diff --git a/.gitignore b/.gitignore index b3823d991..3e91531d0 100644 --- a/.gitignore +++ b/.gitignore @@ -88,5 +88,3 @@ build/ poetry.toml Pipfile - -third_party/mapd/ diff --git a/CHANGELOGS.md b/CHANGELOGS.md index 8a8fc607d..48b8a4e97 100644 --- a/CHANGELOGS.md +++ b/CHANGELOGS.md @@ -1,4 +1,31 @@ -dragonpilot beta3 2023.12.23 +dragonpilot beta3 2024.02.12 +======================= +* Comma 0.9.6 release + * New driving model (Los Angles V2) + * Vision model trained on more data + * Improved driving performance + * Directly outputs curvature for lateral control + * New driver monitoring model + * Trained on larger dataset + * AGNOS 9 (9.6) + * comma body streaming and controls over WebRTC + * Improved fuzzy fingerprinting for many makes and models + * Hyundai Staria 2023 support thanks to sunnyhaibin! + * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin! + * Toyota RAV4 2023-24 support + * Toyota RAV4 Hybrid 2023-24 support +* DP HIGHLIGHT: + * TSS2 long, Dynamic Follow and Accel profile tune has been updated. + * New version of dynamic e2e with twice and fast detection. + * De2e will now slow down for upcoming turns when using NOO. + * Auto lane change assist (USE IT AT YOUR OWN RISK). + * Optimized/Refactored NOO Voice Guidence. + * Re-added: Rainbow road path. + * Re-added: Full screen Nav. + * Re-added: Toyota Low Speed Override. + * Bug fixes and improvements. + +dragonpilot beta3 [2023.12.23] ======================= * Comma 0.9.6 release * New driving model (Blue Diamond). @@ -12,7 +39,7 @@ dragonpilot beta3 2023.12.23 * Toyota RAV4 Hybrid 2023 support * DP HIGHLIGHT: * Flight Panel (compass, height, pitch). - * Model Confidence indicator (in the max speed box). + * Model Confidence indicator (in the max speed box). * New version of dynamic e2e controller with better detection logic. * Adjustable lane change speed (default 20mph, OFF = no control during lane change) * TSS2 long, Dynamic Follow and Accel profile tune has been updated. diff --git a/README.md b/README.md index 31f88158a..db74ee6a1 100644 --- a/README.md +++ b/README.md @@ -13,7 +13,7 @@ What is openpilot? -Running on a dedicated device in a car +To start using openpilot in a car ------ To use openpilot in a car, you need four things: @@ -22,30 +22,21 @@ To use openpilot in a car, you need four things: 3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md). 4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car. -We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). +We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play. -Running on PC ------- - -All openpilot services can run as usual on a PC without requiring special hardware or a car. You can also run openpilot on recorded or simulated data to develop or experiment with openpilot. - -With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information. - -You can also run openpilot in simulation [with the MetaDrive simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. - -A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness). - -Community and Contributing +To start developing openpilot ------ openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). * Join the [community Discord](https://discord.comma.ai) * Check out [the contributing docs](docs/CONTRIBUTING.md) +* Check out the [openpilot tools](tools/) +* Read about the [development workflow](docs/WORKFLOW.md) * Code documentation lives at https://docs.comma.ai * Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki) -Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](docs/BOUNTIES.md). +Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](docs/BOUNTIES.md) for external contributors. Safety and Testing ---- diff --git a/RELEASES.md b/RELEASES.md index 226a27282..cf8d5eaea 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,14 +1,19 @@ -Version 0.9.6 (20XX-XX-XX) +Version 0.9.6 (2024-02-XX) ======================== * New driving model * Vision model trained on more data * Improved driving performance + * Directly outputs curvature for lateral control +* New driver monitoring model + * Trained on larger dataset * AGNOS 9 * comma body streaming and controls over WebRTC +* Improved fuzzy fingerprinting for many makes and models * Hyundai Staria 2023 support thanks to sunnyhaibin! * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin! -* Toyota RAV4 2023 support -* Toyota RAV4 Hybrid 2023 support +* Lexus LC 2024 support thanks to nelsonjchen! +* Toyota RAV4 2023-24 support +* Toyota RAV4 Hybrid 2023-24 support Version 0.9.5 (2023-11-17) ======================== diff --git a/body/board/inc/stm32f4xx.h b/body/board/inc/stm32f4xx.h index 35ec65a6d..79d83bf4e 100644 --- a/body/board/inc/stm32f4xx.h +++ b/body/board/inc/stm32f4xx.h @@ -8,8 +8,8 @@ * is using in the C source code, usually in main.c. This file contains: * - Configuration section that allows to select: * - The STM32F4xx device used in the target application - * - To use or not the peripherals drivers in application code(i.e. - * code will be based on direct access to peripherals registers + * - To use or not the peripheral's drivers in application code(i.e. + * code will be based on direct access to peripheral's registers * rather than drivers API), this option is controlled by * "#define USE_HAL_DRIVER" * diff --git a/body/board/obj/body.bin b/body/board/obj/body.bin index a5a5a836e..d62680111 100755 Binary files a/body/board/obj/body.bin and b/body/board/obj/body.bin differ diff --git a/body/board/obj/body.bin.signed b/body/board/obj/body.bin.signed index 197d1825a..3085ea252 100644 Binary files a/body/board/obj/body.bin.signed and b/body/board/obj/body.bin.signed differ diff --git a/body/board/obj/body.elf b/body/board/obj/body.elf index ef8280132..7289b898f 100755 Binary files a/body/board/obj/body.elf and b/body/board/obj/body.elf differ diff --git a/body/board/obj/bootstub.body.bin b/body/board/obj/bootstub.body.bin index 9d5743cf6..9a2f8f212 100755 Binary files a/body/board/obj/bootstub.body.bin and b/body/board/obj/bootstub.body.bin differ diff --git a/body/board/obj/bootstub.body.elf b/body/board/obj/bootstub.body.elf index aefaa7230..3b7a571c9 100755 Binary files a/body/board/obj/bootstub.body.elf and b/body/board/obj/bootstub.body.elf differ diff --git a/body/board/obj/gitversion.h b/body/board/obj/gitversion.h index 1ed785eb0..fa2ebdaf7 100644 --- a/body/board/obj/gitversion.h +++ b/body/board/obj/gitversion.h @@ -1 +1 @@ -const uint8_t gitversion[8] = "4ba36d72"; +const uint8_t gitversion[8] = "e92d1f09"; diff --git a/cereal/car.capnp b/cereal/car.capnp index e6476fb8e..2560a6722 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -51,7 +51,6 @@ struct CarEvent @0x9b1657f34caf3ad3 { parkBrake @29; manualRestart @30; lowSpeedLockout @31; - plannerError @32; joystickDebug @34; steerTempUnavailableSilent @35; resumeRequired @36; @@ -142,6 +141,7 @@ struct CarEvent @0x9b1657f34caf3ad3 { startupFuzzyFingerprintDEPRECATED @97; noTargetDEPRECATED @25; brakeUnavailableDEPRECATED @2; + plannerErrorDEPRECATED @32; } } @@ -601,7 +601,8 @@ struct CarParams { enum SteerControlType { torque @0; angle @1; - curvature @2; + + curvatureDEPRECATED @2; } enum TransmissionType { diff --git a/cereal/custom.capnp b/cereal/custom.capnp index b16018842..1c40d6522 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -65,7 +65,11 @@ struct ControlsStateExt @0xda96579883444c35 { alkaEnabled @1 :Bool; } -struct CustomReserved4 @0x80ae746ee2596b11 { +struct NavInstructionExt @0x80ae746ee2596b11 { + voiceDistance @0: Text; + voiceDirection @1: Text; + iconDistance @2: Text; + iconDirection @3: Text; } struct CustomReserved5 @0xa5cd762cd951a455 { diff --git a/cereal/gen/cpp/car.capnp.c++ b/cereal/gen/cpp/car.capnp.c++ index 10bcfd2b6..8f2292887 100644 --- a/cereal/gen/cpp/car.capnp.c++ +++ b/cereal/gen/cpp/car.capnp.c++ @@ -211,10 +211,10 @@ static const uint16_t m_9b1657f34caf3ad3[] = {1, 6, 0, 2, 10, 9, 8, 7, 5, 4, 3}; static const uint16_t i_9b1657f34caf3ad3[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; const ::capnp::_::RawSchema s_9b1657f34caf3ad3 = { 0x9b1657f34caf3ad3, b_9b1657f34caf3ad3.words, 195, d_9b1657f34caf3ad3, m_9b1657f34caf3ad3, - 1, 11, i_9b1657f34caf3ad3, nullptr, nullptr, { &s_9b1657f34caf3ad3, nullptr, nullptr, 0, 0, nullptr } + 1, 11, i_9b1657f34caf3ad3, nullptr, nullptr, { &s_9b1657f34caf3ad3, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE -static const ::capnp::_::AlignedData<700> b_baa8c5d505f727de = { +static const ::capnp::_::AlignedData<701> b_baa8c5d505f727de = { { 0, 0, 0, 0, 5, 0, 6, 0, 222, 39, 247, 5, 213, 197, 168, 186, 19, 0, 0, 0, 2, 0, 0, 0, @@ -239,10 +239,10 @@ static const ::capnp::_::AlignedData<700> b_baa8c5d505f727de = { 1, 0, 0, 0, 0, 0, 0, 0, 149, 5, 0, 0, 138, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 119, 0, 0, 0, 0, 0, 0, 0, + 118, 0, 0, 0, 0, 0, 0, 0, 149, 5, 0, 0, 218, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 100, 0, 0, 0, 0, 0, 0, 0, + 99, 0, 0, 0, 0, 0, 0, 0, 153, 5, 0, 0, 202, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 0, 0, @@ -278,10 +278,10 @@ static const ::capnp::_::AlignedData<700> b_baa8c5d505f727de = { 15, 0, 0, 0, 0, 0, 0, 0, 125, 5, 0, 0, 122, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 96, 0, 0, 0, 0, 0, 0, 0, + 95, 0, 0, 0, 0, 0, 0, 0, 121, 5, 0, 0, 194, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 101, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 0, 0, 0, 0, 121, 5, 0, 0, 170, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 0, 0, 0, 0, 0, 0, 0, @@ -308,13 +308,13 @@ static const ::capnp::_::AlignedData<700> b_baa8c5d505f727de = { 24, 0, 0, 0, 0, 0, 0, 0, 105, 5, 0, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 118, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 0, 0, 0, 0, 101, 5, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 25, 0, 0, 0, 0, 0, 0, 0, 101, 5, 0, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 102, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 0, 0, 0, 0, 97, 5, 0, 0, 202, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 26, 0, 0, 0, 0, 0, 0, 0, @@ -329,269 +329,269 @@ static const ::capnp::_::AlignedData<700> b_baa8c5d505f727de = { 29, 0, 0, 0, 0, 0, 0, 0, 89, 5, 0, 0, 130, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 30, 0, 0, 0, 0, 0, 0, 0, - 85, 5, 0, 0, 106, 0, 0, 0, + 119, 0, 0, 0, 0, 0, 0, 0, + 85, 5, 0, 0, 186, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 103, 0, 0, 0, 0, 0, 0, 0, - 81, 5, 0, 0, 186, 0, 0, 0, + 102, 0, 0, 0, 0, 0, 0, 0, + 85, 5, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 30, 0, 0, 0, 0, 0, 0, 0, + 85, 5, 0, 0, 114, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 31, 0, 0, 0, 0, 0, 0, 0, - 81, 5, 0, 0, 114, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 32, 0, 0, 0, 0, 0, 0, 0, - 77, 5, 0, 0, 218, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 33, 0, 0, 0, 0, 0, 0, 0, - 81, 5, 0, 0, 122, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 34, 0, 0, 0, 0, 0, 0, 0, - 77, 5, 0, 0, 162, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 35, 0, 0, 0, 0, 0, 0, 0, - 77, 5, 0, 0, 186, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 36, 0, 0, 0, 0, 0, 0, 0, - 77, 5, 0, 0, 138, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 104, 0, 0, 0, 0, 0, 0, 0, - 77, 5, 0, 0, 154, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 105, 0, 0, 0, 0, 0, 0, 0, - 77, 5, 0, 0, 210, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 106, 0, 0, 0, 0, 0, 0, 0, 81, 5, 0, 0, 218, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 37, 0, 0, 0, 0, 0, 0, 0, - 85, 5, 0, 0, 178, 0, 0, 0, + 32, 0, 0, 0, 0, 0, 0, 0, + 85, 5, 0, 0, 122, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 38, 0, 0, 0, 0, 0, 0, 0, - 85, 5, 0, 0, 202, 0, 0, 0, + 33, 0, 0, 0, 0, 0, 0, 0, + 81, 5, 0, 0, 162, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 39, 0, 0, 0, 0, 0, 0, 0, - 89, 5, 0, 0, 154, 0, 0, 0, + 34, 0, 0, 0, 0, 0, 0, 0, + 81, 5, 0, 0, 186, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 40, 0, 0, 0, 0, 0, 0, 0, - 89, 5, 0, 0, 130, 0, 0, 0, + 35, 0, 0, 0, 0, 0, 0, 0, + 81, 5, 0, 0, 138, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 107, 0, 0, 0, 0, 0, 0, 0, - 85, 5, 0, 0, 242, 0, 0, 0, + 103, 0, 0, 0, 0, 0, 0, 0, + 81, 5, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 41, 0, 0, 0, 0, 0, 0, 0, - 89, 5, 0, 0, 90, 0, 0, 0, + 104, 0, 0, 0, 0, 0, 0, 0, + 81, 5, 0, 0, 210, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 108, 0, 0, 0, 0, 0, 0, 0, - 85, 5, 0, 0, 242, 0, 0, 0, + 105, 0, 0, 0, 0, 0, 0, 0, + 85, 5, 0, 0, 218, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 94, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 0, 0, 0, 0, 89, 5, 0, 0, 178, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 0, 0, 0, 0, + 89, 5, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 38, 0, 0, 0, 0, 0, 0, 0, + 93, 5, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 39, 0, 0, 0, 0, 0, 0, 0, + 93, 5, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 106, 0, 0, 0, 0, 0, 0, 0, + 89, 5, 0, 0, 242, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 0, 0, 0, 0, + 93, 5, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 0, 0, 0, 0, 0, 0, 0, + 89, 5, 0, 0, 242, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 0, 0, 0, 0, 0, 0, 0, + 93, 5, 0, 0, 178, 0, 0, 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5, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 0, 0, 0, 0, + 5, 5, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 90, 0, 0, 0, 0, 0, 0, 0, + 1, 5, 0, 0, 178, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, - 253, 4, 0, 0, 202, 0, 0, 0, + 1, 5, 0, 0, 202, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 93, 0, 0, 0, 0, 0, 0, 0, - 1, 5, 0, 0, 194, 0, 0, 0, + 92, 0, 0, 0, 0, 0, 0, 0, + 5, 5, 0, 0, 194, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 95, 0, 0, 0, 0, 0, 0, 0, - 1, 5, 0, 0, 178, 0, 0, 0, + 94, 0, 0, 0, 0, 0, 0, 0, + 5, 5, 0, 0, 178, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 99, 97, 110, 69, 114, 114, 111, 114, 0, 0, 0, 0, 0, 0, 0, 0, @@ -673,7 +673,8 @@ static const ::capnp::_::AlignedData<700> b_baa8c5d505f727de = { 108, 111, 119, 83, 112, 101, 101, 100, 76, 111, 99, 107, 111, 117, 116, 0, 112, 108, 97, 110, 110, 101, 114, 69, - 114, 114, 111, 114, 0, 0, 0, 0, + 114, 114, 111, 114, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, 105, 112, 97, 115, 79, 118, 101, 114, 114, 105, 100, 101, 68, 69, 80, 82, 69, 67, 65, 84, 69, 68, 0, 0, @@ -920,8 +921,8 @@ static const ::capnp::_::AlignedData<700> b_baa8c5d505f727de = { #if !CAPNP_LITE static const uint16_t m_baa8c5d505f727de[] = {51, 84, 46, 28, 2, 11, 12, 20, 21, 47, 117, 110, 92, 111, 0, 66, 53, 109, 83, 62, 98, 22, 112, 14, 106, 96, 16, 90, 5, 101, 39, 68, 42, 41, 45, 7, 91, 79, 86, 108, 3, 40, 94, 105, 61, 49, 60, 69, 33, 34, 59, 71, 65, 107, 118, 103, 48, 63, 31, 30, 27, 93, 89, 88, 85, 25, 18, 19, 119, 50, 29, 24, 23, 13, 32, 55, 37, 43, 73, 57, 58, 95, 38, 44, 15, 67, 26, 72, 113, 36, 10, 100, 6, 52, 56, 70, 17, 75, 97, 78, 76, 77, 104, 82, 114, 80, 9, 35, 115, 1, 64, 74, 54, 99, 116, 81, 102, 8, 87, 4}; const ::capnp::_::RawSchema s_baa8c5d505f727de = { - 0xbaa8c5d505f727de, b_baa8c5d505f727de.words, 700, nullptr, m_baa8c5d505f727de, - 0, 120, nullptr, nullptr, nullptr, { &s_baa8c5d505f727de, nullptr, nullptr, 0, 0, nullptr } + 0xbaa8c5d505f727de, b_baa8c5d505f727de.words, 701, nullptr, m_baa8c5d505f727de, + 0, 120, nullptr, nullptr, nullptr, { &s_baa8c5d505f727de, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(EventName_baa8c5d505f727de, baa8c5d505f727de); @@ -1763,7 +1764,7 @@ static const uint16_t m_9da4fa09e052903c[] = {16, 42, 5, 38, 19, 6, 11, 12, 40, static const uint16_t i_9da4fa09e052903c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47}; const ::capnp::_::RawSchema s_9da4fa09e052903c = { 0x9da4fa09e052903c, b_9da4fa09e052903c.words, 822, d_9da4fa09e052903c, m_9da4fa09e052903c, - 6, 48, i_9da4fa09e052903c, nullptr, nullptr, { &s_9da4fa09e052903c, nullptr, nullptr, 0, 0, nullptr } + 6, 48, i_9da4fa09e052903c, nullptr, nullptr, { &s_9da4fa09e052903c, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<78> b_991a37a6155935a3 = { @@ -1852,7 +1853,7 @@ static const uint16_t m_991a37a6155935a3[] = {0, 1, 2, 3}; static const uint16_t i_991a37a6155935a3[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_991a37a6155935a3 = { 0x991a37a6155935a3, b_991a37a6155935a3.words, 78, nullptr, m_991a37a6155935a3, - 0, 4, i_991a37a6155935a3, nullptr, nullptr, { &s_991a37a6155935a3, nullptr, nullptr, 0, 0, nullptr } + 0, 4, i_991a37a6155935a3, nullptr, nullptr, { &s_991a37a6155935a3, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<128> b_e64e81478e6e60af = { @@ -1991,7 +1992,7 @@ static const uint16_t m_e64e81478e6e60af[] = {2, 0, 5, 1, 6, 3, 4}; static const uint16_t i_e64e81478e6e60af[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_e64e81478e6e60af = { 0xe64e81478e6e60af, b_e64e81478e6e60af.words, 128, nullptr, m_e64e81478e6e60af, - 0, 7, i_e64e81478e6e60af, nullptr, nullptr, { &s_e64e81478e6e60af, nullptr, nullptr, 0, 0, nullptr } + 0, 7, i_e64e81478e6e60af, nullptr, nullptr, { &s_e64e81478e6e60af, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<59> b_e004ca45136f6a89 = { @@ -2060,7 +2061,7 @@ static const ::capnp::_::AlignedData<59> b_e004ca45136f6a89 = { static const uint16_t m_e004ca45136f6a89[] = {7, 2, 8, 6, 9, 3, 1, 4, 5, 0}; const ::capnp::_::RawSchema s_e004ca45136f6a89 = { 0xe004ca45136f6a89, b_e004ca45136f6a89.words, 59, nullptr, m_e004ca45136f6a89, - 0, 10, nullptr, nullptr, nullptr, { &s_e004ca45136f6a89, nullptr, nullptr, 0, 0, nullptr } + 0, 10, nullptr, nullptr, nullptr, { &s_e004ca45136f6a89, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(GearShifter_e004ca45136f6a89, e004ca45136f6a89); @@ -2126,7 +2127,7 @@ static const uint16_t m_ff5ca6835b4acef6[] = {0, 1}; static const uint16_t i_ff5ca6835b4acef6[] = {0, 1}; const ::capnp::_::RawSchema s_ff5ca6835b4acef6 = { 0xff5ca6835b4acef6, b_ff5ca6835b4acef6.words, 51, d_ff5ca6835b4acef6, m_ff5ca6835b4acef6, - 1, 2, i_ff5ca6835b4acef6, nullptr, nullptr, { &s_ff5ca6835b4acef6, nullptr, nullptr, 0, 0, nullptr } + 1, 2, i_ff5ca6835b4acef6, nullptr, nullptr, { &s_ff5ca6835b4acef6, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<77> b_e16100205414717c = { @@ -2213,7 +2214,7 @@ static const ::capnp::_::AlignedData<77> b_e16100205414717c = { static const uint16_t m_e16100205414717c[] = {3, 6, 7, 8, 5, 4, 11, 1, 10, 2, 9, 0}; const ::capnp::_::RawSchema s_e16100205414717c = { 0xe16100205414717c, b_e16100205414717c.words, 77, nullptr, m_e16100205414717c, - 0, 12, nullptr, nullptr, nullptr, { &s_e16100205414717c, nullptr, nullptr, 0, 0, nullptr } + 0, 12, nullptr, nullptr, nullptr, { &s_e16100205414717c, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Type_e16100205414717c, e16100205414717c); @@ -2312,7 +2313,7 @@ static const uint16_t m_888ad6581cf0aacb[] = {2, 0, 1}; static const uint16_t i_888ad6581cf0aacb[] = {0, 1, 2}; const ::capnp::_::RawSchema s_888ad6581cf0aacb = { 0x888ad6581cf0aacb, b_888ad6581cf0aacb.words, 83, d_888ad6581cf0aacb, m_888ad6581cf0aacb, - 2, 3, i_888ad6581cf0aacb, nullptr, nullptr, { &s_888ad6581cf0aacb, nullptr, nullptr, 0, 0, nullptr } + 2, 3, i_888ad6581cf0aacb, nullptr, nullptr, { &s_888ad6581cf0aacb, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<32> b_e8a86679ebba76ad = { @@ -2354,7 +2355,7 @@ static const ::capnp::_::AlignedData<32> b_e8a86679ebba76ad = { static const uint16_t m_e8a86679ebba76ad[] = {0, 1, 2}; const ::capnp::_::RawSchema s_e8a86679ebba76ad = { 0xe8a86679ebba76ad, b_e8a86679ebba76ad.words, 32, nullptr, m_e8a86679ebba76ad, - 0, 3, nullptr, nullptr, nullptr, { &s_e8a86679ebba76ad, nullptr, nullptr, 0, 0, nullptr } + 0, 3, nullptr, nullptr, nullptr, { &s_e8a86679ebba76ad, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Error_e8a86679ebba76ad, e8a86679ebba76ad); @@ -2490,7 +2491,7 @@ static const uint16_t m_8ff333ebac1fdf36[] = {4, 1, 6, 0, 3, 2, 5}; static const uint16_t i_8ff333ebac1fdf36[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_8ff333ebac1fdf36 = { 0x8ff333ebac1fdf36, b_8ff333ebac1fdf36.words, 124, nullptr, m_8ff333ebac1fdf36, - 0, 7, i_8ff333ebac1fdf36, nullptr, nullptr, { &s_8ff333ebac1fdf36, nullptr, nullptr, 0, 0, nullptr } + 0, 7, i_8ff333ebac1fdf36, nullptr, nullptr, { &s_8ff333ebac1fdf36, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<311> b_f78829049ab814af = { @@ -2817,7 +2818,7 @@ static const uint16_t m_f78829049ab814af[] = {7, 6, 10, 14, 2, 4, 0, 1, 5, 11, 1 static const uint16_t i_f78829049ab814af[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}; const ::capnp::_::RawSchema s_f78829049ab814af = { 0xf78829049ab814af, b_f78829049ab814af.words, 311, d_f78829049ab814af, m_f78829049ab814af, - 3, 17, i_f78829049ab814af, nullptr, nullptr, { &s_f78829049ab814af, nullptr, nullptr, 0, 0, nullptr } + 3, 17, i_f78829049ab814af, nullptr, nullptr, { &s_f78829049ab814af, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<164> b_e97275a919432828 = { @@ -2995,7 +2996,7 @@ static const uint16_t m_e97275a919432828[] = {4, 1, 7, 0, 5, 6, 2, 8, 3}; static const uint16_t i_e97275a919432828[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; const ::capnp::_::RawSchema s_e97275a919432828 = { 0xe97275a919432828, b_e97275a919432828.words, 164, d_e97275a919432828, m_e97275a919432828, - 1, 9, i_e97275a919432828, nullptr, nullptr, { &s_e97275a919432828, nullptr, nullptr, 0, 0, nullptr } + 1, 9, i_e97275a919432828, nullptr, nullptr, { &s_e97275a919432828, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<38> b_e40f3a917d908282 = { @@ -3043,7 +3044,7 @@ static const ::capnp::_::AlignedData<38> b_e40f3a917d908282 = { static const uint16_t m_e40f3a917d908282[] = {0, 1, 3, 2}; const ::capnp::_::RawSchema s_e40f3a917d908282 = { 0xe40f3a917d908282, b_e40f3a917d908282.words, 38, nullptr, m_e40f3a917d908282, - 0, 4, nullptr, nullptr, nullptr, { &s_e40f3a917d908282, nullptr, nullptr, 0, 0, nullptr } + 0, 4, nullptr, nullptr, nullptr, { &s_e40f3a917d908282, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(LongControlState_e40f3a917d908282, e40f3a917d908282); @@ -3154,7 +3155,7 @@ static const uint16_t m_b20e386e0e0ba8d3[] = {3, 0, 4, 1, 2}; static const uint16_t i_b20e386e0e0ba8d3[] = {0, 1, 2, 3, 4}; const ::capnp::_::RawSchema s_b20e386e0e0ba8d3 = { 0xb20e386e0e0ba8d3, b_b20e386e0e0ba8d3.words, 99, nullptr, m_b20e386e0e0ba8d3, - 0, 5, i_b20e386e0e0ba8d3, nullptr, nullptr, { &s_b20e386e0e0ba8d3, nullptr, nullptr, 0, 0, nullptr } + 0, 5, i_b20e386e0e0ba8d3, nullptr, nullptr, { &s_b20e386e0e0ba8d3, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<187> b_d895c87c4eb03a38 = { @@ -3356,7 +3357,7 @@ static const uint16_t m_d895c87c4eb03a38[] = {5, 2, 3, 9, 7, 8, 6, 1, 0, 4}; static const uint16_t i_d895c87c4eb03a38[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; const ::capnp::_::RawSchema s_d895c87c4eb03a38 = { 0xd895c87c4eb03a38, b_d895c87c4eb03a38.words, 187, d_d895c87c4eb03a38, m_d895c87c4eb03a38, - 2, 10, i_d895c87c4eb03a38, nullptr, nullptr, { &s_d895c87c4eb03a38, nullptr, nullptr, 0, 0, nullptr } + 2, 10, i_d895c87c4eb03a38, nullptr, nullptr, { &s_d895c87c4eb03a38, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<58> b_90d78e84616e17d4 = { @@ -3424,7 +3425,7 @@ static const ::capnp::_::AlignedData<58> b_90d78e84616e17d4 = { static const uint16_t m_90d78e84616e17d4[] = {3, 1, 7, 0, 5, 6, 2, 4}; const ::capnp::_::RawSchema s_90d78e84616e17d4 = { 0x90d78e84616e17d4, b_90d78e84616e17d4.words, 58, nullptr, m_90d78e84616e17d4, - 0, 8, nullptr, nullptr, nullptr, { &s_90d78e84616e17d4, nullptr, nullptr, 0, 0, nullptr } + 0, 8, nullptr, nullptr, nullptr, { &s_90d78e84616e17d4, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(VisualAlert_90d78e84616e17d4, 90d78e84616e17d4); @@ -3498,7 +3499,7 @@ static const ::capnp::_::AlignedData<63> b_f5a5e26c954e339e = { static const uint16_t m_f5a5e26c954e339e[] = {2, 1, 0, 6, 8, 7, 3, 5, 4}; const ::capnp::_::RawSchema s_f5a5e26c954e339e = { 0xf5a5e26c954e339e, b_f5a5e26c954e339e.words, 63, nullptr, m_f5a5e26c954e339e, - 0, 9, nullptr, nullptr, nullptr, { &s_f5a5e26c954e339e, nullptr, nullptr, 0, 0, nullptr } + 0, 9, nullptr, nullptr, nullptr, { &s_f5a5e26c954e339e, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(AudibleAlert_f5a5e26c954e339e, f5a5e26c954e339e); @@ -4806,7 +4807,7 @@ static const uint16_t m_8c69372490aaa9da[] = {63, 66, 15, 16, 1, 42, 0, 37, 19, static const uint16_t i_8c69372490aaa9da[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70}; const ::capnp::_::RawSchema s_8c69372490aaa9da = { 0x8c69372490aaa9da, b_8c69372490aaa9da.words, 1284, d_8c69372490aaa9da, m_8c69372490aaa9da, - 10, 71, i_8c69372490aaa9da, nullptr, nullptr, { &s_8c69372490aaa9da, nullptr, nullptr, 0, 0, nullptr } + 10, 71, i_8c69372490aaa9da, nullptr, nullptr, { &s_8c69372490aaa9da, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<85> b_e836349c6056b0c9 = { @@ -4905,7 +4906,7 @@ static const uint16_t m_e836349c6056b0c9[] = {0, 3, 2, 1}; static const uint16_t i_e836349c6056b0c9[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_e836349c6056b0c9 = { 0xe836349c6056b0c9, b_e836349c6056b0c9.words, 85, d_e836349c6056b0c9, m_e836349c6056b0c9, - 1, 4, i_e836349c6056b0c9, nullptr, nullptr, { &s_e836349c6056b0c9, nullptr, nullptr, 0, 0, nullptr } + 1, 4, i_e836349c6056b0c9, nullptr, nullptr, { &s_e836349c6056b0c9, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<58> b_b581b23b1c89dda3 = { @@ -4974,7 +4975,7 @@ static const uint16_t m_b581b23b1c89dda3[] = {0, 1}; static const uint16_t i_b581b23b1c89dda3[] = {0, 1}; const ::capnp::_::RawSchema s_b581b23b1c89dda3 = { 0xb581b23b1c89dda3, b_b581b23b1c89dda3.words, 58, nullptr, m_b581b23b1c89dda3, - 0, 2, i_b581b23b1c89dda3, nullptr, nullptr, { &s_b581b23b1c89dda3, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_b581b23b1c89dda3, nullptr, nullptr, { &s_b581b23b1c89dda3, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<110> b_9622723fcbd14c2e = { @@ -5095,7 +5096,7 @@ static const uint16_t m_9622723fcbd14c2e[] = {4, 2, 3, 0, 1}; static const uint16_t i_9622723fcbd14c2e[] = {0, 1, 2, 3, 4}; const ::capnp::_::RawSchema s_9622723fcbd14c2e = { 0x9622723fcbd14c2e, b_9622723fcbd14c2e.words, 110, nullptr, m_9622723fcbd14c2e, - 0, 5, i_9622723fcbd14c2e, nullptr, nullptr, { &s_9622723fcbd14c2e, nullptr, nullptr, 0, 0, nullptr } + 0, 5, i_9622723fcbd14c2e, nullptr, nullptr, { &s_9622723fcbd14c2e, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<147> b_80366e0e804ecc1d = { @@ -5253,7 +5254,7 @@ static const uint16_t m_80366e0e804ecc1d[] = {3, 4, 2, 1, 6, 7, 5, 0}; static const uint16_t i_80366e0e804ecc1d[] = {0, 1, 2, 3, 4, 5, 6, 7}; const ::capnp::_::RawSchema s_80366e0e804ecc1d = { 0x80366e0e804ecc1d, b_80366e0e804ecc1d.words, 147, nullptr, m_80366e0e804ecc1d, - 0, 8, i_80366e0e804ecc1d, nullptr, nullptr, { &s_80366e0e804ecc1d, nullptr, nullptr, 0, 0, nullptr } + 0, 8, i_80366e0e804ecc1d, nullptr, nullptr, { &s_80366e0e804ecc1d, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<151> b_c342cefc303e9b8e = { @@ -5415,7 +5416,7 @@ static const uint16_t m_c342cefc303e9b8e[] = {4, 5, 6, 2, 3, 0, 1}; static const uint16_t i_c342cefc303e9b8e[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_c342cefc303e9b8e = { 0xc342cefc303e9b8e, b_c342cefc303e9b8e.words, 151, nullptr, m_c342cefc303e9b8e, - 0, 7, i_c342cefc303e9b8e, nullptr, nullptr, { &s_c342cefc303e9b8e, nullptr, nullptr, 0, 0, nullptr } + 0, 7, i_c342cefc303e9b8e, nullptr, nullptr, { &s_c342cefc303e9b8e, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<250> b_a334472e045533b3 = { @@ -5676,7 +5677,7 @@ static const uint16_t m_a334472e045533b3[] = {10, 3, 11, 6, 1, 7, 4, 0, 5, 8, 2, static const uint16_t i_a334472e045533b3[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11}; const ::capnp::_::RawSchema s_a334472e045533b3 = { 0xa334472e045533b3, b_a334472e045533b3.words, 250, nullptr, m_a334472e045533b3, - 0, 12, i_a334472e045533b3, nullptr, nullptr, { &s_a334472e045533b3, nullptr, nullptr, 0, 0, nullptr } + 0, 12, i_a334472e045533b3, nullptr, nullptr, { &s_a334472e045533b3, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<159> b_9d151e3f28616a12 = { @@ -5846,7 +5847,7 @@ static const uint16_t m_9d151e3f28616a12[] = {3, 4, 5, 2, 6, 1, 7, 0}; static const uint16_t i_9d151e3f28616a12[] = {0, 1, 2, 3, 4, 5, 6, 7}; const ::capnp::_::RawSchema s_9d151e3f28616a12 = { 0x9d151e3f28616a12, b_9d151e3f28616a12.words, 159, nullptr, m_9d151e3f28616a12, - 0, 8, i_9d151e3f28616a12, nullptr, nullptr, { &s_9d151e3f28616a12, nullptr, nullptr, 0, 0, nullptr } + 0, 8, i_9d151e3f28616a12, nullptr, nullptr, { &s_9d151e3f28616a12, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<158> b_95551e5b1edaf451 = { @@ -6014,11 +6015,11 @@ static const ::capnp::_::AlignedData<158> b_95551e5b1edaf451 = { static const uint16_t m_95551e5b1edaf451[] = {17, 27, 7, 9, 3, 6, 4, 18, 12, 20, 5, 1, 26, 8, 28, 24, 23, 13, 14, 19, 0, 11, 22, 10, 2, 16, 15, 25, 29, 21}; const ::capnp::_::RawSchema s_95551e5b1edaf451 = { 0x95551e5b1edaf451, b_95551e5b1edaf451.words, 158, nullptr, m_95551e5b1edaf451, - 0, 30, nullptr, nullptr, nullptr, { &s_95551e5b1edaf451, nullptr, nullptr, 0, 0, nullptr } + 0, 30, nullptr, nullptr, nullptr, { &s_95551e5b1edaf451, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(SafetyModel_95551e5b1edaf451, 95551e5b1edaf451); -static const ::capnp::_::AlignedData<32> b_d661512be2def77f = { +static const ::capnp::_::AlignedData<33> b_d661512be2def77f = { { 0, 0, 0, 0, 5, 0, 6, 0, 127, 247, 222, 226, 43, 81, 97, 214, 20, 0, 0, 0, 2, 0, 0, 0, @@ -6045,19 +6046,20 @@ static const ::capnp::_::AlignedData<32> b_d661512be2def77f = { 21, 0, 0, 0, 50, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 0, 0, - 13, 0, 0, 0, 82, 0, 0, 0, + 13, 0, 0, 0, 162, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 116, 111, 114, 113, 117, 101, 0, 0, 97, 110, 103, 108, 101, 0, 0, 0, 99, 117, 114, 118, 97, 116, 117, 114, - 101, 0, 0, 0, 0, 0, 0, 0, } + 101, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, } }; ::capnp::word const* const bp_d661512be2def77f = b_d661512be2def77f.words; #if !CAPNP_LITE static const uint16_t m_d661512be2def77f[] = {1, 2, 0}; const ::capnp::_::RawSchema s_d661512be2def77f = { - 0xd661512be2def77f, b_d661512be2def77f.words, 32, nullptr, m_d661512be2def77f, - 0, 3, nullptr, nullptr, nullptr, { &s_d661512be2def77f, nullptr, nullptr, 0, 0, nullptr } + 0xd661512be2def77f, b_d661512be2def77f.words, 33, nullptr, m_d661512be2def77f, + 0, 3, nullptr, nullptr, nullptr, { &s_d661512be2def77f, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(SteerControlType_d661512be2def77f, d661512be2def77f); @@ -6108,7 +6110,7 @@ static const ::capnp::_::AlignedData<40> b_8f162eeb14bfc0ec = { static const uint16_t m_8f162eeb14bfc0ec[] = {1, 4, 3, 2, 0}; const ::capnp::_::RawSchema s_8f162eeb14bfc0ec = { 0x8f162eeb14bfc0ec, b_8f162eeb14bfc0ec.words, 40, nullptr, m_8f162eeb14bfc0ec, - 0, 5, nullptr, nullptr, nullptr, { &s_8f162eeb14bfc0ec, nullptr, nullptr, 0, 0, nullptr } + 0, 5, nullptr, nullptr, nullptr, { &s_8f162eeb14bfc0ec, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(TransmissionType_8f162eeb14bfc0ec, 8f162eeb14bfc0ec); @@ -6299,7 +6301,7 @@ static const uint16_t m_962b56180c9359ce[] = {2, 6, 7, 0, 1, 8, 9, 5, 4, 3}; static const uint16_t i_962b56180c9359ce[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; const ::capnp::_::RawSchema s_962b56180c9359ce = { 0x962b56180c9359ce, b_962b56180c9359ce.words, 176, d_962b56180c9359ce, m_962b56180c9359ce, - 1, 10, i_962b56180c9359ce, nullptr, nullptr, { &s_962b56180c9359ce, nullptr, nullptr, 0, 0, nullptr } + 1, 10, i_962b56180c9359ce, nullptr, nullptr, { &s_962b56180c9359ce, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<130> b_f7119bb759d1d691 = { @@ -6439,7 +6441,7 @@ static const ::capnp::_::AlignedData<130> b_f7119bb759d1d691 = { static const uint16_t m_f7119bb759d1d691[] = {1, 19, 24, 12, 21, 17, 6, 15, 4, 22, 0, 3, 2, 10, 11, 20, 18, 7, 14, 16, 9, 23, 8, 5, 13}; const ::capnp::_::RawSchema s_f7119bb759d1d691 = { 0xf7119bb759d1d691, b_f7119bb759d1d691.words, 130, nullptr, m_f7119bb759d1d691, - 0, 25, nullptr, nullptr, nullptr, { &s_f7119bb759d1d691, nullptr, nullptr, 0, 0, nullptr } + 0, 25, nullptr, nullptr, nullptr, { &s_f7119bb759d1d691, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Ecu_f7119bb759d1d691, f7119bb759d1d691); @@ -6481,7 +6483,7 @@ static const ::capnp::_::AlignedData<31> b_9fd95523d8dc40ce = { static const uint16_t m_9fd95523d8dc40ce[] = {0, 2, 1}; const ::capnp::_::RawSchema s_9fd95523d8dc40ce = { 0x9fd95523d8dc40ce, b_9fd95523d8dc40ce.words, 31, nullptr, m_9fd95523d8dc40ce, - 0, 3, nullptr, nullptr, nullptr, { &s_9fd95523d8dc40ce, nullptr, nullptr, 0, 0, nullptr } + 0, 3, nullptr, nullptr, nullptr, { &s_9fd95523d8dc40ce, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(FingerprintSource_9fd95523d8dc40ce, 9fd95523d8dc40ce); @@ -6520,7 +6522,7 @@ static const ::capnp::_::AlignedData<28> b_ff99e3682a833c51 = { static const uint16_t m_ff99e3682a833c51[] = {0, 1}; const ::capnp::_::RawSchema s_ff99e3682a833c51 = { 0xff99e3682a833c51, b_ff99e3682a833c51.words, 28, nullptr, m_ff99e3682a833c51, - 0, 2, nullptr, nullptr, nullptr, { &s_ff99e3682a833c51, nullptr, nullptr, 0, 0, nullptr } + 0, 2, nullptr, nullptr, nullptr, { &s_ff99e3682a833c51, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(NetworkLocation_ff99e3682a833c51, ff99e3682a833c51); @@ -6619,7 +6621,7 @@ static const uint16_t m_93fc580a35339568[] = {1, 2, 0, 3}; static const uint16_t i_93fc580a35339568[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_93fc580a35339568 = { 0x93fc580a35339568, b_93fc580a35339568.words, 80, d_93fc580a35339568, m_93fc580a35339568, - 5, 4, i_93fc580a35339568, nullptr, nullptr, { &s_93fc580a35339568, nullptr, nullptr, 0, 0, nullptr } + 5, 4, i_93fc580a35339568, nullptr, nullptr, { &s_93fc580a35339568, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE } // namespace schemas @@ -6630,171 +6632,255 @@ const ::capnp::_::RawSchema s_93fc580a35339568 = { namespace cereal { // CarEvent +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarEvent::_capnpPrivate::dataWordSize; constexpr uint16_t CarEvent::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarEvent::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarEvent::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarState::_capnpPrivate::dataWordSize; constexpr uint16_t CarState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarState::WheelSpeeds +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarState::WheelSpeeds::_capnpPrivate::dataWordSize; constexpr uint16_t CarState::WheelSpeeds::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarState::WheelSpeeds::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarState::WheelSpeeds::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarState::CruiseState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarState::CruiseState::_capnpPrivate::dataWordSize; constexpr uint16_t CarState::CruiseState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarState::CruiseState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarState::CruiseState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarState::ButtonEvent +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarState::ButtonEvent::_capnpPrivate::dataWordSize; constexpr uint16_t CarState::ButtonEvent::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarState::ButtonEvent::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarState::ButtonEvent::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // RadarData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t RadarData::_capnpPrivate::dataWordSize; constexpr uint16_t RadarData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind RadarData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* RadarData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // RadarData::RadarPoint +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t RadarData::RadarPoint::_capnpPrivate::dataWordSize; constexpr uint16_t RadarData::RadarPoint::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind RadarData::RadarPoint::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* RadarData::RadarPoint::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarControl +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarControl::_capnpPrivate::dataWordSize; constexpr uint16_t CarControl::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarControl::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarControl::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarControl::Actuators +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarControl::Actuators::_capnpPrivate::dataWordSize; constexpr uint16_t CarControl::Actuators::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarControl::Actuators::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarControl::Actuators::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarControl::CruiseControl +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarControl::CruiseControl::_capnpPrivate::dataWordSize; constexpr uint16_t CarControl::CruiseControl::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarControl::CruiseControl::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarControl::CruiseControl::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarControl::HUDControl +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarControl::HUDControl::_capnpPrivate::dataWordSize; constexpr uint16_t CarControl::HUDControl::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarControl::HUDControl::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarControl::HUDControl::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarParams +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarParams::_capnpPrivate::dataWordSize; constexpr uint16_t CarParams::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarParams::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarParams::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarParams::SafetyConfig +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarParams::SafetyConfig::_capnpPrivate::dataWordSize; constexpr uint16_t CarParams::SafetyConfig::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarParams::SafetyConfig::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarParams::SafetyConfig::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarParams::LateralParams +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarParams::LateralParams::_capnpPrivate::dataWordSize; constexpr uint16_t CarParams::LateralParams::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarParams::LateralParams::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarParams::LateralParams::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarParams::LateralPIDTuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarParams::LateralPIDTuning::_capnpPrivate::dataWordSize; constexpr uint16_t CarParams::LateralPIDTuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarParams::LateralPIDTuning::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarParams::LateralPIDTuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarParams::LateralTorqueTuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarParams::LateralTorqueTuning::_capnpPrivate::dataWordSize; constexpr uint16_t CarParams::LateralTorqueTuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarParams::LateralTorqueTuning::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarParams::LateralTorqueTuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarParams::LongitudinalPIDTuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarParams::LongitudinalPIDTuning::_capnpPrivate::dataWordSize; constexpr uint16_t CarParams::LongitudinalPIDTuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarParams::LongitudinalPIDTuning::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarParams::LongitudinalPIDTuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarParams::LateralINDITuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarParams::LateralINDITuning::_capnpPrivate::dataWordSize; constexpr uint16_t CarParams::LateralINDITuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarParams::LateralINDITuning::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarParams::LateralINDITuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarParams::LateralLQRTuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarParams::LateralLQRTuning::_capnpPrivate::dataWordSize; constexpr uint16_t CarParams::LateralLQRTuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarParams::LateralLQRTuning::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarParams::LateralLQRTuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarParams::CarFw +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarParams::CarFw::_capnpPrivate::dataWordSize; constexpr uint16_t CarParams::CarFw::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarParams::CarFw::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarParams::CarFw::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CarParams::LateralTuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CarParams::LateralTuning::_capnpPrivate::dataWordSize; constexpr uint16_t CarParams::LateralTuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CarParams::LateralTuning::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CarParams::LateralTuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE diff --git a/cereal/gen/cpp/car.capnp.h b/cereal/gen/cpp/car.capnp.h index 2620dc951..0bebd3fa7 100644 --- a/cereal/gen/cpp/car.capnp.h +++ b/cereal/gen/cpp/car.capnp.h @@ -6,11 +6,15 @@ #include #include -#if CAPNP_VERSION != 8000 +#ifndef CAPNP_VERSION +#error "CAPNP_VERSION is not defined, is capnp/generated-header-support.h missing?" +#elif CAPNP_VERSION != 1000002 #error "Version mismatch between generated code and library headers. You must use the same version of the Cap'n Proto compiler and library." #endif +CAPNP_BEGIN_HEADER + namespace capnp { namespace schemas { @@ -49,7 +53,7 @@ enum class EventName_baa8c5d505f727de: uint16_t { PARK_BRAKE, MANUAL_RESTART, LOW_SPEED_LOCKOUT, - PLANNER_ERROR, + PLANNER_ERROR_D_E_P_R_E_C_A_T_E_D, IPAS_OVERRIDE_D_E_P_R_E_C_A_T_E_D, JOYSTICK_DEBUG, STEER_TEMP_UNAVAILABLE_SILENT, @@ -265,7 +269,7 @@ CAPNP_DECLARE_SCHEMA(d661512be2def77f); enum class SteerControlType_d661512be2def77f: uint16_t { TORQUE, ANGLE, - CURVATURE, + CURVATURE_D_E_P_R_E_C_A_T_E_D, }; CAPNP_DECLARE_ENUM(SteerControlType, d661512be2def77f); CAPNP_DECLARE_SCHEMA(8f162eeb14bfc0ec); @@ -8853,3 +8857,5 @@ inline ::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning> CarParams::Lat } // namespace +CAPNP_END_HEADER + diff --git a/cereal/gen/cpp/custom.capnp.c++ b/cereal/gen/cpp/custom.capnp.c++ index 43aed1b79..dbacc49c0 100644 --- a/cereal/gen/cpp/custom.capnp.c++ +++ b/cereal/gen/cpp/custom.capnp.c++ @@ -379,7 +379,7 @@ static const uint16_t m_81c2f05a394cf4af[] = {13, 18, 19, 17, 14, 15, 16, 12, 1, static const uint16_t i_81c2f05a394cf4af[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19}; const ::capnp::_::RawSchema s_81c2f05a394cf4af = { 0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 366, nullptr, m_81c2f05a394cf4af, - 0, 20, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr } + 0, 20, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<115> b_aedffd8f31e7b55d = { @@ -509,7 +509,7 @@ static const uint16_t m_aedffd8f31e7b55d[] = {1, 0, 4, 2, 3}; static const uint16_t i_aedffd8f31e7b55d[] = {0, 1, 2, 3, 4}; const ::capnp::_::RawSchema s_aedffd8f31e7b55d = { 0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 115, d_aedffd8f31e7b55d, m_aedffd8f31e7b55d, - 2, 5, i_aedffd8f31e7b55d, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr } + 2, 5, i_aedffd8f31e7b55d, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<46> b_b42a75baee731fce = { @@ -565,7 +565,7 @@ static const ::capnp::_::AlignedData<46> b_b42a75baee731fce = { static const uint16_t m_b42a75baee731fce[] = {0, 4, 1, 2, 3, 5}; const ::capnp::_::RawSchema s_b42a75baee731fce = { 0xb42a75baee731fce, b_b42a75baee731fce.words, 46, nullptr, m_b42a75baee731fce, - 0, 6, nullptr, nullptr, nullptr, { &s_b42a75baee731fce, nullptr, nullptr, 0, 0, nullptr } + 0, 6, nullptr, nullptr, nullptr, { &s_b42a75baee731fce, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(LongitudinalPlanExtSource_b42a75baee731fce, b42a75baee731fce); @@ -616,7 +616,7 @@ static const ::capnp::_::AlignedData<40> b_d1124e845254aeda = { static const uint16_t m_d1124e845254aeda[] = {0, 1, 3, 2}; const ::capnp::_::RawSchema s_d1124e845254aeda = { 0xd1124e845254aeda, b_d1124e845254aeda.words, 40, nullptr, m_d1124e845254aeda, - 0, 4, nullptr, nullptr, nullptr, { &s_d1124e845254aeda, nullptr, nullptr, 0, 0, nullptr } + 0, 4, nullptr, nullptr, nullptr, { &s_d1124e845254aeda, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(VisionTurnControllerState_d1124e845254aeda, d1124e845254aeda); @@ -686,7 +686,7 @@ static const uint16_t m_f35cc4560bbf6ec2[] = {0, 1}; static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1}; const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = { 0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 58, nullptr, m_f35cc4560bbf6ec2, - 0, 2, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<50> b_da96579883444c35 = { @@ -747,33 +747,100 @@ static const uint16_t m_da96579883444c35[] = {0, 1}; static const uint16_t i_da96579883444c35[] = {0, 1}; const ::capnp::_::RawSchema s_da96579883444c35 = { 0xda96579883444c35, b_da96579883444c35.words, 50, nullptr, m_da96579883444c35, - 0, 2, i_da96579883444c35, nullptr, nullptr, { &s_da96579883444c35, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_da96579883444c35, nullptr, nullptr, { &s_da96579883444c35, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE -static const ::capnp::_::AlignedData<17> b_80ae746ee2596b11 = { +static const ::capnp::_::AlignedData<82> b_80ae746ee2596b11 = { { 0, 0, 0, 0, 5, 0, 6, 0, 17, 107, 89, 226, 110, 116, 174, 128, 13, 0, 0, 0, 1, 0, 0, 0, 89, 10, 85, 29, 102, 186, 38, 181, - 0, 0, 7, 0, 0, 0, 0, 0, + 4, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 21, 0, 0, 0, 234, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, 33, 0, 0, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 99, 117, 115, 116, 111, 109, 46, 99, - 97, 112, 110, 112, 58, 67, 117, 115, - 116, 111, 109, 82, 101, 115, 101, 114, - 118, 101, 100, 52, 0, 0, 0, 0, - 0, 0, 0, 0, 1, 0, 1, 0, } + 97, 112, 110, 112, 58, 78, 97, 118, + 73, 110, 115, 116, 114, 117, 99, 116, + 105, 111, 110, 69, 120, 116, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 118, 111, 105, 99, 101, 68, 105, 115, + 116, 97, 110, 99, 101, 0, 0, 0, + 12, 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, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 111, 105, 99, 101, 68, 105, 114, + 101, 99, 116, 105, 111, 110, 0, 0, + 12, 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, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 99, 111, 110, 68, 105, 115, 116, + 97, 110, 99, 101, 0, 0, 0, 0, + 12, 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, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 99, 111, 110, 68, 105, 114, 101, + 99, 116, 105, 111, 110, 0, 0, 0, + 12, 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, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } }; ::capnp::word const* const bp_80ae746ee2596b11 = b_80ae746ee2596b11.words; #if !CAPNP_LITE +static const uint16_t m_80ae746ee2596b11[] = {3, 2, 1, 0}; +static const uint16_t i_80ae746ee2596b11[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_80ae746ee2596b11 = { - 0x80ae746ee2596b11, b_80ae746ee2596b11.words, 17, nullptr, nullptr, - 0, 0, nullptr, nullptr, nullptr, { &s_80ae746ee2596b11, nullptr, nullptr, 0, 0, nullptr } + 0x80ae746ee2596b11, b_80ae746ee2596b11.words, 82, nullptr, m_80ae746ee2596b11, + 0, 4, i_80ae746ee2596b11, nullptr, nullptr, { &s_80ae746ee2596b11, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<17> b_a5cd762cd951a455 = { @@ -799,7 +866,7 @@ static const ::capnp::_::AlignedData<17> b_a5cd762cd951a455 = { #if !CAPNP_LITE const ::capnp::_::RawSchema s_a5cd762cd951a455 = { 0xa5cd762cd951a455, b_a5cd762cd951a455.words, 17, nullptr, nullptr, - 0, 0, nullptr, nullptr, nullptr, { &s_a5cd762cd951a455, nullptr, nullptr, 0, 0, nullptr } + 0, 0, nullptr, nullptr, nullptr, { &s_a5cd762cd951a455, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<17> b_f98d843bfd7004a3 = { @@ -825,7 +892,7 @@ static const ::capnp::_::AlignedData<17> b_f98d843bfd7004a3 = { #if !CAPNP_LITE const ::capnp::_::RawSchema s_f98d843bfd7004a3 = { 0xf98d843bfd7004a3, b_f98d843bfd7004a3.words, 17, nullptr, nullptr, - 0, 0, nullptr, nullptr, nullptr, { &s_f98d843bfd7004a3, nullptr, nullptr, 0, 0, nullptr } + 0, 0, nullptr, nullptr, nullptr, { &s_f98d843bfd7004a3, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<17> b_b86e6369214c01c8 = { @@ -851,7 +918,7 @@ static const ::capnp::_::AlignedData<17> b_b86e6369214c01c8 = { #if !CAPNP_LITE const ::capnp::_::RawSchema s_b86e6369214c01c8 = { 0xb86e6369214c01c8, b_b86e6369214c01c8.words, 17, nullptr, nullptr, - 0, 0, nullptr, nullptr, nullptr, { &s_b86e6369214c01c8, nullptr, nullptr, 0, 0, nullptr } + 0, 0, nullptr, nullptr, nullptr, { &s_b86e6369214c01c8, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<17> b_f416ec09499d9d19 = { @@ -877,7 +944,7 @@ static const ::capnp::_::AlignedData<17> b_f416ec09499d9d19 = { #if !CAPNP_LITE const ::capnp::_::RawSchema s_f416ec09499d9d19 = { 0xf416ec09499d9d19, b_f416ec09499d9d19.words, 17, nullptr, nullptr, - 0, 0, nullptr, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr } + 0, 0, nullptr, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<17> b_a1680744031fdb2d = { @@ -903,7 +970,7 @@ static const ::capnp::_::AlignedData<17> b_a1680744031fdb2d = { #if !CAPNP_LITE const ::capnp::_::RawSchema s_a1680744031fdb2d = { 0xa1680744031fdb2d, b_a1680744031fdb2d.words, 17, nullptr, nullptr, - 0, 0, nullptr, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr } + 0, 0, nullptr, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE } // namespace schemas @@ -914,83 +981,123 @@ const ::capnp::_::RawSchema s_a1680744031fdb2d = { namespace cereal { // LiveMapData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LiveMapData::_capnpPrivate::dataWordSize; constexpr uint16_t LiveMapData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LiveMapData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LiveMapData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LongitudinalPlanExt +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LongitudinalPlanExt::_capnpPrivate::dataWordSize; constexpr uint16_t LongitudinalPlanExt::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LongitudinalPlanExt::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LongitudinalPlanExt::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LateralPlanExt +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LateralPlanExt::_capnpPrivate::dataWordSize; constexpr uint16_t LateralPlanExt::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LateralPlanExt::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LateralPlanExt::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ControlsStateExt +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ControlsStateExt::_capnpPrivate::dataWordSize; constexpr uint16_t ControlsStateExt::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ControlsStateExt::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ControlsStateExt::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE -// CustomReserved4 -constexpr uint16_t CustomReserved4::_capnpPrivate::dataWordSize; -constexpr uint16_t CustomReserved4::_capnpPrivate::pointerCount; +// NavInstructionExt +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavInstructionExt::_capnpPrivate::dataWordSize; +constexpr uint16_t NavInstructionExt::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE -constexpr ::capnp::Kind CustomReserved4::_capnpPrivate::kind; -constexpr ::capnp::_::RawSchema const* CustomReserved4::_capnpPrivate::schema; +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavInstructionExt::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavInstructionExt::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CustomReserved5 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CustomReserved5::_capnpPrivate::dataWordSize; constexpr uint16_t CustomReserved5::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CustomReserved5::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CustomReserved5::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CustomReserved6 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CustomReserved6::_capnpPrivate::dataWordSize; constexpr uint16_t CustomReserved6::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CustomReserved6::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CustomReserved6::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CustomReserved7 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CustomReserved7::_capnpPrivate::dataWordSize; constexpr uint16_t CustomReserved7::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CustomReserved7::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CustomReserved7::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CustomReserved8 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CustomReserved8::_capnpPrivate::dataWordSize; constexpr uint16_t CustomReserved8::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CustomReserved8::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CustomReserved8::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CustomReserved9 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CustomReserved9::_capnpPrivate::dataWordSize; constexpr uint16_t CustomReserved9::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CustomReserved9::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CustomReserved9::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE diff --git a/cereal/gen/cpp/custom.capnp.h b/cereal/gen/cpp/custom.capnp.h index 61836f2e2..85d90b656 100644 --- a/cereal/gen/cpp/custom.capnp.h +++ b/cereal/gen/cpp/custom.capnp.h @@ -6,11 +6,15 @@ #include #include -#if CAPNP_VERSION != 8000 +#ifndef CAPNP_VERSION +#error "CAPNP_VERSION is not defined, is capnp/generated-header-support.h missing?" +#elif CAPNP_VERSION != 1000002 #error "Version mismatch between generated code and library headers. You must use the same version of the Cap'n Proto compiler and library." #endif +CAPNP_BEGIN_HEADER + namespace capnp { namespace schemas { @@ -112,15 +116,15 @@ struct ControlsStateExt { }; }; -struct CustomReserved4 { - CustomReserved4() = delete; +struct NavInstructionExt { + NavInstructionExt() = delete; class Reader; class Builder; class Pipeline; struct _capnpPrivate { - CAPNP_DECLARE_STRUCT_HEADER(80ae746ee2596b11, 0, 0) + CAPNP_DECLARE_STRUCT_HEADER(80ae746ee2596b11, 0, 4) #if !CAPNP_LITE static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } #endif // !CAPNP_LITE @@ -668,9 +672,9 @@ private: }; #endif // !CAPNP_LITE -class CustomReserved4::Reader { +class NavInstructionExt::Reader { public: - typedef CustomReserved4 Reads; + typedef NavInstructionExt Reads; Reader() = default; inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} @@ -685,6 +689,18 @@ public: } #endif // !CAPNP_LITE + inline bool hasVoiceDistance() const; + inline ::capnp::Text::Reader getVoiceDistance() const; + + inline bool hasVoiceDirection() const; + inline ::capnp::Text::Reader getVoiceDirection() const; + + inline bool hasIconDistance() const; + inline ::capnp::Text::Reader getIconDistance() const; + + inline bool hasIconDirection() const; + inline ::capnp::Text::Reader getIconDirection() const; + private: ::capnp::_::StructReader _reader; template @@ -697,9 +713,9 @@ private: friend class ::capnp::Orphanage; }; -class CustomReserved4::Builder { +class NavInstructionExt::Builder { public: - typedef CustomReserved4 Builds; + typedef NavInstructionExt Builds; Builder() = delete; // Deleted to discourage incorrect usage. // You can explicitly initialize to nullptr instead. @@ -713,6 +729,34 @@ public: inline ::kj::StringTree toString() const { return asReader().toString(); } #endif // !CAPNP_LITE + inline bool hasVoiceDistance(); + inline ::capnp::Text::Builder getVoiceDistance(); + inline void setVoiceDistance( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initVoiceDistance(unsigned int size); + inline void adoptVoiceDistance(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownVoiceDistance(); + + inline bool hasVoiceDirection(); + inline ::capnp::Text::Builder getVoiceDirection(); + inline void setVoiceDirection( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initVoiceDirection(unsigned int size); + inline void adoptVoiceDirection(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownVoiceDirection(); + + inline bool hasIconDistance(); + inline ::capnp::Text::Builder getIconDistance(); + inline void setIconDistance( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initIconDistance(unsigned int size); + inline void adoptIconDistance(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownIconDistance(); + + inline bool hasIconDirection(); + inline ::capnp::Text::Builder getIconDirection(); + inline void setIconDirection( ::capnp::Text::Reader value); + inline ::capnp::Text::Builder initIconDirection(unsigned int size); + inline void adoptIconDirection(::capnp::Orphan< ::capnp::Text>&& value); + inline ::capnp::Orphan< ::capnp::Text> disownIconDirection(); + private: ::capnp::_::StructBuilder _builder; template @@ -723,9 +767,9 @@ private: }; #if !CAPNP_LITE -class CustomReserved4::Pipeline { +class NavInstructionExt::Pipeline { public: - typedef CustomReserved4 Pipelines; + typedef NavInstructionExt Pipelines; inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) @@ -1642,5 +1686,143 @@ inline void ControlsStateExt::Builder::setAlkaEnabled(bool value) { ::capnp::bounded<1>() * ::capnp::ELEMENTS, value); } +inline bool NavInstructionExt::Reader::hasVoiceDistance() const { + return !_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline bool NavInstructionExt::Builder::hasVoiceDistance() { + return !_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavInstructionExt::Reader::getVoiceDistance() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavInstructionExt::Builder::getVoiceDistance() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} +inline void NavInstructionExt::Builder::setVoiceDistance( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavInstructionExt::Builder::initVoiceDistance(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), size); +} +inline void NavInstructionExt::Builder::adoptVoiceDistance( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavInstructionExt::Builder::disownVoiceDistance() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<0>() * ::capnp::POINTERS)); +} + +inline bool NavInstructionExt::Reader::hasVoiceDirection() const { + return !_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline bool NavInstructionExt::Builder::hasVoiceDirection() { + return !_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavInstructionExt::Reader::getVoiceDirection() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavInstructionExt::Builder::getVoiceDirection() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} +inline void NavInstructionExt::Builder::setVoiceDirection( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavInstructionExt::Builder::initVoiceDirection(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), size); +} +inline void NavInstructionExt::Builder::adoptVoiceDirection( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavInstructionExt::Builder::disownVoiceDirection() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<1>() * ::capnp::POINTERS)); +} + +inline bool NavInstructionExt::Reader::hasIconDistance() const { + return !_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline bool NavInstructionExt::Builder::hasIconDistance() { + return !_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavInstructionExt::Reader::getIconDistance() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavInstructionExt::Builder::getIconDistance() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} +inline void NavInstructionExt::Builder::setIconDistance( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavInstructionExt::Builder::initIconDistance(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), size); +} +inline void NavInstructionExt::Builder::adoptIconDistance( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavInstructionExt::Builder::disownIconDistance() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<2>() * ::capnp::POINTERS)); +} + +inline bool NavInstructionExt::Reader::hasIconDirection() const { + return !_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline bool NavInstructionExt::Builder::hasIconDirection() { + return !_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS).isNull(); +} +inline ::capnp::Text::Reader NavInstructionExt::Reader::getIconDirection() const { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline ::capnp::Text::Builder NavInstructionExt::Builder::getIconDirection() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} +inline void NavInstructionExt::Builder::setIconDirection( ::capnp::Text::Reader value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), value); +} +inline ::capnp::Text::Builder NavInstructionExt::Builder::initIconDirection(unsigned int size) { + return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), size); +} +inline void NavInstructionExt::Builder::adoptIconDirection( + ::capnp::Orphan< ::capnp::Text>&& value) { + ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::capnp::Text> NavInstructionExt::Builder::disownIconDirection() { + return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField( + ::capnp::bounded<3>() * ::capnp::POINTERS)); +} + } // namespace +CAPNP_END_HEADER + diff --git a/cereal/gen/cpp/legacy.capnp.c++ b/cereal/gen/cpp/legacy.capnp.c++ index b946d479f..101795932 100644 --- a/cereal/gen/cpp/legacy.capnp.c++ +++ b/cereal/gen/cpp/legacy.capnp.c++ @@ -61,7 +61,7 @@ static const uint16_t m_9811e1f38f62f2d1[] = {1, 0}; static const uint16_t i_9811e1f38f62f2d1[] = {0, 1}; const ::capnp::_::RawSchema s_9811e1f38f62f2d1 = { 0x9811e1f38f62f2d1, b_9811e1f38f62f2d1.words, 48, nullptr, m_9811e1f38f62f2d1, - 0, 2, i_9811e1f38f62f2d1, nullptr, nullptr, { &s_9811e1f38f62f2d1, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_9811e1f38f62f2d1, nullptr, nullptr, { &s_9811e1f38f62f2d1, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<81> b_c08240f996aefced = { @@ -153,7 +153,7 @@ static const uint16_t m_c08240f996aefced[] = {1, 2, 3, 0}; static const uint16_t i_c08240f996aefced[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_c08240f996aefced = { 0xc08240f996aefced, b_c08240f996aefced.words, 81, nullptr, m_c08240f996aefced, - 0, 4, i_c08240f996aefced, nullptr, nullptr, { &s_c08240f996aefced, nullptr, nullptr, 0, 0, nullptr } + 0, 4, i_c08240f996aefced, nullptr, nullptr, { &s_c08240f996aefced, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<86> b_88dcce08ad29dda0 = { @@ -253,7 +253,7 @@ static const uint16_t m_88dcce08ad29dda0[] = {0, 2, 3, 1}; static const uint16_t i_88dcce08ad29dda0[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_88dcce08ad29dda0 = { 0x88dcce08ad29dda0, b_88dcce08ad29dda0.words, 86, d_88dcce08ad29dda0, m_88dcce08ad29dda0, - 1, 4, i_88dcce08ad29dda0, nullptr, nullptr, { &s_88dcce08ad29dda0, nullptr, nullptr, 0, 0, nullptr } + 1, 4, i_88dcce08ad29dda0, nullptr, nullptr, { &s_88dcce08ad29dda0, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<39> b_9917470acf94d285 = { @@ -302,7 +302,7 @@ static const ::capnp::_::AlignedData<39> b_9917470acf94d285 = { static const uint16_t m_9917470acf94d285[] = {0, 1, 2, 4, 3}; const ::capnp::_::RawSchema s_9917470acf94d285 = { 0x9917470acf94d285, b_9917470acf94d285.words, 39, nullptr, m_9917470acf94d285, - 0, 5, nullptr, nullptr, nullptr, { &s_9917470acf94d285, nullptr, nullptr, 0, 0, nullptr } + 0, 5, nullptr, nullptr, nullptr, { &s_9917470acf94d285, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(App_9917470acf94d285, 9917470acf94d285); @@ -447,7 +447,7 @@ static const uint16_t m_8afd33dc9b35e1aa[] = {0, 5, 4, 2, 3, 1}; static const uint16_t i_8afd33dc9b35e1aa[] = {0, 1, 2, 3, 4, 5}; const ::capnp::_::RawSchema s_8afd33dc9b35e1aa = { 0x8afd33dc9b35e1aa, b_8afd33dc9b35e1aa.words, 133, nullptr, m_8afd33dc9b35e1aa, - 0, 6, i_8afd33dc9b35e1aa, nullptr, nullptr, { &s_8afd33dc9b35e1aa, nullptr, nullptr, 0, 0, nullptr } + 0, 6, i_8afd33dc9b35e1aa, nullptr, nullptr, { &s_8afd33dc9b35e1aa, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<48> b_a99a9d5b33cf5859 = { @@ -506,7 +506,7 @@ static const uint16_t m_a99a9d5b33cf5859[] = {0, 1}; static const uint16_t i_a99a9d5b33cf5859[] = {0, 1}; const ::capnp::_::RawSchema s_a99a9d5b33cf5859 = { 0xa99a9d5b33cf5859, b_a99a9d5b33cf5859.words, 48, nullptr, m_a99a9d5b33cf5859, - 0, 2, i_a99a9d5b33cf5859, nullptr, nullptr, { &s_a99a9d5b33cf5859, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_a99a9d5b33cf5859, nullptr, nullptr, { &s_a99a9d5b33cf5859, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<48> b_cff7566681c277ce = { @@ -565,7 +565,7 @@ static const uint16_t m_cff7566681c277ce[] = {1, 0}; static const uint16_t i_cff7566681c277ce[] = {0, 1}; const ::capnp::_::RawSchema s_cff7566681c277ce = { 0xcff7566681c277ce, b_cff7566681c277ce.words, 48, nullptr, m_cff7566681c277ce, - 0, 2, i_cff7566681c277ce, nullptr, nullptr, { &s_cff7566681c277ce, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_cff7566681c277ce, nullptr, nullptr, { &s_cff7566681c277ce, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<260> b_d4df5a192382ba0b = { @@ -839,7 +839,7 @@ static const uint16_t m_d4df5a192382ba0b[] = {0, 2, 6, 7, 8, 13, 14, 3, 11, 4, 9 static const uint16_t i_d4df5a192382ba0b[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14}; const ::capnp::_::RawSchema s_d4df5a192382ba0b = { 0xd4df5a192382ba0b, b_d4df5a192382ba0b.words, 260, d_d4df5a192382ba0b, m_d4df5a192382ba0b, - 1, 15, i_d4df5a192382ba0b, nullptr, nullptr, { &s_d4df5a192382ba0b, nullptr, nullptr, 0, 0, nullptr } + 1, 15, i_d4df5a192382ba0b, nullptr, nullptr, { &s_d4df5a192382ba0b, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<40> b_cb6a279f015f6b51 = { @@ -889,7 +889,7 @@ static const ::capnp::_::AlignedData<40> b_cb6a279f015f6b51 = { static const uint16_t m_cb6a279f015f6b51[] = {3, 0, 1, 2, 4}; const ::capnp::_::RawSchema s_cb6a279f015f6b51 = { 0xcb6a279f015f6b51, b_cb6a279f015f6b51.words, 40, nullptr, m_cb6a279f015f6b51, - 0, 5, nullptr, nullptr, nullptr, { &s_cb6a279f015f6b51, nullptr, nullptr, 0, 0, nullptr } + 0, 5, nullptr, nullptr, nullptr, { &s_cb6a279f015f6b51, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(ChannelWidth_cb6a279f015f6b51, cb6a279f015f6b51); @@ -949,7 +949,7 @@ static const uint16_t m_94b7baa90c5c321e[] = {0, 1}; static const uint16_t i_94b7baa90c5c321e[] = {0, 1}; const ::capnp::_::RawSchema s_94b7baa90c5c321e = { 0x94b7baa90c5c321e, b_94b7baa90c5c321e.words, 48, nullptr, m_94b7baa90c5c321e, - 0, 2, i_94b7baa90c5c321e, nullptr, nullptr, { &s_94b7baa90c5c321e, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_94b7baa90c5c321e, nullptr, nullptr, { &s_94b7baa90c5c321e, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<314> b_b8aad62cffef28a9 = { @@ -1281,7 +1281,7 @@ static const uint16_t m_b8aad62cffef28a9[] = {12, 13, 0, 6, 16, 4, 7, 2, 11, 10, static const uint16_t i_b8aad62cffef28a9[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}; const ::capnp::_::RawSchema s_b8aad62cffef28a9 = { 0xb8aad62cffef28a9, b_b8aad62cffef28a9.words, 314, d_b8aad62cffef28a9, m_b8aad62cffef28a9, - 5, 17, i_b8aad62cffef28a9, nullptr, nullptr, { &s_b8aad62cffef28a9, nullptr, nullptr, 0, 0, nullptr } + 5, 17, i_b8aad62cffef28a9, nullptr, nullptr, { &s_b8aad62cffef28a9, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<121> b_8817eeea389e9f08 = { @@ -1413,7 +1413,7 @@ static const uint16_t m_8817eeea389e9f08[] = {0, 4, 1, 2, 3, 5}; static const uint16_t i_8817eeea389e9f08[] = {0, 1, 2, 3, 4, 5}; const ::capnp::_::RawSchema s_8817eeea389e9f08 = { 0x8817eeea389e9f08, b_8817eeea389e9f08.words, 121, nullptr, m_8817eeea389e9f08, - 0, 6, i_8817eeea389e9f08, nullptr, nullptr, { &s_8817eeea389e9f08, nullptr, nullptr, 0, 0, nullptr } + 0, 6, i_8817eeea389e9f08, nullptr, nullptr, { &s_8817eeea389e9f08, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<154> b_d1c9bef96d26fa91 = { @@ -1578,7 +1578,7 @@ static const uint16_t m_d1c9bef96d26fa91[] = {0, 1, 7, 8, 3, 4, 5, 6, 2}; static const uint16_t i_d1c9bef96d26fa91[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; const ::capnp::_::RawSchema s_d1c9bef96d26fa91 = { 0xd1c9bef96d26fa91, b_d1c9bef96d26fa91.words, 154, nullptr, m_d1c9bef96d26fa91, - 0, 9, i_d1c9bef96d26fa91, nullptr, nullptr, { &s_d1c9bef96d26fa91, nullptr, nullptr, 0, 0, nullptr } + 0, 9, i_d1c9bef96d26fa91, nullptr, nullptr, { &s_d1c9bef96d26fa91, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<141> b_a26e3710efd3e914 = { @@ -1730,7 +1730,7 @@ static const uint16_t m_a26e3710efd3e914[] = {3, 2, 0, 1, 4, 6, 5}; static const uint16_t i_a26e3710efd3e914[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_a26e3710efd3e914 = { 0xa26e3710efd3e914, b_a26e3710efd3e914.words, 141, nullptr, m_a26e3710efd3e914, - 0, 7, i_a26e3710efd3e914, nullptr, nullptr, { &s_a26e3710efd3e914, nullptr, nullptr, 0, 0, nullptr } + 0, 7, i_a26e3710efd3e914, nullptr, nullptr, { &s_a26e3710efd3e914, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<126> b_9744f25fb60f2bf8 = { @@ -1867,7 +1867,7 @@ static const uint16_t m_9744f25fb60f2bf8[] = {2, 1, 5, 0, 3, 4}; static const uint16_t i_9744f25fb60f2bf8[] = {0, 1, 2, 3, 4, 5}; const ::capnp::_::RawSchema s_9744f25fb60f2bf8 = { 0x9744f25fb60f2bf8, b_9744f25fb60f2bf8.words, 126, nullptr, m_9744f25fb60f2bf8, - 0, 6, i_9744f25fb60f2bf8, nullptr, nullptr, { &s_9744f25fb60f2bf8, nullptr, nullptr, 0, 0, nullptr } + 0, 6, i_9744f25fb60f2bf8, nullptr, nullptr, { &s_9744f25fb60f2bf8, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<78> b_f98f999c6a071122 = { @@ -1956,7 +1956,7 @@ static const uint16_t m_f98f999c6a071122[] = {1, 2, 0}; static const uint16_t i_f98f999c6a071122[] = {0, 1, 2}; const ::capnp::_::RawSchema s_f98f999c6a071122 = { 0xf98f999c6a071122, b_f98f999c6a071122.words, 78, nullptr, m_f98f999c6a071122, - 0, 3, i_f98f999c6a071122, nullptr, nullptr, { &s_f98f999c6a071122, nullptr, nullptr, 0, 0, nullptr } + 0, 3, i_f98f999c6a071122, nullptr, nullptr, { &s_f98f999c6a071122, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<62> b_c25bbbd524983447 = { @@ -2029,7 +2029,7 @@ static const uint16_t m_c25bbbd524983447[] = {0, 1, 2}; static const uint16_t i_c25bbbd524983447[] = {0, 1, 2}; const ::capnp::_::RawSchema s_c25bbbd524983447 = { 0xc25bbbd524983447, b_c25bbbd524983447.words, 62, nullptr, m_c25bbbd524983447, - 0, 3, i_c25bbbd524983447, nullptr, nullptr, { &s_c25bbbd524983447, nullptr, nullptr, 0, 0, nullptr } + 0, 3, i_c25bbbd524983447, nullptr, nullptr, { &s_c25bbbd524983447, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<64> b_e10e21168db0c7f7 = { @@ -2104,7 +2104,7 @@ static const uint16_t m_e10e21168db0c7f7[] = {0, 1, 2}; static const uint16_t i_e10e21168db0c7f7[] = {0, 1, 2}; const ::capnp::_::RawSchema s_e10e21168db0c7f7 = { 0xe10e21168db0c7f7, b_e10e21168db0c7f7.words, 64, nullptr, m_e10e21168db0c7f7, - 0, 3, i_e10e21168db0c7f7, nullptr, nullptr, { &s_e10e21168db0c7f7, nullptr, nullptr, 0, 0, nullptr } + 0, 3, i_e10e21168db0c7f7, nullptr, nullptr, { &s_e10e21168db0c7f7, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<153> b_ab54c59699f8f9f3 = { @@ -2272,7 +2272,7 @@ static const uint16_t m_ab54c59699f8f9f3[] = {5, 6, 0, 7, 1, 4, 3, 2}; static const uint16_t i_ab54c59699f8f9f3[] = {0, 1, 2, 3, 4, 5, 6, 7}; const ::capnp::_::RawSchema s_ab54c59699f8f9f3 = { 0xab54c59699f8f9f3, b_ab54c59699f8f9f3.words, 153, d_ab54c59699f8f9f3, m_ab54c59699f8f9f3, - 2, 8, i_ab54c59699f8f9f3, nullptr, nullptr, { &s_ab54c59699f8f9f3, nullptr, nullptr, 0, 0, nullptr } + 2, 8, i_ab54c59699f8f9f3, nullptr, nullptr, { &s_ab54c59699f8f9f3, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<155> b_f5ad1d90cdc1dd6b = { @@ -2442,7 +2442,7 @@ static const uint16_t m_f5ad1d90cdc1dd6b[] = {4, 6, 5, 1, 3, 2, 0, 7}; static const uint16_t i_f5ad1d90cdc1dd6b[] = {0, 1, 2, 3, 4, 5, 6, 7}; const ::capnp::_::RawSchema s_f5ad1d90cdc1dd6b = { 0xf5ad1d90cdc1dd6b, b_f5ad1d90cdc1dd6b.words, 155, d_f5ad1d90cdc1dd6b, m_f5ad1d90cdc1dd6b, - 2, 8, i_f5ad1d90cdc1dd6b, nullptr, nullptr, { &s_f5ad1d90cdc1dd6b, nullptr, nullptr, 0, 0, nullptr } + 2, 8, i_f5ad1d90cdc1dd6b, nullptr, nullptr, { &s_f5ad1d90cdc1dd6b, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<103> b_90c8426c3eaddd3b = { @@ -2562,7 +2562,7 @@ static const uint16_t m_90c8426c3eaddd3b[] = {2, 4, 3, 1, 0}; static const uint16_t i_90c8426c3eaddd3b[] = {0, 1, 2, 3, 4}; const ::capnp::_::RawSchema s_90c8426c3eaddd3b = { 0x90c8426c3eaddd3b, b_90c8426c3eaddd3b.words, 103, d_90c8426c3eaddd3b, m_90c8426c3eaddd3b, - 4, 5, i_90c8426c3eaddd3b, nullptr, nullptr, { &s_90c8426c3eaddd3b, nullptr, nullptr, 0, 0, nullptr } + 4, 5, i_90c8426c3eaddd3b, nullptr, nullptr, { &s_90c8426c3eaddd3b, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<53> b_e8db07dcf8fcea05 = { @@ -2625,7 +2625,7 @@ static const ::capnp::_::AlignedData<53> b_e8db07dcf8fcea05 = { static const uint16_t m_e8db07dcf8fcea05[] = {1, 2, 3, 4, 0, 5, 6}; const ::capnp::_::RawSchema s_e8db07dcf8fcea05 = { 0xe8db07dcf8fcea05, b_e8db07dcf8fcea05.words, 53, nullptr, m_e8db07dcf8fcea05, - 0, 7, nullptr, nullptr, nullptr, { &s_e8db07dcf8fcea05, nullptr, nullptr, 0, 0, nullptr } + 0, 7, nullptr, nullptr, nullptr, { &s_e8db07dcf8fcea05, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Type_e8db07dcf8fcea05, e8db07dcf8fcea05); @@ -2672,7 +2672,7 @@ static const ::capnp::_::AlignedData<36> b_b9aa88c75ef99a1f = { static const uint16_t m_b9aa88c75ef99a1f[] = {3, 2, 0, 1}; const ::capnp::_::RawSchema s_b9aa88c75ef99a1f = { 0xb9aa88c75ef99a1f, b_b9aa88c75ef99a1f.words, 36, nullptr, m_b9aa88c75ef99a1f, - 0, 4, nullptr, nullptr, nullptr, { &s_b9aa88c75ef99a1f, nullptr, nullptr, 0, 0, nullptr } + 0, 4, nullptr, nullptr, nullptr, { &s_b9aa88c75ef99a1f, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Status_b9aa88c75ef99a1f, b9aa88c75ef99a1f); @@ -3094,7 +3094,7 @@ static const uint16_t m_b99b2bc7a57e8128[] = {12, 13, 3, 15, 16, 11, 8, 22, 1, 2 static const uint16_t i_b99b2bc7a57e8128[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22}; const ::capnp::_::RawSchema s_b99b2bc7a57e8128 = { 0xb99b2bc7a57e8128, b_b99b2bc7a57e8128.words, 406, d_b99b2bc7a57e8128, m_b99b2bc7a57e8128, - 2, 23, i_b99b2bc7a57e8128, nullptr, nullptr, { &s_b99b2bc7a57e8128, nullptr, nullptr, 0, 0, nullptr } + 2, 23, i_b99b2bc7a57e8128, nullptr, nullptr, { &s_b99b2bc7a57e8128, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<159> b_943dc4625473b03f = { @@ -3264,7 +3264,7 @@ static const uint16_t m_943dc4625473b03f[] = {7, 5, 6, 4, 0, 3, 2, 1}; static const uint16_t i_943dc4625473b03f[] = {0, 1, 2, 3, 4, 5, 6, 7}; const ::capnp::_::RawSchema s_943dc4625473b03f = { 0x943dc4625473b03f, b_943dc4625473b03f.words, 159, nullptr, m_943dc4625473b03f, - 0, 8, i_943dc4625473b03f, nullptr, nullptr, { &s_943dc4625473b03f, nullptr, nullptr, 0, 0, nullptr } + 0, 8, i_943dc4625473b03f, nullptr, nullptr, { &s_943dc4625473b03f, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<41> b_c871d3cc252af657 = { @@ -3315,7 +3315,7 @@ static const ::capnp::_::AlignedData<41> b_c871d3cc252af657 = { static const uint16_t m_c871d3cc252af657[] = {0, 4, 1, 2, 3}; const ::capnp::_::RawSchema s_c871d3cc252af657 = { 0xc871d3cc252af657, b_c871d3cc252af657.words, 41, nullptr, m_c871d3cc252af657, - 0, 5, nullptr, nullptr, nullptr, { &s_c871d3cc252af657, nullptr, nullptr, 0, 0, nullptr } + 0, 5, nullptr, nullptr, nullptr, { &s_c871d3cc252af657, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(SensorSource_c871d3cc252af657, c871d3cc252af657); @@ -3445,7 +3445,7 @@ static const uint16_t m_d7700859ed1f5b76[] = {1, 3, 2, 4, 5, 0}; static const uint16_t i_d7700859ed1f5b76[] = {0, 1, 2, 3, 4, 5}; const ::capnp::_::RawSchema s_d7700859ed1f5b76 = { 0xd7700859ed1f5b76, b_d7700859ed1f5b76.words, 118, nullptr, m_d7700859ed1f5b76, - 0, 6, i_d7700859ed1f5b76, nullptr, nullptr, { &s_d7700859ed1f5b76, nullptr, nullptr, 0, 0, nullptr } + 0, 6, i_d7700859ed1f5b76, nullptr, nullptr, { &s_d7700859ed1f5b76, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<143> b_cd60164a8a0159ef = { @@ -3599,7 +3599,7 @@ static const uint16_t m_cd60164a8a0159ef[] = {3, 6, 4, 0, 5, 1, 2}; static const uint16_t i_cd60164a8a0159ef[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_cd60164a8a0159ef = { 0xcd60164a8a0159ef, b_cd60164a8a0159ef.words, 143, nullptr, m_cd60164a8a0159ef, - 0, 7, i_cd60164a8a0159ef, nullptr, nullptr, { &s_cd60164a8a0159ef, nullptr, nullptr, 0, 0, nullptr } + 0, 7, i_cd60164a8a0159ef, nullptr, nullptr, { &s_cd60164a8a0159ef, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<99> b_d500d30c5803fa4f = { @@ -3709,7 +3709,7 @@ static const uint16_t m_d500d30c5803fa4f[] = {4, 2, 3, 0, 1}; static const uint16_t i_d500d30c5803fa4f[] = {0, 1, 2, 3, 4}; const ::capnp::_::RawSchema s_d500d30c5803fa4f = { 0xd500d30c5803fa4f, b_d500d30c5803fa4f.words, 99, nullptr, m_d500d30c5803fa4f, - 0, 5, i_d500d30c5803fa4f, nullptr, nullptr, { &s_d500d30c5803fa4f, nullptr, nullptr, 0, 0, nullptr } + 0, 5, i_d500d30c5803fa4f, nullptr, nullptr, { &s_d500d30c5803fa4f, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<83> b_c8233c0345e27e24 = { @@ -3806,7 +3806,7 @@ static const uint16_t m_c8233c0345e27e24[] = {3, 2, 0, 1}; static const uint16_t i_c8233c0345e27e24[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_c8233c0345e27e24 = { 0xc8233c0345e27e24, b_c8233c0345e27e24.words, 83, d_c8233c0345e27e24, m_c8233c0345e27e24, - 1, 4, i_c8233c0345e27e24, nullptr, nullptr, { &s_c8233c0345e27e24, nullptr, nullptr, 0, 0, nullptr } + 1, 4, i_c8233c0345e27e24, nullptr, nullptr, { &s_c8233c0345e27e24, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<95> b_92e21bb7ea38793a = { @@ -3912,7 +3912,7 @@ static const uint16_t m_92e21bb7ea38793a[] = {1, 3, 0, 2}; static const uint16_t i_92e21bb7ea38793a[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_92e21bb7ea38793a = { 0x92e21bb7ea38793a, b_92e21bb7ea38793a.words, 95, nullptr, m_92e21bb7ea38793a, - 0, 4, i_92e21bb7ea38793a, nullptr, nullptr, { &s_92e21bb7ea38793a, nullptr, nullptr, 0, 0, nullptr } + 0, 4, i_92e21bb7ea38793a, nullptr, nullptr, { &s_92e21bb7ea38793a, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<92> b_9b326d4e436afec7 = { @@ -4015,7 +4015,7 @@ static const uint16_t m_9b326d4e436afec7[] = {2, 3, 1, 0}; static const uint16_t i_9b326d4e436afec7[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_9b326d4e436afec7 = { 0x9b326d4e436afec7, b_9b326d4e436afec7.words, 92, nullptr, m_9b326d4e436afec7, - 0, 4, i_9b326d4e436afec7, nullptr, nullptr, { &s_9b326d4e436afec7, nullptr, nullptr, 0, 0, nullptr } + 0, 4, i_9b326d4e436afec7, nullptr, nullptr, { &s_9b326d4e436afec7, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<91> b_8fdfadb254ea867a = { @@ -4117,7 +4117,7 @@ static const uint16_t m_8fdfadb254ea867a[] = {0, 1, 2, 3}; static const uint16_t i_8fdfadb254ea867a[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_8fdfadb254ea867a = { 0x8fdfadb254ea867a, b_8fdfadb254ea867a.words, 91, nullptr, m_8fdfadb254ea867a, - 0, 4, i_8fdfadb254ea867a, nullptr, nullptr, { &s_8fdfadb254ea867a, nullptr, nullptr, 0, 0, nullptr } + 0, 4, i_8fdfadb254ea867a, nullptr, nullptr, { &s_8fdfadb254ea867a, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<52> b_bd8822120928120c = { @@ -4183,7 +4183,7 @@ static const uint16_t m_bd8822120928120c[] = {1, 0}; static const uint16_t i_bd8822120928120c[] = {0, 1}; const ::capnp::_::RawSchema s_bd8822120928120c = { 0xbd8822120928120c, b_bd8822120928120c.words, 