88e1a9..8979590a5 100755 Binary files a/selfdrive/logcatd/logcatd and b/selfdrive/logcatd/logcatd differ diff --git a/selfdrive/loggerd/bootlog b/selfdrive/loggerd/bootlog index c48ffe68b..1a4d3cd19 100755 Binary files a/selfdrive/loggerd/bootlog and b/selfdrive/loggerd/bootlog differ diff --git a/selfdrive/loggerd/loggerd b/selfdrive/loggerd/loggerd index 3a750420a..88d2fc3f4 100755 Binary files a/selfdrive/loggerd/loggerd and b/selfdrive/loggerd/loggerd differ diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py index c5e4a1f99..ca8f4f0c8 100644 --- a/selfdrive/loggerd/uploader.py +++ b/selfdrive/loggerd/uploader.py @@ -70,6 +70,7 @@ class Uploader(): self.immediate_folders = ["crash/", "boot/"] self.immediate_priority = {"qlog.bz2": 0, "qcamera.ts": 1} + # self.dp_upload_ignored = Params().get_bool('dp_upload_ignored') def get_upload_sort(self, name): if name in self.immediate_priority: @@ -195,6 +196,9 @@ class Uploader(): self.last_time = time.monotonic() - start_time self.last_speed = (sz / 1e6) / self.last_time success = True + # if not self.dp_upload_ignored and stat.status_code == 412: + # self.dp_upload_ignored = True + # Params().put_bool('dp_upload_ignored', True) cloudlog.event("upload_success" if stat.status_code != 412 else "upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type) else: success = False diff --git a/selfdrive/manager/local_osm_install.py b/selfdrive/manager/local_osm_install.py index 816920394..2fff925fd 100755 --- a/selfdrive/manager/local_osm_install.py +++ b/selfdrive/manager/local_osm_install.py @@ -1,27 +1,26 @@ #!/usr/bin/env python3 import os import subprocess +import sys # NOTE: Do NOT import anything here that needs be built (e.g. params) from common.basedir import BASEDIR from common.params import Params from common.spinner import Spinner -from selfdrive.mapd.lib.helpers import is_local_osm_installed, timestamp_local_osm_db, is_osm_db_up_to_date, OSM_LOCAL_PATH, OSM_VERSION from selfdrive.manager.custom_dep import wait_for_internet_connection import time -# MAX_BUILD_PROGRESS = 100 -# INSTALL_OSM_STEPS = 1021 -# INSTALL_DB_STEPS = 58 -def install_local_osm(spinner): #, steps=0, total_steps=INSTALL_OSM_STEPS): - _install(spinner, "./install_osm.sh", "Installing OSM Server") #, steps, total_steps) +def install_local_osm(_spinner): + _install(_spinner, "./install_osm.sh", "Installing OSM Server") -def install_osm_db(spinner): #, steps=0, total_steps=INSTALL_DB_STEPS): - _install(spinner, "./install_osm_db.sh", "Installing OSM DB - " + Params().get("OsmLocationName", encoding="utf-8")) #, steps, total_steps) -def _install(spinner, script, title): #, steps, total_steps): - spinner.update(title) +def install_osm_db(_spinner): + _install(_spinner, "./install_osm_db.sh", "Installing OSM DB - " + Params().get("OsmLocationName", encoding="utf-8")) + + +def _install(_spinner, script, title): + _spinner.update(title) process = subprocess.Popen(['sh', script], cwd=os.path.join(BASEDIR, 'installer/custom/'), stdout=subprocess.PIPE) # Read progress from install script and update spinner @@ -30,31 +29,31 @@ def _install(spinner, script, title): #, steps, total_steps): output = process.stdout.readline() if process.poll() is not None: break - spinner.update(title + (".".replace(".", "." * (frame % 5), 1))) + _spinner.update(title + (".".replace(".", "." * (frame % 5), 1))) frame += 1 print(output.decode('utf8', 'replace')) time.sleep(0.1) - # if output: - # steps += 1 - # spinner.update(title + ": " + str(int(min(MAX_BUILD_PROGRESS * min(1., steps / total_steps), 100.))) + "%") - # print(output.decode('utf8', 'replace')) + if __name__ == "__main__": - update_osm_db_check = Params().get_bool("OsmDbUpdatesCheck") + from selfdrive.mapd.lib.helpers import is_local_osm_installed, timestamp_local_osm_db, is_osm_db_up_to_date, OSM_LOCAL_PATH + sys.path.append(os.path.join(BASEDIR, "third_party/mapd")) + params = Params() + update_osm_db_check = params.get_bool("OsmDbUpdatesCheck") if not (os.path.exists(f"{OSM_LOCAL_PATH}/db") or - os.path.exists(f"{OSM_LOCAL_PATH}/{OSM_VERSION}")) or update_osm_db_check: + os.path.exists(f"{OSM_LOCAL_PATH}/v0.7.57")) or update_osm_db_check: spinner = Spinner() spinner.update("Waiting for internet connection...") if wait_for_internet_connection(return_on_failure=True): - is_osm_installed = is_local_osm_installed() + is_osm_installed = is_local_osm_installed(params) is_db_updated = is_osm_db_up_to_date() print(f'Local OSM Installer:\nOSM currently installed: {is_osm_installed}\nDB up to date: {is_db_updated}') if not is_osm_installed: - install_local_osm(spinner) #, total_steps=INSTALL_OSM_STEPS) - if not is_db_updated or update_osm_db_check: - install_osm_db(spinner) #, total_steps=INSTALL_DB_STEPS) + install_local_osm(spinner) + if not is_db_updated: + install_osm_db(spinner) timestamp_local_osm_db() spinner.close() - Params().put_bool("OsmDbUpdatesCheck", False) + params.put_bool("OsmDbUpdatesCheck", False) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 8f16f0902..b6c39098e 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -13,7 +13,7 @@ from common.basedir import BASEDIR from common.params import Params, ParamKeyType from common.text_window import TextWindow from selfdrive.boardd.set_time import set_time -from