52, d_bd8822120928120c, m_bd8822120928120c, - 1, 2, i_bd8822120928120c, nullptr, nullptr, { &s_bd8822120928120c, nullptr, nullptr, 0, 0, nullptr } + 1, 2, i_bd8822120928120c, nullptr, nullptr, { &s_bd8822120928120c, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<153> b_ce7cd672cacc7814 = { @@ -4347,7 +4347,7 @@ static const uint16_t m_ce7cd672cacc7814[] = {4, 6, 8, 3, 1, 2, 7, 5, 0}; static const uint16_t i_ce7cd672cacc7814[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; const ::capnp::_::RawSchema s_ce7cd672cacc7814 = { 0xce7cd672cacc7814, b_ce7cd672cacc7814.words, 153, nullptr, m_ce7cd672cacc7814, - 0, 9, i_ce7cd672cacc7814, nullptr, nullptr, { &s_ce7cd672cacc7814, nullptr, nullptr, 0, 0, nullptr } + 0, 9, i_ce7cd672cacc7814, nullptr, nullptr, { &s_ce7cd672cacc7814, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<75> b_db98be6565516acb = { @@ -4436,7 +4436,7 @@ static const uint16_t m_db98be6565516acb[] = {1, 0, 2}; static const uint16_t i_db98be6565516acb[] = {0, 1, 2}; const ::capnp::_::RawSchema s_db98be6565516acb = { 0xdb98be6565516acb, b_db98be6565516acb.words, 75, d_db98be6565516acb, m_db98be6565516acb, - 1, 3, i_db98be6565516acb, nullptr, nullptr, { &s_db98be6565516acb, nullptr, nullptr, 0, 0, nullptr } + 1, 3, i_db98be6565516acb, nullptr, nullptr, { &s_db98be6565516acb, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<48> b_9eaef9187cadbb9b = { @@ -4495,7 +4495,7 @@ static const uint16_t m_9eaef9187cadbb9b[] = {0, 1}; static const uint16_t i_9eaef9187cadbb9b[] = {0, 1}; const ::capnp::_::RawSchema s_9eaef9187cadbb9b = { 0x9eaef9187cadbb9b, b_9eaef9187cadbb9b.words, 48, nullptr, m_9eaef9187cadbb9b, - 0, 2, i_9eaef9187cadbb9b, nullptr, nullptr, { &s_9eaef9187cadbb9b, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_9eaef9187cadbb9b, nullptr, nullptr, { &s_9eaef9187cadbb9b, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<150> b_a5b39b4fc4d7da3f = { @@ -4660,7 +4660,7 @@ static const uint16_t m_a5b39b4fc4d7da3f[] = {4, 3, 5, 0, 6, 7, 1, 2}; static const uint16_t i_a5b39b4fc4d7da3f[] = {0, 1, 2, 3, 4, 5, 6, 7}; const ::capnp::_::RawSchema s_a5b39b4fc4d7da3f = { 0xa5b39b4fc4d7da3f, b_a5b39b4fc4d7da3f.words, 150, d_a5b39b4fc4d7da3f, m_a5b39b4fc4d7da3f, - 2, 8, i_a5b39b4fc4d7da3f, nullptr, nullptr, { &s_a5b39b4fc4d7da3f, nullptr, nullptr, 0, 0, nullptr } + 2, 8, i_a5b39b4fc4d7da3f, nullptr, nullptr, { &s_a5b39b4fc4d7da3f, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<117> b_c5417a637451246f = { @@ -4787,7 +4787,7 @@ static const ::capnp::_::AlignedData<117> b_c5417a637451246f = { static const uint16_t m_c5417a637451246f[] = {15, 16, 17, 2, 3, 6, 5, 9, 7, 11, 13, 4, 0, 1, 10, 12, 14, 18, 8, 19}; const ::capnp::_::RawSchema s_c5417a637451246f = { 0xc5417a637451246f, b_c5417a637451246f.words, 117, nullptr, m_c5417a637451246f, - 0, 20, nullptr, nullptr, nullptr, { &s_c5417a637451246f, nullptr, nullptr, 0, 0, nullptr } + 0, 20, nullptr, nullptr, nullptr, { &s_c5417a637451246f, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Instruction_c5417a637451246f, c5417a637451246f); @@ -4889,7 +4889,7 @@ static const uint16_t m_acfa74a094e62626[] = {2, 1, 3, 0}; static const uint16_t i_acfa74a094e62626[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_acfa74a094e62626 = { 0xacfa74a094e62626, b_acfa74a094e62626.words, 86, d_acfa74a094e62626, m_acfa74a094e62626, - 2, 4, i_acfa74a094e62626, nullptr, nullptr, { &s_acfa74a094e62626, nullptr, nullptr, 0, 0, nullptr } + 2, 4, i_acfa74a094e62626, nullptr, nullptr, { &s_acfa74a094e62626, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<43> b_d85d75253435bf4b = { @@ -4942,7 +4942,7 @@ static const ::capnp::_::AlignedData<43> b_d85d75253435bf4b = { static const uint16_t m_d85d75253435bf4b[] = {3, 1, 2, 4, 0}; const ::capnp::_::RawSchema s_d85d75253435bf4b = { 0xd85d75253435bf4b, b_d85d75253435bf4b.words, 43, nullptr, m_d85d75253435bf4b, - 0, 5, nullptr, nullptr, nullptr, { &s_d85d75253435bf4b, nullptr, nullptr, 0, 0, nullptr } + 0, 5, nullptr, nullptr, nullptr, { &s_d85d75253435bf4b, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Type_d85d75253435bf4b, d85d75253435bf4b); @@ -4989,7 +4989,7 @@ static const ::capnp::_::AlignedData<36> b_a6f6ce72165ccb49 = { static const uint16_t m_a6f6ce72165ccb49[] = {0, 3, 2, 1}; const ::capnp::_::RawSchema s_a6f6ce72165ccb49 = { 0xa6f6ce72165ccb49, b_a6f6ce72165ccb49.words, 36, nullptr, m_a6f6ce72165ccb49, - 0, 4, nullptr, nullptr, nullptr, { &s_a6f6ce72165ccb49, nullptr, nullptr, 0, 0, nullptr } + 0, 4, nullptr, nullptr, nullptr, { &s_a6f6ce72165ccb49, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Action_a6f6ce72165ccb49, a6f6ce72165ccb49); @@ -5065,7 +5065,7 @@ static const uint16_t m_dfdf30d03fc485bd[] = {0, 1}; static const uint16_t i_dfdf30d03fc485bd[] = {0, 1}; const ::capnp::_::RawSchema s_dfdf30d03fc485bd = { 0xdfdf30d03fc485bd, b_dfdf30d03fc485bd.words, 60, d_dfdf30d03fc485bd, m_dfdf30d03fc485bd, - 2, 2, i_dfdf30d03fc485bd, nullptr, nullptr, { &s_dfdf30d03fc485bd, nullptr, nullptr, 0, 0, nullptr } + 2, 2, i_dfdf30d03fc485bd, nullptr, nullptr, { &s_dfdf30d03fc485bd, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<61> b_a20710d4f428d6cd = { @@ -5141,7 +5141,7 @@ static const uint16_t m_a20710d4f428d6cd[] = {0, 1}; static const uint16_t i_a20710d4f428d6cd[] = {0, 1}; const ::capnp::_::RawSchema s_a20710d4f428d6cd = { 0xa20710d4f428d6cd, b_a20710d4f428d6cd.words, 61, d_a20710d4f428d6cd, m_a20710d4f428d6cd, - 2, 2, i_a20710d4f428d6cd, nullptr, nullptr, { &s_a20710d4f428d6cd, nullptr, nullptr, 0, 0, nullptr } + 2, 2, i_a20710d4f428d6cd, nullptr, nullptr, { &s_a20710d4f428d6cd, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<290> b_a0e27b453a38f450 = { @@ -5442,7 +5442,7 @@ static const uint16_t m_a0e27b453a38f450[] = {9, 11, 13, 15, 7, 1, 8, 10, 12, 14 static const uint16_t i_a0e27b453a38f450[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; const ::capnp::_::RawSchema s_a0e27b453a38f450 = { 0xa0e27b453a38f450, b_a0e27b453a38f450.words, 290, nullptr, m_a0e27b453a38f450, - 0, 16, i_a0e27b453a38f450, nullptr, nullptr, { &s_a0e27b453a38f450, nullptr, nullptr, 0, 0, nullptr } + 0, 16, i_a0e27b453a38f450, nullptr, nullptr, { &s_a0e27b453a38f450, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<420> b_d949bf717d77614d = { @@ -5877,7 +5877,7 @@ static const uint16_t m_d949bf717d77614d[] = {10, 9, 11, 15, 13, 17, 19, 6, 1, 1 static const uint16_t i_d949bf717d77614d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22}; const ::capnp::_::RawSchema s_d949bf717d77614d = { 0xd949bf717d77614d, b_d949bf717d77614d.words, 420, d_d949bf717d77614d, m_d949bf717d77614d, - 2, 23, i_d949bf717d77614d, nullptr, nullptr, { &s_d949bf717d77614d, nullptr, nullptr, 0, 0, nullptr } + 2, 23, i_d949bf717d77614d, nullptr, nullptr, { &s_d949bf717d77614d, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<50> b_9ef1f3ff0deb5ffb = { @@ -5937,7 +5937,7 @@ static const ::capnp::_::AlignedData<50> b_9ef1f3ff0deb5ffb = { static const uint16_t m_9ef1f3ff0deb5ffb[] = {5, 6, 3, 1, 4, 2, 0}; const ::capnp::_::RawSchema s_9ef1f3ff0deb5ffb = { 0x9ef1f3ff0deb5ffb, b_9ef1f3ff0deb5ffb.words, 50, nullptr, m_9ef1f3ff0deb5ffb, - 0, 7, nullptr, nullptr, nullptr, { &s_9ef1f3ff0deb5ffb, nullptr, nullptr, 0, 0, nullptr } + 0, 7, nullptr, nullptr, nullptr, { &s_9ef1f3ff0deb5ffb, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Constellation_9ef1f3ff0deb5ffb, 9ef1f3ff0deb5ffb); @@ -6044,7 +6044,7 @@ static const ::capnp::_::AlignedData<96> b_cbb9490adce12d72 = { static const uint16_t m_cbb9490adce12d72[] = {9, 10, 2, 1, 13, 11, 12, 7, 8, 5, 14, 3, 6, 4, 0}; const ::capnp::_::RawSchema s_cbb9490adce12d72 = { 0xcbb9490adce12d72, b_cbb9490adce12d72.words, 96, nullptr, m_cbb9490adce12d72, - 0, 15, nullptr, nullptr, nullptr, { &s_cbb9490adce12d72, nullptr, nullptr, 0, 0, nullptr } + 0, 15, nullptr, nullptr, nullptr, { &s_cbb9490adce12d72, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(State_cbb9490adce12d72, cbb9490adce12d72); @@ -6092,7 +6092,7 @@ static const ::capnp::_::AlignedData<37> b_c04e7b6231d4caa8 = { static const uint16_t m_c04e7b6231d4caa8[] = {1, 2, 0}; const ::capnp::_::RawSchema s_c04e7b6231d4caa8 = { 0xc04e7b6231d4caa8, b_c04e7b6231d4caa8.words, 37, nullptr, m_c04e7b6231d4caa8, - 0, 3, nullptr, nullptr, nullptr, { &s_c04e7b6231d4caa8, nullptr, nullptr, 0, 0, nullptr } + 0, 3, nullptr, nullptr, nullptr, { &s_c04e7b6231d4caa8, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(MultipathIndicator_c04e7b6231d4caa8, c04e7b6231d4caa8); @@ -6222,7 +6222,7 @@ static const uint16_t m_e2517b083095fd4e[] = {4, 2, 5, 3, 1, 0}; static const uint16_t i_e2517b083095fd4e[] = {0, 1, 2, 3, 4, 5}; const ::capnp::_::RawSchema s_e2517b083095fd4e = { 0xe2517b083095fd4e, b_e2517b083095fd4e.words, 115, d_e2517b083095fd4e, m_e2517b083095fd4e, - 1, 6, i_e2517b083095fd4e, nullptr, nullptr, { &s_e2517b083095fd4e, nullptr, nullptr, 0, 0, nullptr } + 1, 6, i_e2517b083095fd4e, nullptr, nullptr, { &s_e2517b083095fd4e, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<35> b_ec1ff7996b35366f = { @@ -6267,7 +6267,7 @@ static const ::capnp::_::AlignedData<35> b_ec1ff7996b35366f = { static const uint16_t m_ec1ff7996b35366f[] = {1, 2, 0}; const ::capnp::_::RawSchema s_ec1ff7996b35366f = { 0xec1ff7996b35366f, b_ec1ff7996b35366f.words, 35, nullptr, m_ec1ff7996b35366f, - 0, 3, nullptr, nullptr, nullptr, { &s_ec1ff7996b35366f, nullptr, nullptr, 0, 0, nullptr } + 0, 3, nullptr, nullptr, nullptr, { &s_ec1ff7996b35366f, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Status_ec1ff7996b35366f, ec1ff7996b35366f); @@ -6383,7 +6383,7 @@ static const uint16_t m_e3d6685d4e9d8f7a[] = {3, 4, 0, 2, 1}; static const uint16_t i_e3d6685d4e9d8f7a[] = {0, 1, 2, 3, 4}; const ::capnp::_::RawSchema s_e3d6685d4e9d8f7a = { 0xe3d6685d4e9d8f7a, b_e3d6685d4e9d8f7a.words, 104, nullptr, m_e3d6685d4e9d8f7a, - 0, 5, i_e3d6685d4e9d8f7a, nullptr, nullptr, { &s_e3d6685d4e9d8f7a, nullptr, nullptr, 0, 0, nullptr } + 0, 5, i_e3d6685d4e9d8f7a, nullptr, nullptr, { &s_e3d6685d4e9d8f7a, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE } // namespace schemas @@ -6394,323 +6394,483 @@ const ::capnp::_::RawSchema s_e3d6685d4e9d8f7a = { namespace cereal { // LogRotate +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LogRotate::_capnpPrivate::dataWordSize; constexpr uint16_t LogRotate::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LogRotate::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LogRotate::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LiveUI +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LiveUI::_capnpPrivate::dataWordSize; constexpr uint16_t LiveUI::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LiveUI::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LiveUI::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UiLayoutState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UiLayoutState::_capnpPrivate::dataWordSize; constexpr uint16_t UiLayoutState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UiLayoutState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UiLayoutState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // OrbslamCorrection +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t OrbslamCorrection::_capnpPrivate::dataWordSize; constexpr uint16_t OrbslamCorrection::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind OrbslamCorrection::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* OrbslamCorrection::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // EthernetPacket +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t EthernetPacket::_capnpPrivate::dataWordSize; constexpr uint16_t EthernetPacket::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind EthernetPacket::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* EthernetPacket::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CellInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CellInfo::_capnpPrivate::dataWordSize; constexpr uint16_t CellInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CellInfo::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CellInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // WifiScan +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t WifiScan::_capnpPrivate::dataWordSize; constexpr uint16_t WifiScan::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind WifiScan::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* WifiScan::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LiveEventData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LiveEventData::_capnpPrivate::dataWordSize; constexpr uint16_t LiveEventData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LiveEventData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LiveEventData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ModelData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ModelData::_capnpPrivate::dataWordSize; constexpr uint16_t ModelData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ModelData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ModelData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ModelData::PathData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ModelData::PathData::_capnpPrivate::dataWordSize; constexpr uint16_t ModelData::PathData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ModelData::PathData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ModelData::PathData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ModelData::LeadData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ModelData::LeadData::_capnpPrivate::dataWordSize; constexpr uint16_t ModelData::LeadData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ModelData::LeadData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ModelData::LeadData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ModelData::ModelSettings +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ModelData::ModelSettings::_capnpPrivate::dataWordSize; constexpr uint16_t ModelData::ModelSettings::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ModelData::ModelSettings::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ModelData::ModelSettings::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ModelData::MetaData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ModelData::MetaData::_capnpPrivate::dataWordSize; constexpr uint16_t ModelData::MetaData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ModelData::MetaData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ModelData::MetaData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ModelData::LongitudinalData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ModelData::LongitudinalData::_capnpPrivate::dataWordSize; constexpr uint16_t ModelData::LongitudinalData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ModelData::LongitudinalData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ModelData::LongitudinalData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ECEFPoint +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ECEFPoint::_capnpPrivate::dataWordSize; constexpr uint16_t ECEFPoint::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ECEFPoint::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ECEFPoint::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ECEFPointDEPRECATED +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ECEFPointDEPRECATED::_capnpPrivate::dataWordSize; constexpr uint16_t ECEFPointDEPRECATED::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ECEFPointDEPRECATED::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ECEFPointDEPRECATED::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // GPSPlannerPoints +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t GPSPlannerPoints::_capnpPrivate::dataWordSize; constexpr uint16_t GPSPlannerPoints::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind GPSPlannerPoints::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* GPSPlannerPoints::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // GPSPlannerPlan +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t GPSPlannerPlan::_capnpPrivate::dataWordSize; constexpr uint16_t GPSPlannerPlan::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind GPSPlannerPlan::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* GPSPlannerPlan::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UiNavigationEvent +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UiNavigationEvent::_capnpPrivate::dataWordSize; constexpr uint16_t UiNavigationEvent::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UiNavigationEvent::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UiNavigationEvent::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LiveLocationData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LiveLocationData::_capnpPrivate::dataWordSize; constexpr uint16_t LiveLocationData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LiveLocationData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LiveLocationData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LiveLocationData::Accuracy +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LiveLocationData::Accuracy::_capnpPrivate::dataWordSize; constexpr uint16_t LiveLocationData::Accuracy::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LiveLocationData::Accuracy::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LiveLocationData::Accuracy::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // OrbOdometry +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t OrbOdometry::_capnpPrivate::dataWordSize; constexpr uint16_t OrbOdometry::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind OrbOdometry::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* OrbOdometry::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // OrbFeatures +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t OrbFeatures::_capnpPrivate::dataWordSize; constexpr uint16_t OrbFeatures::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind OrbFeatures::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* OrbFeatures::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // OrbFeaturesSummary +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t OrbFeaturesSummary::_capnpPrivate::dataWordSize; constexpr uint16_t OrbFeaturesSummary::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind OrbFeaturesSummary::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* OrbFeaturesSummary::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // OrbKeyFrame +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t OrbKeyFrame::_capnpPrivate::dataWordSize; constexpr uint16_t OrbKeyFrame::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind OrbKeyFrame::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* OrbKeyFrame::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // KalmanOdometry +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t KalmanOdometry::_capnpPrivate::dataWordSize; constexpr uint16_t KalmanOdometry::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind KalmanOdometry::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* KalmanOdometry::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // OrbObservation +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t OrbObservation::_capnpPrivate::dataWordSize; constexpr uint16_t OrbObservation::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind OrbObservation::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* OrbObservation::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CalibrationFeatures +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CalibrationFeatures::_capnpPrivate::dataWordSize; constexpr uint16_t CalibrationFeatures::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CalibrationFeatures::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CalibrationFeatures::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // NavStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t NavStatus::_capnpPrivate::dataWordSize; constexpr uint16_t NavStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind NavStatus::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* NavStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // NavStatus::Address +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t NavStatus::Address::_capnpPrivate::dataWordSize; constexpr uint16_t NavStatus::Address::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind NavStatus::Address::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* NavStatus::Address::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // NavUpdate +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t NavUpdate::_capnpPrivate::dataWordSize; constexpr uint16_t NavUpdate::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind NavUpdate::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* NavUpdate::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // NavUpdate::LatLng +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t NavUpdate::LatLng::_capnpPrivate::dataWordSize; constexpr uint16_t NavUpdate::LatLng::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind NavUpdate::LatLng::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* NavUpdate::LatLng::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // NavUpdate::Segment +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t NavUpdate::Segment::_capnpPrivate::dataWordSize; constexpr uint16_t NavUpdate::Segment::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind NavUpdate::Segment::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* NavUpdate::Segment::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // TrafficEvent +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t TrafficEvent::_capnpPrivate::dataWordSize; constexpr uint16_t TrafficEvent::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind TrafficEvent::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* TrafficEvent::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // AndroidGnss +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t AndroidGnss::_capnpPrivate::dataWordSize; constexpr uint16_t AndroidGnss::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind AndroidGnss::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* AndroidGnss::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // AndroidGnss::Measurements +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t AndroidGnss::Measurements::_capnpPrivate::dataWordSize; constexpr uint16_t AndroidGnss::Measurements::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind AndroidGnss::Measurements::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* AndroidGnss::Measurements::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // AndroidGnss::Measurements::Clock +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t AndroidGnss::Measurements::Clock::_capnpPrivate::dataWordSize; constexpr uint16_t AndroidGnss::Measurements::Clock::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind AndroidGnss::Measurements::Clock::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* AndroidGnss::Measurements::Clock::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // AndroidGnss::Measurements::Measurement +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t AndroidGnss::Measurements::Measurement::_capnpPrivate::dataWordSize; constexpr uint16_t AndroidGnss::Measurements::Measurement::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind AndroidGnss::Measurements::Measurement::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* AndroidGnss::Measurements::Measurement::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // AndroidGnss::NavigationMessage +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t AndroidGnss::NavigationMessage::_capnpPrivate::dataWordSize; constexpr uint16_t AndroidGnss::NavigationMessage::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind AndroidGnss::NavigationMessage::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* AndroidGnss::NavigationMessage::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LidarPts +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LidarPts::_capnpPrivate::dataWordSize; constexpr uint16_t LidarPts::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LidarPts::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LidarPts::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE diff --git a/cereal/gen/cpp/legacy.capnp.h b/cereal/gen/cpp/legacy.capnp.h index 546d865c1..0038e679a 100644 --- a/cereal/gen/cpp/legacy.capnp.h +++ b/cereal/gen/cpp/legacy.capnp.h @@ -6,11 +6,15 @@ #include #include -#if CAPNP_VERSION != 8000 +#ifndef CAPNP_VERSION +#error "CAPNP_VERSION is not defined, is capnp/generated-header-support.h missing?" +#elif CAPNP_VERSION != 1000002 #error "Version mismatch between generated code and library headers. You must use the same version of the Cap'n Proto compiler and library." #endif +CAPNP_BEGIN_HEADER + namespace capnp { namespace schemas { @@ -11407,3 +11411,5 @@ inline ::capnp::Orphan< ::capnp::Data> LidarPts::Builder::disownPkt() { } // namespace +CAPNP_END_HEADER + diff --git a/cereal/gen/cpp/log.capnp.c++ b/cereal/gen/cpp/log.capnp.c++ index 97b35f655..08189a1ee 100644 --- a/cereal/gen/cpp/log.capnp.c++ +++ b/cereal/gen/cpp/log.capnp.c++ @@ -34,7 +34,7 @@ static const ::capnp::_::AlignedData<23> b_d578fb3372ed5043 = { #if !CAPNP_LITE const ::capnp::_::RawSchema s_d578fb3372ed5043 = { 0xd578fb3372ed5043, b_d578fb3372ed5043.words, 23, nullptr, nullptr, - 0, 0, nullptr, nullptr, nullptr, { &s_d578fb3372ed5043, nullptr, nullptr, 0, 0, nullptr } + 0, 0, nullptr, nullptr, nullptr, { &s_d578fb3372ed5043, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<48> b_f8b13ce2183eb696 = { @@ -99,7 +99,7 @@ KJ_CONSTEXPR(const) ::capnp::_::RawBrandedSchema::Dependency bd_f8b13ce2183eb696 }; const ::capnp::_::RawSchema s_f8b13ce2183eb696 = { 0xf8b13ce2183eb696, b_f8b13ce2183eb696.words, 48, d_f8b13ce2183eb696, m_f8b13ce2183eb696, - 1, 1, i_f8b13ce2183eb696, nullptr, nullptr, { &s_f8b13ce2183eb696, nullptr, bd_f8b13ce2183eb696, 0, sizeof(bd_f8b13ce2183eb696) / sizeof(bd_f8b13ce2183eb696[0]), nullptr } + 1, 1, i_f8b13ce2183eb696, nullptr, nullptr, { &s_f8b13ce2183eb696, nullptr, bd_f8b13ce2183eb696, 0, sizeof(bd_f8b13ce2183eb696) / sizeof(bd_f8b13ce2183eb696[0]), nullptr }, true }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<47> b_a5dfdd084a6eea0e = { @@ -157,7 +157,7 @@ static const uint16_t m_a5dfdd084a6eea0e[] = {0, 1}; static const uint16_t i_a5dfdd084a6eea0e[] = {0, 1}; const ::capnp::_::RawSchema s_a5dfdd084a6eea0e = { 0xa5dfdd084a6eea0e, b_a5dfdd084a6eea0e.words, 47, nullptr, m_a5dfdd084a6eea0e, - 0, 2, i_a5dfdd084a6eea0e, nullptr, nullptr, { &s_a5dfdd084a6eea0e, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_a5dfdd084a6eea0e, nullptr, nullptr, { &s_a5dfdd084a6eea0e, nullptr, nullptr, 0, 0, nullptr }, true }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<33> b_d692e23d1a247d99 = { @@ -200,7 +200,7 @@ static const ::capnp::_::AlignedData<33> b_d692e23d1a247d99 = { static const uint16_t m_d692e23d1a247d99[] = {0, 2, 1}; const ::capnp::_::RawSchema s_d692e23d1a247d99 = { 0xd692e23d1a247d99, b_d692e23d1a247d99.words, 33, nullptr, m_d692e23d1a247d99, - 0, 3, nullptr, nullptr, nullptr, { &s_d692e23d1a247d99, nullptr, nullptr, 0, 0, nullptr } + 0, 3, nullptr, nullptr, nullptr, { &s_d692e23d1a247d99, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(LongitudinalPersonality_d692e23d1a247d99, d692e23d1a247d99); @@ -670,7 +670,7 @@ KJ_CONSTEXPR(const) ::capnp::_::RawBrandedSchema::Dependency bd_e71008caeb3fb65c }; const ::capnp::_::RawSchema s_e71008caeb3fb65c = { 0xe71008caeb3fb65c, b_e71008caeb3fb65c.words, 444, d_e71008caeb3fb65c, m_e71008caeb3fb65c, - 7, 21, i_e71008caeb3fb65c, nullptr, nullptr, { &s_e71008caeb3fb65c, nullptr, bd_e71008caeb3fb65c, 0, sizeof(bd_e71008caeb3fb65c) / sizeof(bd_e71008caeb3fb65c[0]), nullptr } + 7, 21, i_e71008caeb3fb65c, nullptr, nullptr, { &s_e71008caeb3fb65c, nullptr, bd_e71008caeb3fb65c, 0, sizeof(bd_e71008caeb3fb65c) / sizeof(bd_e71008caeb3fb65c[0]), nullptr }, true }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<48> b_9d5d7238eba86608 = { @@ -728,7 +728,7 @@ static const ::capnp::_::AlignedData<48> b_9d5d7238eba86608 = { static const uint16_t m_9d5d7238eba86608[] = {2, 3, 1, 5, 4, 6, 0}; const ::capnp::_::RawSchema s_9d5d7238eba86608 = { 0x9d5d7238eba86608, b_9d5d7238eba86608.words, 48, nullptr, m_9d5d7238eba86608, - 0, 7, nullptr, nullptr, nullptr, { &s_9d5d7238eba86608, nullptr, nullptr, 0, 0, nullptr } + 0, 7, nullptr, nullptr, nullptr, { &s_9d5d7238eba86608, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(DeviceType_9d5d7238eba86608, 9d5d7238eba86608); @@ -822,7 +822,7 @@ static const uint16_t m_e673e8725cdff0ad[] = {1, 3, 0, 2}; static const uint16_t i_e673e8725cdff0ad[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_e673e8725cdff0ad = { 0xe673e8725cdff0ad, b_e673e8725cdff0ad.words, 82, nullptr, m_e673e8725cdff0ad, - 0, 4, i_e673e8725cdff0ad, nullptr, nullptr, { &s_e673e8725cdff0ad, nullptr, nullptr, 0, 0, nullptr } + 0, 4, i_e673e8725cdff0ad, nullptr, nullptr, { &s_e673e8725cdff0ad, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<379> b_fe2919d5c21f426c = { @@ -1212,7 +1212,7 @@ static const uint16_t m_fe2919d5c21f426c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, static const uint16_t i_fe2919d5c21f426c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22}; const ::capnp::_::RawSchema s_fe2919d5c21f426c = { 0xfe2919d5c21f426c, b_fe2919d5c21f426c.words, 379, nullptr, m_fe2919d5c21f426c, - 0, 23, i_fe2919d5c21f426c, nullptr, nullptr, { &s_fe2919d5c21f426c, nullptr, nullptr, 0, 0, nullptr } + 0, 23, i_fe2919d5c21f426c, nullptr, nullptr, { &s_fe2919d5c21f426c, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<238> b_9b513b93a887dbcd = { @@ -1461,7 +1461,7 @@ static const uint16_t m_9b513b93a887dbcd[] = {11, 10, 4, 0, 13, 6, 9, 1, 8, 7, 1 static const uint16_t i_9b513b93a887dbcd[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13}; const ::capnp::_::RawSchema s_9b513b93a887dbcd = { 0x9b513b93a887dbcd, b_9b513b93a887dbcd.words, 238, nullptr, m_9b513b93a887dbcd, - 0, 14, i_9b513b93a887dbcd, nullptr, nullptr, { &s_9b513b93a887dbcd, nullptr, nullptr, 0, 0, nullptr } + 0, 14, i_9b513b93a887dbcd, nullptr, nullptr, { &s_9b513b93a887dbcd, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<55> b_9cfb5d53a4f615a5 = { @@ -1533,7 +1533,7 @@ KJ_CONSTEXPR(const) ::capnp::_::RawBrandedSchema::Dependency bd_9cfb5d53a4f615a5 }; const ::capnp::_::RawSchema s_9cfb5d53a4f615a5 = { 0x9cfb5d53a4f615a5, b_9cfb5d53a4f615a5.words, 55, d_9cfb5d53a4f615a5, m_9cfb5d53a4f615a5, - 1, 1, i_9cfb5d53a4f615a5, nullptr, nullptr, { &s_9cfb5d53a4f615a5, nullptr, bd_9cfb5d53a4f615a5, 0, sizeof(bd_9cfb5d53a4f615a5) / sizeof(bd_9cfb5d53a4f615a5[0]), nullptr } + 1, 1, i_9cfb5d53a4f615a5, nullptr, nullptr, { &s_9cfb5d53a4f615a5, nullptr, bd_9cfb5d53a4f615a5, 0, sizeof(bd_9cfb5d53a4f615a5) / sizeof(bd_9cfb5d53a4f615a5[0]), nullptr }, true }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<82> b_d97e3b28239f5580 = { @@ -1626,20 +1626,20 @@ static const uint16_t m_d97e3b28239f5580[] = {1, 0, 3, 2}; static const uint16_t i_d97e3b28239f5580[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_d97e3b28239f5580 = { 0xd97e3b28239f5580, b_d97e3b28239f5580.words, 82, nullptr, m_d97e3b28239f5580, - 0, 4, i_d97e3b28239f5580, nullptr, nullptr, { &s_d97e3b28239f5580, nullptr, nullptr, 0, 0, nullptr } + 0, 4, i_d97e3b28239f5580, nullptr, nullptr, { &s_d97e3b28239f5580, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE -static const ::capnp::_::AlignedData<511> b_ea0245f695ae0a33 = { +static const ::capnp::_::AlignedData<527> b_ea0245f695ae0a33 = { { 0, 0, 0, 0, 5, 0, 6, 0, 51, 10, 174, 149, 246, 69, 2, 234, - 10, 0, 0, 0, 1, 0, 11, 0, + 10, 0, 0, 0, 1, 0, 12, 0, 91, 40, 164, 37, 126, 241, 177, 243, 7, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 21, 0, 0, 0, 162, 0, 0, 0, 29, 0, 0, 0, 55, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 77, 0, 0, 0, 39, 6, 0, 0, + 77, 0, 0, 0, 95, 6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 111, 103, 46, 99, 97, 112, 110, @@ -1659,203 +1659,210 @@ static const ::capnp::_::AlignedData<511> b_ea0245f695ae0a33 = { 65, 110, 100, 114, 111, 105, 100, 67, 97, 112, 116, 117, 114, 101, 82, 101, 115, 117, 108, 116, 0, 0, 0, 0, - 112, 0, 0, 0, 3, 0, 4, 0, + 116, 0, 0, 0, 3, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 1, 3, 0, 0, 66, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 252, 2, 0, 0, 3, 0, 1, 0, - 8, 3, 0, 0, 2, 0, 1, 0, - 1, 0, 0, 0, 1, 0, 0, 0, - 0, 0, 1, 0, 1, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 5, 3, 0, 0, 74, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 4, 3, 0, 0, 3, 0, 1, 0, - 16, 3, 0, 0, 2, 0, 1, 0, - 4, 0, 0, 0, 1, 0, 0, 0, - 0, 0, 1, 0, 2, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 13, 3, 0, 0, 106, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 12, 3, 0, 0, 3, 0, 1, 0, - 24, 3, 0, 0, 2, 0, 1, 0, - 17, 0, 0, 0, 4, 0, 0, 0, - 0, 0, 1, 0, 3, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 21, 3, 0, 0, 178, 0, 0, 0, + 29, 3, 0, 0, 66, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 3, 0, 0, 3, 0, 1, 0, 36, 3, 0, 0, 2, 0, 1, 0, - 7, 0, 0, 0, 5, 0, 0, 0, - 0, 0, 1, 0, 4, 0, 0, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 33, 3, 0, 0, 90, 0, 0, 0, + 33, 3, 0, 0, 74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 32, 3, 0, 0, 3, 0, 1, 0, 44, 3, 0, 0, 2, 0, 1, 0, - 18, 0, 0, 0, 6, 0, 0, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 3, 0, 0, 3, 0, 1, 0, + 52, 3, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 3, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 3, 0, 0, 3, 0, 1, 0, + 64, 3, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 3, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 3, 0, 0, 3, 0, 1, 0, + 72, 3, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 6, 0, 0, 0, 0, 0, 1, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 41, 3, 0, 0, 170, 0, 0, 0, + 69, 3, 0, 0, 170, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 44, 3, 0, 0, 3, 0, 1, 0, - 56, 3, 0, 0, 2, 0, 1, 0, - 14, 0, 0, 0, 0, 0, 0, 0, + 72, 3, 0, 0, 3, 0, 1, 0, + 84, 3, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 53, 3, 0, 0, 50, 0, 0, 0, + 81, 3, 0, 0, 50, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 48, 3, 0, 0, 3, 0, 1, 0, - 60, 3, 0, 0, 2, 0, 1, 0, - 3, 0, 0, 0, 14, 0, 0, 0, + 76, 3, 0, 0, 3, 0, 1, 0, + 88, 3, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 14, 0, 0, 0, 0, 0, 1, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 57, 3, 0, 0, 82, 0, 0, 0, + 85, 3, 0, 0, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 56, 3, 0, 0, 3, 0, 1, 0, - 68, 3, 0, 0, 2, 0, 1, 0, - 5, 0, 0, 0, 4, 0, 0, 0, + 84, 3, 0, 0, 3, 0, 1, 0, + 96, 3, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, 0, 0, 1, 0, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 65, 3, 0, 0, 106, 0, 0, 0, + 93, 3, 0, 0, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 64, 3, 0, 0, 3, 0, 1, 0, - 76, 3, 0, 0, 2, 0, 1, 0, - 19, 0, 0, 0, 1, 0, 0, 0, + 92, 3, 0, 0, 3, 0, 1, 0, + 104, 3, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 73, 3, 0, 0, 250, 0, 0, 0, + 101, 3, 0, 0, 250, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 80, 3, 0, 0, 3, 0, 1, 0, - 92, 3, 0, 0, 2, 0, 1, 0, - 13, 0, 0, 0, 2, 0, 0, 0, + 108, 3, 0, 0, 3, 0, 1, 0, + 120, 3, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 2, 0, 0, 0, 0, 0, 1, 0, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 89, 3, 0, 0, 82, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 88, 3, 0, 0, 3, 0, 1, 0, - 116, 3, 0, 0, 2, 0, 1, 0, - 20, 0, 0, 0, 10, 0, 0, 0, - 0, 0, 1, 0, 11, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 113, 3, 0, 0, 146, 0, 0, 0, + 117, 3, 0, 0, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 116, 3, 0, 0, 3, 0, 1, 0, - 128, 3, 0, 0, 2, 0, 1, 0, - 21, 0, 0, 0, 11, 0, 0, 0, + 144, 3, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 3, 0, 0, 3, 0, 1, 0, + 156, 3, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 11, 0, 0, 0, 0, 0, 1, 0, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 125, 3, 0, 0, 146, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 128, 3, 0, 0, 3, 0, 1, 0, - 140, 3, 0, 0, 2, 0, 1, 0, - 22, 0, 0, 0, 12, 0, 0, 0, - 0, 0, 1, 0, 13, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 137, 3, 0, 0, 146, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 140, 3, 0, 0, 3, 0, 1, 0, - 152, 3, 0, 0, 2, 0, 1, 0, - 23, 0, 0, 0, 13, 0, 0, 0, - 0, 0, 1, 0, 14, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 149, 3, 0, 0, 178, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 152, 3, 0, 0, 3, 0, 1, 0, - 164, 3, 0, 0, 2, 0, 1, 0, - 9, 0, 0, 0, 14, 0, 0, 0, - 0, 0, 1, 0, 15, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 161, 3, 0, 0, 42, 0, 0, 0, + 153, 3, 0, 0, 146, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 156, 3, 0, 0, 3, 0, 1, 0, 168, 3, 0, 0, 2, 0, 1, 0, - 24, 0, 0, 0, 3, 0, 0, 0, - 0, 0, 1, 0, 16, 0, 0, 0, + 23, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 165, 3, 0, 0, 154, 0, 0, 0, + 165, 3, 0, 0, 146, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 168, 3, 0, 0, 3, 0, 1, 0, - 196, 3, 0, 0, 2, 0, 1, 0, - 25, 0, 0, 0, 4, 0, 0, 0, - 0, 0, 1, 0, 17, 0, 0, 0, + 180, 3, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 193, 3, 0, 0, 162, 0, 0, 0, + 177, 3, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 3, 0, 0, 3, 0, 1, 0, + 192, 3, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 3, 0, 0, 3, 0, 1, 0, + 196, 3, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 3, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 196, 3, 0, 0, 3, 0, 1, 0, 224, 3, 0, 0, 2, 0, 1, 0, - 26, 0, 0, 0, 5, 0, 0, 0, + 26, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 3, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 3, 0, 0, 3, 0, 1, 0, + 252, 3, 0, 0, 2, 0, 1, 0, + 27, 0, 0, 0, 5, 0, 0, 0, 0, 0, 1, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 221, 3, 0, 0, 202, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 228, 3, 0, 0, 3, 0, 1, 0, - 0, 4, 0, 0, 2, 0, 1, 0, - 27, 0, 0, 0, 15, 0, 0, 0, - 0, 0, 1, 0, 19, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 253, 3, 0, 0, 186, 0, 0, 0, + 249, 3, 0, 0, 202, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 0, 0, 3, 0, 1, 0, - 12, 4, 0, 0, 2, 0, 1, 0, - 8, 0, 0, 0, 240, 0, 0, 0, + 28, 4, 0, 0, 2, 0, 1, 0, + 28, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 4, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 4, 0, 0, 3, 0, 1, 0, + 40, 4, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 240, 0, 0, 0, 0, 0, 1, 0, 20, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 9, 4, 0, 0, 154, 0, 0, 0, + 37, 4, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 12, 4, 0, 0, 3, 0, 1, 0, - 24, 4, 0, 0, 2, 0, 1, 0, - 10, 0, 0, 0, 16, 0, 0, 0, + 40, 4, 0, 0, 3, 0, 1, 0, + 52, 4, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 16, 0, 0, 0, 0, 0, 1, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 21, 4, 0, 0, 170, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 24, 4, 0, 0, 3, 0, 1, 0, - 36, 4, 0, 0, 2, 0, 1, 0, - 11, 0, 0, 0, 17, 0, 0, 0, - 0, 0, 1, 0, 22, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 33, 4, 0, 0, 154, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 36, 4, 0, 0, 3, 0, 1, 0, - 48, 4, 0, 0, 2, 0, 1, 0, - 6, 0, 0, 0, 18, 0, 0, 0, - 0, 0, 1, 0, 23, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 45, 4, 0, 0, 122, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 44, 4, 0, 0, 3, 0, 1, 0, - 56, 4, 0, 0, 2, 0, 1, 0, - 15, 0, 0, 0, 6, 0, 0, 0, - 0, 0, 1, 0, 24, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 53, 4, 0, 0, 114, 0, 0, 0, + 49, 4, 0, 0, 170, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 52, 4, 0, 0, 3, 0, 1, 0, - 80, 4, 0, 0, 2, 0, 1, 0, - 2, 0, 0, 0, 19, 0, 0, 0, - 0, 0, 1, 0, 25, 0, 0, 0, + 64, 4, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 77, 4, 0, 0, 114, 0, 0, 0, + 61, 4, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 76, 4, 0, 0, 3, 0, 1, 0, - 88, 4, 0, 0, 2, 0, 1, 0, - 16, 0, 0, 0, 40, 0, 0, 0, - 0, 0, 1, 0, 26, 0, 0, 0, + 64, 4, 0, 0, 3, 0, 1, 0, + 76, 4, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 85, 4, 0, 0, 58, 0, 0, 0, + 73, 4, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 4, 0, 0, 3, 0, 1, 0, + 84, 4, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 4, 0, 0, 114, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 80, 4, 0, 0, 3, 0, 1, 0, - 92, 4, 0, 0, 2, 0, 1, 0, - 12, 0, 0, 0, 21, 0, 0, 0, + 108, 4, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 19, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 4, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 4, 0, 0, 3, 0, 1, 0, + 116, 4, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 40, 0, 0, 0, + 0, 0, 1, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 4, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 4, 0, 0, 3, 0, 1, 0, + 120, 4, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 21, 0, 0, 0, 0, 0, 1, 0, 27, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 89, 4, 0, 0, 154, 0, 0, 0, + 117, 4, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 92, 4, 0, 0, 3, 0, 1, 0, - 104, 4, 0, 0, 2, 0, 1, 0, + 120, 4, 0, 0, 3, 0, 1, 0, + 132, 4, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 22, 0, 0, 0, + 0, 0, 1, 0, 28, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 4, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 4, 0, 0, 3, 0, 1, 0, + 140, 4, 0, 0, 2, 0, 1, 0, 102, 114, 97, 109, 101, 73, 100, 0, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, @@ -2139,6 +2146,15 @@ static const ::capnp::_::AlignedData<511> b_ea0245f695ae0a33 = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 113, 117, 101, 115, 116, 73, + 100, 0, 0, 0, 0, 0, 0, 0, + 8, 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, + 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, } }; @@ -2149,11 +2165,11 @@ static const ::capnp::_::RawSchema* const d_ea0245f695ae0a33[] = { &s_d810b1e7705dd69c, &s_ddb169f01e102879, }; -static const uint16_t m_ea0245f695ae0a33[] = {9, 1, 27, 17, 16, 0, 25, 3, 7, 15, 5, 20, 6, 4, 13, 11, 12, 14, 21, 23, 19, 26, 18, 22, 24, 2, 8, 10}; -static const uint16_t i_ea0245f695ae0a33[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27}; +static const uint16_t m_ea0245f695ae0a33[] = {9, 1, 27, 17, 16, 0, 25, 3, 7, 15, 5, 20, 6, 4, 13, 11, 12, 14, 21, 23, 19, 28, 26, 18, 22, 24, 2, 8, 10}; +static const uint16_t i_ea0245f695ae0a33[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28}; const ::capnp::_::RawSchema s_ea0245f695ae0a33 = { - 0xea0245f695ae0a33, b_ea0245f695ae0a33.words, 511, d_ea0245f695ae0a33, m_ea0245f695ae0a33, - 3, 28, i_ea0245f695ae0a33, nullptr, nullptr, { &s_ea0245f695ae0a33, nullptr, nullptr, 0, 0, nullptr } + 0xea0245f695ae0a33, b_ea0245f695ae0a33.words, 527, d_ea0245f695ae0a33, m_ea0245f695ae0a33, + 3, 29, i_ea0245f695ae0a33, nullptr, nullptr, { &s_ea0245f695ae0a33, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<35> b_ddb169f01e102879 = { @@ -2198,7 +2214,7 @@ static const ::capnp::_::AlignedData<35> b_ddb169f01e102879 = { static const uint16_t m_ddb169f01e102879[] = {2, 3, 1, 0}; const ::capnp::_::RawSchema s_ddb169f01e102879 = { 0xddb169f01e102879, b_ddb169f01e102879.words, 35, nullptr, m_ddb169f01e102879, - 0, 4, nullptr, nullptr, nullptr, { &s_ddb169f01e102879, nullptr, nullptr, 0, 0, nullptr } + 0, 4, nullptr, nullptr, nullptr, { &s_ddb169f01e102879, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(FrameType_ddb169f01e102879, ddb169f01e102879); @@ -2243,7 +2259,7 @@ static const ::capnp::_::AlignedData<34> b_d810b1e7705dd69c = { static const uint16_t m_d810b1e7705dd69c[] = {1, 3, 2, 0}; const ::capnp::_::RawSchema s_d810b1e7705dd69c = { 0xd810b1e7705dd69c, b_d810b1e7705dd69c.words, 34, nullptr, m_d810b1e7705dd69c, - 0, 4, nullptr, nullptr, nullptr, { &s_d810b1e7705dd69c, nullptr, nullptr, 0, 0, nullptr } + 0, 4, nullptr, nullptr, nullptr, { &s_d810b1e7705dd69c, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(ImageSensor_d810b1e7705dd69c, d810b1e7705dd69c); @@ -2399,7 +2415,7 @@ static const uint16_t m_bcc3efbac41d2048[] = {5, 4, 6, 2, 1, 3, 0}; static const uint16_t i_bcc3efbac41d2048[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_bcc3efbac41d2048 = { 0xbcc3efbac41d2048, b_bcc3efbac41d2048.words, 144, nullptr, m_bcc3efbac41d2048, - 0, 7, i_bcc3efbac41d2048, nullptr, nullptr, { &s_bcc3efbac41d2048, nullptr, nullptr, 0, 0, nullptr } + 0, 7, i_bcc3efbac41d2048, nullptr, nullptr, { &s_bcc3efbac41d2048, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<64> b_b65fce64120af7d3 = { @@ -2474,7 +2490,7 @@ static const uint16_t m_b65fce64120af7d3[] = {0, 2, 1}; static const uint16_t i_b65fce64120af7d3[] = {0, 1, 2}; const ::capnp::_::RawSchema s_b65fce64120af7d3 = { 0xb65fce64120af7d3, b_b65fce64120af7d3.words, 64, nullptr, m_b65fce64120af7d3, - 0, 3, i_b65fce64120af7d3, nullptr, nullptr, { &s_b65fce64120af7d3, nullptr, nullptr, 0, 0, nullptr } + 0, 3, i_b65fce64120af7d3, nullptr, nullptr, { &s_b65fce64120af7d3, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<64> b_9d291d7813ba4a88 = { @@ -2549,7 +2565,7 @@ static const uint16_t m_9d291d7813ba4a88[] = {1, 2, 0}; static const uint16_t i_9d291d7813ba4a88[] = {0, 1, 2}; const ::capnp::_::RawSchema s_9d291d7813ba4a88 = { 0x9d291d7813ba4a88, b_9d291d7813ba4a88.words, 64, nullptr, m_9d291d7813ba4a88, - 0, 3, i_9d291d7813ba4a88, nullptr, nullptr, { &s_9d291d7813ba4a88, nullptr, nullptr, 0, 0, nullptr } + 0, 3, i_9d291d7813ba4a88, nullptr, nullptr, { &s_9d291d7813ba4a88, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<279> b_a2b29a69d44529a1 = { @@ -2843,7 +2859,7 @@ static const uint16_t m_a2b29a69d44529a1[] = {4, 7, 12, 14, 5, 11, 6, 9, 13, 1, static const uint16_t i_a2b29a69d44529a1[] = {4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 0, 1, 2, 3, 8, 10}; const ::capnp::_::RawSchema s_a2b29a69d44529a1 = { 0xa2b29a69d44529a1, b_a2b29a69d44529a1.words, 279, d_a2b29a69d44529a1, m_a2b29a69d44529a1, - 2, 16, i_a2b29a69d44529a1, nullptr, nullptr, { &s_a2b29a69d44529a1, nullptr, nullptr, 0, 0, nullptr } + 2, 16, i_a2b29a69d44529a1, nullptr, nullptr, { &s_a2b29a69d44529a1, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<53> b_a43429bd2bfc24fc = { @@ -2907,7 +2923,7 @@ static const uint16_t m_a43429bd2bfc24fc[] = {1, 0}; static const uint16_t i_a43429bd2bfc24fc[] = {0, 1}; const ::capnp::_::RawSchema s_a43429bd2bfc24fc = { 0xa43429bd2bfc24fc, b_a43429bd2bfc24fc.words, 53, nullptr, m_a43429bd2bfc24fc, - 0, 2, i_a43429bd2bfc24fc, nullptr, nullptr, { &s_a43429bd2bfc24fc, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_a43429bd2bfc24fc, nullptr, nullptr, { &s_a43429bd2bfc24fc, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<71> b_e49b3ce8f7f48d0d = { @@ -2988,7 +3004,7 @@ static const ::capnp::_::AlignedData<71> b_e49b3ce8f7f48d0d = { static const uint16_t m_e49b3ce8f7f48d0d[] = {0, 6, 8, 4, 2, 1, 5, 10, 7, 11, 9, 3}; const ::capnp::_::RawSchema s_e49b3ce8f7f48d0d = { 0xe49b3ce8f7f48d0d, b_e49b3ce8f7f48d0d.words, 71, nullptr, m_e49b3ce8f7f48d0d, - 0, 12, nullptr, nullptr, nullptr, { &s_e49b3ce8f7f48d0d, nullptr, nullptr, 0, 0, nullptr } + 0, 12, nullptr, nullptr, nullptr, { &s_e49b3ce8f7f48d0d, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(SensorSource_e49b3ce8f7f48d0d, e49b3ce8f7f48d0d); @@ -3236,7 +3252,7 @@ static const uint16_t m_e946524859add50e[] = {6, 3, 11, 5, 0, 1, 2, 8, 4, 12, 7, static const uint16_t i_e946524859add50e[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; const ::capnp::_::RawSchema s_e946524859add50e = { 0xe946524859add50e, b_e946524859add50e.words, 233, d_e946524859add50e, m_e946524859add50e, - 1, 13, i_e946524859add50e, nullptr, nullptr, { &s_e946524859add50e, nullptr, nullptr, 0, 0, nullptr } + 1, 13, i_e946524859add50e, nullptr, nullptr, { &s_e946524859add50e, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<58> b_d3ff79f25c734863 = { @@ -3304,10 +3320,163 @@ static const ::capnp::_::AlignedData<58> b_d3ff79f25c734863 = { static const uint16_t m_d3ff79f25c734863[] = {0, 2, 5, 4, 1, 8, 7, 6, 3}; const ::capnp::_::RawSchema s_d3ff79f25c734863 = { 0xd3ff79f25c734863, b_d3ff79f25c734863.words, 58, nullptr, m_d3ff79f25c734863, - 0, 9, nullptr, nullptr, nullptr, { &s_d3ff79f25c734863, nullptr, nullptr, 0, 0, nullptr } + 0, 9, nullptr, nullptr, nullptr, { &s_d3ff79f25c734863, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(SensorSource_d3ff79f25c734863, d3ff79f25c734863); +static const ::capnp::_::AlignedData<51> b_ae674a34ba421466 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 102, 20, 66, 186, 52, 74, 103, 174, + 10, 0, 0, 0, 2, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 138, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 115, 105, 114, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 116, 117, 114, 110, 76, 101, 102, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 82, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 76, 101, 102, 116, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 82, 105, 103, 104, 116, 0, + 107, 101, 101, 112, 76, 101, 102, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 101, 101, 112, 82, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ae674a34ba421466 = b_ae674a34ba421466.words; +#if !CAPNP_LITE +static const uint16_t m_ae674a34ba421466[] = {5, 6, 3, 4, 0, 1, 2}; +const ::capnp::_::RawSchema s_ae674a34ba421466 = { + 0xae674a34ba421466, b_ae674a34ba421466.words, 51, nullptr, m_ae674a34ba421466, + 0, 7, nullptr, nullptr, nullptr, { &s_ae674a34ba421466, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Desire_ae674a34ba421466, ae674a34ba421466); +static const ::capnp::_::AlignedData<39> b_cd37924bf7b2d3d2 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 210, 211, 178, 247, 75, 146, 55, 205, + 10, 0, 0, 0, 2, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 97, 110, 101, 67, 104, + 97, 110, 103, 101, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 102, 102, 0, 0, 0, 0, 0, + 112, 114, 101, 76, 97, 110, 101, 67, + 104, 97, 110, 103, 101, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 83, 116, 97, 114, 116, 105, + 110, 103, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 70, 105, 110, 105, 115, 104, + 105, 110, 103, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_cd37924bf7b2d3d2 = b_cd37924bf7b2d3d2.words; +#if !CAPNP_LITE +static const uint16_t m_cd37924bf7b2d3d2[] = {3, 2, 0, 1}; +const ::capnp::_::RawSchema s_cd37924bf7b2d3d2 = { + 0xcd37924bf7b2d3d2, b_cd37924bf7b2d3d2.words, 39, nullptr, m_cd37924bf7b2d3d2, + 0, 4, nullptr, nullptr, nullptr, { &s_cd37924bf7b2d3d2, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(LaneChangeState_cd37924bf7b2d3d2, cd37924bf7b2d3d2); +static const ::capnp::_::AlignedData<30> b_9d0bc0c1fe671176 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 118, 17, 103, 254, 193, 192, 11, 157, + 10, 0, 0, 0, 2, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 97, 110, 101, 67, 104, + 97, 110, 103, 101, 68, 105, 114, 101, + 99, 116, 105, 111, 110, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 108, 101, 102, 116, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 0, 0, 0, } +}; +::capnp::word const* const bp_9d0bc0c1fe671176 = b_9d0bc0c1fe671176.words; +#if !CAPNP_LITE +static const uint16_t m_9d0bc0c1fe671176[] = {1, 0, 2}; +const ::capnp::_::RawSchema s_9d0bc0c1fe671176 = { + 0x9d0bc0c1fe671176, b_9d0bc0c1fe671176.words, 30, nullptr, m_9d0bc0c1fe671176, + 0, 3, nullptr, nullptr, nullptr, { &s_9d0bc0c1fe671176, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(LaneChangeDirection_9d0bc0c1fe671176, 9d0bc0c1fe671176); static const ::capnp::_::AlignedData<77> b_8785009a964c7c59 = { { 0, 0, 0, 0, 5, 0, 6, 0, 89, 124, 76, 150, 154, 0, 133, 135, @@ -3393,7 +3562,7 @@ static const uint16_t m_8785009a964c7c59[] = {0, 1, 2, 3}; static const uint16_t i_8785009a964c7c59[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_8785009a964c7c59 = { 0x8785009a964c7c59, b_8785009a964c7c59.words, 77, nullptr, m_8785009a964c7c59, - 0, 4, i_8785009a964c7c59, nullptr, nullptr, { &s_8785009a964c7c59, nullptr, nullptr, 0, 0, nullptr } + 0, 4, i_8785009a964c7c59, nullptr, nullptr, { &s_8785009a964c7c59, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<809> b_a4d8b5af2aa492eb = { @@ -4221,7 +4390,7 @@ static const uint16_t m_a4d8b5af2aa492eb[] = {30, 6, 15, 8, 9, 29, 16, 25, 18, 1 static const uint16_t i_a4d8b5af2aa492eb[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44}; const ::capnp::_::RawSchema s_a4d8b5af2aa492eb = { 0xa4d8b5af2aa492eb, b_a4d8b5af2aa492eb.words, 809, d_a4d8b5af2aa492eb, m_a4d8b5af2aa492eb, - 6, 45, i_a4d8b5af2aa492eb, nullptr, nullptr, { &s_a4d8b5af2aa492eb, nullptr, nullptr, 0, 0, nullptr } + 6, 45, i_a4d8b5af2aa492eb, nullptr, nullptr, { &s_a4d8b5af2aa492eb, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<49> b_d0790029853df66f = { @@ -4281,7 +4450,7 @@ static const uint16_t m_d0790029853df66f[] = {0, 1}; static const uint16_t i_d0790029853df66f[] = {0, 1}; const ::capnp::_::RawSchema s_d0790029853df66f = { 0xd0790029853df66f, b_d0790029853df66f.words, 49, nullptr, m_d0790029853df66f, - 0, 2, i_d0790029853df66f, nullptr, nullptr, { &s_d0790029853df66f, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_d0790029853df66f, nullptr, nullptr, { &s_d0790029853df66f, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<35> b_af0f7110c254f77e = { @@ -4326,7 +4495,7 @@ static const ::capnp::_::AlignedData<35> b_af0f7110c254f77e = { static const uint16_t m_af0f7110c254f77e[] = {3, 0, 2, 1}; const ::capnp::_::RawSchema s_af0f7110c254f77e = { 0xaf0f7110c254f77e, b_af0f7110c254f77e.words, 35, nullptr, m_af0f7110c254f77e, - 0, 4, nullptr, nullptr, nullptr, { &s_af0f7110c254f77e, nullptr, nullptr, 0, 0, nullptr } + 0, 4, nullptr, nullptr, nullptr, { &s_af0f7110c254f77e, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(ThermalStatus_af0f7110c254f77e, af0f7110c254f77e); @@ -4385,7 +4554,7 @@ static const ::capnp::_::AlignedData<48> b_bbc79cc958d1049d = { static const uint16_t m_bbc79cc958d1049d[] = {2, 3, 4, 5, 6, 0, 1}; const ::capnp::_::RawSchema s_bbc79cc958d1049d = { 0xbbc79cc958d1049d, b_bbc79cc958d1049d.words, 48, nullptr, m_bbc79cc958d1049d, - 0, 7, nullptr, nullptr, nullptr, { &s_bbc79cc958d1049d, nullptr, nullptr, 0, 0, nullptr } + 0, 7, nullptr, nullptr, nullptr, { &s_bbc79cc958d1049d, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(NetworkType_bbc79cc958d1049d, bbc79cc958d1049d); @@ -4436,7 +4605,7 @@ static const ::capnp::_::AlignedData<40> b_dd308c8a13203e13 = { static const uint16_t m_dd308c8a13203e13[] = {3, 4, 2, 1, 0}; const ::capnp::_::RawSchema s_dd308c8a13203e13 = { 0xdd308c8a13203e13, b_dd308c8a13203e13.words, 40, nullptr, m_dd308c8a13203e13, - 0, 5, nullptr, nullptr, nullptr, { &s_dd308c8a13203e13, nullptr, nullptr, 0, 0, nullptr } + 0, 5, nullptr, nullptr, nullptr, { &s_dd308c8a13203e13, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(NetworkStrength_dd308c8a13203e13, dd308c8a13203e13); @@ -4559,7 +4728,7 @@ static const uint16_t m_9d57532d82c04afc[] = {2, 3, 4, 1, 5, 0}; static const uint16_t i_9d57532d82c04afc[] = {0, 1, 2, 3, 4, 5}; const ::capnp::_::RawSchema s_9d57532d82c04afc = { 0x9d57532d82c04afc, b_9d57532d82c04afc.words, 111, nullptr, m_9d57532d82c04afc, - 0, 6, i_9d57532d82c04afc, nullptr, nullptr, { &s_9d57532d82c04afc, nullptr, nullptr, 0, 0, nullptr } + 0, 6, i_9d57532d82c04afc, nullptr, nullptr, { &s_9d57532d82c04afc, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<49> b_b98c64ea27898ea0 = { @@ -4619,7 +4788,7 @@ static const uint16_t m_b98c64ea27898ea0[] = {1, 0}; static const uint16_t i_b98c64ea27898ea0[] = {0, 1}; const ::capnp::_::RawSchema s_b98c64ea27898ea0 = { 0xb98c64ea27898ea0, b_b98c64ea27898ea0.words, 49, nullptr, m_b98c64ea27898ea0, - 0, 2, i_b98c64ea27898ea0, nullptr, nullptr, { &s_b98c64ea27898ea0, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_b98c64ea27898ea0, nullptr, nullptr, { &s_b98c64ea27898ea0, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<645> b_a7649e2575e4591e = { @@ -5284,7 +5453,7 @@ static const uint16_t m_a7649e2575e4591e[] = {23, 29, 30, 31, 3, 1, 28, 11, 34, static const uint16_t i_a7649e2575e4591e[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36}; const ::capnp::_::RawSchema s_a7649e2575e4591e = { 0xa7649e2575e4591e, b_a7649e2575e4591e.words, 645, d_a7649e2575e4591e, m_a7649e2575e4591e, - 7, 37, i_a7649e2575e4591e, nullptr, nullptr, { &s_a7649e2575e4591e, nullptr, nullptr, 0, 0, nullptr } + 7, 37, i_a7649e2575e4591e, nullptr, nullptr, { &s_a7649e2575e4591e, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<33> b_f2fd0b8b0ac9adbb = { @@ -5327,7 +5496,7 @@ static const ::capnp::_::AlignedData<33> b_f2fd0b8b0ac9adbb = { static const uint16_t m_f2fd0b8b0ac9adbb[] = {2, 1, 0}; const ::capnp::_::RawSchema s_f2fd0b8b0ac9adbb = { 0xf2fd0b8b0ac9adbb, b_f2fd0b8b0ac9adbb.words, 33, nullptr, m_f2fd0b8b0ac9adbb, - 0, 3, nullptr, nullptr, nullptr, { &s_f2fd0b8b0ac9adbb, nullptr, nullptr, 0, 0, nullptr } + 0, 3, nullptr, nullptr, nullptr, { &s_f2fd0b8b0ac9adbb, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(FaultStatus_f2fd0b8b0ac9adbb, f2fd0b8b0ac9adbb); @@ -5519,11 +5688,11 @@ static const ::capnp::_::AlignedData<181> b_cd55c07f69249798 = { static const uint16_t m_cd55c07f69249798[] = {26, 2, 3, 4, 20, 22, 6, 7, 19, 23, 9, 8, 5, 21, 16, 17, 10, 11, 12, 13, 24, 14, 15, 18, 0, 25, 1}; const ::capnp::_::RawSchema s_cd55c07f69249798 = { 0xcd55c07f69249798, b_cd55c07f69249798.words, 181, nullptr, m_cd55c07f69249798, - 0, 27, nullptr, nullptr, nullptr, { &s_cd55c07f69249798, nullptr, nullptr, 0, 0, nullptr } + 0, 27, nullptr, nullptr, nullptr, { &s_cd55c07f69249798, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(FaultType_cd55c07f69249798, cd55c07f69249798); -static const ::capnp::_::AlignedData<63> b_8a58adf93e5b3751 = { +static const ::capnp::_::AlignedData<67> b_8a58adf93e5b3751 = { { 0, 0, 0, 0, 5, 0, 6, 0, 81, 55, 91, 62, 249, 173, 88, 138, 21, 0, 0, 0, 2, 0, 0, 0, @@ -5533,7 +5702,7 @@ static const ::capnp::_::AlignedData<63> b_8a58adf93e5b3751 = { 21, 0, 0, 0, 250, 0, 0, 0, 33, 0, 0, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 29, 0, 0, 0, 247, 0, 0, 0, + 29, 0, 0, 0, 15, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 111, 103, 46, 99, 97, 112, 110, @@ -5541,36 +5710,39 @@ static const ::capnp::_::AlignedData<63> b_8a58adf93e5b3751 = { 116, 97, 116, 101, 46, 80, 97, 110, 100, 97, 84, 121, 112, 101, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, - 40, 0, 0, 0, 1, 0, 2, 0, + 44, 0, 0, 0, 1, 0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 113, 0, 0, 0, 66, 0, 0, 0, + 125, 0, 0, 0, 66, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, - 105, 0, 0, 0, 90, 0, 0, 0, + 117, 0, 0, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 0, 0, - 101, 0, 0, 0, 82, 0, 0, 0, + 113, 0, 0, 0, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 0, 0, 0, 0, 0, 0, 0, - 97, 0, 0, 0, 90, 0, 0, 0, + 109, 0, 0, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 0, 0, 0, 0, 0, 0, 0, - 93, 0, 0, 0, 50, 0, 0, 0, + 105, 0, 0, 0, 50, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 5, 0, 0, 0, 0, 0, 0, 0, - 85, 0, 0, 0, 34, 0, 0, 0, + 97, 0, 0, 0, 34, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, - 77, 0, 0, 0, 34, 0, 0, 0, + 89, 0, 0, 0, 34, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 7, 0, 0, 0, 0, 0, 0, 0, - 69, 0, 0, 0, 74, 0, 0, 0, + 81, 0, 0, 0, 74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8, 0, 0, 0, 0, 0, 0, 0, - 65, 0, 0, 0, 90, 0, 0, 0, + 77, 0, 0, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 9, 0, 0, 0, 0, 0, 0, 0, - 61, 0, 0, 0, 42, 0, 0, 0, + 73, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 58, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 117, 110, 107, 110, 111, 119, 110, 0, 119, 104, 105, 116, 101, 80, 97, 110, @@ -5586,14 +5758,15 @@ static const ::capnp::_::AlignedData<63> b_8a58adf93e5b3751 = { 0, 0, 0, 0, 0, 0, 0, 0, 114, 101, 100, 80, 97, 110, 100, 97, 86, 50, 0, 0, 0, 0, 0, 0, - 116, 114, 101, 115, 0, 0, 0, 0, } + 116, 114, 101, 115, 0, 0, 0, 0, + 99, 117, 97, 116, 114, 111, 0, 0, } }; ::capnp::word const* const bp_8a58adf93e5b3751 = b_8a58adf93e5b3751.words; #if !CAPNP_LITE -static const uint16_t m_8a58adf93e5b3751[] = {3, 6, 2, 4, 7, 8, 9, 0, 5, 1}; +static const uint16_t m_8a58adf93e5b3751[] = {3, 10, 6, 2, 4, 7, 8, 9, 0, 5, 1}; const ::capnp::_::RawSchema s_8a58adf93e5b3751 = { - 0x8a58adf93e5b3751, b_8a58adf93e5b3751.words, 63, nullptr, m_8a58adf93e5b3751, - 0, 10, nullptr, nullptr, nullptr, { &s_8a58adf93e5b3751, nullptr, nullptr, 0, 0, nullptr } + 0x8a58adf93e5b3751, b_8a58adf93e5b3751.words, 67, nullptr, m_8a58adf93e5b3751, + 0, 11, nullptr, nullptr, nullptr, { &s_8a58adf93e5b3751, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(PandaType_8a58adf93e5b3751, 8a58adf93e5b3751); @@ -5636,7 +5809,7 @@ static const ::capnp::_::AlignedData<32> b_f69a3ed1e8c081bf = { static const uint16_t m_f69a3ed1e8c081bf[] = {2, 1, 0}; const ::capnp::_::RawSchema s_f69a3ed1e8c081bf = { 0xf69a3ed1e8c081bf, b_f69a3ed1e8c081bf.words, 32, nullptr, m_f69a3ed1e8c081bf, - 0, 3, nullptr, nullptr, nullptr, { &s_f69a3ed1e8c081bf, nullptr, nullptr, 0, 0, nullptr } + 0, 3, nullptr, nullptr, nullptr, { &s_f69a3ed1e8c081bf, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(HarnessStatus_f69a3ed1e8c081bf, f69a3ed1e8c081bf); @@ -6075,7 +6248,7 @@ static const uint16_t m_f8d2972deb0cd45c[] = {19, 0, 1, 24, 17, 16, 18, 20, 3, 2 static const uint16_t i_f8d2972deb0cd45c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24}; const ::capnp::_::RawSchema s_f8d2972deb0cd45c = { 0xf8d2972deb0cd45c, b_f8d2972deb0cd45c.words, 424, d_f8d2972deb0cd45c, m_f8d2972deb0cd45c, - 1, 25, i_f8d2972deb0cd45c, nullptr, nullptr, { &s_f8d2972deb0cd45c, nullptr, nullptr, 0, 0, nullptr } + 1, 25, i_f8d2972deb0cd45c, nullptr, nullptr, { &s_f8d2972deb0cd45c, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<59> b_c0db50b4d13283ff = { @@ -6144,7 +6317,7 @@ static const ::capnp::_::AlignedData<59> b_c0db50b4d13283ff = { static const uint16_t m_c0db50b4d13283ff[] = {3, 5, 4, 6, 2, 7, 0, 1}; const ::capnp::_::RawSchema s_c0db50b4d13283ff = { 0xc0db50b4d13283ff, b_c0db50b4d13283ff.words, 59, nullptr, m_c0db50b4d13283ff, - 0, 8, nullptr, nullptr, nullptr, { &s_c0db50b4d13283ff, nullptr, nullptr, 0, 0, nullptr } + 0, 8, nullptr, nullptr, nullptr, { &s_c0db50b4d13283ff, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(LecErrorCode_c0db50b4d13283ff, c0db50b4d13283ff); @@ -6262,7 +6435,7 @@ static const uint16_t m_ceb8f49734857a88[] = {2, 3, 0, 4, 1}; static const uint16_t i_ceb8f49734857a88[] = {0, 1, 2, 3, 4}; const ::capnp::_::RawSchema s_ceb8f49734857a88 = { 0xceb8f49734857a88, b_ceb8f49734857a88.words, 102, d_ceb8f49734857a88, m_ceb8f49734857a88, - 2, 5, i_ceb8f49734857a88, nullptr, nullptr, { &s_ceb8f49734857a88, nullptr, nullptr, 0, 0, nullptr } + 2, 5, i_ceb8f49734857a88, nullptr, nullptr, { &s_ceb8f49734857a88, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<37> b_a8883583b32c9877 = { @@ -6309,7 +6482,7 @@ static const ::capnp::_::AlignedData<37> b_a8883583b32c9877 = { static const uint16_t m_a8883583b32c9877[] = {2, 1, 3, 0}; const ::capnp::_::RawSchema s_a8883583b32c9877 = { 0xa8883583b32c9877, b_a8883583b32c9877.words, 37, nullptr, m_a8883583b32c9877, - 0, 4, nullptr, nullptr, nullptr, { &s_a8883583b32c9877, nullptr, nullptr, 0, 0, nullptr } + 0, 4, nullptr, nullptr, nullptr, { &s_a8883583b32c9877, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(UsbPowerModeDEPRECATED_a8883583b32c9877, a8883583b32c9877); @@ -6572,7 +6745,7 @@ static const uint16_t m_9a185389d6fdd05f[] = {1, 8, 9, 2, 10, 11, 5, 7, 3, 4, 6, static const uint16_t i_9a185389d6fdd05f[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; const ::capnp::_::RawSchema s_9a185389d6fdd05f = { 0x9a185389d6fdd05f, b_9a185389d6fdd05f.words, 247, d_9a185389d6fdd05f, m_9a185389d6fdd05f, - 2, 13, i_9a185389d6fdd05f, nullptr, nullptr, { &s_9a185389d6fdd05f, nullptr, nullptr, 0, 0, nullptr } + 2, 13, i_9a185389d6fdd05f, nullptr, nullptr, { &s_9a185389d6fdd05f, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<262> b_b96f3ad9170cf085 = { @@ -6845,7 +7018,7 @@ static const uint16_t m_b96f3ad9170cf085[] = {5, 9, 12, 3, 6, 0, 10, 13, 14, 15, static const uint16_t i_b96f3ad9170cf085[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; const ::capnp::_::RawSchema s_b96f3ad9170cf085 = { 0xb96f3ad9170cf085, b_b96f3ad9170cf085.words, 262, nullptr, m_b96f3ad9170cf085, - 0, 16, i_b96f3ad9170cf085, nullptr, nullptr, { &s_b96f3ad9170cf085, nullptr, nullptr, 0, 0, nullptr } + 0, 16, i_b96f3ad9170cf085, nullptr, nullptr, { &s_b96f3ad9170cf085, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<264> b_96df70754d8390bc = { @@ -7123,7 +7296,7 @@ static const uint16_t m_96df70754d8390bc[] = {2, 3, 11, 1, 4, 12, 7, 8, 9, 5, 6, static const uint16_t i_96df70754d8390bc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; const ::capnp::_::RawSchema s_96df70754d8390bc = { 0x96df70754d8390bc, b_96df70754d8390bc.words, 264, d_96df70754d8390bc, m_96df70754d8390bc, - 1, 13, i_96df70754d8390bc, nullptr, nullptr, { &s_96df70754d8390bc, nullptr, nullptr, 0, 0, nullptr } + 1, 13, i_96df70754d8390bc, nullptr, nullptr, { &s_96df70754d8390bc, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<38> b_caaa029466ad394d = { @@ -7171,7 +7344,7 @@ static const ::capnp::_::AlignedData<38> b_caaa029466ad394d = { static const uint16_t m_caaa029466ad394d[] = {1, 2, 3, 0}; const ::capnp::_::RawSchema s_caaa029466ad394d = { 0xcaaa029466ad394d, b_caaa029466ad394d.words, 38, nullptr, m_caaa029466ad394d, - 0, 4, nullptr, nullptr, nullptr, { &s_caaa029466ad394d, nullptr, nullptr, 0, 0, nullptr } + 0, 4, nullptr, nullptr, nullptr, { &s_caaa029466ad394d, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Status_caaa029466ad394d, caaa029466ad394d); @@ -7354,10 +7527,10 @@ static const uint16_t m_8faa644732dec251[] = {4, 7, 1, 9, 8, 6, 5, 0, 3, 2}; static const uint16_t i_8faa644732dec251[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; const ::capnp::_::RawSchema s_8faa644732dec251 = { 0x8faa644732dec251, b_8faa644732dec251.words, 171, nullptr, m_8faa644732dec251, - 0, 10, i_8faa644732dec251, nullptr, nullptr, { &s_8faa644732dec251, nullptr, nullptr, 0, 0, nullptr } + 0, 10, i_8faa644732dec251, nullptr, nullptr, { &s_8faa644732dec251, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE -static const ::capnp::_::AlignedData<1055> b_97ff69c53601abf1 = { +static const ::capnp::_::AlignedData<1056> b_97ff69c53601abf1 = { { 0, 0, 0, 0, 5, 0, 6, 0, 241, 171, 1, 54, 197, 105, 255, 151, 10, 0, 0, 0, 1, 0, 24, 0, @@ -7420,14 +7593,14 @@ static const ::capnp::_::AlignedData<1055> b_97ff69c53601abf1 = { 101, 98, 117, 103, 83, 116, 97, 116, 101, 0, 0, 0, 0, 0, 0, 0, 240, 0, 0, 0, 3, 0, 4, 0, - 31, 0, 0, 0, 0, 0, 0, 0, + 30, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 129, 6, 0, 0, 122, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 6, 0, 0, 3, 0, 1, 0, 140, 6, 0, 0, 2, 0, 1, 0, - 33, 0, 0, 0, 1, 0, 0, 0, + 32, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 137, 6, 0, 0, 122, 0, 0, 0, @@ -7462,91 +7635,91 @@ static const ::capnp::_::AlignedData<1055> b_97ff69c53601abf1 = { 0, 0, 0, 0, 0, 0, 0, 0, 164, 6, 0, 0, 3, 0, 1, 0, 176, 6, 0, 0, 2, 0, 1, 0, - 37, 0, 0, 0, 6, 0, 0, 0, + 36, 0, 0, 0, 6, 0, 0, 0, 0, 0, 1, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 173, 6, 0, 0, 146, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 176, 6, 0, 0, 3, 0, 1, 0, 188, 6, 0, 0, 2, 0, 1, 0, - 38, 0, 0, 0, 7, 0, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, 0, 0, 1, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 185, 6, 0, 0, 122, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 184, 6, 0, 0, 3, 0, 1, 0, 196, 6, 0, 0, 2, 0, 1, 0, - 39, 0, 0, 0, 8, 0, 0, 0, + 38, 0, 0, 0, 8, 0, 0, 0, 0, 0, 1, 0, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 193, 6, 0, 0, 146, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 196, 6, 0, 0, 3, 0, 1, 0, 208, 6, 0, 0, 2, 0, 1, 0, - 40, 0, 0, 0, 9, 0, 0, 0, + 39, 0, 0, 0, 9, 0, 0, 0, 0, 0, 1, 0, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 205, 6, 0, 0, 146, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 208, 6, 0, 0, 3, 0, 1, 0, 220, 6, 0, 0, 2, 0, 1, 0, - 42, 0, 0, 0, 10, 0, 0, 0, + 41, 0, 0, 0, 10, 0, 0, 0, 0, 0, 1, 0, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 217, 6, 0, 0, 170, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 220, 6, 0, 0, 3, 0, 1, 0, 232, 6, 0, 0, 2, 0, 1, 0, - 43, 0, 0, 0, 11, 0, 0, 0, + 42, 0, 0, 0, 11, 0, 0, 0, 0, 0, 1, 0, 11, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 229, 6, 0, 0, 170, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 232, 6, 0, 0, 3, 0, 1, 0, 244, 6, 0, 0, 2, 0, 1, 0, - 56, 0, 0, 0, 12, 0, 0, 0, + 55, 0, 0, 0, 12, 0, 0, 0, 0, 0, 1, 0, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 241, 6, 0, 0, 170, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 244, 6, 0, 0, 3, 0, 1, 0, 0, 7, 0, 0, 2, 0, 1, 0, - 53, 0, 0, 0, 13, 0, 0, 0, + 52, 0, 0, 0, 13, 0, 0, 0, 0, 0, 1, 0, 13, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 253, 6, 0, 0, 178, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 7, 0, 0, 3, 0, 1, 0, 12, 7, 0, 0, 2, 0, 1, 0, - 46, 0, 0, 0, 14, 0, 0, 0, + 45, 0, 0, 0, 14, 0, 0, 0, 0, 0, 1, 0, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 9, 7, 0, 0, 146, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 7, 0, 0, 3, 0, 1, 0, 24, 7, 0, 0, 2, 0, 1, 0, - 28, 0, 0, 0, 15, 0, 0, 0, + 27, 0, 0, 0, 15, 0, 0, 0, 0, 0, 1, 0, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 21, 7, 0, 0, 74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 20, 7, 0, 0, 3, 0, 1, 0, 32, 7, 0, 0, 2, 0, 1, 0, - 34, 0, 0, 0, 8, 0, 0, 0, + 33, 0, 0, 0, 8, 0, 0, 0, 0, 0, 1, 0, 16, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 29, 7, 0, 0, 178, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 32, 7, 0, 0, 3, 0, 1, 0, 44, 7, 0, 0, 2, 0, 1, 0, - 35, 0, 0, 0, 9, 0, 0, 0, + 34, 0, 0, 0, 9, 0, 0, 0, 0, 0, 1, 0, 17, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 41, 7, 0, 0, 234, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 48, 7, 0, 0, 3, 0, 1, 0, 60, 7, 0, 0, 2, 0, 1, 0, - 36, 0, 0, 0, 10, 0, 0, 0, + 35, 0, 0, 0, 10, 0, 0, 0, 0, 0, 1, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 57, 7, 0, 0, 170, 0, 0, 0, @@ -7560,14 +7733,14 @@ static const ::capnp::_::AlignedData<1055> b_97ff69c53601abf1 = { 0, 0, 0, 0, 0, 0, 0, 0, 64, 7, 0, 0, 3, 0, 1, 0, 76, 7, 0, 0, 2, 0, 1, 0, - 57, 0, 0, 0, 193, 2, 0, 0, + 56, 0, 0, 0, 193, 2, 0, 0, 0, 0, 1, 0, 20, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 73, 7, 0, 0, 194, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 76, 7, 0, 0, 3, 0, 1, 0, 88, 7, 0, 0, 2, 0, 1, 0, - 59, 0, 0, 0, 0, 0, 0, 0, + 58, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 85, 7, 0, 0, 186, 0, 0, 0, @@ -7581,35 +7754,35 @@ static const ::capnp::_::AlignedData<1055> b_97ff69c53601abf1 = { 0, 0, 0, 0, 0, 0, 0, 0, 108, 7, 0, 0, 3, 0, 1, 0, 120, 7, 0, 0, 2, 0, 1, 0, - 44, 0, 0, 0, 194, 2, 0, 0, + 43, 0, 0, 0, 194, 2, 0, 0, 0, 0, 1, 0, 23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 117, 7, 0, 0, 178, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 120, 7, 0, 0, 3, 0, 1, 0, 132, 7, 0, 0, 2, 0, 1, 0, - 20, 0, 0, 0, 1, 0, 0, 0, + 19, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 24, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 129, 7, 0, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 7, 0, 0, 3, 0, 1, 0, 140, 7, 0, 0, 2, 0, 1, 0, - 21, 0, 0, 0, 2, 0, 0, 0, + 20, 0, 0, 0, 2, 0, 0, 0, 0, 0, 1, 0, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 137, 7, 0, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 136, 7, 0, 0, 3, 0, 1, 0, 148, 7, 0, 0, 2, 0, 1, 0, - 52, 0, 0, 0, 24, 0, 0, 0, + 51, 0, 0, 0, 24, 0, 0, 0, 0, 0, 1, 0, 26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 145, 7, 0, 0, 210, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 152, 7, 0, 0, 3, 0, 1, 0, 164, 7, 0, 0, 2, 0, 1, 0, - 48, 0, 0, 0, 25, 0, 0, 0, + 47, 0, 0, 0, 25, 0, 0, 0, 0, 0, 1, 0, 27, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 161, 7, 0, 0, 202, 0, 0, 0, @@ -7623,7 +7796,7 @@ static const ::capnp::_::AlignedData<1055> b_97ff69c53601abf1 = { 0, 0, 0, 0, 0, 0, 0, 0, 184, 7, 0, 0, 3, 0, 1, 0, 196, 7, 0, 0, 2, 0, 1, 0, - 58, 0, 0, 0, 28, 0, 0, 0, + 57, 0, 0, 0, 28, 0, 0, 0, 0, 0, 1, 0, 29, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 193, 7, 0, 0, 18, 1, 0, 0, @@ -7644,7 +7817,7 @@ static const ::capnp::_::AlignedData<1055> b_97ff69c53601abf1 = { 0, 0, 0, 0, 0, 0, 0, 0, 220, 7, 0, 0, 3, 0, 1, 0, 232, 7, 0, 0, 2, 0, 1, 0, - 32, 0, 0, 0, 30, 0, 0, 0, + 31, 0, 0, 0, 30, 0, 0, 0, 0, 0, 1, 0, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 229, 7, 0, 0, 146, 0, 0, 0, @@ -7658,7 +7831,7 @@ static const ::capnp::_::AlignedData<1055> b_97ff69c53601abf1 = { 0, 0, 0, 0, 0, 0, 0, 0, 240, 7, 0, 0, 3, 0, 1, 0, 252, 7, 0, 0, 2, 0, 1, 0, - 41, 0, 0, 0, 32, 0, 0, 0, + 40, 0, 0, 0, 32, 0, 0, 0, 0, 0, 1, 0, 34, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 249, 7, 0, 0, 146, 0, 0, 0, @@ -7686,70 +7859,70 @@ static const ::capnp::_::AlignedData<1055> b_97ff69c53601abf1 = { 0, 0, 0, 0, 0, 0, 0, 0, 12, 8, 0, 0, 3, 0, 1, 0, 24, 8, 0, 0, 2, 0, 1, 0, - 22, 0, 0, 0, 59, 0, 0, 0, + 21, 0, 0, 0, 59, 0, 0, 0, 0, 0, 1, 0, 38, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 21, 8, 0, 0, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 20, 8, 0, 0, 3, 0, 1, 0, 32, 8, 0, 0, 2, 0, 1, 0, - 23, 0, 0, 0, 70, 0, 0, 0, + 22, 0, 0, 0, 70, 0, 0, 0, 0, 0, 1, 0, 39, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 29, 8, 0, 0, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 8, 0, 0, 3, 0, 1, 0, 40, 8, 0, 0, 2, 0, 1, 0, - 49, 0, 0, 0, 196, 2, 0, 0, + 48, 0, 0, 0, 196, 2, 0, 0, 0, 0, 1, 0, 40, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 37, 8, 0, 0, 218, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 44, 8, 0, 0, 3, 0, 1, 0, 56, 8, 0, 0, 2, 0, 1, 0, - 27, 0, 0, 0, 197, 2, 0, 0, + 26, 0, 0, 0, 197, 2, 0, 0, 0, 0, 1, 0, 41, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 53, 8, 0, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 52, 8, 0, 0, 3, 0, 1, 0, 64, 8, 0, 0, 2, 0, 1, 0, - 24, 0, 0, 0, 36, 0, 0, 0, + 23, 0, 0, 0, 36, 0, 0, 0, 0, 0, 1, 0, 42, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 61, 8, 0, 0, 146, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 64, 8, 0, 0, 3, 0, 1, 0, 76, 8, 0, 0, 2, 0, 1, 0, - 45, 0, 0, 0, 198, 2, 0, 0, + 44, 0, 0, 0, 198, 2, 0, 0, 0, 0, 1, 0, 43, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 73, 8, 0, 0, 234, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 80, 8, 0, 0, 3, 0, 1, 0, 92, 8, 0, 0, 2, 0, 1, 0, - 25, 0, 0, 0, 3, 0, 0, 0, + 24, 0, 0, 0, 3, 0, 0, 0, 0, 0, 1, 0, 44, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 89, 8, 0, 0, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 88, 8, 0, 0, 3, 0, 1, 0, 100, 8, 0, 0, 2, 0, 1, 0, - 47, 0, 0, 0, 4, 0, 0, 0, + 46, 0, 0, 0, 4, 0, 0, 0, 0, 0, 1, 0, 45, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 97, 8, 0, 0, 170, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 100, 8, 0, 0, 3, 0, 1, 0, 112, 8, 0, 0, 2, 0, 1, 0, - 54, 0, 0, 0, 37, 0, 0, 0, + 53, 0, 0, 0, 37, 0, 0, 0, 0, 0, 1, 0, 46, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 109, 8, 0, 0, 170, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 112, 8, 0, 0, 3, 0, 1, 0, 124, 8, 0, 0, 2, 0, 1, 0, - 50, 0, 0, 0, 199, 2, 0, 0, + 49, 0, 0, 0, 199, 2, 0, 0, 0, 0, 1, 0, 47, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 121, 8, 0, 0, 186, 0, 0, 0, @@ -7763,7 +7936,7 @@ static const ::capnp::_::AlignedData<1055> b_97ff69c53601abf1 = { 0, 0, 0, 0, 0, 0, 0, 0, 132, 8, 0, 0, 3, 0, 1, 0, 144, 8, 0, 0, 2, 0, 1, 0, - 55, 0, 0, 0, 200, 2, 0, 0, + 54, 0, 0, 0, 200, 2, 0, 0, 0, 0, 1, 0, 49, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 141, 8, 0, 0, 154, 0, 0, 0, @@ -7777,35 +7950,35 @@ static const ::capnp::_::AlignedData<1055> b_97ff69c53601abf1 = { 0, 0, 0, 0, 0, 0, 0, 0, 156, 8, 0, 0, 3, 0, 1, 0, 168, 8, 0, 0, 2, 0, 1, 0, - 19, 0, 0, 0, 201, 2, 0, 0, + 18, 0, 0, 0, 201, 2, 0, 0, 0, 0, 1, 0, 51, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 165, 8, 0, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 164, 8, 0, 0, 3, 0, 1, 0, 176, 8, 0, 0, 2, 0, 1, 0, - 30, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 149, 70, 68, 107, 77, 145, 91, 253, 173, 8, 0, 0, 162, 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, - 51, 0, 0, 0, 202, 2, 0, 0, + 50, 0, 0, 0, 202, 2, 0, 0, 0, 0, 1, 0, 54, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 157, 8, 0, 0, 194, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 160, 8, 0, 0, 3, 0, 1, 0, 172, 8, 0, 0, 2, 0, 1, 0, - 26, 0, 0, 0, 84, 0, 0, 0, + 25, 0, 0, 0, 84, 0, 0, 0, 0, 0, 1, 0, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 169, 8, 0, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 168, 8, 0, 0, 3, 0, 1, 0, 180, 8, 0, 0, 2, 0, 1, 0, - 29, 0, 0, 0, 43, 0, 0, 0, + 28, 0, 0, 0, 43, 0, 0, 0, 0, 0, 1, 0, 57, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 8, 0, 0, 130, 0, 0, 0, @@ -7819,27 +7992,27 @@ static const ::capnp::_::AlignedData<1055> b_97ff69c53601abf1 = { 0, 0, 0, 0, 0, 0, 0, 0, 188, 8, 0, 0, 3, 0, 1, 0, 200, 8, 0, 0, 2, 0, 1, 0, - 18, 0, 0, 0, 45, 0, 0, 0, + 59, 0, 0, 0, 45, 0, 0, 0, 0, 0, 1, 0, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 197, 8, 0, 0, 170, 0, 0, 0, + 197, 8, 0, 0, 250, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 200, 8, 0, 0, 3, 0, 1, 0, - 212, 8, 0, 0, 2, 0, 1, 0, + 204, 8, 0, 0, 3, 0, 1, 0, + 216, 8, 0, 0, 2, 0, 1, 0, 11, 0, 0, 0, 46, 0, 0, 0, 0, 0, 1, 0, 63, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 209, 8, 0, 0, 122, 0, 0, 0, + 213, 8, 0, 0, 122, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 208, 8, 0, 0, 3, 0, 1, 0, - 220, 8, 0, 0, 2, 0, 1, 0, + 212, 8, 0, 0, 3, 0, 1, 0, + 224, 8, 0, 0, 2, 0, 1, 0, 6, 0, 0, 0, 203, 2, 0, 0, 0, 0, 1, 0, 64, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 217, 8, 0, 0, 138, 0, 0, 0, + 221, 8, 0, 0, 138, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 220, 8, 0, 0, 3, 0, 1, 0, - 232, 8, 0, 0, 2, 0, 1, 0, + 224, 8, 0, 0, 3, 0, 1, 0, + 236, 8, 0, 0, 2, 0, 1, 0, 118, 69, 103, 111, 68, 69, 80, 82, 69, 67, 65, 84, 69, 68, 0, 0, 10, 0, 0, 0, 0, 0, 0, 0, @@ -8386,7 +8559,8 @@ static const ::capnp::_::AlignedData<1055> b_97ff69c53601abf1 = { 0, 0, 0, 0, 0, 0, 0, 0, 100, 101, 115, 105, 114, 101, 100, 67, 117, 114, 118, 97, 116, 117, 114, 101, - 82, 97, 116, 101, 0, 0, 0, 0, + 82, 97, 116, 101, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, @@ -8427,8 +8601,8 @@ static const ::capnp::_::RawSchema* const d_97ff69c53601abf1[] = { static const uint16_t m_97ff69c53601abf1[] = {1, 35, 11, 10, 36, 42, 39, 54, 45, 38, 24, 25, 44, 27, 13, 26, 55, 16, 21, 15, 37, 53, 47, 56, 57, 43, 19, 41, 59, 51, 40, 14, 12, 52, 50, 30, 28, 49, 18, 17, 23, 48, 31, 20, 29, 33, 34, 5, 9, 4, 8, 22, 58, 46, 0, 32, 2, 3, 6, 7}; static const uint16_t i_97ff69c53601abf1[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59}; const ::capnp::_::RawSchema s_97ff69c53601abf1 = { - 0x97ff69c53601abf1, b_97ff69c53601abf1.words, 1055, d_97ff69c53601abf1, m_97ff69c53601abf1, - 6, 60, i_97ff69c53601abf1, nullptr, nullptr, { &s_97ff69c53601abf1, nullptr, nullptr, 0, 0, nullptr } + 0x97ff69c53601abf1, b_97ff69c53601abf1.words, 1056, d_97ff69c53601abf1, m_97ff69c53601abf1, + 6, 60, i_97ff69c53601abf1, nullptr, nullptr, { &s_97ff69c53601abf1, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<43> b_dbe58b96d2d1ac61 = { @@ -8481,7 +8655,7 @@ static const ::capnp::_::AlignedData<43> b_dbe58b96d2d1ac61 = { static const uint16_t m_dbe58b96d2d1ac61[] = {0, 2, 4, 1, 3}; const ::capnp::_::RawSchema s_dbe58b96d2d1ac61 = { 0xdbe58b96d2d1ac61, b_dbe58b96d2d1ac61.words, 43, nullptr, m_dbe58b96d2d1ac61, - 0, 5, nullptr, nullptr, nullptr, { &s_dbe58b96d2d1ac61, nullptr, nullptr, 0, 0, nullptr } + 0, 5, nullptr, nullptr, nullptr, { &s_dbe58b96d2d1ac61, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(OpenpilotState_dbe58b96d2d1ac61, dbe58b96d2d1ac61); @@ -8525,7 +8699,7 @@ static const ::capnp::_::AlignedData<33> b_a0d0dcd113193c62 = { static const uint16_t m_a0d0dcd113193c62[] = {2, 0, 1}; const ::capnp::_::RawSchema s_a0d0dcd113193c62 = { 0xa0d0dcd113193c62, b_a0d0dcd113193c62.words, 33, nullptr, m_a0d0dcd113193c62, - 0, 3, nullptr, nullptr, nullptr, { &s_a0d0dcd113193c62, nullptr, nullptr, 0, 0, nullptr } + 0, 3, nullptr, nullptr, nullptr, { &s_a0d0dcd113193c62, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(AlertStatus_a0d0dcd113193c62, a0d0dcd113193c62); @@ -8571,7 +8745,7 @@ static const ::capnp::_::AlignedData<35> b_e98bb99d6e985f64 = { static const uint16_t m_e98bb99d6e985f64[] = {3, 2, 0, 1}; const ::capnp::_::RawSchema s_e98bb99d6e985f64 = { 0xe98bb99d6e985f64, b_e98bb99d6e985f64.words, 35, nullptr, m_e98bb99d6e985f64, - 0, 4, nullptr, nullptr, nullptr, { &s_e98bb99d6e985f64, nullptr, nullptr, 0, 0, nullptr } + 0, 4, nullptr, nullptr, nullptr, { &s_e98bb99d6e985f64, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(AlertSize_e98bb99d6e985f64, e98bb99d6e985f64); @@ -8812,7 +8986,7 @@ static const uint16_t m_939463348632375e[] = {6, 5, 0, 7, 8, 9, 4, 10, 3, 1, 11, static const uint16_t i_939463348632375e[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; const ::capnp::_::RawSchema s_939463348632375e = { 0x939463348632375e, b_939463348632375e.words, 229, nullptr, m_939463348632375e, - 0, 13, i_939463348632375e, nullptr, nullptr, { &s_939463348632375e, nullptr, nullptr, 0, 0, nullptr } + 0, 13, i_939463348632375e, nullptr, nullptr, { &s_939463348632375e, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<176> b_f28c5dc9e09375e3 = { @@ -8999,7 +9173,7 @@ static const uint16_t m_f28c5dc9e09375e3[] = {0, 3, 6, 5, 7, 4, 8, 1, 9, 2}; static const uint16_t i_f28c5dc9e09375e3[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; const ::capnp::_::RawSchema s_f28c5dc9e09375e3 = { 0xf28c5dc9e09375e3, b_f28c5dc9e09375e3.words, 176, nullptr, m_f28c5dc9e09375e3, - 0, 10, i_f28c5dc9e09375e3, nullptr, nullptr, { &s_f28c5dc9e09375e3, nullptr, nullptr, 0, 0, nullptr } + 0, 10, i_f28c5dc9e09375e3, nullptr, nullptr, { &s_f28c5dc9e09375e3, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<191> b_e774a050cbf689a4 = { @@ -9201,7 +9375,7 @@ static const uint16_t m_e774a050cbf689a4[] = {0, 9, 4, 10, 1, 8, 5, 3, 6, 2, 7}; static const uint16_t i_e774a050cbf689a4[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; const ::capnp::_::RawSchema s_e774a050cbf689a4 = { 0xe774a050cbf689a4, b_e774a050cbf689a4.words, 191, nullptr, m_e774a050cbf689a4, - 0, 11, i_e774a050cbf689a4, nullptr, nullptr, { &s_e774a050cbf689a4, nullptr, nullptr, 0, 0, nullptr } + 0, 11, i_e774a050cbf689a4, nullptr, nullptr, { &s_e774a050cbf689a4, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<130> b_9024e2d790c82ade = { @@ -9342,7 +9516,7 @@ static const uint16_t m_9024e2d790c82ade[] = {0, 2, 4, 3, 5, 1, 6}; static const uint16_t i_9024e2d790c82ade[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_9024e2d790c82ade = { 0x9024e2d790c82ade, b_9024e2d790c82ade.words, 130, nullptr, m_9024e2d790c82ade, - 0, 7, i_9024e2d790c82ade, nullptr, nullptr, { &s_9024e2d790c82ade, nullptr, nullptr, 0, 0, nullptr } + 0, 7, i_9024e2d790c82ade, nullptr, nullptr, { &s_9024e2d790c82ade, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<100> b_a2e4ea88ac9980f1 = { @@ -9453,7 +9627,7 @@ static const uint16_t m_a2e4ea88ac9980f1[] = {0, 2, 3, 1, 4}; static const uint16_t i_a2e4ea88ac9980f1[] = {0, 1, 2, 3, 4}; const ::capnp::_::RawSchema s_a2e4ea88ac9980f1 = { 0xa2e4ea88ac9980f1, b_a2e4ea88ac9980f1.words, 100, nullptr, m_a2e4ea88ac9980f1, - 0, 5, i_a2e4ea88ac9980f1, nullptr, nullptr, { &s_a2e4ea88ac9980f1, nullptr, nullptr, 0, 0, nullptr } + 0, 5, i_a2e4ea88ac9980f1, nullptr, nullptr, { &s_a2e4ea88ac9980f1, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<159> b_ad9d8095c06f7c61 = { @@ -9623,7 +9797,7 @@ static const uint16_t m_ad9d8095c06f7c61[] = {0, 1, 2, 3, 6, 5, 7, 4, 8}; static const uint16_t i_ad9d8095c06f7c61[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; const ::capnp::_::RawSchema s_ad9d8095c06f7c61 = { 0xad9d8095c06f7c61, b_ad9d8095c06f7c61.words, 159, nullptr, m_ad9d8095c06f7c61, - 0, 9, i_ad9d8095c06f7c61, nullptr, nullptr, { &s_ad9d8095c06f7c61, nullptr, nullptr, 0, 0, nullptr } + 0, 9, i_ad9d8095c06f7c61, nullptr, nullptr, { &s_ad9d8095c06f7c61, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<83> b_a63a46f0f2889b2d = { @@ -9717,10 +9891,10 @@ static const uint16_t m_a63a46f0f2889b2d[] = {0, 2, 3, 1}; static const uint16_t i_a63a46f0f2889b2d[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_a63a46f0f2889b2d = { 0xa63a46f0f2889b2d, b_a63a46f0f2889b2d.words, 83, nullptr, m_a63a46f0f2889b2d, - 0, 4, i_a63a46f0f2889b2d, nullptr, nullptr, { &s_a63a46f0f2889b2d, nullptr, nullptr, 0, 0, nullptr } + 0, 4, i_a63a46f0f2889b2d, nullptr, nullptr, { &s_a63a46f0f2889b2d, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE -static const ::capnp::_::AlignedData<132> b_fd5b914d6b444695 = { +static const ::capnp::_::AlignedData<134> b_fd5b914d6b444695 = { { 0, 0, 0, 0, 5, 0, 6, 0, 149, 70, 68, 107, 77, 145, 91, 253, 24, 0, 0, 0, 1, 0, 24, 0, @@ -9785,10 +9959,10 @@ static const ::capnp::_::AlignedData<132> b_fd5b914d6b444695 = { 5, 0, 249, 255, 5, 0, 0, 0, 0, 0, 1, 0, 65, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 233, 0, 0, 0, 122, 0, 0, 0, + 233, 0, 0, 0, 202, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 232, 0, 0, 0, 3, 0, 1, 0, - 244, 0, 0, 0, 2, 0, 1, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, 105, 110, 100, 105, 83, 116, 97, 116, 101, 0, 0, 0, 0, 0, 0, 0, 16, 0, 0, 0, 0, 0, 0, 0, @@ -9845,7 +10019,9 @@ static const ::capnp::_::AlignedData<132> b_fd5b914d6b444695 = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 99, 117, 114, 118, 97, 116, 117, 114, - 101, 83, 116, 97, 116, 101, 0, 0, + 101, 83, 116, 97, 116, 101, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, 16, 0, 0, 0, 0, 0, 0, 0, 97, 124, 111, 192, 149, 128, 157, 173, 0, 0, 0, 0, 0, 0, 0, 0, @@ -9869,8 +10045,8 @@ static const ::capnp::_::RawSchema* const d_fd5b914d6b444695[] = { static const uint16_t m_fd5b914d6b444695[] = {3, 6, 4, 0, 2, 1, 5}; static const uint16_t i_fd5b914d6b444695[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_fd5b914d6b444695 = { - 0xfd5b914d6b444695, b_fd5b914d6b444695.words, 132, d_fd5b914d6b444695, m_fd5b914d6b444695, - 8, 7, i_fd5b914d6b444695, nullptr, nullptr, { &s_fd5b914d6b444695, nullptr, nullptr, 0, 0, nullptr } + 0xfd5b914d6b444695, b_fd5b914d6b444695.words, 134, d_fd5b914d6b444695, m_fd5b914d6b444695, + 8, 7, i_fd5b914d6b444695, nullptr, nullptr, { &s_fd5b914d6b444695, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<150> b_c3cbae1fd505ae80 = { @@ -10031,40 +10207,42 @@ static const uint16_t m_c3cbae1fd505ae80[] = {3, 0, 4, 1, 5, 2, 6}; static const uint16_t i_c3cbae1fd505ae80[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_c3cbae1fd505ae80 = { 0xc3cbae1fd505ae80, b_c3cbae1fd505ae80.words, 150, nullptr, m_c3cbae1fd505ae80, - 0, 7, i_c3cbae1fd505ae80, nullptr, nullptr, { &s_c3cbae1fd505ae80, nullptr, nullptr, 0, 0, nullptr } + 0, 7, i_c3cbae1fd505ae80, nullptr, nullptr, { &s_c3cbae1fd505ae80, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE -static const ::capnp::_::AlignedData<490> b_c4713f6b0d36abe9 = { +static const ::capnp::_::AlignedData<510> b_c4713f6b0d36abe9 = { { 0, 0, 0, 0, 5, 0, 6, 0, 233, 171, 54, 13, 107, 63, 113, 196, 10, 0, 0, 0, 1, 0, 6, 0, 91, 40, 164, 37, 126, 241, 177, 243, - 16, 0, 7, 0, 0, 0, 0, 0, + 17, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 21, 0, 0, 0, 178, 0, 0, 0, - 29, 0, 0, 0, 119, 0, 0, 0, + 29, 0, 0, 0, 135, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 141, 0, 0, 0, 183, 5, 0, 0, + 153, 0, 0, 0, 239, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 111, 103, 46, 99, 97, 112, 110, 112, 58, 77, 111, 100, 101, 108, 68, 97, 116, 97, 86, 50, 0, 0, 0, - 28, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 1, 0, 1, 0, 40, 175, 135, 33, 43, 237, 68, 164, - 49, 0, 0, 0, 90, 0, 0, 0, + 57, 0, 0, 0, 90, 0, 0, 0, 235, 127, 206, 208, 26, 136, 152, 214, - 49, 0, 0, 0, 90, 0, 0, 0, + 57, 0, 0, 0, 90, 0, 0, 0, 189, 250, 92, 180, 179, 106, 100, 209, - 49, 0, 0, 0, 74, 0, 0, 0, + 57, 0, 0, 0, 74, 0, 0, 0, 212, 28, 166, 210, 217, 71, 50, 170, - 49, 0, 0, 0, 130, 0, 0, 0, + 57, 0, 0, 0, 130, 0, 0, 0, 37, 141, 220, 188, 221, 165, 10, 134, - 49, 0, 0, 0, 170, 0, 0, 0, + 57, 0, 0, 0, 170, 0, 0, 0, 79, 136, 103, 46, 112, 192, 62, 251, - 53, 0, 0, 0, 42, 0, 0, 0, + 61, 0, 0, 0, 42, 0, 0, 0, 254, 172, 180, 166, 165, 236, 202, 132, - 49, 0, 0, 0, 186, 0, 0, 0, + 57, 0, 0, 0, 186, 0, 0, 0, + 132, 69, 118, 90, 179, 188, 208, 148, + 61, 0, 0, 0, 58, 0, 0, 0, 76, 101, 97, 100, 68, 97, 116, 97, 86, 50, 0, 0, 0, 0, 0, 0, 76, 101, 97, 100, 68, 97, 116, 97, @@ -10080,189 +10258,197 @@ static const ::capnp::_::AlignedData<490> b_c4713f6b0d36abe9 = { 76, 97, 116, 101, 114, 97, 108, 80, 108, 97, 110, 110, 101, 114, 83, 111, 108, 117, 116, 105, 111, 110, 0, 0, - 104, 0, 0, 0, 3, 0, 4, 0, + 65, 99, 116, 105, 111, 110, 0, 0, + 108, 0, 0, 0, 3, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 201, 2, 0, 0, 66, 0, 0, 0, + 229, 2, 0, 0, 66, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 196, 2, 0, 0, 3, 0, 1, 0, - 208, 2, 0, 0, 2, 0, 1, 0, + 224, 2, 0, 0, 3, 0, 1, 0, + 236, 2, 0, 0, 2, 0, 1, 0, 2, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 205, 2, 0, 0, 74, 0, 0, 0, + 233, 2, 0, 0, 74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 204, 2, 0, 0, 3, 0, 1, 0, - 216, 2, 0, 0, 2, 0, 1, 0, + 232, 2, 0, 0, 3, 0, 1, 0, + 244, 2, 0, 0, 2, 0, 1, 0, 3, 0, 0, 0, 2, 0, 0, 0, 0, 0, 1, 0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 213, 2, 0, 0, 114, 0, 0, 0, + 241, 2, 0, 0, 114, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 212, 2, 0, 0, 3, 0, 1, 0, - 224, 2, 0, 0, 2, 0, 1, 0, + 240, 2, 0, 0, 3, 0, 1, 0, + 252, 2, 0, 0, 2, 0, 1, 0, 4, 0, 0, 0, 2, 0, 0, 0, 0, 0, 1, 0, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 221, 2, 0, 0, 106, 0, 0, 0, + 249, 2, 0, 0, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 220, 2, 0, 0, 3, 0, 1, 0, - 232, 2, 0, 0, 2, 0, 1, 0, + 248, 2, 0, 0, 3, 0, 1, 0, + 4, 3, 0, 0, 2, 0, 1, 0, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 229, 2, 0, 0, 74, 0, 0, 0, + 1, 3, 0, 0, 74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 228, 2, 0, 0, 3, 0, 1, 0, - 240, 2, 0, 0, 2, 0, 1, 0, + 0, 3, 0, 0, 3, 0, 1, 0, + 12, 3, 0, 0, 2, 0, 1, 0, 9, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 237, 2, 0, 0, 98, 0, 0, 0, + 9, 3, 0, 0, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 236, 2, 0, 0, 3, 0, 1, 0, - 248, 2, 0, 0, 2, 0, 1, 0, + 8, 3, 0, 0, 3, 0, 1, 0, + 20, 3, 0, 0, 2, 0, 1, 0, 10, 0, 0, 0, 2, 0, 0, 0, 0, 0, 1, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 245, 2, 0, 0, 74, 0, 0, 0, + 17, 3, 0, 0, 74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 244, 2, 0, 0, 3, 0, 1, 0, - 0, 3, 0, 0, 2, 0, 1, 0, + 16, 3, 0, 0, 3, 0, 1, 0, + 28, 3, 0, 0, 2, 0, 1, 0, 11, 0, 0, 0, 3, 0, 0, 0, 0, 0, 1, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 253, 2, 0, 0, 130, 0, 0, 0, + 25, 3, 0, 0, 130, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 252, 2, 0, 0, 3, 0, 1, 0, - 8, 3, 0, 0, 2, 0, 1, 0, + 24, 3, 0, 0, 3, 0, 1, 0, + 36, 3, 0, 0, 2, 0, 1, 0, 13, 0, 0, 0, 4, 0, 0, 0, 0, 0, 1, 0, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 5, 3, 0, 0, 82, 0, 0, 0, + 33, 3, 0, 0, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 4, 3, 0, 0, 3, 0, 1, 0, - 32, 3, 0, 0, 2, 0, 1, 0, + 32, 3, 0, 0, 3, 0, 1, 0, + 60, 3, 0, 0, 2, 0, 1, 0, 14, 0, 0, 0, 5, 0, 0, 0, 0, 0, 1, 0, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 29, 3, 0, 0, 114, 0, 0, 0, + 57, 3, 0, 0, 114, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 28, 3, 0, 0, 3, 0, 1, 0, - 56, 3, 0, 0, 2, 0, 1, 0, + 56, 3, 0, 0, 3, 0, 1, 0, + 84, 3, 0, 0, 2, 0, 1, 0, 16, 0, 0, 0, 6, 0, 0, 0, 0, 0, 1, 0, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 53, 3, 0, 0, 82, 0, 0, 0, + 81, 3, 0, 0, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 52, 3, 0, 0, 3, 0, 1, 0, - 80, 3, 0, 0, 2, 0, 1, 0, + 80, 3, 0, 0, 3, 0, 1, 0, + 108, 3, 0, 0, 2, 0, 1, 0, 18, 0, 0, 0, 7, 0, 0, 0, 0, 0, 1, 0, 11, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 77, 3, 0, 0, 50, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 72, 3, 0, 0, 3, 0, 1, 0, - 100, 3, 0, 0, 2, 0, 1, 0, - 20, 0, 0, 0, 8, 0, 0, 0, - 0, 0, 1, 0, 12, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 97, 3, 0, 0, 42, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 92, 3, 0, 0, 3, 0, 1, 0, - 104, 3, 0, 0, 2, 0, 1, 0, - 15, 0, 0, 0, 9, 0, 0, 0, - 0, 0, 1, 0, 13, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 101, 3, 0, 0, 106, 0, 0, 0, + 105, 3, 0, 0, 50, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 100, 3, 0, 0, 3, 0, 1, 0, 128, 3, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 3, 0, 0, 3, 0, 1, 0, + 132, 3, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 3, 0, 0, 3, 0, 1, 0, + 156, 3, 0, 0, 2, 0, 1, 0, 17, 0, 0, 0, 10, 0, 0, 0, 0, 0, 1, 0, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 125, 3, 0, 0, 106, 0, 0, 0, + 153, 3, 0, 0, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 124, 3, 0, 0, 3, 0, 1, 0, - 152, 3, 0, 0, 2, 0, 1, 0, + 152, 3, 0, 0, 3, 0, 1, 0, + 180, 3, 0, 0, 2, 0, 1, 0, 5, 0, 0, 0, 3, 0, 0, 0, 0, 0, 1, 0, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 149, 3, 0, 0, 154, 0, 0, 0, + 177, 3, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 152, 3, 0, 0, 3, 0, 1, 0, - 164, 3, 0, 0, 2, 0, 1, 0, + 180, 3, 0, 0, 3, 0, 1, 0, + 192, 3, 0, 0, 2, 0, 1, 0, 7, 0, 0, 0, 11, 0, 0, 0, 0, 0, 1, 0, 16, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 161, 3, 0, 0, 122, 0, 0, 0, + 189, 3, 0, 0, 122, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 160, 3, 0, 0, 3, 0, 1, 0, - 172, 3, 0, 0, 2, 0, 1, 0, + 188, 3, 0, 0, 3, 0, 1, 0, + 200, 3, 0, 0, 2, 0, 1, 0, 6, 0, 0, 0, 6, 0, 0, 0, 0, 0, 1, 0, 17, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 169, 3, 0, 0, 138, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 172, 3, 0, 0, 3, 0, 1, 0, - 184, 3, 0, 0, 2, 0, 1, 0, - 19, 0, 0, 0, 12, 0, 0, 0, - 0, 0, 1, 0, 18, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 181, 3, 0, 0, 66, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 176, 3, 0, 0, 3, 0, 1, 0, - 204, 3, 0, 0, 2, 0, 1, 0, - 12, 0, 0, 0, 13, 0, 0, 0, - 0, 0, 1, 0, 19, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 201, 3, 0, 0, 106, 0, 0, 0, + 197, 3, 0, 0, 138, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 200, 3, 0, 0, 3, 0, 1, 0, 212, 3, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 3, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 3, 0, 0, 3, 0, 1, 0, + 232, 3, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 3, 0, 0, 3, 0, 1, 0, + 240, 3, 0, 0, 2, 0, 1, 0, 1, 0, 0, 0, 7, 0, 0, 0, 0, 0, 1, 0, 20, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 209, 3, 0, 0, 106, 0, 0, 0, + 237, 3, 0, 0, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 208, 3, 0, 0, 3, 0, 1, 0, - 220, 3, 0, 0, 2, 0, 1, 0, + 236, 3, 0, 0, 3, 0, 1, 0, + 248, 3, 0, 0, 2, 0, 1, 0, 22, 0, 0, 0, 14, 0, 0, 0, 0, 0, 1, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 217, 3, 0, 0, 106, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 216, 3, 0, 0, 3, 0, 1, 0, - 228, 3, 0, 0, 2, 0, 1, 0, - 23, 0, 0, 0, 0, 1, 0, 0, - 0, 0, 1, 0, 22, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 225, 3, 0, 0, 90, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 224, 3, 0, 0, 3, 0, 1, 0, - 236, 3, 0, 0, 2, 0, 1, 0, - 21, 0, 0, 0, 17, 0, 0, 0, - 0, 0, 1, 0, 23, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 233, 3, 0, 0, 90, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 232, 3, 0, 0, 3, 0, 1, 0, - 244, 3, 0, 0, 2, 0, 1, 0, - 24, 0, 0, 0, 5, 0, 0, 0, - 0, 0, 1, 0, 24, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 241, 3, 0, 0, 138, 0, 0, 0, + 245, 3, 0, 0, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 244, 3, 0, 0, 3, 0, 1, 0, 0, 4, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 0, 1, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 3, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 3, 0, 0, 3, 0, 1, 0, + 8, 4, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 4, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 4, 0, 0, 3, 0, 1, 0, + 16, 4, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 4, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 4, 0, 0, 3, 0, 1, 0, + 28, 4, 0, 0, 2, 0, 1, 0, 25, 0, 0, 0, 15, 0, 0, 0, 0, 0, 1, 0, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 253, 3, 0, 0, 186, 0, 0, 0, + 25, 4, 0, 0, 10, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 4, 0, 0, 3, 0, 1, 0, - 12, 4, 0, 0, 2, 0, 1, 0, + 36, 4, 0, 0, 3, 0, 1, 0, + 48, 4, 0, 0, 2, 0, 1, 0, + 26, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 4, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 4, 0, 0, 3, 0, 1, 0, + 52, 4, 0, 0, 2, 0, 1, 0, 102, 114, 97, 109, 101, 73, 100, 0, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, @@ -10517,11 +10703,21 @@ static const ::capnp::_::AlignedData<490> b_c4713f6b0d36abe9 = { 0, 0, 0, 0, 0, 0, 0, 0, 108, 97, 116, 101, 114, 97, 108, 80, 108, 97, 110, 110, 101, 114, 83, 111, - 108, 117, 116, 105, 111, 110, 0, 0, + 108, 117, 116, 105, 111, 110, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, 16, 0, 0, 0, 0, 0, 0, 0, 254, 172, 180, 166, 165, 236, 202, 132, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 111, 110, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 132, 69, 118, 90, 179, 188, 208, 148, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 16, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, } @@ -10530,6 +10726,7 @@ static const ::capnp::_::AlignedData<490> b_c4713f6b0d36abe9 = { #if !CAPNP_LITE static const ::capnp::_::RawSchema* const d_c4713f6b0d36abe9[] = { &s_84caeca5a6b4acfe, + &s_94d0bcb35a764584, &s_a444ed2b2187af28, &s_aa3247d9d2a61cd4, &s_c3cbae1fd505ae80, @@ -10537,11 +10734,11 @@ static const ::capnp::_::RawSchema* const d_c4713f6b0d36abe9[] = { &s_d698881ad0ce7feb, &s_fb3ec0702e67884f, }; -static const uint16_t m_c4713f6b0d36abe9[] = {19, 23, 1, 2, 0, 20, 17, 9, 13, 8, 25, 11, 18, 24, 12, 15, 22, 5, 7, 4, 16, 14, 10, 21, 3, 6}; -static const uint16_t i_c4713f6b0d36abe9[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25}; +static const uint16_t m_c4713f6b0d36abe9[] = {19, 26, 23, 1, 2, 0, 20, 17, 9, 13, 8, 25, 11, 18, 24, 12, 15, 22, 5, 7, 4, 16, 14, 10, 21, 3, 6}; +static const uint16_t i_c4713f6b0d36abe9[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26}; const ::capnp::_::RawSchema s_c4713f6b0d36abe9 = { - 0xc4713f6b0d36abe9, b_c4713f6b0d36abe9.words, 490, d_c4713f6b0d36abe9, m_c4713f6b0d36abe9, - 7, 26, i_c4713f6b0d36abe9, nullptr, nullptr, { &s_c4713f6b0d36abe9, nullptr, nullptr, 0, 0, nullptr } + 0xc4713f6b0d36abe9, b_c4713f6b0d36abe9.words, 510, d_c4713f6b0d36abe9, m_c4713f6b0d36abe9, + 8, 27, i_c4713f6b0d36abe9, nullptr, nullptr, { &s_c4713f6b0d36abe9, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<87> b_a444ed2b2187af28 = { @@ -10639,7 +10836,7 @@ static const uint16_t m_a444ed2b2187af28[] = {0, 1, 2, 3}; static const uint16_t i_a444ed2b2187af28[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_a444ed2b2187af28 = { 0xa444ed2b2187af28, b_a444ed2b2187af28.words, 87, nullptr, m_a444ed2b2187af28, - 0, 4, i_a444ed2b2187af28, nullptr, nullptr, { &s_a444ed2b2187af28, nullptr, nullptr, 0, 0, nullptr } + 0, 4, i_a444ed2b2187af28, nullptr, nullptr, { &s_a444ed2b2187af28, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<221> b_d698881ad0ce7feb = { @@ -10871,10 +11068,10 @@ static const uint16_t m_d698881ad0ce7feb[] = {9, 10, 0, 1, 2, 7, 8, 3, 4, 5, 6}; static const uint16_t i_d698881ad0ce7feb[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; const ::capnp::_::RawSchema s_d698881ad0ce7feb = { 0xd698881ad0ce7feb, b_d698881ad0ce7feb.words, 221, nullptr, m_d698881ad0ce7feb, - 0, 11, i_d698881ad0ce7feb, nullptr, nullptr, { &s_d698881ad0ce7feb, nullptr, nullptr, 0, 0, nullptr } + 0, 11, i_d698881ad0ce7feb, nullptr, nullptr, { &s_d698881ad0ce7feb, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE -static const ::capnp::_::AlignedData<163> b_d1646ab3b45cfabd = { +static const ::capnp::_::AlignedData<196> b_d1646ab3b45cfabd = { { 0, 0, 0, 0, 5, 0, 6, 0, 189, 250, 92, 180, 179, 106, 100, 209, 22, 0, 0, 0, 1, 0, 3, 0, @@ -10884,7 +11081,7 @@ static const ::capnp::_::AlignedData<163> b_d1646ab3b45cfabd = { 21, 0, 0, 0, 250, 0, 0, 0, 33, 0, 0, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 29, 0, 0, 0, 199, 1, 0, 0, + 29, 0, 0, 0, 55, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 111, 103, 46, 99, 97, 112, 110, @@ -10892,63 +11089,77 @@ static const ::capnp::_::AlignedData<163> b_d1646ab3b45cfabd = { 97, 116, 97, 86, 50, 46, 77, 101, 116, 97, 68, 97, 116, 97, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, - 32, 0, 0, 0, 3, 0, 4, 0, + 40, 0, 0, 0, 3, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 209, 0, 0, 0, 98, 0, 0, 0, + 9, 1, 0, 0, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 208, 0, 0, 0, 3, 0, 1, 0, - 220, 0, 0, 0, 2, 0, 1, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 217, 0, 0, 0, 138, 0, 0, 0, + 17, 1, 0, 0, 138, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 220, 0, 0, 0, 3, 0, 1, 0, - 248, 0, 0, 0, 2, 0, 1, 0, - 5, 0, 0, 0, 1, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 245, 0, 0, 0, 234, 0, 0, 0, + 45, 1, 0, 0, 234, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 252, 0, 0, 0, 3, 0, 1, 0, - 8, 1, 0, 0, 2, 0, 1, 0, - 6, 0, 0, 0, 2, 0, 0, 0, + 52, 1, 0, 0, 3, 0, 1, 0, + 64, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 2, 0, 0, 0, 0, 0, 1, 0, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 5, 1, 0, 0, 218, 0, 0, 0, + 61, 1, 0, 0, 218, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 12, 1, 0, 0, 3, 0, 1, 0, - 24, 1, 0, 0, 2, 0, 1, 0, - 7, 0, 0, 0, 3, 0, 0, 0, + 68, 1, 0, 0, 3, 0, 1, 0, + 80, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 3, 0, 0, 0, 0, 0, 1, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 21, 1, 0, 0, 226, 0, 0, 0, + 77, 1, 0, 0, 226, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 28, 1, 0, 0, 3, 0, 1, 0, - 40, 1, 0, 0, 2, 0, 1, 0, + 84, 1, 0, 0, 3, 0, 1, 0, + 96, 1, 0, 0, 2, 0, 1, 0, 2, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 37, 1, 0, 0, 98, 0, 0, 0, + 93, 1, 0, 0, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 36, 1, 0, 0, 3, 0, 1, 0, - 64, 1, 0, 0, 2, 0, 1, 0, + 92, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, 3, 0, 0, 0, 2, 0, 0, 0, 0, 0, 1, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 61, 1, 0, 0, 170, 0, 0, 0, + 117, 1, 0, 0, 170, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 64, 1, 0, 0, 3, 0, 1, 0, - 76, 1, 0, 0, 2, 0, 1, 0, + 120, 1, 0, 0, 3, 0, 1, 0, + 132, 1, 0, 0, 2, 0, 1, 0, 4, 0, 0, 0, 128, 0, 0, 0, 0, 0, 1, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 73, 1, 0, 0, 154, 0, 0, 0, + 129, 1, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 76, 1, 0, 0, 3, 0, 1, 0, - 88, 1, 0, 0, 2, 0, 1, 0, + 132, 1, 0, 0, 3, 0, 1, 0, + 144, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 1, 0, 0, 3, 0, 1, 0, + 152, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 1, 0, 0, 3, 0, 1, 0, + 164, 1, 0, 0, 2, 0, 1, 0, 101, 110, 103, 97, 103, 101, 100, 80, 114, 111, 98, 0, 0, 0, 0, 0, 10, 0, 0, 0, 0, 0, 0, 0, @@ -11036,6 +11247,25 @@ static const ::capnp::_::AlignedData<163> b_d1646ab3b45cfabd = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 83, 116, 97, 116, 101, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 210, 211, 178, 247, 75, 146, 55, 205, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 68, 105, 114, 101, 99, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 118, 17, 103, 254, 193, 192, 11, 157, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, } }; @@ -11043,12 +11273,14 @@ static const ::capnp::_::AlignedData<163> b_d1646ab3b45cfabd = { #if !CAPNP_LITE static const ::capnp::_::RawSchema* const d_d1646ab3b45cfabd[] = { &s_860aa5ddbcdc8d25, + &s_9d0bc0c1fe671176, + &s_cd37924bf7b2d3d2, }; -static const uint16_t m_d1646ab3b45cfabd[] = {2, 1, 5, 6, 0, 3, 7, 4}; -static const uint16_t i_d1646ab3b45cfabd[] = {0, 1, 2, 3, 4, 5, 6, 7}; +static const uint16_t m_d1646ab3b45cfabd[] = {2, 1, 5, 6, 0, 3, 7, 9, 8, 4}; +static const uint16_t i_d1646ab3b45cfabd[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; const ::capnp::_::RawSchema s_d1646ab3b45cfabd = { - 0xd1646ab3b45cfabd, b_d1646ab3b45cfabd.words, 163, d_d1646ab3b45cfabd, m_d1646ab3b45cfabd, - 1, 8, i_d1646ab3b45cfabd, nullptr, nullptr, { &s_d1646ab3b45cfabd, nullptr, nullptr, 0, 0, nullptr } + 0xd1646ab3b45cfabd, b_d1646ab3b45cfabd.words, 196, d_d1646ab3b45cfabd, m_d1646ab3b45cfabd, + 3, 10, i_d1646ab3b45cfabd, nullptr, nullptr, { &s_d1646ab3b45cfabd, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<31> b_aa3247d9d2a61cd4 = { @@ -11089,7 +11321,7 @@ static const ::capnp::_::AlignedData<31> b_aa3247d9d2a61cd4 = { static const uint16_t m_aa3247d9d2a61cd4[] = {2, 0, 1}; const ::capnp::_::RawSchema s_aa3247d9d2a61cd4 = { 0xaa3247d9d2a61cd4, b_aa3247d9d2a61cd4.words, 31, nullptr, m_aa3247d9d2a61cd4, - 0, 3, nullptr, nullptr, nullptr, { &s_aa3247d9d2a61cd4, nullptr, nullptr, 0, 0, nullptr } + 0, 3, nullptr, nullptr, nullptr, { &s_aa3247d9d2a61cd4, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(ConfidenceClass_aa3247d9d2a61cd4, aa3247d9d2a61cd4); @@ -11272,7 +11504,7 @@ static const uint16_t m_860aa5ddbcdc8d25[] = {4, 5, 6, 1, 2, 3, 0}; static const uint16_t i_860aa5ddbcdc8d25[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_860aa5ddbcdc8d25 = { 0x860aa5ddbcdc8d25, b_860aa5ddbcdc8d25.words, 171, nullptr, m_860aa5ddbcdc8d25, - 0, 7, i_860aa5ddbcdc8d25, nullptr, nullptr, { &s_860aa5ddbcdc8d25, nullptr, nullptr, 0, 0, nullptr } + 0, 7, i_860aa5ddbcdc8d25, nullptr, nullptr, { &s_860aa5ddbcdc8d25, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<95> b_fb3ec0702e67884f = { @@ -11378,7 +11610,7 @@ static const uint16_t m_fb3ec0702e67884f[] = {1, 3, 0, 2}; static const uint16_t i_fb3ec0702e67884f[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_fb3ec0702e67884f = { 0xfb3ec0702e67884f, b_fb3ec0702e67884f.words, 95, nullptr, m_fb3ec0702e67884f, - 0, 4, i_fb3ec0702e67884f, nullptr, nullptr, { &s_fb3ec0702e67884f, nullptr, nullptr, 0, 0, nullptr } + 0, 4, i_fb3ec0702e67884f, nullptr, nullptr, { &s_fb3ec0702e67884f, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<173> b_84caeca5a6b4acfe = { @@ -11562,7 +11794,53 @@ static const uint16_t m_84caeca5a6b4acfe[] = {0, 4, 1, 5, 2, 3, 7, 6}; static const uint16_t i_84caeca5a6b4acfe[] = {0, 1, 2, 3, 4, 5, 6, 7}; const ::capnp::_::RawSchema s_84caeca5a6b4acfe = { 0x84caeca5a6b4acfe, b_84caeca5a6b4acfe.words, 173, nullptr, m_84caeca5a6b4acfe, - 0, 8, i_84caeca5a6b4acfe, nullptr, nullptr, { &s_84caeca5a6b4acfe, nullptr, nullptr, 0, 0, nullptr } + 0, 8, i_84caeca5a6b4acfe, nullptr, nullptr, { &s_84caeca5a6b4acfe, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<35> b_94d0bcb35a764584 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 132, 69, 118, 90, 179, 188, 208, 148, + 22, 0, 0, 0, 1, 0, 1, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 65, 99, + 116, 105, 111, 110, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 1, 0, + 28, 0, 0, 0, 2, 0, 1, 0, + 100, 101, 115, 105, 114, 101, 100, 67, + 117, 114, 118, 97, 116, 117, 114, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 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, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_94d0bcb35a764584 = b_94d0bcb35a764584.words; +#if !CAPNP_LITE +static const uint16_t m_94d0bcb35a764584[] = {0}; +static const uint16_t i_94d0bcb35a764584[] = {0}; +const ::capnp::_::RawSchema s_94d0bcb35a764584 = { + 0x94d0bcb35a764584, b_94d0bcb35a764584.words, 35, nullptr, m_94d0bcb35a764584, + 0, 1, i_94d0bcb35a764584, nullptr, nullptr, { &s_94d0bcb35a764584, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<176> b_89d394e3541735fc = { @@ -11752,7 +12030,7 @@ static const uint16_t m_89d394e3541735fc[] = {2, 8, 0, 9, 4, 5, 3, 7, 6, 1}; static const uint16_t i_89d394e3541735fc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; const ::capnp::_::RawSchema s_89d394e3541735fc = { 0x89d394e3541735fc, b_89d394e3541735fc.words, 176, d_89d394e3541735fc, m_89d394e3541735fc, - 1, 10, i_89d394e3541735fc, nullptr, nullptr, { &s_89d394e3541735fc, nullptr, nullptr, 0, 0, nullptr } + 1, 10, i_89d394e3541735fc, nullptr, nullptr, { &s_89d394e3541735fc, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<63> b_c0ad259ec157ccd3 = { @@ -11825,7 +12103,7 @@ static const ::capnp::_::AlignedData<63> b_c0ad259ec157ccd3 = { static const uint16_t m_c0ad259ec157ccd3[] = {2, 0, 3, 5, 1, 4, 7, 6}; const ::capnp::_::RawSchema s_c0ad259ec157ccd3 = { 0xc0ad259ec157ccd3, b_c0ad259ec157ccd3.words, 63, nullptr, m_c0ad259ec157ccd3, - 0, 8, nullptr, nullptr, nullptr, { &s_c0ad259ec157ccd3, nullptr, nullptr, 0, 0, nullptr } + 0, 8, nullptr, nullptr, nullptr, { &s_c0ad259ec157ccd3, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Type_c0ad259ec157ccd3, c0ad259ec157ccd3); @@ -11961,7 +12239,7 @@ static const uint16_t m_ea095da1894f7d85[] = {0, 6, 3, 2, 5, 4, 1}; static const uint16_t i_ea095da1894f7d85[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_ea095da1894f7d85 = { 0xea095da1894f7d85, b_ea095da1894f7d85.words, 124, nullptr, m_ea095da1894f7d85, - 0, 7, i_ea095da1894f7d85, nullptr, nullptr, { &s_ea095da1894f7d85, nullptr, nullptr, 0, 0, nullptr } + 0, 7, i_ea095da1894f7d85, nullptr, nullptr, { &s_ea095da1894f7d85, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<664> b_e00b5b3eba12876c = { @@ -12642,7 +12920,7 @@ static const uint16_t m_e00b5b3eba12876c[] = {17, 27, 18, 5, 4, 32, 31, 1, 22, 1 static const uint16_t i_e00b5b3eba12876c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36}; const ::capnp::_::RawSchema s_e00b5b3eba12876c = { 0xe00b5b3eba12876c, b_e00b5b3eba12876c.words, 664, d_e00b5b3eba12876c, m_e00b5b3eba12876c, - 4, 37, i_e00b5b3eba12876c, nullptr, nullptr, { &s_e00b5b3eba12876c, nullptr, nullptr, 0, 0, nullptr } + 4, 37, i_e00b5b3eba12876c, nullptr, nullptr, { &s_e00b5b3eba12876c, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<41> b_b231a753cc079120 = { @@ -12693,7 +12971,7 @@ static const ::capnp::_::AlignedData<41> b_b231a753cc079120 = { static const uint16_t m_b231a753cc079120[] = {0, 4, 1, 2, 3}; const ::capnp::_::RawSchema s_b231a753cc079120 = { 0xb231a753cc079120, b_b231a753cc079120.words, 41, nullptr, m_b231a753cc079120, - 0, 5, nullptr, nullptr, nullptr, { &s_b231a753cc079120, nullptr, nullptr, 0, 0, nullptr } + 0, 5, nullptr, nullptr, nullptr, { &s_b231a753cc079120, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(LongitudinalPlanSource_b231a753cc079120, b231a753cc079120); @@ -12763,7 +13041,7 @@ static const uint16_t m_8cfeb072f5301000[] = {0, 1}; static const uint16_t i_8cfeb072f5301000[] = {0, 1}; const ::capnp::_::RawSchema s_8cfeb072f5301000 = { 0x8cfeb072f5301000, b_8cfeb072f5301000.words, 58, nullptr, m_8cfeb072f5301000, - 0, 2, i_8cfeb072f5301000, nullptr, nullptr, { &s_8cfeb072f5301000, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_8cfeb072f5301000, nullptr, nullptr, { &s_8cfeb072f5301000, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<67> b_fc0c9bb05e3927c1 = { @@ -12844,7 +13122,7 @@ static const uint16_t m_fc0c9bb05e3927c1[] = {1, 2, 0}; static const uint16_t i_fc0c9bb05e3927c1[] = {0, 1, 2}; const ::capnp::_::RawSchema s_fc0c9bb05e3927c1 = { 0xfc0c9bb05e3927c1, b_fc0c9bb05e3927c1.words, 67, d_fc0c9bb05e3927c1, m_fc0c9bb05e3927c1, - 1, 3, i_fc0c9bb05e3927c1, nullptr, nullptr, { &s_fc0c9bb05e3927c1, nullptr, nullptr, 0, 0, nullptr } + 1, 3, i_fc0c9bb05e3927c1, nullptr, nullptr, { &s_fc0c9bb05e3927c1, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<627> b_e1e9318e2ae8b51e = { @@ -13488,7 +13766,7 @@ static const uint16_t m_e1e9318e2ae8b51e[] = {11, 2, 3, 15, 22, 23, 28, 27, 20, static const uint16_t i_e1e9318e2ae8b51e[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33}; const ::capnp::_::RawSchema s_e1e9318e2ae8b51e = { 0xe1e9318e2ae8b51e, b_e1e9318e2ae8b51e.words, 627, d_e1e9318e2ae8b51e, m_e1e9318e2ae8b51e, - 4, 34, i_e1e9318e2ae8b51e, nullptr, nullptr, { &s_e1e9318e2ae8b51e, nullptr, nullptr, 0, 0, nullptr } + 4, 34, i_e1e9318e2ae8b51e, nullptr, nullptr, { &s_e1e9318e2ae8b51e, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<61> b_fdca7c675b7021c6 = { @@ -13560,7 +13838,7 @@ static const uint16_t m_fdca7c675b7021c6[] = {1, 0}; static const uint16_t i_fdca7c675b7021c6[] = {0, 1}; const ::capnp::_::RawSchema s_fdca7c675b7021c6 = { 0xfdca7c675b7021c6, b_fdca7c675b7021c6.words, 61, nullptr, m_fdca7c675b7021c6, - 0, 2, i_fdca7c675b7021c6, nullptr, nullptr, { &s_fdca7c675b7021c6, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_fdca7c675b7021c6, nullptr, nullptr, { &s_fdca7c675b7021c6, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<52> b_bb53ef3fcf2a7f0d = { @@ -13622,7 +13900,7 @@ static const ::capnp::_::AlignedData<52> b_bb53ef3fcf2a7f0d = { static const uint16_t m_bb53ef3fcf2a7f0d[] = {5, 6, 3, 4, 0, 1, 2}; const ::capnp::_::RawSchema s_bb53ef3fcf2a7f0d = { 0xbb53ef3fcf2a7f0d, b_bb53ef3fcf2a7f0d.words, 52, nullptr, m_bb53ef3fcf2a7f0d, - 0, 7, nullptr, nullptr, nullptr, { &s_bb53ef3fcf2a7f0d, nullptr, nullptr, 0, 0, nullptr } + 0, 7, nullptr, nullptr, nullptr, { &s_bb53ef3fcf2a7f0d, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Desire_bb53ef3fcf2a7f0d, bb53ef3fcf2a7f0d); @@ -13673,7 +13951,7 @@ static const ::capnp::_::AlignedData<40> b_fac297f195ce56d2 = { static const uint16_t m_fac297f195ce56d2[] = {3, 2, 0, 1}; const ::capnp::_::RawSchema s_fac297f195ce56d2 = { 0xfac297f195ce56d2, b_fac297f195ce56d2.words, 40, nullptr, m_fac297f195ce56d2, - 0, 4, nullptr, nullptr, nullptr, { &s_fac297f195ce56d2, nullptr, nullptr, 0, 0, nullptr } + 0, 4, nullptr, nullptr, nullptr, { &s_fac297f195ce56d2, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(LaneChangeState_fac297f195ce56d2, fac297f195ce56d2); @@ -13716,7 +13994,7 @@ static const ::capnp::_::AlignedData<32> b_f7396311bcbad303 = { static const uint16_t m_f7396311bcbad303[] = {1, 0, 2}; const ::capnp::_::RawSchema s_f7396311bcbad303 = { 0xf7396311bcbad303, b_f7396311bcbad303.words, 32, nullptr, m_f7396311bcbad303, - 0, 3, nullptr, nullptr, nullptr, { &s_f7396311bcbad303, nullptr, nullptr, 0, 0, nullptr } + 0, 3, nullptr, nullptr, nullptr, { &s_f7396311bcbad303, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(LaneChangeDirection_f7396311bcbad303, f7396311bcbad303); @@ -14198,7 +14476,7 @@ static const uint16_t m_ebc5703d1ee7c129[] = {11, 5, 12, 8, 20, 9, 22, 24, 26, 1 static const uint16_t i_ebc5703d1ee7c129[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26}; const ::capnp::_::RawSchema s_ebc5703d1ee7c129 = { 0xebc5703d1ee7c129, b_ebc5703d1ee7c129.words, 466, d_ebc5703d1ee7c129, m_ebc5703d1ee7c129, - 2, 27, i_ebc5703d1ee7c129, nullptr, nullptr, { &s_ebc5703d1ee7c129, nullptr, nullptr, 0, 0, nullptr } + 2, 27, i_ebc5703d1ee7c129, nullptr, nullptr, { &s_ebc5703d1ee7c129, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<33> b_8e4dc8cc4b51fc01 = { @@ -14241,7 +14519,7 @@ static const ::capnp::_::AlignedData<33> b_8e4dc8cc4b51fc01 = { static const uint16_t m_8e4dc8cc4b51fc01[] = {1, 0, 2}; const ::capnp::_::RawSchema s_8e4dc8cc4b51fc01 = { 0x8e4dc8cc4b51fc01, b_8e4dc8cc4b51fc01.words, 33, nullptr, m_8e4dc8cc4b51fc01, - 0, 3, nullptr, nullptr, nullptr, { &s_8e4dc8cc4b51fc01, nullptr, nullptr, 0, 0, nullptr } + 0, 3, nullptr, nullptr, nullptr, { &s_8e4dc8cc4b51fc01, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Status_8e4dc8cc4b51fc01, 8e4dc8cc4b51fc01); @@ -14326,7 +14604,7 @@ static const uint16_t m_bf23f9ed66dace1c[] = {1, 2, 0}; static const uint16_t i_bf23f9ed66dace1c[] = {0, 1, 2}; const ::capnp::_::RawSchema s_bf23f9ed66dace1c = { 0xbf23f9ed66dace1c, b_bf23f9ed66dace1c.words, 73, nullptr, m_bf23f9ed66dace1c, - 0, 3, i_bf23f9ed66dace1c, nullptr, nullptr, { &s_bf23f9ed66dace1c, nullptr, nullptr, 0, 0, nullptr } + 0, 3, i_bf23f9ed66dace1c, nullptr, nullptr, { &s_bf23f9ed66dace1c, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<81> b_af85387b3f681406 = { @@ -14423,7 +14701,7 @@ static const uint16_t m_af85387b3f681406[] = {0, 1, 2}; static const uint16_t i_af85387b3f681406[] = {0, 1, 2}; const ::capnp::_::RawSchema s_af85387b3f681406 = { 0xaf85387b3f681406, b_af85387b3f681406.words, 81, d_af85387b3f681406, m_af85387b3f681406, - 3, 3, i_af85387b3f681406, nullptr, nullptr, { &s_af85387b3f681406, nullptr, nullptr, 0, 0, nullptr } + 3, 3, i_af85387b3f681406, nullptr, nullptr, { &s_af85387b3f681406, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<285> b_b0b85613f19e6d28 = { @@ -14719,7 +14997,7 @@ static const uint16_t m_b0b85613f19e6d28[] = {15, 7, 6, 5, 4, 16, 13, 12, 1, 9, static const uint16_t i_b0b85613f19e6d28[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}; const ::capnp::_::RawSchema s_b0b85613f19e6d28 = { 0xb0b85613f19e6d28, b_b0b85613f19e6d28.words, 285, nullptr, m_b0b85613f19e6d28, - 0, 17, i_b0b85613f19e6d28, nullptr, nullptr, { &s_b0b85613f19e6d28, nullptr, nullptr, 0, 0, nullptr } + 0, 17, i_b0b85613f19e6d28, nullptr, nullptr, { &s_b0b85613f19e6d28, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<138> b_f189c8c5bf2ce087 = { @@ -14868,7 +15146,7 @@ static const uint16_t m_f189c8c5bf2ce087[] = {0, 4, 5, 6, 2, 7, 3, 1}; static const uint16_t i_f189c8c5bf2ce087[] = {0, 1, 2, 3, 4, 5, 6, 7}; const ::capnp::_::RawSchema s_f189c8c5bf2ce087 = { 0xf189c8c5bf2ce087, b_f189c8c5bf2ce087.words, 138, nullptr, m_f189c8c5bf2ce087, - 0, 8, i_f189c8c5bf2ce087, nullptr, nullptr, { &s_f189c8c5bf2ce087, nullptr, nullptr, 0, 0, nullptr } + 0, 8, i_f189c8c5bf2ce087, nullptr, nullptr, { &s_f189c8c5bf2ce087, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<139> b_fd095f94f08b3fd4 = { @@ -15018,7 +15296,7 @@ static const uint16_t m_fd095f94f08b3fd4[] = {5, 2, 3, 4, 1, 6, 7, 0}; static const uint16_t i_fd095f94f08b3fd4[] = {0, 1, 2, 3, 4, 5, 6, 7}; const ::capnp::_::RawSchema s_fd095f94f08b3fd4 = { 0xfd095f94f08b3fd4, b_fd095f94f08b3fd4.words, 139, nullptr, m_fd095f94f08b3fd4, - 0, 8, i_fd095f94f08b3fd4, nullptr, nullptr, { &s_fd095f94f08b3fd4, nullptr, nullptr, 0, 0, nullptr } + 0, 8, i_fd095f94f08b3fd4, nullptr, nullptr, { &s_fd095f94f08b3fd4, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<216> b_afd47016570e9d09 = { @@ -15250,7 +15528,7 @@ static const uint16_t m_afd47016570e9d09[] = {3, 9, 2, 1, 4, 5, 0, 6, 8, 7}; static const uint16_t i_afd47016570e9d09[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; const ::capnp::_::RawSchema s_afd47016570e9d09 = { 0xafd47016570e9d09, b_afd47016570e9d09.words, 216, d_afd47016570e9d09, m_afd47016570e9d09, - 3, 10, i_afd47016570e9d09, nullptr, nullptr, { &s_afd47016570e9d09, nullptr, nullptr, 0, 0, nullptr } + 3, 10, i_afd47016570e9d09, nullptr, nullptr, { &s_afd47016570e9d09, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<111> b_f3286be6a8bfb860 = { @@ -15377,7 +15655,7 @@ static const uint16_t m_f3286be6a8bfb860[] = {0, 4, 3, 1, 5, 2}; static const uint16_t i_f3286be6a8bfb860[] = {0, 1, 2, 3, 4, 5}; const ::capnp::_::RawSchema s_f3286be6a8bfb860 = { 0xf3286be6a8bfb860, b_f3286be6a8bfb860.words, 111, d_f3286be6a8bfb860, m_f3286be6a8bfb860, - 3, 6, i_f3286be6a8bfb860, nullptr, nullptr, { &s_f3286be6a8bfb860, nullptr, nullptr, 0, 0, nullptr } + 3, 6, i_f3286be6a8bfb860, nullptr, nullptr, { &s_f3286be6a8bfb860, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<189> b_eaa4a17d86ac76b0 = { @@ -15581,7 +15859,7 @@ static const uint16_t m_eaa4a17d86ac76b0[] = {0, 9, 2, 3, 5, 6, 4, 7, 8, 1}; static const uint16_t i_eaa4a17d86ac76b0[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; const ::capnp::_::RawSchema s_eaa4a17d86ac76b0 = { 0xeaa4a17d86ac76b0, b_eaa4a17d86ac76b0.words, 189, d_eaa4a17d86ac76b0, m_eaa4a17d86ac76b0, - 2, 10, i_eaa4a17d86ac76b0, nullptr, nullptr, { &s_eaa4a17d86ac76b0, nullptr, nullptr, 0, 0, nullptr } + 2, 10, i_eaa4a17d86ac76b0, nullptr, nullptr, { &s_eaa4a17d86ac76b0, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<67> b_bcc2ef5087c0ad85 = { @@ -15662,7 +15940,7 @@ static const uint16_t m_bcc2ef5087c0ad85[] = {2, 1, 0}; static const uint16_t i_bcc2ef5087c0ad85[] = {0, 1, 2}; const ::capnp::_::RawSchema s_bcc2ef5087c0ad85 = { 0xbcc2ef5087c0ad85, b_bcc2ef5087c0ad85.words, 67, d_bcc2ef5087c0ad85, m_bcc2ef5087c0ad85, - 1, 3, i_bcc2ef5087c0ad85, nullptr, nullptr, { &s_bcc2ef5087c0ad85, nullptr, nullptr, 0, 0, nullptr } + 1, 3, i_bcc2ef5087c0ad85, nullptr, nullptr, { &s_bcc2ef5087c0ad85, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<48> b_82079c2ea8450877 = { @@ -15720,7 +15998,7 @@ static const ::capnp::_::AlignedData<48> b_82079c2ea8450877 = { static const uint16_t m_82079c2ea8450877[] = {3, 2, 6, 0, 4, 5, 1}; const ::capnp::_::RawSchema s_82079c2ea8450877 = { 0x82079c2ea8450877, b_82079c2ea8450877.words, 48, nullptr, m_82079c2ea8450877, - 0, 7, nullptr, nullptr, nullptr, { &s_82079c2ea8450877, nullptr, nullptr, 0, 0, nullptr } + 0, 7, nullptr, nullptr, nullptr, { &s_82079c2ea8450877, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(ConstellationId_82079c2ea8450877, 82079c2ea8450877); @@ -15770,7 +16048,7 @@ static const ::capnp::_::AlignedData<39> b_c299bc1804b08d93 = { static const uint16_t m_c299bc1804b08d93[] = {2, 1, 0, 3}; const ::capnp::_::RawSchema s_c299bc1804b08d93 = { 0xc299bc1804b08d93, b_c299bc1804b08d93.words, 39, nullptr, m_c299bc1804b08d93, - 0, 4, nullptr, nullptr, nullptr, { &s_c299bc1804b08d93, nullptr, nullptr, 0, 0, nullptr } + 0, 4, nullptr, nullptr, nullptr, { &s_c299bc1804b08d93, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(EphemerisType_c299bc1804b08d93, c299bc1804b08d93); @@ -15819,7 +16097,7 @@ static const ::capnp::_::AlignedData<38> b_f6e39b3396a699f6 = { static const uint16_t m_f6e39b3396a699f6[] = {2, 0, 1, 3}; const ::capnp::_::RawSchema s_f6e39b3396a699f6 = { 0xf6e39b3396a699f6, b_f6e39b3396a699f6.words, 38, nullptr, m_f6e39b3396a699f6, - 0, 4, nullptr, nullptr, nullptr, { &s_f6e39b3396a699f6, nullptr, nullptr, 0, 0, nullptr } + 0, 4, nullptr, nullptr, nullptr, { &s_f6e39b3396a699f6, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(EphemerisSource_f6e39b3396a699f6, f6e39b3396a699f6); @@ -16001,7 +16279,7 @@ static const uint16_t m_85dddd7ce6cefa5d[] = {1, 5, 3, 4, 2, 0, 6}; static const uint16_t i_85dddd7ce6cefa5d[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_85dddd7ce6cefa5d = { 0x85dddd7ce6cefa5d, b_85dddd7ce6cefa5d.words, 161, d_85dddd7ce6cefa5d, m_85dddd7ce6cefa5d, - 7, 7, i_85dddd7ce6cefa5d, nullptr, nullptr, { &s_85dddd7ce6cefa5d, nullptr, nullptr, 0, 0, nullptr } + 7, 7, i_85dddd7ce6cefa5d, nullptr, nullptr, { &s_85dddd7ce6cefa5d, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<55> b_bb642aff76688f53 = { @@ -16070,7 +16348,7 @@ static const uint16_t m_bb642aff76688f53[] = {0, 1}; static const uint16_t i_bb642aff76688f53[] = {0, 1}; const ::capnp::_::RawSchema s_bb642aff76688f53 = { 0xbb642aff76688f53, b_bb642aff76688f53.words, 55, d_bb642aff76688f53, m_bb642aff76688f53, - 1, 2, i_bb642aff76688f53, nullptr, nullptr, { &s_bb642aff76688f53, nullptr, nullptr, 0, 0, nullptr } + 1, 2, i_bb642aff76688f53, nullptr, nullptr, { &s_bb642aff76688f53, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<65> b_e89dce02ced79e43 = { @@ -16146,7 +16424,7 @@ static const uint16_t m_e89dce02ced79e43[] = {2, 1, 0}; static const uint16_t i_e89dce02ced79e43[] = {0, 1, 2}; const ::capnp::_::RawSchema s_e89dce02ced79e43 = { 0xe89dce02ced79e43, b_e89dce02ced79e43.words, 65, nullptr, m_e89dce02ced79e43, - 0, 3, i_e89dce02ced79e43, nullptr, nullptr, { &s_e89dce02ced79e43, nullptr, nullptr, 0, 0, nullptr } + 0, 3, i_e89dce02ced79e43, nullptr, nullptr, { &s_e89dce02ced79e43, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<124> b_a73ba546a29820f4 = { @@ -16285,7 +16563,7 @@ static const uint16_t m_a73ba546a29820f4[] = {1, 2, 5, 4, 0, 3}; static const uint16_t i_a73ba546a29820f4[] = {0, 1, 2, 3, 4, 5}; const ::capnp::_::RawSchema s_a73ba546a29820f4 = { 0xa73ba546a29820f4, b_a73ba546a29820f4.words, 124, d_a73ba546a29820f4, m_a73ba546a29820f4, - 2, 6, i_a73ba546a29820f4, nullptr, nullptr, { &s_a73ba546a29820f4, nullptr, nullptr, 0, 0, nullptr } + 2, 6, i_a73ba546a29820f4, nullptr, nullptr, { &s_a73ba546a29820f4, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<53> b_fbb838d65160aab6 = { @@ -16349,7 +16627,7 @@ static const uint16_t m_fbb838d65160aab6[] = {1, 0}; static const uint16_t i_fbb838d65160aab6[] = {0, 1}; const ::capnp::_::RawSchema s_fbb838d65160aab6 = { 0xfbb838d65160aab6, b_fbb838d65160aab6.words, 53, nullptr, m_fbb838d65160aab6, - 0, 2, i_fbb838d65160aab6, nullptr, nullptr, { &s_fbb838d65160aab6, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_fbb838d65160aab6, nullptr, nullptr, { &s_fbb838d65160aab6, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<231> b_8f8a655f5e326401 = { @@ -16594,7 +16872,7 @@ static const uint16_t m_8f8a655f5e326401[] = {3, 10, 8, 4, 11, 6, 5, 7, 2, 9, 12 static const uint16_t i_8f8a655f5e326401[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; const ::capnp::_::RawSchema s_8f8a655f5e326401 = { 0x8f8a655f5e326401, b_8f8a655f5e326401.words, 231, d_8f8a655f5e326401, m_8f8a655f5e326401, - 1, 13, i_8f8a655f5e326401, nullptr, nullptr, { &s_8f8a655f5e326401, nullptr, nullptr, 0, 0, nullptr } + 1, 13, i_8f8a655f5e326401, nullptr, nullptr, { &s_8f8a655f5e326401, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<90> b_e8efb3a802b299b2 = { @@ -16695,7 +16973,7 @@ static const uint16_t m_e8efb3a802b299b2[] = {1, 3, 2, 0}; static const uint16_t i_e8efb3a802b299b2[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_e8efb3a802b299b2 = { 0xe8efb3a802b299b2, b_e8efb3a802b299b2.words, 90, nullptr, m_e8efb3a802b299b2, - 0, 4, i_e8efb3a802b299b2, nullptr, nullptr, { &s_e8efb3a802b299b2, nullptr, nullptr, 0, 0, nullptr } + 0, 4, i_e8efb3a802b299b2, nullptr, nullptr, { &s_e8efb3a802b299b2, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<682> b_d8418c788118f85c = { @@ -17388,7 +17666,7 @@ static const uint16_t m_d8418c788118f85c[] = {17, 7, 8, 9, 19, 21, 27, 23, 11, 1 static const uint16_t i_d8418c788118f85c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42}; const ::capnp::_::RawSchema s_d8418c788118f85c = { 0xd8418c788118f85c, b_d8418c788118f85c.words, 682, nullptr, m_d8418c788118f85c, - 0, 43, i_d8418c788118f85c, nullptr, nullptr, { &s_d8418c788118f85c, nullptr, nullptr, 0, 0, nullptr } + 0, 43, i_d8418c788118f85c, nullptr, nullptr, { &s_d8418c788118f85c, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<136> b_c3a3a8de519a4a26 = { @@ -17535,7 +17813,7 @@ static const uint16_t m_c3a3a8de519a4a26[] = {2, 5, 3, 4, 6, 0, 1}; static const uint16_t i_c3a3a8de519a4a26[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_c3a3a8de519a4a26 = { 0xc3a3a8de519a4a26, b_c3a3a8de519a4a26.words, 136, nullptr, m_c3a3a8de519a4a26, - 0, 7, i_c3a3a8de519a4a26, nullptr, nullptr, { &s_c3a3a8de519a4a26, nullptr, nullptr, 0, 0, nullptr } + 0, 7, i_c3a3a8de519a4a26, nullptr, nullptr, { &s_c3a3a8de519a4a26, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<119> b_ebb036b114275aa8 = { @@ -17669,7 +17947,7 @@ static const uint16_t m_ebb036b114275aa8[] = {3, 2, 1, 5, 4, 0}; static const uint16_t i_ebb036b114275aa8[] = {0, 1, 2, 3, 4, 5}; const ::capnp::_::RawSchema s_ebb036b114275aa8 = { 0xebb036b114275aa8, b_ebb036b114275aa8.words, 119, d_ebb036b114275aa8, m_ebb036b114275aa8, - 2, 6, i_ebb036b114275aa8, nullptr, nullptr, { &s_ebb036b114275aa8, nullptr, nullptr, 0, 0, nullptr } + 2, 6, i_ebb036b114275aa8, nullptr, nullptr, { &s_ebb036b114275aa8, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<42> b_c23e1128ab4d5b53 = { @@ -17721,7 +17999,7 @@ static const ::capnp::_::AlignedData<42> b_c23e1128ab4d5b53 = { static const uint16_t m_c23e1128ab4d5b53[] = {1, 0, 2, 4, 3}; const ::capnp::_::RawSchema s_c23e1128ab4d5b53 = { 0xc23e1128ab4d5b53, b_c23e1128ab4d5b53.words, 42, nullptr, m_c23e1128ab4d5b53, - 0, 5, nullptr, nullptr, nullptr, { &s_c23e1128ab4d5b53, nullptr, nullptr, 0, 0, nullptr } + 0, 5, nullptr, nullptr, nullptr, { &s_c23e1128ab4d5b53, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(AntennaSupervisorState_c23e1128ab4d5b53, c23e1128ab4d5b53); @@ -17765,7 +18043,7 @@ static const ::capnp::_::AlignedData<33> b_fe3b51a924e46559 = { static const uint16_t m_fe3b51a924e46559[] = {2, 0, 1}; const ::capnp::_::RawSchema s_fe3b51a924e46559 = { 0xfe3b51a924e46559, b_fe3b51a924e46559.words, 33, nullptr, m_fe3b51a924e46559, - 0, 3, nullptr, nullptr, nullptr, { &s_fe3b51a924e46559, nullptr, nullptr, 0, 0, nullptr } + 0, 3, nullptr, nullptr, nullptr, { &s_fe3b51a924e46559, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(AntennaPowerStatus_fe3b51a924e46559, fe3b51a924e46559); @@ -17910,7 +18188,7 @@ static const uint16_t m_f919b410b90e53c6[] = {4, 5, 1, 3, 0, 2, 6}; static const uint16_t i_f919b410b90e53c6[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_f919b410b90e53c6 = { 0xf919b410b90e53c6, b_f919b410b90e53c6.words, 130, d_f919b410b90e53c6, m_f919b410b90e53c6, - 1, 7, i_f919b410b90e53c6, nullptr, nullptr, { &s_f919b410b90e53c6, nullptr, nullptr, 0, 0, nullptr } + 1, 7, i_f919b410b90e53c6, nullptr, nullptr, { &s_f919b410b90e53c6, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<42> b_b2d0985eb51c97b9 = { @@ -17962,7 +18240,7 @@ static const ::capnp::_::AlignedData<42> b_b2d0985eb51c97b9 = { static const uint16_t m_b2d0985eb51c97b9[] = {3, 4, 2, 1, 0}; const ::capnp::_::RawSchema s_b2d0985eb51c97b9 = { 0xb2d0985eb51c97b9, b_b2d0985eb51c97b9.words, 42, nullptr, m_b2d0985eb51c97b9, - 0, 5, nullptr, nullptr, nullptr, { &s_b2d0985eb51c97b9, nullptr, nullptr, 0, 0, nullptr } + 0, 5, nullptr, nullptr, nullptr, { &s_b2d0985eb51c97b9, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(ConfigSource_b2d0985eb51c97b9, b2d0985eb51c97b9); @@ -18495,7 +18773,7 @@ static const uint16_t m_b9c5911198388e0c[] = {17, 2, 22, 31, 28, 23, 3, 4, 29, 3 static const uint16_t i_b9c5911198388e0c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32}; const ::capnp::_::RawSchema s_b9c5911198388e0c = { 0xb9c5911198388e0c, b_b9c5911198388e0c.words, 521, nullptr, m_b9c5911198388e0c, - 0, 33, i_b9c5911198388e0c, nullptr, nullptr, { &s_b9c5911198388e0c, nullptr, nullptr, 0, 0, nullptr } + 0, 33, i_b9c5911198388e0c, nullptr, nullptr, { &s_b9c5911198388e0c, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<146> b_de94674b07ae51c1 = { @@ -18658,7 +18936,7 @@ static const uint16_t m_de94674b07ae51c1[] = {2, 3, 4, 0, 1, 5}; static const uint16_t i_de94674b07ae51c1[] = {1, 2, 3, 4, 5, 0}; const ::capnp::_::RawSchema s_de94674b07ae51c1 = { 0xde94674b07ae51c1, b_de94674b07ae51c1.words, 146, d_de94674b07ae51c1, m_de94674b07ae51c1, - 4, 6, i_de94674b07ae51c1, nullptr, nullptr, { &s_de94674b07ae51c1, nullptr, nullptr, 0, 0, nullptr } + 4, 6, i_de94674b07ae51c1, nullptr, nullptr, { &s_de94674b07ae51c1, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<50> b_d71a12b6faada7ee = { @@ -18718,7 +18996,7 @@ static const ::capnp::_::AlignedData<50> b_d71a12b6faada7ee = { static const uint16_t m_d71a12b6faada7ee[] = {2, 1, 0, 6, 3, 4, 5}; const ::capnp::_::RawSchema s_d71a12b6faada7ee = { 0xd71a12b6faada7ee, b_d71a12b6faada7ee.words, 50, nullptr, m_d71a12b6faada7ee, - 0, 7, nullptr, nullptr, nullptr, { &s_d71a12b6faada7ee, nullptr, nullptr, 0, 0, nullptr } + 0, 7, nullptr, nullptr, nullptr, { &s_d71a12b6faada7ee, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(MeasurementSource_d71a12b6faada7ee, d71a12b6faada7ee); @@ -18792,7 +19070,7 @@ static const ::capnp::_::AlignedData<63> b_e81e829a0d6c83e9 = { static const uint16_t m_e81e829a0d6c83e9[] = {3, 7, 9, 8, 0, 6, 1, 2, 5, 4}; const ::capnp::_::RawSchema s_e81e829a0d6c83e9 = { 0xe81e829a0d6c83e9, b_e81e829a0d6c83e9.words, 63, nullptr, m_e81e829a0d6c83e9, - 0, 10, nullptr, nullptr, nullptr, { &s_e81e829a0d6c83e9, nullptr, nullptr, 0, 0, nullptr } + 0, 10, nullptr, nullptr, nullptr, { &s_e81e829a0d6c83e9, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(SVObservationState_e81e829a0d6c83e9, e81e829a0d6c83e9); @@ -19326,7 +19604,7 @@ static const uint16_t m_e501010e1bcae83b[] = {3, 28, 5, 26, 15, 16, 20, 21, 22, static const uint16_t i_e501010e1bcae83b[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28}; const ::capnp::_::RawSchema s_e501010e1bcae83b = { 0xe501010e1bcae83b, b_e501010e1bcae83b.words, 522, nullptr, m_e501010e1bcae83b, - 0, 29, i_e501010e1bcae83b, nullptr, nullptr, { &s_e501010e1bcae83b, nullptr, nullptr, 0, 0, nullptr } + 0, 29, i_e501010e1bcae83b, nullptr, nullptr, { &s_e501010e1bcae83b, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<204> b_f580d7d86b7b8692 = { @@ -19545,7 +19823,7 @@ static const uint16_t m_f580d7d86b7b8692[] = {8, 9, 7, 1, 3, 4, 2, 5, 0, 10, 6}; static const uint16_t i_f580d7d86b7b8692[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; const ::capnp::_::RawSchema s_f580d7d86b7b8692 = { 0xf580d7d86b7b8692, b_f580d7d86b7b8692.words, 204, d_f580d7d86b7b8692, m_f580d7d86b7b8692, - 2, 11, i_f580d7d86b7b8692, nullptr, nullptr, { &s_f580d7d86b7b8692, nullptr, nullptr, 0, 0, nullptr } + 2, 11, i_f580d7d86b7b8692, nullptr, nullptr, { &s_f580d7d86b7b8692, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<454> b_f10c595ae7bb2c27 = { @@ -20014,7 +20292,7 @@ static const uint16_t m_f10c595ae7bb2c27[] = {19, 8, 22, 21, 25, 20, 7, 23, 24, static const uint16_t i_f10c595ae7bb2c27[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25}; const ::capnp::_::RawSchema s_f10c595ae7bb2c27 = { 0xf10c595ae7bb2c27, b_f10c595ae7bb2c27.words, 454, d_f10c595ae7bb2c27, m_f10c595ae7bb2c27, - 2, 26, i_f10c595ae7bb2c27, nullptr, nullptr, { &s_f10c595ae7bb2c27, nullptr, nullptr, 0, 0, nullptr } + 2, 26, i_f10c595ae7bb2c27, nullptr, nullptr, { &s_f10c595ae7bb2c27, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<877> b_ca965e4add8f4f0b = { @@ -20902,7 +21180,7 @@ static const uint16_t m_ca965e4add8f4f0b[] = {22, 21, 19, 20, 38, 39, 18, 28, 29 static const uint16_t i_ca965e4add8f4f0b[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50}; const ::capnp::_::RawSchema s_ca965e4add8f4f0b = { 0xca965e4add8f4f0b, b_ca965e4add8f4f0b.words, 877, nullptr, m_ca965e4add8f4f0b, - 0, 51, i_ca965e4add8f4f0b, nullptr, nullptr, { &s_ca965e4add8f4f0b, nullptr, nullptr, 0, 0, nullptr } + 0, 51, i_ca965e4add8f4f0b, nullptr, nullptr, { &s_ca965e4add8f4f0b, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<484> b_8053c39445c6c75c = { @@ -21401,7 +21679,7 @@ static const uint16_t m_8053c39445c6c75c[] = {23, 24, 6, 5, 25, 17, 22, 19, 20, static const uint16_t i_8053c39445c6c75c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27}; const ::capnp::_::RawSchema s_8053c39445c6c75c = { 0x8053c39445c6c75c, b_8053c39445c6c75c.words, 484, d_8053c39445c6c75c, m_8053c39445c6c75c, - 2, 28, i_8053c39445c6c75c, nullptr, nullptr, { &s_8053c39445c6c75c, nullptr, nullptr, 0, 0, nullptr } + 2, 28, i_8053c39445c6c75c, nullptr, nullptr, { &s_8053c39445c6c75c, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<567> b_f08b81df8cbf459c = { @@ -21983,7 +22261,7 @@ static const uint16_t m_f08b81df8cbf459c[] = {24, 10, 29, 7, 26, 25, 30, 5, 13, static const uint16_t i_f08b81df8cbf459c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32}; const ::capnp::_::RawSchema s_f08b81df8cbf459c = { 0xf08b81df8cbf459c, b_f08b81df8cbf459c.words, 567, d_f08b81df8cbf459c, m_f08b81df8cbf459c, - 2, 33, i_f08b81df8cbf459c, nullptr, nullptr, { &s_f08b81df8cbf459c, nullptr, nullptr, 0, 0, nullptr } + 2, 33, i_f08b81df8cbf459c, nullptr, nullptr, { &s_f08b81df8cbf459c, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<427> b_b1fb80811a673270 = { @@ -22421,7 +22699,7 @@ static const uint16_t m_b1fb80811a673270[] = {19, 20, 21, 1, 24, 23, 5, 3, 2, 7, static const uint16_t i_b1fb80811a673270[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24}; const ::capnp::_::RawSchema s_b1fb80811a673270 = { 0xb1fb80811a673270, b_b1fb80811a673270.words, 427, nullptr, m_b1fb80811a673270, - 0, 25, i_b1fb80811a673270, nullptr, nullptr, { &s_b1fb80811a673270, nullptr, nullptr, 0, 0, nullptr } + 0, 25, i_b1fb80811a673270, nullptr, nullptr, { &s_b1fb80811a673270, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<99> b_c95fb49a7bdc4618 = { @@ -22531,7 +22809,7 @@ static const uint16_t m_c95fb49a7bdc4618[] = {0, 4, 1, 2, 3}; static const uint16_t i_c95fb49a7bdc4618[] = {0, 1, 2, 3, 4}; const ::capnp::_::RawSchema s_c95fb49a7bdc4618 = { 0xc95fb49a7bdc4618, b_c95fb49a7bdc4618.words, 99, nullptr, m_c95fb49a7bdc4618, - 0, 5, i_c95fb49a7bdc4618, nullptr, nullptr, { &s_c95fb49a7bdc4618, nullptr, nullptr, 0, 0, nullptr } + 0, 5, i_c95fb49a7bdc4618, nullptr, nullptr, { &s_c95fb49a7bdc4618, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<141> b_92a5e332a85f32a0 = { @@ -22683,7 +22961,7 @@ static const uint16_t m_92a5e332a85f32a0[] = {5, 6, 3, 2, 4, 0, 1}; static const uint16_t i_92a5e332a85f32a0[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_92a5e332a85f32a0 = { 0x92a5e332a85f32a0, b_92a5e332a85f32a0.words, 141, nullptr, m_92a5e332a85f32a0, - 0, 7, i_92a5e332a85f32a0, nullptr, nullptr, { &s_92a5e332a85f32a0, nullptr, nullptr, 0, 0, nullptr } + 0, 7, i_92a5e332a85f32a0, nullptr, nullptr, { &s_92a5e332a85f32a0, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<211> b_e7e17c434f865ae2 = { @@ -22905,7 +23183,7 @@ static const uint16_t m_e7e17c434f865ae2[] = {2, 5, 6, 9, 10, 8, 7, 1, 4, 0, 3}; static const uint16_t i_e7e17c434f865ae2[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; const ::capnp::_::RawSchema s_e7e17c434f865ae2 = { 0xe7e17c434f865ae2, b_e7e17c434f865ae2.words, 211, nullptr, m_e7e17c434f865ae2, - 0, 11, i_e7e17c434f865ae2, nullptr, nullptr, { &s_e7e17c434f865ae2, nullptr, nullptr, 0, 0, nullptr } + 0, 11, i_e7e17c434f865ae2, nullptr, nullptr, { &s_e7e17c434f865ae2, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<55> b_e42401658e2715e2 = { @@ -22971,7 +23249,7 @@ static const uint16_t m_e42401658e2715e2[] = {0, 1}; static const uint16_t i_e42401658e2715e2[] = {0, 1}; const ::capnp::_::RawSchema s_e42401658e2715e2 = { 0xe42401658e2715e2, b_e42401658e2715e2.words, 55, nullptr, m_e42401658e2715e2, - 0, 2, i_e42401658e2715e2, nullptr, nullptr, { &s_e42401658e2715e2, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_e42401658e2715e2, nullptr, nullptr, { &s_e42401658e2715e2, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<151> b_fc010c40147563b0 = { @@ -23136,7 +23414,7 @@ static const uint16_t m_fc010c40147563b0[] = {2, 0, 6, 1, 4, 3, 7, 5}; static const uint16_t i_fc010c40147563b0[] = {0, 1, 2, 3, 4, 5, 6, 7}; const ::capnp::_::RawSchema s_fc010c40147563b0 = { 0xfc010c40147563b0, b_fc010c40147563b0.words, 151, d_fc010c40147563b0, m_fc010c40147563b0, - 1, 8, i_fc010c40147563b0, nullptr, nullptr, { &s_fc010c40147563b0, nullptr, nullptr, 0, 0, nullptr } + 1, 8, i_fc010c40147563b0, nullptr, nullptr, { &s_fc010c40147563b0, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<252> b_c9f73bb1cdf28a6a = { @@ -23399,7 +23677,7 @@ static const uint16_t m_c9f73bb1cdf28a6a[] = {0, 1, 2, 3, 4, 7, 5, 12, 10, 11, 8 static const uint16_t i_c9f73bb1cdf28a6a[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; const ::capnp::_::RawSchema s_c9f73bb1cdf28a6a = { 0xc9f73bb1cdf28a6a, b_c9f73bb1cdf28a6a.words, 252, nullptr, m_c9f73bb1cdf28a6a, - 0, 13, i_c9f73bb1cdf28a6a, nullptr, nullptr, { &s_c9f73bb1cdf28a6a, nullptr, nullptr, 0, 0, nullptr } + 0, 13, i_c9f73bb1cdf28a6a, nullptr, nullptr, { &s_c9f73bb1cdf28a6a, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<465> b_b83c6cc593ed0a00 = { @@ -23875,7 +24153,7 @@ static const uint16_t m_b83c6cc593ed0a00[] = {1, 20, 19, 16, 21, 3, 11, 4, 12, 5 static const uint16_t i_b83c6cc593ed0a00[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25}; const ::capnp::_::RawSchema s_b83c6cc593ed0a00 = { 0xb83c6cc593ed0a00, b_b83c6cc593ed0a00.words, 465, nullptr, m_b83c6cc593ed0a00, - 0, 26, i_b83c6cc593ed0a00, nullptr, nullptr, { &s_b83c6cc593ed0a00, nullptr, nullptr, 0, 0, nullptr } + 0, 26, i_b83c6cc593ed0a00, nullptr, nullptr, { &s_b83c6cc593ed0a00, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<313> b_b83cda094a1da284 = { @@ -24202,7 +24480,7 @@ static const uint16_t m_b83cda094a1da284[] = {11, 12, 3, 17, 0, 1, 14, 16, 2, 13 static const uint16_t i_b83cda094a1da284[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17}; const ::capnp::_::RawSchema s_b83cda094a1da284 = { 0xb83cda094a1da284, b_b83cda094a1da284.words, 313, d_b83cda094a1da284, m_b83cda094a1da284, - 1, 18, i_b83cda094a1da284, nullptr, nullptr, { &s_b83cda094a1da284, nullptr, nullptr, 0, 0, nullptr } + 1, 18, i_b83cda094a1da284, nullptr, nullptr, { &s_b83cda094a1da284, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<149> b_a12e8670927a2549 = { @@ -24369,7 +24647,7 @@ KJ_CONSTEXPR(const) ::capnp::_::RawBrandedSchema::Dependency bd_a12e8670927a2549 }; const ::capnp::_::RawSchema s_a12e8670927a2549 = { 0xa12e8670927a2549, b_a12e8670927a2549.words, 149, d_a12e8670927a2549, m_a12e8670927a2549, - 1, 6, i_a12e8670927a2549, nullptr, nullptr, { &s_a12e8670927a2549, nullptr, bd_a12e8670927a2549, 0, sizeof(bd_a12e8670927a2549) / sizeof(bd_a12e8670927a2549[0]), nullptr } + 1, 6, i_a12e8670927a2549, nullptr, nullptr, { &s_a12e8670927a2549, nullptr, bd_a12e8670927a2549, 0, sizeof(bd_a12e8670927a2549) / sizeof(bd_a12e8670927a2549[0]), nullptr }, true }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<277> b_d9058dcb967c2753 = { @@ -24660,7 +24938,7 @@ static const uint16_t m_d9058dcb967c2753[] = {3, 11, 2, 10, 15, 1, 8, 9, 14, 6, static const uint16_t i_d9058dcb967c2753[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; const ::capnp::_::RawSchema s_d9058dcb967c2753 = { 0xd9058dcb967c2753, b_d9058dcb967c2753.words, 277, d_d9058dcb967c2753, m_d9058dcb967c2753, - 1, 16, i_d9058dcb967c2753, nullptr, nullptr, { &s_d9058dcb967c2753, nullptr, nullptr, 0, 0, nullptr } + 1, 16, i_d9058dcb967c2753, nullptr, nullptr, { &s_d9058dcb967c2753, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<240> b_e61690eb0b091692 = { @@ -24911,7 +25189,7 @@ static const uint16_t m_e61690eb0b091692[] = {8, 6, 3, 4, 1, 5, 2, 0, 9, 10, 7, static const uint16_t i_e61690eb0b091692[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; const ::capnp::_::RawSchema s_e61690eb0b091692 = { 0xe61690eb0b091692, b_e61690eb0b091692.words, 240, nullptr, m_e61690eb0b091692, - 0, 13, i_e61690eb0b091692, nullptr, nullptr, { &s_e61690eb0b091692, nullptr, nullptr, 0, 0, nullptr } + 0, 13, i_e61690eb0b091692, nullptr, nullptr, { &s_e61690eb0b091692, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<305> b_943e268f93f711a6 = { @@ -25230,7 +25508,7 @@ static const uint16_t m_943e268f93f711a6[] = {3, 2, 10, 7, 11, 9, 8, 5, 6, 13, 1 static const uint16_t i_943e268f93f711a6[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}; const ::capnp::_::RawSchema s_943e268f93f711a6 = { 0x943e268f93f711a6, b_943e268f93f711a6.words, 305, d_943e268f93f711a6, m_943e268f93f711a6, - 1, 17, i_943e268f93f711a6, nullptr, nullptr, { &s_943e268f93f711a6, nullptr, nullptr, 0, 0, nullptr } + 1, 17, i_943e268f93f711a6, nullptr, nullptr, { &s_943e268f93f711a6, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<210> b_fa9a296b9fd41a96 = { @@ -25451,7 +25729,7 @@ static const uint16_t m_fa9a296b9fd41a96[] = {4, 8, 9, 1, 3, 5, 0, 2, 6, 7}; static const uint16_t i_fa9a296b9fd41a96[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; const ::capnp::_::RawSchema s_fa9a296b9fd41a96 = { 0xfa9a296b9fd41a96, b_fa9a296b9fd41a96.words, 210, nullptr, m_fa9a296b9fd41a96, - 0, 10, i_fa9a296b9fd41a96, nullptr, nullptr, { &s_fa9a296b9fd41a96, nullptr, nullptr, 0, 0, nullptr } + 0, 10, i_fa9a296b9fd41a96, nullptr, nullptr, { &s_fa9a296b9fd41a96, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<51> b_ef0382d244f56e38 = { @@ -25516,7 +25794,7 @@ static const uint16_t m_ef0382d244f56e38[] = {1, 0}; static const uint16_t i_ef0382d244f56e38[] = {0, 1}; const ::capnp::_::RawSchema s_ef0382d244f56e38 = { 0xef0382d244f56e38, b_ef0382d244f56e38.words, 51, d_ef0382d244f56e38, m_ef0382d244f56e38, - 1, 2, i_ef0382d244f56e38, nullptr, nullptr, { &s_ef0382d244f56e38, nullptr, nullptr, 0, 0, nullptr } + 1, 2, i_ef0382d244f56e38, nullptr, nullptr, { &s_ef0382d244f56e38, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<38> b_a2d8e61eb6f7031a = { @@ -25564,7 +25842,7 @@ static const ::capnp::_::AlignedData<38> b_a2d8e61eb6f7031a = { static const uint16_t m_a2d8e61eb6f7031a[] = {1, 0, 3, 2}; const ::capnp::_::RawSchema s_a2d8e61eb6f7031a = { 0xa2d8e61eb6f7031a, b_a2d8e61eb6f7031a.words, 38, nullptr, m_a2d8e61eb6f7031a, - 0, 4, nullptr, nullptr, nullptr, { &s_a2d8e61eb6f7031a, nullptr, nullptr, 0, 0, nullptr } + 0, 4, nullptr, nullptr, nullptr, { &s_a2d8e61eb6f7031a, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(SentinelType_a2d8e61eb6f7031a, a2d8e61eb6f7031a); @@ -25609,7 +25887,7 @@ static const uint16_t m_fe35ad896ffaeacf[] = {0}; static const uint16_t i_fe35ad896ffaeacf[] = {0}; const ::capnp::_::RawSchema s_fe35ad896ffaeacf = { 0xfe35ad896ffaeacf, b_fe35ad896ffaeacf.words, 33, nullptr, m_fe35ad896ffaeacf, - 0, 1, i_fe35ad896ffaeacf, nullptr, nullptr, { &s_fe35ad896ffaeacf, nullptr, nullptr, 0, 0, nullptr } + 0, 1, i_fe35ad896ffaeacf, nullptr, nullptr, { &s_fe35ad896ffaeacf, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<41> b_cf7154b31a69635b = { @@ -25664,7 +25942,7 @@ static const uint16_t m_cf7154b31a69635b[] = {0}; static const uint16_t i_cf7154b31a69635b[] = {0}; const ::capnp::_::RawSchema s_cf7154b31a69635b = { 0xcf7154b31a69635b, b_cf7154b31a69635b.words, 41, d_cf7154b31a69635b, m_cf7154b31a69635b, - 1, 1, i_cf7154b31a69635b, nullptr, nullptr, { &s_cf7154b31a69635b, nullptr, nullptr, 0, 0, nullptr } + 1, 1, i_cf7154b31a69635b, nullptr, nullptr, { &s_cf7154b31a69635b, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<96> b_869a54d2708469ea = { @@ -25771,7 +26049,7 @@ static const uint16_t m_869a54d2708469ea[] = {3, 0, 1, 2, 4}; static const uint16_t i_869a54d2708469ea[] = {0, 1, 2, 3, 4}; const ::capnp::_::RawSchema s_869a54d2708469ea = { 0x869a54d2708469ea, b_869a54d2708469ea.words, 96, nullptr, m_869a54d2708469ea, - 0, 5, i_869a54d2708469ea, nullptr, nullptr, { &s_869a54d2708469ea, nullptr, nullptr, 0, 0, nullptr } + 0, 5, i_869a54d2708469ea, nullptr, nullptr, { &s_869a54d2708469ea, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<131> b_de266b39b76b461e = { @@ -25913,7 +26191,7 @@ static const uint16_t m_de266b39b76b461e[] = {1, 0, 6, 5, 4, 3, 2}; static const uint16_t i_de266b39b76b461e[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_de266b39b76b461e = { 0xde266b39b76b461e, b_de266b39b76b461e.words, 131, nullptr, m_de266b39b76b461e, - 0, 7, i_de266b39b76b461e, nullptr, nullptr, { &s_de266b39b76b461e, nullptr, nullptr, 0, 0, nullptr } + 0, 7, i_de266b39b76b461e, nullptr, nullptr, { &s_de266b39b76b461e, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<254> b_c18216b27f8602af = { @@ -26183,7 +26461,7 @@ static const uint16_t m_c18216b27f8602af[] = {12, 5, 8, 2, 4, 0, 1, 3, 9, 10, 11 static const uint16_t i_c18216b27f8602af[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; const ::capnp::_::RawSchema s_c18216b27f8602af = { 0xc18216b27f8602af, b_c18216b27f8602af.words, 254, d_c18216b27f8602af, m_c18216b27f8602af, - 3, 13, i_c18216b27f8602af, nullptr, nullptr, { &s_c18216b27f8602af, nullptr, nullptr, 0, 0, nullptr } + 3, 13, i_c18216b27f8602af, nullptr, nullptr, { &s_c18216b27f8602af, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<69> b_a4cd1689c0a439d9 = { @@ -26266,7 +26544,7 @@ static const uint16_t m_a4cd1689c0a439d9[] = {1, 2, 0}; static const uint16_t i_a4cd1689c0a439d9[] = {0, 1, 2}; const ::capnp::_::RawSchema s_a4cd1689c0a439d9 = { 0xa4cd1689c0a439d9, b_a4cd1689c0a439d9.words, 69, d_a4cd1689c0a439d9, m_a4cd1689c0a439d9, - 1, 3, i_a4cd1689c0a439d9, nullptr, nullptr, { &s_a4cd1689c0a439d9, nullptr, nullptr, 0, 0, nullptr } + 1, 3, i_a4cd1689c0a439d9, nullptr, nullptr, { &s_a4cd1689c0a439d9, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<46> b_eea5b9d8c9e5c192 = { @@ -26322,7 +26600,7 @@ static const ::capnp::_::AlignedData<46> b_eea5b9d8c9e5c192 = { static const uint16_t m_eea5b9d8c9e5c192[] = {1, 0, 2, 4, 5, 3}; const ::capnp::_::RawSchema s_eea5b9d8c9e5c192 = { 0xeea5b9d8c9e5c192, b_eea5b9d8c9e5c192.words, 46, nullptr, m_eea5b9d8c9e5c192, - 0, 6, nullptr, nullptr, nullptr, { &s_eea5b9d8c9e5c192, nullptr, nullptr, 0, 0, nullptr } + 0, 6, nullptr, nullptr, nullptr, { &s_eea5b9d8c9e5c192, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Direction_eea5b9d8c9e5c192, eea5b9d8c9e5c192); @@ -26360,7 +26638,7 @@ static const ::capnp::_::AlignedData<27> b_b66e0aa568d09c66 = { static const uint16_t m_b66e0aa568d09c66[] = {0, 1}; const ::capnp::_::RawSchema s_b66e0aa568d09c66 = { 0xb66e0aa568d09c66, b_b66e0aa568d09c66.words, 27, nullptr, m_b66e0aa568d09c66, - 0, 2, nullptr, nullptr, nullptr, { &s_b66e0aa568d09c66, nullptr, nullptr, 0, 0, nullptr } + 0, 2, nullptr, nullptr, nullptr, { &s_b66e0aa568d09c66, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(SpeedLimitSign_b66e0aa568d09c66, b66e0aa568d09c66); @@ -26438,7 +26716,7 @@ static const uint16_t m_b3ec4a1a6ce20a45[] = {0, 2, 1}; static const uint16_t i_b3ec4a1a6ce20a45[] = {0, 1, 2}; const ::capnp::_::RawSchema s_b3ec4a1a6ce20a45 = { 0xb3ec4a1a6ce20a45, b_b3ec4a1a6ce20a45.words, 66, nullptr, m_b3ec4a1a6ce20a45, - 0, 3, i_b3ec4a1a6ce20a45, nullptr, nullptr, { &s_b3ec4a1a6ce20a45, nullptr, nullptr, 0, 0, nullptr } + 0, 3, i_b3ec4a1a6ce20a45, nullptr, nullptr, { &s_b3ec4a1a6ce20a45, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<41> b_a61452f6440d97d3 = { @@ -26493,7 +26771,7 @@ static const uint16_t m_a61452f6440d97d3[] = {0}; static const uint16_t i_a61452f6440d97d3[] = {0}; const ::capnp::_::RawSchema s_a61452f6440d97d3 = { 0xa61452f6440d97d3, b_a61452f6440d97d3.words, 41, d_a61452f6440d97d3, m_a61452f6440d97d3, - 1, 1, i_a61452f6440d97d3, nullptr, nullptr, { &s_a61452f6440d97d3, nullptr, nullptr, 0, 0, nullptr } + 1, 1, i_a61452f6440d97d3, nullptr, nullptr, { &s_a61452f6440d97d3, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<50> b_c4c96f53ad1e7485 = { @@ -26554,7 +26832,7 @@ static const uint16_t m_c4c96f53ad1e7485[] = {0, 1}; static const uint16_t i_c4c96f53ad1e7485[] = {0, 1}; const ::capnp::_::RawSchema s_c4c96f53ad1e7485 = { 0xc4c96f53ad1e7485, b_c4c96f53ad1e7485.words, 50, nullptr, m_c4c96f53ad1e7485, - 0, 2, i_c4c96f53ad1e7485, nullptr, nullptr, { &s_c4c96f53ad1e7485, nullptr, nullptr, 0, 0, nullptr } + 0, 2, i_c4c96f53ad1e7485, nullptr, nullptr, { &s_c4c96f53ad1e7485, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<66> b_a158dd2a4cfaa81b = { @@ -26631,7 +26909,7 @@ static const uint16_t m_a158dd2a4cfaa81b[] = {2, 0, 1}; static const uint16_t i_a158dd2a4cfaa81b[] = {0, 1, 2}; const ::capnp::_::RawSchema s_a158dd2a4cfaa81b = { 0xa158dd2a4cfaa81b, b_a158dd2a4cfaa81b.words, 66, nullptr, m_a158dd2a4cfaa81b, - 0, 3, i_a158dd2a4cfaa81b, nullptr, nullptr, { &s_a158dd2a4cfaa81b, nullptr, nullptr, 0, 0, nullptr } + 0, 3, i_a158dd2a4cfaa81b, nullptr, nullptr, { &s_a158dd2a4cfaa81b, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<143> b_ac3de5c437be057a = { @@ -26788,7 +27066,7 @@ static const uint16_t m_ac3de5c437be057a[] = {5, 2, 3, 0, 6, 1, 4}; static const uint16_t i_ac3de5c437be057a[] = {0, 1, 2, 3, 4, 5, 6}; const ::capnp::_::RawSchema s_ac3de5c437be057a = { 0xac3de5c437be057a, b_ac3de5c437be057a.words, 143, d_ac3de5c437be057a, m_ac3de5c437be057a, - 1, 7, i_ac3de5c437be057a, nullptr, nullptr, { &s_ac3de5c437be057a, nullptr, nullptr, 0, 0, nullptr } + 1, 7, i_ac3de5c437be057a, nullptr, nullptr, { &s_ac3de5c437be057a, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<94> b_be09e615b2507e26 = { @@ -26893,55 +27171,69 @@ static const uint16_t m_be09e615b2507e26[] = {0, 2, 1, 3}; static const uint16_t i_be09e615b2507e26[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_be09e615b2507e26 = { 0xbe09e615b2507e26, b_be09e615b2507e26.words, 94, nullptr, m_be09e615b2507e26, - 0, 4, i_be09e615b2507e26, nullptr, nullptr, { &s_be09e615b2507e26, nullptr, nullptr, 0, 0, nullptr } + 0, 4, i_be09e615b2507e26, nullptr, nullptr, { &s_be09e615b2507e26, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE -static const ::capnp::_::AlignedData<79> b_cf9aeab355dd85f0 = { +static const ::capnp::_::AlignedData<109> b_cf9aeab355dd85f0 = { { 0, 0, 0, 0, 5, 0, 6, 0, 240, 133, 221, 85, 179, 234, 154, 207, - 10, 0, 0, 0, 1, 0, 1, 0, + 10, 0, 0, 0, 1, 0, 2, 0, 91, 40, 164, 37, 126, 241, 177, 243, 3, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 21, 0, 0, 0, 170, 0, 0, 0, 29, 0, 0, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 25, 0, 0, 0, 231, 0, 0, 0, + 25, 0, 0, 0, 87, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 111, 103, 46, 99, 97, 112, 110, 112, 58, 69, 110, 99, 111, 100, 101, 68, 97, 116, 97, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, - 16, 0, 0, 0, 3, 0, 4, 0, + 24, 0, 0, 0, 3, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 97, 0, 0, 0, 34, 0, 0, 0, + 153, 0, 0, 0, 34, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 92, 0, 0, 0, 3, 0, 1, 0, - 104, 0, 0, 0, 2, 0, 1, 0, + 148, 0, 0, 0, 3, 0, 1, 0, + 160, 0, 0, 0, 2, 0, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 101, 0, 0, 0, 42, 0, 0, 0, + 157, 0, 0, 0, 42, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 96, 0, 0, 0, 3, 0, 1, 0, - 108, 0, 0, 0, 2, 0, 1, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, 2, 0, 0, 0, 2, 0, 0, 0, 0, 0, 1, 0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 105, 0, 0, 0, 58, 0, 0, 0, + 161, 0, 0, 0, 58, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 100, 0, 0, 0, 3, 0, 1, 0, - 112, 0, 0, 0, 2, 0, 1, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 109, 0, 0, 0, 154, 0, 0, 0, + 165, 0, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 112, 0, 0, 0, 3, 0, 1, 0, - 124, 0, 0, 0, 2, 0, 1, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, 105, 100, 120, 0, 0, 0, 0, 0, 16, 0, 0, 0, 0, 0, 0, 0, 252, 53, 23, 84, 227, 148, 211, 137, @@ -26975,6 +27267,22 @@ static const ::capnp::_::AlignedData<79> b_cf9aeab355dd85f0 = { 0, 0, 0, 0, 0, 0, 0, 0, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 105, 100, 116, 104, 0, 0, 0, + 8, 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, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 101, 105, 103, 104, 116, 0, 0, + 8, 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, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, } }; ::capnp::word const* const bp_cf9aeab355dd85f0 = b_cf9aeab355dd85f0.words; @@ -26982,11 +27290,11 @@ static const ::capnp::_::AlignedData<79> b_cf9aeab355dd85f0 = { static const ::capnp::_::RawSchema* const d_cf9aeab355dd85f0[] = { &s_89d394e3541735fc, }; -static const uint16_t m_cf9aeab355dd85f0[] = {1, 2, 0, 3}; -static const uint16_t i_cf9aeab355dd85f0[] = {0, 1, 2, 3}; +static const uint16_t m_cf9aeab355dd85f0[] = {1, 2, 5, 0, 3, 4}; +static const uint16_t i_cf9aeab355dd85f0[] = {0, 1, 2, 3, 4, 5}; const ::capnp::_::RawSchema s_cf9aeab355dd85f0 = { - 0xcf9aeab355dd85f0, b_cf9aeab355dd85f0.words, 79, d_cf9aeab355dd85f0, m_cf9aeab355dd85f0, - 1, 4, i_cf9aeab355dd85f0, nullptr, nullptr, { &s_cf9aeab355dd85f0, nullptr, nullptr, 0, 0, nullptr } + 0xcf9aeab355dd85f0, b_cf9aeab355dd85f0.words, 109, d_cf9aeab355dd85f0, m_cf9aeab355dd85f0, + 1, 6, i_cf9aeab355dd85f0, nullptr, nullptr, { &s_cf9aeab355dd85f0, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<16> b_fe346a9de48d9b50 = { @@ -27011,7 +27319,7 @@ static const ::capnp::_::AlignedData<16> b_fe346a9de48d9b50 = { #if !CAPNP_LITE const ::capnp::_::RawSchema s_fe346a9de48d9b50 = { 0xfe346a9de48d9b50, b_fe346a9de48d9b50.words, 16, nullptr, nullptr, - 0, 0, nullptr, nullptr, nullptr, { &s_fe346a9de48d9b50, nullptr, nullptr, 0, 0, nullptr } + 0, 0, nullptr, nullptr, nullptr, { &s_fe346a9de48d9b50, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<85> b_dc24138990726023 = { @@ -27107,10 +27415,10 @@ static const uint16_t m_dc24138990726023[] = {2, 0, 3, 1}; static const uint16_t i_dc24138990726023[] = {0, 1, 2, 3}; const ::capnp::_::RawSchema s_dc24138990726023 = { 0xdc24138990726023, b_dc24138990726023.words, 85, nullptr, m_dc24138990726023, - 0, 4, i_dc24138990726023, nullptr, nullptr, { &s_dc24138990726023, nullptr, nullptr, 0, 0, nullptr } + 0, 4, i_dc24138990726023, nullptr, nullptr, { &s_dc24138990726023, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE -static const ::capnp::_::AlignedData<2162> b_d314cfd957229c11 = { +static const ::capnp::_::AlignedData<2164> b_d314cfd957229c11 = { { 0, 0, 0, 0, 5, 0, 6, 0, 17, 156, 34, 87, 217, 207, 20, 211, 10, 0, 0, 0, 1, 0, 2, 0, @@ -27141,7 +27449,7 @@ static const ::capnp::_::AlignedData<2162> b_d314cfd957229c11 = { 0, 0, 0, 0, 0, 0, 0, 0, 220, 13, 0, 0, 3, 0, 1, 0, 232, 13, 0, 0, 2, 0, 1, 0, - 44, 0, 254, 255, 0, 0, 0, 0, + 43, 0, 254, 255, 0, 0, 0, 0, 0, 0, 1, 0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 229, 13, 0, 0, 130, 0, 0, 0, @@ -27155,7 +27463,7 @@ static const ::capnp::_::AlignedData<2162> b_d314cfd957229c11 = { 0, 0, 0, 0, 0, 0, 0, 0, 232, 13, 0, 0, 3, 0, 1, 0, 244, 13, 0, 0, 2, 0, 1, 0, - 96, 0, 252, 255, 0, 0, 0, 0, + 95, 0, 252, 255, 0, 0, 0, 0, 0, 0, 1, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 241, 13, 0, 0, 178, 0, 0, 0, @@ -27169,7 +27477,7 @@ static const ::capnp::_::AlignedData<2162> b_d314cfd957229c11 = { 0, 0, 0, 0, 0, 0, 0, 0, 248, 13, 0, 0, 3, 0, 1, 0, 20, 14, 0, 0, 2, 0, 1, 0, - 60, 0, 250, 255, 0, 0, 0, 0, + 59, 0, 250, 255, 0, 0, 0, 0, 0, 0, 1, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 17, 14, 0, 0, 98, 0, 0, 0, @@ -27183,35 +27491,35 @@ static const ::capnp::_::AlignedData<2162> b_d314cfd957229c11 = { 0, 0, 0, 0, 0, 0, 0, 0, 24, 14, 0, 0, 3, 0, 1, 0, 36, 14, 0, 0, 2, 0, 1, 0, - 97, 0, 248, 255, 0, 0, 0, 0, + 96, 0, 248, 255, 0, 0, 0, 0, 0, 0, 1, 0, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 33, 14, 0, 0, 162, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 14, 0, 0, 3, 0, 1, 0, 64, 14, 0, 0, 2, 0, 1, 0, - 90, 0, 247, 255, 0, 0, 0, 0, + 89, 0, 247, 255, 0, 0, 0, 0, 0, 0, 1, 0, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 61, 14, 0, 0, 50, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 14, 0, 0, 3, 0, 1, 0, 68, 14, 0, 0, 2, 0, 1, 0, - 121, 0, 246, 255, 0, 0, 0, 0, + 120, 0, 246, 255, 0, 0, 0, 0, 0, 0, 1, 0, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 65, 14, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 68, 14, 0, 0, 3, 0, 1, 0, 80, 14, 0, 0, 2, 0, 1, 0, - 126, 0, 245, 255, 0, 0, 0, 0, + 125, 0, 245, 255, 0, 0, 0, 0, 0, 0, 1, 0, 11, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 77, 14, 0, 0, 186, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 80, 14, 0, 0, 3, 0, 1, 0, 108, 14, 0, 0, 2, 0, 1, 0, - 124, 0, 244, 255, 0, 0, 0, 0, + 123, 0, 244, 255, 0, 0, 0, 0, 0, 0, 1, 0, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 105, 14, 0, 0, 170, 0, 0, 0, @@ -27225,14 +27533,14 @@ static const ::capnp::_::AlignedData<2162> b_d314cfd957229c11 = { 0, 0, 0, 0, 0, 0, 0, 0, 116, 14, 0, 0, 3, 0, 1, 0, 128, 14, 0, 0, 2, 0, 1, 0, - 95, 0, 242, 255, 0, 0, 0, 0, + 94, 0, 242, 255, 0, 0, 0, 0, 0, 0, 1, 0, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 125, 14, 0, 0, 138, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 14, 0, 0, 3, 0, 1, 0, 140, 14, 0, 0, 2, 0, 1, 0, - 47, 0, 241, 255, 0, 0, 0, 0, + 46, 0, 241, 255, 0, 0, 0, 0, 0, 0, 1, 0, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 137, 14, 0, 0, 114, 0, 0, 0, @@ -27253,7 +27561,7 @@ static const ::capnp::_::AlignedData<2162> b_d314cfd957229c11 = { 0, 0, 0, 0, 0, 0, 0, 0, 164, 14, 0, 0, 3, 0, 1, 0, 192, 14, 0, 0, 2, 0, 1, 0, - 61, 0, 238, 255, 0, 0, 0, 0, + 60, 0, 238, 255, 0, 0, 0, 0, 0, 0, 1, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 189, 14, 0, 0, 90, 0, 0, 0, @@ -27267,14 +27575,14 @@ static const ::capnp::_::AlignedData<2162> b_d314cfd957229c11 = { 0, 0, 0, 0, 0, 0, 0, 0, 196, 14, 0, 0, 3, 0, 1, 0, 208, 14, 0, 0, 2, 0, 1, 0, - 55, 0, 236, 255, 0, 0, 0, 0, + 54, 0, 236, 255, 0, 0, 0, 0, 0, 0, 1, 0, 20, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 205, 14, 0, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 14, 0, 0, 3, 0, 1, 0, 216, 14, 0, 0, 2, 0, 1, 0, - 31, 0, 235, 255, 0, 0, 0, 0, + 30, 0, 235, 255, 0, 0, 0, 0, 0, 0, 1, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 213, 14, 0, 0, 98, 0, 0, 0, @@ -27302,245 +27610,245 @@ static const ::capnp::_::AlignedData<2162> b_d314cfd957229c11 = { 0, 0, 0, 0, 0, 0, 0, 0, 240, 14, 0, 0, 3, 0, 1, 0, 252, 14, 0, 0, 2, 0, 1, 0, - 98, 0, 231, 255, 0, 0, 0, 0, + 97, 0, 231, 255, 0, 0, 0, 0, 0, 0, 1, 0, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 249, 14, 0, 0, 186, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 252, 14, 0, 0, 3, 0, 1, 0, 8, 15, 0, 0, 2, 0, 1, 0, - 99, 0, 230, 255, 0, 0, 0, 0, + 98, 0, 230, 255, 0, 0, 0, 0, 0, 0, 1, 0, 26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 5, 15, 0, 0, 186, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8, 15, 0, 0, 3, 0, 1, 0, 36, 15, 0, 0, 2, 0, 1, 0, - 113, 0, 229, 255, 0, 0, 0, 0, + 112, 0, 229, 255, 0, 0, 0, 0, 0, 0, 1, 0, 27, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 33, 15, 0, 0, 162, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 15, 0, 0, 3, 0, 1, 0, 48, 15, 0, 0, 2, 0, 1, 0, - 100, 0, 228, 255, 0, 0, 0, 0, + 99, 0, 228, 255, 0, 0, 0, 0, 0, 0, 1, 0, 28, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 45, 15, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 48, 15, 0, 0, 3, 0, 1, 0, 76, 15, 0, 0, 2, 0, 1, 0, - 101, 0, 227, 255, 0, 0, 0, 0, + 100, 0, 227, 255, 0, 0, 0, 0, 0, 0, 1, 0, 29, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 73, 15, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 76, 15, 0, 0, 3, 0, 1, 0, 104, 15, 0, 0, 2, 0, 1, 0, - 107, 0, 226, 255, 0, 0, 0, 0, + 106, 0, 226, 255, 0, 0, 0, 0, 0, 0, 1, 0, 30, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 101, 15, 0, 0, 178, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 104, 15, 0, 0, 3, 0, 1, 0, 116, 15, 0, 0, 2, 0, 1, 0, - 29, 0, 225, 255, 0, 0, 0, 0, + 28, 0, 225, 255, 0, 0, 0, 0, 0, 0, 1, 0, 31, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 113, 15, 0, 0, 74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 112, 15, 0, 0, 3, 0, 1, 0, 124, 15, 0, 0, 2, 0, 1, 0, - 108, 0, 224, 255, 0, 0, 0, 0, + 107, 0, 224, 255, 0, 0, 0, 0, 0, 0, 1, 0, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 121, 15, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 124, 15, 0, 0, 3, 0, 1, 0, 136, 15, 0, 0, 2, 0, 1, 0, - 58, 0, 223, 255, 0, 0, 0, 0, + 57, 0, 223, 255, 0, 0, 0, 0, 0, 0, 1, 0, 33, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 133, 15, 0, 0, 66, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 15, 0, 0, 3, 0, 1, 0, 140, 15, 0, 0, 2, 0, 1, 0, - 27, 0, 222, 255, 0, 0, 0, 0, + 26, 0, 222, 255, 0, 0, 0, 0, 0, 0, 1, 0, 34, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 137, 15, 0, 0, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 136, 15, 0, 0, 3, 0, 1, 0, 148, 15, 0, 0, 2, 0, 1, 0, - 59, 0, 221, 255, 0, 0, 0, 0, + 58, 0, 221, 255, 0, 0, 0, 0, 0, 0, 1, 0, 35, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 145, 15, 0, 0, 58, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 140, 15, 0, 0, 3, 0, 1, 0, 152, 15, 0, 0, 2, 0, 1, 0, - 91, 0, 220, 255, 0, 0, 0, 0, + 90, 0, 220, 255, 0, 0, 0, 0, 0, 0, 1, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 149, 15, 0, 0, 146, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 152, 15, 0, 0, 3, 0, 1, 0, 164, 15, 0, 0, 2, 0, 1, 0, - 92, 0, 219, 255, 0, 0, 0, 0, + 91, 0, 219, 255, 0, 0, 0, 0, 0, 0, 1, 0, 37, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 161, 15, 0, 0, 242, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 168, 15, 0, 0, 3, 0, 1, 0, 180, 15, 0, 0, 2, 0, 1, 0, - 109, 0, 218, 255, 0, 0, 0, 0, + 108, 0, 218, 255, 0, 0, 0, 0, 0, 0, 1, 0, 38, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 15, 0, 0, 162, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 180, 15, 0, 0, 3, 0, 1, 0, 192, 15, 0, 0, 2, 0, 1, 0, - 28, 0, 217, 255, 0, 0, 0, 0, + 27, 0, 217, 255, 0, 0, 0, 0, 0, 0, 1, 0, 39, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 189, 15, 0, 0, 74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 188, 15, 0, 0, 3, 0, 1, 0, 200, 15, 0, 0, 2, 0, 1, 0, - 104, 0, 216, 255, 0, 0, 0, 0, + 103, 0, 216, 255, 0, 0, 0, 0, 0, 0, 1, 0, 40, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 197, 15, 0, 0, 218, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 15, 0, 0, 3, 0, 1, 0, 216, 15, 0, 0, 2, 0, 1, 0, - 105, 0, 215, 255, 0, 0, 0, 0, + 104, 0, 215, 255, 0, 0, 0, 0, 0, 0, 1, 0, 41, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 213, 15, 0, 0, 202, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 220, 15, 0, 0, 3, 0, 1, 0, 232, 15, 0, 0, 2, 0, 1, 0, - 106, 0, 214, 255, 0, 0, 0, 0, + 105, 0, 214, 255, 0, 0, 0, 0, 0, 0, 1, 0, 42, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 229, 15, 0, 0, 178, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 232, 15, 0, 0, 3, 0, 1, 0, 244, 15, 0, 0, 2, 0, 1, 0, - 110, 0, 213, 255, 0, 0, 0, 0, + 109, 0, 213, 255, 0, 0, 0, 0, 0, 0, 1, 0, 43, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 241, 15, 0, 0, 194, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 244, 15, 0, 0, 3, 0, 1, 0, 16, 16, 0, 0, 2, 0, 1, 0, - 111, 0, 212, 255, 0, 0, 0, 0, + 110, 0, 212, 255, 0, 0, 0, 0, 0, 0, 1, 0, 44, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 13, 16, 0, 0, 234, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 20, 16, 0, 0, 3, 0, 1, 0, 32, 16, 0, 0, 2, 0, 1, 0, - 94, 0, 211, 255, 0, 0, 0, 0, + 93, 0, 211, 255, 0, 0, 0, 0, 0, 0, 1, 0, 45, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 29, 16, 0, 0, 226, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 16, 0, 0, 3, 0, 1, 0, 48, 16, 0, 0, 2, 0, 1, 0, - 112, 0, 210, 255, 0, 0, 0, 0, + 111, 0, 210, 255, 0, 0, 0, 0, 0, 0, 1, 0, 46, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 45, 16, 0, 0, 2, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 52, 16, 0, 0, 3, 0, 1, 0, 64, 16, 0, 0, 2, 0, 1, 0, - 114, 0, 209, 255, 0, 0, 0, 0, + 113, 0, 209, 255, 0, 0, 0, 0, 0, 0, 1, 0, 47, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 61, 16, 0, 0, 202, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 68, 16, 0, 0, 3, 0, 1, 0, 96, 16, 0, 0, 2, 0, 1, 0, - 30, 0, 208, 255, 0, 0, 0, 0, + 29, 0, 208, 255, 0, 0, 0, 0, 0, 0, 1, 0, 48, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 93, 16, 0, 0, 162, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 96, 16, 0, 0, 3, 0, 1, 0, 108, 16, 0, 0, 2, 0, 1, 0, - 115, 0, 207, 255, 0, 0, 0, 0, + 114, 0, 207, 255, 0, 0, 0, 0, 0, 0, 1, 0, 49, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 105, 16, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 16, 0, 0, 3, 0, 1, 0, 120, 16, 0, 0, 2, 0, 1, 0, - 102, 0, 206, 255, 0, 0, 0, 0, + 101, 0, 206, 255, 0, 0, 0, 0, 0, 0, 1, 0, 50, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 117, 16, 0, 0, 226, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 124, 16, 0, 0, 3, 0, 1, 0, 136, 16, 0, 0, 2, 0, 1, 0, - 93, 0, 205, 255, 0, 0, 0, 0, + 92, 0, 205, 255, 0, 0, 0, 0, 0, 0, 1, 0, 51, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 133, 16, 0, 0, 234, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 140, 16, 0, 0, 3, 0, 1, 0, 152, 16, 0, 0, 2, 0, 1, 0, - 69, 0, 204, 255, 0, 0, 0, 0, + 68, 0, 204, 255, 0, 0, 0, 0, 0, 0, 1, 0, 52, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 149, 16, 0, 0, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 148, 16, 0, 0, 3, 0, 1, 0, 160, 16, 0, 0, 2, 0, 1, 0, - 116, 0, 203, 255, 0, 0, 0, 0, + 115, 0, 203, 255, 0, 0, 0, 0, 0, 0, 1, 0, 53, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 157, 16, 0, 0, 178, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 160, 16, 0, 0, 3, 0, 1, 0, 172, 16, 0, 0, 2, 0, 1, 0, - 117, 0, 202, 255, 0, 0, 0, 0, + 116, 0, 202, 255, 0, 0, 0, 0, 0, 0, 1, 0, 54, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 169, 16, 0, 0, 178, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 172, 16, 0, 0, 3, 0, 1, 0, 184, 16, 0, 0, 2, 0, 1, 0, - 118, 0, 201, 255, 0, 0, 0, 0, + 117, 0, 201, 255, 0, 0, 0, 0, 0, 0, 1, 0, 55, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 181, 16, 0, 0, 218, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 188, 16, 0, 0, 3, 0, 1, 0, 200, 16, 0, 0, 2, 0, 1, 0, - 119, 0, 200, 255, 0, 0, 0, 0, + 118, 0, 200, 255, 0, 0, 0, 0, 0, 0, 1, 0, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 197, 16, 0, 0, 178, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 200, 16, 0, 0, 3, 0, 1, 0, 212, 16, 0, 0, 2, 0, 1, 0, - 123, 0, 199, 255, 0, 0, 0, 0, + 122, 0, 199, 255, 0, 0, 0, 0, 0, 0, 1, 0, 57, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 209, 16, 0, 0, 194, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 212, 16, 0, 0, 3, 0, 1, 0, 224, 16, 0, 0, 2, 0, 1, 0, - 120, 0, 198, 255, 0, 0, 0, 0, + 119, 0, 198, 255, 0, 0, 0, 0, 0, 0, 1, 0, 58, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 221, 16, 0, 0, 234, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 228, 16, 0, 0, 3, 0, 1, 0, 240, 16, 0, 0, 2, 0, 1, 0, - 125, 0, 197, 255, 0, 0, 0, 0, + 124, 0, 197, 255, 0, 0, 0, 0, 0, 0, 1, 0, 59, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 237, 16, 0, 0, 178, 0, 0, 0, @@ -27554,468 +27862,468 @@ static const ::capnp::_::AlignedData<2162> b_d314cfd957229c11 = { 0, 0, 0, 0, 0, 0, 0, 0, 244, 16, 0, 0, 3, 0, 1, 0, 0, 17, 0, 0, 2, 0, 1, 0, - 33, 0, 195, 255, 0, 0, 0, 0, + 32, 0, 195, 255, 0, 0, 0, 0, 0, 0, 1, 0, 61, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 253, 16, 0, 0, 122, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 252, 16, 0, 0, 3, 0, 1, 0, 8, 17, 0, 0, 2, 0, 1, 0, - 103, 0, 194, 255, 0, 0, 0, 0, + 102, 0, 194, 255, 0, 0, 0, 0, 0, 0, 1, 0, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 5, 17, 0, 0, 178, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8, 17, 0, 0, 3, 0, 1, 0, 20, 17, 0, 0, 2, 0, 1, 0, - 35, 0, 193, 255, 0, 0, 0, 0, + 34, 0, 193, 255, 0, 0, 0, 0, 0, 0, 1, 0, 63, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 17, 17, 0, 0, 122, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 17, 0, 0, 3, 0, 1, 0, 28, 17, 0, 0, 2, 0, 1, 0, - 25, 0, 192, 255, 0, 0, 0, 0, + 126, 0, 192, 255, 0, 0, 0, 0, 0, 0, 1, 0, 64, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 25, 17, 0, 0, 98, 0, 0, 0, + 25, 17, 0, 0, 178, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 24, 17, 0, 0, 3, 0, 1, 0, - 36, 17, 0, 0, 2, 0, 1, 0, - 122, 0, 191, 255, 0, 0, 0, 0, + 28, 17, 0, 0, 3, 0, 1, 0, + 40, 17, 0, 0, 2, 0, 1, 0, + 121, 0, 191, 255, 0, 0, 0, 0, 0, 0, 1, 0, 65, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 33, 17, 0, 0, 202, 0, 0, 0, + 37, 17, 0, 0, 202, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 40, 17, 0, 0, 3, 0, 1, 0, - 52, 17, 0, 0, 2, 0, 1, 0, - 36, 0, 190, 255, 0, 0, 0, 0, + 44, 17, 0, 0, 3, 0, 1, 0, + 56, 17, 0, 0, 2, 0, 1, 0, + 35, 0, 190, 255, 0, 0, 0, 0, 0, 0, 1, 0, 66, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 49, 17, 0, 0, 82, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 48, 17, 0, 0, 3, 0, 1, 0, - 60, 17, 0, 0, 2, 0, 1, 0, - 1, 0, 0, 0, 80, 0, 0, 0, - 0, 0, 1, 0, 67, 0, 0, 0, - 1, 0, 0, 0, 0, 0, 0, 0, - 57, 17, 0, 0, 50, 0, 0, 0, + 53, 17, 0, 0, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 52, 17, 0, 0, 3, 0, 1, 0, 64, 17, 0, 0, 2, 0, 1, 0, - 37, 0, 189, 255, 0, 0, 0, 0, + 1, 0, 0, 0, 80, 0, 0, 0, + 0, 0, 1, 0, 67, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 61, 17, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 17, 0, 0, 3, 0, 1, 0, + 68, 17, 0, 0, 2, 0, 1, 0, + 36, 0, 189, 255, 0, 0, 0, 0, 0, 0, 1, 0, 68, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 61, 17, 0, 0, 106, 0, 0, 0, + 65, 17, 0, 0, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 60, 17, 0, 0, 3, 0, 1, 0, - 88, 17, 0, 0, 2, 0, 1, 0, - 38, 0, 188, 255, 0, 0, 0, 0, + 64, 17, 0, 0, 3, 0, 1, 0, + 92, 17, 0, 0, 2, 0, 1, 0, + 37, 0, 188, 255, 0, 0, 0, 0, 0, 0, 1, 0, 69, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 85, 17, 0, 0, 82, 0, 0, 0, + 89, 17, 0, 0, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 84, 17, 0, 0, 3, 0, 1, 0, - 96, 17, 0, 0, 2, 0, 1, 0, - 45, 0, 187, 255, 0, 0, 0, 0, + 88, 17, 0, 0, 3, 0, 1, 0, + 100, 17, 0, 0, 2, 0, 1, 0, + 44, 0, 187, 255, 0, 0, 0, 0, 0, 0, 1, 0, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 93, 17, 0, 0, 146, 0, 0, 0, + 97, 17, 0, 0, 146, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 96, 17, 0, 0, 3, 0, 1, 0, - 108, 17, 0, 0, 2, 0, 1, 0, - 39, 0, 186, 255, 0, 0, 0, 0, + 100, 17, 0, 0, 3, 0, 1, 0, + 112, 17, 0, 0, 2, 0, 1, 0, + 38, 0, 186, 255, 0, 0, 0, 0, 0, 0, 1, 0, 71, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 105, 17, 0, 0, 178, 0, 0, 0, + 109, 17, 0, 0, 178, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 108, 17, 0, 0, 3, 0, 1, 0, - 120, 17, 0, 0, 2, 0, 1, 0, - 40, 0, 185, 255, 0, 0, 0, 0, + 112, 17, 0, 0, 3, 0, 1, 0, + 124, 17, 0, 0, 2, 0, 1, 0, + 39, 0, 185, 255, 0, 0, 0, 0, 0, 0, 1, 0, 72, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 117, 17, 0, 0, 154, 0, 0, 0, + 121, 17, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 120, 17, 0, 0, 3, 0, 1, 0, - 132, 17, 0, 0, 2, 0, 1, 0, + 124, 17, 0, 0, 3, 0, 1, 0, + 136, 17, 0, 0, 2, 0, 1, 0, 3, 0, 184, 255, 0, 0, 0, 0, 0, 0, 1, 0, 73, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 129, 17, 0, 0, 74, 0, 0, 0, + 133, 17, 0, 0, 74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 128, 17, 0, 0, 3, 0, 1, 0, - 140, 17, 0, 0, 2, 0, 1, 0, - 46, 0, 183, 255, 0, 0, 0, 0, + 132, 17, 0, 0, 3, 0, 1, 0, + 144, 17, 0, 0, 2, 0, 1, 0, + 45, 0, 183, 255, 0, 0, 0, 0, 0, 0, 1, 0, 74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 137, 17, 0, 0, 162, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 140, 17, 0, 0, 3, 0, 1, 0, - 152, 17, 0, 0, 2, 0, 1, 0, - 41, 0, 182, 255, 0, 0, 0, 0, - 0, 0, 1, 0, 75, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 149, 17, 0, 0, 66, 0, 0, 0, + 141, 17, 0, 0, 162, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 144, 17, 0, 0, 3, 0, 1, 0, 156, 17, 0, 0, 2, 0, 1, 0, - 48, 0, 181, 255, 0, 0, 0, 0, + 40, 0, 182, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 75, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 17, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 17, 0, 0, 3, 0, 1, 0, + 160, 17, 0, 0, 2, 0, 1, 0, + 47, 0, 181, 255, 0, 0, 0, 0, 0, 0, 1, 0, 76, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 153, 17, 0, 0, 130, 0, 0, 0, + 157, 17, 0, 0, 130, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 152, 17, 0, 0, 3, 0, 1, 0, - 164, 17, 0, 0, 2, 0, 1, 0, - 49, 0, 180, 255, 0, 0, 0, 0, + 156, 17, 0, 0, 3, 0, 1, 0, + 168, 17, 0, 0, 2, 0, 1, 0, + 48, 0, 180, 255, 0, 0, 0, 0, 0, 0, 1, 0, 77, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 161, 17, 0, 0, 146, 0, 0, 0, + 165, 17, 0, 0, 146, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 164, 17, 0, 0, 3, 0, 1, 0, - 176, 17, 0, 0, 2, 0, 1, 0, - 56, 0, 179, 255, 0, 0, 0, 0, + 168, 17, 0, 0, 3, 0, 1, 0, + 180, 17, 0, 0, 2, 0, 1, 0, + 55, 0, 179, 255, 0, 0, 0, 0, 0, 0, 1, 0, 78, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 173, 17, 0, 0, 106, 0, 0, 0, + 177, 17, 0, 0, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 172, 17, 0, 0, 3, 0, 1, 0, - 184, 17, 0, 0, 2, 0, 1, 0, - 57, 0, 178, 255, 0, 0, 0, 0, + 176, 17, 0, 0, 3, 0, 1, 0, + 188, 17, 0, 0, 2, 0, 1, 0, + 56, 0, 178, 255, 0, 0, 0, 0, 0, 0, 1, 0, 79, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 181, 17, 0, 0, 114, 0, 0, 0, + 185, 17, 0, 0, 114, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 180, 17, 0, 0, 3, 0, 1, 0, - 192, 17, 0, 0, 2, 0, 1, 0, + 184, 17, 0, 0, 3, 0, 1, 0, + 196, 17, 0, 0, 2, 0, 1, 0, 17, 0, 177, 255, 0, 0, 0, 0, 0, 0, 1, 0, 80, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 189, 17, 0, 0, 130, 0, 0, 0, + 193, 17, 0, 0, 130, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 188, 17, 0, 0, 3, 0, 1, 0, - 200, 17, 0, 0, 2, 0, 1, 0, + 192, 17, 0, 0, 3, 0, 1, 0, + 204, 17, 0, 0, 2, 0, 1, 0, 16, 0, 176, 255, 0, 0, 0, 0, 0, 0, 1, 0, 81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 197, 17, 0, 0, 98, 0, 0, 0, + 201, 17, 0, 0, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 196, 17, 0, 0, 3, 0, 1, 0, - 224, 17, 0, 0, 2, 0, 1, 0, - 63, 0, 175, 255, 0, 0, 0, 0, + 200, 17, 0, 0, 3, 0, 1, 0, + 228, 17, 0, 0, 2, 0, 1, 0, + 62, 0, 175, 255, 0, 0, 0, 0, 0, 0, 1, 0, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 221, 17, 0, 0, 122, 0, 0, 0, + 225, 17, 0, 0, 122, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 220, 17, 0, 0, 3, 0, 1, 0, - 232, 17, 0, 0, 2, 0, 1, 0, - 64, 0, 174, 255, 0, 0, 0, 0, + 224, 17, 0, 0, 3, 0, 1, 0, + 236, 17, 0, 0, 2, 0, 1, 0, + 63, 0, 174, 255, 0, 0, 0, 0, 0, 0, 1, 0, 83, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 229, 17, 0, 0, 74, 0, 0, 0, + 233, 17, 0, 0, 74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 228, 17, 0, 0, 3, 0, 1, 0, - 240, 17, 0, 0, 2, 0, 1, 0, - 65, 0, 173, 255, 0, 0, 0, 0, + 232, 17, 0, 0, 3, 0, 1, 0, + 244, 17, 0, 0, 2, 0, 1, 0, + 64, 0, 173, 255, 0, 0, 0, 0, 0, 0, 1, 0, 84, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 237, 17, 0, 0, 106, 0, 0, 0, + 241, 17, 0, 0, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 236, 17, 0, 0, 3, 0, 1, 0, - 248, 17, 0, 0, 2, 0, 1, 0, - 62, 0, 172, 255, 0, 0, 0, 0, + 240, 17, 0, 0, 3, 0, 1, 0, + 252, 17, 0, 0, 2, 0, 1, 0, + 61, 0, 172, 255, 0, 0, 0, 0, 0, 0, 1, 0, 85, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 245, 17, 0, 0, 130, 0, 0, 0, + 249, 17, 0, 0, 130, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 244, 17, 0, 0, 3, 0, 1, 0, - 0, 18, 0, 0, 2, 0, 1, 0, - 70, 0, 171, 255, 0, 0, 0, 0, + 248, 17, 0, 0, 3, 0, 1, 0, + 4, 18, 0, 0, 2, 0, 1, 0, + 69, 0, 171, 255, 0, 0, 0, 0, 0, 0, 1, 0, 86, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 253, 17, 0, 0, 122, 0, 0, 0, + 1, 18, 0, 0, 122, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 252, 17, 0, 0, 3, 0, 1, 0, - 8, 18, 0, 0, 2, 0, 1, 0, - 71, 0, 170, 255, 0, 0, 0, 0, + 0, 18, 0, 0, 3, 0, 1, 0, + 12, 18, 0, 0, 2, 0, 1, 0, + 70, 0, 170, 255, 0, 0, 0, 0, 0, 0, 1, 0, 87, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 5, 18, 0, 0, 138, 0, 0, 0, + 9, 18, 0, 0, 138, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 8, 18, 0, 0, 3, 0, 1, 0, - 20, 18, 0, 0, 2, 0, 1, 0, - 72, 0, 169, 255, 0, 0, 0, 0, + 12, 18, 0, 0, 3, 0, 1, 0, + 24, 18, 0, 0, 2, 0, 1, 0, + 71, 0, 169, 255, 0, 0, 0, 0, 0, 0, 1, 0, 88, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 17, 18, 0, 0, 154, 0, 0, 0, + 21, 18, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 20, 18, 0, 0, 3, 0, 1, 0, - 32, 18, 0, 0, 2, 0, 1, 0, - 73, 0, 168, 255, 0, 0, 0, 0, + 24, 18, 0, 0, 3, 0, 1, 0, + 36, 18, 0, 0, 2, 0, 1, 0, + 72, 0, 168, 255, 0, 0, 0, 0, 0, 0, 1, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 29, 18, 0, 0, 130, 0, 0, 0, + 33, 18, 0, 0, 130, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 28, 18, 0, 0, 3, 0, 1, 0, - 40, 18, 0, 0, 2, 0, 1, 0, - 50, 0, 167, 255, 0, 0, 0, 0, + 32, 18, 0, 0, 3, 0, 1, 0, + 44, 18, 0, 0, 2, 0, 1, 0, + 49, 0, 167, 255, 0, 0, 0, 0, 0, 0, 1, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 37, 18, 0, 0, 122, 0, 0, 0, + 41, 18, 0, 0, 122, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 36, 18, 0, 0, 3, 0, 1, 0, - 48, 18, 0, 0, 2, 0, 1, 0, - 32, 0, 166, 255, 0, 0, 0, 0, + 40, 18, 0, 0, 3, 0, 1, 0, + 52, 18, 0, 0, 2, 0, 1, 0, + 31, 0, 166, 255, 0, 0, 0, 0, 0, 0, 1, 0, 91, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 45, 18, 0, 0, 138, 0, 0, 0, + 49, 18, 0, 0, 138, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 48, 18, 0, 0, 3, 0, 1, 0, - 60, 18, 0, 0, 2, 0, 1, 0, - 42, 0, 165, 255, 0, 0, 0, 0, + 52, 18, 0, 0, 3, 0, 1, 0, + 64, 18, 0, 0, 2, 0, 1, 0, + 41, 0, 165, 255, 0, 0, 0, 0, 0, 0, 1, 0, 92, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 57, 18, 0, 0, 114, 0, 0, 0, + 61, 18, 0, 0, 114, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 56, 18, 0, 0, 3, 0, 1, 0, - 68, 18, 0, 0, 2, 0, 1, 0, - 67, 0, 164, 255, 0, 0, 0, 0, + 60, 18, 0, 0, 3, 0, 1, 0, + 72, 18, 0, 0, 2, 0, 1, 0, + 66, 0, 164, 255, 0, 0, 0, 0, 0, 0, 1, 0, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 65, 18, 0, 0, 74, 0, 0, 0, + 69, 18, 0, 0, 74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 64, 18, 0, 0, 3, 0, 1, 0, - 76, 18, 0, 0, 2, 0, 1, 0, - 34, 0, 163, 255, 0, 0, 0, 0, + 68, 18, 0, 0, 3, 0, 1, 0, + 80, 18, 0, 0, 2, 0, 1, 0, + 33, 0, 163, 255, 0, 0, 0, 0, 0, 0, 1, 0, 94, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 73, 18, 0, 0, 170, 0, 0, 0, + 77, 18, 0, 0, 170, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 76, 18, 0, 0, 3, 0, 1, 0, - 88, 18, 0, 0, 2, 0, 1, 0, + 80, 18, 0, 0, 3, 0, 1, 0, + 92, 18, 0, 0, 2, 0, 1, 0, 12, 0, 162, 255, 0, 0, 0, 0, 0, 0, 1, 0, 95, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 85, 18, 0, 0, 106, 0, 0, 0, + 89, 18, 0, 0, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 84, 18, 0, 0, 3, 0, 1, 0, - 96, 18, 0, 0, 2, 0, 1, 0, + 88, 18, 0, 0, 3, 0, 1, 0, + 100, 18, 0, 0, 2, 0, 1, 0, 13, 0, 161, 255, 0, 0, 0, 0, 0, 0, 1, 0, 96, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 93, 18, 0, 0, 98, 0, 0, 0, + 97, 18, 0, 0, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 92, 18, 0, 0, 3, 0, 1, 0, - 104, 18, 0, 0, 2, 0, 1, 0, + 96, 18, 0, 0, 3, 0, 1, 0, + 108, 18, 0, 0, 2, 0, 1, 0, 14, 0, 160, 255, 0, 0, 0, 0, 0, 0, 1, 0, 97, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 101, 18, 0, 0, 146, 0, 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::capnp::_::AlignedData<2162> b_d314cfd957229c11 = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 97, 116, 101, 114, 97, 108, 80, - 108, 97, 110, 0, 0, 0, 0, 0, + 108, 97, 110, 68, 69, 80, 82, 69, + 67, 65, 84, 69, 68, 0, 0, 0, 16, 0, 0, 0, 0, 0, 0, 0, 30, 181, 232, 42, 142, 49, 233, 225, 0, 0, 0, 0, 0, 0, 0, 0, @@ -29114,8 +29423,9 @@ static const ::capnp::_::AlignedData<2162> b_d314cfd957229c11 = { 16, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 99, 117, 115, 116, 111, 109, 82, 101, - 115, 101, 114, 118, 101, 100, 52, 0, + 110, 97, 118, 73, 110, 115, 116, 114, + 117, 99, 116, 105, 111, 110, 69, 120, + 116, 0, 0, 0, 0, 0, 0, 0, 16, 0, 0, 0, 0, 0, 0, 0, 17, 107, 89, 226, 110, 116, 174, 128, 0, 0, 0, 0, 0, 0, 0, 0, @@ -29364,11 +29674,11 @@ static const ::capnp::_::RawSchema* const d_d314cfd957229c11[] = { &s_fe346a9de48d9b50, &s_fe35ad896ffaeacf, }; -static const uint16_t m_d314cfd957229c11[] = {98, 101, 30, 20, 55, 42, 60, 63, 5, 23, 69, 22, 28, 35, 7, 110, 111, 112, 113, 114, 115, 116, 124, 125, 126, 6, 70, 87, 76, 71, 59, 92, 85, 26, 10, 91, 21, 48, 3, 41, 40, 99, 100, 1, 65, 64, 109, 32, 96, 19, 8, 46, 25, 72, 51, 44, 37, 107, 62, 36, 61, 94, 16, 14, 122, 119, 120, 117, 121, 118, 49, 18, 0, 24, 108, 95, 78, 105, 103, 9, 75, 82, 104, 83, 38, 84, 27, 68, 54, 58, 56, 47, 53, 45, 12, 81, 80, 33, 89, 90, 31, 13, 2, 86, 15, 17, 4, 11, 73, 97, 123, 52, 66, 43, 34, 39, 102, 57, 50, 106, 79, 93, 67, 74, 88, 77, 29}; +static const uint16_t m_d314cfd957229c11[] = {98, 101, 30, 20, 55, 42, 60, 63, 5, 23, 69, 22, 28, 35, 7, 110, 112, 113, 114, 115, 116, 124, 125, 126, 6, 70, 87, 76, 71, 59, 92, 85, 26, 10, 91, 21, 48, 3, 41, 40, 99, 100, 1, 65, 64, 109, 32, 96, 19, 8, 46, 25, 72, 51, 44, 37, 107, 62, 36, 61, 94, 16, 14, 122, 119, 120, 117, 121, 118, 49, 18, 0, 24, 108, 95, 78, 105, 103, 9, 75, 82, 111, 104, 83, 38, 84, 27, 68, 54, 58, 56, 47, 53, 45, 12, 81, 80, 33, 89, 90, 31, 13, 2, 86, 15, 17, 4, 11, 73, 97, 123, 52, 66, 43, 34, 39, 102, 57, 50, 106, 79, 93, 67, 74, 88, 77, 29}; static const uint16_t i_d314cfd957229c11[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 0, 67}; const ::capnp::_::RawSchema s_d314cfd957229c11 = { - 0xd314cfd957229c11, b_d314cfd957229c11.words, 2162, d_d314cfd957229c11, m_d314cfd957229c11, - 86, 127, i_d314cfd957229c11, nullptr, nullptr, { &s_d314cfd957229c11, nullptr, nullptr, 0, 0, nullptr } + 0xd314cfd957229c11, b_d314cfd957229c11.words, 2164, d_d314cfd957229c11, m_d314cfd957229c11, + 86, 127, i_d314cfd957229c11, nullptr, nullptr, { &s_d314cfd957229c11, nullptr, nullptr, 0, 0, nullptr }, true }; #endif // !CAPNP_LITE } // namespace schemas @@ -29379,875 +29689,1323 @@ const ::capnp::_::RawSchema s_d314cfd957229c11 = { namespace cereal { // InitData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t InitData::_capnpPrivate::dataWordSize; constexpr uint16_t InitData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind InitData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* InitData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // InitData::PandaInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t InitData::PandaInfo::_capnpPrivate::dataWordSize; constexpr uint16_t InitData::PandaInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind InitData::PandaInfo::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* InitData::PandaInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // InitData::AndroidBuildInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t InitData::AndroidBuildInfo::_capnpPrivate::dataWordSize; constexpr uint16_t InitData::AndroidBuildInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind InitData::AndroidBuildInfo::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* InitData::AndroidBuildInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // InitData::AndroidSensor +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t InitData::AndroidSensor::_capnpPrivate::dataWordSize; constexpr uint16_t InitData::AndroidSensor::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind InitData::AndroidSensor::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* InitData::AndroidSensor::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // InitData::ChffrAndroidExtra +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t InitData::ChffrAndroidExtra::_capnpPrivate::dataWordSize; constexpr uint16_t InitData::ChffrAndroidExtra::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind InitData::ChffrAndroidExtra::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* InitData::ChffrAndroidExtra::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // InitData::IosBuildInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t InitData::IosBuildInfo::_capnpPrivate::dataWordSize; constexpr uint16_t InitData::IosBuildInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind InitData::IosBuildInfo::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* InitData::IosBuildInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // FrameData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t FrameData::_capnpPrivate::dataWordSize; constexpr uint16_t FrameData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind FrameData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* FrameData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // FrameData::AndroidCaptureResult +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t FrameData::AndroidCaptureResult::_capnpPrivate::dataWordSize; constexpr uint16_t FrameData::AndroidCaptureResult::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind FrameData::AndroidCaptureResult::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* FrameData::AndroidCaptureResult::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // Thumbnail +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t Thumbnail::_capnpPrivate::dataWordSize; constexpr uint16_t Thumbnail::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind Thumbnail::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* Thumbnail::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // GPSNMEAData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t GPSNMEAData::_capnpPrivate::dataWordSize; constexpr uint16_t GPSNMEAData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind GPSNMEAData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* GPSNMEAData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // SensorEventData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t SensorEventData::_capnpPrivate::dataWordSize; constexpr uint16_t SensorEventData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind SensorEventData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* SensorEventData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // SensorEventData::SensorVec +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t SensorEventData::SensorVec::_capnpPrivate::dataWordSize; constexpr uint16_t SensorEventData::SensorVec::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind SensorEventData::SensorVec::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* SensorEventData::SensorVec::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // GpsLocationData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t GpsLocationData::_capnpPrivate::dataWordSize; constexpr uint16_t GpsLocationData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind GpsLocationData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* GpsLocationData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CanData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CanData::_capnpPrivate::dataWordSize; constexpr uint16_t CanData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CanData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CanData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // DeviceState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t DeviceState::_capnpPrivate::dataWordSize; constexpr uint16_t DeviceState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind DeviceState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* DeviceState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // DeviceState::ThermalZone +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t DeviceState::ThermalZone::_capnpPrivate::dataWordSize; constexpr uint16_t DeviceState::ThermalZone::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind DeviceState::ThermalZone::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* DeviceState::ThermalZone::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // DeviceState::NetworkInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t DeviceState::NetworkInfo::_capnpPrivate::dataWordSize; constexpr uint16_t DeviceState::NetworkInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind DeviceState::NetworkInfo::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* DeviceState::NetworkInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // DeviceState::NetworkStats +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t DeviceState::NetworkStats::_capnpPrivate::dataWordSize; constexpr uint16_t DeviceState::NetworkStats::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind DeviceState::NetworkStats::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* DeviceState::NetworkStats::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // PandaState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t PandaState::_capnpPrivate::dataWordSize; constexpr uint16_t PandaState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind PandaState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* PandaState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // PandaState::PandaCanState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t PandaState::PandaCanState::_capnpPrivate::dataWordSize; constexpr uint16_t PandaState::PandaCanState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind PandaState::PandaCanState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* PandaState::PandaCanState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // PeripheralState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t PeripheralState::_capnpPrivate::dataWordSize; constexpr uint16_t PeripheralState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind PeripheralState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* PeripheralState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // RadarState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t RadarState::_capnpPrivate::dataWordSize; constexpr uint16_t RadarState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind RadarState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* RadarState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // RadarState::LeadData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t RadarState::LeadData::_capnpPrivate::dataWordSize; constexpr uint16_t RadarState::LeadData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind RadarState::LeadData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* RadarState::LeadData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LiveCalibrationData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LiveCalibrationData::_capnpPrivate::dataWordSize; constexpr uint16_t LiveCalibrationData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LiveCalibrationData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LiveCalibrationData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LiveTracks +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LiveTracks::_capnpPrivate::dataWordSize; constexpr uint16_t LiveTracks::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LiveTracks::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LiveTracks::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ControlsState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ControlsState::_capnpPrivate::dataWordSize; constexpr uint16_t ControlsState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ControlsState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ControlsState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ControlsState::LateralINDIState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ControlsState::LateralINDIState::_capnpPrivate::dataWordSize; constexpr uint16_t ControlsState::LateralINDIState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ControlsState::LateralINDIState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ControlsState::LateralINDIState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ControlsState::LateralPIDState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ControlsState::LateralPIDState::_capnpPrivate::dataWordSize; constexpr uint16_t ControlsState::LateralPIDState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ControlsState::LateralPIDState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ControlsState::LateralPIDState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ControlsState::LateralTorqueState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ControlsState::LateralTorqueState::_capnpPrivate::dataWordSize; constexpr uint16_t ControlsState::LateralTorqueState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ControlsState::LateralTorqueState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ControlsState::LateralTorqueState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ControlsState::LateralLQRState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ControlsState::LateralLQRState::_capnpPrivate::dataWordSize; constexpr uint16_t ControlsState::LateralLQRState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ControlsState::LateralLQRState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ControlsState::LateralLQRState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ControlsState::LateralAngleState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ControlsState::LateralAngleState::_capnpPrivate::dataWordSize; constexpr uint16_t ControlsState::LateralAngleState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ControlsState::LateralAngleState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ControlsState::LateralAngleState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ControlsState::LateralCurvatureState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ControlsState::LateralCurvatureState::_capnpPrivate::dataWordSize; constexpr uint16_t ControlsState::LateralCurvatureState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ControlsState::LateralCurvatureState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ControlsState::LateralCurvatureState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ControlsState::LateralDebugState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ControlsState::LateralDebugState::_capnpPrivate::dataWordSize; constexpr uint16_t ControlsState::LateralDebugState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ControlsState::LateralDebugState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ControlsState::LateralDebugState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ControlsState::LateralControlState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ControlsState::LateralControlState::_capnpPrivate::dataWordSize; constexpr uint16_t ControlsState::LateralControlState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ControlsState::LateralControlState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ControlsState::LateralControlState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // XYZTData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t XYZTData::_capnpPrivate::dataWordSize; constexpr uint16_t XYZTData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind XYZTData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* XYZTData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ModelDataV2 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ModelDataV2::_capnpPrivate::dataWordSize; constexpr uint16_t ModelDataV2::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ModelDataV2::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ModelDataV2::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ModelDataV2::LeadDataV2 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ModelDataV2::LeadDataV2::_capnpPrivate::dataWordSize; constexpr uint16_t ModelDataV2::LeadDataV2::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ModelDataV2::LeadDataV2::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ModelDataV2::LeadDataV2::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ModelDataV2::LeadDataV3 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ModelDataV2::LeadDataV3::_capnpPrivate::dataWordSize; constexpr uint16_t ModelDataV2::LeadDataV3::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ModelDataV2::LeadDataV3::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ModelDataV2::LeadDataV3::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ModelDataV2::MetaData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ModelDataV2::MetaData::_capnpPrivate::dataWordSize; constexpr uint16_t ModelDataV2::MetaData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ModelDataV2::MetaData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ModelDataV2::MetaData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ModelDataV2::DisengagePredictions +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ModelDataV2::DisengagePredictions::_capnpPrivate::dataWordSize; constexpr uint16_t ModelDataV2::DisengagePredictions::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ModelDataV2::DisengagePredictions::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ModelDataV2::DisengagePredictions::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ModelDataV2::Pose +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ModelDataV2::Pose::_capnpPrivate::dataWordSize; constexpr uint16_t ModelDataV2::Pose::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ModelDataV2::Pose::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ModelDataV2::Pose::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ModelDataV2::LateralPlannerSolution +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ModelDataV2::LateralPlannerSolution::_capnpPrivate::dataWordSize; constexpr uint16_t ModelDataV2::LateralPlannerSolution::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ModelDataV2::LateralPlannerSolution::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ModelDataV2::LateralPlannerSolution::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2::Action +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::Action::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::Action::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::Action::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::Action::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // EncodeIndex +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t EncodeIndex::_capnpPrivate::dataWordSize; constexpr uint16_t EncodeIndex::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind EncodeIndex::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* EncodeIndex::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // AndroidLogEntry +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t AndroidLogEntry::_capnpPrivate::dataWordSize; constexpr uint16_t AndroidLogEntry::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind AndroidLogEntry::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* AndroidLogEntry::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LongitudinalPlan +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LongitudinalPlan::_capnpPrivate::dataWordSize; constexpr uint16_t LongitudinalPlan::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LongitudinalPlan::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LongitudinalPlan::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LongitudinalPlan::GpsTrajectory +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LongitudinalPlan::GpsTrajectory::_capnpPrivate::dataWordSize; constexpr uint16_t LongitudinalPlan::GpsTrajectory::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LongitudinalPlan::GpsTrajectory::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LongitudinalPlan::GpsTrajectory::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UiPlan +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UiPlan::_capnpPrivate::dataWordSize; constexpr uint16_t UiPlan::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UiPlan::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UiPlan::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LateralPlan +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LateralPlan::_capnpPrivate::dataWordSize; constexpr uint16_t LateralPlan::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LateralPlan::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LateralPlan::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LateralPlan::SolverState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LateralPlan::SolverState::_capnpPrivate::dataWordSize; constexpr uint16_t LateralPlan::SolverState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LateralPlan::SolverState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LateralPlan::SolverState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LiveLocationKalman +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LiveLocationKalman::_capnpPrivate::dataWordSize; constexpr uint16_t LiveLocationKalman::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LiveLocationKalman::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LiveLocationKalman::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LiveLocationKalman::Measurement +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LiveLocationKalman::Measurement::_capnpPrivate::dataWordSize; constexpr uint16_t LiveLocationKalman::Measurement::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LiveLocationKalman::Measurement::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LiveLocationKalman::Measurement::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ProcLog +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ProcLog::_capnpPrivate::dataWordSize; constexpr uint16_t ProcLog::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ProcLog::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ProcLog::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ProcLog::Process +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ProcLog::Process::_capnpPrivate::dataWordSize; constexpr uint16_t ProcLog::Process::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ProcLog::Process::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ProcLog::Process::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ProcLog::CPUTimes +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ProcLog::CPUTimes::_capnpPrivate::dataWordSize; constexpr uint16_t ProcLog::CPUTimes::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ProcLog::CPUTimes::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ProcLog::CPUTimes::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ProcLog::Mem +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ProcLog::Mem::_capnpPrivate::dataWordSize; constexpr uint16_t ProcLog::Mem::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ProcLog::Mem::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ProcLog::Mem::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // GnssMeasurements +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t GnssMeasurements::_capnpPrivate::dataWordSize; constexpr uint16_t GnssMeasurements::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind GnssMeasurements::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* GnssMeasurements::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // GnssMeasurements::EphemerisStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t GnssMeasurements::EphemerisStatus::_capnpPrivate::dataWordSize; constexpr uint16_t GnssMeasurements::EphemerisStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind GnssMeasurements::EphemerisStatus::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* GnssMeasurements::EphemerisStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // GnssMeasurements::CorrectedMeasurement +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t GnssMeasurements::CorrectedMeasurement::_capnpPrivate::dataWordSize; constexpr uint16_t GnssMeasurements::CorrectedMeasurement::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind GnssMeasurements::CorrectedMeasurement::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* GnssMeasurements::CorrectedMeasurement::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // GnssMeasurements::EphemerisSourceDEPRECATED +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t GnssMeasurements::EphemerisSourceDEPRECATED::_capnpPrivate::dataWordSize; constexpr uint16_t GnssMeasurements::EphemerisSourceDEPRECATED::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind GnssMeasurements::EphemerisSourceDEPRECATED::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* GnssMeasurements::EphemerisSourceDEPRECATED::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UbloxGnss +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UbloxGnss::_capnpPrivate::dataWordSize; constexpr uint16_t UbloxGnss::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UbloxGnss::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UbloxGnss::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UbloxGnss::SatReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UbloxGnss::SatReport::_capnpPrivate::dataWordSize; constexpr uint16_t UbloxGnss::SatReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UbloxGnss::SatReport::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UbloxGnss::SatReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UbloxGnss::SatReport::SatInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UbloxGnss::SatReport::SatInfo::_capnpPrivate::dataWordSize; constexpr uint16_t UbloxGnss::SatReport::SatInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UbloxGnss::SatReport::SatInfo::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UbloxGnss::SatReport::SatInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UbloxGnss::MeasurementReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UbloxGnss::MeasurementReport::_capnpPrivate::dataWordSize; constexpr uint16_t UbloxGnss::MeasurementReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UbloxGnss::MeasurementReport::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UbloxGnss::MeasurementReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UbloxGnss::MeasurementReport::ReceiverStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UbloxGnss::MeasurementReport::ReceiverStatus::_capnpPrivate::dataWordSize; constexpr uint16_t UbloxGnss::MeasurementReport::ReceiverStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UbloxGnss::MeasurementReport::ReceiverStatus::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UbloxGnss::MeasurementReport::ReceiverStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UbloxGnss::MeasurementReport::Measurement +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UbloxGnss::MeasurementReport::Measurement::_capnpPrivate::dataWordSize; constexpr uint16_t UbloxGnss::MeasurementReport::Measurement::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UbloxGnss::MeasurementReport::Measurement::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UbloxGnss::MeasurementReport::Measurement::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UbloxGnss::MeasurementReport::Measurement::TrackingStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UbloxGnss::MeasurementReport::Measurement::TrackingStatus::_capnpPrivate::dataWordSize; constexpr uint16_t UbloxGnss::MeasurementReport::Measurement::TrackingStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UbloxGnss::MeasurementReport::Measurement::TrackingStatus::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UbloxGnss::MeasurementReport::Measurement::TrackingStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UbloxGnss::Ephemeris +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UbloxGnss::Ephemeris::_capnpPrivate::dataWordSize; constexpr uint16_t UbloxGnss::Ephemeris::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UbloxGnss::Ephemeris::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UbloxGnss::Ephemeris::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UbloxGnss::IonoData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UbloxGnss::IonoData::_capnpPrivate::dataWordSize; constexpr uint16_t UbloxGnss::IonoData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UbloxGnss::IonoData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UbloxGnss::IonoData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UbloxGnss::HwStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UbloxGnss::HwStatus::_capnpPrivate::dataWordSize; constexpr uint16_t UbloxGnss::HwStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UbloxGnss::HwStatus::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UbloxGnss::HwStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UbloxGnss::HwStatus2 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UbloxGnss::HwStatus2::_capnpPrivate::dataWordSize; constexpr uint16_t UbloxGnss::HwStatus2::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UbloxGnss::HwStatus2::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UbloxGnss::HwStatus2::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UbloxGnss::GlonassEphemeris +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UbloxGnss::GlonassEphemeris::_capnpPrivate::dataWordSize; constexpr uint16_t UbloxGnss::GlonassEphemeris::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UbloxGnss::GlonassEphemeris::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UbloxGnss::GlonassEphemeris::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // QcomGnss +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t QcomGnss::_capnpPrivate::dataWordSize; constexpr uint16_t QcomGnss::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind QcomGnss::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* QcomGnss::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // QcomGnss::MeasurementStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t QcomGnss::MeasurementStatus::_capnpPrivate::dataWordSize; constexpr uint16_t QcomGnss::MeasurementStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind QcomGnss::MeasurementStatus::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* QcomGnss::MeasurementStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // QcomGnss::MeasurementReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t QcomGnss::MeasurementReport::_capnpPrivate::dataWordSize; constexpr uint16_t QcomGnss::MeasurementReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind QcomGnss::MeasurementReport::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* QcomGnss::MeasurementReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // QcomGnss::MeasurementReport::SV +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t QcomGnss::MeasurementReport::SV::_capnpPrivate::dataWordSize; constexpr uint16_t QcomGnss::MeasurementReport::SV::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind QcomGnss::MeasurementReport::SV::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* QcomGnss::MeasurementReport::SV::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // QcomGnss::ClockReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t QcomGnss::ClockReport::_capnpPrivate::dataWordSize; constexpr uint16_t QcomGnss::ClockReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind QcomGnss::ClockReport::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* QcomGnss::ClockReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // QcomGnss::DrMeasurementReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t QcomGnss::DrMeasurementReport::_capnpPrivate::dataWordSize; constexpr uint16_t QcomGnss::DrMeasurementReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind QcomGnss::DrMeasurementReport::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* QcomGnss::DrMeasurementReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // QcomGnss::DrMeasurementReport::SV +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t QcomGnss::DrMeasurementReport::SV::_capnpPrivate::dataWordSize; constexpr uint16_t QcomGnss::DrMeasurementReport::SV::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind QcomGnss::DrMeasurementReport::SV::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* QcomGnss::DrMeasurementReport::SV::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // QcomGnss::DrSvPolyReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t QcomGnss::DrSvPolyReport::_capnpPrivate::dataWordSize; constexpr uint16_t QcomGnss::DrSvPolyReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind QcomGnss::DrSvPolyReport::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* QcomGnss::DrSvPolyReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // Clocks +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t Clocks::_capnpPrivate::dataWordSize; constexpr uint16_t Clocks::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind Clocks::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* Clocks::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LiveMpcData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LiveMpcData::_capnpPrivate::dataWordSize; constexpr uint16_t LiveMpcData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LiveMpcData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LiveMpcData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LiveLongitudinalMpcData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LiveLongitudinalMpcData::_capnpPrivate::dataWordSize; constexpr uint16_t LiveLongitudinalMpcData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LiveLongitudinalMpcData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LiveLongitudinalMpcData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // Joystick +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t Joystick::_capnpPrivate::dataWordSize; constexpr uint16_t Joystick::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind Joystick::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* Joystick::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // DriverStateV2 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t DriverStateV2::_capnpPrivate::dataWordSize; constexpr uint16_t DriverStateV2::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind DriverStateV2::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* DriverStateV2::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // DriverStateV2::DriverData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t DriverStateV2::DriverData::_capnpPrivate::dataWordSize; constexpr uint16_t DriverStateV2::DriverData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind DriverStateV2::DriverData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* DriverStateV2::DriverData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // DriverStateDEPRECATED +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t DriverStateDEPRECATED::_capnpPrivate::dataWordSize; constexpr uint16_t DriverStateDEPRECATED::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind DriverStateDEPRECATED::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* DriverStateDEPRECATED::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // DriverMonitoringState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t DriverMonitoringState::_capnpPrivate::dataWordSize; constexpr uint16_t DriverMonitoringState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind DriverMonitoringState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* DriverMonitoringState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // Boot +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t Boot::_capnpPrivate::dataWordSize; constexpr uint16_t Boot::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind Boot::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* Boot::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LiveParametersData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LiveParametersData::_capnpPrivate::dataWordSize; constexpr uint16_t LiveParametersData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LiveParametersData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LiveParametersData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LiveTorqueParametersData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LiveTorqueParametersData::_capnpPrivate::dataWordSize; constexpr uint16_t LiveTorqueParametersData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LiveTorqueParametersData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LiveTorqueParametersData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // LiveMapDataDEPRECATED +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t LiveMapDataDEPRECATED::_capnpPrivate::dataWordSize; constexpr uint16_t LiveMapDataDEPRECATED::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind LiveMapDataDEPRECATED::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* LiveMapDataDEPRECATED::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // CameraOdometry +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t CameraOdometry::_capnpPrivate::dataWordSize; constexpr uint16_t CameraOdometry::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind CameraOdometry::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* CameraOdometry::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // Sentinel +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t Sentinel::_capnpPrivate::dataWordSize; constexpr uint16_t Sentinel::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind Sentinel::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* Sentinel::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UIDebug +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UIDebug::_capnpPrivate::dataWordSize; constexpr uint16_t UIDebug::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UIDebug::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UIDebug::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ManagerState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ManagerState::_capnpPrivate::dataWordSize; constexpr uint16_t ManagerState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ManagerState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ManagerState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // ManagerState::ProcessState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t ManagerState::ProcessState::_capnpPrivate::dataWordSize; constexpr uint16_t ManagerState::ProcessState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind ManagerState::ProcessState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* ManagerState::ProcessState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UploaderState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UploaderState::_capnpPrivate::dataWordSize; constexpr uint16_t UploaderState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UploaderState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UploaderState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // NavInstruction +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t NavInstruction::_capnpPrivate::dataWordSize; constexpr uint16_t NavInstruction::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind NavInstruction::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* NavInstruction::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // NavInstruction::Lane +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t NavInstruction::Lane::_capnpPrivate::dataWordSize; constexpr uint16_t NavInstruction::Lane::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind NavInstruction::Lane::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* NavInstruction::Lane::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // NavInstruction::Maneuver +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t NavInstruction::Maneuver::_capnpPrivate::dataWordSize; constexpr uint16_t NavInstruction::Maneuver::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind NavInstruction::Maneuver::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* NavInstruction::Maneuver::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // NavRoute +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t NavRoute::_capnpPrivate::dataWordSize; constexpr uint16_t NavRoute::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind NavRoute::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* NavRoute::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // NavRoute::Coordinate +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t NavRoute::Coordinate::_capnpPrivate::dataWordSize; constexpr uint16_t NavRoute::Coordinate::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind NavRoute::Coordinate::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* NavRoute::Coordinate::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // MapRenderState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t MapRenderState::_capnpPrivate::dataWordSize; constexpr uint16_t MapRenderState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind MapRenderState::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* MapRenderState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // NavModelData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t NavModelData::_capnpPrivate::dataWordSize; constexpr uint16_t NavModelData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind NavModelData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* NavModelData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // NavModelData::XYData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t NavModelData::XYData::_capnpPrivate::dataWordSize; constexpr uint16_t NavModelData::XYData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind NavModelData::XYData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* NavModelData::XYData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // EncodeData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t EncodeData::_capnpPrivate::dataWordSize; constexpr uint16_t EncodeData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind EncodeData::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* EncodeData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // UserFlag +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t UserFlag::_capnpPrivate::dataWordSize; constexpr uint16_t UserFlag::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind UserFlag::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* UserFlag::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // Microphone +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t Microphone::_capnpPrivate::dataWordSize; constexpr uint16_t Microphone::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind Microphone::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* Microphone::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE // Event +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr uint16_t Event::_capnpPrivate::dataWordSize; constexpr uint16_t Event::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL constexpr ::capnp::Kind Event::_capnpPrivate::kind; constexpr ::capnp::_::RawSchema const* Event::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #endif // !CAPNP_LITE diff --git a/cereal/gen/cpp/log.capnp.h b/cereal/gen/cpp/log.capnp.h index 1b1616fd2..ea3164bf3 100644 --- a/cereal/gen/cpp/log.capnp.h +++ b/cereal/gen/cpp/log.capnp.h @@ -6,7 +6,9 @@ #include #include -#if CAPNP_VERSION != 8000 +#ifndef CAPNP_VERSION +#error "CAPNP_VERSION is not defined, is capnp/generated-header-support.h missing?" +#elif CAPNP_VERSION != 1000002 #error "Version mismatch between generated code and library headers. You must use the same version of the Cap'n Proto compiler and library." #endif @@ -14,6 +16,8 @@ #include "custom.capnp.h" #include "legacy.capnp.h" +CAPNP_BEGIN_HEADER + namespace capnp { namespace schemas { @@ -96,6 +100,32 @@ enum class SensorSource_d3ff79f25c734863: uint16_t { QCOMDIAG, }; CAPNP_DECLARE_ENUM(SensorSource, d3ff79f25c734863); +CAPNP_DECLARE_SCHEMA(ae674a34ba421466); +enum class Desire_ae674a34ba421466: uint16_t { + NONE, + TURN_LEFT, + TURN_RIGHT, + LANE_CHANGE_LEFT, + LANE_CHANGE_RIGHT, + KEEP_LEFT, + KEEP_RIGHT, +}; +CAPNP_DECLARE_ENUM(Desire, ae674a34ba421466); +CAPNP_DECLARE_SCHEMA(cd37924bf7b2d3d2); +enum class LaneChangeState_cd37924bf7b2d3d2: uint16_t { + OFF, + PRE_LANE_CHANGE, + LANE_CHANGE_STARTING, + LANE_CHANGE_FINISHING, +}; +CAPNP_DECLARE_ENUM(LaneChangeState, cd37924bf7b2d3d2); +CAPNP_DECLARE_SCHEMA(9d0bc0c1fe671176); +enum class LaneChangeDirection_9d0bc0c1fe671176: uint16_t { + NONE, + LEFT, + RIGHT, +}; +CAPNP_DECLARE_ENUM(LaneChangeDirection, 9d0bc0c1fe671176); CAPNP_DECLARE_SCHEMA(8785009a964c7c59); CAPNP_DECLARE_SCHEMA(a4d8b5af2aa492eb); CAPNP_DECLARE_SCHEMA(d0790029853df66f); @@ -180,6 +210,7 @@ enum class PandaType_8a58adf93e5b3751: uint16_t { RED_PANDA, RED_PANDA_V2, TRES, + CUATRO, }; CAPNP_DECLARE_ENUM(PandaType, 8a58adf93e5b3751); CAPNP_DECLARE_SCHEMA(f69a3ed1e8c081bf); @@ -271,6 +302,7 @@ CAPNP_DECLARE_ENUM(ConfidenceClass, aa3247d9d2a61cd4); CAPNP_DECLARE_SCHEMA(860aa5ddbcdc8d25); CAPNP_DECLARE_SCHEMA(fb3ec0702e67884f); CAPNP_DECLARE_SCHEMA(84caeca5a6b4acfe); +CAPNP_DECLARE_SCHEMA(94d0bcb35a764584); CAPNP_DECLARE_SCHEMA(89d394e3541735fc); CAPNP_DECLARE_SCHEMA(c0ad259ec157ccd3); enum class Type_c0ad259ec157ccd3: uint16_t { @@ -652,7 +684,7 @@ struct FrameData { struct AndroidCaptureResult; struct _capnpPrivate { - CAPNP_DECLARE_STRUCT_HEADER(ea0245f695ae0a33, 11, 7) + CAPNP_DECLARE_STRUCT_HEADER(ea0245f695ae0a33, 12, 7) #if !CAPNP_LITE static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } #endif // !CAPNP_LITE @@ -766,6 +798,12 @@ struct GpsLocationData { }; }; +typedef ::capnp::schemas::Desire_ae674a34ba421466 Desire; + +typedef ::capnp::schemas::LaneChangeState_cd37924bf7b2d3d2 LaneChangeState; + +typedef ::capnp::schemas::LaneChangeDirection_9d0bc0c1fe671176 LaneChangeDirection; + struct CanData { CanData() = delete; @@ -1118,7 +1156,7 @@ struct ControlsState::LateralControlState { ANGLE_STATE, DEBUG_STATE, TORQUE_STATE, - CURVATURE_STATE, + CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D, }; struct _capnpPrivate { @@ -1158,9 +1196,10 @@ struct ModelDataV2 { struct DisengagePredictions; struct Pose; struct LateralPlannerSolution; + struct Action; struct _capnpPrivate { - CAPNP_DECLARE_STRUCT_HEADER(c4713f6b0d36abe9, 6, 16) + CAPNP_DECLARE_STRUCT_HEADER(c4713f6b0d36abe9, 6, 17) #if !CAPNP_LITE static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } #endif // !CAPNP_LITE @@ -1257,6 +1296,21 @@ struct ModelDataV2::LateralPlannerSolution { }; }; +struct ModelDataV2::Action { + Action() = delete; + + class Reader; + class Builder; + class Pipeline; + + struct _capnpPrivate { + CAPNP_DECLARE_STRUCT_HEADER(94d0bcb35a764584, 1, 0) + #if !CAPNP_LITE + static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } + #endif // !CAPNP_LITE + }; +}; + struct EncodeIndex { EncodeIndex() = delete; @@ -2293,7 +2347,7 @@ struct EncodeData { class Pipeline; struct _capnpPrivate { - CAPNP_DECLARE_STRUCT_HEADER(cf9aeab355dd85f0, 1, 3) + CAPNP_DECLARE_STRUCT_HEADER(cf9aeab355dd85f0, 2, 3) #if !CAPNP_LITE static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } #endif // !CAPNP_LITE @@ -2400,7 +2454,7 @@ struct Event { LIVE_PARAMETERS, LIVE_MAP_DATA_D_E_P_R_E_C_A_T_E_D, CAMERA_ODOMETRY, - LATERAL_PLAN, + LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D, KALMAN_ODOMETRY_D_E_P_R_E_C_A_T_E_D, THUMBNAIL, ONROAD_EVENTS, @@ -2446,7 +2500,7 @@ struct Event { LONGITUDINAL_PLAN_EXT, LATERAL_PLAN_EXT, CONTROLS_STATE_EXT, - CUSTOM_RESERVED4, + NAV_INSTRUCTION_EXT, CUSTOM_RESERVED5, CUSTOM_RESERVED6, CUSTOM_RESERVED7, @@ -3767,6 +3821,8 @@ public: inline float getExposureValPercent() const; + inline ::uint32_t getRequestId() const; + private: ::capnp::_::StructReader _reader; template @@ -3912,6 +3968,9 @@ public: inline float getExposureValPercent(); inline void setExposureValPercent(float value); + inline ::uint32_t getRequestId(); + inline void setRequestId( ::uint32_t value); + private: ::capnp::_::StructBuilder _builder; template @@ -6749,7 +6808,7 @@ public: inline float getDesiredCurvature() const; - inline float getDesiredCurvatureRate() const; + inline float getDesiredCurvatureRateDEPRECATED() const; inline float getVCruiseCluster() const; @@ -6975,8 +7034,8 @@ public: inline float getDesiredCurvature(); inline void setDesiredCurvature(float value); - inline float getDesiredCurvatureRate(); - inline void setDesiredCurvatureRate(float value); + inline float getDesiredCurvatureRateDEPRECATED(); + inline void setDesiredCurvatureRateDEPRECATED(float value); inline float getVCruiseCluster(); inline void setVCruiseCluster(float value); @@ -7845,9 +7904,9 @@ public: inline bool hasTorqueState() const; inline ::cereal::ControlsState::LateralTorqueState::Reader getTorqueState() const; - inline bool isCurvatureState() const; - inline bool hasCurvatureState() const; - inline ::cereal::ControlsState::LateralCurvatureState::Reader getCurvatureState() const; + inline bool isCurvatureStateDEPRECATED() const; + inline bool hasCurvatureStateDEPRECATED() const; + inline ::cereal::ControlsState::LateralCurvatureState::Reader getCurvatureStateDEPRECATED() const; private: ::capnp::_::StructReader _reader; @@ -7926,13 +7985,13 @@ public: inline void adoptTorqueState(::capnp::Orphan< ::cereal::ControlsState::LateralTorqueState>&& value); inline ::capnp::Orphan< ::cereal::ControlsState::LateralTorqueState> disownTorqueState(); - inline bool isCurvatureState(); - inline bool hasCurvatureState(); - inline ::cereal::ControlsState::LateralCurvatureState::Builder getCurvatureState(); - inline void setCurvatureState( ::cereal::ControlsState::LateralCurvatureState::Reader value); - inline ::cereal::ControlsState::LateralCurvatureState::Builder initCurvatureState(); - inline void adoptCurvatureState(::capnp::Orphan< ::cereal::ControlsState::LateralCurvatureState>&& value); - inline ::capnp::Orphan< ::cereal::ControlsState::LateralCurvatureState> disownCurvatureState(); + inline bool isCurvatureStateDEPRECATED(); + inline bool hasCurvatureStateDEPRECATED(); + inline ::cereal::ControlsState::LateralCurvatureState::Builder getCurvatureStateDEPRECATED(); + inline void setCurvatureStateDEPRECATED( ::cereal::ControlsState::LateralCurvatureState::Reader value); + inline ::cereal::ControlsState::LateralCurvatureState::Builder initCurvatureStateDEPRECATED(); + inline void adoptCurvatureStateDEPRECATED(::capnp::Orphan< ::cereal::ControlsState::LateralCurvatureState>&& value); + inline ::capnp::Orphan< ::cereal::ControlsState::LateralCurvatureState> disownCurvatureStateDEPRECATED(); private: ::capnp::_::StructBuilder _builder; @@ -8190,8 +8249,11 @@ public: inline ::uint64_t getLocationMonoTime() const; - inline bool hasLateralPlannerSolution() const; - inline ::cereal::ModelDataV2::LateralPlannerSolution::Reader getLateralPlannerSolution() const; + inline bool hasLateralPlannerSolutionDEPRECATED() const; + inline ::cereal::ModelDataV2::LateralPlannerSolution::Reader getLateralPlannerSolutionDEPRECATED() const; + + inline bool hasAction() const; + inline ::cereal::ModelDataV2::Action::Reader getAction() const; private: ::capnp::_::StructReader _reader; @@ -8359,12 +8421,19 @@ public: inline ::uint64_t getLocationMonoTime(); inline void setLocationMonoTime( ::uint64_t value); - inline bool hasLateralPlannerSolution(); - inline ::cereal::ModelDataV2::LateralPlannerSolution::Builder getLateralPlannerSolution(); - inline void setLateralPlannerSolution( ::cereal::ModelDataV2::LateralPlannerSolution::Reader value); - inline ::cereal::ModelDataV2::LateralPlannerSolution::Builder initLateralPlannerSolution(); - inline void adoptLateralPlannerSolution(::capnp::Orphan< ::cereal::ModelDataV2::LateralPlannerSolution>&& value); - inline ::capnp::Orphan< ::cereal::ModelDataV2::LateralPlannerSolution> disownLateralPlannerSolution(); + inline bool hasLateralPlannerSolutionDEPRECATED(); + inline ::cereal::ModelDataV2::LateralPlannerSolution::Builder getLateralPlannerSolutionDEPRECATED(); + inline void setLateralPlannerSolutionDEPRECATED( ::cereal::ModelDataV2::LateralPlannerSolution::Reader value); + inline ::cereal::ModelDataV2::LateralPlannerSolution::Builder initLateralPlannerSolutionDEPRECATED(); + inline void adoptLateralPlannerSolutionDEPRECATED(::capnp::Orphan< ::cereal::ModelDataV2::LateralPlannerSolution>&& value); + inline ::capnp::Orphan< ::cereal::ModelDataV2::LateralPlannerSolution> disownLateralPlannerSolutionDEPRECATED(); + + inline bool hasAction(); + inline ::cereal::ModelDataV2::Action::Builder getAction(); + inline void setAction( ::cereal::ModelDataV2::Action::Reader value); + inline ::cereal::ModelDataV2::Action::Builder initAction(); + inline void adoptAction(::capnp::Orphan< ::cereal::ModelDataV2::Action>&& value); + inline ::capnp::Orphan< ::cereal::ModelDataV2::Action> disownAction(); private: ::capnp::_::StructBuilder _builder; @@ -8391,7 +8460,8 @@ public: inline ::cereal::ModelDataV2::MetaData::Pipeline getMeta(); inline ::cereal::XYZTData::Pipeline getAcceleration(); inline ::cereal::ModelDataV2::Pose::Pipeline getTemporalPose(); - inline ::cereal::ModelDataV2::LateralPlannerSolution::Pipeline getLateralPlannerSolution(); + inline ::cereal::ModelDataV2::LateralPlannerSolution::Pipeline getLateralPlannerSolutionDEPRECATED(); + inline ::cereal::ModelDataV2::Action::Pipeline getAction(); private: ::capnp::AnyPointer::Pipeline _typeless; friend class ::capnp::PipelineHook; @@ -8719,6 +8789,10 @@ public: inline bool getHardBrakePredicted() const; + inline ::cereal::LaneChangeState getLaneChangeState() const; + + inline ::cereal::LaneChangeDirection getLaneChangeDirection() const; + private: ::capnp::_::StructReader _reader; template @@ -8785,6 +8859,12 @@ public: inline bool getHardBrakePredicted(); inline void setHardBrakePredicted(bool value); + inline ::cereal::LaneChangeState getLaneChangeState(); + inline void setLaneChangeState( ::cereal::LaneChangeState value); + + inline ::cereal::LaneChangeDirection getLaneChangeDirection(); + inline void setLaneChangeDirection( ::cereal::LaneChangeDirection value); + private: ::capnp::_::StructBuilder _builder; template @@ -9234,6 +9314,82 @@ private: }; #endif // !CAPNP_LITE +class ModelDataV2::Action::Reader { +public: + typedef Action Reads; + + Reader() = default; + inline explicit Reader(::capnp::_::StructReader base): _reader(base) {} + + inline ::capnp::MessageSize totalSize() const { + return _reader.totalSize().asPublic(); + } + +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { + return ::capnp::_::structString(_reader, *_capnpPrivate::brand()); + } +#endif // !CAPNP_LITE + + inline float getDesiredCurvature() const; + +private: + ::capnp::_::StructReader _reader; + template + friend struct ::capnp::ToDynamic_; + template + friend struct ::capnp::_::PointerHelpers; + template + friend struct ::capnp::List; + friend class ::capnp::MessageBuilder; + friend class ::capnp::Orphanage; +}; + +class ModelDataV2::Action::Builder { +public: + typedef Action Builds; + + Builder() = delete; // Deleted to discourage incorrect usage. + // You can explicitly initialize to nullptr instead. + inline Builder(decltype(nullptr)) {} + inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {} + inline operator Reader() const { return Reader(_builder.asReader()); } + inline Reader asReader() const { return *this; } + + inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); } +#if !CAPNP_LITE + inline ::kj::StringTree toString() const { return asReader().toString(); } +#endif // !CAPNP_LITE + + inline float getDesiredCurvature(); + inline void setDesiredCurvature(float value); + +private: + ::capnp::_::StructBuilder _builder; + template + friend struct ::capnp::ToDynamic_; + friend class ::capnp::Orphanage; + template + friend struct ::capnp::_::PointerHelpers; +}; + +#if !CAPNP_LITE +class ModelDataV2::Action::Pipeline { +public: + typedef Action Pipelines; + + inline Pipeline(decltype(nullptr)): _typeless(nullptr) {} + inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless) + : _typeless(kj::mv(typeless)) {} + +private: + ::capnp::AnyPointer::Pipeline _typeless; + friend class ::capnp::PipelineHook; + template + friend struct ::capnp::ToDynamic_; +}; +#endif // !CAPNP_LITE + class EncodeIndex::Reader { public: typedef EncodeIndex Reads; @@ -18318,6 +18474,10 @@ public: inline ::uint64_t getUnixTimestampNanos() const; + inline ::uint32_t getWidth() const; + + inline ::uint32_t getHeight() const; + private: ::capnp::_::StructReader _reader; template @@ -18370,6 +18530,12 @@ public: inline ::uint64_t getUnixTimestampNanos(); inline void setUnixTimestampNanos( ::uint64_t value); + inline ::uint32_t getWidth(); + inline void setWidth( ::uint32_t value); + + inline ::uint32_t getHeight(); + inline void setHeight( ::uint32_t value); + private: ::capnp::_::StructBuilder _builder; template @@ -18831,9 +18997,9 @@ public: inline bool hasCameraOdometry() const; inline ::cereal::CameraOdometry::Reader getCameraOdometry() const; - inline bool isLateralPlan() const; - inline bool hasLateralPlan() const; - inline ::cereal::LateralPlan::Reader getLateralPlan() const; + inline bool isLateralPlanDEPRECATED() const; + inline bool hasLateralPlanDEPRECATED() const; + inline ::cereal::LateralPlan::Reader getLateralPlanDEPRECATED() const; inline bool isKalmanOdometryDEPRECATED() const; inline bool hasKalmanOdometryDEPRECATED() const; @@ -19017,9 +19183,9 @@ public: inline bool hasControlsStateExt() const; inline ::cereal::ControlsStateExt::Reader getControlsStateExt() const; - inline bool isCustomReserved4() const; - inline bool hasCustomReserved4() const; - inline ::cereal::CustomReserved4::Reader getCustomReserved4() const; + inline bool isNavInstructionExt() const; + inline bool hasNavInstructionExt() const; + inline ::cereal::NavInstructionExt::Reader getNavInstructionExt() const; inline bool isCustomReserved5() const; inline bool hasCustomReserved5() const; @@ -19617,13 +19783,13 @@ public: inline void adoptCameraOdometry(::capnp::Orphan< ::cereal::CameraOdometry>&& value); inline ::capnp::Orphan< ::cereal::CameraOdometry> disownCameraOdometry(); - inline bool isLateralPlan(); - inline bool hasLateralPlan(); - inline ::cereal::LateralPlan::Builder getLateralPlan(); - inline void setLateralPlan( ::cereal::LateralPlan::Reader value); - inline ::cereal::LateralPlan::Builder initLateralPlan(); - inline void adoptLateralPlan(::capnp::Orphan< ::cereal::LateralPlan>&& value); - inline ::capnp::Orphan< ::cereal::LateralPlan> disownLateralPlan(); + inline bool isLateralPlanDEPRECATED(); + inline bool hasLateralPlanDEPRECATED(); + inline ::cereal::LateralPlan::Builder getLateralPlanDEPRECATED(); + inline void setLateralPlanDEPRECATED( ::cereal::LateralPlan::Reader value); + inline ::cereal::LateralPlan::Builder initLateralPlanDEPRECATED(); + inline void adoptLateralPlanDEPRECATED(::capnp::Orphan< ::cereal::LateralPlan>&& value); + inline ::capnp::Orphan< ::cereal::LateralPlan> disownLateralPlanDEPRECATED(); inline bool isKalmanOdometryDEPRECATED(); inline bool hasKalmanOdometryDEPRECATED(); @@ -19988,13 +20154,13 @@ public: inline void adoptControlsStateExt(::capnp::Orphan< ::cereal::ControlsStateExt>&& value); inline ::capnp::Orphan< ::cereal::ControlsStateExt> disownControlsStateExt(); - inline bool isCustomReserved4(); - inline bool hasCustomReserved4(); - inline ::cereal::CustomReserved4::Builder getCustomReserved4(); - inline void setCustomReserved4( ::cereal::CustomReserved4::Reader value); - inline ::cereal::CustomReserved4::Builder initCustomReserved4(); - inline void adoptCustomReserved4(::capnp::Orphan< ::cereal::CustomReserved4>&& value); - inline ::capnp::Orphan< ::cereal::CustomReserved4> disownCustomReserved4(); + inline bool isNavInstructionExt(); + inline bool hasNavInstructionExt(); + inline ::cereal::NavInstructionExt::Builder getNavInstructionExt(); + inline void setNavInstructionExt( ::cereal::NavInstructionExt::Reader value); + inline ::cereal::NavInstructionExt::Builder initNavInstructionExt(); + inline void adoptNavInstructionExt(::capnp::Orphan< ::cereal::NavInstructionExt>&& value); + inline ::capnp::Orphan< ::cereal::NavInstructionExt> disownNavInstructionExt(); inline bool isCustomReserved5(); inline bool hasCustomReserved5(); @@ -20293,15 +20459,19 @@ inline ::capnp::Orphan Map::Entry::Builder::disownValue() { } // Map::Entry +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL template constexpr uint16_t Map::Entry::_capnpPrivate::dataWordSize; template constexpr uint16_t Map::Entry::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL template constexpr ::capnp::Kind Map::Entry::_capnpPrivate::kind; template constexpr ::capnp::_::RawSchema const* Map::Entry::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL template const ::capnp::_::RawBrandedSchema::Scope Map::Entry::_capnpPrivate::brandScopes[] = { { 0xf8b13ce2183eb696, brandBindings + 0, 2, false}, @@ -20319,15 +20489,19 @@ const ::capnp::_::RawBrandedSchema Map::Entry::_capnpPrivate::specif #endif // !CAPNP_LITE // Map +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL template constexpr uint16_t Map::_capnpPrivate::dataWordSize; template constexpr uint16_t Map::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL #if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL template constexpr ::capnp::Kind Map::_capnpPrivate::kind; template constexpr ::capnp::_::RawSchema const* Map::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL template const ::capnp::_::RawBrandedSchema::Scope Map::_capnpPrivate::brandScopes[] = { { 0xf8b13ce2183eb696, brandBindings + 0, 2, false}, @@ -22851,6 +23025,20 @@ inline void FrameData::Builder::setExposureValPercent(float value) { ::capnp::bounded<21>() * ::capnp::ELEMENTS, value); } +inline ::uint32_t FrameData::Reader::getRequestId() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t FrameData::Builder::getRequestId() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<22>() * ::capnp::ELEMENTS); +} +inline void FrameData::Builder::setRequestId( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<22>() * ::capnp::ELEMENTS, value); +} + inline ::int32_t FrameData::AndroidCaptureResult::Reader::getSensitivity() const { return _reader.getDataField< ::int32_t>( ::capnp::bounded<0>() * ::capnp::ELEMENTS); @@ -28111,16 +28299,16 @@ inline void ControlsState::Builder::setDesiredCurvature(float value) { ::capnp::bounded<44>() * ::capnp::ELEMENTS, value); } -inline float ControlsState::Reader::getDesiredCurvatureRate() const { +inline float ControlsState::Reader::getDesiredCurvatureRateDEPRECATED() const { return _reader.getDataField( ::capnp::bounded<45>() * ::capnp::ELEMENTS); } -inline float ControlsState::Builder::getDesiredCurvatureRate() { +inline float ControlsState::Builder::getDesiredCurvatureRateDEPRECATED() { return _builder.getDataField( ::capnp::bounded<45>() * ::capnp::ELEMENTS); } -inline void ControlsState::Builder::setDesiredCurvatureRate(float value) { +inline void ControlsState::Builder::setDesiredCurvatureRateDEPRECATED(float value) { _builder.setDataField( ::capnp::bounded<45>() * ::capnp::ELEMENTS, value); } @@ -29312,55 +29500,55 @@ inline ::capnp::Orphan< ::cereal::ControlsState::LateralTorqueState> ControlsSta ::capnp::bounded<5>() * ::capnp::POINTERS)); } -inline bool ControlsState::LateralControlState::Reader::isCurvatureState() const { - return which() == ControlsState::LateralControlState::CURVATURE_STATE; +inline bool ControlsState::LateralControlState::Reader::isCurvatureStateDEPRECATED() const { + return which() == ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D; } -inline bool ControlsState::LateralControlState::Builder::isCurvatureState() { - return which() == ControlsState::LateralControlState::CURVATURE_STATE; +inline bool ControlsState::LateralControlState::Builder::isCurvatureStateDEPRECATED() { + return which() == ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D; } -inline bool ControlsState::LateralControlState::Reader::hasCurvatureState() const { - if (which() != ControlsState::LateralControlState::CURVATURE_STATE) return false; +inline bool ControlsState::LateralControlState::Reader::hasCurvatureStateDEPRECATED() const { + if (which() != ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D) return false; return !