system.hardware import HARDWARE, PC +from system.hardware import HARDWARE, PC, TICI from selfdrive.manager.helpers import unblock_stdout from selfdrive.manager.process import ensure_running from selfdrive.manager.process_config import managed_processes @@ -32,7 +32,8 @@ def manager_init() -> None: set_time(cloudlog) # save boot log - # subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd")) + # if not Params().get_bool('dp_jetson'): + # subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd")) params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) @@ -134,6 +135,9 @@ def manager_thread() -> None: ignore: List[str] = [] # dp + if TICI: + params.put_bool('dp_dm', True) + params.put_bool('dp_jetson', False) dp_nav = params.get_bool('dp_nav') dp_otisserv = dp_nav and params.get_bool('dp_otisserv') dp_jetson = params.get_bool('dp_jetson') @@ -178,7 +182,7 @@ def manager_thread() -> None: for param in ("DoUninstall", "DoShutdown", "DoReboot"): if params.get_bool(param): shutdown = True - params.put("LastManagerExitReason", param) + params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}") cloudlog.warning(f"Shutting down manager - {param} set") if shutdown: diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 827d6057b..c813943a4 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -19,11 +19,17 @@ def logging(started, params, CP: car.CarParams) -> bool: run = (not CP.notCar) or not params.get_bool("DisableLogging") return started and run +def ublox_available() -> bool: + return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps') + def ublox(started, params, CP: car.CarParams) -> bool: - use_ublox = True #os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps') + use_ublox = True # ublox_available() params.put_bool("UbloxAvailable", use_ublox) return started and use_ublox +def qcomgps(started, params, CP: car.CarParams) -> bool: + return started and not ublox_available() + procs = [ # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview), @@ -52,7 +58,7 @@ procs = [ # PythonProcess("deleter", "system.loggerd.deleter", offroad=True), # PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), # PythonProcess("laikad", "selfdrive.locationd.laikad"), - # PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI), + # PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI, onroad=False, callback=qcomgps), PythonProcess("navd", "selfdrive.navd.navd"), PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True), PythonProcess("paramsd", "selfdrive.locationd.paramsd"), diff --git a/selfdrive/mapd/lib/WayRelation.py b/selfdrive/mapd/lib/WayRelation.py index ac38242cd..0800bf3ad 100644 --- a/selfdrive/mapd/lib/WayRelation.py +++ b/selfdrive/mapd/lib/WayRelation.py @@ -146,6 +146,8 @@ def conditional_speed_limit_for_osm_tag_limit_string(limit_string): def speed_limit_value_for_highway_type(areas, tags): max_speed = None try: + geocode_country = '' + geocode_region = '' for area in areas: if area.tags.get('admin_level', '') == "2": if area.tags.get('ISO3166-1:alpha2', '') != '': diff --git a/selfdrive/mapd/lib/helpers.py b/selfdrive/mapd/lib/helpers.py index 785469d3e..3c7574363 100644 --- a/selfdrive/mapd/lib/helpers.py +++ b/selfdrive/mapd/lib/helpers.py @@ -1,37 +1,37 @@ import overpy import subprocess -import requests import email.utils as eut import time from common.params import Params -from system.hardware import TICI +from selfdrive.hardware import TICI +from system.version import get_version +from urllib.request import Request, urlopen OSM_LOCAL_PATH = "/data/media/0/osm" OSM_DB_STAMP_FILE = OSM_LOCAL_PATH + "/db_stamp" OSM_VERSION = "0.7.57" if TICI else "0.7.56" OSM_QUERY = [f"{OSM_LOCAL_PATH}/v{OSM_VERSION}/bin/osm3s_query", f"--db-dir={OSM_LOCAL_PATH}/db"] +OSM_DB_STAMP_REMOTE = "https://sunnypilot-osm.s3.us-east-2.amazonaws.com/osm-db/timestamps" def get_current_s3_osm_db_timestamp(): - local_osm_db_name = Params().get("OsmLocationName") - if local_osm_db_name is None: - return None - local_osm_db_name = local_osm_db_name.decode("utf-8") - r = requests.head(f"https://mkumard.synology.me/osm/{local_osm_db_name}.txt") - if r.status_code != 200: - print(f'Failed to fetch HEAD for S3 OSM db.\n\n{r.status_code}') - return None - - timestamp_string = r.headers.get('Last-Modified', None) - if timestamp_string is None: - print(f'HEAD for S3 OSM db contained no "Last-Modified" value.\n\n{r.headers}') - return None - try: + local_osm_db_name = Params().get("OsmLocationName", encoding="utf8") + req = Request(url=f"{OSM_DB_STAMP_REMOTE}/{local_osm_db_name}.txt", headers={"User-Agent": f"dragonpilot-{get_version()}"}) + r = urlopen(req) + if r.status != 200: + print(f'Failed to fetch timestamp for S3 OSM db.\n\n{r.status}') + return None + + timestamp_string = r.read().decode("utf-8").strip() + if timestamp_string is None: + print('Timestamp file for S3 OSM db contained no value.') + return None + parsed_date = eut.parsedate(timestamp_string) return time.mktime(parsed_date) except Exception as e: - print(f'Could not parse last modified timestamp for S3 local osm db.\n\n{e}') + print(f'Could not parse timestamp for S3 local osm db.