_reader.getPointerField( ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); } -inline bool ControlsState::LateralControlState::Builder::hasCurvatureState() { - if (which() != ControlsState::LateralControlState::CURVATURE_STATE) return false; +inline bool ControlsState::LateralControlState::Builder::hasCurvatureStateDEPRECATED() { + if (which() != ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D) return false; return !_builder.getPointerField( ::capnp::bounded<5>() * ::capnp::POINTERS).isNull(); } -inline ::cereal::ControlsState::LateralCurvatureState::Reader ControlsState::LateralControlState::Reader::getCurvatureState() const { - KJ_IREQUIRE((which() == ControlsState::LateralControlState::CURVATURE_STATE), +inline ::cereal::ControlsState::LateralCurvatureState::Reader ControlsState::LateralControlState::Reader::getCurvatureStateDEPRECATED() const { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D), "Must check which() before get()ing a union member."); return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralCurvatureState>::get(_reader.getPointerField( ::capnp::bounded<5>() * ::capnp::POINTERS)); } -inline ::cereal::ControlsState::LateralCurvatureState::Builder ControlsState::LateralControlState::Builder::getCurvatureState() { - KJ_IREQUIRE((which() == ControlsState::LateralControlState::CURVATURE_STATE), +inline ::cereal::ControlsState::LateralCurvatureState::Builder ControlsState::LateralControlState::Builder::getCurvatureStateDEPRECATED() { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D), "Must check which() before get()ing a union member."); return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralCurvatureState>::get(_builder.getPointerField( ::capnp::bounded<5>() * ::capnp::POINTERS)); } -inline void ControlsState::LateralControlState::Builder::setCurvatureState( ::cereal::ControlsState::LateralCurvatureState::Reader value) { +inline void ControlsState::LateralControlState::Builder::setCurvatureStateDEPRECATED( ::cereal::ControlsState::LateralCurvatureState::Reader value) { _builder.setDataField( - ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::CURVATURE_STATE); + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D); ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralCurvatureState>::set(_builder.getPointerField( ::capnp::bounded<5>() * ::capnp::POINTERS), value); } -inline ::cereal::ControlsState::LateralCurvatureState::Builder ControlsState::LateralControlState::Builder::initCurvatureState() { +inline ::cereal::ControlsState::LateralCurvatureState::Builder ControlsState::LateralControlState::Builder::initCurvatureStateDEPRECATED() { _builder.setDataField( - ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::CURVATURE_STATE); + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D); return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralCurvatureState>::init(_builder.getPointerField( ::capnp::bounded<5>() * ::capnp::POINTERS)); } -inline void ControlsState::LateralControlState::Builder::adoptCurvatureState( +inline void ControlsState::LateralControlState::Builder::adoptCurvatureStateDEPRECATED( ::capnp::Orphan< ::cereal::ControlsState::LateralCurvatureState>&& value) { _builder.setDataField( - ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::CURVATURE_STATE); + ::capnp::bounded<71>() * ::capnp::ELEMENTS, ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D); ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralCurvatureState>::adopt(_builder.getPointerField( ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value)); } -inline ::capnp::Orphan< ::cereal::ControlsState::LateralCurvatureState> ControlsState::LateralControlState::Builder::disownCurvatureState() { - KJ_IREQUIRE((which() == ControlsState::LateralControlState::CURVATURE_STATE), +inline ::capnp::Orphan< ::cereal::ControlsState::LateralCurvatureState> ControlsState::LateralControlState::Builder::disownCurvatureStateDEPRECATED() { + KJ_IREQUIRE((which() == ControlsState::LateralControlState::CURVATURE_STATE_D_E_P_R_E_C_A_T_E_D), "Must check which() before get()ing a union member."); return ::capnp::_::PointerHelpers< ::cereal::ControlsState::LateralCurvatureState>::disown(_builder.getPointerField( ::capnp::bounded<5>() * ::capnp::POINTERS)); @@ -30329,45 +30517,84 @@ inline void ModelDataV2::Builder::setLocationMonoTime( ::uint64_t value) { ::capnp::bounded<5>() * ::capnp::ELEMENTS, value); } -inline bool ModelDataV2::Reader::hasLateralPlannerSolution() const { +inline bool ModelDataV2::Reader::hasLateralPlannerSolutionDEPRECATED() const { return !_reader.getPointerField( ::capnp::bounded<15>() * ::capnp::POINTERS).isNull(); } -inline bool ModelDataV2::Builder::hasLateralPlannerSolution() { +inline bool ModelDataV2::Builder::hasLateralPlannerSolutionDEPRECATED() { return !_builder.getPointerField( ::capnp::bounded<15>() * ::capnp::POINTERS).isNull(); } -inline ::cereal::ModelDataV2::LateralPlannerSolution::Reader ModelDataV2::Reader::getLateralPlannerSolution() const { +inline ::cereal::ModelDataV2::LateralPlannerSolution::Reader ModelDataV2::Reader::getLateralPlannerSolutionDEPRECATED() const { return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::get(_reader.getPointerField( ::capnp::bounded<15>() * ::capnp::POINTERS)); } -inline ::cereal::ModelDataV2::LateralPlannerSolution::Builder ModelDataV2::Builder::getLateralPlannerSolution() { +inline ::cereal::ModelDataV2::LateralPlannerSolution::Builder ModelDataV2::Builder::getLateralPlannerSolutionDEPRECATED() { return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::get(_builder.getPointerField( ::capnp::bounded<15>() * ::capnp::POINTERS)); } #if !CAPNP_LITE -inline ::cereal::ModelDataV2::LateralPlannerSolution::Pipeline ModelDataV2::Pipeline::getLateralPlannerSolution() { +inline ::cereal::ModelDataV2::LateralPlannerSolution::Pipeline ModelDataV2::Pipeline::getLateralPlannerSolutionDEPRECATED() { return ::cereal::ModelDataV2::LateralPlannerSolution::Pipeline(_typeless.getPointerField(15)); } #endif // !CAPNP_LITE -inline void ModelDataV2::Builder::setLateralPlannerSolution( ::cereal::ModelDataV2::LateralPlannerSolution::Reader value) { +inline void ModelDataV2::Builder::setLateralPlannerSolutionDEPRECATED( ::cereal::ModelDataV2::LateralPlannerSolution::Reader value) { ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::set(_builder.getPointerField( ::capnp::bounded<15>() * ::capnp::POINTERS), value); } -inline ::cereal::ModelDataV2::LateralPlannerSolution::Builder ModelDataV2::Builder::initLateralPlannerSolution() { +inline ::cereal::ModelDataV2::LateralPlannerSolution::Builder ModelDataV2::Builder::initLateralPlannerSolutionDEPRECATED() { return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::init(_builder.getPointerField( ::capnp::bounded<15>() * ::capnp::POINTERS)); } -inline void ModelDataV2::Builder::adoptLateralPlannerSolution( +inline void ModelDataV2::Builder::adoptLateralPlannerSolutionDEPRECATED( ::capnp::Orphan< ::cereal::ModelDataV2::LateralPlannerSolution>&& value) { ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::adopt(_builder.getPointerField( ::capnp::bounded<15>() * ::capnp::POINTERS), kj::mv(value)); } -inline ::capnp::Orphan< ::cereal::ModelDataV2::LateralPlannerSolution> ModelDataV2::Builder::disownLateralPlannerSolution() { +inline ::capnp::Orphan< ::cereal::ModelDataV2::LateralPlannerSolution> ModelDataV2::Builder::disownLateralPlannerSolutionDEPRECATED() { return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::disown(_builder.getPointerField( ::capnp::bounded<15>() * ::capnp::POINTERS)); } +inline bool ModelDataV2::Reader::hasAction() const { + return !_reader.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS).isNull(); +} +inline bool ModelDataV2::Builder::hasAction() { + return !_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS).isNull(); +} +inline ::cereal::ModelDataV2::Action::Reader ModelDataV2::Reader::getAction() const { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::get(_reader.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS)); +} +inline ::cereal::ModelDataV2::Action::Builder ModelDataV2::Builder::getAction() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::get(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS)); +} +#if !CAPNP_LITE +inline ::cereal::ModelDataV2::Action::Pipeline ModelDataV2::Pipeline::getAction() { + return ::cereal::ModelDataV2::Action::Pipeline(_typeless.getPointerField(16)); +} +#endif // !CAPNP_LITE +inline void ModelDataV2::Builder::setAction( ::cereal::ModelDataV2::Action::Reader value) { + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::set(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS), value); +} +inline ::cereal::ModelDataV2::Action::Builder ModelDataV2::Builder::initAction() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::init(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS)); +} +inline void ModelDataV2::Builder::adoptAction( + ::capnp::Orphan< ::cereal::ModelDataV2::Action>&& value) { + ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::adopt(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS), kj::mv(value)); +} +inline ::capnp::Orphan< ::cereal::ModelDataV2::Action> ModelDataV2::Builder::disownAction() { + return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::Action>::disown(_builder.getPointerField( + ::capnp::bounded<16>() * ::capnp::POINTERS)); +} + inline float ModelDataV2::LeadDataV2::Reader::getProb() const { return _reader.getDataField( ::capnp::bounded<0>() * ::capnp::ELEMENTS); @@ -31027,6 +31254,34 @@ inline void ModelDataV2::MetaData::Builder::setHardBrakePredicted(bool value) { ::capnp::bounded<128>() * ::capnp::ELEMENTS, value); } +inline ::cereal::LaneChangeState ModelDataV2::MetaData::Reader::getLaneChangeState() const { + return _reader.getDataField< ::cereal::LaneChangeState>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LaneChangeState ModelDataV2::MetaData::Builder::getLaneChangeState() { + return _builder.getDataField< ::cereal::LaneChangeState>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::MetaData::Builder::setLaneChangeState( ::cereal::LaneChangeState value) { + _builder.setDataField< ::cereal::LaneChangeState>( + ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); +} + +inline ::cereal::LaneChangeDirection ModelDataV2::MetaData::Reader::getLaneChangeDirection() const { + return _reader.getDataField< ::cereal::LaneChangeDirection>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline ::cereal::LaneChangeDirection ModelDataV2::MetaData::Builder::getLaneChangeDirection() { + return _builder.getDataField< ::cereal::LaneChangeDirection>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::MetaData::Builder::setLaneChangeDirection( ::cereal::LaneChangeDirection value) { + _builder.setDataField< ::cereal::LaneChangeDirection>( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + inline bool ModelDataV2::DisengagePredictions::Reader::hasT() const { return !_reader.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); @@ -31749,6 +32004,20 @@ inline ::capnp::Orphan< ::capnp::List> ModelDa ::capnp::bounded<7>() * ::capnp::POINTERS)); } +inline float ModelDataV2::Action::Reader::getDesiredCurvature() const { + return _reader.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} + +inline float ModelDataV2::Action::Builder::getDesiredCurvature() { + return _builder.getDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS); +} +inline void ModelDataV2::Action::Builder::setDesiredCurvature(float value) { + _builder.setDataField( + ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); +} + inline ::uint32_t EncodeIndex::Reader::getFrameId() const { return _reader.getDataField< ::uint32_t>( ::capnp::bounded<0>() * ::capnp::ELEMENTS); @@ -45967,6 +46236,34 @@ inline void EncodeData::Builder::setUnixTimestampNanos( ::uint64_t value) { ::capnp::bounded<0>() * ::capnp::ELEMENTS, value); } +inline ::uint32_t EncodeData::Reader::getWidth() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t EncodeData::Builder::getWidth() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS); +} +inline void EncodeData::Builder::setWidth( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<2>() * ::capnp::ELEMENTS, value); +} + +inline ::uint32_t EncodeData::Reader::getHeight() const { + return _reader.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} + +inline ::uint32_t EncodeData::Builder::getHeight() { + return _builder.getDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS); +} +inline void EncodeData::Builder::setHeight( ::uint32_t value) { + _builder.setDataField< ::uint32_t>( + ::capnp::bounded<3>() * ::capnp::ELEMENTS, value); +} + inline float Microphone::Reader::getSoundPressure() const { return _reader.getDataField( ::capnp::bounded<0>() * ::capnp::ELEMENTS); @@ -49448,55 +49745,55 @@ inline ::capnp::Orphan< ::cereal::CameraOdometry> Event::Builder::disownCameraOd ::capnp::bounded<0>() * ::capnp::POINTERS)); } -inline bool Event::Reader::isLateralPlan() const { - return which() == Event::LATERAL_PLAN; +inline bool Event::Reader::isLateralPlanDEPRECATED() const { + return which() == Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D; } -inline bool Event::Builder::isLateralPlan() { - return which() == Event::LATERAL_PLAN; +inline bool Event::Builder::isLateralPlanDEPRECATED() { + return which() == Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D; } -inline bool Event::Reader::hasLateralPlan() const { - if (which() != Event::LATERAL_PLAN) return false; +inline bool Event::Reader::hasLateralPlanDEPRECATED() const { + if (which() != Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D) return false; return !_reader.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); } -inline bool Event::Builder::hasLateralPlan() { - if (which() != Event::LATERAL_PLAN) return false; +inline bool Event::Builder::hasLateralPlanDEPRECATED() { + if (which() != Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D) return false; return !_builder.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); } -inline ::cereal::LateralPlan::Reader Event::Reader::getLateralPlan() const { - KJ_IREQUIRE((which() == Event::LATERAL_PLAN), +inline ::cereal::LateralPlan::Reader Event::Reader::getLateralPlanDEPRECATED() const { + KJ_IREQUIRE((which() == Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D), "Must check which() before get()ing a union member."); return ::capnp::_::PointerHelpers< ::cereal::LateralPlan>::get(_reader.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS)); } -inline ::cereal::LateralPlan::Builder Event::Builder::getLateralPlan() { - KJ_IREQUIRE((which() == Event::LATERAL_PLAN), +inline ::cereal::LateralPlan::Builder Event::Builder::getLateralPlanDEPRECATED() { + KJ_IREQUIRE((which() == Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D), "Must check which() before get()ing a union member."); return ::capnp::_::PointerHelpers< ::cereal::LateralPlan>::get(_builder.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS)); } -inline void Event::Builder::setLateralPlan( ::cereal::LateralPlan::Reader value) { +inline void Event::Builder::setLateralPlanDEPRECATED( ::cereal::LateralPlan::Reader value) { _builder.setDataField( - ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LATERAL_PLAN); + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D); ::capnp::_::PointerHelpers< ::cereal::LateralPlan>::set(_builder.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS), value); } -inline ::cereal::LateralPlan::Builder Event::Builder::initLateralPlan() { +inline ::cereal::LateralPlan::Builder Event::Builder::initLateralPlanDEPRECATED() { _builder.setDataField( - ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LATERAL_PLAN); + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D); return ::capnp::_::PointerHelpers< ::cereal::LateralPlan>::init(_builder.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS)); } -inline void Event::Builder::adoptLateralPlan( +inline void Event::Builder::adoptLateralPlanDEPRECATED( ::capnp::Orphan< ::cereal::LateralPlan>&& value) { _builder.setDataField( - ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LATERAL_PLAN); + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D); ::capnp::_::PointerHelpers< ::cereal::LateralPlan>::adopt(_builder.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); } -inline ::capnp::Orphan< ::cereal::LateralPlan> Event::Builder::disownLateralPlan() { - KJ_IREQUIRE((which() == Event::LATERAL_PLAN), +inline ::capnp::Orphan< ::cereal::LateralPlan> Event::Builder::disownLateralPlanDEPRECATED() { + KJ_IREQUIRE((which() == Event::LATERAL_PLAN_D_E_P_R_E_C_A_T_E_D), "Must check which() before get()ing a union member."); return ::capnp::_::PointerHelpers< ::cereal::LateralPlan>::disown(_builder.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS)); @@ -51946,57 +52243,57 @@ inline ::capnp::Orphan< ::cereal::ControlsStateExt> Event::Builder::disownContro ::capnp::bounded<0>() * ::capnp::POINTERS)); } -inline bool Event::Reader::isCustomReserved4() const { - return which() == Event::CUSTOM_RESERVED4; +inline bool Event::Reader::isNavInstructionExt() const { + return which() == Event::NAV_INSTRUCTION_EXT; } -inline bool Event::Builder::isCustomReserved4() { - return which() == Event::CUSTOM_RESERVED4; +inline bool Event::Builder::isNavInstructionExt() { + return which() == Event::NAV_INSTRUCTION_EXT; } -inline bool Event::Reader::hasCustomReserved4() const { - if (which() != Event::CUSTOM_RESERVED4) return false; +inline bool Event::Reader::hasNavInstructionExt() const { + if (which() != Event::NAV_INSTRUCTION_EXT) return false; return !_reader.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); } -inline bool Event::Builder::hasCustomReserved4() { - if (which() != Event::CUSTOM_RESERVED4) return false; +inline bool Event::Builder::hasNavInstructionExt() { + if (which() != Event::NAV_INSTRUCTION_EXT) return false; return !_builder.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); } -inline ::cereal::CustomReserved4::Reader Event::Reader::getCustomReserved4() const { - KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED4), +inline ::cereal::NavInstructionExt::Reader Event::Reader::getNavInstructionExt() const { + KJ_IREQUIRE((which() == Event::NAV_INSTRUCTION_EXT), "Must check which() before get()ing a union member."); - return ::capnp::_::PointerHelpers< ::cereal::CustomReserved4>::get(_reader.getPointerField( + return ::capnp::_::PointerHelpers< ::cereal::NavInstructionExt>::get(_reader.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS)); } -inline ::cereal::CustomReserved4::Builder Event::Builder::getCustomReserved4() { - KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED4), +inline ::cereal::NavInstructionExt::Builder Event::Builder::getNavInstructionExt() { + KJ_IREQUIRE((which() == Event::NAV_INSTRUCTION_EXT), "Must check which() before get()ing a union member."); - return ::capnp::_::PointerHelpers< ::cereal::CustomReserved4>::get(_builder.getPointerField( + return ::capnp::_::PointerHelpers< ::cereal::NavInstructionExt>::get(_builder.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS)); } -inline void Event::Builder::setCustomReserved4( ::cereal::CustomReserved4::Reader value) { +inline void Event::Builder::setNavInstructionExt( ::cereal::NavInstructionExt::Reader value) { _builder.setDataField( - ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED4); - ::capnp::_::PointerHelpers< ::cereal::CustomReserved4>::set(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_INSTRUCTION_EXT); + ::capnp::_::PointerHelpers< ::cereal::NavInstructionExt>::set(_builder.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS), value); } -inline ::cereal::CustomReserved4::Builder Event::Builder::initCustomReserved4() { +inline ::cereal::NavInstructionExt::Builder Event::Builder::initNavInstructionExt() { _builder.setDataField( - ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED4); - return ::capnp::_::PointerHelpers< ::cereal::CustomReserved4>::init(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_INSTRUCTION_EXT); + return ::capnp::_::PointerHelpers< ::cereal::NavInstructionExt>::init(_builder.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS)); } -inline void Event::Builder::adoptCustomReserved4( - ::capnp::Orphan< ::cereal::CustomReserved4>&& value) { +inline void Event::Builder::adoptNavInstructionExt( + ::capnp::Orphan< ::cereal::NavInstructionExt>&& value) { _builder.setDataField( - ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED4); - ::capnp::_::PointerHelpers< ::cereal::CustomReserved4>::adopt(_builder.getPointerField( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_INSTRUCTION_EXT); + ::capnp::_::PointerHelpers< ::cereal::NavInstructionExt>::adopt(_builder.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value)); } -inline ::capnp::Orphan< ::cereal::CustomReserved4> Event::Builder::disownCustomReserved4() { - KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED4), +inline ::capnp::Orphan< ::cereal::NavInstructionExt> Event::Builder::disownNavInstructionExt() { + KJ_IREQUIRE((which() == Event::NAV_INSTRUCTION_EXT), "Must check which() before get()ing a union member."); - return ::capnp::_::PointerHelpers< ::cereal::CustomReserved4>::disown(_builder.getPointerField( + return ::capnp::_::PointerHelpers< ::cereal::NavInstructionExt>::disown(_builder.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS)); } @@ -52812,3 +53109,5 @@ inline ::capnp::Orphan< ::capnp::Data> Event::Builder::disownCustomReservedRawDa } // namespace +CAPNP_END_HEADER + diff --git a/cereal/libcereal_shared.so b/cereal/libcereal_shared.so index 0f09c2c42..5f3c32d26 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 6e314950e..89e68bdd7 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -130,8 +130,9 @@ struct InitData { struct FrameData { frameId @0 :UInt32; - encodeId @1 :UInt32; # DEPRECATED frameIdSensor @25 :UInt32; + requestId @28 :UInt32; + encodeId @1 :UInt32; frameType @7 :FrameType; @@ -298,6 +299,29 @@ struct GpsLocationData { } } +enum Desire { + none @0; + turnLeft @1; + turnRight @2; + laneChangeLeft @3; + laneChangeRight @4; + keepLeft @5; + keepRight @6; +} + +enum LaneChangeState { + off @0; + preLaneChange @1; + laneChangeStarting @2; + laneChangeFinishing @3; +} + +enum LaneChangeDirection { + none @0; + left @1; + right @2; +} + struct CanData { address @0 :UInt32; busTime @1 :UInt16; @@ -494,6 +518,7 @@ struct PandaState @0xa7649e2575e4591e { redPanda @7; redPandaV2 @8; tres @9; + cuatro @10; } enum HarnessStatus { @@ -667,7 +692,6 @@ struct ControlsState @0x97ff69c53601abf1 { aTarget @35 :Float32; curvature @37 :Float32; # path curvature from vehicle model desiredCurvature @61 :Float32; # lag adjusted curvatures used by lateral controllers - desiredCurvatureRate @62 :Float32; forceDecel @51 :Bool; # UI alerts @@ -689,8 +713,8 @@ struct ControlsState @0x97ff69c53601abf1 { angleState @58 :LateralAngleState; debugState @59 :LateralDebugState; torqueState @60 :LateralTorqueState; - curvatureState @65 :LateralCurvatureState; + curvatureStateDEPRECATED @65 :LateralCurvatureState; lqrStateDEPRECATED @55 :LateralLQRState; } @@ -825,6 +849,7 @@ struct ControlsState @0x97ff69c53601abf1 { steerOverrideDEPRECATED @20 :Bool; steeringAngleDesiredDegDEPRECATED @29 :Float32; canMonoTimesDEPRECATED @21 :List(UInt64); + desiredCurvatureRateDEPRECATED @62 :Float32; } # All SI units and in device frame @@ -876,7 +901,8 @@ struct ModelDataV2 { locationMonoTime @24 :UInt64; # e2e lateral planner - lateralPlannerSolution @25: LateralPlannerSolution; + lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution; + action @26: Action; struct LeadDataV2 { prob @0 :Float32; # probability that car is your lead at time t @@ -914,6 +940,9 @@ struct ModelDataV2 { desireState @5 :List(Float32); disengagePredictions @6 :DisengagePredictions; hardBrakePredicted @7 :Bool; + laneChangeState @8 :LaneChangeState; + laneChangeDirection @9 :LaneChangeDirection; + # deprecated brakeDisengageProbDEPRECATED @2 :Float32; @@ -955,6 +984,9 @@ struct ModelDataV2 { yawRateStd @7 :List(Float32); } + struct Action { + desiredCurvature @0 :Float32; + } } struct EncodeIndex { @@ -2168,6 +2200,8 @@ struct EncodeData { data @1 :Data; header @2 :Data; unixTimestampNanos @3 :UInt64; + width @4 :UInt32; + height @5 :UInt32; } struct UserFlag { @@ -2215,7 +2249,6 @@ struct Event { carState @22 :Car.CarState; carControl @23 :Car.CarControl; longitudinalPlan @24 :LongitudinalPlan; - lateralPlan @64 :LateralPlan; uiPlan @106 :UiPlan; ubloxGnss @34 :UbloxGnss; ubloxRaw @39 :Data; @@ -2291,7 +2324,7 @@ struct Event { longitudinalPlanExt @108 :Custom.LongitudinalPlanExt; lateralPlanExt @109 :Custom.LateralPlanExt; controlsStateExt @110 :Custom.ControlsStateExt; - customReserved4 @111 :Custom.CustomReserved4; + navInstructionExt @111 :Custom.NavInstructionExt; customReserved5 @112 :Custom.CustomReserved5; customReserved6 @113 :Custom.CustomReserved6; customReserved7 @114 :Custom.CustomReserved7; @@ -2336,5 +2369,6 @@ struct Event { pandaStateDEPRECATED @12 :PandaState; driverStateDEPRECATED @59 :DriverStateDEPRECATED; sensorEventsDEPRECATED @11 :List(SensorEventData); + lateralPlanDEPRECATED @64 :LateralPlan; } } diff --git a/cereal/messaging/bridge b/cereal/messaging/bridge index 6eb86d688..899362e1b 100755 Binary files a/cereal/messaging/bridge and b/cereal/messaging/bridge differ diff --git a/cereal/messaging/messaging_pyx.cpp b/cereal/messaging/messaging_pyx.cpp index bd377040e..637669df9 100644 --- a/cereal/messaging/messaging_pyx.cpp +++ b/cereal/messaging/messaging_pyx.cpp @@ -1,4 +1,4 @@ -/* Generated by Cython 3.0.5 */ +/* Generated by Cython 3.0.8 */ /* BEGIN: Cython Metadata { @@ -41,10 +41,10 @@ END: Cython Metadata */ #else #define __PYX_EXTRA_ABI_MODULE_NAME "" #endif -#define CYTHON_ABI "3_0_5" __PYX_EXTRA_ABI_MODULE_NAME +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME #define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI #define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." -#define CYTHON_HEX_VERSION 0x030005F0 +#define CYTHON_HEX_VERSION 0x030008F0 #define CYTHON_FUTURE_DIVISION 1 #include #ifndef offsetof @@ -258,7 +258,7 @@ END: Cython Metadata */ #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 #endif -#elif defined(PY_NOGIL) +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) #define CYTHON_COMPILING_IN_PYPY 0 #define CYTHON_COMPILING_IN_CPYTHON 0 #define CYTHON_COMPILING_IN_LIMITED_API 0 @@ -602,18 +602,19 @@ class __Pyx_FakeReference { PyObject *exception_table = NULL; PyObject *types_module=NULL, *code_type=NULL, *result=NULL; #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 - PyObject *version_info; // borrowed - #endif + PyObject *version_info; PyObject *py_minor_version = NULL; + #endif long minor_version = 0; PyObject *type, *value, *traceback; PyErr_Fetch(&type, &value, &traceback); #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 - minor_version = 11; // we don't yet need to distinguish between versions > 11 + minor_version = 11; #else if (!(version_info = PySys_GetObject("version_info"))) goto end; if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); if (minor_version == -1 && PyErr_Occurred()) goto end; #endif if (!(types_module = PyImport_ImportModule("types"))) goto end; @@ -634,7 +635,6 @@ class __Pyx_FakeReference { Py_XDECREF(code_type); Py_XDECREF(exception_table); Py_XDECREF(types_module); - Py_XDECREF(py_minor_version); if (type) { PyErr_Restore(type, value, traceback); } @@ -667,7 +667,7 @@ class __Pyx_FakeReference { PyObject *fv, PyObject *cell, PyObject* fn, PyObject *name, int fline, PyObject *lnos) { PyCodeObject *result; - PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); // we don't have access to __pyx_empty_bytes here + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); if (!empty_bytes) return NULL; result = #if PY_VERSION_HEX >= 0x030C0000 @@ -962,7 +962,7 @@ static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, #endif #if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 #define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ - PyTypeObject *type = Py_TYPE(obj);\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ PyObject_GC_Del(obj);\ Py_DECREF(type);\ @@ -1369,7 +1369,7 @@ static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); #endif typedef Py_ssize_t __Pyx_compact_pylong; typedef size_t __Pyx_compact_upylong; - #else // Py < 3.12 + #else #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) @@ -1798,8 +1798,8 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) #else - #define __Pyx_Arg_NewRef_VARARGS(arg) arg // no-op - #define __Pyx_Arg_XDECREF_VARARGS(arg) // no-op - arg is borrowed + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) #endif #define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) #define __Pyx_KwValues_VARARGS(args, nargs) NULL @@ -1811,12 +1811,13 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 - static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); #else #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) #endif - #define __Pyx_Arg_NewRef_FASTCALL(arg) arg // no-op, __Pyx_Arg_FASTCALL is direct and this needs - #define __Pyx_Arg_XDECREF_FASTCALL(arg) // no-op - arg was returned from array + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) #else #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS @@ -2198,7 +2199,7 @@ typedef struct { #endif void *defaults; int defaults_pyobjects; - size_t defaults_size; // used by FusedFunction for copying defaults + size_t defaults_size; int flags; PyObject *defaults_tuple; PyObject *defaults_kwdict; @@ -11606,7 +11607,7 @@ static CYTHON_SMALL_CODE int __pyx_pymod_exec_messaging_pyx(PyObject *__pyx_pyin __pyx_t_1 = PyModule_Create(&__pyx_moduledef); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 1, __pyx_L1_error) { int add_module_result = PyState_AddModule(__pyx_t_1, &__pyx_moduledef); - __pyx_t_1 = 0; /* transfer ownership from __pyx_t_1 to messaging_pyx pseudovariable */ + __pyx_t_1 = 0; /* transfer ownership from __pyx_t_1 to "messaging_pyx" pseudovariable */ if (unlikely((add_module_result < 0))) __PYX_ERR(0, 1, __pyx_L1_error) pystate_addmodule_run = 1; } @@ -12618,14 +12619,14 @@ static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyO { int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); if (unlikely(eq != 0)) { - if (unlikely(eq < 0)) return NULL; // error + if (unlikely(eq < 0)) return NULL; return kwvalues[i]; } } - return NULL; // not found (no exception set) + return NULL; } #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 -static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); PyObject *dict; dict = PyDict_New(); @@ -12709,7 +12710,7 @@ static int __Pyx_ParseOptionalKeywords( if (*name) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - Py_INCREF(value); // transfer ownership of value to values + Py_INCREF(value); Py_DECREF(key); #endif key = NULL; @@ -12728,7 +12729,7 @@ static int __Pyx_ParseOptionalKeywords( && _PyString_Eq(**name, key)) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -12760,7 +12761,7 @@ static int __Pyx_ParseOptionalKeywords( if (cmp == 0) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -13778,38 +13779,38 @@ static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffs #endif return -1; } -#if !CYTHON_USE_TYPE_SLOTS - if (dictoffset == 0) { - PyErr_Format(PyExc_TypeError, - "extension type '%s.200s': " - "unable to validate whether bases have a __dict__ " - "when CYTHON_USE_TYPE_SLOTS is off " - "(likely because you are building in the limited API). " - "Therefore, all extension types with multiple bases " - "must add 'cdef dict __dict__' in this compilation mode", - type_name); -#if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); -#endif - return -1; - } -#else - if (dictoffset == 0 && b->tp_dictoffset) + if (dictoffset == 0) { - __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); - PyErr_Format(PyExc_TypeError, - "extension type '%.200s' has no __dict__ slot, " - "but base type '" __Pyx_FMT_TYPENAME "' has: " - "either add 'cdef dict __dict__' to the extension type " - "or add '__slots__ = [...]' to the base type", - type_name, b_name); - __Pyx_DECREF_TypeName(b_name); + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif #if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); + Py_DECREF(b0); #endif - return -1; + return -1; + } } -#endif #if CYTHON_AVOID_BORROWED_REFS Py_DECREF(b0); #endif @@ -16160,7 +16161,7 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( #else py_code = PyCode_NewEmpty(filename, funcname, py_line); #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + Py_XDECREF(py_funcname); return py_code; bad: Py_XDECREF(py_funcname); diff --git a/cereal/messaging/messaging_pyx.so b/cereal/messaging/messaging_pyx.so index 0980170b2..27dc66c9c 100755 Binary files a/cereal/messaging/messaging_pyx.so and b/cereal/messaging/messaging_pyx.so differ diff --git a/cereal/services.h b/cereal/services.h index da8c8a208..d18f03f99 100644 --- a/cereal/services.h +++ b/cereal/services.h @@ -42,48 +42,48 @@ static std::map services = { { "liveLocationKalman", {"liveLocationKalman", 8036, true, 20, 5}}, { "liveParameters", {"liveParameters", 8037, true, 20, 5}}, { "cameraOdometry", {"cameraOdometry", 8038, true, 20, 5}}, - { "lateralPlan", {"lateralPlan", 8039, true, 20, 5}}, - { "thumbnail", {"thumbnail", 8040, true, 0, 1}}, - { "onroadEvents", {"onroadEvents", 8041, true, 1, 1}}, - { "carParams", {"carParams", 8042, true, 0, 1}}, - { "roadCameraState", {"roadCameraState", 8043, true, 20, 20}}, - { "driverCameraState", {"driverCameraState", 8044, true, 20, 20}}, - { "driverEncodeIdx", {"driverEncodeIdx", 8045, false, 20, 1}}, - { "driverStateV2", {"driverStateV2", 8046, true, 20, 10}}, - { "driverMonitoringState", {"driverMonitoringState", 8047, true, 20, 10}}, - { "wideRoadEncodeIdx", {"wideRoadEncodeIdx", 8048, false, 20, 1}}, - { "wideRoadCameraState", {"wideRoadCameraState", 8049, true, 20, 20}}, - { "modelV2", {"modelV2", 8050, true, 20, 40}}, - { "managerState", {"managerState", 8051, true, 2, 1}}, - { "uploaderState", {"uploaderState", 8052, true, 0, 1}}, - { "navInstruction", {"navInstruction", 8053, true, 1, 10}}, - { "navRoute", {"navRoute", 8054, true, 0, -1}}, - { "navThumbnail", {"navThumbnail", 8055, true, 0, -1}}, - { "navModel", {"navModel", 8056, true, 2, 4}}, - { "mapRenderState", {"mapRenderState", 8057, true, 2, 1}}, - { "uiPlan", {"uiPlan", 8058, true, 20, 40}}, - { "qRoadEncodeIdx", {"qRoadEncodeIdx", 8059, false, 20, -1}}, - { "userFlag", {"userFlag", 8060, true, 0, 1}}, - { "microphone", {"microphone", 8061, true, 10, 10}}, - { "uiDebug", {"uiDebug", 8062, true, 0, 1}}, - { "testJoystick", {"testJoystick", 8063, true, 0, -1}}, - { "roadEncodeData", {"roadEncodeData", 8064, false, 20, -1}}, - { "driverEncodeData", {"driverEncodeData", 8065, false, 20, -1}}, - { "wideRoadEncodeData", {"wideRoadEncodeData", 8066, false, 20, -1}}, - { "qRoadEncodeData", {"qRoadEncodeData", 8067, false, 20, -1}}, - { "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", 8068, false, 20, -1}}, - { "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", 8069, false, 20, -1}}, - { "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", 8070, false, 20, -1}}, - { "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", 8071, false, 20, -1}}, - { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", 8072, false, 20, -1}}, - { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", 8073, false, 20, -1}}, - { "customReservedRawData0", {"customReservedRawData0", 8074, true, 0, -1}}, - { "customReservedRawData1", {"customReservedRawData1", 8075, true, 0, -1}}, - { "customReservedRawData2", {"customReservedRawData2", 8076, true, 0, -1}}, - { "liveMapData", {"liveMapData", 8077, false, 0, -1}}, - { "longitudinalPlanExt", {"longitudinalPlanExt", 8078, false, 20, 5}}, - { "lateralPlanExt", {"lateralPlanExt", 8079, false, 20, 5}}, - { "controlsStateExt", {"controlsStateExt", 8080, false, 100, 10}}, + { "thumbnail", {"thumbnail", 8039, true, 0, 1}}, + { "onroadEvents", {"onroadEvents", 8040, true, 1, 1}}, + { "carParams", {"carParams", 8041, true, 0, 1}}, + { "roadCameraState", {"roadCameraState", 8042, true, 20, 20}}, + { "driverCameraState", {"driverCameraState", 8043, true, 20, 20}}, + { "driverEncodeIdx", {"driverEncodeIdx", 8044, false, 20, 1}}, + { "driverStateV2", {"driverStateV2", 8045, true, 20, 10}}, + { "driverMonitoringState", {"driverMonitoringState", 8046, true, 20, 10}}, + { "wideRoadEncodeIdx", {"wideRoadEncodeIdx", 8047, false, 20, 1}}, + { "wideRoadCameraState", {"wideRoadCameraState", 8048, true, 20, 20}}, + { "modelV2", {"modelV2", 8049, true, 20, 40}}, + { "managerState", {"managerState", 8050, true, 2, 1}}, + { "uploaderState", {"uploaderState", 8051, true, 0, 1}}, + { "navInstruction", {"navInstruction", 8052, true, 1, 10}}, + { "navRoute", {"navRoute", 8053, true, 0, -1}}, + { "navThumbnail", {"navThumbnail", 8054, true, 0, -1}}, + { "navModel", {"navModel", 8055, true, 2, 4}}, + { "mapRenderState", {"mapRenderState", 8056, true, 2, 1}}, + { "uiPlan", {"uiPlan", 8057, true, 20, 40}}, + { "qRoadEncodeIdx", {"qRoadEncodeIdx", 8058, false, 20, -1}}, + { "userFlag", {"userFlag", 8059, true, 0, 1}}, + { "microphone", {"microphone", 8060, true, 10, 10}}, + { "uiDebug", {"uiDebug", 8061, true, 0, 1}}, + { "testJoystick", {"testJoystick", 8062, true, 0, -1}}, + { "roadEncodeData", {"roadEncodeData", 8063, false, 20, -1}}, + { "driverEncodeData", {"driverEncodeData", 8064, false, 20, -1}}, + { "wideRoadEncodeData", {"wideRoadEncodeData", 8065, false, 20, -1}}, + { "qRoadEncodeData", {"qRoadEncodeData", 8066, false, 20, -1}}, + { "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", 8067, false, 20, -1}}, + { "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", 8068, false, 20, -1}}, + { "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", 8069, false, 20, -1}}, + { "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", 8070, false, 20, -1}}, + { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", 8071, false, 20, -1}}, + { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", 8072, false, 20, -1}}, + { "customReservedRawData0", {"customReservedRawData0", 8073, true, 0, -1}}, + { "customReservedRawData1", {"customReservedRawData1", 8074, true, 0, -1}}, + { "customReservedRawData2", {"customReservedRawData2", 8075, true, 0, -1}}, + { "liveMapData", {"liveMapData", 8076, false, 0, -1}}, + { "longitudinalPlanExt", {"longitudinalPlanExt", 8077, false, 20, 5}}, + { "lateralPlanExt", {"lateralPlanExt", 8078, false, 20, 5}}, + { "controlsStateExt", {"controlsStateExt", 8079, false, 100, 10}}, + { "navInstructionExt", {"navInstructionExt", 8080, false, 0, -1}}, }; #endif diff --git a/cereal/services.py b/cereal/services.py index 201e95c13..bfb445f2d 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -58,7 +58,6 @@ services: dict[str, tuple] = { "liveLocationKalman": (True, 20., 5), "liveParameters": (True, 20., 5), "cameraOdometry": (True, 20., 5), - "lateralPlan": (True, 20., 5), "thumbnail": (True, 0.2, 1), "onroadEvents": (True, 1., 1), "carParams": (True, 0.02, 1), @@ -104,6 +103,7 @@ services: dict[str, tuple] = { "longitudinalPlanExt": (False, 20., 5), "lateralPlanExt": (False, 20., 5), "controlsStateExt": (False, 100., 10), + "navInstructionExt": (False, 0.), } SERVICE_LIST = {name: Service(new_port(idx), *vals) for idx, (name, vals) in enumerate(services.items())} diff --git a/cereal/visionipc/visionipc_client.h b/cereal/visionipc/visionipc_client.h index d67734d32..970bac3a7 100644 --- a/cereal/visionipc/visionipc_client.h +++ b/cereal/visionipc/visionipc_client.h @@ -2,11 +2,8 @@ #include #include -#include -#include #include "cereal/messaging/messaging.h" -#include "cereal/visionipc/visionipc.h" #include "cereal/visionipc/visionbuf.h" class VisionIpcClient { diff --git a/cereal/visionipc/visionipc_pyx.cpp b/cereal/visionipc/visionipc_pyx.cpp index 2536d4ed8..8c34b2912 100644 --- a/cereal/visionipc/visionipc_pyx.cpp +++ b/cereal/visionipc/visionipc_pyx.cpp @@ -1,4 +1,4 @@ -/* Generated by Cython 3.0.5 */ +/* Generated by Cython 3.0.8 */ /* BEGIN: Cython Metadata { @@ -43,10 +43,10 @@ END: Cython Metadata */ #else #define __PYX_EXTRA_ABI_MODULE_NAME "" #endif -#define CYTHON_ABI "3_0_5" __PYX_EXTRA_ABI_MODULE_NAME +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME #define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI #define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." -#define CYTHON_HEX_VERSION 0x030005F0 +#define CYTHON_HEX_VERSION 0x030008F0 #define CYTHON_FUTURE_DIVISION 1 #include #ifndef offsetof @@ -260,7 +260,7 @@ END: Cython Metadata */ #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 #endif -#elif defined(PY_NOGIL) +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) #define CYTHON_COMPILING_IN_PYPY 0 #define CYTHON_COMPILING_IN_CPYTHON 0 #define CYTHON_COMPILING_IN_LIMITED_API 0 @@ -604,18 +604,19 @@ class __Pyx_FakeReference { PyObject *exception_table = NULL; PyObject *types_module=NULL, *code_type=NULL, *result=NULL; #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 - PyObject *version_info; // borrowed - #endif + PyObject *version_info; PyObject *py_minor_version = NULL; + #endif long minor_version = 0; PyObject *type, *value, *traceback; PyErr_Fetch(&type, &value, &traceback); #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 - minor_version = 11; // we don't yet need to distinguish between versions > 11 + minor_version = 11; #else if (!(version_info = PySys_GetObject("version_info"))) goto end; if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); if (minor_version == -1 && PyErr_Occurred()) goto end; #endif if (!(types_module = PyImport_ImportModule("types"))) goto end; @@ -636,7 +637,6 @@ class __Pyx_FakeReference { Py_XDECREF(code_type); Py_XDECREF(exception_table); Py_XDECREF(types_module); - Py_XDECREF(py_minor_version); if (type) { PyErr_Restore(type, value, traceback); } @@ -669,7 +669,7 @@ class __Pyx_FakeReference { PyObject *fv, PyObject *cell, PyObject* fn, PyObject *name, int fline, PyObject *lnos) { PyCodeObject *result; - PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); // we don't have access to __pyx_empty_bytes here + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); if (!empty_bytes) return NULL; result = #if PY_VERSION_HEX >= 0x030C0000 @@ -964,7 +964,7 @@ static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, #endif #if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 #define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ - PyTypeObject *type = Py_TYPE(obj);\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ PyObject_GC_Del(obj);\ Py_DECREF(type);\ @@ -1398,7 +1398,7 @@ static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); #endif typedef Py_ssize_t __Pyx_compact_pylong; typedef size_t __Pyx_compact_upylong; - #else // Py < 3.12 + #else #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) @@ -1518,7 +1518,7 @@ static const char *__pyx_filename; #if !defined(CYTHON_CCOMPLEX) #if defined(__cplusplus) #define CYTHON_CCOMPLEX 1 - #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__)) + #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__) && !defined(_MSC_VER)) #define CYTHON_CCOMPLEX 1 #else #define CYTHON_CCOMPLEX 0 @@ -2325,8 +2325,8 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) #else - #define __Pyx_Arg_NewRef_VARARGS(arg) arg // no-op - #define __Pyx_Arg_XDECREF_VARARGS(arg) // no-op - arg is borrowed + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) #endif #define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) #define __Pyx_KwValues_VARARGS(args, nargs) NULL @@ -2338,12 +2338,13 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 - static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); #else #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) #endif - #define __Pyx_Arg_NewRef_FASTCALL(arg) arg // no-op, __Pyx_Arg_FASTCALL is direct and this needs - #define __Pyx_Arg_XDECREF_FASTCALL(arg) // no-op - arg was returned from array + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) #else #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS @@ -2889,22 +2890,22 @@ static int __Pyx_setup_reduce(PyObject* type_obj); #endif /* TypeImport.proto */ -#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_5 -#define __PYX_HAVE_RT_ImportType_proto_3_0_5 +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 #if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L #include #endif #if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L -#define __PYX_GET_STRUCT_ALIGNMENT_3_0_5(s) alignof(s) +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) #else -#define __PYX_GET_STRUCT_ALIGNMENT_3_0_5(s) sizeof(void*) +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) #endif -enum __Pyx_ImportType_CheckSize_3_0_5 { - __Pyx_ImportType_CheckSize_Error_3_0_5 = 0, - __Pyx_ImportType_CheckSize_Warn_3_0_5 = 1, - __Pyx_ImportType_CheckSize_Ignore_3_0_5 = 2 +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 }; -static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_5 check_size); +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); #endif /* FetchSharedCythonModule.proto */ @@ -2997,7 +2998,7 @@ typedef struct { #endif void *defaults; int defaults_pyobjects; - size_t defaults_size; // used by FusedFunction for copying defaults + size_t defaults_size; int flags; PyObject *defaults_tuple; PyObject *defaults_kwdict; @@ -23071,7 +23072,7 @@ static CYTHON_INLINE PyObject *__pyx_f_5numpy_PyDataType_SHAPE(PyArray_Descr *__ return __pyx_r; } -/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":967 +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":968 * int _import_umath() except -1 * * cdef inline void set_array_base(ndarray arr, object base): # <<<<<<<<<<<<<< @@ -23085,7 +23086,7 @@ static CYTHON_INLINE void __pyx_f_5numpy_set_array_base(PyArrayObject *__pyx_v_a const char *__pyx_filename = NULL; int __pyx_clineno = 0; - /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":968 + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":969 * * cdef inline void set_array_base(ndarray arr, object base): * Py_INCREF(base) # important to do this before stealing the reference below! # <<<<<<<<<<<<<< @@ -23094,16 +23095,16 @@ static CYTHON_INLINE void __pyx_f_5numpy_set_array_base(PyArrayObject *__pyx_v_a */ Py_INCREF(__pyx_v_base); - /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":969 + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":970 * cdef inline void set_array_base(ndarray arr, object base): * Py_INCREF(base) # important to do this before stealing the reference below! * PyArray_SetBaseObject(arr, base) # <<<<<<<<<<<<<< * * cdef inline object get_array_base(ndarray arr): */ - __pyx_t_1 = PyArray_SetBaseObject(__pyx_v_arr, __pyx_v_base); if (unlikely(__pyx_t_1 == ((int)-1))) __PYX_ERR(2, 969, __pyx_L1_error) + __pyx_t_1 = PyArray_SetBaseObject(__pyx_v_arr, __pyx_v_base); if (unlikely(__pyx_t_1 == ((int)-1))) __PYX_ERR(2, 970, __pyx_L1_error) - /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":967 + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":968 * int _import_umath() except -1 * * cdef inline void set_array_base(ndarray arr, object base): # <<<<<<<<<<<<<< @@ -23118,7 +23119,7 @@ static CYTHON_INLINE void __pyx_f_5numpy_set_array_base(PyArrayObject *__pyx_v_a __pyx_L0:; } -/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":971 +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":972 * PyArray_SetBaseObject(arr, base) * * cdef inline object get_array_base(ndarray arr): # <<<<<<<<<<<<<< @@ -23133,7 +23134,7 @@ static CYTHON_INLINE PyObject *__pyx_f_5numpy_get_array_base(PyArrayObject *__py int __pyx_t_1; __Pyx_RefNannySetupContext("get_array_base", 1); - /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":972 + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":973 * * cdef inline object get_array_base(ndarray arr): * base = PyArray_BASE(arr) # <<<<<<<<<<<<<< @@ -23142,7 +23143,7 @@ static CYTHON_INLINE PyObject *__pyx_f_5numpy_get_array_base(PyArrayObject *__py */ __pyx_v_base = PyArray_BASE(__pyx_v_arr); - 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/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":975 + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":976 * if base is NULL: * return None * return base # <<<<<<<<<<<<<< @@ -23184,7 +23185,7 @@ static CYTHON_INLINE PyObject *__pyx_f_5numpy_get_array_base(PyArrayObject *__py __pyx_r = ((PyObject *)__pyx_v_base); goto __pyx_L0; - /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":971 + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":972 * PyArray_SetBaseObject(arr, base) * * cdef inline object get_array_base(ndarray arr): # <<<<<<<<<<<<<< @@ -23199,7 +23200,7 @@ static CYTHON_INLINE PyObject *__pyx_f_5numpy_get_array_base(PyArrayObject *__py return __pyx_r; } -/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":979 +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":980 * # Versions of the import_* functions which are more suitable for * # Cython code. * cdef inline int import_array() except -1: # <<<<<<<<<<<<<< @@ -23223,7 +23224,7 @@ static CYTHON_INLINE int __pyx_f_5numpy_import_array(void) { int __pyx_clineno = 0; __Pyx_RefNannySetupContext("import_array", 1); - 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/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":980 + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":981 * # Cython code. * cdef inline int import_array() except -1: * try: # <<<<<<<<<<<<<< @@ -23262,7 +23263,7 @@ static CYTHON_INLINE int __pyx_f_5numpy_import_array(void) { goto __pyx_L8_try_end; __pyx_L3_error:; - /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":982 + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":983 * try: * __pyx_import_array() * except Exception: # <<<<<<<<<<<<<< @@ -23272,27 +23273,27 @@ static CYTHON_INLINE int __pyx_f_5numpy_import_array(void) { __pyx_t_4 = __Pyx_PyErr_ExceptionMatches(((PyObject *)(&((PyTypeObject*)PyExc_Exception)[0]))); if (__pyx_t_4) { __Pyx_AddTraceback("numpy.import_array", __pyx_clineno, __pyx_lineno, __pyx_filename); - if (__Pyx_GetException(&__pyx_t_5, &__pyx_t_6, &__pyx_t_7) < 0) __PYX_ERR(2, 982, __pyx_L5_except_error) + if (__Pyx_GetException(&__pyx_t_5, &__pyx_t_6, &__pyx_t_7) < 0) __PYX_ERR(2, 983, __pyx_L5_except_error) __Pyx_XGOTREF(__pyx_t_5); __Pyx_XGOTREF(__pyx_t_6); __Pyx_XGOTREF(__pyx_t_7); - 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/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":1025 + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":1026 * bool * """ * return PyObject_TypeCheck(obj, &PyDatetimeArrType_Type) # <<<<<<<<<<<<<< @@ -23650,7 +23651,7 @@ static CYTHON_INLINE int __pyx_f_5numpy_is_datetime64_object(PyObject *__pyx_v_o __pyx_r = PyObject_TypeCheck(__pyx_v_obj, (&PyDatetimeArrType_Type)); goto __pyx_L0; - /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":1013 + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":1014 * * * cdef inline bint is_datetime64_object(object obj): # <<<<<<<<<<<<<< @@ -23663,7 +23664,7 @@ static CYTHON_INLINE int __pyx_f_5numpy_is_datetime64_object(PyObject *__pyx_v_o return __pyx_r; } -/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":1028 +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":1029 * * * cdef inline npy_datetime get_datetime64_value(object obj) nogil: # <<<<<<<<<<<<<< @@ -23674,7 +23675,7 @@ static CYTHON_INLINE int __pyx_f_5numpy_is_datetime64_object(PyObject *__pyx_v_o static CYTHON_INLINE npy_datetime __pyx_f_5numpy_get_datetime64_value(PyObject *__pyx_v_obj) { npy_datetime __pyx_r; - 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if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 1, __pyx_L1_error) { int add_module_result = PyState_AddModule(__pyx_t_1, &__pyx_moduledef); - __pyx_t_1 = 0; /* transfer ownership from __pyx_t_1 to visionipc_pyx pseudovariable */ + __pyx_t_1 = 0; /* transfer ownership from __pyx_t_1 to "visionipc_pyx" pseudovariable */ if (unlikely((add_module_result < 0))) __PYX_ERR(0, 1, __pyx_L1_error) pystate_addmodule_run = 1; } @@ -32787,14 +32788,14 @@ static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyO { int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); if (unlikely(eq != 0)) { - if (unlikely(eq < 0)) return NULL; // error + if (unlikely(eq < 0)) return NULL; return kwvalues[i]; } } - return NULL; // not found (no exception set) + return NULL; } #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 -static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); PyObject *dict; dict = PyDict_New(); @@ -32904,7 +32905,7 @@ static int __Pyx_ParseOptionalKeywords( if (*name) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - Py_INCREF(value); // transfer ownership of value to values + Py_INCREF(value); Py_DECREF(key); #endif key = NULL; @@ -32923,7 +32924,7 @@ static int __Pyx_ParseOptionalKeywords( && _PyString_Eq(**name, key)) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -32955,7 +32956,7 @@ static int __Pyx_ParseOptionalKeywords( if (cmp == 0) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -33362,7 +33363,7 @@ static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, } } #else - if (is_list || PySequence_Check(o)) { + if (is_list || !PyMapping_Check(o)) { return PySequence_GetItem(o, i); } #endif @@ -34838,11 +34839,7 @@ static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObje } } #else -#if CYTHON_COMPILING_IN_PYPY - if (is_list || (PySequence_Check(o) && !PyDict_Check(o))) -#else - if (is_list || PySequence_Check(o)) -#endif + if (is_list || !PyMapping_Check(o)) { return PySequence_SetItem(o, i, v); } @@ -35308,38 +35305,38 @@ static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffs #endif return -1; } -#if !CYTHON_USE_TYPE_SLOTS - if (dictoffset == 0) { - PyErr_Format(PyExc_TypeError, - "extension type '%s.200s': " - "unable to validate whether bases have a __dict__ " - "when CYTHON_USE_TYPE_SLOTS is off " - "(likely because you are building in the limited API). " - "Therefore, all extension types with multiple bases " - "must add 'cdef dict __dict__' in this compilation mode", - type_name); -#if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); -#endif - return -1; - } -#else - if (dictoffset == 0 && b->tp_dictoffset) + if (dictoffset == 0) { - __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); - PyErr_Format(PyExc_TypeError, - "extension type '%.200s' has no __dict__ slot, " - "but base type '" __Pyx_FMT_TYPENAME "' has: " - "either add 'cdef dict __dict__' to the extension type " - "or add '__slots__ = [...]' to the base type", - type_name, b_name); - __Pyx_DECREF_TypeName(b_name); + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif #if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); + Py_DECREF(b0); #endif - return -1; + return -1; + } } -#endif #if CYTHON_AVOID_BORROWED_REFS Py_DECREF(b0); #endif @@ -35633,10 +35630,10 @@ __PYX_GOOD: #endif /* TypeImport */ -#ifndef __PYX_HAVE_RT_ImportType_3_0_5 -#define __PYX_HAVE_RT_ImportType_3_0_5 -static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject *module, const char *module_name, const char *class_name, - size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_5 check_size) +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) { PyObject *result = 0; char warning[200]; @@ -35690,7 +35687,7 @@ static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject *module, const char *module module_name, class_name, size, basicsize+itemsize); goto bad; } - if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_5 && + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { PyErr_Format(PyExc_ValueError, "%.200s.%.200s size changed, may indicate binary incompatibility. " @@ -35698,7 +35695,7 @@ static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject *module, const char *module module_name, class_name, size, basicsize, basicsize+itemsize); goto bad; } - else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_5 && (size_t)basicsize > size) { + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { PyOS_snprintf(warning, sizeof(warning), "%s.%s size changed, may indicate binary incompatibility. " "Expected %zd from C header, got %zd from PyObject", @@ -37260,9 +37257,10 @@ static PyObject* __Pyx_Globals(void) { /* UnpackUnboundCMethod */ static PyObject *__Pyx_SelflessCall(PyObject *method, PyObject *args, PyObject *kwargs) { + PyObject *result; PyObject *selfless_args = PyTuple_GetSlice(args, 1, PyTuple_Size(args)); if (unlikely(!selfless_args)) return NULL; - PyObject *result = PyObject_Call(method, selfless_args, kwargs); + result = PyObject_Call(method, selfless_args, kwargs); Py_DECREF(selfless_args); return result; } @@ -37748,7 +37746,7 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( #else py_code = PyCode_NewEmpty(filename, funcname, py_line); #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + Py_XDECREF(py_funcname); return py_code; bad: Py_XDECREF(py_funcname); diff --git a/cereal/visionipc/visionipc_pyx.so b/cereal/visionipc/visionipc_pyx.so index d174ba5f8..ad333b528 100755 Binary files a/cereal/visionipc/visionipc_pyx.so and b/cereal/visionipc/visionipc_pyx.so differ diff --git a/cereal/visionipc/visionipc_server.h b/cereal/visionipc/visionipc_server.h index 6ad86f146..c494b1fcf 100644 --- a/cereal/visionipc/visionipc_server.h +++ b/cereal/visionipc/visionipc_server.h @@ -6,10 +6,10 @@ #include #include "cereal/messaging/messaging.h" -#include "cereal/visionipc/visionipc.h" #include "cereal/visionipc/visionbuf.h" std::string get_endpoint_name(std::string name, VisionStreamType type); +std::string get_ipc_path(const std::string &name); class VisionIpcServer { private: diff --git a/common/ffi_wrapper.py b/common/ffi_wrapper.py index a228b4025..01741c6f4 100644 --- a/common/ffi_wrapper.py +++ b/common/ffi_wrapper.py @@ -1,55 +1,8 @@ -import os -import sys -import fcntl -import hashlib import platform -from cffi import FFI + def suffix(): if platform.system() == "Darwin": return ".dylib" else: return ".so" - -def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None): - if libraries is None: - libraries = [] - - cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest() - try: - os.mkdir(tmpdir) - except OSError: - pass - - fd = os.open(tmpdir, 0) - fcntl.flock(fd, fcntl.LOCK_EX) - try: - sys.path.append(tmpdir) - try: - mod = __import__(cache) - except Exception: - print(f"cache miss {cache}") - compile_code(cache, c_code, c_header, tmpdir, cflags, libraries) - mod = __import__(cache) - finally: - os.close(fd) - - return mod.ffi, mod.lib - - -def compile_code(name, c_code, c_header, directory, cflags="", libraries=None): - if libraries is None: - libraries = [] - - ffibuilder = FFI() - ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries) - ffibuilder.cdef(c_header) - os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z" - os.environ['CFLAGS'] = cflags - ffibuilder.compile(verbose=True, debug=False, tmpdir=directory) - - -def wrap_compiled(name, directory): - sys.path.append(directory) - mod = __import__(name) - return mod.ffi, mod.lib diff --git a/common/file_helpers.py b/common/file_helpers.py index a29eafdd9..dea298a52 100644 --- a/common/file_helpers.py +++ b/common/file_helpers.py @@ -1,50 +1,7 @@ import os -import shutil import tempfile -from atomicwrites import AtomicWriter - - -def rm_not_exists_ok(path): - try: - os.remove(path) - except OSError: - if os.path.exists(path): - raise - - -def rm_tree_or_link(path): - if os.path.islink(path): - os.unlink(path) - elif os.path.isdir(path): - shutil.rmtree(path) - - -def get_tmpdir_on_same_filesystem(path): - normpath = os.path.normpath(path) - parts = normpath.split("/") - if len(parts) > 1 and parts[1] == "scratch": - return "/scratch/tmp" - elif len(parts) > 2 and parts[2] == "runner": - return f"/{parts[1]}/runner/tmp" - return "/tmp" - - -class NamedTemporaryDir(): - def __init__(self, temp_dir=None): - self._path = tempfile.mkdtemp(dir=temp_dir) - - @property - def name(self): - return self._path - - def close(self): - shutil.rmtree(self._path) - - def __enter__(self): - return self - - def __exit__(self, exc_type, exc_value, traceback): - self.close() +import contextlib +from typing import Optional class CallbackReader: @@ -66,24 +23,16 @@ class CallbackReader: return chunk -def _get_fileobject_func(writer, temp_dir): - def _get_fileobject(): - return writer.get_fileobject(dir=temp_dir) - return _get_fileobject +@contextlib.contextmanager +def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: Optional[str] = None, newline: Optional[str] = None, + overwrite: bool = False): + """Write to a file atomically using a temporary file in the same directory as the destination file.""" + dir_name = os.path.dirname(path) -def atomic_write_on_fs_tmp(path, **kwargs): - """Creates an atomic writer using a temporary file in a temporary directory - on the same filesystem as path. - """ - # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp - # directory. - writer = AtomicWriter(path, **kwargs) - return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path))) + if not overwrite and os.path.exists(path): + raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.") - -def atomic_write_in_dir(path, **kwargs): - """Creates an atomic writer using a temporary file in the same directory - as the destination file. - """ - writer = AtomicWriter(path, **kwargs) - return writer._open(_get_fileobject_func(writer, os.path.dirname(path))) + with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file: + yield tmp_file + tmp_file_name = tmp_file.name + os.replace(tmp_file_name, path) diff --git a/common/kalman/.gitignore b/common/kalman/.gitignore deleted file mode 100644 index d86912e7d..000000000 --- a/common/kalman/.gitignore +++ /dev/null @@ -1 +0,0 @@ -simple_kalman_impl.c diff --git a/common/kalman/__init__.py b/common/kalman/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/common/kalman/simple_kalman.py b/common/kalman/simple_kalman.py deleted file mode 100644 index cd3b5a1df..000000000 --- a/common/kalman/simple_kalman.py +++ /dev/null @@ -1,12 +0,0 @@ -from openpilot.common.kalman.simple_kalman_impl import KF1D as KF1D -assert KF1D -import numpy as np - -def get_kalman_gain(dt, A, C, Q, R, iterations=100): - P = np.zeros_like(Q) - for _ in range(iterations): - P = A.dot(P).dot(A.T) + dt * Q - S = C.dot(P).dot(C.T) + R - K = P.dot(C.T).dot(np.linalg.inv(S)) - P = (np.eye(len(P)) - K.dot(C)).dot(P) - return K diff --git a/common/kalman/simple_kalman_impl.cpp b/common/kalman/simple_kalman_impl.cpp deleted file mode 100644 index 3d8e933ad..000000000 --- a/common/kalman/simple_kalman_impl.cpp +++ /dev/null @@ -1,11169 +0,0 @@ -/* Generated by Cython 3.0.5 */ - -/* BEGIN: Cython Metadata -{ - "distutils": { - "language": "c++", - "name": "common.kalman.simple_kalman_impl", - "sources": [ - "/data/openpilot/common/kalman/simple_kalman_impl.pyx" - ] - }, - "module_name": "common.kalman.simple_kalman_impl" -} -END: Cython Metadata */ - -#ifndef PY_SSIZE_T_CLEAN -#define PY_SSIZE_T_CLEAN -#endif /* PY_SSIZE_T_CLEAN */ -#if defined(CYTHON_LIMITED_API) && 0 - #ifndef Py_LIMITED_API - #if CYTHON_LIMITED_API+0 > 0x03030000 - #define Py_LIMITED_API CYTHON_LIMITED_API - #else - #define Py_LIMITED_API 0x03030000 - #endif - #endif -#endif - -#include "Python.h" -#ifndef Py_PYTHON_H - #error Python headers needed to compile C extensions, please install development version of Python. -#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) - #error Cython requires Python 2.7+ or Python 3.3+. -#else -#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API -#define __PYX_EXTRA_ABI_MODULE_NAME "limited" -#else -#define __PYX_EXTRA_ABI_MODULE_NAME "" -#endif -#define CYTHON_ABI "3_0_5" __PYX_EXTRA_ABI_MODULE_NAME -#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI -#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." -#define CYTHON_HEX_VERSION 0x030005F0 -#define CYTHON_FUTURE_DIVISION 1 -#include -#ifndef offsetof - #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) -#endif -#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) - #ifndef __stdcall - #define __stdcall - #endif - #ifndef __cdecl - #define __cdecl - #endif - #ifndef __fastcall - #define __fastcall - #endif -#endif -#ifndef DL_IMPORT - #define DL_IMPORT(t) t -#endif -#ifndef DL_EXPORT - #define DL_EXPORT(t) t -#endif -#define __PYX_COMMA , -#ifndef HAVE_LONG_LONG - #define HAVE_LONG_LONG -#endif -#ifndef PY_LONG_LONG - #define PY_LONG_LONG LONG_LONG -#endif -#ifndef Py_HUGE_VAL - #define Py_HUGE_VAL HUGE_VAL -#endif -#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX -#if defined(GRAALVM_PYTHON) - /* For very preliminary testing purposes. Most variables are set the same as PyPy. - The existence of this section does not imply that anything works or is even tested */ - #define CYTHON_COMPILING_IN_PYPY 0 - #define CYTHON_COMPILING_IN_CPYTHON 0 - #define CYTHON_COMPILING_IN_LIMITED_API 0 - #define CYTHON_COMPILING_IN_GRAAL 1 - #define CYTHON_COMPILING_IN_NOGIL 0 - #undef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 0 - #undef CYTHON_USE_TYPE_SPECS - #define CYTHON_USE_TYPE_SPECS 0 - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #if PY_VERSION_HEX < 0x03050000 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #elif !defined(CYTHON_USE_ASYNC_SLOTS) - #define CYTHON_USE_ASYNC_SLOTS 1 - #endif - #undef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 0 - #undef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 0 - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #undef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 1 - #undef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 0 - #undef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 0 - #undef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 0 - #undef CYTHON_FAST_GIL - #define CYTHON_FAST_GIL 0 - #undef CYTHON_METH_FASTCALL - #define CYTHON_METH_FASTCALL 0 - #undef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL 0 - #ifndef CYTHON_PEP487_INIT_SUBCLASS - #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) - #endif - #undef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT 1 - #undef CYTHON_USE_MODULE_STATE - #define CYTHON_USE_MODULE_STATE 0 - #undef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE 0 - #undef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS 0 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 - #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC - #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 - #endif -#elif defined(PYPY_VERSION) - #define CYTHON_COMPILING_IN_PYPY 1 - #define CYTHON_COMPILING_IN_CPYTHON 0 - #define CYTHON_COMPILING_IN_LIMITED_API 0 - #define CYTHON_COMPILING_IN_GRAAL 0 - #define CYTHON_COMPILING_IN_NOGIL 0 - #undef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 0 - #ifndef CYTHON_USE_TYPE_SPECS - #define CYTHON_USE_TYPE_SPECS 0 - #endif - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #if PY_VERSION_HEX < 0x03050000 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #elif !defined(CYTHON_USE_ASYNC_SLOTS) - #define CYTHON_USE_ASYNC_SLOTS 1 - #endif - #undef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 0 - #undef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 0 - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #undef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 1 - #undef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 0 - #undef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 0 - #undef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 0 - #undef CYTHON_FAST_GIL - #define CYTHON_FAST_GIL 0 - #undef CYTHON_METH_FASTCALL - #define CYTHON_METH_FASTCALL 0 - #undef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL 0 - #ifndef CYTHON_PEP487_INIT_SUBCLASS - #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) - #endif - #if PY_VERSION_HEX < 0x03090000 - #undef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT 0 - #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) - #define CYTHON_PEP489_MULTI_PHASE_INIT 1 - #endif - #undef CYTHON_USE_MODULE_STATE - #define CYTHON_USE_MODULE_STATE 0 - #undef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) - #undef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS 0 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 - #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC - #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 - #endif -#elif defined(CYTHON_LIMITED_API) - #ifdef Py_LIMITED_API - #undef __PYX_LIMITED_VERSION_HEX - #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API - #endif - #define CYTHON_COMPILING_IN_PYPY 0 - #define CYTHON_COMPILING_IN_CPYTHON 0 - #define CYTHON_COMPILING_IN_LIMITED_API 1 - #define CYTHON_COMPILING_IN_GRAAL 0 - #define CYTHON_COMPILING_IN_NOGIL 0 - #undef CYTHON_CLINE_IN_TRACEBACK - #define CYTHON_CLINE_IN_TRACEBACK 0 - #undef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 0 - #undef CYTHON_USE_TYPE_SPECS - #define CYTHON_USE_TYPE_SPECS 1 - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #undef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 0 - #undef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 0 - #ifndef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #endif - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #ifndef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 0 - #endif - #undef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 0 - #undef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 0 - #undef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 0 - #undef CYTHON_FAST_GIL - #define CYTHON_FAST_GIL 0 - #undef CYTHON_METH_FASTCALL - #define CYTHON_METH_FASTCALL 0 - #undef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL 0 - #ifndef CYTHON_PEP487_INIT_SUBCLASS - #define CYTHON_PEP487_INIT_SUBCLASS 1 - #endif - #undef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT 0 - #undef CYTHON_USE_MODULE_STATE - #define CYTHON_USE_MODULE_STATE 1 - #ifndef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE 0 - #endif - #undef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS 0 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 - #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC - #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 - #endif -#elif defined(PY_NOGIL) - #define CYTHON_COMPILING_IN_PYPY 0 - #define CYTHON_COMPILING_IN_CPYTHON 0 - #define CYTHON_COMPILING_IN_LIMITED_API 0 - #define CYTHON_COMPILING_IN_GRAAL 0 - #define CYTHON_COMPILING_IN_NOGIL 1 - #ifndef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 1 - #endif - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #ifndef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 1 - #endif - #undef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 0 - #ifndef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 1 - #endif - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #ifndef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 0 - #endif - #ifndef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 1 - #endif - #ifndef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 1 - #endif - #undef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 0 - #undef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL 0 - #ifndef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT 1 - #endif - #ifndef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE 1 - #endif - #undef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS 0 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 -#else - #define CYTHON_COMPILING_IN_PYPY 0 - #define CYTHON_COMPILING_IN_CPYTHON 1 - #define CYTHON_COMPILING_IN_LIMITED_API 0 - #define CYTHON_COMPILING_IN_GRAAL 0 - #define CYTHON_COMPILING_IN_NOGIL 0 - #ifndef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 1 - #endif - #ifndef CYTHON_USE_TYPE_SPECS - #define CYTHON_USE_TYPE_SPECS 0 - #endif - #ifndef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 1 - #endif - #if PY_MAJOR_VERSION < 3 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #elif !defined(CYTHON_USE_ASYNC_SLOTS) - #define CYTHON_USE_ASYNC_SLOTS 1 - #endif - #ifndef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 1 - #endif - #ifndef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 1 - #endif - #ifndef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 1 - #endif - #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #elif !defined(CYTHON_USE_UNICODE_WRITER) - #define CYTHON_USE_UNICODE_WRITER 1 - #endif - #ifndef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 0 - #endif - #ifndef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 1 - #endif - #ifndef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 1 - #endif - #ifndef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 1 - #endif - #ifndef CYTHON_FAST_GIL - #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) - #endif - #ifndef CYTHON_METH_FASTCALL - #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) - #endif - #ifndef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL 1 - #endif - #ifndef CYTHON_PEP487_INIT_SUBCLASS - #define CYTHON_PEP487_INIT_SUBCLASS 1 - #endif - #if PY_VERSION_HEX < 0x03050000 - #undef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT 0 - #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) - #define CYTHON_PEP489_MULTI_PHASE_INIT 1 - #endif - #ifndef CYTHON_USE_MODULE_STATE - #define CYTHON_USE_MODULE_STATE 0 - #endif - #if PY_VERSION_HEX < 0x030400a1 - #undef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE 0 - #elif !defined(CYTHON_USE_TP_FINALIZE) - #define CYTHON_USE_TP_FINALIZE 1 - #endif - #if PY_VERSION_HEX < 0x030600B1 - #undef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS 0 - #elif !defined(CYTHON_USE_DICT_VERSIONS) - #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) - #endif - #if PY_VERSION_HEX < 0x030700A3 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 - #elif !defined(CYTHON_USE_EXC_INFO_STACK) - #define CYTHON_USE_EXC_INFO_STACK 1 - #endif - #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC - #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 - #endif -#endif -#if !defined(CYTHON_FAST_PYCCALL) -#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) -#endif -#if !defined(CYTHON_VECTORCALL) -#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) -#endif -#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) -#if CYTHON_USE_PYLONG_INTERNALS - #if PY_MAJOR_VERSION < 3 - #include "longintrepr.h" - #endif - #undef SHIFT - #undef BASE - #undef MASK - #ifdef SIZEOF_VOID_P - enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; - #endif -#endif -#ifndef __has_attribute - #define __has_attribute(x) 0 -#endif -#ifndef __has_cpp_attribute - #define __has_cpp_attribute(x) 0 -#endif -#ifndef CYTHON_RESTRICT - #if defined(__GNUC__) - #define CYTHON_RESTRICT __restrict__ - #elif defined(_MSC_VER) && _MSC_VER >= 1400 - #define CYTHON_RESTRICT __restrict - #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L - #define CYTHON_RESTRICT restrict - #else - #define CYTHON_RESTRICT - #endif -#endif -#ifndef CYTHON_UNUSED - #if defined(__cplusplus) - /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 - * but leads to warnings with -pedantic, since it is a C++17 feature */ - #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) - #if __has_cpp_attribute(maybe_unused) - #define CYTHON_UNUSED [[maybe_unused]] - #endif - #endif - #endif -#endif -#ifndef CYTHON_UNUSED -# if defined(__GNUC__) -# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -#endif -#ifndef CYTHON_UNUSED_VAR -# if defined(__cplusplus) - template void CYTHON_UNUSED_VAR( const T& ) { } -# else -# define CYTHON_UNUSED_VAR(x) (void)(x) -# endif -#endif -#ifndef CYTHON_MAYBE_UNUSED_VAR - #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) -#endif -#ifndef CYTHON_NCP_UNUSED -# if CYTHON_COMPILING_IN_CPYTHON -# define CYTHON_NCP_UNUSED -# else -# define CYTHON_NCP_UNUSED CYTHON_UNUSED -# endif -#endif -#ifndef CYTHON_USE_CPP_STD_MOVE - #if defined(__cplusplus) && (\ - __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) - #define CYTHON_USE_CPP_STD_MOVE 1 - #else - #define CYTHON_USE_CPP_STD_MOVE 0 - #endif -#endif -#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) -#ifdef _MSC_VER - #ifndef _MSC_STDINT_H_ - #if _MSC_VER < 1300 - typedef unsigned char uint8_t; - typedef unsigned short uint16_t; - typedef unsigned int uint32_t; - #else - typedef unsigned __int8 uint8_t; - typedef unsigned __int16 uint16_t; - typedef unsigned __int32 uint32_t; - #endif - #endif - #if _MSC_VER < 1300 - #ifdef _WIN64 - typedef unsigned long long __pyx_uintptr_t; - #else - typedef unsigned int __pyx_uintptr_t; - #endif - #else - #ifdef _WIN64 - typedef unsigned __int64 __pyx_uintptr_t; - #else - typedef unsigned __int32 __pyx_uintptr_t; - #endif - #endif -#else - #include - typedef uintptr_t __pyx_uintptr_t; -#endif -#ifndef CYTHON_FALLTHROUGH - #if defined(__cplusplus) - /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 - * but leads to warnings with -pedantic, since it is a C++17 feature */ - #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) - #if __has_cpp_attribute(fallthrough) - #define CYTHON_FALLTHROUGH [[fallthrough]] - #endif - #endif - #ifndef CYTHON_FALLTHROUGH - #if __has_cpp_attribute(clang::fallthrough) - #define CYTHON_FALLTHROUGH [[clang::fallthrough]] - #elif __has_cpp_attribute(gnu::fallthrough) - #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] - #endif - #endif - #endif - #ifndef CYTHON_FALLTHROUGH - #if __has_attribute(fallthrough) - #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) - #else - #define CYTHON_FALLTHROUGH - #endif - #endif - #if defined(__clang__) && defined(__apple_build_version__) - #if __apple_build_version__ < 7000000 - #undef CYTHON_FALLTHROUGH - #define CYTHON_FALLTHROUGH - #endif - #endif -#endif -#ifdef __cplusplus - template - struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; - #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) -#else - #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) -#endif -#if CYTHON_COMPILING_IN_PYPY == 1 - #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) -#else - #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) -#endif -#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) - -#ifndef __cplusplus - #error "Cython files generated with the C++ option must be compiled with a C++ compiler." -#endif -#ifndef CYTHON_INLINE - #if defined(__clang__) - #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) - #else - #define CYTHON_INLINE inline - #endif -#endif -template -void __Pyx_call_destructor(T& x) { - x.