\n\n{e}') return None @@ -70,12 +70,11 @@ def timestamp_local_osm_db(): persist_s3_osm_db_timestamp(current_s3_osm_ts) -def is_local_osm_installed(): +def is_local_osm_installed(params=Params()): api = overpy.Overpass() - waypoint = Params().get("OsmWayTest") + waypoint = params.get("OsmWayTest", encoding="utf8") if waypoint is None: return False - waypoint = waypoint.decode("utf-8") q = f""" way({waypoint}); (._;>;); @@ -83,9 +82,7 @@ def is_local_osm_installed(): """ try: - cmd = OSM_QUERY - cmd.append(f"--request={q}") - completion = subprocess.run(cmd, check=True, capture_output=True) + completion = subprocess.run(OSM_QUERY + [f"--request={q}"], check=True, capture_output=True) print(f'OSM local query returned with exit code: {completion.returncode}') if completion.returncode != 0: diff --git a/selfdrive/mapd/sp_osm_db.json b/selfdrive/mapd/sp_osm_db.json deleted file mode 100644 index 83bf96dd6..000000000 --- a/selfdrive/mapd/sp_osm_db.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "N/A": "", - "US - West": "https://thecorgirosie-my.sharepoint.com/:u:/p/jason_wen/EYWdXcNpOhJCuOLymUHSwH4BwdRddfiYEbZAK1ltd-hZJA?e=TW5ia4&download=1", - "US - South": "https://thecorgirosie-my.sharepoint.com/:u:/p/jason_wen/EWNHW-27AzRIr8KRd3EGMkABVEoXf8KLz3uRvvEgfP7xAw?e=4Cbkcu&download=1", - "TW": "https://thecorgirosie-my.sharepoint.com/:u:/p/jason_wen/EYdsed4UDtNFtR7z6_3nffkBqS40qoO9kGZfKGsfz51g5w?e=Werz8B&download=1", - "US - Florida": "https://thecorgirosie-my.sharepoint.com/:u:/p/jason_wen/EfSUnV9PtLFCjDiTrvMZOPIBVeg1SYjMQOCq-FsoUrv5vg?e=yaDpL2&download=1", - "US - Northeast": "https://thecorgirosie-my.sharepoint.com/:u:/p/jason_wen/Ecx2vyduMtBLiYrBCJ6eu-YBYvmztE25F7s00FvPeUemzw?e=060Zlj&download=1", - "ZA": "https://thecorgirosie-my.sharepoint.com/:u:/p/jason_wen/ESBBZE76YPdCv19nN-F_zJ8BfnOseAdr692rtLsDT784kA?e=Aq2kiJ&download=1" -} diff --git a/selfdrive/modeld/_dmonitoringmodeld b/selfdrive/modeld/_dmonitoringmodeld index 6025eabee..85c1f3705 100755 Binary files a/selfdrive/modeld/_dmonitoringmodeld and b/selfdrive/modeld/_dmonitoringmodeld differ diff --git a/selfdrive/modeld/_modeld b/selfdrive/modeld/_modeld index 3cc5f2d56..b7929e716 100755 Binary files a/selfdrive/modeld/_modeld and b/selfdrive/modeld/_modeld differ diff --git a/selfdrive/modeld/models/supercombo.thneed b/selfdrive/modeld/models/supercombo.thneed index c86e4cc29..b8f6f9bc4 100644 Binary files a/selfdrive/modeld/models/supercombo.thneed and b/selfdrive/modeld/models/supercombo.thneed differ diff --git a/selfdrive/proclogd/proclogd b/selfdrive/proclogd/proclogd index a6777a117..87c804d0d 100755 Binary files a/selfdrive/proclogd/proclogd and b/selfdrive/proclogd/proclogd differ diff --git a/selfdrive/ui/_ui b/selfdrive/ui/_ui index df58a12b5..a5e498eb8 100755 Binary files a/selfdrive/ui/_ui and b/selfdrive/ui/_ui differ diff --git a/selfdrive/ui/_ui_nonav b/selfdrive/ui/_ui_nonav index 3f0625e31..32bc42d67 100755 Binary files a/selfdrive/ui/_ui_nonav and b/selfdrive/ui/_ui_nonav differ diff --git a/selfdrive/ui/qt/spinner b/selfdrive/ui/qt/spinner index fbe77262a..5a227c27e 100755 Binary files a/selfdrive/ui/qt/spinner and b/selfdrive/ui/qt/spinner differ diff --git a/selfdrive/ui/qt/text b/selfdrive/ui/qt/text index 65b5a6c01..c372821e5 100755 Binary files a/selfdrive/ui/qt/text and b/selfdrive/ui/qt/text differ diff --git a/selfdrive/ui/soundd/_soundd b/selfdrive/ui/soundd/_soundd index 64c3d7529..df0179a5f 100755 Binary files a/selfdrive/ui/soundd/_soundd and b/selfdrive/ui/soundd/_soundd differ diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 98ce4a136..1ea8841ed 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1431,16 +1431,17 @@ trabalho definido Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - + Não é possível montar a partição de dados. Partição corrompida. Confirme para apagar e redefinir o dispositivo. Press confirm to erase all content and settings. Press cancel to resume boot. - + Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancelar para voltar. Resetting device... This may take up to a minute. - + Redefinindo o dispositivo +Isso pode levar até um minuto. @@ -1566,11 +1567,11 @@ This may take up to a minute. No custom software found at this URL. - + Não há software personalizado nesta URL. Something went wrong. Reboot the device. - + Algo deu errado. Reinicie o dispositivo. diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 462aac58c..5bbf06bba 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -95,7 +95,7 @@ RAM PER - 記憶體 % + 記憶體 % OFF @@ -598,7 +598,7 @@ Reboot required. 當定速高於： - when acc SET speed above the setting, it will switch to alternative controller. + when acc SET speed above the setting, it will switch to alternative controller. 1 km/h = 0.62 mph 當定速高於設定的速度時，將會啟用替代的控制器 @@ -1188,7 +1188,7 @@ Reboot now? openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 + openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 Your device is pointed %1° %2 and %3° %4. @@ -1584,17 +1584,16 @@ location set Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - 無法掛載數據分區。分區可能已損壞。請按確認以清除並重置您的設備。 + 無法掛載資料分割區 分割區可能已經毀損 請確認是否要刪除並重新設定 Press confirm to erase all content and settings. Press cancel to resume boot. - 按確認以清除所有內容和設置。按取消以繼續啟動。 + 按下確認以刪除所有內容及設定 按下取消來繼續開機 Resetting device... This may take up to a minute. - 正在重置設備... -這可能需要一分鐘的時間。 + 設備重置中 此過程可能需要幾分鐘 @@ -1720,11 +1719,11 @@ This may take up to a minute. No custom software found at this URL. - 在此 URL 上未找到自定義軟件。 + 無法在此URL找到定制的軟體 Something went wrong. Reboot the device. - 出現了問題。請重新啟動設備。 + 發生了一些錯誤 請重新啟動您的設備 @@ -2057,11 +2056,11 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - + 未來可能會推出openpilot縱向控制 An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - + 在非發行分支中 可找到包含實驗模式的openpilot縱向控制測試版本 Enable experimental longitudinal control to allow Experimental mode. diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index b4b0543eb..8412d3372 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -22,7 +22,7 @@ def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLA for file in translation_files.values(): tr_file = os.path.join(translations_dir, f"{file}.ts") - args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file}" + args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file} -I {BASEDIR}" if vanish: args += " -no-obsolete" if file in plural_only: diff --git a/selfdrive/updated.py b/selfdrive/updated.py index b9f398299..96416797f 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -420,7 +420,12 @@ class Updater: def main() -> None: params = Params() + updater = Updater() + update_failed_count = 0 # TODO: Load from param? + exception = None + if params.get_bool("DisableUpdates"): + updater.set_params(update_failed_count, exception) cloudlog.warning("updates are disabled by the DisableUpdates param") exit(0) @@ -443,9 +448,6 @@ def main() -> None: t = datetime.datetime.utcnow().isoformat() params.put("InstallDate", t.encode('utf8')) - updater = Updater() - update_failed_count = 0 # TODO: Load from param? - # no fetch on the first time wait_helper = WaitTimeHelper() wait_helper.only_check_for_update = True @@ -458,7 +460,6 @@ def main() -> None: wait_helper.ready_event.clear() # Attempt an update - exception = None try: # TODO: reuse overlay from previous updated instance if it looks clean init_overlay() diff --git a/system/camerad/camerad b/system/camerad/camerad index 60329dfcf..52578b628 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 81426a74e..8fb3d7525 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -78,11 +78,6 @@ typedef struct FrameMetadata { float measured_grey_fraction; float target_grey_fraction; - // Focus - unsigned int lens_pos; - float lens_err; - float lens_true_pos; - float processing_time; } FrameMetadata; diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h index 83fcb8f7a..4db4bfd4d 100644 --- a/system/camerad/cameras/sensor2_i2c.h +++ b/system/camerad/cameras/sensor2_i2c.h @@ -58,7 +58,7 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { // SC ctrl {0x3001, 0x03}, // io_pad_oen - {0x3002, 0xf8}, // io_pad_oen + {0x3002, 0xfc}, // io_pad_oen {0x3005, 0x80}, // io_pad_out {0x3007, 0x01}, // io_pad_sel {0x3008, 0x80}, // io_pad_sel @@ -85,6 +85,9 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3882, 0x8}, {0x3883, 0x0D}, {0x3836, 0x1F}, {0x3837, 0x40}, + {0x3892, 0x44}, + {0x3823, 0x48}, + {0x3012, 0x41}, // SC_PHY_CTRL = 4 lane MIPI {0x3020, 0x05}, // SC_CTRL_20 @@ -179,8 +182,8 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3820, 0x04}, {0x3821, 0x19}, - {0x3832, 0x00}, - {0x3834, 0x00}, + {0x3832, 0xF0}, + {0x3834, 0xF0}, {0x384c, 0x02}, {0x384d, 0x0d}, {0x3850, 0x00}, diff --git a/system/clocksd/clocksd b/system/clocksd/clocksd index b83000ab4..54632f68b 100755 Binary files a/system/clocksd/clocksd and b/system/clocksd/clocksd differ diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py old mode 100644 new mode 100755 index 8233834d1..9725cd689 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -24,13 +24,10 @@ BASE_CONFIG = [ AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000), AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000), AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011), - AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), - AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000), AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000), AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100), AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100), - AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111), AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000), AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000), AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111), @@ -41,7 +38,6 @@ BASE_CONFIG = [ AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000), AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000), AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001), - AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010), AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000), AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111), AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000), @@ -64,6 +60,11 @@ BASE_CONFIG = [ CONFIGS = { "tici": [ + AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), + AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), + AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111), + AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010), + *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)), *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)), *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)), @@ -72,11 +73,13 @@ CONFIGS = { ], "tizi": [ AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111), + AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011), - AmpConfig("Left speaker output volume", 0x1F, 0x3D, 0, 0b00011111), - AmpConfig("Right speaker output volume", 0x1F, 0x3E, 0, 0b00011111), - AmpConfig("DAI1 attenuation (DV1)", 0x4, 0x2F, 0, 0b00001111), - AmpConfig("DAI2 attenuation (DV2)", 0x4, 0x31, 0, 0b00001111), + AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), + AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111), + AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111), + + AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010), AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001), AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000), AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111), @@ -91,12 +94,6 @@ CONFIGS = { AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010), AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001), AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000), - - *configs_from_eq_params(0x84, EQParams(0x3084, 0xC023, 0x3D60, 0x042B, 0x1222)), - *configs_from_eq_params(0x8E, EQParams(0x2FB2, 0xC05C, 0x3BD3, 0x06C5, 0x16BB)), - *configs_from_eq_params(0x98, EQParams(0x21F5, 0xDF73, 0x2DFE, 0x371A, 0x2C80)), - *configs_from_eq_params(0xA2, EQParams(0x2A5A, 0x0AD0, 0x14FA, 0x3F14, 0x3C76)), - *configs_from_eq_params(0xAC, EQParams(0x1577, 0x3FAE, 0xEE60, 0x0664, 0x3D86)), ], } @@ -132,3 +129,12 @@ class Amplifier: self.set_config(config) self.set_global_shutdown(amp_disabled=False) + + +if __name__ == "__main__": + with open("/sys/firmware/devicetree/base/model") as f: + model = f.read().strip('\x00') + model = model.split('comma ')[-1] + + amp = Amplifier() + amp.initialize_configuration(model) diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 81be0970b..1256915a5 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -453,6 +453,12 @@ class Tici(HardwareBase): # Allow thermald to write engagement status to kmsg os.system("sudo chmod a+w /dev/kmsg") + # TODO: remove the if once agnos 7 ships + # Turn off fan, turned on by the ABL + if os.path.exists('/sys/class/gpio/gpio49/'): + gpio_init(GPIO.SOM_ST_IO, True) + gpio_set(GPIO.SOM_ST_IO, 0) + # *** IRQ config *** # move these off the default core diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py index fe31b9311..082a402f1 100644 --- a/system/hardware/tici/pins.py +++ b/system/hardware/tici/pins.py @@ -10,6 +10,8 @@ class GPIO: STM_RST_N = 124 STM_BOOT0 = 134 + SOM_ST_IO = 49 + LTE_RST_N = 50 LTE_PWRKEY = 116 LTE_BOOT = 52 diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index d4ed6dca2..129059474 100644 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -76,6 +76,9 @@ class Uploader(): self.immediate_folders = ["crash/", "boot/"] self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1} + # dp + self.dp_upload_ignored = Params().get_bool('dp_upload_ignored') + def get_upload_sort(self, name): if name in self.immediate_priority: return self.immediate_priority[name] @@ -199,6 +202,9 @@ class Uploader(): self.last_time = time.monotonic() - start_time self.last_speed = (sz / 1e6) / self.last_time success = True + if not self.dp_upload_ignored and stat.status_code == 412: + self.dp_upload_ignored = True + Params().put_bool('dp_upload_ignored', True) cloudlog.event("upload_success" if stat.status_code != 412 else "upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) else: success = False diff --git a/system/sensord/_sensord b/system/sensord/_sensord index f07f079a3..4f38b2cc2 100755 Binary files a/system/sensord/_sensord and b/system/sensord/_sensord differ diff --git a/system/ubloxd/generated/ubx.cpp b/system/ubloxd/generated/ubx.cpp index 34fe1e52c..81b82ccaf 100644 --- a/system/ubloxd/generated/ubx.cpp +++ b/system/ubloxd/generated/ubx.cpp @@ -40,6 +40,11 @@ void ubx_t::_read() { m_body = new rxm_sfrbx_t(m__io, this, m__root); break; } + case 309: { + n_body = false; + m_body = new nav_sat_t(m__io, this, m__root); + break; + } case 2571: { n_body = false; m_body = new mon_hw2_t(m__io, this, m__root); @@ -70,9 +75,9 @@ void ubx_t::_clean_up() { ubx_t::rxm_rawx_t::rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; - m_measurements = 0; - m__raw_measurements = 0; - m__io__raw_measurements = 0; + m_meas = 0; + m__raw_meas = 0; + m__io__raw_meas = 0; try { _read(); @@ -89,15 +94,15 @@ void ubx_t::rxm_rawx_t::_read() { m_num_meas = m__io->read_u1(); m_rec_stat = m__io->read_u1(); m_reserved1 = m__io->read_bytes(3); - m__raw_measurements = new std::vector(); - m__io__raw_measurements = new std::vector(); - m_measurements = new std::vector(); - const int l_measurements = num_meas(); - for (int i = 0; i < l_measurements; i++) { - m__raw_measurements->push_back(m__io->read_bytes(32)); - kaitai::kstream* io__raw_measurements = new kaitai::kstream(m__raw_measurements->at(m__raw_measurements->size() - 1)); - m__io__raw_measurements->push_back(io__raw_measurements); - m_measurements->push_back(new meas_t(io__raw_measurements, this, m__root)); + m__raw_meas = new std::vector(); + m__io__raw_meas = new std::vector(); + m_meas = new std::vector(); + const int l_meas = num_meas(); + for (int i = 0; i < l_meas; i++) { + m__raw_meas->push_back(m__io->read_bytes(32)); + kaitai::kstream* io__raw_meas = new kaitai::kstream(m__raw_meas->at(m__raw_meas->size() - 1)); + m__io__raw_meas->push_back(io__raw_meas); + m_meas->push_back(new measurement_t(io__raw_meas, this, m__root)); } } @@ -106,24 +111,24 @@ ubx_t::rxm_rawx_t::~rxm_rawx_t() { } void ubx_t::rxm_rawx_t::_clean_up() { - if (m__raw_measurements) { - delete m__raw_measurements; m__raw_measurements = 0; + if (m__raw_meas) { + delete m__raw_meas; m__raw_meas = 0; } - if (m__io__raw_measurements) { - for (std::vector::iterator it = m__io__raw_measurements->begin(); it != m__io__raw_measurements->end(); ++it) { + if (m__io__raw_meas) { + for (std::vector::iterator it = m__io__raw_meas->begin(); it != m__io__raw_meas->end(); ++it) { delete *it; } - delete m__io__raw_measurements; m__io__raw_measurements = 0; + delete m__io__raw_meas; m__io__raw_meas = 0; } - if (m_measurements) { - for (std::vector::iterator it = m_measurements->begin(); it != m_measurements->end(); ++it) { + if (m_meas) { + for (std::vector::iterator it = m_meas->begin(); it != m_meas->end(); ++it) { delete *it; } - delete m_measurements; m_measurements = 0; + delete m_meas; m_meas = 0; } } -ubx_t::rxm_rawx_t::meas_t::meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { +ubx_t::rxm_rawx_t::measurement_t::measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; @@ -135,7 +140,7 @@ ubx_t::rxm_rawx_t::meas_t::meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__ } } -void ubx_t::rxm_rawx_t::meas_t::_read() { +void ubx_t::rxm_rawx_t::measurement_t::_read() { m_pr_mes = m__io->read_f8le(); m_cp_mes = m__io->read_f8le(); m_do_mes = m__io->read_f4le(); @@ -152,11 +157,11 @@ void ubx_t::rxm_rawx_t::meas_t::_read() { m_reserved3 = m__io->read_bytes(1); } -ubx_t::rxm_rawx_t::meas_t::~meas_t() { +ubx_t::rxm_rawx_t::measurement_t::~measurement_t() { _clean_up(); } -void ubx_t::rxm_rawx_t::meas_t::_clean_up() { +void ubx_t::rxm_rawx_t::measurement_t::_clean_up() { } ubx_t::rxm_sfrbx_t::rxm_sfrbx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { @@ -198,6 +203,89 @@ void ubx_t::rxm_sfrbx_t::_clean_up() { } } +ubx_t::nav_sat_t::nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + m_svs = 0; + m__raw_svs = 0; + m__io__raw_svs = 0; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::nav_sat_t::_read() { + m_itow = m__io->read_u4le(); + m_version = m__io->read_u1(); + m_num_svs = m__io->read_u1(); + m_reserved = m__io->read_bytes(2); + m__raw_svs = new std::vector(); + m__io__raw_svs = new std::vector(); + m_svs = new std::vector(); + const int l_svs = num_svs(); + for (int i = 0; i < l_svs; i++) { + m__raw_svs->push_back(m__io->read_bytes(12)); + kaitai::kstream* io__raw_svs = new kaitai::kstream(m__raw_svs->at(m__raw_svs->size() - 1)); + m__io__raw_svs->push_back(io__raw_svs); + m_svs->push_back(new nav_t(io__raw_svs, this, m__root)); + } +} + +ubx_t::nav_sat_t::~nav_sat_t() { + _clean_up(); +} + +void ubx_t::nav_sat_t::_clean_up() { + if (m__raw_svs) { + delete m__raw_svs; m__raw_svs = 0; + } + if (m__io__raw_svs) { + for (std::vector::iterator it = m__io__raw_svs->begin(); it != m__io__raw_svs->end(); ++it) { + delete *it; + } + delete m__io__raw_svs; m__io__raw_svs = 0; + } + if (m_svs) { + for (std::vector::iterator it = m_svs->begin(); it != m_svs->end(); ++it) { + delete *it; + } + delete m_svs; m_svs = 0; + } +} + +ubx_t::nav_sat_t::nav_t::nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::nav_sat_t::nav_t::_read() { + m_gnss_id = static_cast(m__io->read_u1()); + m_sv_id = m__io->read_u1(); + m_cno = m__io->read_u1(); + m_elev = m__io->read_s1(); + m_azim = m__io->read_s2le(); + m_pr_res = m__io->read_s2le(); + m_flags = m__io->read_u4le(); +} + +ubx_t::nav_sat_t::nav_t::~nav_t() { + _clean_up(); +} + +void ubx_t::nav_sat_t::nav_t::_clean_up() { +} + ubx_t::nav_pvt_t::nav_pvt_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; diff --git a/system/ubloxd/generated/ubx.h b/system/ubloxd/generated/ubx.h index 6be4ce8c4..022108489 100644 --- a/system/ubloxd/generated/ubx.h +++ b/system/ubloxd/generated/ubx.h @@ -16,6 +16,7 @@ class ubx_t : public kaitai::kstruct { public: class rxm_rawx_t; class rxm_sfrbx_t; + class nav_sat_t; class nav_pvt_t; class mon_hw2_t; class mon_hw_t; @@ -42,7 +43,7 @@ public: class rxm_rawx_t : public kaitai::kstruct { public: - class meas_t; + class measurement_t; rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); @@ -53,18 +54,18 @@ public: public: ~rxm_rawx_t(); - class meas_t : public kaitai::kstruct { + class measurement_t : public kaitai::kstruct { public: - meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0); + measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0); private: void _read(); void _clean_up(); public: - ~meas_t(); + ~measurement_t(); private: double m_pr_mes; @@ -110,11 +111,11 @@ public: uint8_t m_num_meas; uint8_t m_rec_stat; std::string m_reserved1; - std::vector* m_measurements; + std::vector* m_meas; ubx_t* m__root; ubx_t* m__parent; - std::vector* m__raw_measurements; - std::vector* m__io__raw_measurements; + std::vector* m__raw_meas; + std::vector* m__io__raw_meas; public: double rcv_tow() const { return m_rcv_tow; } @@ -123,11 +124,11 @@ public: uint8_t num_meas() const { return m_num_meas; } uint8_t rec_stat() const { return m_rec_stat; } std::string reserved1() const { return m_reserved1; } - std::vector* measurements() const { return m_measurements; } + std::vector* meas() const { return m_meas; } ubx_t* _root() const { return m__root; } ubx_t* _parent() const { return m__parent; } - std::vector* _raw_measurements() const { return m__raw_measurements; } - std::vector* _io__raw_measurements() const { return m__io__raw_measurements; } + std::vector* _raw_meas() const { return m__raw_meas; } + std::vector* _io__raw_meas() const { return m__io__raw_meas; } }; class rxm_sfrbx_t : public kaitai::kstruct { @@ -170,6 +171,79 @@ public: ubx_t* _parent() const { return m__parent; } }; + class nav_sat_t : public kaitai::kstruct { + + public: + class nav_t; + + nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~nav_sat_t(); + + class nav_t : public kaitai::kstruct { + + public: + + nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent = 0, ubx_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~nav_t(); + + private: + gnss_type_t m_gnss_id; + uint8_t m_sv_id; + uint8_t m_cno; + int8_t m_elev; + int16_t m_azim; + int16_t m_pr_res; + uint32_t m_flags; + ubx_t* m__root; + ubx_t::nav_sat_t* m__parent; + + public: + gnss_type_t gnss_id() const { return m_gnss_id; } + uint8_t sv_id() const { return m_sv_id; } + uint8_t cno() const { return m_cno; } + int8_t elev() const { return m_elev; } + int16_t azim() const { return m_azim; } + int16_t pr_res() const { return m_pr_res; } + uint32_t flags() const { return m_flags; } + ubx_t* _root() const { return m__root; } + ubx_t::nav_sat_t* _parent() const { return m__parent; } + }; + + private: + uint32_t m_itow; + uint8_t m_version; + uint8_t m_num_svs; + std::string m_reserved; + std::vector* m_svs; + ubx_t* m__root; + ubx_t* m__parent; + std::vector* m__raw_svs; + std::vector* m__io__raw_svs; + + public: + uint32_t itow() const { return m_itow; } + uint8_t version() const { return m_version; } + uint8_t num_svs() const { return m_num_svs; } + std::string reserved() const { return m_reserved; } + std::vector* svs() const { return m_svs; } + ubx_t* _root() const { return m__root; } + ubx_t* _parent() const { return m__parent; } + std::vector* _raw_svs() const { return m__raw_svs; } + std::vector* _io__raw_svs() const { return m__io__raw_svs; } + }; + class nav_pvt_t : public kaitai::kstruct { public: diff --git a/system/ubloxd/ublox_msg.h b/system/ubloxd/ublox_msg.h index 3989bbf85..a52a7db3e 100644 --- a/system/ubloxd/ublox_msg.h +++ b/system/ubloxd/ublox_msg.h @@ -15,6 +15,11 @@ using namespace std::string_literals; +const int SECS_IN_MIN = 60; +const int SECS_IN_HR = 60 * SECS_IN_MIN; +const int SECS_IN_DAY = 24 * SECS_IN_HR; +const int SECS_IN_WEEK = 7 * SECS_IN_DAY; + // protocol constants namespace ublox { const uint8_t PREAMBLE1 = 0xb5; @@ -86,7 +91,7 @@ namespace ublox { class UbloxMsgParser { public: - bool add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed); + bool add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed); inline void reset() {bytes_in_parse_buf = 0;} inline int needed_bytes(); inline std::string data() {return std::string((const char*)msg_parse_buf, bytes_in_parse_buf);} @@ -97,18 +102,19 @@ class UbloxMsgParser { kj::Array gen_rxm_rawx(ubx_t::rxm_rawx_t *msg); kj::Array gen_mon_hw(ubx_t::mon_hw_t *msg); kj::Array gen_mon_hw2(ubx_t::mon_hw2_t *msg); + kj::Array gen_nav_sat(ubx_t::nav_sat_t *msg); private: inline bool valid_cheksum(); inline bool valid(); inline bool valid_so_far(); - inline uint16_t get_glonass_year(uint8_t N4, uint16_t Nt); kj::Array parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg); kj::Array parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg); std::unordered_map> gps_subframes; + float last_log_time = 0.0; size_t bytes_in_parse_buf = 0; uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE]; @@ -119,5 +125,6 @@ class UbloxMsgParser { {11, 64}, {12, 128}, {13, 256}, {14, 512}, {15, 1024}}; std::unordered_map> glonass_strings; - std::unordered_map glonass_superframes; + std::unordered_map> glonass_string_times; + std::unordered_map> glonass_string_superframes; }; diff --git a/system/ubloxd/ubloxd b/system/ubloxd/ubloxd index adb2875d2..73f771dbb 100755 Binary files a/system/ubloxd/ubloxd and b/system/ubloxd/ubloxd differ diff --git a/third_party/acados/acados_template/__pycache__/__init__.cpython-38.pyc b/third_party/acados/acados_template/__pycache__/__init__.cpython-38.pyc new file mode 100644 index 000000000..f2da67041 Binary files /dev/null and b/third_party/acados/acados_template/__pycache__/__init__.cpython-38.pyc differ diff --git a/third_party/acados/acados_template/__pycache__/acados_model.cpython-38.pyc b/third_party/acados/acados_template/__pycache__/acados_model.cpython-38.pyc new file mode 100644 index 000000000..f04c0e6cd Binary files /dev/null and b/third_party/acados/acados_template/__pycache__/acados_model.cpython-38.pyc differ diff --git a/third_party/acados/acados_template/__pycache__/acados_ocp.cpython-38.pyc b/third_party/acados/acados_template/__pycache__/acados_ocp.cpython-38.pyc new file mode 100644 index 000000000..b50da4ec3 Binary files /dev/null and b/third_party/acados/acados_template/__pycache__/acados_ocp.cpython-38.pyc differ diff --git a/third_party/acados/acados_template/__pycache__/acados_ocp_solver.cpython-38.pyc