~T(); -} -template -class __Pyx_FakeReference { - public: - __Pyx_FakeReference() : ptr(NULL) { } - __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } - T *operator->() { return ptr; } - T *operator&() { return ptr; } - operator T&() { return *ptr; } - template bool operator ==(const U& other) const { return *ptr == other; } - template bool operator !=(const U& other) const { return *ptr != other; } - template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } - template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } - private: - T *ptr; -}; - -#define __PYX_BUILD_PY_SSIZE_T "n" -#define CYTHON_FORMAT_SSIZE_T "z" -#if PY_MAJOR_VERSION < 3 - #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" - #define __Pyx_DefaultClassType PyClass_Type - #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) -#else - #define __Pyx_BUILTIN_MODULE_NAME "builtins" - #define __Pyx_DefaultClassType PyType_Type -#if CYTHON_COMPILING_IN_LIMITED_API - static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, - PyObject *code, PyObject *c, PyObject* n, PyObject *v, - PyObject *fv, PyObject *cell, PyObject* fn, - PyObject *name, int fline, PyObject *lnos) { - PyObject *exception_table = NULL; - PyObject *types_module=NULL, *code_type=NULL, *result=NULL; - #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 - PyObject *version_info; // borrowed - #endif - PyObject *py_minor_version = NULL; - long minor_version = 0; - PyObject *type, *value, *traceback; - PyErr_Fetch(&type, &value, &traceback); - #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 - minor_version = 11; // we don't yet need to distinguish between versions > 11 - #else - if (!(version_info = PySys_GetObject("version_info"))) goto end; - if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; - minor_version = PyLong_AsLong(py_minor_version); - if (minor_version == -1 && PyErr_Occurred()) goto end; - #endif - if (!(types_module = PyImport_ImportModule("types"))) goto end; - if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; - if (minor_version <= 7) { - (void)p; - result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, - c, n, v, fn, name, fline, lnos, fv, cell); - } else if (minor_version <= 10) { - result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, - c, n, v, fn, name, fline, lnos, fv, cell); - } else { - if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; - result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, - c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); - } - end: - Py_XDECREF(code_type); - Py_XDECREF(exception_table); - Py_XDECREF(types_module); - Py_XDECREF(py_minor_version); - if (type) { - PyErr_Restore(type, value, traceback); - } - return result; - } - #ifndef CO_OPTIMIZED - #define CO_OPTIMIZED 0x0001 - #endif - #ifndef CO_NEWLOCALS - #define CO_NEWLOCALS 0x0002 - #endif - #ifndef CO_VARARGS - #define CO_VARARGS 0x0004 - #endif - #ifndef CO_VARKEYWORDS - #define CO_VARKEYWORDS 0x0008 - #endif - #ifndef CO_ASYNC_GENERATOR - #define CO_ASYNC_GENERATOR 0x0200 - #endif - #ifndef CO_GENERATOR - #define CO_GENERATOR 0x0020 - #endif - #ifndef CO_COROUTINE - #define CO_COROUTINE 0x0080 - #endif -#elif PY_VERSION_HEX >= 0x030B0000 - static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, - PyObject *code, PyObject *c, PyObject* n, PyObject *v, - PyObject *fv, PyObject *cell, PyObject* fn, - PyObject *name, int fline, PyObject *lnos) { - PyCodeObject *result; - PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); // we don't have access to __pyx_empty_bytes here - if (!empty_bytes) return NULL; - result = - #if PY_VERSION_HEX >= 0x030C0000 - PyUnstable_Code_NewWithPosOnlyArgs - #else - PyCode_NewWithPosOnlyArgs - #endif - (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); - Py_DECREF(empty_bytes); - return result; - } -#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY - #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) -#else - #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) -#endif -#endif -#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) - #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) -#else - #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) -#endif -#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) - #define __Pyx_Py_Is(x, y) Py_Is(x, y) -#else - #define __Pyx_Py_Is(x, y) ((x) == (y)) -#endif -#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) - #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) -#else - #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) -#endif -#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) - #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) -#else - #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) -#endif -#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) - #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) -#else - #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) -#endif -#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? 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NULL : ((PyCFunctionObject*)func)->m_self; -} -#endif -static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { -#if CYTHON_COMPILING_IN_LIMITED_API - return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; -#else - return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; -#endif -} -#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) -#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 - #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) - typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); -#else - #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) - #define __Pyx_PyCMethod PyCMethod -#endif -#ifndef METH_METHOD - #define METH_METHOD 0x200 -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) - #define PyObject_Malloc(s) PyMem_Malloc(s) - #define PyObject_Free(p) PyMem_Free(p) - #define PyObject_Realloc(p) PyMem_Realloc(p) -#endif -#if CYTHON_COMPILING_IN_LIMITED_API - #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) -#else - #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) -#endif -#if CYTHON_COMPILING_IN_LIMITED_API - #define __Pyx_PyThreadState_Current PyThreadState_Get() -#elif !CYTHON_FAST_THREAD_STATE - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#elif PY_VERSION_HEX >= 0x030d00A1 - #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() -#elif PY_VERSION_HEX >= 0x03060000 - #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() -#elif PY_VERSION_HEX >= 0x03000000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#else - #define __Pyx_PyThreadState_Current _PyThreadState_Current -#endif -#if CYTHON_COMPILING_IN_LIMITED_API -static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) -{ - void *result; - result = PyModule_GetState(op); - if (!result) - Py_FatalError("Couldn't find the module state"); - return result; -} -#endif -#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) -#if CYTHON_COMPILING_IN_LIMITED_API - #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) -#else - #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) -#endif -#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) -#include "pythread.h" -#define Py_tss_NEEDS_INIT 0 -typedef int Py_tss_t; -static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { - *key = PyThread_create_key(); - return 0; -} -static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { - Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); - *key = Py_tss_NEEDS_INIT; - return key; -} -static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { - PyObject_Free(key); -} -static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { - return *key != Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { - PyThread_delete_key(*key); - *key = Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { - return PyThread_set_key_value(*key, value); -} -static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { - return PyThread_get_key_value(*key); -} -#endif -#if PY_MAJOR_VERSION < 3 - #if CYTHON_COMPILING_IN_PYPY - #if PYPY_VERSION_NUM < 0x07030600 - #if defined(__cplusplus) && __cplusplus >= 201402L - [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] - #elif defined(__GNUC__) || defined(__clang__) - __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) - #elif defined(_MSC_VER) - __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) - #endif - static CYTHON_INLINE int PyGILState_Check(void) { - return 0; - } - #else // PYPY_VERSION_NUM < 0x07030600 - #endif // PYPY_VERSION_NUM < 0x07030600 - #else - static CYTHON_INLINE int PyGILState_Check(void) { - PyThreadState * tstate = _PyThreadState_Current; - return tstate && (tstate == PyGILState_GetThisThreadState()); - } - #endif -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) -#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? 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__Pyx_NewRef(obj) : PySequence_Tuple(obj)) -static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); -static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); -#if CYTHON_ASSUME_SAFE_MACROS -#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) -#else -#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) -#endif -#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) -#if PY_MAJOR_VERSION >= 3 -#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) -#else -#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) -#endif -#if CYTHON_USE_PYLONG_INTERNALS - #if PY_VERSION_HEX >= 0x030C00A7 - #ifndef _PyLong_SIGN_MASK - #define _PyLong_SIGN_MASK 3 - #endif - #ifndef _PyLong_NON_SIZE_BITS - #define _PyLong_NON_SIZE_BITS 3 - #endif - #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) - #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) - #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) - #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) - #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) - #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) - #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) - #define __Pyx_PyLong_SignedDigitCount(x)\ - ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) - #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) - #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) - #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) - #else - #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) - #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) - #endif - typedef Py_ssize_t __Pyx_compact_pylong; - typedef size_t __Pyx_compact_upylong; - #else // Py < 3.12 - #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) - #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) - #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) - #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) - #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) - #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) - #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) - #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) - #define __Pyx_PyLong_CompactValue(x)\ - ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) - typedef sdigit __Pyx_compact_pylong; - typedef digit __Pyx_compact_upylong; - #endif - #if PY_VERSION_HEX >= 0x030C00A5 - #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) - #else - #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) - #endif -#endif -#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII -#include -static int __Pyx_sys_getdefaultencoding_not_ascii; -static int __Pyx_init_sys_getdefaultencoding_params(void) { - PyObject* sys; - PyObject* default_encoding = NULL; - PyObject* ascii_chars_u = NULL; - PyObject* ascii_chars_b = NULL; - const char* default_encoding_c; - sys = PyImport_ImportModule("sys"); - if (!sys) goto bad; - default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); - Py_DECREF(sys); - if (!default_encoding) goto bad; - default_encoding_c = PyBytes_AsString(default_encoding); - if (!default_encoding_c) goto bad; - if (strcmp(default_encoding_c, "ascii") == 0) { - __Pyx_sys_getdefaultencoding_not_ascii = 0; - } else { - char ascii_chars[128]; - int c; - for (c = 0; c < 128; c++) { - ascii_chars[c] = (char) c; - } - __Pyx_sys_getdefaultencoding_not_ascii = 1; - ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); - if (!ascii_chars_u) goto bad; - ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); - if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { - PyErr_Format( - PyExc_ValueError, - "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", - default_encoding_c); - goto bad; - } - Py_DECREF(ascii_chars_u); - Py_DECREF(ascii_chars_b); - } - Py_DECREF(default_encoding); - return 0; -bad: - Py_XDECREF(default_encoding); - Py_XDECREF(ascii_chars_u); - Py_XDECREF(ascii_chars_b); - return -1; -} -#endif -#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 -#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) -#else -#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) -#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT -#include -static char* __PYX_DEFAULT_STRING_ENCODING; 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-static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4A0_0___get__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ -static int __pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4A0_0_2__set__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ -static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4A0_1___get__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ -static int __pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4A0_1_2__set__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ -static PyObject *__pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4A1_0___get__(struct __pyx_obj_6common_6kalman_18simple_kalman_impl_KF1D *__pyx_v_self); /* proto */ -static int __pyx_pf_6common_6kalman_18simple_kalman_impl_4KF1D_4A1_0_2__set__(struct 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- if (n <= 0) { - return PyList_New(0); - } - res = PyList_New(n); - if (unlikely(res == NULL)) return NULL; - __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); - return res; -} -#endif - -/* BytesEquals */ -static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { -#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API - return PyObject_RichCompareBool(s1, s2, equals); -#else - if (s1 == s2) { - return (equals == Py_EQ); - } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { - const char *ps1, *ps2; - Py_ssize_t length = PyBytes_GET_SIZE(s1); - if (length != PyBytes_GET_SIZE(s2)) - return (equals == Py_NE); - ps1 = PyBytes_AS_STRING(s1); - ps2 = PyBytes_AS_STRING(s2); - if (ps1[0] != ps2[0]) { - return (equals == Py_NE); - } else if (length == 1) { - return (equals == Py_EQ); - } else { - int result; -#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) - Py_hash_t hash1, hash2; - hash1 = ((PyBytesObject*)s1)->ob_shash; 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(result == 0) : (result != 0); - } - } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { - return (equals == Py_NE); - } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { - return (equals == Py_NE); - } else { - int result; - PyObject* py_result = PyObject_RichCompare(s1, s2, equals); - if (!py_result) - return -1; - result = __Pyx_PyObject_IsTrue(py_result); - Py_DECREF(py_result); - return result; - } -#endif -} - -/* UnicodeEquals */ -static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { -#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API - return PyObject_RichCompareBool(s1, s2, equals); -#else -#if PY_MAJOR_VERSION < 3 - PyObject* owned_ref = NULL; -#endif - int s1_is_unicode, s2_is_unicode; - if (s1 == s2) { - goto return_eq; - } - s1_is_unicode = PyUnicode_CheckExact(s1); - s2_is_unicode = PyUnicode_CheckExact(s2); -#if PY_MAJOR_VERSION < 3 - if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { - owned_ref = PyUnicode_FromObject(s2); - if (unlikely(!owned_ref)) - return -1; - s2 = owned_ref; - s2_is_unicode = 1; - } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { - owned_ref = PyUnicode_FromObject(s1); - if (unlikely(!owned_ref)) - return -1; - s1 = owned_ref; - s1_is_unicode = 1; - } else if (((!s2_is_unicode) & (!s1_is_unicode))) { - return __Pyx_PyBytes_Equals(s1, s2, equals); - } -#endif - if (s1_is_unicode & s2_is_unicode) { - Py_ssize_t length; - int kind; - void *data1, *data2; - if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) - return -1; - length = __Pyx_PyUnicode_GET_LENGTH(s1); - if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { - goto return_ne; - } -#if CYTHON_USE_UNICODE_INTERNALS - { - Py_hash_t hash1, hash2; - #if CYTHON_PEP393_ENABLED - hash1 = ((PyASCIIObject*)s1)->hash; - hash2 = ((PyASCIIObject*)s2)->hash; - #else - hash1 = ((PyUnicodeObject*)s1)->hash; - hash2 = ((PyUnicodeObject*)s2)->hash; - #endif - if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { - goto return_ne; - } - } -#endif - kind = __Pyx_PyUnicode_KIND(s1); - if (kind != __Pyx_PyUnicode_KIND(s2)) { - goto return_ne; - } - data1 = __Pyx_PyUnicode_DATA(s1); - data2 = __Pyx_PyUnicode_DATA(s2); - if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { - goto return_ne; - } else if (length == 1) { - goto return_eq; - } else { - int result = memcmp(data1, data2, (size_t)(length * kind)); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_EQ) ? (result == 0) : (result != 0); - } - } else if ((s1 == Py_None) & s2_is_unicode) { - goto return_ne; - } else if ((s2 == Py_None) & s1_is_unicode) { - goto return_ne; - } else { - int result; - PyObject* py_result = PyObject_RichCompare(s1, s2, equals); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - if (!py_result) - return -1; - result = __Pyx_PyObject_IsTrue(py_result); - Py_DECREF(py_result); - return result; - } -return_eq: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_EQ); -return_ne: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_NE); -#endif -} - -/* fastcall */ -#if CYTHON_METH_FASTCALL -static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) -{ - Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); - for (i = 0; i < n; i++) - { - if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; - } - for (i = 0; i < n; i++) - { - int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); - if (unlikely(eq != 0)) { - if (unlikely(eq < 0)) return NULL; // error - return kwvalues[i]; - } - } - return NULL; // not found (no exception set) -} -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 -static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { - Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); - PyObject *dict; - dict = PyDict_New(); - if (unlikely(!dict)) - return NULL; - for (i=0; i= 3 - "%s() got multiple values for keyword argument '%U'", func_name, kw_name); - #else - "%s() got multiple values for keyword argument '%s'", func_name, - PyString_AsString(kw_name)); - #endif -} - -/* ParseKeywords */ -static int __Pyx_ParseOptionalKeywords( - PyObject *kwds, - PyObject *const *kwvalues, - PyObject **argnames[], - PyObject *kwds2, - PyObject *values[], - Py_ssize_t num_pos_args, - const char* function_name) -{ - PyObject *key = 0, *value = 0; - Py_ssize_t pos = 0; - PyObject*** name; - PyObject*** first_kw_arg = argnames + num_pos_args; - int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); - while (1) { - Py_XDECREF(key); key = NULL; - Py_XDECREF(value); value = NULL; - if (kwds_is_tuple) { - Py_ssize_t size; -#if CYTHON_ASSUME_SAFE_MACROS - size = PyTuple_GET_SIZE(kwds); -#else - size = PyTuple_Size(kwds); - if (size < 0) goto bad; -#endif - if (pos >= size) break; -#if CYTHON_AVOID_BORROWED_REFS - key = __Pyx_PySequence_ITEM(kwds, pos); - if (!key) goto bad; -#elif CYTHON_ASSUME_SAFE_MACROS - key = PyTuple_GET_ITEM(kwds, pos); -#else - key = PyTuple_GetItem(kwds, pos); - if (!key) goto bad; -#endif - value = kwvalues[pos]; - pos++; - } - else - { - if (!PyDict_Next(kwds, &pos, &key, &value)) break; -#if CYTHON_AVOID_BORROWED_REFS - Py_INCREF(key); -#endif - } - name = first_kw_arg; - while (*name && (**name != key)) name++; - if (*name) { - values[name-argnames] = value; -#if CYTHON_AVOID_BORROWED_REFS - Py_INCREF(value); // transfer ownership of value to values - Py_DECREF(key); -#endif - key = NULL; - value = NULL; - continue; - } -#if !CYTHON_AVOID_BORROWED_REFS - Py_INCREF(key); -#endif - Py_INCREF(value); - name = first_kw_arg; - #if PY_MAJOR_VERSION < 3 - if (likely(PyString_Check(key))) { - while (*name) { - if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) - && _PyString_Eq(**name, key)) { - values[name-argnames] = value; -#if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values -#endif - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - if ((**argname == key) || ( - (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) - && _PyString_Eq(**argname, key))) { - goto arg_passed_twice; - } - argname++; - } - } - } else - #endif - if (likely(PyUnicode_Check(key))) { - while (*name) { - int cmp = ( - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**name, key) - ); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) { - values[name-argnames] = value; -#if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values -#endif - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - int cmp = (**argname == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**argname, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) goto arg_passed_twice; - argname++; - } - } - } else - goto invalid_keyword_type; - if (kwds2) { - if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; - } else { - goto invalid_keyword; - } - } - Py_XDECREF(key); - Py_XDECREF(value); - return 0; -arg_passed_twice: - __Pyx_RaiseDoubleKeywordsError(function_name, key); - goto bad; -invalid_keyword_type: - PyErr_Format(PyExc_TypeError, - "%.200s() keywords must be strings", function_name); - goto bad; -invalid_keyword: - #if PY_MAJOR_VERSION < 3 - PyErr_Format(PyExc_TypeError, - "%.200s() got an unexpected keyword argument '%.200s'", - function_name, PyString_AsString(key)); - #else - PyErr_Format(PyExc_TypeError, - "%s() got an unexpected keyword argument '%U'", - function_name, key); - #endif -bad: - Py_XDECREF(key); - Py_XDECREF(value); - return -1; -} - -/* GetItemInt */ -static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { - PyObject *r; - if (unlikely(!j)) return NULL; - r = PyObject_GetItem(o, j); - Py_DECREF(j); - return r; -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyList_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { - PyObject *r = PyList_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyTuple_GET_SIZE(o); - } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; - } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); -#endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS - if (is_list || PyList_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); - if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { - PyObject *r = PyList_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } - else if (PyTuple_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); - if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } else { - PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; - PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; - if (mm && mm->mp_subscript) { - PyObject *r, *key = PyInt_FromSsize_t(i); - if (unlikely(!key)) return NULL; - r = mm->mp_subscript(o, key); - Py_DECREF(key); - return r; - } - if (likely(sm && sm->sq_item)) { - if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { - Py_ssize_t l = sm->sq_length(o); - if (likely(l >= 0)) { - i += l; - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - return NULL; - PyErr_Clear(); - } - } - return sm->sq_item(o, i); - } - } -#else - if (is_list || PySequence_Check(o)) { - return PySequence_GetItem(o, i); - } -#endif - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -} - -/* KeywordStringCheck */ -static int __Pyx_CheckKeywordStrings( - PyObject *kw, - const char* function_name, - int kw_allowed) -{ - PyObject* key = 0; - Py_ssize_t pos = 0; -#if CYTHON_COMPILING_IN_PYPY - if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) - goto invalid_keyword; - return 1; -#else - if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { - Py_ssize_t kwsize; -#if CYTHON_ASSUME_SAFE_MACROS - kwsize = PyTuple_GET_SIZE(kw); -#else - kwsize = PyTuple_Size(kw); - if (kwsize < 0) return 0; -#endif - if (unlikely(kwsize == 0)) - return 1; - if (!kw_allowed) { -#if CYTHON_ASSUME_SAFE_MACROS - key = PyTuple_GET_ITEM(kw, 0); -#else - key = PyTuple_GetItem(kw, pos); - if (!key) return 0; -#endif - goto invalid_keyword; - } -#if PY_VERSION_HEX < 0x03090000 - for (pos = 0; pos < kwsize; pos++) { -#if CYTHON_ASSUME_SAFE_MACROS - key = PyTuple_GET_ITEM(kw, pos); -#else - key = PyTuple_GetItem(kw, pos); - if (!key) return 0; -#endif - if (unlikely(!PyUnicode_Check(key))) - goto invalid_keyword_type; - } -#endif - return 1; - } - while (PyDict_Next(kw, &pos, &key, 0)) { - #if PY_MAJOR_VERSION < 3 - if (unlikely(!PyString_Check(key))) - #endif - if (unlikely(!PyUnicode_Check(key))) - goto invalid_keyword_type; - } - if (!kw_allowed && unlikely(key)) - goto invalid_keyword; - return 1; -invalid_keyword_type: - PyErr_Format(PyExc_TypeError, - "%.200s() keywords must be strings", function_name); - return 0; -#endif -invalid_keyword: - #if PY_MAJOR_VERSION < 3 - PyErr_Format(PyExc_TypeError, - "%.200s() got an unexpected keyword argument '%.200s'", - function_name, PyString_AsString(key)); - #else - PyErr_Format(PyExc_TypeError, - "%s() got an unexpected keyword argument '%U'", - function_name, key); - #endif - return 0; -} - -/* PyErrExceptionMatches */ -#if CYTHON_FAST_THREAD_STATE -static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; 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- if (value) { - #if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(((PyBaseExceptionObject*) value)->traceback != tb)) - #endif - PyException_SetTraceback(value, tb); - } - tmp_value = tstate->current_exception; - tstate->current_exception = value; - Py_XDECREF(tmp_value); - Py_XDECREF(type); - Py_XDECREF(tb); -#else - PyObject *tmp_type, *tmp_value, *tmp_tb; - tmp_type = tstate->curexc_type; - tmp_value = tstate->curexc_value; - tmp_tb = tstate->curexc_traceback; - tstate->curexc_type = type; - tstate->curexc_value = value; - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -#endif -} -static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { -#if PY_VERSION_HEX >= 0x030C00A6 - PyObject* exc_value; - exc_value = tstate->current_exception; - tstate->current_exception = 0; - *value = exc_value; - *type = NULL; - *tb = NULL; - if (exc_value) { - *type = (PyObject*) Py_TYPE(exc_value); - Py_INCREF(*type); - #if CYTHON_COMPILING_IN_CPYTHON - *tb = ((PyBaseExceptionObject*) exc_value)->traceback; - Py_XINCREF(*tb); - #else - *tb = PyException_GetTraceback(exc_value); - #endif - } -#else - *type = tstate->curexc_type; - *value = tstate->curexc_value; - *tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -#endif -} -#endif - -/* PyObjectGetAttrStr */ -#if CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro)) - return tp->tp_getattro(obj, attr_name); -#if PY_MAJOR_VERSION < 3 - if (likely(tp->tp_getattr)) - return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); -#endif - return PyObject_GetAttr(obj, attr_name); -} -#endif - -/* GetAttr3 */ -#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 -static PyObject *__Pyx_GetAttr3Default(PyObject *d) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - return NULL; - __Pyx_PyErr_Clear(); - Py_INCREF(d); - return d; -} -#endif -static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { - PyObject *r; -#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 - int res = PyObject_GetOptionalAttr(o, n, &r); - return (res != 0) ? r : __Pyx_NewRef(d); -#else - #if CYTHON_USE_TYPE_SLOTS - if (likely(PyString_Check(n))) { - r = __Pyx_PyObject_GetAttrStrNoError(o, n); - if (unlikely(!r) && likely(!PyErr_Occurred())) { - r = __Pyx_NewRef(d); - } - return r; - } - #endif - r = PyObject_GetAttr(o, n); - return (likely(r)) ? r : __Pyx_GetAttr3Default(d); -#endif -} - -/* PyObjectGetAttrStrNoError */ -#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 -static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - __Pyx_PyErr_Clear(); -} -#endif -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { - PyObject *result; -#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 - (void) PyObject_GetOptionalAttr(obj, attr_name, &result); - return result; -#else -#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { - return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); - } -#endif - result = __Pyx_PyObject_GetAttrStr(obj, attr_name); - if (unlikely(!result)) { - __Pyx_PyObject_GetAttrStr_ClearAttributeError(); - } - return result; -#endif -} - -/* GetBuiltinName */ -static PyObject *__Pyx_GetBuiltinName(PyObject *name) { - PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); - if (unlikely(!result) && !PyErr_Occurred()) { - PyErr_Format(PyExc_NameError, -#if PY_MAJOR_VERSION >= 3 - "name '%U' is not defined", name); -#else - "name '%.200s' is not defined", PyString_AS_STRING(name)); -#endif - } - return result; -} - -/* PyDictVersioning */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; -} -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { - PyObject **dictptr = NULL; - Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; - if (offset) { -#if CYTHON_COMPILING_IN_CPYTHON - dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); -#else - dictptr = _PyObject_GetDictPtr(obj); -#endif - } - return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; -} -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) - return 0; - return obj_dict_version == __Pyx_get_object_dict_version(obj); -} -#endif - -/* GetModuleGlobalName */ -#if CYTHON_USE_DICT_VERSIONS -static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) -#else -static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) -#endif -{ - PyObject *result; -#if !CYTHON_AVOID_BORROWED_REFS -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 - result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } else if (unlikely(PyErr_Occurred())) { - return NULL; - } -#elif CYTHON_COMPILING_IN_LIMITED_API - if (unlikely(!__pyx_m)) { - return NULL; - } - result = PyObject_GetAttr(__pyx_m, name); - if (likely(result)) { - return result; - } -#else - result = PyDict_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } -#endif -#else - result = PyObject_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } - PyErr_Clear(); -#endif - return __Pyx_GetBuiltinName(name); -} - -/* RaiseUnexpectedTypeError */ -static int -__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) -{ - __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); - PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, - expected, obj_type_name); - __Pyx_DECREF_TypeName(obj_type_name); - return 0; -} - -/* Import */ -static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { - PyObject *module = 0; - PyObject *empty_dict = 0; - PyObject *empty_list = 0; - #if PY_MAJOR_VERSION < 3 - PyObject *py_import; - py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); - if (unlikely(!py_import)) - goto bad; - if (!from_list) { - empty_list = PyList_New(0); - if (unlikely(!empty_list)) - goto bad; - from_list = empty_list; - } - #endif - empty_dict = PyDict_New(); - if (unlikely(!empty_dict)) - goto bad; - { - #if PY_MAJOR_VERSION >= 3 - if (level == -1) { - if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { - module = PyImport_ImportModuleLevelObject( - name, __pyx_d, empty_dict, from_list, 1); - if (unlikely(!module)) { - if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) - goto bad; - PyErr_Clear(); - } - } - level = 0; - } - #endif - if (!module) { - #if PY_MAJOR_VERSION < 3 - PyObject *py_level = PyInt_FromLong(level); - if (unlikely(!py_level)) - goto bad; - module = PyObject_CallFunctionObjArgs(py_import, - name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); - Py_DECREF(py_level); - #else - module = PyImport_ImportModuleLevelObject( - name, __pyx_d, empty_dict, from_list, level); - #endif - } - } -bad: - Py_XDECREF(empty_dict); - Py_XDECREF(empty_list); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_import); - #endif - return module; -} - -/* ImportFrom */ -static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { - PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); - if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { - const char* module_name_str = 0; - PyObject* module_name = 0; - PyObject* module_dot = 0; - PyObject* full_name = 0; - PyErr_Clear(); - module_name_str = PyModule_GetName(module); - if (unlikely(!module_name_str)) { goto modbad; } - module_name = PyUnicode_FromString(module_name_str); - if (unlikely(!module_name)) { goto modbad; } - module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); - if (unlikely(!module_dot)) { goto modbad; } - full_name = PyUnicode_Concat(module_dot, name); - if (unlikely(!full_name)) { goto modbad; } - #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) - { - PyObject *modules = PyImport_GetModuleDict(); - if (unlikely(!modules)) - goto modbad; - value = PyObject_GetItem(modules, full_name); - } - #else - value = PyImport_GetModule(full_name); - #endif - modbad: - Py_XDECREF(full_name); - Py_XDECREF(module_dot); - Py_XDECREF(module_name); - } - if (unlikely(!value)) { - PyErr_Format(PyExc_ImportError, - #if PY_MAJOR_VERSION < 3 - "cannot import name %.230s", PyString_AS_STRING(name)); - #else - "cannot import name %S", name); - #endif - } - return value; -} - -/* RaiseException */ -#if PY_MAJOR_VERSION < 3 -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { - __Pyx_PyThreadState_declare - CYTHON_UNUSED_VAR(cause); - Py_XINCREF(type); - if (!value || value == Py_None) - value = NULL; - else - Py_INCREF(value); - if (!tb || tb == Py_None) - tb = NULL; - else { - Py_INCREF(tb); - if (!PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto raise_error; - } - } - if (PyType_Check(type)) { -#if CYTHON_COMPILING_IN_PYPY - if (!value) { - Py_INCREF(Py_None); - value = Py_None; - } -#endif - PyErr_NormalizeException(&type, &value, &tb); - } else { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto raise_error; - } - value = type; - type = (PyObject*) Py_TYPE(type); - Py_INCREF(type); - if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto raise_error; - } - } - __Pyx_PyThreadState_assign - __Pyx_ErrRestore(type, value, tb); - return; -raise_error: - Py_XDECREF(value); - Py_XDECREF(type); - Py_XDECREF(tb); - return; -} -#else -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { - PyObject* owned_instance = NULL; - if (tb == Py_None) { - tb = 0; - } else if (tb && !PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto bad; - } - if (value == Py_None) - value = 0; - if (PyExceptionInstance_Check(type)) { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto bad; - } - value = type; - type = (PyObject*) Py_TYPE(value); - } else if (PyExceptionClass_Check(type)) { - PyObject *instance_class = NULL; - if (value && PyExceptionInstance_Check(value)) { - instance_class = (PyObject*) Py_TYPE(value); - if (instance_class != type) { - int is_subclass = PyObject_IsSubclass(instance_class, type); - if (!is_subclass) { - instance_class = NULL; - } else if (unlikely(is_subclass == -1)) { - goto bad; - } else { - type = instance_class; - } - } - } - if (!instance_class) { - PyObject *args; - if (!value) - args = PyTuple_New(0); - else if (PyTuple_Check(value)) { - Py_INCREF(value); - args = value; - } else - args = PyTuple_Pack(1, value); - if (!args) - goto bad; - owned_instance = PyObject_Call(type, args, NULL); - Py_DECREF(args); - if (!owned_instance) - goto bad; - value = owned_instance; - if (!PyExceptionInstance_Check(value)) { - PyErr_Format(PyExc_TypeError, - "calling %R should have returned an instance of " - "BaseException, not %R", - type, Py_TYPE(value)); - goto bad; - } - } - } else { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto bad; - } - if (cause) { - PyObject *fixed_cause; - if (cause == Py_None) { - fixed_cause = NULL; - } else if (PyExceptionClass_Check(cause)) { - fixed_cause = PyObject_CallObject(cause, NULL); - if (fixed_cause == NULL) - goto bad; - } else if (PyExceptionInstance_Check(cause)) { - fixed_cause = cause; - Py_INCREF(fixed_cause); - } else { - PyErr_SetString(PyExc_TypeError, - "exception causes must derive from " - "BaseException"); - goto bad; - } - PyException_SetCause(value, fixed_cause); - } - PyErr_SetObject(type, value); - if (tb) { - #if PY_VERSION_HEX >= 0x030C00A6 - PyException_SetTraceback(value, tb); - #elif CYTHON_FAST_THREAD_STATE - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* tmp_tb = tstate->curexc_traceback; - if (tb != tmp_tb) { - Py_INCREF(tb); - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_tb); - } -#else - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); - Py_INCREF(tb); - PyErr_Restore(tmp_type, tmp_value, tb); - Py_XDECREF(tmp_tb); -#endif - } -bad: - Py_XDECREF(owned_instance); - return; -} -#endif - -/* PyFunctionFastCall */ -#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL -static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, - PyObject *globals) { - PyFrameObject *f; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject **fastlocals; - Py_ssize_t i; - PyObject *result; - assert(globals != NULL); - /* XXX Perhaps we should create a specialized - PyFrame_New() that doesn't take locals, but does - take builtins without sanity checking them. - */ - assert(tstate != NULL); - f = PyFrame_New(tstate, co, globals, NULL); - if (f == NULL) { - return NULL; - } - fastlocals = __Pyx_PyFrame_GetLocalsplus(f); - for (i = 0; i < na; i++) { - Py_INCREF(*args); - fastlocals[i] = *args++; - } - result = PyEval_EvalFrameEx(f,0); - ++tstate->recursion_depth; - Py_DECREF(f); - --tstate->recursion_depth; - return result; -} -static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { - PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); - PyObject *globals = PyFunction_GET_GLOBALS(func); - PyObject *argdefs = PyFunction_GET_DEFAULTS(func); - PyObject *closure; -#if PY_MAJOR_VERSION >= 3 - PyObject *kwdefs; -#endif - PyObject *kwtuple, **k; - PyObject **d; - Py_ssize_t nd; - Py_ssize_t nk; - PyObject *result; - assert(kwargs == NULL || PyDict_Check(kwargs)); - nk = kwargs ? PyDict_Size(kwargs) : 0; - #if PY_MAJOR_VERSION < 3 - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { - return NULL; - } - #else - if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { - return NULL; - } - #endif - if ( -#if PY_MAJOR_VERSION >= 3 - co->co_kwonlyargcount == 0 && -#endif - likely(kwargs == NULL || nk == 0) && - co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { - if (argdefs == NULL && co->co_argcount == nargs) { - result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); - goto done; - } - else if (nargs == 0 && argdefs != NULL - && co->co_argcount == Py_SIZE(argdefs)) { - /* function called with no arguments, but all parameters have - a default value: use default values as arguments .*/ - args = &PyTuple_GET_ITEM(argdefs, 0); - result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); - goto done; - } - } - if (kwargs != NULL) { - Py_ssize_t pos, i; - kwtuple = PyTuple_New(2 * nk); - if (kwtuple == NULL) { - result = NULL; - goto done; - } - k = &PyTuple_GET_ITEM(kwtuple, 0); - pos = i = 0; - while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { - Py_INCREF(k[i]); - Py_INCREF(k[i+1]); - i += 2; - } - nk = i / 2; - } - else { - kwtuple = NULL; - k = NULL; - } - closure = PyFunction_GET_CLOSURE(func); -#if PY_MAJOR_VERSION >= 3 - kwdefs = PyFunction_GET_KW_DEFAULTS(func); -#endif - if (argdefs != NULL) { - d = &PyTuple_GET_ITEM(argdefs, 0); - nd = Py_SIZE(argdefs); - } - else { - d = NULL; - nd = 0; - } -#if PY_MAJOR_VERSION >= 3 - result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, kwdefs, closure); -#else - result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, - args, (int)nargs, - k, (int)nk, - d, (int)nd, closure); -#endif - Py_XDECREF(kwtuple); -done: - Py_LeaveRecursiveCall(); - return result; -} -#endif - -/* PyObjectCall */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { - PyObject *result; - ternaryfunc call = Py_TYPE(func)->tp_call; - if (unlikely(!call)) - return PyObject_Call(func, arg, kw); - #if PY_MAJOR_VERSION < 3 - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - #else - if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) - return NULL; - #endif - result = (*call)(func, arg, kw); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectCallMethO */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { - PyObject *self, *result; - PyCFunction cfunc; - cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); - self = __Pyx_CyOrPyCFunction_GET_SELF(func); - #if PY_MAJOR_VERSION < 3 - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - #else - if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) - return NULL; - #endif - result = cfunc(self, arg); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; -} -#endif - -/* PyObjectFastCall */ -#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API -static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { - PyObject *argstuple; - PyObject *result = 0; - size_t i; - argstuple = PyTuple_New((Py_ssize_t)nargs); - if (unlikely(!argstuple)) return NULL; - for (i = 0; i < nargs; i++) { - Py_INCREF(args[i]); - if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; - } - result = __Pyx_PyObject_Call(func, argstuple, kwargs); - bad: - Py_DECREF(argstuple); - return result; -} -#endif -static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { - Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); -#if CYTHON_COMPILING_IN_CPYTHON - if (nargs == 0 && kwargs == NULL) { - if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) - return __Pyx_PyObject_CallMethO(func, NULL); - } - else if (nargs == 1 && kwargs == NULL) { - if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) - return __Pyx_PyObject_CallMethO(func, args[0]); - } -#endif - #if PY_VERSION_HEX < 0x030800B1 - #if CYTHON_FAST_PYCCALL - if (PyCFunction_Check(func)) { - if (kwargs) { - return _PyCFunction_FastCallDict(func, args, nargs, kwargs); - } else { - return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); - } - } - #if PY_VERSION_HEX >= 0x030700A1 - if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { - return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); - } - #endif - #endif - #if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); - } - #endif - #endif - if (kwargs == NULL) { - #if CYTHON_VECTORCALL - #if PY_VERSION_HEX < 0x03090000 - vectorcallfunc f = _PyVectorcall_Function(func); - #else - vectorcallfunc f = PyVectorcall_Function(func); - #endif - if (f) { - return f(func, args, (size_t)nargs, NULL); - } - #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL - if (__Pyx_CyFunction_CheckExact(func)) { - __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); - if (f) return f(func, args, (size_t)nargs, NULL); - } - #endif - } - if (nargs == 0) { - return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); - } - #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API - return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); - #else - return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); - #endif -} - -/* GetAttr */ -static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { -#if CYTHON_USE_TYPE_SLOTS -#if PY_MAJOR_VERSION >= 3 - if (likely(PyUnicode_Check(n))) -#else - if (likely(PyString_Check(n))) -#endif - return __Pyx_PyObject_GetAttrStr(o, n); -#endif - return PyObject_GetAttr(o, n); -} - -/* HasAttr */ -#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 -static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { - PyObject *r; - if (unlikely(!__Pyx_PyBaseString_Check(n))) { - PyErr_SetString(PyExc_TypeError, - "hasattr(): attribute name must be string"); - return -1; - } - r = __Pyx_GetAttr(o, n); - if (!r) { - PyErr_Clear(); - return 0; - } else { - Py_DECREF(r); - return 1; - } -} -#endif - -/* FixUpExtensionType */ -#if CYTHON_USE_TYPE_SPECS -static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { -#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API - CYTHON_UNUSED_VAR(spec); - CYTHON_UNUSED_VAR(type); -#else - const PyType_Slot *slot = spec->slots; - while (slot && slot->slot && slot->slot != Py_tp_members) - slot++; - if (slot && slot->slot == Py_tp_members) { - int changed = 0; -#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) - const -#endif - PyMemberDef *memb = (PyMemberDef*) slot->pfunc; - while (memb && memb->name) { - if (memb->name[0] == '_' && memb->name[1] == '_') { -#if PY_VERSION_HEX < 0x030900b1 - if (strcmp(memb->name, "__weaklistoffset__") == 0) { - assert(memb->type == T_PYSSIZET); - assert(memb->flags == READONLY); - type->tp_weaklistoffset = memb->offset; - changed = 1; - } - else if (strcmp(memb->name, "__dictoffset__") == 0) { - assert(memb->type == T_PYSSIZET); - assert(memb->flags == READONLY); - type->tp_dictoffset = memb->offset; - changed = 1; - } -#if CYTHON_METH_FASTCALL - else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { - assert(memb->type == T_PYSSIZET); - assert(memb->flags == READONLY); -#if PY_VERSION_HEX >= 0x030800b4 - type->tp_vectorcall_offset = memb->offset; -#else - type->tp_print = (printfunc) memb->offset; -#endif - changed = 1; - } -#endif -#else - if ((0)); -#endif -#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON - else if (strcmp(memb->name, "__module__") == 0) { - PyObject *descr; - assert(memb->type == T_OBJECT); - assert(memb->flags == 0 || memb->flags == READONLY); - descr = PyDescr_NewMember(type, memb); - if (unlikely(!descr)) - return -1; - if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { - Py_DECREF(descr); - return -1; - } - Py_DECREF(descr); - changed = 1; - } -#endif - } - memb++; - } - if (changed) - PyType_Modified(type); - } -#endif - return 0; -} -#endif - -/* PyObjectCallNoArg */ -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { - PyObject *arg[2] = {NULL, NULL}; - return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); -} - -/* PyObjectCallOneArg */ -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *args[2] = {NULL, arg}; - return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); -} - -/* PyObjectGetMethod */ -static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { - PyObject *attr; -#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP - __Pyx_TypeName type_name; - PyTypeObject *tp = Py_TYPE(obj); - PyObject *descr; - descrgetfunc f = NULL; - PyObject **dictptr, *dict; - int meth_found = 0; - assert (*method == NULL); - if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { - attr = __Pyx_PyObject_GetAttrStr(obj, name); - goto try_unpack; - } - if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { - return 0; - } - descr = _PyType_Lookup(tp, name); - if (likely(descr != NULL)) { - Py_INCREF(descr); -#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR - if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) -#elif PY_MAJOR_VERSION >= 3 - #ifdef __Pyx_CyFunction_USED - if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) - #else - if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) - #endif -#else - #ifdef __Pyx_CyFunction_USED - if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) - #else - if (likely(PyFunction_Check(descr))) - #endif -#endif - { - meth_found = 1; - } else { - f = Py_TYPE(descr)->tp_descr_get; - if (f != NULL && PyDescr_IsData(descr)) { - attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); - Py_DECREF(descr); - goto try_unpack; - } - } - } - dictptr = _PyObject_GetDictPtr(obj); - if (dictptr != NULL && (dict = *dictptr) != NULL) { - Py_INCREF(dict); - attr = __Pyx_PyDict_GetItemStr(dict, name); - if (attr != NULL) { - Py_INCREF(attr); - Py_DECREF(dict); - Py_XDECREF(descr); - goto try_unpack; - } - Py_DECREF(dict); - } - if (meth_found) { - *method = descr; - return 1; - } - if (f != NULL) { - attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); - Py_DECREF(descr); - goto try_unpack; - } - if (likely(descr != NULL)) { - *method = descr; - return 0; - } - type_name = __Pyx_PyType_GetName(tp); - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", - type_name, name); -#else - "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", - type_name, PyString_AS_STRING(name)); -#endif - __Pyx_DECREF_TypeName(type_name); - return 0; -#else - attr = __Pyx_PyObject_GetAttrStr(obj, name); - goto try_unpack; -#endif -try_unpack: -#if CYTHON_UNPACK_METHODS - if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { - PyObject *function = PyMethod_GET_FUNCTION(attr); - Py_INCREF(function); - Py_DECREF(attr); - *method = function; - return 1; - } -#endif - *method = attr; - return 0; -} - -/* PyObjectCallMethod0 */ -static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { - PyObject *method = NULL, *result = NULL; - int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); - if (likely(is_method)) { - result = __Pyx_PyObject_CallOneArg(method, obj); - Py_DECREF(method); - return result; - } - if (unlikely(!method)) goto bad; - result = __Pyx_PyObject_CallNoArg(method); - Py_DECREF(method); -bad: - return result; -} - -/* ValidateBasesTuple */ -#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS -static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { - Py_ssize_t i, n; -#if CYTHON_ASSUME_SAFE_MACROS - n = PyTuple_GET_SIZE(bases); -#else - n = PyTuple_Size(bases); - if (n < 0) return -1; -#endif - for (i = 1; i < n; i++) - { -#if CYTHON_AVOID_BORROWED_REFS - PyObject *b0 = PySequence_GetItem(bases, i); - if (!b0) return -1; -#elif CYTHON_ASSUME_SAFE_MACROS - PyObject *b0 = PyTuple_GET_ITEM(bases, i); -#else - PyObject *b0 = PyTuple_GetItem(bases, i); - if (!b0) return -1; -#endif - PyTypeObject *b; -#if PY_MAJOR_VERSION < 3 - if (PyClass_Check(b0)) - { - PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", - PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); -#if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); -#endif - return -1; - } -#endif - b = (PyTypeObject*) b0; - if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) - { - __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); - PyErr_Format(PyExc_TypeError, - "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); - __Pyx_DECREF_TypeName(b_name); -#if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); -#endif - return -1; - } -#if !CYTHON_USE_TYPE_SLOTS - if (dictoffset == 0) { - PyErr_Format(PyExc_TypeError, - "extension type '%s.200s': " - "unable to validate whether bases have a __dict__ " - "when CYTHON_USE_TYPE_SLOTS is off " - "(likely because you are building in the limited API). " - "Therefore, all extension types with multiple bases " - "must add 'cdef dict __dict__' in this compilation mode", - type_name); -#if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); -#endif - return -1; - } -#else - if (dictoffset == 0 && b->tp_dictoffset) - { - __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); - PyErr_Format(PyExc_TypeError, - "extension type '%.200s' has no __dict__ slot, " - "but base type '" __Pyx_FMT_TYPENAME "' has: " - "either add 'cdef dict __dict__' to the extension type " - "or add '__slots__ = [...]' to the base type", - type_name, b_name); - __Pyx_DECREF_TypeName(b_name); -#if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); -#endif - return -1; - } -#endif -#if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); -#endif - } - return 0; -} -#endif - -/* PyType_Ready */ -static int __Pyx_PyType_Ready(PyTypeObject *t) { -#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) - (void)__Pyx_PyObject_CallMethod0; -#if CYTHON_USE_TYPE_SPECS - (void)__Pyx_validate_bases_tuple; -#endif - return PyType_Ready(t); -#else - int r; - PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); - if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) - return -1; -#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) - { - int gc_was_enabled; - #if PY_VERSION_HEX >= 0x030A00b1 - gc_was_enabled = PyGC_Disable(); - (void)__Pyx_PyObject_CallMethod0; - #else - PyObject *ret, *py_status; - PyObject *gc = NULL; - #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) - gc = PyImport_GetModule(__pyx_kp_u_gc); - #endif - if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); - if (unlikely(!gc)) return -1; - py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); - if (unlikely(!py_status)) { - Py_DECREF(gc); - return -1; - } - gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); - Py_DECREF(py_status); - if (gc_was_enabled > 0) { - ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); - if (unlikely(!ret)) { - Py_DECREF(gc); - return -1; - } - Py_DECREF(ret); - } else if (unlikely(gc_was_enabled == -1)) { - Py_DECREF(gc); - return -1; - } - #endif - t->tp_flags |= Py_TPFLAGS_HEAPTYPE; -#if PY_VERSION_HEX >= 0x030A0000 - t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; -#endif -#else - (void)__Pyx_PyObject_CallMethod0; -#endif - r = PyType_Ready(t); -#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) - t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; - #if PY_VERSION_HEX >= 0x030A00b1 - if (gc_was_enabled) - PyGC_Enable(); - #else - if (gc_was_enabled) { - PyObject *tp, *v, *tb; - PyErr_Fetch(&tp, &v, &tb); - ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); - if (likely(ret || r == -1)) { - Py_XDECREF(ret); - PyErr_Restore(tp, v, tb); - } else { - Py_XDECREF(tp); - Py_XDECREF(v); - Py_XDECREF(tb); - r = -1; - } - } - Py_DECREF(gc); - #endif - } -#endif - return r; -#endif -} - -/* PyObject_GenericGetAttrNoDict */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { - __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", - type_name, attr_name); -#else - "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", - type_name, PyString_AS_STRING(attr_name)); -#endif - __Pyx_DECREF_TypeName(type_name); - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { - PyObject *descr; - PyTypeObject *tp = Py_TYPE(obj); - if (unlikely(!PyString_Check(attr_name))) { - return PyObject_GenericGetAttr(obj, attr_name); - } - assert(!tp->tp_dictoffset); - descr = _PyType_Lookup(tp, attr_name); - if (unlikely(!descr)) { - return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); - } - Py_INCREF(descr); - #if PY_MAJOR_VERSION < 3 - if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) - #endif - { - descrgetfunc f = Py_TYPE(descr)->tp_descr_get; - if (unlikely(f)) { - PyObject *res = f(descr, obj, (PyObject *)tp); - Py_DECREF(descr); - return res; - } - } - return descr; -} -#endif - -/* PyObject_GenericGetAttr */ -#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { - if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { - return PyObject_GenericGetAttr(obj, attr_name); - } - return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); -} -#endif - -/* SetupReduce */ -#if !CYTHON_COMPILING_IN_LIMITED_API -static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { - int ret; - PyObject *name_attr; - name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name); - if (likely(name_attr)) { - ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); - } else { - ret = -1; - } - if (unlikely(ret < 0)) { - PyErr_Clear(); - ret = 0; - } - Py_XDECREF(name_attr); - return ret; -} -static int __Pyx_setup_reduce(PyObject* type_obj) { - int ret = 0; - PyObject *object_reduce = NULL; - PyObject *object_getstate = NULL; - PyObject *object_reduce_ex = NULL; - PyObject *reduce = NULL; - PyObject *reduce_ex = NULL; - PyObject *reduce_cython = NULL; - PyObject *setstate = NULL; - PyObject *setstate_cython = NULL; - PyObject *getstate = NULL; -#if CYTHON_USE_PYTYPE_LOOKUP - getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); -#else - getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); - if (!getstate && PyErr_Occurred()) { - goto __PYX_BAD; - } -#endif - if (getstate) { -#if CYTHON_USE_PYTYPE_LOOKUP - object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); -#else - object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); - if (!object_getstate && PyErr_Occurred()) { - goto __PYX_BAD; - } -#endif - if (object_getstate != getstate) { - goto __PYX_GOOD; - } - } -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#else - object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#endif - reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; - if (reduce_ex == object_reduce_ex) { -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#else - object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; -#endif - reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; - if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { - reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); - if (likely(reduce_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (reduce == object_reduce || PyErr_Occurred()) { - goto __PYX_BAD; - } - setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); - if (!setstate) PyErr_Clear(); - if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { - setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); - if (likely(setstate_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (!setstate || PyErr_Occurred()) { - goto __PYX_BAD; - } - } - PyType_Modified((PyTypeObject*)type_obj); - } - } - goto __PYX_GOOD; -__PYX_BAD: - if (!PyErr_Occurred()) { - __Pyx_TypeName type_obj_name = - __Pyx_PyType_GetName((PyTypeObject*)type_obj); - PyErr_Format(PyExc_RuntimeError, - "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); - __Pyx_DECREF_TypeName(type_obj_name); - } - ret = -1; -__PYX_GOOD: -#if !CYTHON_USE_PYTYPE_LOOKUP - Py_XDECREF(object_reduce); - Py_XDECREF(object_reduce_ex); - Py_XDECREF(object_getstate); - Py_XDECREF(getstate); -#endif - Py_XDECREF(reduce); - Py_XDECREF(reduce_ex); - Py_XDECREF(reduce_cython); - Py_XDECREF(setstate); - Py_XDECREF(setstate_cython); - return ret; -} -#endif - -/* FetchSharedCythonModule */ -static PyObject *__Pyx_FetchSharedCythonABIModule(void) { - return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); -} - -/* FetchCommonType */ -static int __Pyx_VerifyCachedType(PyObject *cached_type, - const char *name, - Py_ssize_t basicsize, - Py_ssize_t expected_basicsize) { - if (!PyType_Check(cached_type)) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s is not a type object", name); - return -1; - } - if (basicsize != expected_basicsize) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s has the wrong size, try recompiling", - name); - return -1; - } - return 0; -} -#if !CYTHON_USE_TYPE_SPECS -static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { - PyObject* abi_module; - const char* object_name; - PyTypeObject *cached_type = NULL; - abi_module = __Pyx_FetchSharedCythonABIModule(); - if (!abi_module) return NULL; - object_name = strrchr(type->tp_name, '.'); - object_name = object_name ? object_name+1 : type->tp_name; - cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); - if (cached_type) { - if (__Pyx_VerifyCachedType( - (PyObject *)cached_type, - object_name, - cached_type->tp_basicsize, - type->tp_basicsize) < 0) { - goto bad; - } - goto done; - } - if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; - PyErr_Clear(); - if (PyType_Ready(type) < 0) goto bad; - if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) - goto bad; - Py_INCREF(type); - cached_type = type; -done: - Py_DECREF(abi_module); - return cached_type; -bad: - Py_XDECREF(cached_type); - cached_type = NULL; - goto done; -} -#else -static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { - PyObject *abi_module, *cached_type = NULL; - const char* object_name = strrchr(spec->name, '.'); - object_name = object_name ? object_name+1 : spec->name; - abi_module = __Pyx_FetchSharedCythonABIModule(); - if (!abi_module) return NULL; - cached_type = PyObject_GetAttrString(abi_module, object_name); - if (cached_type) { - Py_ssize_t basicsize; -#if CYTHON_COMPILING_IN_LIMITED_API - PyObject *py_basicsize; - py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); - if (unlikely(!py_basicsize)) goto bad; - basicsize = PyLong_AsSsize_t(py_basicsize); - Py_DECREF(py_basicsize); - py_basicsize = 0; - if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; -#else - basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; -#endif - if (__Pyx_VerifyCachedType( - cached_type, - object_name, - basicsize, - spec->basicsize) < 0) { - goto bad; - } - goto done; - } - if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; - PyErr_Clear(); - CYTHON_UNUSED_VAR(module); - cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); - if (unlikely(!cached_type)) goto bad; - if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; - if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; -done: - Py_DECREF(abi_module); - assert(cached_type == NULL || PyType_Check(cached_type)); - return (PyTypeObject *) cached_type; -bad: - Py_XDECREF(cached_type); - cached_type = NULL; - goto done; -} -#endif - -/* PyVectorcallFastCallDict */ -#if CYTHON_METH_FASTCALL -static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) -{ - PyObject *res = NULL; - PyObject *kwnames; - PyObject **newargs; - PyObject **kwvalues; - Py_ssize_t i, pos; - size_t j; - PyObject *key, *value; - unsigned long keys_are_strings; - Py_ssize_t nkw = PyDict_GET_SIZE(kw); - newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); - if (unlikely(newargs == NULL)) { - PyErr_NoMemory(); - return NULL; - } - for (j = 0; j < nargs; j++) newargs[j] = args[j]; - kwnames = PyTuple_New(nkw); - if (unlikely(kwnames == NULL)) { - PyMem_Free(newargs); - return NULL; - } - kwvalues = newargs + nargs; - pos = i = 0; - keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; - while (PyDict_Next(kw, &pos, &key, &value)) { - keys_are_strings &= Py_TYPE(key)->tp_flags; - Py_INCREF(key); - Py_INCREF(value); - PyTuple_SET_ITEM(kwnames, i, key); - kwvalues[i] = value; - i++; - } - if (unlikely(!keys_are_strings)) { - PyErr_SetString(PyExc_TypeError, "keywords must be strings"); - goto cleanup; - } - res = vc(func, newargs, nargs, kwnames); -cleanup: - Py_DECREF(kwnames); - for (i = 0; i < nkw; i++) - Py_DECREF(kwvalues[i]); - PyMem_Free(newargs); - return res; -} -static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) -{ - if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { - return vc(func, args, nargs, NULL); - } - return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); -} -#endif - -/* CythonFunctionShared */ -#if CYTHON_COMPILING_IN_LIMITED_API -static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { - if (__Pyx_CyFunction_Check(func)) { - return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; - } else if (PyCFunction_Check(func)) { - return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; - } - return 0; -} -#else -static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { - return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; -} -#endif -static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { -#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API - __Pyx_Py_XDECREF_SET( - __Pyx_CyFunction_GetClassObj(f), - ((classobj) ? __Pyx_NewRef(classobj) : NULL)); -#else - __Pyx_Py_XDECREF_SET( - ((PyCMethodObject *) (f))->mm_class, - (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); -#endif -} -static PyObject * -__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) -{ - CYTHON_UNUSED_VAR(closure); - if (unlikely(op->func_doc == NULL)) { -#if CYTHON_COMPILING_IN_LIMITED_API - op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); - if (unlikely(!op->func_doc)) return NULL; -#else - if (((PyCFunctionObject*)op)->m_ml->ml_doc) { -#if PY_MAJOR_VERSION >= 3 - op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); -#else - op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); -#endif - if (unlikely(op->func_doc == NULL)) - return NULL; - } else { - Py_INCREF(Py_None); - return Py_None; - } -#endif - } - Py_INCREF(op->func_doc); - return op->func_doc; -} -static int -__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) -{ - CYTHON_UNUSED_VAR(context); - if (value == NULL) { - value = Py_None; - } - Py_INCREF(value); - __Pyx_Py_XDECREF_SET(op->func_doc, value); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) -{ - CYTHON_UNUSED_VAR(context); - if (unlikely(op->func_name == NULL)) { -#if CYTHON_COMPILING_IN_LIMITED_API - op->func_name = PyObject_GetAttrString(op->func, "__name__"); -#elif PY_MAJOR_VERSION >= 3 - op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); -#else - op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); -#endif - if (unlikely(op->func_name == NULL)) - return NULL; - } - Py_INCREF(op->func_name); - return op->func_name; -} -static int -__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) -{ - CYTHON_UNUSED_VAR(context); -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__name__ must be set to a string object"); - return -1; - } - Py_INCREF(value); - __Pyx_Py_XDECREF_SET(op->func_name, value); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) -{ - CYTHON_UNUSED_VAR(context); - Py_INCREF(op->func_qualname); - return op->func_qualname; -} -static int -__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) -{ - CYTHON_UNUSED_VAR(context); -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__qualname__ must be set to a string object"); - return -1; - } - Py_INCREF(value); - __Pyx_Py_XDECREF_SET(op->func_qualname, value); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) -{ - CYTHON_UNUSED_VAR(context); - if (unlikely(op->func_dict == NULL)) { - op->func_dict = PyDict_New(); - if (unlikely(op->func_dict == NULL)) - return NULL; - } - Py_INCREF(op->func_dict); - return op->func_dict; -} -static int -__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) -{ - CYTHON_UNUSED_VAR(context); - if (unlikely(value == NULL)) { - PyErr_SetString(PyExc_TypeError, - "function's dictionary may not be deleted"); - return -1; - } - if (unlikely(!PyDict_Check(value))) { - PyErr_SetString(PyExc_TypeError, - "setting function's dictionary to a non-dict"); - return -1; - } - Py_INCREF(value); - __Pyx_Py_XDECREF_SET(op->func_dict, value); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) -{ - CYTHON_UNUSED_VAR(context); - Py_INCREF(op->func_globals); - return op->func_globals; -} -static PyObject * -__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) -{ - CYTHON_UNUSED_VAR(op); - CYTHON_UNUSED_VAR(context); - Py_INCREF(Py_None); - return Py_None; -} -static PyObject * -__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) -{ - PyObject* result = (op->func_code) ? op->func_code : Py_None; - CYTHON_UNUSED_VAR(context); - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { - int result = 0; - PyObject *res = op->defaults_getter((PyObject *) op); - if (unlikely(!res)) - return -1; - #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - op->defaults_tuple = PyTuple_GET_ITEM(res, 0); - Py_INCREF(op->defaults_tuple); - op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); - Py_INCREF(op->defaults_kwdict); - #else - op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); - if (unlikely(!op->defaults_tuple)) result = -1; - else { - op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); - if (unlikely(!op->defaults_kwdict)) result = -1; - } - #endif - Py_DECREF(res); - return result; -} -static int -__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { - CYTHON_UNUSED_VAR(context); - if (!value) { - value = Py_None; - } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { - PyErr_SetString(PyExc_TypeError, - "__defaults__ must be set to a tuple object"); - return -1; - } - PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " - "currently affect the values used in function calls", 1); - Py_INCREF(value); - __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { - PyObject* result = op->defaults_tuple; - CYTHON_UNUSED_VAR(context); - if (unlikely(!result)) { - if (op->defaults_getter) { - if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; - result = op->defaults_tuple; - } else { - result = Py_None; - } - } - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { - CYTHON_UNUSED_VAR(context); - if (!value) { - value = Py_None; - } else if (unlikely(value != Py_None && !PyDict_Check(value))) { - PyErr_SetString(PyExc_TypeError, - "__kwdefaults__ must be set to a dict object"); - return -1; - } - PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " - "currently affect the values used in function calls", 1); - Py_INCREF(value); - __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { - PyObject* result = op->defaults_kwdict; - CYTHON_UNUSED_VAR(context); - if (unlikely(!result)) { - if (op->defaults_getter) { - if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; - result = op->defaults_kwdict; - } else { - result = Py_None; - } - } - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { - CYTHON_UNUSED_VAR(context); - if (!value || value == Py_None) { - value = NULL; - } else if (unlikely(!PyDict_Check(value))) { - PyErr_SetString(PyExc_TypeError, - "__annotations__ must be set to a dict object"); - return -1; - } - Py_XINCREF(value); - __Pyx_Py_XDECREF_SET(op->func_annotations, value); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { - PyObject* result = op->func_annotations; - CYTHON_UNUSED_VAR(context); - if (unlikely(!result)) { - result = PyDict_New(); - if (unlikely(!result)) return NULL; - op->func_annotations = result; - } - Py_INCREF(result); - return result; -} -static PyObject * -__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { - int is_coroutine; - CYTHON_UNUSED_VAR(context); - if (op->func_is_coroutine) { - return __Pyx_NewRef(op->func_is_coroutine); - } - is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; -#if PY_VERSION_HEX >= 0x03050000 - if (is_coroutine) { - PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; - fromlist = PyList_New(1); - if (unlikely(!fromlist)) return NULL; - Py_INCREF(marker); -#if CYTHON_ASSUME_SAFE_MACROS - PyList_SET_ITEM(fromlist, 0, marker); -#else - if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { - Py_DECREF(marker); - Py_DECREF(fromlist); - return NULL; - } -#endif - module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); - Py_DECREF(fromlist); - if (unlikely(!module)) goto ignore; - op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); - Py_DECREF(module); - if (likely(op->func_is_coroutine)) { - return __Pyx_NewRef(op->func_is_coroutine); - } -ignore: - PyErr_Clear(); - } -#endif - op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); - return __Pyx_NewRef(op->func_is_coroutine); -} -#if CYTHON_COMPILING_IN_LIMITED_API -static PyObject * -__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { - CYTHON_UNUSED_VAR(context); - return PyObject_GetAttrString(op->func, "__module__"); -} -static int -__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { - CYTHON_UNUSED_VAR(context); - return PyObject_SetAttrString(op->func, "__module__", value); -} -#endif -static PyGetSetDef __pyx_CyFunction_getsets[] = { - {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, - {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, - {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, - {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, - {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, - {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, - {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, - {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, - {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, - {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, - {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, - {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, - {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, - {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, - {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, - {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, - {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, - {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, -#if CYTHON_COMPILING_IN_LIMITED_API - {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, -#endif - {0, 0, 0, 0, 0} -}; -static PyMemberDef __pyx_CyFunction_members[] = { -#if !CYTHON_COMPILING_IN_LIMITED_API - {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, -#endif -#if CYTHON_USE_TYPE_SPECS - {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, -#if CYTHON_METH_FASTCALL -#if CYTHON_BACKPORT_VECTORCALL - {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, -#else -#if !CYTHON_COMPILING_IN_LIMITED_API - {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, -#endif -#endif -#endif -#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API - {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, -#else - {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, -#endif -#endif - {0, 0, 0, 0, 0} -}; -static PyObject * -__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) -{ - CYTHON_UNUSED_VAR(args); 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-#endif - op->flags = flags; - __Pyx_CyFunction_weakreflist(op) = NULL; -#if !CYTHON_COMPILING_IN_LIMITED_API - cf->m_ml = ml; - cf->m_self = (PyObject *) op; -#endif - Py_XINCREF(closure); - op->func_closure = closure; -#if !CYTHON_COMPILING_IN_LIMITED_API - Py_XINCREF(module); - cf->m_module = module; -#endif - op->func_dict = NULL; - op->func_name = NULL; - Py_INCREF(qualname); - op->func_qualname = qualname; - op->func_doc = NULL; -#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API - op->func_classobj = NULL; -#else - ((PyCMethodObject*)op)->mm_class = NULL; -#endif - op->func_globals = globals; - Py_INCREF(op->func_globals); - Py_XINCREF(code); - op->func_code = code; - op->defaults_pyobjects = 0; - op->defaults_size = 0; - op->defaults = NULL; - op->defaults_tuple = NULL; - op->defaults_kwdict = NULL; - op->defaults_getter = NULL; - op->func_annotations = NULL; - op->func_is_coroutine = NULL; -#if CYTHON_METH_FASTCALL - switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { - case METH_NOARGS: - __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; - break; - case METH_O: - __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; - break; - case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: - __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; - break; - case METH_FASTCALL | METH_KEYWORDS: - __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; - break; - case METH_VARARGS | METH_KEYWORDS: - __Pyx_CyFunction_func_vectorcall(op) = NULL; - break; - default: - PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); - Py_DECREF(op); - return NULL; - } -#endif - return (PyObject *) op; -} -static int -__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) -{ - Py_CLEAR(m->func_closure); -#if CYTHON_COMPILING_IN_LIMITED_API - Py_CLEAR(m->func); -#else - Py_CLEAR(((PyCFunctionObject*)m)->m_module); -#endif - Py_CLEAR(m->func_dict); - Py_CLEAR(m->func_name); - Py_CLEAR(m->func_qualname); - Py_CLEAR(m->func_doc); - Py_CLEAR(m->func_globals); - Py_CLEAR(m->func_code); 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-} -static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) -{ - Py_VISIT(m->func_closure); -#if CYTHON_COMPILING_IN_LIMITED_API - Py_VISIT(m->func); -#else - Py_VISIT(((PyCFunctionObject*)m)->m_module); -#endif - Py_VISIT(m->func_dict); - Py_VISIT(m->func_name); - Py_VISIT(m->func_qualname); - Py_VISIT(m->func_doc); - Py_VISIT(m->func_globals); - Py_VISIT(m->func_code); -#if !CYTHON_COMPILING_IN_LIMITED_API - Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); -#endif - Py_VISIT(m->defaults_tuple); - Py_VISIT(m->defaults_kwdict); - Py_VISIT(m->func_is_coroutine); - if (m->defaults) { - PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); - int i; - for (i = 0; i < m->defaults_pyobjects; i++) - Py_VISIT(pydefaults[i]); - } - return 0; -} -static PyObject* -__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) -{ -#if PY_MAJOR_VERSION >= 3 - return PyUnicode_FromFormat("", - op->func_qualname, (void *)op); -#else - return PyString_FromFormat("", - PyString_AsString(op->func_qualname), (void *)op); 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if (unlikely(!arg0)) return NULL; - #endif - result = (*meth)(self, arg0); - #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) - Py_DECREF(arg0); - #endif - return result; - } -#if CYTHON_COMPILING_IN_LIMITED_API - py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); - if (!py_name) return NULL; - PyErr_Format(PyExc_TypeError, - "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", - py_name, size); - Py_DECREF(py_name); -#else - PyErr_Format(PyExc_TypeError, - "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", - f->m_ml->ml_name, size); -#endif - return NULL; - } - break; - default: - PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); - return NULL; - } -#if CYTHON_COMPILING_IN_LIMITED_API - py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); - if (!py_name) return NULL; - PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", - py_name); - Py_DECREF(py_name); 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Py_False : Py_True; - Py_DECREF(use_cline_obj); - } else { - PyErr_Clear(); - use_cline = NULL; - } - } - if (!use_cline) { - c_line = 0; - (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); - } - else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { - c_line = 0; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - return c_line; -} -#endif - -/* CodeObjectCache */ -#if !CYTHON_COMPILING_IN_LIMITED_API -static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { - int start = 0, mid = 0, end = count - 1; - if (end >= 0 && code_line > entries[end].code_line) { - return count; - } - while (start < end) { - mid = start + (end - start) / 2; - if (code_line < entries[mid].code_line) { - end = mid; - } else if (code_line > entries[mid].code_line) { - start = mid + 1; - } else { - return mid; - } - } - if (code_line <= entries[mid].code_line) { - return mid; - } else { - return mid + 1; - } -} -static PyCodeObject *__pyx_find_code_object(int code_line) { - PyCodeObject* code_object; - int pos; - if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { - return NULL; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { - return NULL; - } - code_object = __pyx_code_cache.entries[pos].code_object; - Py_INCREF(code_object); - return code_object; -} -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { - int pos, i; - __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; - if (unlikely(!code_line)) { - return; - } - if (unlikely(!entries)) { - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); - if (likely(entries)) { - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = 64; - __pyx_code_cache.count = 1; - entries[0].code_line = code_line; - entries[0].code_object = code_object; - Py_INCREF(code_object); - } - return; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { - PyCodeObject* tmp = entries[pos].code_object; - entries[pos].code_object = code_object; - Py_DECREF(tmp); - return; - } - if (__pyx_code_cache.count == __pyx_code_cache.max_count) { - int new_max = __pyx_code_cache.max_count + 64; - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( - __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); - if (unlikely(!entries)) { - return; - } - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = new_max; - } - for (i=__pyx_code_cache.count; i>pos; i--) { - entries[i] = entries[i-1]; - } - entries[pos].code_line = code_line; - entries[pos].code_object = code_object; - __pyx_code_cache.count++; - Py_INCREF(code_object); -} -#endif - -/* AddTraceback */ -#include "compile.h" -#include "frameobject.h" -#include "traceback.h" -#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API - #ifndef Py_BUILD_CORE - #define Py_BUILD_CORE 1 - #endif - #include "internal/pycore_frame.h" -#endif -#if CYTHON_COMPILING_IN_LIMITED_API -static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, - PyObject *firstlineno, PyObject *name) { - PyObject *replace = NULL; - if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; - if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; - replace = PyObject_GetAttrString(code, "replace"); - if (likely(replace)) { - PyObject *result; - result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); - Py_DECREF(replace); - return result; - } - PyErr_Clear(); - #if __PYX_LIMITED_VERSION_HEX < 0x030780000 - { - PyObject *compiled = NULL, *result = NULL; - if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; - if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; - compiled = Py_CompileString( - "out = type(code)(\n" - " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" - " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" - " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" - " code.co_lnotab)\n", "", Py_file_input); - if (!compiled) return NULL; - result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); - Py_DECREF(compiled); - if (!result) PyErr_Print(); - Py_DECREF(result); - result = PyDict_GetItemString(scratch_dict, "out"); - if (result) Py_INCREF(result); - return result; - } - #else - return NULL; - #endif -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; - PyObject *replace = NULL, *getframe = NULL, *frame = NULL; - PyObject *exc_type, *exc_value, *exc_traceback; - int success = 0; - if (c_line) { - (void) __pyx_cfilenm; - (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); - } - PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); - code_object = Py_CompileString("_getframe()", filename, Py_eval_input); - if (unlikely(!code_object)) goto bad; - py_py_line = PyLong_FromLong(py_line); - if (unlikely(!py_py_line)) goto bad; - py_funcname = PyUnicode_FromString(funcname); - if (unlikely(!py_funcname)) goto bad; - dict = PyDict_New(); - if (unlikely(!dict)) goto bad; - { - PyObject *old_code_object = code_object; - code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); - Py_DECREF(old_code_object); - } - if (unlikely(!code_object)) goto bad; - getframe = PySys_GetObject("_getframe"); - if (unlikely(!getframe)) goto bad; - if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; - frame = PyEval_EvalCode(code_object, dict, dict); - if (unlikely(!frame) || frame == Py_None) goto bad; - success = 1; - bad: - PyErr_Restore(exc_type, exc_value, exc_traceback); - Py_XDECREF(code_object); - Py_XDECREF(py_py_line); - Py_XDECREF(py_funcname); - Py_XDECREF(dict); - Py_XDECREF(replace); - if (success) { - PyTraceBack_Here( - (struct _frame*)frame); - } - Py_XDECREF(frame); -} -#else -static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( - const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = NULL; - PyObject *py_funcname = NULL; - #if PY_MAJOR_VERSION < 3 - PyObject *py_srcfile = NULL; - py_srcfile = PyString_FromString(filename); - if (!py_srcfile) goto bad; - #endif - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - funcname = PyUnicode_AsUTF8(py_funcname); - if (!funcname) goto bad; - #endif - } - else { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); - if (!py_funcname) goto bad; - #endif - } - #if PY_MAJOR_VERSION < 3 - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - #else - py_code = PyCode_NewEmpty(filename, funcname, py_line); - #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline - return py_code; -bad: - Py_XDECREF(py_funcname); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_srcfile); - #endif - return NULL; -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject *ptype, *pvalue, *ptraceback; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); - } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) { - /* If the code object creation fails, then we should clear the - fetched exception references and propagate the new exception */ - Py_XDECREF(ptype); - Py_XDECREF(pvalue); - Py_XDECREF(ptraceback); - goto bad; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); - } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); -} -#endif - -/* CIntFromPyVerify */ -#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ - } - -/* CIntFromPy */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if ((sizeof(long) < sizeof(long))) { - __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (long) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - if (unlikely(__Pyx_PyLong_IsNeg(x))) { - goto raise_neg_overflow; - } else if (__Pyx_PyLong_IsCompact(x)) { - __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) - } else { - const digit* digits = __Pyx_PyLong_Digits(x); - assert(__Pyx_PyLong_DigitCount(x) > 1); - switch (__Pyx_PyLong_DigitCount(x)) { - case 2: - if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { - return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 3: - if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { - return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 4: - if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { - return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - } - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if ((sizeof(long) <= sizeof(unsigned long))) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - if (__Pyx_PyLong_IsCompact(x)) { - __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) - } else { - const digit* digits = __Pyx_PyLong_Digits(x); - assert(__Pyx_PyLong_DigitCount(x) > 1); - switch (__Pyx_PyLong_SignedDigitCount(x)) { - case -2: - if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { - return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 2: - if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { - return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -3: - if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { - return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 3: - if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { - return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -4: - if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { - return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 4: - if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { - return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - } - } -#endif - if ((sizeof(long) <= sizeof(long))) { - __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { - __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { - long val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); -#if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } -#endif - if (likely(v)) { - int ret = -1; -#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); -#else - PyObject *stepval = NULL, *mask = NULL, *shift = NULL; - int bits, remaining_bits, is_negative = 0; - long idigit; - int chunk_size = (sizeof(long) < 8) ? 30 : 62; - if (unlikely(!PyLong_CheckExact(v))) { - PyObject *tmp = v; - v = PyNumber_Long(v); - assert(PyLong_CheckExact(v)); - Py_DECREF(tmp); - if (unlikely(!v)) return (long) -1; - } -#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 - if (Py_SIZE(x) == 0) - return (long) 0; - is_negative = Py_SIZE(x) < 0; -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - is_negative = result == 1; - } -#endif - if (is_unsigned && unlikely(is_negative)) { - goto raise_neg_overflow; - } else if (is_negative) { - stepval = PyNumber_Invert(v); - if (unlikely(!stepval)) - return (long) -1; - } else { - stepval = __Pyx_NewRef(v); - } - val = (long) 0; - mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; - shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; - for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { - PyObject *tmp, *digit; - digit = PyNumber_And(stepval, mask); - if (unlikely(!digit)) goto done; - idigit = PyLong_AsLong(digit); - Py_DECREF(digit); - if (unlikely(idigit < 0)) goto done; - tmp = PyNumber_Rshift(stepval, shift); - if (unlikely(!tmp)) goto done; - Py_DECREF(stepval); stepval = tmp; - val |= ((long) idigit) << bits; - #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 - if (Py_SIZE(stepval) == 0) - goto unpacking_done; - #endif - } - idigit = PyLong_AsLong(stepval); - if (unlikely(idigit < 0)) goto done; - remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); - if (unlikely(idigit >= (1L << remaining_bits))) - goto raise_overflow; - val |= ((long) idigit) << bits; - #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 - unpacking_done: - #endif - if (!is_unsigned) { - if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) - goto raise_overflow; - if (is_negative) - val = ~val; - } - ret = 0; - done: - Py_XDECREF(shift); - Py_XDECREF(mask); - Py_XDECREF(stepval); -#endif - Py_DECREF(v); - if (likely(!ret)) - return val; - } - return (long) -1; - } - } else { - long val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (long) -1; - val = __Pyx_PyInt_As_long(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to long"); - return (long) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to long"); - return (long) -1; -} - -/* CIntToPy */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; -#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); -#else - PyObject *from_bytes, *result = NULL; - PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; - from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); - if (!from_bytes) return NULL; - py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); - if (!py_bytes) goto limited_bad; - order_str = PyUnicode_FromString(little ? "little" : "big"); - if (!order_str) goto limited_bad; - arg_tuple = PyTuple_Pack(2, py_bytes, order_str); - if (!arg_tuple) goto limited_bad; - if (!is_unsigned) { - kwds = PyDict_New(); - if (!kwds) goto limited_bad; - if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; - } - result = PyObject_Call(from_bytes, arg_tuple, kwds); - limited_bad: - Py_XDECREF(kwds); - Py_XDECREF(arg_tuple); - Py_XDECREF(order_str); - Py_XDECREF(py_bytes); - Py_XDECREF(from_bytes); - return result; -#endif - } -} - -/* FormatTypeName */ -#if CYTHON_COMPILING_IN_LIMITED_API -static __Pyx_TypeName -__Pyx_PyType_GetName(PyTypeObject* tp) -{ - PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, - __pyx_n_s_name); - if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { - PyErr_Clear(); - Py_XDECREF(name); - name = __Pyx_NewRef(__pyx_n_s__11); - } - return name; -} -#endif - -/* CIntFromPy */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if ((sizeof(int) < sizeof(long))) { - __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (int) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - if (unlikely(__Pyx_PyLong_IsNeg(x))) { - goto raise_neg_overflow; - } else if (__Pyx_PyLong_IsCompact(x)) { - __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) - } else { - const digit* digits = __Pyx_PyLong_Digits(x); - assert(__Pyx_PyLong_DigitCount(x) > 1); - switch (__Pyx_PyLong_DigitCount(x)) { - case 2: - if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { - return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 3: - if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { - return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 4: - if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { - return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - } - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if ((sizeof(int) <= sizeof(unsigned long))) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - if (__Pyx_PyLong_IsCompact(x)) { - __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) - } else { - const digit* digits = __Pyx_PyLong_Digits(x); - assert(__Pyx_PyLong_DigitCount(x) > 1); - switch (__Pyx_PyLong_SignedDigitCount(x)) { - case -2: - if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { - return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 2: - if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { - return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -3: - if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { - return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 3: - if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { - return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -4: - if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { - return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 4: - if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { - return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - } - } -#endif - if ((sizeof(int) <= sizeof(long))) { - __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { - __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { - int val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); -#if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } -#endif - if (likely(v)) { - int ret = -1; -#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); -#else - PyObject *stepval = NULL, *mask = NULL, *shift = NULL; - int bits, remaining_bits, is_negative = 0; - long idigit; - int chunk_size = (sizeof(long) < 8) ? 30 : 62; - if (unlikely(!PyLong_CheckExact(v))) { - PyObject *tmp = v; - v = PyNumber_Long(v); - assert(PyLong_CheckExact(v)); - Py_DECREF(tmp); - if (unlikely(!v)) return (int) -1; - } -#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 - if (Py_SIZE(x) == 0) - return (int) 0; - is_negative = Py_SIZE(x) < 0; -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - is_negative = result == 1; - } -#endif - if (is_unsigned && unlikely(is_negative)) { - goto raise_neg_overflow; - } else if (is_negative) { - stepval = PyNumber_Invert(v); - if (unlikely(!stepval)) - return (int) -1; - } else { - stepval = __Pyx_NewRef(v); - } - val = (int) 0; - mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; - shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; - for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { - PyObject *tmp, *digit; - digit = PyNumber_And(stepval, mask); - if (unlikely(!digit)) goto done; - idigit = PyLong_AsLong(digit); - Py_DECREF(digit); - if (unlikely(idigit < 0)) goto done; - tmp = PyNumber_Rshift(stepval, shift); - if (unlikely(!tmp)) goto done; - Py_DECREF(stepval); stepval = tmp; - val |= ((int) idigit) << bits; - #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 - if (Py_SIZE(stepval) == 0) - goto unpacking_done; - #endif - } - idigit = PyLong_AsLong(stepval); - if (unlikely(idigit < 0)) goto done; - remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); - if (unlikely(idigit >= (1L << remaining_bits))) - goto raise_overflow; - val |= ((int) idigit) << bits; - #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 - unpacking_done: - #endif - if (!is_unsigned) { - if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) - goto raise_overflow; - if (is_negative) - val = ~val; - } - ret = 0; - done: - Py_XDECREF(shift); - Py_XDECREF(mask); - Py_XDECREF(stepval); -#endif - Py_DECREF(v); - if (likely(!ret)) - return val; - } - return (int) -1; - } - } else { - int val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (int) -1; - val = __Pyx_PyInt_As_int(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to int"); - return (int) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to int"); - return (int) -1; -} - -/* FastTypeChecks */ -#if CYTHON_COMPILING_IN_CPYTHON -static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { - while (a) { - a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); - if (a == b) - return 1; - } - return b == &PyBaseObject_Type; -} -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (a == b) return 1; - mro = a->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(a, b); -} -static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (cls == a || cls == b) return 1; - mro = cls->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - PyObject *base = PyTuple_GET_ITEM(mro, i); - if (base == (PyObject *)a || base == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); -} -#if PY_MAJOR_VERSION == 2 -static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { - PyObject *exception, *value, *tb; - int res; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&exception, &value, &tb); - res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - if (!res) { - res = PyObject_IsSubclass(err, exc_type2); - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - } - __Pyx_ErrRestore(exception, value, tb); - return res; -} -#else -static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { - if (exc_type1) { - return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); - } else { - return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); - } -} -#endif -static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - assert(PyExceptionClass_Check(exc_type)); - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; i= 0x030B00A4 - return Py_Version & ~0xFFUL; -#else - const char* rt_version = Py_GetVersion(); - unsigned long version = 0; - unsigned long factor = 0x01000000UL; - unsigned int digit = 0; - int i = 0; - while (factor) { - while ('0' <= rt_version[i] && rt_version[i] <= '9') { - digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); - ++i; - } - version += factor * digit; - if (rt_version[i] != '.') - break; - digit = 0; - factor >>= 8; - ++i; - } - return version; -#endif -} -static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { - const unsigned long MAJOR_MINOR = 0xFFFF0000UL; - if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) - return 0; - if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) - return 1; - { - char message[200]; - PyOS_snprintf(message, sizeof(message), - "compile time Python version %d.%d " - "of module '%.100s' " - "%s " - "runtime version %d.%d", - (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), - __Pyx_MODULE_NAME, - (allow_newer) ? "was newer than" : "does not match", - (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) - ); - return PyErr_WarnEx(NULL, message, 1); - } -} - -/* InitStrings */ -#if PY_MAJOR_VERSION >= 3 -static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { - if (t.is_unicode | t.is_str) { - if (t.intern) { - *str = PyUnicode_InternFromString(t.s); - } else if (t.encoding) { - *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); - } else { - *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); - } - } else { - *str = PyBytes_FromStringAndSize(t.s, t.n - 1); - } - if (!*str) - return -1; - if (PyObject_Hash(*str) == -1) - return -1; - return 0; -} -#endif -static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { - while (t->p) { - #if PY_MAJOR_VERSION >= 3 - __Pyx_InitString(*t, t->p); - #else - if (t->is_unicode) { - *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); - } else if (t->intern) { - *t->p = PyString_InternFromString(t->s); - } else { - *t->p = PyString_FromStringAndSize(t->s, t->n - 1); - } - if (!*t->p) - return -1; - if (PyObject_Hash(*t->p) == -1) - return -1; - #endif - ++t; - } - return 0; -} - -#include -static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { - size_t len = strlen(s); - if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { - PyErr_SetString(PyExc_OverflowError, "byte string is too long"); - return -1; - } - return (Py_ssize_t) len; -} -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { - Py_ssize_t len = __Pyx_ssize_strlen(c_str); - if (unlikely(len < 0)) return NULL; - return __Pyx_PyUnicode_FromStringAndSize(c_str, len); -} -static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { - Py_ssize_t len = __Pyx_ssize_strlen(c_str); - if (unlikely(len < 0)) return NULL; - return PyByteArray_FromStringAndSize(c_str, len); -} -static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { - Py_ssize_t ignore; - return __Pyx_PyObject_AsStringAndSize(o, &ignore); -} -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT -#if !CYTHON_PEP393_ENABLED -static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - char* defenc_c; - PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); - if (!defenc) return NULL; - defenc_c = PyBytes_AS_STRING(defenc); -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - { - char* end = defenc_c + PyBytes_GET_SIZE(defenc); - char* c; - for (c = defenc_c; c < end; c++) { - if ((unsigned char) (*c) >= 128) { - PyUnicode_AsASCIIString(o); - return NULL; - } - } - } -#endif - *length = PyBytes_GET_SIZE(defenc); - return defenc_c; -} -#else -static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - if (likely(PyUnicode_IS_ASCII(o))) { - *length = PyUnicode_GET_LENGTH(o); - return PyUnicode_AsUTF8(o); - } else { - PyUnicode_AsASCIIString(o); - return NULL; - } -#else - return PyUnicode_AsUTF8AndSize(o, length); -#endif -} -#endif -#endif -static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT - if ( -#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - __Pyx_sys_getdefaultencoding_not_ascii && -#endif - PyUnicode_Check(o)) { - return __Pyx_PyUnicode_AsStringAndSize(o, length); - } else -#endif -#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) - if (PyByteArray_Check(o)) { - *length = PyByteArray_GET_SIZE(o); - return PyByteArray_AS_STRING(o); - } else -#endif - { - char* result; - int r = PyBytes_AsStringAndSize(o, &result, length); - if (unlikely(r < 0)) { - return NULL; - } else { - return result; - } - } -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { - int is_true = x == Py_True; - if (is_true | (x == Py_False) | (x == Py_None)) return is_true; - else return PyObject_IsTrue(x); -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { - int retval; - if (unlikely(!x)) return -1; - retval = __Pyx_PyObject_IsTrue(x); - Py_DECREF(x); - return retval; -} -static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { - __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); -#if PY_MAJOR_VERSION >= 3 - if (PyLong_Check(result)) { - if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, - "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). 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return __Pyx_PyLong_CompactValue(b); - } else { - const digit* digits = __Pyx_PyLong_Digits(b); - const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); - switch (size) { - case 2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - 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return PyInt_FromSize_t(ival); -} - - -/* #### Code section: utility_code_pragmas_end ### */ -#ifdef _MSC_VER -#pragma warning( pop ) -#endif - - - -/* #### Code section: end ### */ -#endif /* Py_PYTHON_H */ diff --git a/common/kalman/simple_kalman_impl.pxd b/common/kalman/simple_kalman_impl.pxd deleted file mode 100644 index cb39a45bc..000000000 --- a/common/kalman/simple_kalman_impl.pxd +++ /dev/null @@ -1,18 +0,0 @@ -# cython: language_level = 3 - -cdef class KF1D: - cdef public: - double x0_0 - double x1_0 - double K0_0 - double K1_0 - double A0_0 - double A0_1 - double A1_0 - double A1_1 - double C0_0 - double C0_1 - double A_K_0 - double A_K_1 - double A_K_2 - double A_K_3 diff --git a/common/kalman/simple_kalman_impl.pyx b/common/kalman/simple_kalman_impl.pyx deleted file mode 100644 index 16aefba2e..000000000 --- a/common/kalman/simple_kalman_impl.pyx +++ /dev/null @@ -1,37 +0,0 @@ -# distutils: language = c++ -# cython: language_level=3 - -cdef class KF1D: - def __init__(self, x0, A, C, K): - self.x0_0 = x0[0][0] - self.x1_0 = x0[1][0] - self.A0_0 = A[0][0] - self.A0_1 = A[0][1] - self.A1_0 = A[1][0] - self.A1_1 = A[1][1] - self.C0_0 = C[0] - self.C0_1 = C[1] - self.K0_0 = K[0][0] - self.K1_0 = K[1][0] - - self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0 - self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1 - self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0 - self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1 - - def update(self, meas): - cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas - cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas - self.x0_0 = x0_0 - self.x1_0 = x1_0 - - return [self.x0_0, self.x1_0] - - @property - def x(self): - return [[self.x0_0], [self.x1_0]] - - @x.setter - def x(self, x): - self.x0_0 = x[0][0] - self.x1_0 = x[1][0] diff --git a/common/kalman/simple_kalman_impl.so b/common/kalman/simple_kalman_impl.so deleted file mode 100755 index 3efe0440d..000000000 Binary files a/common/kalman/simple_kalman_impl.so and /dev/null differ diff --git a/common/kalman/simple_kalman_old.py b/common/kalman/simple_kalman_old.py deleted file mode 100644 index d11770faf..000000000 --- a/common/kalman/simple_kalman_old.py +++ /dev/null @@ -1,23 +0,0 @@ -import numpy as np - - -class KF1D: - # this EKF assumes constant covariance matrix, so calculations are much simpler - # the Kalman gain also needs to be precomputed using the control module - - def __init__(self, x0, A, C, K): - self.x = x0 - self.A = A - self.C = np.atleast_2d(C) - self.K = K - - self.A_K = self.A - np.dot(self.K, self.C) - - # K matrix needs to be pre-computed as follow: - # import control - # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R) - # self.K = np.transpose(K) - - def update(self, meas): - self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas) - return self.x diff --git a/common/kalman/tests/__init__.py b/common/kalman/tests/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/common/kalman/tests/test_simple_kalman.py b/common/kalman/tests/test_simple_kalman.py deleted file mode 100644 index 32cc79fc3..000000000 --- a/common/kalman/tests/test_simple_kalman.py +++ /dev/null @@ -1,87 +0,0 @@ -import unittest -import random -import timeit -import numpy as np - -from openpilot.common.kalman.simple_kalman import KF1D -from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old - - -class TestSimpleKalman(unittest.TestCase): - def setUp(self): - dt = 0.01 - x0_0 = 0.0 - x1_0 = 0.0 - A0_0 = 1.0 - A0_1 = dt - A1_0 = 0.0 - A1_1 = 1.0 - C0_0 = 1.0 - C0_1 = 0.0 - K0_0 = 0.12287673 - K1_0 = 0.29666309 - - self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]), - A=np.array([[A0_0, A0_1], [A1_0, A1_1]]), - C=np.array([C0_0, C0_1]), - K=np.array([[K0_0], [K1_0]])) - - self.kf = KF1D(x0=[[x0_0], [x1_0]], - A=[[A0_0, A0_1], [A1_0, A1_1]], - C=[C0_0, C0_1], - K=[[K0_0], [K1_0]]) - - def test_getter_setter(self): - self.kf.x = [[1.0], [1.0]] - self.assertEqual(self.kf.x, [[1.0], [1.0]]) - - def update_returns_state(self): - x = self.kf.update(100) - self.assertEqual(x, self.kf.x) - - def test_old_equal_new(self): - for _ in range(1000): - v_wheel = random.uniform(0, 200) - - x_old = self.kf_old.update(v_wheel) - x = self.kf.update(v_wheel) - - # Compare the output x, verify that the error is less than 1e-4 - np.testing.assert_almost_equal(x_old[0], x[0]) - np.testing.assert_almost_equal(x_old[1], x[1]) - - def test_new_is_faster(self): - setup = """ -import numpy as np - -from openpilot.common.kalman.simple_kalman import KF1D -from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old - -dt = 0.01 -x0_0 = 0.0 -x1_0 = 0.0 -A0_0 = 1.0 -A0_1 = dt -A1_0 = 0.0 -A1_1 = 1.0 -C0_0 = 1.0 -C0_1 = 0.0 -K0_0 = 0.12287673 -K1_0 = 0.29666309 - -kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]), - A=np.array([[A0_0, A0_1], [A1_0, A1_1]]), - C=np.array([C0_0, C0_1]), - K=np.array([[K0_0], [K1_0]])) - -kf = KF1D(x0=[[x0_0], [x1_0]], - A=[[A0_0, A0_1], [A1_0, A1_1]], - C=[C0_0, C0_1], - K=[[K0_0], [K1_0]]) - """ - kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000) - kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000) - self.assertTrue(kf_speed < kf_old_speed / 4) - -if __name__ == "__main__": - unittest.main() diff --git a/common/lazy_property.py b/common/lazy_property.py deleted file mode 100644 index 919dd9e87..000000000 --- a/common/lazy_property.py +++ /dev/null @@ -1,12 +0,0 @@ -class lazy_property(): - """Defines a property whose value will be computed only once and as needed. - - This can only be used on instance methods. - """ - def __init__(self, func): - self._func = func - - def __get__(self, obj_self, cls): - value = self._func(obj_self) - setattr(obj_self, self._func.__name__, value) - return value diff --git a/common/logging_extra.py b/common/logging_extra.py index 5e0584c7b..f53d50310 100644 --- a/common/logging_extra.py +++ b/common/logging_extra.py @@ -65,7 +65,7 @@ class SwagFormatter(logging.Formatter): return record_dict - def format(self, record): # noqa: A003 + def format(self, record): if self.swaglogger is None: raise Exception("must set swaglogger before calling format()") return json_robust_dumps(self.format_dict(record)) @@ -95,7 +95,7 @@ class SwagLogFileFormatter(SwagFormatter): k += "$a" return k, v - def format(self, record): # noqa: A003 + def format(self, record): if isinstance(record, str): v = json.loads(record) else: diff --git a/common/numpy_helpers.py b/common/numpy_helpers.py deleted file mode 100644 index 7b1efe897..000000000 --- a/common/numpy_helpers.py +++ /dev/null @@ -1,22 +0,0 @@ -import numpy as np - - -def deep_interp_np(x, xp, fp, axis=None): - if axis is not None: - fp = fp.swapaxes(0,axis) - x = np.atleast_1d(x) - xp = np.array(xp) - if len(xp) < 2: - return np.repeat(fp, len(x), axis=0) - if min(np.diff(xp)) < 0: - raise RuntimeError('Bad x array for interpolation') - j = np.searchsorted(xp, x) - 1 - j = np.clip(j, 0, len(xp)-2) - d = np.divide(x - xp[j], xp[j + 1] - xp[j], out=np.ones_like(x, dtype=np.float64), where=xp[j + 1] - xp[j] != 0) - vals_interp = (fp[j].T*(1 - d)).T + (fp[j + 1].T*d).T - if axis is not None: - vals_interp = vals_interp.swapaxes(0,axis) - if len(vals_interp) == 1: - return vals_interp[0] - else: - return vals_interp diff --git a/common/params_pyx.cpp b/common/params_pyx.cpp index f1364411b..1db3ee493 100644 --- a/common/params_pyx.cpp +++ b/common/params_pyx.cpp @@ -1,4 +1,4 @@ -/* Generated by Cython 3.0.5 */ +/* Generated by Cython 3.0.8 */ /* BEGIN: Cython Metadata { @@ -40,10 +40,10 @@ END: Cython Metadata */ #else #define __PYX_EXTRA_ABI_MODULE_NAME "" #endif -#define CYTHON_ABI "3_0_5" __PYX_EXTRA_ABI_MODULE_NAME +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME #define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI #define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." -#define CYTHON_HEX_VERSION 0x030005F0 +#define CYTHON_HEX_VERSION 0x030008F0 #define CYTHON_FUTURE_DIVISION 1 #include #ifndef offsetof @@ -257,7 +257,7 @@ END: Cython Metadata */ #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 #endif -#elif defined(PY_NOGIL) +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) #define CYTHON_COMPILING_IN_PYPY 0 #define CYTHON_COMPILING_IN_CPYTHON 0 #define CYTHON_COMPILING_IN_LIMITED_API 0 @@ -601,18 +601,19 @@ class __Pyx_FakeReference { PyObject *exception_table = NULL; PyObject *types_module=NULL, *code_type=NULL, *result=NULL; #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 - PyObject *version_info; // borrowed - #endif + PyObject *version_info; PyObject *py_minor_version = NULL; + #endif long minor_version = 0; PyObject *type, *value, *traceback; PyErr_Fetch(&type, &value, &traceback); #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 - minor_version = 11; // we don't yet need to distinguish between versions > 11 + minor_version = 11; #else if (!(version_info = PySys_GetObject("version_info"))) goto end; if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); if (minor_version == -1 && PyErr_Occurred()) goto end; #endif if (!(types_module = PyImport_ImportModule("types"))) goto end; @@ -633,7 +634,6 @@ class __Pyx_FakeReference { Py_XDECREF(code_type); Py_XDECREF(exception_table); Py_XDECREF(types_module); - Py_XDECREF(py_minor_version); if (type) { PyErr_Restore(type, value, traceback); } @@ -666,7 +666,7 @@ class __Pyx_FakeReference { PyObject *fv, PyObject *cell, PyObject* fn, PyObject *name, int fline, PyObject *lnos) { PyCodeObject *result; - PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); // we don't have access to __pyx_empty_bytes here + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); if (!empty_bytes) return NULL; result = #if PY_VERSION_HEX >= 0x030C0000 @@ -961,7 +961,7 @@ static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, #endif #if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 #define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ - PyTypeObject *type = Py_TYPE(obj);\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ PyObject_GC_Del(obj);\ Py_DECREF(type);\ @@ -1366,7 +1366,7 @@ static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); #endif typedef Py_ssize_t __Pyx_compact_pylong; typedef size_t __Pyx_compact_upylong; - #else // Py < 3.12 + #else #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) @@ -1804,8 +1804,8 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) #else - #define __Pyx_Arg_NewRef_VARARGS(arg) arg // no-op - #define __Pyx_Arg_XDECREF_VARARGS(arg) // no-op - arg is borrowed + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) #endif #define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) #define __Pyx_KwValues_VARARGS(args, nargs) NULL @@ -1817,12 +1817,13 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 - static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); #else #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) #endif - #define __Pyx_Arg_NewRef_FASTCALL(arg) arg // no-op, __Pyx_Arg_FASTCALL is direct and this needs - #define __Pyx_Arg_XDECREF_FASTCALL(arg) // no-op - arg was returned from array + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) #else #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS @@ -2102,7 +2103,7 @@ typedef struct { #endif void *defaults; int defaults_pyobjects; - size_t defaults_size; // used by FusedFunction for copying defaults + size_t defaults_size; int flags; PyObject *defaults_tuple; PyObject *defaults_kwdict; @@ -2367,7 +2368,7 @@ static PyObject *__Pyx_OrderedDict = 0; static PyObject *__Pyx_EnumBase = 0; static PyObject *__Pyx_FlagBase = 0; static PyObject *__Pyx_globals = 0; -static PyObject *__Pyx_Enum_ParamKeyType_to_py(enum ParamKeyType); /*proto*/ +static PyObject *__Pyx_Enum_enum__space_ParamKeyType_to_py(enum ParamKeyType); /*proto*/ static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ static CYTHON_INLINE PyObject *__pyx_convert_PyObject_string_to_py_std__in_string(std::string const &); /*proto*/ static CYTHON_INLINE PyObject *__pyx_convert_PyUnicode_string_to_py_std__in_string(std::string const &); /*proto*/ @@ -3451,13 +3452,13 @@ static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { /* "EnumTypeToPy":132 * - * @cname("__Pyx_Enum_ParamKeyType_to_py") - * cdef __Pyx_Enum_ParamKeyType_to_py(ParamKeyType c_val): # <<<<<<<<<<<<<< + * @cname("__Pyx_Enum_enum__space_ParamKeyType_to_py") + * cdef __Pyx_Enum_enum__space_ParamKeyType_to_py(ParamKeyType c_val): # <<<<<<<<<<<<<< * cdef object __pyx_enum * */ -static PyObject *__Pyx_Enum_ParamKeyType_to_py(enum ParamKeyType __pyx_v_c_val) { +static PyObject *__Pyx_Enum_enum__space_ParamKeyType_to_py(enum ParamKeyType __pyx_v_c_val) { PyObject *__pyx_v___pyx_enum = 0; int __pyx_v_underlying_c_val; PyObject *__pyx_r = NULL; @@ -3471,7 +3472,7 @@ static PyObject *__Pyx_Enum_ParamKeyType_to_py(enum ParamKeyType __pyx_v_c_val) int __pyx_lineno = 0; const char *__pyx_filename = NULL; int __pyx_clineno = 0; - __Pyx_RefNannySetupContext("__Pyx_Enum_ParamKeyType_to_py", 1); + __Pyx_RefNannySetupContext("__Pyx_Enum_enum__space_ParamKeyType_to_py", 1); /* "EnumTypeToPy":137 * @@ -3733,8 +3734,8 @@ static PyObject *__Pyx_Enum_ParamKeyType_to_py(enum ParamKeyType __pyx_v_c_val) /* "EnumTypeToPy":132 * - * @cname("__Pyx_Enum_ParamKeyType_to_py") - * cdef __Pyx_Enum_ParamKeyType_to_py(ParamKeyType c_val): # <<<<<<<<<<<<<< + * @cname("__Pyx_Enum_enum__space_ParamKeyType_to_py") + * cdef __Pyx_Enum_enum__space_ParamKeyType_to_py(ParamKeyType c_val): # <<<<<<<<<<<<<< * cdef object __pyx_enum * */ @@ -3745,7 +3746,7 @@ static PyObject *__Pyx_Enum_ParamKeyType_to_py(enum ParamKeyType __pyx_v_c_val) __Pyx_XDECREF(__pyx_t_3); __Pyx_XDECREF(__pyx_t_4); __Pyx_XDECREF(__pyx_t_5); - __Pyx_AddTraceback("EnumTypeToPy.__Pyx_Enum_ParamKeyType_to_py", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_AddTraceback("EnumTypeToPy.__Pyx_Enum_enum__space_ParamKeyType_to_py", __pyx_clineno, __pyx_lineno, __pyx_filename); __pyx_r = 0; __pyx_L0:; __Pyx_XDECREF(__pyx_v___pyx_enum); @@ -11158,7 +11159,7 @@ static CYTHON_SMALL_CODE int __pyx_pymod_exec_params_pyx(PyObject *__pyx_pyinit_ __pyx_t_1 = PyModule_Create(&__pyx_moduledef); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 1, __pyx_L1_error) { int add_module_result = PyState_AddModule(__pyx_t_1, &__pyx_moduledef); - __pyx_t_1 = 0; /* transfer ownership from __pyx_t_1 to params_pyx pseudovariable */ + __pyx_t_1 = 0; /* transfer ownership from __pyx_t_1 to "params_pyx" pseudovariable */ if (unlikely((add_module_result < 0))) __PYX_ERR(0, 1, __pyx_L1_error) pystate_addmodule_run = 1; } @@ -12205,12 +12206,12 @@ if (!__Pyx_RefNanny) { * self.p.clearAll(tx_type) * */ - __pyx_t_9 = __Pyx_Enum_ParamKeyType_to_py(ALL); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 48, __pyx_L1_error) + __pyx_t_9 = __Pyx_Enum_enum__space_ParamKeyType_to_py(ALL); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 48, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_k__4 = __pyx_t_9; __Pyx_GIVEREF(__pyx_t_9); __pyx_t_9 = 0; - __pyx_t_9 = __Pyx_Enum_ParamKeyType_to_py(ALL); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 48, __pyx_L1_error) + __pyx_t_9 = __Pyx_Enum_enum__space_ParamKeyType_to_py(ALL); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 48, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_7 = PyTuple_New(1); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 48, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_7); @@ -13140,14 +13141,14 @@ static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyO { int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); if (unlikely(eq != 0)) { - if (unlikely(eq < 0)) return NULL; // error + if (unlikely(eq < 0)) return NULL; return kwvalues[i]; } } - return NULL; // not found (no exception set) + return NULL; } #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 -static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); PyObject *dict; dict = PyDict_New(); @@ -13257,7 +13258,7 @@ static int __Pyx_ParseOptionalKeywords( if (*name) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - Py_INCREF(value); // transfer ownership of value to values + Py_INCREF(value); Py_DECREF(key); #endif key = NULL; @@ -13276,7 +13277,7 @@ static int __Pyx_ParseOptionalKeywords( && _PyString_Eq(**name, key)) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -13308,7 +13309,7 @@ static int __Pyx_ParseOptionalKeywords( if (cmp == 0) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -13464,7 +13465,7 @@ static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, } } #else - if (is_list || PySequence_Check(o)) { + if (is_list || !PyMapping_Check(o)) { return PySequence_GetItem(o, i); } #endif @@ -14207,38 +14208,38 @@ static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffs #endif return -1; } -#if !CYTHON_USE_TYPE_SLOTS - if (dictoffset == 0) { - PyErr_Format(PyExc_TypeError, - "extension type '%s.200s': " - "unable to validate whether bases have a __dict__ " - "when CYTHON_USE_TYPE_SLOTS is off " - "(likely because you are building in the limited API). " - "Therefore, all extension types with multiple bases " - "must add 'cdef dict __dict__' in this compilation mode", - type_name); -#if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); -#endif - return -1; - } -#else - if (dictoffset == 0 && b->tp_dictoffset) + if (dictoffset == 0) { - __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); - PyErr_Format(PyExc_TypeError, - "extension type '%.200s' has no __dict__ slot, " - "but base type '" __Pyx_FMT_TYPENAME "' has: " - "either add 'cdef dict __dict__' to the extension type " - "or add '__slots__ = [...]' to the base type", - type_name, b_name); - __Pyx_DECREF_TypeName(b_name); + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif #if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); + Py_DECREF(b0); #endif - return -1; + return -1; + } } -#endif #if CYTHON_AVOID_BORROWED_REFS Py_DECREF(b0); #endif @@ -16046,9 +16047,10 @@ static PyObject* __Pyx_Globals(void) { /* UnpackUnboundCMethod */ static PyObject *__Pyx_SelflessCall(PyObject *method, PyObject *args, PyObject *kwargs) { + PyObject *result; PyObject *selfless_args = PyTuple_GetSlice(args, 1, PyTuple_Size(args)); if (unlikely(!selfless_args)) return NULL; - PyObject *result = PyObject_Call(method, selfless_args, kwargs); + result = PyObject_Call(method, selfless_args, kwargs); Py_DECREF(selfless_args); return result; } @@ -16511,7 +16513,7 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( #else py_code = PyCode_NewEmpty(filename, funcname, py_line); #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + Py_XDECREF(py_funcname); return py_code; bad: Py_XDECREF(py_funcname); diff --git a/common/params_pyx.so b/common/params_pyx.so index 0129e11fe..d0ae6c742 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/common/prefix.py b/common/prefix.py index c1744e8ff..d027e3e5a 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -6,12 +6,14 @@ from typing import Optional from openpilot.common.params import Params from openpilot.system.hardware.hw import Paths +from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT class OpenpilotPrefix: - def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True): + def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15]) self.msgq_path = os.path.join('/dev/shm', self.prefix) self.clean_dirs_on_exit = clean_dirs_on_exit + self.shared_download_cache = shared_download_cache def __enter__(self): self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None) @@ -22,6 +24,9 @@ class OpenpilotPrefix: pass os.makedirs(Paths.log_root(), exist_ok=True) + if self.shared_download_cache: + os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT + return self def __exit__(self, exc_type, exc_obj, exc_tb): @@ -42,5 +47,6 @@ class OpenpilotPrefix: os.remove(symlink_path) shutil.rmtree(self.msgq_path, ignore_errors=True) shutil.rmtree(Paths.log_root(), ignore_errors=True) - shutil.rmtree(Paths.download_cache_root(), ignore_errors=True) + if not os.environ.get("COMMA_CACHE", False): + shutil.rmtree(Paths.download_cache_root(), ignore_errors=True) shutil.rmtree(Paths.comma_home(), ignore_errors=True) diff --git a/common/profiler.py b/common/profiler.py deleted file mode 100644 index 8b1a7a8cf..000000000 --- a/common/profiler.py +++ /dev/null @@ -1,45 +0,0 @@ -import time - -class Profiler(): - def __init__(self, enabled=False): - self.enabled = enabled - self.cp = {} - self.cp_ignored = [] - self.iter = 0 - self.start_time = time.time() - self.last_time = self.start_time - self.tot = 0. - - def reset(self, enabled=False): - self.enabled = enabled - self.cp = {} - self.cp_ignored = [] - self.iter = 0 - self.start_time = time.time() - self.last_time = self.start_time - - def checkpoint(self, name, ignore=False): - # ignore flag needed when benchmarking threads with ratekeeper - if not self.enabled: - return - tt = time.time() - if name not in self.cp: - self.cp[name] = 0. - if ignore: - self.cp_ignored.append(name) - self.cp[name] += tt - self.last_time - if not ignore: - self.tot += tt - self.last_time - self.last_time = tt - - def display(self): - if not self.enabled: - return - self.iter += 1 - print("******* Profiling %d *******" % self.iter) - for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]): - if n in self.cp_ignored: - print("%30s: %9.2f avg: %7.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100)) - else: - print("%30s: %9.2f avg: %7.2f percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100)) - print(f"Iter clock: {self.tot / self.iter:2.6f} TOTAL: {self.tot:2.2f}") diff --git a/common/realtime.py b/common/realtime.py index 05e19e770..a39814616 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -78,7 +78,7 @@ class Ratekeeper: time.sleep(self._remaining) return lagged - # this only monitor the cumulative lag, but does not enforce a rate + # Monitors the cumulative lag, but does not enforce a rate def monitor_time(self) -> bool: prev = self._last_monitor_time self._last_monitor_time = time.monotonic() diff --git a/common/simple_kalman.py b/common/simple_kalman.py new file mode 100644 index 000000000..194b27204 --- /dev/null +++ b/common/simple_kalman.py @@ -0,0 +1,54 @@ +import numpy as np + + +def get_kalman_gain(dt, A, C, Q, R, iterations=100): + P = np.zeros_like(Q) + for _ in range(iterations): + P = A.dot(P).dot(A.T) + dt * Q + S = C.dot(P).dot(C.T) + R + K = P.dot(C.T).dot(np.linalg.inv(S)) + P = (np.eye(len(P)) - K.dot(C)).dot(P) + return K + + +class KF1D: + # this EKF assumes constant covariance matrix, so calculations are much simpler + # the Kalman gain also needs to be precomputed using the control module + + def __init__(self, x0, A, C, K): + self.x0_0 = x0[0][0] + self.x1_0 = x0[1][0] + self.A0_0 = A[0][0] + self.A0_1 = A[0][1] + self.A1_0 = A[1][0] + self.A1_1 = A[1][1] + self.C0_0 = C[0] + self.C0_1 = C[1] + self.K0_0 = K[0][0] + self.K1_0 = K[1][0] + + self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0 + self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1 + self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0 + self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1 + + # K matrix needs to be pre-computed as follow: + # import control + # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R) + # self.K = np.transpose(K) + + def update(self, meas): + #self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas) + x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas + x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas + self.x0_0 = x0_0 + self.x1_0 = x1_0 + return [self.x0_0, self.x1_0] + + @property + def x(self): + return [[self.x0_0], [self.x1_0]] + + def set_x(self, x): + self.x0_0 = x[0][0] + self.x1_0 = x[1][0] diff --git a/common/statlog.h b/common/statlog.h deleted file mode 100644 index 5d223bb66..000000000 --- a/common/statlog.h +++ /dev/null @@ -1,10 +0,0 @@ -#pragma once - -#define STATLOG_GAUGE "g" -#define STATLOG_SAMPLE "sa" - -void statlog_log(const char* metric_type, const char* metric, int value); -void statlog_log(const char* metric_type, const char* metric, float value); - -#define statlog_gauge(metric, value) statlog_log(STATLOG_GAUGE, metric, value) -#define statlog_sample(metric, value) statlog_log(STATLOG_SAMPLE, metric, value) diff --git a/common/time.py b/common/time.py index c8ef9cd38..f2e49eb54 100644 --- a/common/time.py +++ b/common/time.py @@ -1,6 +1,6 @@ import datetime -MIN_DATE = datetime.datetime(year=2023, month=6, day=1) +MIN_DATE = datetime.datetime(year=2024, month=1, day=28) def system_time_valid(): return datetime.datetime.now() > MIN_DATE diff --git a/common/transformations/transformations.so b/common/transformations/transformations.so index bb6a61d53..7cfda48b7 100755 Binary files a/common/transformations/transformations.so and b/common/transformations/transformations.so differ diff --git a/common/util.h b/common/util.h index 5c0ef7fec..0cbad5bd3 100644 --- a/common/util.h +++ b/common/util.h @@ -3,7 +3,6 @@ #include #include #include -#include #include #include @@ -180,36 +179,3 @@ void update_max_atomic(std::atomic& max, T const& value) { T prev = max; while (prev < value && !max.compare_exchange_weak(prev, value)) {} } - -class LogState { - public: - bool initialized = false; - std::mutex lock; - void *zctx = nullptr; - void *sock = nullptr; - int print_level; - std::string endpoint; - - LogState(std::string _endpoint) { - endpoint = _endpoint; - } - - inline void initialize() { - zctx = zmq_ctx_new(); - sock = zmq_socket(zctx, ZMQ_PUSH); - - // Timeout on shutdown for messages to be received by the logging process - int timeout = 100; - zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout)); - - zmq_connect(sock, endpoint.c_str()); - initialized = true; - } - - ~LogState() { - if (initialized) { - zmq_close(sock); - zmq_ctx_destroy(zctx); - } - } -}; diff --git a/common/version.h b/common/version.h index 3cb29b683..4fd036dc9 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "2023.12.23" +#define COMMA_VERSION "2024.02.12" diff --git a/common/window.py b/common/window.py deleted file mode 100644 index 95886c0c9..000000000 --- a/common/window.py +++ /dev/null @@ -1,61 +0,0 @@ -import sys -import pygame -import cv2 - -class Window: - def __init__(self, w, h, caption="window", double=False, halve=False): - self.w = w - self.h = h - pygame.display.init() - pygame.display.set_caption(caption) - self.double = double - self.halve = halve - if self.double: - self.rw, self.rh = w*2, h*2 - elif self.halve: - self.rw, self.rh = w//2, h//2 - else: - self.rw, self.rh = w, h - self.screen = pygame.display.set_mode((self.rw, self.rh)) - pygame.display.flip() - - # hack for xmonad, it shrinks the window by 6 pixels after the display.flip - if self.screen.get_width() != self.rw: - self.screen = pygame.display.set_mode((self.rw+(self.rw-self.screen.get_width()), self.rh+(self.rh-self.screen.get_height()))) - pygame.display.flip() - - def draw(self, out): - pygame.event.pump() - if self.double: - out2 = cv2.resize(out, (self.w*2, self.h*2)) - pygame.surfarray.blit_array(self.screen, out2.swapaxes(0, 1)) - elif self.halve: - out2 = cv2.resize(out, (self.w//2, self.h//2)) - pygame.surfarray.blit_array(self.screen, out2.swapaxes(0, 1)) - else: - pygame.surfarray.blit_array(self.screen, out.swapaxes(0, 1)) - pygame.display.flip() - - def getkey(self): - while 1: - event = pygame.event.wait() - if event.type == pygame.QUIT: - pygame.quit() - sys.exit() - if event.type == pygame.KEYDOWN: - return event.key - - def getclick(self): - for event in pygame.event.get(): - if event.type == pygame.MOUSEBUTTONDOWN: - mx, my = pygame.mouse.get_pos() - return mx, my - -if __name__ == "__main__": - import numpy as np - win = Window(200, 200, double=True) - img: np.ndarray = np.zeros((200, 200, 3), np.uint8) - while 1: - print("draw") - img += 1 - win.draw(img) diff --git a/docs/CARS.md b/docs/CARS.md index e48f4765b..736aaaec1 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 device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 273 Supported Cars +# 277 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -28,8 +28,9 @@ A supported vehicle is one that just works when you install a comma device. All |Chevrolet|Volt 2017-18[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| |Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -60,7 +61,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Civic Hatchback 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|CR-V Hybrid 2017-20|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -71,7 +72,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Ridgeline 2017-24|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Azera 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Azera Hybrid 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Azera Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -132,10 +133,12 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2023[6](#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)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Plug-in Hybrid 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -154,11 +157,12 @@ A supported vehicle is one that just works when you install a comma device. All |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)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|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)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |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)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |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)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -180,7 +184,7 @@ A supported vehicle is one that just works when you install a comma device. All |Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|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)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Subaru|Ascent 2019-21|All[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| @@ -239,12 +243,12 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2023|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2023|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -265,8 +269,8 @@ A supported vehicle is one that just works when you install a comma device. All |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Passat 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index fa80e760d..30f4e0dfd 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -11,7 +11,7 @@ Our software is open source so you can solve your own problems without needing h ## What contributions are we looking for? -**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and **all** developoment is towards that goal. +**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and **all** development is towards that goal. ### What gets merged? diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index 57f91b0d7..a5b64a430 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -14,11 +14,6 @@ function agnos_init { echo -n openpilot > /data/params/d/GithubUsername cat /usr/comma/setup_keys > /data/params/d/GithubSshKeys fi - - # wait longer for weston to come up - if [ -f "$BASEDIR/prebuilt" ]; then - sleep 5 - fi # TODO: move this to agnos sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta @@ -41,9 +36,6 @@ function launch { # Remove orphaned git lock if it exists on boot [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock - # Pull time from panda - $DIR/selfdrive/boardd/set_time.py - # Check to see if there's a valid overlay-based update available. Conditions # are as follows: # @@ -83,14 +75,19 @@ function launch { export PYTHONPATH="$PWD" # hardware specific init - agnos_init + if [ -f /AGNOS ]; then + agnos_init + fi # write tmux scrollback to a file tmux capture-pane -pq -S-1000 > /tmp/launch_log # start manager cd selfdrive/manager - ./build.py && ./manager.py + if [ ! -f $DIR/prebuilt ]; then + ./build.py + fi + ./manager.py # if broken, keep on screen error while true; do sleep 1; done diff --git a/launch_env.sh b/launch_env.sh index 16d4cc1e6..fa8ddf0ba 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,11 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="9.1" -fi - -if [ -z "$PASSIVE" ]; then - export PASSIVE="1" + export AGNOS_VERSION="9.6" fi export STAGING_ROOT="/data/safe_staging" diff --git a/launch_openpilot.sh b/launch_openpilot.sh index 1525e1715..2888814c2 100755 --- a/launch_openpilot.sh +++ b/launch_openpilot.sh @@ -1,5 +1,3 @@ #!/usr/bin/bash -export PASSIVE="0" exec ./launch_chffrplus.sh - diff --git a/opendbc/can/libdbc.so b/opendbc/can/libdbc.so index b05ce32c6..20f19d058 100755 Binary files a/opendbc/can/libdbc.so and b/opendbc/can/libdbc.so differ diff --git a/opendbc/can/packer_pyx.cpp b/opendbc/can/packer_pyx.cpp index bd389af2f..cb8623228 100644 --- a/opendbc/can/packer_pyx.cpp +++ b/opendbc/can/packer_pyx.cpp @@ -1,4 +1,4 @@ -/* Generated by Cython 3.0.5 */ +/* Generated by Cython 3.0.8 */ /* BEGIN: Cython Metadata { @@ -44,10 +44,10 @@ END: Cython Metadata */ #else #define __PYX_EXTRA_ABI_MODULE_NAME "" #endif -#define CYTHON_ABI "3_0_5" __PYX_EXTRA_ABI_MODULE_NAME +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME #define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI #define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." -#define CYTHON_HEX_VERSION 0x030005F0 +#define CYTHON_HEX_VERSION 0x030008F0 #define CYTHON_FUTURE_DIVISION 1 #include #ifndef offsetof @@ -261,7 +261,7 @@ END: Cython Metadata */ #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 #endif -#elif defined(PY_NOGIL) +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) #define CYTHON_COMPILING_IN_PYPY 0 #define CYTHON_COMPILING_IN_CPYTHON 0 #define CYTHON_COMPILING_IN_LIMITED_API 0 @@ -605,18 +605,19 @@ class __Pyx_FakeReference { PyObject *exception_table = NULL; PyObject *types_module=NULL, *code_type=NULL, *result=NULL; #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 - PyObject *version_info; // borrowed - #endif + PyObject *version_info; PyObject *py_minor_version = NULL; + #endif long minor_version = 0; PyObject *type, *value, *traceback; PyErr_Fetch(&type, &value, &traceback); #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 - minor_version = 11; // we don't yet need to distinguish between versions > 11 + minor_version = 11; #else if (!(version_info = PySys_GetObject("version_info"))) goto end; if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); if (minor_version == -1 && PyErr_Occurred()) goto end; #endif if (!(types_module = PyImport_ImportModule("types"))) goto end; @@ -637,7 +638,6 @@ class __Pyx_FakeReference { Py_XDECREF(code_type); Py_XDECREF(exception_table); Py_XDECREF(types_module); - Py_XDECREF(py_minor_version); if (type) { PyErr_Restore(type, value, traceback); } @@ -670,7 +670,7 @@ class __Pyx_FakeReference { PyObject *fv, PyObject *cell, PyObject* fn, PyObject *name, int fline, PyObject *lnos) { PyCodeObject *result; - PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); // we don't have access to __pyx_empty_bytes here + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); if (!empty_bytes) return NULL; result = #if PY_VERSION_HEX >= 0x030C0000 @@ -965,7 +965,7 @@ static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, #endif #if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 #define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ - PyTypeObject *type = Py_TYPE(obj);\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ PyObject_GC_Del(obj);\ Py_DECREF(type);\ @@ -1386,7 +1386,7 @@ static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); #endif typedef Py_ssize_t __Pyx_compact_pylong; typedef size_t __Pyx_compact_upylong; - #else // Py < 3.12 + #else #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) @@ -1725,8 +1725,8 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) #else - #define __Pyx_Arg_NewRef_VARARGS(arg) arg // no-op - #define __Pyx_Arg_XDECREF_VARARGS(arg) // no-op - arg is borrowed + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) #endif #define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) #define __Pyx_KwValues_VARARGS(args, nargs) NULL @@ -1738,12 +1738,13 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 - static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); #else #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) #endif - #define __Pyx_Arg_NewRef_FASTCALL(arg) arg // no-op, __Pyx_Arg_FASTCALL is direct and this needs - #define __Pyx_Arg_XDECREF_FASTCALL(arg) // no-op - arg was returned from array + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) #else #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS @@ -2071,7 +2072,7 @@ typedef struct { #endif void *defaults; int defaults_pyobjects; - size_t defaults_size; // used by FusedFunction for copying defaults + size_t defaults_size; int flags; PyObject *defaults_tuple; PyObject *defaults_kwdict; @@ -2332,9 +2333,10 @@ static const char __pyx_k_CANPacker___setstate_cython[] = "CANPacker.__setstate_ static const char __pyx_k_self_dbc_self_packer_cannot_be_c[] = "self.dbc,self.packer cannot be converted to a Python object for pickling"; /* #### Code section: decls ### */ static int __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker___init__(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_dbc_name); /* proto */ -static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_2make_can_msg(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_name_or_addr, PyObject *__pyx_v_bus, PyObject *__pyx_v_values); /* proto */ -static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_4__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_6__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_2__dealloc__(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_4make_can_msg(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_name_or_addr, PyObject *__pyx_v_bus, PyObject *__pyx_v_values); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ static PyObject *__pyx_tp_new_7opendbc_3can_10packer_pyx_CANPacker(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ /* #### Code section: late_includes ### */ /* #### Code section: module_state ### */ @@ -2956,7 +2958,7 @@ static int __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker___init__(struct __pyx_ * msg = self.dbc[0].msgs[i] * self.name_to_address[string(msg.name)] = msg.address # <<<<<<<<<<<<<< * - * cdef vector[uint8_t] pack(self, addr, values): + * def __dealloc__(self): */ __pyx_t_9 = __pyx_v_msg.address; try { @@ -2992,6 +2994,69 @@ static int __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker___init__(struct __pyx_ /* "opendbc/can/packer_pyx.pyx":29 * self.name_to_address[string(msg.name)] = msg.address * + * def __dealloc__(self): # <<<<<<<<<<<<<< + * if self.packer: + * del self.packer + */ + +/* Python wrapper */ +static void __pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_3__dealloc__(PyObject *__pyx_v_self); /*proto*/ +static void __pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_3__dealloc__(PyObject *__pyx_v_self) { + CYTHON_UNUSED PyObject *const *__pyx_kwvalues; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__dealloc__ (wrapper)", 0); + __pyx_kwvalues = __Pyx_KwValues_VARARGS(__pyx_args, __pyx_nargs); + __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_2__dealloc__(((struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *)__pyx_v_self)); + + /* function exit code */ + __Pyx_RefNannyFinishContext(); +} + +static void __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_2__dealloc__(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self) { + int __pyx_t_1; + + /* "opendbc/can/packer_pyx.pyx":30 + * + * def __dealloc__(self): + * if self.packer: # <<<<<<<<<<<<<< + * del self.packer + * + */ + __pyx_t_1 = (__pyx_v_self->packer != 0); + if (__pyx_t_1) { + + /* "opendbc/can/packer_pyx.pyx":31 + * def __dealloc__(self): + * if self.packer: + * del self.packer # <<<<<<<<<<<<<< + * + * cdef vector[uint8_t] pack(self, addr, values): + */ + delete __pyx_v_self->packer; + + /* "opendbc/can/packer_pyx.pyx":30 + * + * def __dealloc__(self): + * if self.packer: # <<<<<<<<<<<<<< + * del self.packer + * + */ + } + + /* "opendbc/can/packer_pyx.pyx":29 + * self.name_to_address[string(msg.name)] = msg.address + * + * def __dealloc__(self): # <<<<<<<<<<<<<< + * if self.packer: + * del self.packer + */ + + /* function exit code */ +} + +/* "opendbc/can/packer_pyx.pyx":33 + * del self.packer + * * cdef vector[uint8_t] pack(self, addr, values): # <<<<<<<<<<<<<< * cdef vector[SignalPackValue] values_thing * values_thing.reserve(len(values)) @@ -3020,22 +3085,22 @@ static std::vector __pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_pack( int __pyx_clineno = 0; __Pyx_RefNannySetupContext("pack", 1); - /* "opendbc/can/packer_pyx.pyx":31 + /* "opendbc/can/packer_pyx.pyx":35 * cdef vector[uint8_t] pack(self, addr, values): * cdef vector[SignalPackValue] values_thing * values_thing.reserve(len(values)) # <<<<<<<<<<<<<< * cdef SignalPackValue spv * */ - __pyx_t_1 = PyObject_Length(__pyx_v_values); if (unlikely(__pyx_t_1 == ((Py_ssize_t)-1))) __PYX_ERR(0, 31, __pyx_L1_error) + __pyx_t_1 = PyObject_Length(__pyx_v_values); if (unlikely(__pyx_t_1 == ((Py_ssize_t)-1))) __PYX_ERR(0, 35, __pyx_L1_error) try { __pyx_v_values_thing.reserve(__pyx_t_1); } catch(...) { __Pyx_CppExn2PyErr(); - __PYX_ERR(0, 31, __pyx_L1_error) + __PYX_ERR(0, 35, __pyx_L1_error) } - /* "opendbc/can/packer_pyx.pyx":34 + /* "opendbc/can/packer_pyx.pyx":38 * cdef SignalPackValue spv * * for name, value in values.iteritems(): # <<<<<<<<<<<<<< @@ -3045,9 +3110,9 @@ static std::vector __pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_pack( __pyx_t_1 = 0; if (unlikely(__pyx_v_values == Py_None)) { PyErr_Format(PyExc_AttributeError, "'NoneType' object has no attribute '%.30s'", "iteritems"); - __PYX_ERR(0, 34, __pyx_L1_error) + __PYX_ERR(0, 38, __pyx_L1_error) } - __pyx_t_5 = __Pyx_dict_iterator(__pyx_v_values, 0, __pyx_n_s_iteritems, (&__pyx_t_3), (&__pyx_t_4)); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 34, __pyx_L1_error) + __pyx_t_5 = __Pyx_dict_iterator(__pyx_v_values, 0, __pyx_n_s_iteritems, (&__pyx_t_3), (&__pyx_t_4)); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 38, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); __Pyx_XDECREF(__pyx_t_2); __pyx_t_2 = __pyx_t_5; @@ -3055,7 +3120,7 @@ static std::vector __pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_pack( while (1) { __pyx_t_7 = __Pyx_dict_iter_next(__pyx_t_2, __pyx_t_3, &__pyx_t_1, &__pyx_t_5, &__pyx_t_6, NULL, __pyx_t_4); if (unlikely(__pyx_t_7 == 0)) break; - if (unlikely(__pyx_t_7 == -1)) __PYX_ERR(0, 34, __pyx_L1_error) + if (unlikely(__pyx_t_7 == -1)) __PYX_ERR(0, 38, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); __Pyx_GOTREF(__pyx_t_6); __Pyx_XDECREF_SET(__pyx_v_name, __pyx_t_5); @@ -3063,14 +3128,14 @@ static std::vector __pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_pack( __Pyx_XDECREF_SET(__pyx_v_value, __pyx_t_6); __pyx_t_6 = 0; - /* "opendbc/can/packer_pyx.pyx":35 + /* "opendbc/can/packer_pyx.pyx":39 * * for name, value in values.iteritems(): * spv.name = name.encode("utf8") # <<<<<<<<<<<<<< * spv.value = value * values_thing.push_back(spv) */ - __pyx_t_5 = __Pyx_PyObject_GetAttrStr(__pyx_v_name, __pyx_n_s_encode); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 35, __pyx_L1_error) + __pyx_t_5 = __Pyx_PyObject_GetAttrStr(__pyx_v_name, __pyx_n_s_encode); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 39, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); __pyx_t_8 = NULL; __pyx_t_7 = 0; @@ -3090,25 +3155,25 @@ static std::vector __pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_pack( PyObject *__pyx_callargs[2] = {__pyx_t_8, __pyx_n_u_utf8}; __pyx_t_6 = __Pyx_PyObject_FastCall(__pyx_t_5, __pyx_callargs+1-__pyx_t_7, 1+__pyx_t_7); __Pyx_XDECREF(__pyx_t_8); __pyx_t_8 = 0; - if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 35, __pyx_L1_error) + if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 39, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0; } - __pyx_t_9 = __pyx_convert_string_from_py_std__in_string(__pyx_t_6); if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 35, __pyx_L1_error) + __pyx_t_9 = __pyx_convert_string_from_py_std__in_string(__pyx_t_6); if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 39, __pyx_L1_error) __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; __pyx_v_spv.name = __PYX_STD_MOVE_IF_SUPPORTED(__pyx_t_9); - /* "opendbc/can/packer_pyx.pyx":36 + /* "opendbc/can/packer_pyx.pyx":40 * for name, value in values.iteritems(): * spv.name = name.encode("utf8") * spv.value = value # <<<<<<<<<<<<<< * values_thing.push_back(spv) * */ - __pyx_t_10 = __pyx_PyFloat_AsDouble(__pyx_v_value); if (unlikely((__pyx_t_10 == (double)-1) && PyErr_Occurred())) __PYX_ERR(0, 36, __pyx_L1_error) + __pyx_t_10 = __pyx_PyFloat_AsDouble(__pyx_v_value); if (unlikely((__pyx_t_10 == (double)-1) && PyErr_Occurred())) __PYX_ERR(0, 40, __pyx_L1_error) __pyx_v_spv.value = __pyx_t_10; - /* "opendbc/can/packer_pyx.pyx":37 + /* "opendbc/can/packer_pyx.pyx":41 * spv.name = name.encode("utf8") * spv.value = value * values_thing.push_back(spv) # <<<<<<<<<<<<<< @@ -3119,24 +3184,24 @@ static std::vector __pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_pack( __pyx_v_values_thing.push_back(__pyx_v_spv); } catch(...) { __Pyx_CppExn2PyErr(); - __PYX_ERR(0, 37, __pyx_L1_error) + __PYX_ERR(0, 41, __pyx_L1_error) } } __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; - /* "opendbc/can/packer_pyx.pyx":39 + /* "opendbc/can/packer_pyx.pyx":43 * values_thing.push_back(spv) * * return self.packer.pack(addr, values_thing) # <<<<<<<<<<<<<< * * cpdef make_can_msg(self, name_or_addr, bus, values): */ - __pyx_t_11 = __Pyx_PyInt_As_uint32_t(__pyx_v_addr); if (unlikely((__pyx_t_11 == ((uint32_t)-1)) && PyErr_Occurred())) __PYX_ERR(0, 39, __pyx_L1_error) + __pyx_t_11 = __Pyx_PyInt_As_uint32_t(__pyx_v_addr); if (unlikely((__pyx_t_11 == ((uint32_t)-1)) && PyErr_Occurred())) __PYX_ERR(0, 43, __pyx_L1_error) __pyx_r = __pyx_v_self->packer->pack(__pyx_t_11, __pyx_v_values_thing); goto __pyx_L0; - /* "opendbc/can/packer_pyx.pyx":29 - * self.name_to_address[string(msg.name)] = msg.address + /* "opendbc/can/packer_pyx.pyx":33 + * del self.packer * * cdef vector[uint8_t] pack(self, addr, values): # <<<<<<<<<<<<<< * cdef vector[SignalPackValue] values_thing @@ -3158,7 +3223,7 @@ static std::vector __pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_pack( return __pyx_r; } -/* "opendbc/can/packer_pyx.pyx":41 +/* "opendbc/can/packer_pyx.pyx":45 * return self.packer.pack(addr, values_thing) * * cpdef make_can_msg(self, name_or_addr, bus, values): # <<<<<<<<<<<<<< @@ -3166,7 +3231,7 @@ static std::vector __pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_pack( * if isinstance(name_or_addr, int): */ -static PyObject *__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_3make_can_msg(PyObject *__pyx_v_self, +static PyObject *__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_5make_can_msg(PyObject *__pyx_v_self, #if CYTHON_METH_FASTCALL PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds #else @@ -3199,9 +3264,9 @@ static PyObject *__pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_make_can_msg(stru if (unlikely(!__Pyx_object_dict_version_matches(((PyObject *)__pyx_v_self), __pyx_tp_dict_version, __pyx_obj_dict_version))) { PY_UINT64_T __pyx_typedict_guard = __Pyx_get_tp_dict_version(((PyObject *)__pyx_v_self)); #endif - __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_self), __pyx_n_s_make_can_msg); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 41, __pyx_L1_error) + __pyx_t_1 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_self), __pyx_n_s_make_can_msg); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 45, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - if (!__Pyx_IsSameCFunction(__pyx_t_1, (void*) __pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_3make_can_msg)) { + if (!__Pyx_IsSameCFunction(__pyx_t_1, (void*) __pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_5make_can_msg)) { __Pyx_XDECREF(__pyx_r); __Pyx_INCREF(__pyx_t_1); __pyx_t_3 = __pyx_t_1; __pyx_t_4 = NULL; @@ -3222,7 +3287,7 @@ static PyObject *__pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_make_can_msg(stru PyObject *__pyx_callargs[4] = {__pyx_t_4, __pyx_v_name_or_addr, __pyx_v_bus, __pyx_v_values}; __pyx_t_2 = __Pyx_PyObject_FastCall(__pyx_t_3, __pyx_callargs+1-__pyx_t_5, 3+__pyx_t_5); __Pyx_XDECREF(__pyx_t_4); __pyx_t_4 = 0; - if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 41, __pyx_L1_error) + if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 45, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); 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- /* "opendbc/can/packer_pyx.pyx":43 + /* "opendbc/can/packer_pyx.pyx":47 * cpdef make_can_msg(self, name_or_addr, bus, values): * cdef int addr * if isinstance(name_or_addr, int): # <<<<<<<<<<<<<< @@ -3274,7 +3339,7 @@ static PyObject *__pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_make_can_msg(stru goto __pyx_L3; } - /* "opendbc/can/packer_pyx.pyx":46 + /* "opendbc/can/packer_pyx.pyx":50 * addr = name_or_addr * else: * addr = self.name_to_address[name_or_addr.encode("utf8")] # <<<<<<<<<<<<<< @@ -3282,7 +3347,7 @@ static PyObject *__pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_make_can_msg(stru * cdef vector[uint8_t] val = self.pack(addr, values) */ /*else*/ { - __pyx_t_2 = __Pyx_PyObject_GetAttrStr(__pyx_v_name_or_addr, __pyx_n_s_encode); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 46, __pyx_L1_error) + __pyx_t_2 = __Pyx_PyObject_GetAttrStr(__pyx_v_name_or_addr, __pyx_n_s_encode); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 50, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_t_3 = NULL; __pyx_t_5 = 0; @@ -3302,57 +3367,57 @@ static PyObject *__pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_make_can_msg(stru PyObject *__pyx_callargs[2] = {__pyx_t_3, __pyx_n_u_utf8}; __pyx_t_1 = __Pyx_PyObject_FastCall(__pyx_t_2, __pyx_callargs+1-__pyx_t_5, 1+__pyx_t_5); __Pyx_XDECREF(__pyx_t_3); __pyx_t_3 = 0; - if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 46, __pyx_L1_error) + if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 50, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; } - __pyx_t_7 = __pyx_convert_string_from_py_std__in_string(__pyx_t_1); if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 46, __pyx_L1_error) + __pyx_t_7 = __pyx_convert_string_from_py_std__in_string(__pyx_t_1); if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 50, __pyx_L1_error) __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; __pyx_v_addr = (__pyx_v_self->name_to_address[__pyx_t_7]); } __pyx_L3:; - /* "opendbc/can/packer_pyx.pyx":48 + /* "opendbc/can/packer_pyx.pyx":52 * addr = self.name_to_address[name_or_addr.encode("utf8")] * * cdef vector[uint8_t] val = self.pack(addr, values) # <<<<<<<<<<<<<< * return [addr, 0, (&val[0])[:val.size()], bus] */ - __pyx_t_1 = __Pyx_PyInt_From_int(__pyx_v_addr); 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__Pyx_GIVEREF(__pyx_t_2); - if (__Pyx_PyList_SET_ITEM(__pyx_t_3, 2, __pyx_t_2)) __PYX_ERR(0, 49, __pyx_L1_error); + if (__Pyx_PyList_SET_ITEM(__pyx_t_3, 2, __pyx_t_2)) __PYX_ERR(0, 53, __pyx_L1_error); __Pyx_INCREF(__pyx_v_bus); __Pyx_GIVEREF(__pyx_v_bus); - if (__Pyx_PyList_SET_ITEM(__pyx_t_3, 3, __pyx_v_bus)) __PYX_ERR(0, 49, __pyx_L1_error); + if (__Pyx_PyList_SET_ITEM(__pyx_t_3, 3, __pyx_v_bus)) __PYX_ERR(0, 53, __pyx_L1_error); __pyx_t_1 = 0; __pyx_t_2 = 0; __pyx_r = __pyx_t_3; __pyx_t_3 = 0; goto __pyx_L0; - /* "opendbc/can/packer_pyx.pyx":41 + /* "opendbc/can/packer_pyx.pyx":45 * return self.packer.pack(addr, values_thing) * * cpdef make_can_msg(self, name_or_addr, bus, values): # <<<<<<<<<<<<<< @@ -3375,15 +3440,15 @@ static PyObject *__pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_make_can_msg(stru } /* Python wrapper */ -static PyObject *__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_3make_can_msg(PyObject *__pyx_v_self, +static PyObject *__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_5make_can_msg(PyObject *__pyx_v_self, #if CYTHON_METH_FASTCALL PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds #else PyObject *__pyx_args, PyObject *__pyx_kwds #endif ); /*proto*/ -static PyMethodDef __pyx_mdef_7opendbc_3can_10packer_pyx_9CANPacker_3make_can_msg = {"make_can_msg", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_3make_can_msg, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; -static PyObject *__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_3make_can_msg(PyObject *__pyx_v_self, +static PyMethodDef __pyx_mdef_7opendbc_3can_10packer_pyx_9CANPacker_5make_can_msg = {"make_can_msg", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_5make_can_msg, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; +static PyObject *__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_5make_can_msg(PyObject *__pyx_v_self, #if CYTHON_METH_FASTCALL PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds #else @@ -3433,7 +3498,7 @@ PyObject *__pyx_args, PyObject *__pyx_kwds (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); kw_args--; } - else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 41, __pyx_L3_error) + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 45, __pyx_L3_error) else goto __pyx_L5_argtuple_error; CYTHON_FALLTHROUGH; case 1: @@ -3441,9 +3506,9 @@ PyObject *__pyx_args, PyObject *__pyx_kwds (void)__Pyx_Arg_NewRef_FASTCALL(values[1]); kw_args--; } - else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 41, __pyx_L3_error) + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 45, __pyx_L3_error) else { - __Pyx_RaiseArgtupleInvalid("make_can_msg", 1, 3, 3, 1); __PYX_ERR(0, 41, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("make_can_msg", 1, 3, 3, 1); __PYX_ERR(0, 45, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 2: @@ -3451,14 +3516,14 @@ PyObject *__pyx_args, PyObject *__pyx_kwds (void)__Pyx_Arg_NewRef_FASTCALL(values[2]); kw_args--; } - else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 41, __pyx_L3_error) + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 45, __pyx_L3_error) else { - __Pyx_RaiseArgtupleInvalid("make_can_msg", 1, 3, 3, 2); __PYX_ERR(0, 41, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("make_can_msg", 1, 3, 3, 2); __PYX_ERR(0, 45, __pyx_L3_error) } } if (unlikely(kw_args > 0)) { const Py_ssize_t kwd_pos_args = __pyx_nargs; - if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "make_can_msg") < 0)) __PYX_ERR(0, 41, __pyx_L3_error) + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "make_can_msg") < 0)) __PYX_ERR(0, 45, __pyx_L3_error) } } else if (unlikely(__pyx_nargs != 3)) { goto __pyx_L5_argtuple_error; @@ -3473,7 +3538,7 @@ PyObject *__pyx_args, PyObject *__pyx_kwds } goto __pyx_L6_skip; __pyx_L5_argtuple_error:; - __Pyx_RaiseArgtupleInvalid("make_can_msg", 1, 3, 3, __pyx_nargs); __PYX_ERR(0, 41, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("make_can_msg", 1, 3, 3, __pyx_nargs); __PYX_ERR(0, 45, __pyx_L3_error) __pyx_L6_skip:; goto __pyx_L4_argument_unpacking_done; __pyx_L3_error:; @@ -3487,7 +3552,7 @@ PyObject *__pyx_args, PyObject *__pyx_kwds __Pyx_RefNannyFinishContext(); return NULL; __pyx_L4_argument_unpacking_done:; - __pyx_r = __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_2make_can_msg(((struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *)__pyx_v_self), __pyx_v_name_or_addr, __pyx_v_bus, __pyx_v_values); + __pyx_r = __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_4make_can_msg(((struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *)__pyx_v_self), __pyx_v_name_or_addr, __pyx_v_bus, __pyx_v_values); /* function exit code */ { @@ -3500,7 +3565,7 @@ PyObject *__pyx_args, PyObject *__pyx_kwds return __pyx_r; } -static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_2make_can_msg(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_name_or_addr, PyObject *__pyx_v_bus, PyObject *__pyx_v_values) { +static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_4make_can_msg(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_name_or_addr, PyObject *__pyx_v_bus, PyObject *__pyx_v_values) { PyObject *__pyx_r = NULL; __Pyx_RefNannyDeclarations PyObject *__pyx_t_1 = NULL; @@ -3509,7 +3574,7 @@ static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_2make_can_msg(st int __pyx_clineno = 0; __Pyx_RefNannySetupContext("make_can_msg", 1); __Pyx_XDECREF(__pyx_r); - __pyx_t_1 = __pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_make_can_msg(__pyx_v_self, __pyx_v_name_or_addr, __pyx_v_bus, __pyx_v_values, 1); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 41, __pyx_L1_error) + __pyx_t_1 = __pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_make_can_msg(__pyx_v_self, __pyx_v_name_or_addr, __pyx_v_bus, __pyx_v_values, 1); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 45, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_r = __pyx_t_1; __pyx_t_1 = 0; @@ -3533,15 +3598,15 @@ static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_2make_can_msg(st */ /* Python wrapper */ -static PyObject *__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_5__reduce_cython__(PyObject *__pyx_v_self, +static PyObject *__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_7__reduce_cython__(PyObject *__pyx_v_self, #if CYTHON_METH_FASTCALL PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds #else PyObject *__pyx_args, PyObject *__pyx_kwds #endif ); /*proto*/ -static PyMethodDef __pyx_mdef_7opendbc_3can_10packer_pyx_9CANPacker_5__reduce_cython__ = {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_5__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; -static PyObject *__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_5__reduce_cython__(PyObject *__pyx_v_self, +static PyMethodDef __pyx_mdef_7opendbc_3can_10packer_pyx_9CANPacker_7__reduce_cython__ = {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_7__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; +static PyObject *__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_7__reduce_cython__(PyObject *__pyx_v_self, #if CYTHON_METH_FASTCALL PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds #else @@ -3566,14 +3631,14 @@ PyObject *__pyx_args, PyObject *__pyx_kwds if (unlikely(__pyx_nargs > 0)) { __Pyx_RaiseArgtupleInvalid("__reduce_cython__", 1, 0, 0, __pyx_nargs); return NULL;} if (unlikely(__pyx_kwds) && __Pyx_NumKwargs_FASTCALL(__pyx_kwds) && unlikely(!