b/third_party/acados/acados_template/__pycache__/acados_ocp_solver.cpython-38.pyc new file mode 100644 index 000000000..02374136a Binary files /dev/null and b/third_party/acados/acados_template/__pycache__/acados_ocp_solver.cpython-38.pyc differ diff --git a/third_party/acados/acados_template/__pycache__/acados_sim.cpython-38.pyc b/third_party/acados/acados_template/__pycache__/acados_sim.cpython-38.pyc new file mode 100644 index 000000000..4c157fcfe Binary files /dev/null and b/third_party/acados/acados_template/__pycache__/acados_sim.cpython-38.pyc differ diff --git a/third_party/acados/acados_template/__pycache__/acados_sim_solver.cpython-38.pyc b/third_party/acados/acados_template/__pycache__/acados_sim_solver.cpython-38.pyc new file mode 100644 index 000000000..c8f19671e Binary files /dev/null and b/third_party/acados/acados_template/__pycache__/acados_sim_solver.cpython-38.pyc differ diff --git a/third_party/acados/acados_template/__pycache__/builders.cpython-38.pyc b/third_party/acados/acados_template/__pycache__/builders.cpython-38.pyc new file mode 100644 index 000000000..2e3809691 Binary files /dev/null and b/third_party/acados/acados_template/__pycache__/builders.cpython-38.pyc differ diff --git a/third_party/acados/acados_template/__pycache__/generate_c_code_constraint.cpython-38.pyc b/third_party/acados/acados_template/__pycache__/generate_c_code_constraint.cpython-38.pyc new file mode 100644 index 000000000..7249fb794 Binary files /dev/null and b/third_party/acados/acados_template/__pycache__/generate_c_code_constraint.cpython-38.pyc differ diff --git a/third_party/acados/acados_template/__pycache__/generate_c_code_discrete_dynamics.cpython-38.pyc b/third_party/acados/acados_template/__pycache__/generate_c_code_discrete_dynamics.cpython-38.pyc new file mode 100644 index 000000000..fa8e43029 Binary files /dev/null and b/third_party/acados/acados_template/__pycache__/generate_c_code_discrete_dynamics.cpython-38.pyc differ diff --git a/third_party/acados/acados_template/__pycache__/generate_c_code_explicit_ode.cpython-38.pyc b/third_party/acados/acados_template/__pycache__/generate_c_code_explicit_ode.cpython-38.pyc new file mode 100644 index 000000000..d128a82ba Binary files /dev/null and b/third_party/acados/acados_template/__pycache__/generate_c_code_explicit_ode.cpython-38.pyc differ diff --git a/third_party/acados/acados_template/__pycache__/generate_c_code_external_cost.cpython-38.pyc b/third_party/acados/acados_template/__pycache__/generate_c_code_external_cost.cpython-38.pyc new file mode 100644 index 000000000..80c48b76a Binary files /dev/null and b/third_party/acados/acados_template/__pycache__/generate_c_code_external_cost.cpython-38.pyc differ diff --git a/third_party/acados/acados_template/__pycache__/generate_c_code_gnsf.cpython-38.pyc b/third_party/acados/acados_template/__pycache__/generate_c_code_gnsf.cpython-38.pyc new file mode 100644 index 000000000..3298f6490 Binary files /dev/null and b/third_party/acados/acados_template/__pycache__/generate_c_code_gnsf.cpython-38.pyc differ diff --git a/third_party/acados/acados_template/__pycache__/generate_c_code_implicit_ode.cpython-38.pyc b/third_party/acados/acados_template/__pycache__/generate_c_code_implicit_ode.cpython-38.pyc new file mode 100644 index 000000000..7afd5b31b Binary files /dev/null and b/third_party/acados/acados_template/__pycache__/generate_c_code_implicit_ode.cpython-38.pyc differ diff --git a/third_party/acados/acados_template/__pycache__/generate_c_code_nls_cost.cpython-38.pyc b/third_party/acados/acados_template/__pycache__/generate_c_code_nls_cost.cpython-38.pyc new file mode 100644 index 000000000..675ac31a6 Binary files /dev/null and b/third_party/acados/acados_template/__pycache__/generate_c_code_nls_cost.cpython-38.pyc differ diff --git a/third_party/acados/acados_template/__pycache__/utils.cpython-38.pyc b/third_party/acados/acados_template/__pycache__/utils.cpython-38.pyc new file mode 100644 index 000000000..79840c9bd Binary files /dev/null and b/third_party/acados/acados_template/__pycache__/utils.cpython-38.pyc differ diff --git a/third_party/cluster/__pycache__/__init__.cpython-38.pyc b/third_party/cluster/__pycache__/__init__.cpython-38.pyc index 5986cb12f..95924fe51 100644 Binary files a/third_party/cluster/__pycache__/__init__.cpython-38.pyc and b/third_party/cluster/__pycache__/__init__.cpython-38.pyc differ diff --git a/third_party/cluster/__pycache__/fastcluster_py.cpython-38.pyc b/third_party/cluster/__pycache__/fastcluster_py.cpython-38.pyc index ac2abe002..119dadc35 100644 Binary files a/third_party/cluster/__pycache__/fastcluster_py.cpython-38.pyc and b/third_party/cluster/__pycache__/fastcluster_py.cpython-38.pyc differ diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 6788a97d0..2bb426361 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -71,6 +71,7 @@ public: inline void setSpeed(float speed) { speed_ = speed; } inline float getSpeed() const { return speed_; } inline const std::vector *events() const { return events_.get(); } + inline const std::map> &segments() const { return segments_; }; inline const std::string &carFingerprint() const { return car_fingerprint_; } inline const std::vector> getTimeline() { std::lock_guard lk(timeline_lock);