__Pyx_CheckKeywordStrings(__pyx_kwds, "__reduce_cython__", 0))) return NULL; - __pyx_r = __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_4__reduce_cython__(((struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *)__pyx_v_self)); + __pyx_r = __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_6__reduce_cython__(((struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *)__pyx_v_self)); /* function exit code */ __Pyx_RefNannyFinishContext(); return __pyx_r; } -static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_4__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self) { +static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self) { PyObject *__pyx_r = NULL; __Pyx_RefNannyDeclarations int __pyx_lineno = 0; @@ -3613,15 +3678,15 @@ static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_4__reduce_cython */ /* Python wrapper */ -static PyObject *__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_7__setstate_cython__(PyObject *__pyx_v_self, +static PyObject *__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_9__setstate_cython__(PyObject *__pyx_v_self, #if CYTHON_METH_FASTCALL PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds #else PyObject *__pyx_args, PyObject *__pyx_kwds #endif ); /*proto*/ -static PyMethodDef __pyx_mdef_7opendbc_3can_10packer_pyx_9CANPacker_7__setstate_cython__ = {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_7__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; -static PyObject *__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_7__setstate_cython__(PyObject *__pyx_v_self, +static PyMethodDef __pyx_mdef_7opendbc_3can_10packer_pyx_9CANPacker_9__setstate_cython__ = {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_9__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; +static PyObject *__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_9__setstate_cython__(PyObject *__pyx_v_self, #if CYTHON_METH_FASTCALL PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds #else @@ -3695,7 +3760,7 @@ PyObject *__pyx_args, PyObject *__pyx_kwds __Pyx_RefNannyFinishContext(); return NULL; 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@@ -3770,6 +3835,14 @@ static void __pyx_tp_dealloc_7opendbc_3can_10packer_pyx_CANPacker(PyObject *o) { } } #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } __Pyx_call_destructor(p->name_to_address); #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY (*Py_TYPE(o)->tp_free)(o); @@ -3782,8 +3855,8 @@ static void __pyx_tp_dealloc_7opendbc_3can_10packer_pyx_CANPacker(PyObject *o) { } static PyMethodDef __pyx_methods_7opendbc_3can_10packer_pyx_CANPacker[] = { - {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_5__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, - {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_7__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_7__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_9__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, {0, 0, 0, 0} }; 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} @@ -4392,16 +4465,16 @@ if (!__Pyx_RefNanny) { if (__Pyx_patch_abc() < 0) __PYX_ERR(0, 1, __pyx_L1_error) #endif - /* "opendbc/can/packer_pyx.pyx":41 + /* "opendbc/can/packer_pyx.pyx":45 * return self.packer.pack(addr, values_thing) * * cpdef make_can_msg(self, name_or_addr, bus, values): # <<<<<<<<<<<<<< * cdef int addr * if isinstance(name_or_addr, int): */ - __pyx_t_2 = __Pyx_CyFunction_New(&__pyx_mdef_7opendbc_3can_10packer_pyx_9CANPacker_3make_can_msg, __Pyx_CYFUNCTION_CCLASS, __pyx_n_s_CANPacker_make_can_msg, NULL, __pyx_n_s_opendbc_can_packer_pyx, __pyx_d, ((PyObject *)__pyx_codeobj__2)); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 41, __pyx_L1_error) + __pyx_t_2 = __Pyx_CyFunction_New(&__pyx_mdef_7opendbc_3can_10packer_pyx_9CANPacker_5make_can_msg, __Pyx_CYFUNCTION_CCLASS, __pyx_n_s_CANPacker_make_can_msg, NULL, __pyx_n_s_opendbc_can_packer_pyx, __pyx_d, ((PyObject *)__pyx_codeobj__2)); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 45, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); - if (__Pyx_SetItemOnTypeDict((PyObject *)__pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker, __pyx_n_s_make_can_msg, __pyx_t_2) < 0) __PYX_ERR(0, 41, __pyx_L1_error) + if (__Pyx_SetItemOnTypeDict((PyObject *)__pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker, __pyx_n_s_make_can_msg, __pyx_t_2) < 0) __PYX_ERR(0, 45, __pyx_L1_error) __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; PyType_Modified(__pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker); @@ -4410,7 +4483,7 @@ if (!__Pyx_RefNanny) { * raise TypeError, "self.dbc,self.packer cannot be converted to a Python object for pickling" * def __setstate_cython__(self, __pyx_state): */ - __pyx_t_2 = __Pyx_CyFunction_New(&__pyx_mdef_7opendbc_3can_10packer_pyx_9CANPacker_5__reduce_cython__, __Pyx_CYFUNCTION_CCLASS, __pyx_n_s_CANPacker___reduce_cython, NULL, __pyx_n_s_opendbc_can_packer_pyx, __pyx_d, ((PyObject *)__pyx_codeobj__4)); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 1, __pyx_L1_error) + __pyx_t_2 = __Pyx_CyFunction_New(&__pyx_mdef_7opendbc_3can_10packer_pyx_9CANPacker_7__reduce_cython__, __Pyx_CYFUNCTION_CCLASS, __pyx_n_s_CANPacker___reduce_cython, NULL, __pyx_n_s_opendbc_can_packer_pyx, __pyx_d, ((PyObject *)__pyx_codeobj__4)); 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_reduce_cython, __pyx_t_2) < 0) __PYX_ERR(1, 1, __pyx_L1_error) __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; @@ -4421,7 +4494,7 @@ if (!__Pyx_RefNanny) { * def __setstate_cython__(self, __pyx_state): # <<<<<<<<<<<<<< * raise TypeError, "self.dbc,self.packer cannot be converted to a Python object for pickling" */ - __pyx_t_2 = __Pyx_CyFunction_New(&__pyx_mdef_7opendbc_3can_10packer_pyx_9CANPacker_7__setstate_cython__, __Pyx_CYFUNCTION_CCLASS, __pyx_n_s_CANPacker___setstate_cython, NULL, __pyx_n_s_opendbc_can_packer_pyx, __pyx_d, ((PyObject *)__pyx_codeobj__6)); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 3, __pyx_L1_error) + __pyx_t_2 = __Pyx_CyFunction_New(&__pyx_mdef_7opendbc_3can_10packer_pyx_9CANPacker_9__setstate_cython__, __Pyx_CYFUNCTION_CCLASS, __pyx_n_s_CANPacker___setstate_cython, NULL, __pyx_n_s_opendbc_can_packer_pyx, __pyx_d, ((PyObject *)__pyx_codeobj__6)); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 3, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); if (PyDict_SetItem(__pyx_d, __pyx_n_s_setstate_cython, __pyx_t_2) < 0) __PYX_ERR(1, 3, __pyx_L1_error) __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; @@ -4862,14 +4935,14 @@ static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyO { int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); if (unlikely(eq != 0)) { - if (unlikely(eq < 0)) return NULL; // error + if (unlikely(eq < 0)) return NULL; return kwvalues[i]; } } - return NULL; // not found (no exception set) + return NULL; } #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 -static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); PyObject *dict; dict = PyDict_New(); @@ -4953,7 +5026,7 @@ static int __Pyx_ParseOptionalKeywords( if (*name) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - Py_INCREF(value); // transfer ownership of value to values + Py_INCREF(value); Py_DECREF(key); #endif key = NULL; @@ -4972,7 +5045,7 @@ static int __Pyx_ParseOptionalKeywords( && _PyString_Eq(**name, key)) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -5004,7 +5077,7 @@ static int __Pyx_ParseOptionalKeywords( if (cmp == 0) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -5504,9 +5577,10 @@ bad: /* IterFinish */ static CYTHON_INLINE int __Pyx_IterFinish(void) { + PyObject* exc_type; __Pyx_PyThreadState_declare __Pyx_PyThreadState_assign - PyObject* exc_type = __Pyx_PyErr_CurrentExceptionType(); + exc_type = __Pyx_PyErr_CurrentExceptionType(); if (unlikely(exc_type)) { if (unlikely(!__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) return -1; @@ -6064,38 +6138,38 @@ static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffs #endif return -1; } -#if !CYTHON_USE_TYPE_SLOTS - if (dictoffset == 0) { - PyErr_Format(PyExc_TypeError, - "extension type '%s.200s': " - "unable to validate whether bases have a __dict__ " - "when CYTHON_USE_TYPE_SLOTS is off " - "(likely because you are building in the limited API). " - "Therefore, all extension types with multiple bases " - "must add 'cdef dict __dict__' in this compilation mode", - type_name); -#if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); -#endif - return -1; - } -#else - if (dictoffset == 0 && b->tp_dictoffset) + if (dictoffset == 0) { - __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); - PyErr_Format(PyExc_TypeError, - "extension type '%.200s' has no __dict__ slot, " - "but base type '" __Pyx_FMT_TYPENAME "' has: " - "either add 'cdef dict __dict__' to the extension type " - "or add '__slots__ = [...]' to the base type", - type_name, b_name); - __Pyx_DECREF_TypeName(b_name); + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif #if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); + Py_DECREF(b0); #endif - return -1; + return -1; + } } -#endif #if CYTHON_AVOID_BORROWED_REFS Py_DECREF(b0); #endif @@ -7885,7 +7959,7 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( #else py_code = PyCode_NewEmpty(filename, funcname, py_line); #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + Py_XDECREF(py_funcname); return py_code; bad: Py_XDECREF(py_funcname); diff --git a/opendbc/can/packer_pyx.so b/opendbc/can/packer_pyx.so index cb0335945..e791807fc 100755 Binary files a/opendbc/can/packer_pyx.so and b/opendbc/can/packer_pyx.so differ diff --git a/opendbc/can/parser_pyx.cpp b/opendbc/can/parser_pyx.cpp index e5edd8560..c29ee7f95 100644 --- a/opendbc/can/parser_pyx.cpp +++ b/opendbc/can/parser_pyx.cpp @@ -1,4 +1,4 @@ -/* Generated by Cython 3.0.5 */ +/* Generated by Cython 3.0.8 */ /* BEGIN: Cython Metadata { @@ -44,10 +44,10 @@ END: Cython Metadata */ #else #define __PYX_EXTRA_ABI_MODULE_NAME "" #endif -#define CYTHON_ABI "3_0_5" __PYX_EXTRA_ABI_MODULE_NAME +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME #define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI #define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." -#define CYTHON_HEX_VERSION 0x030005F0 +#define CYTHON_HEX_VERSION 0x030008F0 #define CYTHON_FUTURE_DIVISION 1 #include #ifndef offsetof @@ -261,7 +261,7 @@ END: Cython Metadata */ #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 #endif -#elif defined(PY_NOGIL) +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) #define CYTHON_COMPILING_IN_PYPY 0 #define CYTHON_COMPILING_IN_CPYTHON 0 #define CYTHON_COMPILING_IN_LIMITED_API 0 @@ -605,18 +605,19 @@ class __Pyx_FakeReference { PyObject *exception_table = NULL; PyObject *types_module=NULL, *code_type=NULL, *result=NULL; #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 - PyObject *version_info; // borrowed - #endif + PyObject *version_info; PyObject *py_minor_version = NULL; + #endif long minor_version = 0; PyObject *type, *value, *traceback; PyErr_Fetch(&type, &value, &traceback); #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 - minor_version = 11; // we don't yet need to distinguish between versions > 11 + minor_version = 11; #else if (!(version_info = PySys_GetObject("version_info"))) goto end; if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); if (minor_version == -1 && PyErr_Occurred()) goto end; #endif if (!(types_module = PyImport_ImportModule("types"))) goto end; @@ -637,7 +638,6 @@ class __Pyx_FakeReference { Py_XDECREF(code_type); Py_XDECREF(exception_table); Py_XDECREF(types_module); - Py_XDECREF(py_minor_version); if (type) { PyErr_Restore(type, value, traceback); } @@ -670,7 +670,7 @@ class __Pyx_FakeReference { PyObject *fv, PyObject *cell, PyObject* fn, PyObject *name, int fline, PyObject *lnos) { PyCodeObject *result; - PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); // we don't have access to __pyx_empty_bytes here + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); if (!empty_bytes) return NULL; result = #if PY_VERSION_HEX >= 0x030C0000 @@ -965,7 +965,7 @@ static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, #endif #if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 #define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ - PyTypeObject *type = Py_TYPE(obj);\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ PyObject_GC_Del(obj);\ Py_DECREF(type);\ @@ -1386,7 +1386,7 @@ static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); #endif typedef Py_ssize_t __Pyx_compact_pylong; typedef size_t __Pyx_compact_upylong; - #else // Py < 3.12 + #else #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) @@ -1550,7 +1550,7 @@ struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser { }; -/* "opendbc/can/parser_pyx.pyx":101 +/* "opendbc/can/parser_pyx.pyx":105 * * * cdef class CANDefine(): # <<<<<<<<<<<<<< @@ -1749,8 +1749,8 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) #else - #define __Pyx_Arg_NewRef_VARARGS(arg) arg // no-op - #define __Pyx_Arg_XDECREF_VARARGS(arg) // no-op - arg is borrowed + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) #endif #define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) #define __Pyx_KwValues_VARARGS(args, nargs) NULL @@ -1762,12 +1762,13 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 - static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); #else #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) #endif - #define __Pyx_Arg_NewRef_FASTCALL(arg) arg // no-op, __Pyx_Arg_FASTCALL is direct and this needs - #define __Pyx_Arg_XDECREF_FASTCALL(arg) // no-op - arg was returned from array + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) #else #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS @@ -2239,7 +2240,7 @@ typedef struct { #endif void *defaults; int defaults_pyobjects; - size_t defaults_size; // used by FusedFunction for copying defaults + size_t defaults_size; int flags; PyObject *defaults_tuple; PyObject *defaults_kwdict; @@ -2540,15 +2541,16 @@ static const char __pyx_k_self_dbc_cannot_be_converted_to[] = "self.dbc cannot b static const char __pyx_k_self_can_self_dbc_cannot_be_conv[] = "self.can,self.dbc cannot be converted to a Python object for pickling"; /* #### Code section: decls ### */ static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANParser___init__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, PyObject *__pyx_v_dbc_name, PyObject *__pyx_v_messages, PyObject *__pyx_v_bus); /* proto */ -static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_2update_strings(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, PyObject *__pyx_v_strings, PyObject *__pyx_v_sendcan); /* proto */ +static void __pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_2__dealloc__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_4update_strings(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, PyObject *__pyx_v_strings, PyObject *__pyx_v_sendcan); /* proto */ static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_9can_valid___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_11bus_timeout___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_2vl___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_6vl_all___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_8ts_nanos___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_8dbc_name___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_4__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ -static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_6__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine___init__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self, PyObject *__pyx_v_dbc_name); /* proto */ static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_2dv___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self); /* proto */ static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_2dv_2__set__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ @@ -4498,7 +4500,7 @@ static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANParser___init__(struct __pyx_ * self.can = new cpp_CANParser(bus, dbc_name, message_v) * self.update_strings([]) # <<<<<<<<<<<<<< * - * def update_strings(self, strings, sendcan=False): + * def __dealloc__(self): */ __pyx_t_4 = __Pyx_PyObject_GetAttrStr(((PyObject *)__pyx_v_self), __pyx_n_s_update_strings); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 67, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); @@ -4560,21 +4562,84 @@ static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANParser___init__(struct __pyx_ /* "opendbc/can/parser_pyx.pyx":69 * self.update_strings([]) * + * def __dealloc__(self): # <<<<<<<<<<<<<< + * if self.can: + * del self.can + */ + +/* Python wrapper */ +static void __pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_3__dealloc__(PyObject *__pyx_v_self); /*proto*/ +static void __pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_3__dealloc__(PyObject *__pyx_v_self) { + CYTHON_UNUSED PyObject *const *__pyx_kwvalues; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__dealloc__ (wrapper)", 0); + __pyx_kwvalues = __Pyx_KwValues_VARARGS(__pyx_args, __pyx_nargs); + __pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_2__dealloc__(((struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *)__pyx_v_self)); + + /* function exit code */ + __Pyx_RefNannyFinishContext(); +} + +static void __pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_2__dealloc__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self) { + int __pyx_t_1; + + /* "opendbc/can/parser_pyx.pyx":70 + * + * def __dealloc__(self): + * if self.can: # <<<<<<<<<<<<<< + * del self.can + * + */ + __pyx_t_1 = (__pyx_v_self->can != 0); + if (__pyx_t_1) { + + /* "opendbc/can/parser_pyx.pyx":71 + * def __dealloc__(self): + * if self.can: + * del self.can # <<<<<<<<<<<<<< + * + * def update_strings(self, strings, sendcan=False): + */ + delete __pyx_v_self->can; + + /* "opendbc/can/parser_pyx.pyx":70 + * + * def __dealloc__(self): + * if self.can: # <<<<<<<<<<<<<< + * del self.can + * + */ + } + + /* "opendbc/can/parser_pyx.pyx":69 + * self.update_strings([]) + * + * def __dealloc__(self): # <<<<<<<<<<<<<< + * if self.can: + * del self.can + */ + + /* function exit code */ +} + +/* "opendbc/can/parser_pyx.pyx":73 + * del self.can + * * def update_strings(self, strings, sendcan=False): # <<<<<<<<<<<<<< * for v in self.vl_all.values(): * for l in v.values(): # no-cython-lint */ /* Python wrapper */ -static PyObject *__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_3update_strings(PyObject *__pyx_v_self, +static PyObject *__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_5update_strings(PyObject *__pyx_v_self, #if CYTHON_METH_FASTCALL PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds #else PyObject *__pyx_args, PyObject *__pyx_kwds #endif ); /*proto*/ -static PyMethodDef __pyx_mdef_7opendbc_3can_10parser_pyx_9CANParser_3update_strings = {"update_strings", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_3update_strings, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; -static PyObject *__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_3update_strings(PyObject *__pyx_v_self, +static PyMethodDef __pyx_mdef_7opendbc_3can_10parser_pyx_9CANParser_5update_strings = {"update_strings", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_5update_strings, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; +static PyObject *__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_5update_strings(PyObject *__pyx_v_self, #if CYTHON_METH_FASTCALL PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds #else @@ -4622,19 +4687,19 @@ PyObject *__pyx_args, PyObject *__pyx_kwds (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); kw_args--; } - else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 69, __pyx_L3_error) + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 73, __pyx_L3_error) else goto __pyx_L5_argtuple_error; CYTHON_FALLTHROUGH; case 1: if (kw_args > 0) { PyObject* value = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_sendcan); if (value) { values[1] = __Pyx_Arg_NewRef_FASTCALL(value); kw_args--; } - else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 69, __pyx_L3_error) + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 73, __pyx_L3_error) } } if (unlikely(kw_args > 0)) { const Py_ssize_t kwd_pos_args = __pyx_nargs; - if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "update_strings") < 0)) __PYX_ERR(0, 69, __pyx_L3_error) + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "update_strings") < 0)) __PYX_ERR(0, 73, __pyx_L3_error) } } else { switch (__pyx_nargs) { @@ -4650,7 +4715,7 @@ PyObject *__pyx_args, PyObject *__pyx_kwds } goto __pyx_L6_skip; __pyx_L5_argtuple_error:; - __Pyx_RaiseArgtupleInvalid("update_strings", 0, 1, 2, __pyx_nargs); __PYX_ERR(0, 69, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("update_strings", 0, 1, 2, __pyx_nargs); __PYX_ERR(0, 73, __pyx_L3_error) __pyx_L6_skip:; goto __pyx_L4_argument_unpacking_done; __pyx_L3_error:; @@ -4664,7 +4729,7 @@ PyObject *__pyx_args, PyObject *__pyx_kwds __Pyx_RefNannyFinishContext(); return NULL; __pyx_L4_argument_unpacking_done:; - __pyx_r = __pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_2update_strings(((struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *)__pyx_v_self), __pyx_v_strings, __pyx_v_sendcan); + __pyx_r = __pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_4update_strings(((struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *)__pyx_v_self), __pyx_v_strings, __pyx_v_sendcan); /* function exit code */ { @@ -4677,7 +4742,7 @@ PyObject *__pyx_args, PyObject *__pyx_kwds return __pyx_r; } -static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_2update_strings(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, PyObject *__pyx_v_strings, PyObject *__pyx_v_sendcan) { +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_4update_strings(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, PyObject *__pyx_v_strings, PyObject *__pyx_v_sendcan) { PyObject *__pyx_v_v = NULL; PyObject *__pyx_v_l = NULL; std::vector __pyx_v_new_vals; @@ -4707,7 +4772,7 @@ static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_2update_strings( int __pyx_clineno = 0; __Pyx_RefNannySetupContext("update_strings", 1); - /* "opendbc/can/parser_pyx.pyx":70 + /* "opendbc/can/parser_pyx.pyx":74 * * def update_strings(self, strings, sendcan=False): * for v in self.vl_all.values(): # <<<<<<<<<<<<<< @@ -4717,9 +4782,9 @@ static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_2update_strings( __pyx_t_2 = 0; if (unlikely(__pyx_v_self->vl_all == Py_None)) { PyErr_Format(PyExc_AttributeError, "'NoneType' object has no attribute '%.30s'", "values"); - __PYX_ERR(0, 70, __pyx_L1_error) + __PYX_ERR(0, 74, __pyx_L1_error) } - __pyx_t_5 = __Pyx_dict_iterator(__pyx_v_self->vl_all, 1, __pyx_n_s_values, (&__pyx_t_3), (&__pyx_t_4)); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 70, __pyx_L1_error) + __pyx_t_5 = __Pyx_dict_iterator(__pyx_v_self->vl_all, 1, __pyx_n_s_values, (&__pyx_t_3), (&__pyx_t_4)); 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-static PyObject *__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_5__reduce_cython__(PyObject *__pyx_v_self, +static PyMethodDef __pyx_mdef_7opendbc_3can_10parser_pyx_9CANParser_7__reduce_cython__ = {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_7__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; +static PyObject *__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_7__reduce_cython__(PyObject *__pyx_v_self, #if CYTHON_METH_FASTCALL PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds #else @@ -5320,14 +5385,14 @@ PyObject *__pyx_args, PyObject *__pyx_kwds if (unlikely(__pyx_nargs > 0)) { __Pyx_RaiseArgtupleInvalid("__reduce_cython__", 1, 0, 0, __pyx_nargs); return NULL;} if (unlikely(__pyx_kwds) && __Pyx_NumKwargs_FASTCALL(__pyx_kwds) && unlikely(!__Pyx_CheckKeywordStrings(__pyx_kwds, "__reduce_cython__", 0))) return NULL; - __pyx_r = __pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_4__reduce_cython__(((struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *)__pyx_v_self)); + __pyx_r = __pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_6__reduce_cython__(((struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *)__pyx_v_self)); /* function exit code */ __Pyx_RefNannyFinishContext(); return __pyx_r; } -static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_4__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self) { +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self) { PyObject *__pyx_r = NULL; __Pyx_RefNannyDeclarations int __pyx_lineno = 0; @@ -5367,15 +5432,15 @@ static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_4__reduce_cython */ /* Python wrapper */ -static PyObject *__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_7__setstate_cython__(PyObject *__pyx_v_self, +static PyObject *__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_9__setstate_cython__(PyObject *__pyx_v_self, #if CYTHON_METH_FASTCALL PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds #else PyObject *__pyx_args, PyObject *__pyx_kwds #endif ); /*proto*/ -static PyMethodDef __pyx_mdef_7opendbc_3can_10parser_pyx_9CANParser_7__setstate_cython__ = {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_7__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; -static PyObject *__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_7__setstate_cython__(PyObject *__pyx_v_self, +static PyMethodDef __pyx_mdef_7opendbc_3can_10parser_pyx_9CANParser_9__setstate_cython__ = {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_9__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; +static PyObject *__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_9__setstate_cython__(PyObject *__pyx_v_self, #if CYTHON_METH_FASTCALL PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds #else @@ -5449,7 +5514,7 @@ PyObject *__pyx_args, PyObject *__pyx_kwds __Pyx_RefNannyFinishContext(); return NULL; 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std::vector ::size_type __pyx_t_8; std::vector ::size_type __pyx_t_9; - std::vector ::size_type __pyx_t_10; + std::vector ::size_type __pyx_t_10; uint32_t __pyx_t_11; PyObject *__pyx_t_12 = NULL; int __pyx_t_13; @@ -5618,33 +5683,33 @@ static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine___init__(struct __pyx_ int __pyx_clineno = 0; __Pyx_RefNannySetupContext("__init__", 1); - /* "opendbc/can/parser_pyx.pyx":110 + /* "opendbc/can/parser_pyx.pyx":114 * * def __init__(self, dbc_name): * self.dbc_name = dbc_name # <<<<<<<<<<<<<< * self.dbc = dbc_lookup(dbc_name) * if not self.dbc: */ - __pyx_t_1 = __pyx_convert_string_from_py_std__in_string(__pyx_v_dbc_name); if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 110, __pyx_L1_error) + __pyx_t_1 = __pyx_convert_string_from_py_std__in_string(__pyx_v_dbc_name); if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 114, __pyx_L1_error) __pyx_v_self->dbc_name = __PYX_STD_MOVE_IF_SUPPORTED(__pyx_t_1); - /* "opendbc/can/parser_pyx.pyx":111 + /* "opendbc/can/parser_pyx.pyx":115 * def __init__(self, dbc_name): * self.dbc_name = dbc_name * self.dbc = dbc_lookup(dbc_name) # <<<<<<<<<<<<<< * if not self.dbc: * raise RuntimeError(f"Can't find DBC: '{dbc_name}'") */ - __pyx_t_1 = __pyx_convert_string_from_py_std__in_string(__pyx_v_dbc_name); 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if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 1, __pyx_L1_error) + __pyx_t_3 = __Pyx_CyFunction_New(&__pyx_mdef_7opendbc_3can_10parser_pyx_9CANParser_7__reduce_cython__, __Pyx_CYFUNCTION_CCLASS, __pyx_n_s_CANParser___reduce_cython, NULL, __pyx_n_s_opendbc_can_parser_pyx, __pyx_d, ((PyObject *)__pyx_codeobj__10)); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 1, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); if (PyDict_SetItem(__pyx_d, __pyx_n_s_reduce_cython, __pyx_t_3) < 0) __PYX_ERR(1, 1, __pyx_L1_error) __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; @@ -7582,7 +7655,7 @@ if (!__Pyx_RefNanny) { * def __setstate_cython__(self, __pyx_state): # <<<<<<<<<<<<<< * raise TypeError, "self.can,self.dbc cannot be converted to a Python object for pickling" */ - __pyx_t_3 = __Pyx_CyFunction_New(&__pyx_mdef_7opendbc_3can_10parser_pyx_9CANParser_7__setstate_cython__, __Pyx_CYFUNCTION_CCLASS, __pyx_n_s_CANParser___setstate_cython, NULL, __pyx_n_s_opendbc_can_parser_pyx, __pyx_d, ((PyObject *)__pyx_codeobj__12)); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 3, __pyx_L1_error) + __pyx_t_3 = __Pyx_CyFunction_New(&__pyx_mdef_7opendbc_3can_10parser_pyx_9CANParser_9__setstate_cython__, __Pyx_CYFUNCTION_CCLASS, __pyx_n_s_CANParser___setstate_cython, NULL, __pyx_n_s_opendbc_can_parser_pyx, __pyx_d, ((PyObject *)__pyx_codeobj__12)); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 3, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); if (PyDict_SetItem(__pyx_d, __pyx_n_s_setstate_cython, __pyx_t_3) < 0) __PYX_ERR(1, 3, __pyx_L1_error) __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; @@ -7861,9 +7934,10 @@ static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { /* IterFinish */ static CYTHON_INLINE int __Pyx_IterFinish(void) { + PyObject* exc_type; __Pyx_PyThreadState_declare __Pyx_PyThreadState_assign - PyObject* exc_type = __Pyx_PyErr_CurrentExceptionType(); + exc_type = __Pyx_PyErr_CurrentExceptionType(); if (unlikely(exc_type)) { if (unlikely(!__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) return -1; @@ -8082,14 +8156,14 @@ static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyO { int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); if (unlikely(eq != 0)) { - if (unlikely(eq < 0)) return NULL; // error + if (unlikely(eq < 0)) return NULL; return kwvalues[i]; } } - return NULL; // not found (no exception set) + return NULL; } #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 -static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); PyObject *dict; dict = PyDict_New(); @@ -8199,7 +8273,7 @@ static int __Pyx_ParseOptionalKeywords( if (*name) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - Py_INCREF(value); // transfer ownership of value to values + Py_INCREF(value); Py_DECREF(key); #endif key = NULL; @@ -8218,7 +8292,7 @@ static int __Pyx_ParseOptionalKeywords( && _PyString_Eq(**name, key)) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -8250,7 +8324,7 @@ static int __Pyx_ParseOptionalKeywords( if (cmp == 0) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -8837,7 +8911,7 @@ static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, } } #else - if (is_list || PySequence_Check(o)) { + if (is_list || !PyMapping_Check(o)) { return PySequence_GetItem(o, i); } #endif @@ -8915,9 +8989,10 @@ static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) /* UnpackUnboundCMethod */ static PyObject *__Pyx_SelflessCall(PyObject *method, PyObject *args, PyObject *kwargs) { + PyObject *result; PyObject *selfless_args = PyTuple_GetSlice(args, 1, PyTuple_Size(args)); if (unlikely(!selfless_args)) return NULL; - PyObject *result = PyObject_Call(method, selfless_args, kwargs); + result = PyObject_Call(method, selfless_args, kwargs); Py_DECREF(selfless_args); return result; } @@ -9765,38 +9840,38 @@ static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffs #endif return -1; } -#if !CYTHON_USE_TYPE_SLOTS - if (dictoffset == 0) { - PyErr_Format(PyExc_TypeError, - "extension type '%s.200s': " - "unable to validate whether bases have a __dict__ " - "when CYTHON_USE_TYPE_SLOTS is off " - "(likely because you are building in the limited API). " - "Therefore, all extension types with multiple bases " - "must add 'cdef dict __dict__' in this compilation mode", - type_name); -#if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); -#endif - return -1; - } -#else - if (dictoffset == 0 && b->tp_dictoffset) + if (dictoffset == 0) { - __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); - PyErr_Format(PyExc_TypeError, - "extension type '%.200s' has no __dict__ slot, " - "but base type '" __Pyx_FMT_TYPENAME "' has: " - "either add 'cdef dict __dict__' to the extension type " - "or add '__slots__ = [...]' to the base type", - type_name, b_name); - __Pyx_DECREF_TypeName(b_name); + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif #if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); + Py_DECREF(b0); #endif - return -1; + return -1; + } } -#endif #if CYTHON_AVOID_BORROWED_REFS Py_DECREF(b0); #endif @@ -11724,7 +11799,7 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( #else py_code = PyCode_NewEmpty(filename, funcname, py_line); #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + Py_XDECREF(py_funcname); return py_code; bad: Py_XDECREF(py_funcname); diff --git a/opendbc/can/parser_pyx.so b/opendbc/can/parser_pyx.so index 154377f71..f656e097b 100755 Binary files a/opendbc/can/parser_pyx.so and b/opendbc/can/parser_pyx.so differ diff --git a/opendbc/chrysler_pacifica_2017_hybrid_generated.dbc b/opendbc/chrysler_pacifica_2017_hybrid_generated.dbc index a325645e8..d8f4c6623 100644 --- a/opendbc/chrysler_pacifica_2017_hybrid_generated.dbc +++ b/opendbc/chrysler_pacifica_2017_hybrid_generated.dbc @@ -22,18 +22,47 @@ BO_ 280 ECM_TRQ: 8 XXX BO_ 284 ESP_8: 8 XXX SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX +BO_ 288 ECM_2: 7 XXX + SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX + SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX + SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX + BO_ 320 ESP_1: 8 XXX + SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX + SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX + SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX +BO_ 268 ESP_2: 8 ESC + SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX + SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX + SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX + BO_ 344 ESP_6: 8 XXX SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX @@ -72,7 +101,11 @@ BO_ 501 DAS_4: 8 XXX SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX + SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX + SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX + SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX BO_ 544 EPS_2: 8 XXX SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX @@ -112,6 +145,11 @@ BO_ 625 DAS_5: 8 XXX SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX +BO_ 669 EPB_1: 3 XXX + SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX + SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX + BO_ 678 DAS_6: 8 XXX SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX @@ -134,11 +172,14 @@ BO_ 820 BCM_1: 8 XXX SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX +VAL_ 320 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE" VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ; +VAL_ 669 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ; CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision"; CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque"; @@ -219,12 +260,6 @@ BO_ 608 PARKSENSE_SIGNAL: 8 XXX BO_ 729 LKAS_HEARTBIT: 5 XXX SG_ LKAS_STATUS_OK : 31|16@0+ (1,0) [0|65535] "" XXX -BO_ 288 ACCEL_RELATED_120: 7 XXX - SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX - SG_ ACCEL : 23|8@0+ (1,0) [0|255] "" XXX - SG_ GAS_ENGINE_RPM_MAYBE : 31|16@0+ (1,0) [0|65535] "" XXX - BO_ 257 ACCEL_RELATED_101: 5 XXX SG_ ENERGY_OR_RPM : 31|8@0+ (1,0) [0|255] "" XXX @@ -288,11 +323,6 @@ BO_ 324 SPEED_2: 8 XXX BO_ 832 UNKNOWN_340: 8 XXX SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX -BO_ 268 ACC_10c: 8 XXX - SG_ BRAKE_PERHAPS : 48|1@0+ (1,0) [0|3] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148"; CM_ SG_ 746 PRNDL "5=L, 4=D, 3=N, 2=R, 1=P"; CM_ SG_ 320 BRAKE_PRESSED_2 "Value is 5 when brake is pressed by human, 1 when ACC brake"; diff --git a/opendbc/chrysler_ram_dt_generated.dbc b/opendbc/chrysler_ram_dt_generated.dbc index 29d890d5c..b502c15be 100644 --- a/opendbc/chrysler_ram_dt_generated.dbc +++ b/opendbc/chrysler_ram_dt_generated.dbc @@ -24,18 +24,47 @@ BO_ 181 ECM_TRQ: 8 XXX BO_ 121 ESP_8: 8 XXX SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX +BO_ 123 ECM_2: 7 XXX + SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX + SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX + SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX + BO_ 131 ESP_1: 8 XXX + SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX + SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX + SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX +BO_ 113 ESP_2: 8 ESC + SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX + SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX + SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX + BO_ 139 ESP_6: 8 XXX SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX @@ -74,7 +103,11 @@ BO_ 232 DAS_4: 8 XXX SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX + SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX + SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX + SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX BO_ 49 EPS_2: 8 XXX SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX @@ -114,6 +147,11 @@ BO_ 163 DAS_5: 8 XXX SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX +BO_ 213 EPB_1: 3 XXX + SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX + SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX + BO_ 250 DAS_6: 8 XXX SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX @@ -136,11 +174,14 @@ BO_ 657 BCM_1: 8 XXX SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX +VAL_ 131 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE" VAL_ 147 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ; +VAL_ 213 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ; CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision"; CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque"; @@ -158,10 +199,14 @@ BO_ 53 PCM_2: 8 XXX SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX BO_ 133 TCM_1: 8 XXX - SG_ DESIRED_GEAR : 15|4@0+ (1,0) [0|1] "" XXX SG_ SHIFT_PENDING : 2|1@0+ (1,0) [0|1] "" XXX - SG_ SPEED_TURBINE : 27|12@0+ (0.04,0) [0|1] "km/h" XXX SG_ ACTUAL_GEAR : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DESIRED_GEAR : 15|4@0+ (1,0) [0|1] "" XXX + SG_ TC_LOCKED : 17|1@1+ (1,0) [0|0] "" XXX + SG_ OUTPUT_SPEED : 31|16@0+ (1,0) [0|65534] "rpm" XXX + SG_ INPUT_SPEED : 47|16@0+ (1,0) [0|65534] "rpm" XXX + SG_ OUTPUT_SPEED_SIGN : 57|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|4@0+ (1,0) [0|15] "" XXX BO_ 135 ABS_2: 8 XXX SG_ COUNTER : 55|4@0+ (1,0) [0|1] "" XXX diff --git a/opendbc/chrysler_ram_hd_generated.dbc b/opendbc/chrysler_ram_hd_generated.dbc index 5ededbc01..697c3bf91 100644 --- a/opendbc/chrysler_ram_hd_generated.dbc +++ b/opendbc/chrysler_ram_hd_generated.dbc @@ -24,18 +24,47 @@ BO_ 280 ECM_TRQ: 8 XXX BO_ 284 ESP_8: 8 XXX SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX + SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX +BO_ 288 ECM_2: 7 XXX + SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX + SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX + SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX + SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX + BO_ 320 ESP_1: 8 XXX + SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX + SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX + SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX +BO_ 268 ESP_2: 8 ESC + SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX + SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX + SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX + SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX + SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX + BO_ 344 ESP_6: 8 XXX SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX @@ -74,7 +103,11 @@ BO_ 501 DAS_4: 8 XXX SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX + SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX + SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX + SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX BO_ 544 EPS_2: 8 XXX SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX @@ -114,6 +147,11 @@ BO_ 625 DAS_5: 8 XXX SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX +BO_ 669 EPB_1: 3 XXX + SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX + SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX + BO_ 629 DAS_6: 8 XXX SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX @@ -136,11 +174,14 @@ BO_ 820 BCM_1: 8 XXX SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX +VAL_ 320 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE" VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ; +VAL_ 669 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ; CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision"; CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque"; diff --git a/opendbc/gm_global_a_powertrain_generated.dbc b/opendbc/gm_global_a_powertrain_generated.dbc index 6ecb36f2f..37ad918cb 100644 --- a/opendbc/gm_global_a_powertrain_generated.dbc +++ b/opendbc/gm_global_a_powertrain_generated.dbc @@ -125,6 +125,10 @@ BO_ 320 BCMTurnSignals: 3 K9_BCM SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX +BO_ 322 BCMBlindSpotMonitor: 7 K9_BCM + SG_ LeftBSM : 6|1@0+ (1,0) [0|1] "" XXX + SG_ RightBSM : 7|1@0+ (1,0) [0|1] "" XXX + BO_ 328 PSCM_148: 1 K43_PSCM BO_ 381 ESPStatus: 6 K20_ECM @@ -244,12 +248,10 @@ BO_ 840 EBCMWheelSpdFront: 5 K17_EBCM SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM - SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO - SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO - SG_ MovingForward : 32|1@0+ (1,0) [0|1] "" XXX - SG_ MovingBackward : 33|1@0+ (1,0) [0|1] "" XXX - SG_ MovingForward2 : 35|1@1+ (1,0) [0|1] "" XXX - SG_ MovingBackward2 : 36|1@0+ (1,0) [0|1] "" XXX + SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO + SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO + SG_ RRWheelDir : 34|3@0+ (1,0) [0|7] "" NEO + SG_ RLWheelDir : 37|3@0+ (1,0) [0|7] "" NEO BO_ 869 ASCM_365: 4 K124_ASCM @@ -317,6 +319,8 @@ CM_ BU_ K124_ASCM "Active Safety Control Module"; CM_ SG_ 381 MSG17D_AccPower "Need to investigate"; CM_ BO_ 190 "Length varies from 6 to 8 bytes by car"; CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62"; +CM_ SG_ 322 LeftBSM "For some cars, this can only be when the blinker is also active"; +CM_ SG_ 322 RightBSM "For some cars, this can only be when the blinker is also active"; CM_ SG_ 352 ImmobilizerInfo "Non-zero when ignition or accessory mode"; CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62"; CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC"; @@ -347,6 +351,8 @@ VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ; VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ; VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ; VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ; +VAL_ 842 RRWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault"; +VAL_ 842 RLWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault"; VAL_ 880 ACCCruiseState 2 "Adaptive" 3 "Adaptive" 4 "Non-adaptive" 5 "Non-adaptive" ; VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ; VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; diff --git a/opendbc/subaru_global_2017_generated.dbc b/opendbc/subaru_global_2017_generated.dbc index 319764fc9..9732feae1 100644 --- a/opendbc/subaru_global_2017_generated.dbc +++ b/opendbc/subaru_global_2017_generated.dbc @@ -279,6 +279,7 @@ BO_ 289 ES_STATIC_2: 8 XXX SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX SG_ SET_3 : 15|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_Fault : 18|1@0+ (1,0) [0|1] "" XXX CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal"; CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on"; @@ -322,8 +323,8 @@ BO_ 545 ES_Distance: 8 XXX SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX SG_ Signal1 : 12|3@1+ (1,0) [0|7] "" XXX SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX - SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX + SG_ Cruise_Throttle : 16|13@1+ (1,0) [0|4095] "" XXX + SG_ Signal2 : 29|3@1+ (1,0) [0|15] "" XXX SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX SG_ Low_Speed_Follow : 33|1@1+ (1,0) [0|1] "" XXX SG_ Cruise_Soft_Disable : 34|1@1+ (1,0) [0|1] "" XXX @@ -344,8 +345,7 @@ BO_ 546 ES_Status: 8 XXX SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX SG_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_RPM : 16|12@1+ (1,0) [0|4095] "" XXX - SG_ Signal2 : 28|1@0+ (1,0) [0|1] "" XXX + SG_ Cruise_RPM : 16|13@1+ (1,0) [0|4095] "" XXX SG_ Cruise_Activated : 29|1@0+ (1,0) [0|1] "" XXX SG_ Brake_Lights : 30|1@1+ (1,0) [0|1] "" XXX SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX diff --git a/opendbc/subaru_global_2020_hybrid_generated.dbc b/opendbc/subaru_global_2020_hybrid_generated.dbc index 99087eb22..c41eaf996 100644 --- a/opendbc/subaru_global_2020_hybrid_generated.dbc +++ b/opendbc/subaru_global_2020_hybrid_generated.dbc @@ -279,6 +279,7 @@ BO_ 289 ES_STATIC_2: 8 XXX SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX SG_ SET_3 : 15|2@1+ (1,0) [0|3] "" XXX + SG_ Cruise_Fault : 18|1@0+ (1,0) [0|1] "" XXX CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal"; CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on"; diff --git a/opendbc/toyota_new_mc_pt_generated.dbc b/opendbc/toyota_new_mc_pt_generated.dbc index e9d95ccd3..e5c0fbbbb 100644 --- a/opendbc/toyota_new_mc_pt_generated.dbc +++ b/opendbc/toyota_new_mc_pt_generated.dbc @@ -38,6 +38,12 @@ CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor th BO_ 767 SDSU: 8 XXX SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX +BO_ 1880 DEBUG: 8 XXX + SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX + SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX + CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu"; CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu"; @@ -426,12 +432,6 @@ BO_ 1592 DOOR_LOCKS: 8 XXX SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX -BO_ 1880 DEBUG: 8 XXX - SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX - SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX - SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX - CM_ SG_ 36 YAW_RATE "verify"; CM_ SG_ 36 ACCEL_X "x-axis accel"; CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; diff --git a/opendbc/toyota_nodsu_pt_generated.dbc b/opendbc/toyota_nodsu_pt_generated.dbc index c40dab585..5f2d0c66d 100644 --- a/opendbc/toyota_nodsu_pt_generated.dbc +++ b/opendbc/toyota_nodsu_pt_generated.dbc @@ -38,6 +38,12 @@ CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor th BO_ 767 SDSU: 8 XXX SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX +BO_ 1880 DEBUG: 8 XXX + SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX + SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX + CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu"; CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu"; @@ -426,12 +432,6 @@ BO_ 1592 DOOR_LOCKS: 8 XXX SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX -BO_ 1880 DEBUG: 8 XXX - SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX - SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX - SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX - CM_ SG_ 36 YAW_RATE "verify"; CM_ SG_ 36 ACCEL_X "x-axis accel"; CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; diff --git a/opendbc/toyota_tnga_k_pt_generated.dbc b/opendbc/toyota_tnga_k_pt_generated.dbc index 03008bd08..4db6983af 100644 --- a/opendbc/toyota_tnga_k_pt_generated.dbc +++ b/opendbc/toyota_tnga_k_pt_generated.dbc @@ -38,6 +38,12 @@ CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor th BO_ 767 SDSU: 8 XXX SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX +BO_ 1880 DEBUG: 8 XXX + SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX + SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX + CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu"; CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu"; @@ -426,12 +432,6 @@ BO_ 1592 DOOR_LOCKS: 8 XXX SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX -BO_ 1880 DEBUG: 8 XXX - SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX - SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX - SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX - CM_ SG_ 36 YAW_RATE "verify"; CM_ SG_ 36 ACCEL_X "x-axis accel"; CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; diff --git a/panda/board/jungle/boards/board_declarations.h b/panda/board/jungle/boards/board_declarations.h index 6e016af07..925918921 100644 --- a/panda/board/jungle/boards/board_declarations.h +++ b/panda/board/jungle/boards/board_declarations.h @@ -15,7 +15,6 @@ typedef float (*board_get_channel_power)(uint8_t channel); typedef uint16_t (*board_get_sbu_mV)(uint8_t channel, uint8_t sbu); struct board { - const char *board_type; const bool has_canfd; const bool has_sbu_sense; const uint16_t avdd_mV; @@ -36,7 +35,6 @@ struct board { // TODO: shouldn't need these bool has_spi; - bool has_hw_gmlan; }; // ******************* Definitions ******************** diff --git a/panda/board/jungle/boards/board_v1.h b/panda/board/jungle/boards/board_v1.h index d0ad7843e..9581686e2 100644 --- a/panda/board/jungle/boards/board_v1.h +++ b/panda/board/jungle/boards/board_v1.h @@ -1,3 +1,6 @@ +// ///////////////////////// // +// Jungle board v1 (STM32F4) // +// ///////////////////////// // void board_v1_set_led(uint8_t color, bool enabled) { switch (color) { @@ -155,7 +158,6 @@ void board_v1_init(void) { void board_v1_tick(void) {} const board board_v1 = { - .board_type = "V1", .has_canfd = false, .has_sbu_sense = false, .avdd_mV = 3300U, diff --git a/panda/board/jungle/boards/board_v2.h b/panda/board/jungle/boards/board_v2.h index 25ea2fd42..095114825 100644 --- a/panda/board/jungle/boards/board_v2.h +++ b/panda/board/jungle/boards/board_v2.h @@ -1,3 +1,6 @@ +// ///////////////////////// // +// Jungle board v2 (STM32H7) // +// ///////////////////////// // const gpio_t power_pins[] = { {.bank = GPIOA, .pin = 0}, @@ -305,7 +308,6 @@ void board_v2_init(void) { void board_v2_tick(void) {} const board board_v2 = { - .board_type = "V2", .has_canfd = true, .has_sbu_sense = true, .avdd_mV = 3300U, diff --git a/panda/board/jungle/main.c b/panda/board/jungle/main.c index 3ab39ba1d..f0a09dfbd 100644 --- a/panda/board/jungle/main.c +++ b/panda/board/jungle/main.c @@ -31,7 +31,7 @@ void debug_ring_callback(uart_ring *ring) { char rcv; - while (getc(ring, &rcv)) { + while (get_char(ring, &rcv)) { (void)injectc(ring, rcv); } } @@ -155,7 +155,7 @@ int main(void) { } print("Config:\n"); - print(" Board type: "); print(current_board->board_type); print("\n"); + print(" Board type: 0x"); puth(hw_type); print("\n"); // init board current_board->init(); diff --git a/panda/board/jungle/main_comms.h b/panda/board/jungle/main_comms.h index 49d16e574..928c554d1 100644 --- a/panda/board/jungle/main_comms.h +++ b/panda/board/jungle/main_comms.h @@ -29,7 +29,7 @@ int get_jungle_health_pkt(void *dat) { } // send on serial, first byte to select the ring -void comms_endpoint2_write(uint8_t *data, uint32_t len) { +void comms_endpoint2_write(const uint8_t *data, uint32_t len) { UNUSED(data); UNUSED(len); } @@ -192,7 +192,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) { // **** 0xe0: debug read case 0xe0: // read - while ((resp_len < MIN(req->length, USBPACKET_MAX_SIZE)) && getc(get_ring_by_number(0), (char*)&resp[resp_len])) { + while ((resp_len < MIN(req->length, USBPACKET_MAX_SIZE)) && get_char(get_ring_by_number(0), (char*)&resp[resp_len])) { ++resp_len; } break; diff --git a/panda/board/jungle/obj/bootstub.panda_jungle.bin b/panda/board/jungle/obj/bootstub.panda_jungle.bin index 977cade84..f7ee02b53 100755 Binary files a/panda/board/jungle/obj/bootstub.panda_jungle.bin and b/panda/board/jungle/obj/bootstub.panda_jungle.bin differ diff --git a/panda/board/jungle/obj/bootstub.panda_jungle.elf b/panda/board/jungle/obj/bootstub.panda_jungle.elf index c6ebb4296..59eb45c49 100755 Binary files a/panda/board/jungle/obj/bootstub.panda_jungle.elf and b/panda/board/jungle/obj/bootstub.panda_jungle.elf differ diff --git a/panda/board/jungle/obj/bootstub.panda_jungle_h7.bin b/panda/board/jungle/obj/bootstub.panda_jungle_h7.bin index 1029bc1bd..dd50bd487 100755 Binary files a/panda/board/jungle/obj/bootstub.panda_jungle_h7.bin and b/panda/board/jungle/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/jungle/obj/bootstub.panda_jungle_h7.elf b/panda/board/jungle/obj/bootstub.panda_jungle_h7.elf index 14ddb214f..1231f3d27 100755 Binary files a/panda/board/jungle/obj/bootstub.panda_jungle_h7.elf and 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b/panda/board/obj/bootstub.panda.elf differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 060ac21c7..3ad7b6fca 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.elf b/panda/board/obj/bootstub.panda_h7.elf index cb709469f..7a05a826c 100755 Binary files a/panda/board/obj/bootstub.panda_h7.elf and b/panda/board/obj/bootstub.panda_h7.elf differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index da2072ff1..807fe9682 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1 +1 @@ -const uint8_t gitversion[] = "DEV-4ba36d72-DEBUG"; +const uint8_t gitversion[] = "DEV-e92d1f09-DEBUG"; diff --git a/panda/board/obj/panda.bin b/panda/board/obj/panda.bin index 22cc6743a..e2d881c30 100755 Binary files a/panda/board/obj/panda.bin and b/panda/board/obj/panda.bin differ diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index f27c49842..5ea7c6470 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda.elf b/panda/board/obj/panda.elf index db3a3b71a..400fcb85d 100755 Binary files a/panda/board/obj/panda.elf and b/panda/board/obj/panda.elf differ diff --git a/panda/board/obj/panda_h7.bin b/panda/board/obj/panda_h7.bin index 40e068b72..4251fc662 100755 Binary files a/panda/board/obj/panda_h7.bin and b/panda/board/obj/panda_h7.bin differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index 10e7564c1..2279642d9 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7.elf b/panda/board/obj/panda_h7.elf index 150861ee1..493f47511 100755 Binary files a/panda/board/obj/panda_h7.elf and b/panda/board/obj/panda_h7.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 651675b07..42b1d29bd 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-4ba36d72-DEBUG \ No newline at end of file +DEV-e92d1f09-DEBUG \ No newline at end of file diff --git a/panda/board/pedal/main.c b/panda/board/pedal/main.c index e0020f112..704ee5436 100644 --- a/panda/board/pedal/main.c +++ b/panda/board/pedal/main.c @@ -36,8 +36,8 @@ void __initialize_hardware_early(void) { void debug_ring_callback(uart_ring *ring) { char rcv; - while (getc(ring, &rcv) != 0) { - (void)putc(ring, rcv); + while (get_char(ring, &rcv) != 0) { + (void)put_char(ring, rcv); } } @@ -46,11 +46,11 @@ int comms_can_read(uint8_t *data, uint32_t max_len) { UNUSED(max_len); return 0; } -void comms_can_write(uint8_t *data, uint32_t len) { +void comms_can_write(const uint8_t *data, uint32_t len) { UNUSED(data); UNUSED(len); } -void comms_endpoint2_write(uint8_t *data, uint32_t len) { +void comms_endpoint2_write(const uint8_t *data, uint32_t len) { UNUSED(data); UNUSED(len); } @@ -73,7 +73,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) { } // read while ((resp_len < MIN(req->length, USBPACKET_MAX_SIZE)) && - getc(ur, (char*)&resp[resp_len])) { + get_char(ur, (char*)&resp[resp_len])) { ++resp_len; } break; @@ -92,7 +92,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) { // addresses to be used on CAN #define CAN_GAS_INPUT 0x200 -#define CAN_GAS_OUTPUT 0x201U +#define CAN_GAS_OUTPUT 0x201UL #define CAN_GAS_SIZE 6 #define COUNTER_CYCLE 0xFU @@ -127,7 +127,7 @@ void CAN1_RX0_IRQ_Handler(void) { int address = CAN->sFIFOMailBox[0].RIR >> 21; if (address == CAN_GAS_INPUT) { // softloader entry - if (GET_MAILBOX_BYTES_04(&CAN->sFIFOMailBox[0]) == 0xdeadface) { + if (GET_MAILBOX_BYTES_04(&CAN->sFIFOMailBox[0]) == 0xdeadfaceU) { if (GET_MAILBOX_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x0ab00b1e) { enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC; NVIC_SystemReset(); diff --git 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a/panda/board/pedal/obj/pedal_usb.bin.signed and b/panda/board/pedal/obj/pedal_usb.bin.signed differ diff --git a/panda/board/pedal/obj/pedal_usb.elf b/panda/board/pedal/obj/pedal_usb.elf index 75cf9cf07..dfea95624 100755 Binary files a/panda/board/pedal/obj/pedal_usb.elf and b/panda/board/pedal/obj/pedal_usb.elf differ diff --git a/panda/python/__init__.py b/panda/python/__init__.py index b945415c6..518db79f9 100644 --- a/panda/python/__init__.py +++ b/panda/python/__init__.py @@ -28,6 +28,7 @@ logging.basicConfig(level=LOGLEVEL, format='%(message)s') CANPACKET_HEAD_SIZE = 0x6 DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64] LEN_TO_DLC = {length: dlc for (dlc, length) in enumerate(DLC_TO_LEN)} +PANDA_BUS_CNT = 4 def calculate_checksum(data): @@ -111,7 +112,8 @@ class ALTERNATIVE_EXPERIENCE: DISABLE_DISENGAGE_ON_GAS = 1 DISABLE_STOCK_AEB = 2 RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8 - ALKA = 16 + ALLOW_AEB = 16 + ALKA = 32 class Panda: @@ -166,6 +168,7 @@ class Panda: HW_TYPE_RED_PANDA = b'\x07' HW_TYPE_RED_PANDA_V2 = b'\x08' HW_TYPE_TRES = b'\x09' + HW_TYPE_CUATRO = b'\x0a' CAN_PACKET_VERSION = 4 HEALTH_PACKET_VERSION = 15 @@ -175,15 +178,16 @@ class Panda: F2_DEVICES = [HW_TYPE_PEDAL, ] F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS] - H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES] + H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES, HW_TYPE_CUATRO] - INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_TRES) - HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES) + INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_TRES, HW_TYPE_CUATRO) + HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES, HW_TYPE_CUATRO) MAX_FAN_RPMs = { HW_TYPE_UNO: 5100, HW_TYPE_DOS: 6500, HW_TYPE_TRES: 6600, + HW_TYPE_CUATRO: 6600, } HARNESS_STATUS_NC = 0 @@ -232,20 +236,18 @@ class Panda: FLAG_FORD_LONG_CONTROL = 1 FLAG_FORD_CANFD = 2 - def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True): + def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True, can_speed_kbps: int = 500): self._connect_serial = serial self._disable_checks = disable_checks self._handle: BaseHandle self._handle_open = False self.can_rx_overflow_buffer = b'' + self._can_speed_kbps = can_speed_kbps # connect and set mcu type self.connect(claim) - # reset comms - self.can_reset_communications() - def __enter__(self): return self @@ -303,6 +305,13 @@ class Panda: self.set_heartbeat_disabled() self.set_power_save(0) + # reset comms + self.can_reset_communications() + + # set CAN speed + for bus in range(PANDA_BUS_CNT): + self.set_can_speed_kbps(bus, self._can_speed_kbps) + @classmethod def spi_connect(cls, serial, ignore_version=False): # get UID to confirm slave is present and up @@ -388,7 +397,7 @@ class Panda: return context, usb_handle, usb_serial, bootstub, bcd @classmethod - def list(cls): # noqa: A003 + def list(cls): ret = cls.usb_list() ret += cls.spi_list() return list(set(ret)) diff --git a/panda/python/dfu.py b/panda/python/dfu.py index 661f9e8f1..01ff037f8 100644 --- a/panda/python/dfu.py +++ b/panda/python/dfu.py @@ -72,7 +72,7 @@ class PandaDFU: return None, handle @staticmethod - def list() -> List[str]: # noqa: A003 + def list() -> List[str]: ret = PandaDFU.usb_list() ret += PandaDFU.spi_list() return list(set(ret)) diff --git a/pyproject.toml b/pyproject.toml index 07cf9a223..51396ca39 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [tool.pytest.ini_options] minversion = "6.0" -addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup" +addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup" cpp_files = "test_*" cpp_harness = "selfdrive/test/cpp_harness.py" python_files = "test_*.py" @@ -20,6 +20,8 @@ testpaths = [ "selfdrive/navd/tests", "selfdrive/thermald", "selfdrive/test/longitudinal_maneuvers", + "selfdrive/test/process_replay/test_fuzzy.py", + "system/camerad", "system/hardware/tici", "system/loggerd", "system/proclogd", @@ -75,75 +77,69 @@ documentation = "https://docs.comma.ai" [tool.poetry.dependencies] python = "~3.11" -atomicwrites = "*" aiohttp = "*" aiortc = "*" casadi = "==3.6.3" cffi = "*" -control = "*" crcmod = "*" -cryptography = "*" Cython = "*" future-fstrings = "*" # for acados -hexdump = "*" -Jinja2 = "*" json-rpc = "*" libusb1 = "*" numpy = "*" onnx = ">=1.14.0" -onnxruntime = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'aarch64'" } -onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" } +onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" } +onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" } psutil = "*" pyaudio = "*" pycapnp = "*" pycryptodome = "*" -pycurl = "*" -pydub = "*" PyJWT = "*" -pyopencl = "*" pyserial = "*" -PyYAML = "*" pyzmq = "*" requests = "*" scons = "*" -sentry-sdk = "==1.28.1" # needs to be updated with AGNOS -setproctitle = "*" +sentry-sdk = "*" smbus2 = "*" sounddevice = "*" spidev = { version = "*", platform = "linux" } sympy = "*" -timezonefinder = "*" -tqdm = "*" websocket_client = "*" -polyline = "*" -sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"} +# these should be removed +markdown-it-py = "*" +timezonefinder = "*" +setproctitle = "*" [tool.poetry.group.dev.dependencies] av = "*" azure-identity = "*" azure-storage-blob = "*" breathe = "*" +control = "*" coverage = "*" dictdiffer = "*" ft4222 = "*" +flaky = "*" hypothesis = "~6.47" inputs = "*" +Jinja2 = "*" lru-dict = "*" -markdown-it-py = "*" matplotlib = "*" -metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="72e842cd1d025bf676e4af8797a01e4aa282109f", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies +metadrive-simulator = { version = "0.4.2.3", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies mpld3 = "*" mypy = "*" myst-parser = "*" natsort = "*" opencv-python-headless = "*" -pandas = "*" parameterized = "^0.8" pprofile = "*" +polyline = "*" pre-commit = "*" +pyautogui = "*" +pyopencl = "==2023.1.4" # 2024.1 is broken on arm64 pygame = "*" -pympler = "*" +pywinctl = "*" pyprof2calltree = "*" pytest = "*" pytest-cov = "*" @@ -151,20 +147,16 @@ pytest-cpp = "*" pytest-subtests = "*" pytest-xdist = "*" pytest-timeout = "*" -pytest-timeouts = "*" pytest-randomly = "*" ruff = "*" -scipy = "*" sphinx = "*" sphinx-rtd-theme = "*" sphinx-sitemap = "*" tabulate = "*" tenacity = "*" -types-atomicwrites = "*" -types-pycurl = "*" -types-PyYAML = "*" types-requests = "*" types-tabulate = "*" +tqdm = "*" # this is only pinned since 5.15.11 is broken pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux @@ -175,8 +167,8 @@ build-backend = "poetry.core.masonry.api" # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml [tool.ruff] -select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"] -ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"] +lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"] +lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"] line-length = 160 target-version="py311" exclude = [ @@ -188,8 +180,8 @@ exclude = [ "teleoprtc_repo", "third_party", ] -flake8-implicit-str-concat.allow-multiline=false -[tool.ruff.flake8-tidy-imports.banned-api] +lint.flake8-implicit-str-concat.allow-multiline=false +[tool.ruff.lint.flake8-tidy-imports.banned-api] "selfdrive".msg = "Use openpilot.selfdrive" "common".msg = "Use openpilot.common" "system".msg = "Use openpilot.system" diff --git a/rednose/helpers/ekf_sym_pyx.so b/rednose/helpers/ekf_sym_pyx.so index 793133b0a..6e2200c22 100755 Binary files a/rednose/helpers/ekf_sym_pyx.so and b/rednose/helpers/ekf_sym_pyx.so differ diff --git a/rednose_repo/site_scons/site_tools/rednose_filter.py b/rednose_repo/site_scons/site_tools/rednose_filter.py index b3fee6287..1a26a3b96 100644 --- a/rednose_repo/site_scons/site_tools/rednose_filter.py +++ b/rednose_repo/site_scons/site_tools/rednose_filter.py @@ -9,7 +9,7 @@ def compile_single_filter(env, target, filter_gen_script, output_dir, extra_gen_ generator_file = File(filter_gen_script) env.Command(generated_src_files + extra_generated_files, - [generator_file] + script_deps, f"{generator_file.get_abspath()} {target} {Dir(output_dir).get_abspath()}") + [generator_file] + script_deps, f"{File(generator_file).relpath} {target} {Dir(output_dir).relpath}") generated_cc_file = File(generated_src_files[:1]) diff --git a/selfdrive/assets/images/button_home.png b/selfdrive/assets/images/button_home.png index aa90a78c4..9f52faf9e 100644 Binary files a/selfdrive/assets/images/button_home.png and b/selfdrive/assets/images/button_home.png differ diff --git a/selfdrive/assets/img_spinner_comma.png b/selfdrive/assets/img_spinner_comma.png index aa90a78c4..16109557f 100644 Binary files a/selfdrive/assets/img_spinner_comma.png and b/selfdrive/assets/img_spinner_comma.png differ diff --git a/selfdrive/assets/img_spinner_track.png b/selfdrive/assets/img_spinner_track.png index f46ffdd1b..931c17e83 100644 Binary files a/selfdrive/assets/img_spinner_track.png and b/selfdrive/assets/img_spinner_track.png differ diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 719d50c1a..833bf841f 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -36,7 +36,7 @@ from openpilot.common.realtime import set_core_affinity from openpilot.system.hardware import HARDWARE, PC from openpilot.system.loggerd.xattr_cache import getxattr, setxattr from openpilot.common.swaglog import cloudlog -from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version +from openpilot.system.version import get_commit, get_normalized_origin, get_short_branch, get_version from openpilot.system.hardware.hw import Paths @@ -79,7 +79,7 @@ class UploadItem: url: str headers: Dict[str, str] created_at: int - id: Optional[str] # noqa: A003 (to match the response from the remote server) + id: Optional[str] retry_count: int = 0 current: bool = False progress: float = 0 @@ -316,9 +316,9 @@ def getMessage(service: str, timeout: int = 1000) -> dict: def getVersion() -> Dict[str, str]: return { "version": get_version(), - "remote": get_origin(''), - "branch": get_short_branch(''), - "commit": get_commit(default=''), + "remote": get_normalized_origin(), + "branch": get_short_branch(), + "commit": get_commit(), } @@ -432,6 +432,21 @@ def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]] cancelled_uploads.update(cancelled_ids) return {"success": 1} +@dispatcher.add_method +def setRouteViewed(route: str) -> Dict[str, Union[int, str]]: + # maintain a list of the last 10 routes viewed in connect + params = Params() + + r = params.get("AthenadRecentlyViewedRoutes", encoding="utf8") + routes = [] if r is None else r.split(",") + routes.append(route) + + # remove duplicates + routes = list(dict.fromkeys(routes)) + + params.put("AthenadRecentlyViewedRoutes", ",".join(routes[-10:])) + return {"success": 1} + def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> Dict[str, int]: try: @@ -637,6 +652,8 @@ def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket while not (end_event.is_set() or global_end_event.is_set()): try: data = ws.recv() + if isinstance(data, str): + data = data.encode("utf-8") local_sock.sendall(data) except WebSocketTimeoutException: pass @@ -728,10 +745,11 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None: if onroad != onroad_prev: onroad_prev = onroad - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) + if sock is not None: + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) if end_event.wait(5): break diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py index 2a4a12e55..486e42691 100755 --- a/selfdrive/athena/manage_athenad.py +++ b/selfdrive/athena/manage_athenad.py @@ -6,7 +6,8 @@ from multiprocessing import Process from openpilot.common.params import Params from openpilot.selfdrive.manager.process import launcher from openpilot.common.swaglog import cloudlog -from openpilot.system.version import get_version, is_dirty +from openpilot.system.hardware import HARDWARE +from openpilot.system.version import get_version, get_normalized_origin, get_short_branch, get_commit, is_dirty ATHENA_MGR_PID_PARAM = "AthenadPid" @@ -14,7 +15,13 @@ ATHENA_MGR_PID_PARAM = "AthenadPid" def main(): params = Params() dongle_id = params.get("DongleId").decode('utf-8') - cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=is_dirty()) + cloudlog.bind_global(dongle_id=dongle_id, + version=get_version(), + origin=get_normalized_origin(), + branch=get_short_branch(), + commit=get_commit(), + dirty=is_dirty(), + device=HARDWARE.get_device_type()) try: while 1: diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py index c9a4b949a..96d4fc029 100755 --- a/selfdrive/athena/registration.py +++ b/selfdrive/athena/registration.py @@ -25,7 +25,6 @@ def is_registered_device() -> bool: def register(show_spinner=False) -> Optional[str]: params = Params() - params.put("SubscriberInfo", HARDWARE.get_subscriber_info()) IMEI = params.get("IMEI", encoding='utf8') HardwareSerial = params.get("HardwareSerial", encoding='utf8') @@ -93,7 +92,7 @@ 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 ec207a627..fdd28d3e4 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 381c71945..477a3f869 100755 Binary files a/selfdrive/boardd/boardd_api_impl.so and b/selfdrive/boardd/boardd_api_impl.so differ diff --git a/selfdrive/car/body/fingerprints.py b/selfdrive/car/body/fingerprints.py new file mode 100644 index 000000000..6efaabc13 --- /dev/null +++ b/selfdrive/car/body/fingerprints.py @@ -0,0 +1,28 @@ +# ruff: noqa: E501 +from cereal import car +from openpilot.selfdrive.car.body.values import CAR + +Ecu = car.CarParams.Ecu + +# debug ecu fw version is the git hash of the firmware + + +FINGERPRINTS = { + CAR.BODY: [{ + 513: 8, 516: 8, 514: 3, 515: 4 + }], +} + +FW_VERSIONS = { + CAR.BODY: { + (Ecu.engine, 0x720, None): [ + b'0.0.01', + b'0.3.00a', + b'02/27/2022', + ], + (Ecu.debug, 0x721, None): [ + b'166bd860', + b'dc780f85', + ], + }, +} diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index ce811ad22..33119bf0f 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -30,11 +30,6 @@ CAR_INFO: Dict[str, CarInfo] = { CAR.BODY: CarInfo("comma body", package="All"), } -FINGERPRINTS = { - CAR.BODY: [{ - 513: 8, 516: 8, 514: 3, 515: 4, - }], -} FW_QUERY_CONFIG = FwQueryConfig( requests=[ @@ -46,20 +41,6 @@ FW_QUERY_CONFIG = FwQueryConfig( ], ) -FW_VERSIONS = { - CAR.BODY: { - (Ecu.engine, 0x720, None): [ - b'0.0.01', - b'02/27/2022', - b'0.3.00a', - ], - # git hash of the firmware used - (Ecu.debug, 0x721, None): [ - b'166bd860', - b'dc780f85', - ], - }, -} DBC = { CAR.BODY: dbc_dict('comma_body', None), diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index f8a2e1cba..25db2a47a 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -132,9 +132,6 @@ def fingerprint(logcan, sendcan, num_pandas): start_time = time.monotonic() if not skip_fw_query: - # Vin query only reliably works through OBDII - bus = 1 - cached_params = params.get("CarParamsCache") if cached_params is not None: with car.CarParams.from_bytes(cached_params) as cached_params: @@ -144,20 +141,22 @@ def fingerprint(logcan, sendcan, num_pandas): if cached_params is not None and len(cached_params.carFw) > 0 and \ cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache: cloudlog.warning("Using cached CarParams") - vin, vin_rx_addr = cached_params.carVin, 0 + vin_rx_addr, vin_rx_bus, vin = -1, -1, cached_params.carVin car_fw = list(cached_params.carFw) cached = True else: cloudlog.warning("Getting VIN & FW versions") + # enable OBD multiplexing for Vin query, also allows time for sendcan subscriber to connect set_obd_multiplexing(params, True) - vin_rx_addr, vin = get_vin(logcan, sendcan, bus) + # Vin query only reliably works through OBDII + vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1)) 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) cached = False exact_fw_match, fw_candidates = match_fw_to_car(car_fw) else: - vin, vin_rx_addr = VIN_UNKNOWN, 0 + vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN exact_fw_match, fw_candidates, car_fw = True, set(), [] cached = False @@ -192,8 +191,8 @@ def fingerprint(logcan, sendcan, num_pandas): source = car.CarParams.FingerprintSource.fixed cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached, - fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, fingerprints=finger, - fw_query_time=fw_query_time, error=True) + fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus, + fingerprints=repr(finger), fw_query_time=fw_query_time, error=True) return car_fingerprint, finger, vin, car_fw, source, exact_match #dp @@ -231,7 +230,7 @@ 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.event("car doesn't match any fingerprints", fingerprints=fingerprints, error=True) + cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True) candidate = "mock" y = threading.Thread(target=crash_log2, args=(fingerprints,car_fw,)) @@ -248,3 +247,15 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): return CarInterface(CP, CarController, CarState), CP except KeyError: return None, None + +def write_car_param(fingerprint="mock"): + params = Params() + CarInterface, _, _ = interfaces[fingerprint] + CP = CarInterface.get_non_essential_params(fingerprint) + params.put("CarParams", CP.to_bytes()) + +def get_demo_car_params(): + fingerprint="mock" + CarInterface, _, _ = interfaces[fingerprint] + CP = CarInterface.get_non_essential_params(fingerprint) + return CP diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py new file mode 100644 index 000000000..c0b038e8f --- /dev/null +++ b/selfdrive/car/chrysler/fingerprints.py @@ -0,0 +1,610 @@ +from cereal import car +from openpilot.selfdrive.car.chrysler.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.PACIFICA_2017_HYBRID: { + (Ecu.combinationMeter, 0x742, None): [ + b'68239262AH', + b'68239262AI', + b'68239262AJ', + b'68239263AH', + b'68239263AJ', + ], + (Ecu.srs, 0x744, None): [ + b'68238840AH', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'68226356AI', + ], + (Ecu.eps, 0x75a, None): [ + b'68288309AC', + b'68288309AD', + ], + (Ecu.engine, 0x7e0, None): [ + b'68277480AV ', + b'68277480AX ', + b'68277480AZ ', + ], + (Ecu.hybrid, 0x7e2, None): [ + b'05190175BF', + b'05190175BH', + b'05190226AK', + ], + }, + CAR.PACIFICA_2018: { + (Ecu.combinationMeter, 0x742, None): [ + b'68227902AF', + b'68227902AG', + b'68227902AH', + b'68360252AC', + ], + (Ecu.srs, 0x744, None): [ + b'68211617AF', + b'68211617AG', + b'68358974AC', + b'68405937AA', + ], + (Ecu.abs, 0x747, None): [ + b'68222747AG', + b'68330876AA', + b'68330876AB', + b'68352227AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AA', + b'68226356AF', + b'68226356AH', + b'68226356AI', + ], + (Ecu.eps, 0x75a, None): [ + b'68288891AE', + b'68378884AA', + b'68525338AA', + b'68525338AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'68267018AO ', + b'68267020AJ ', + b'68340762AD ', + b'68340764AD ', + b'68352652AE ', + b'68366851AH ', + b'68366853AE ', + b'68372861AF ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'68277370AJ', + b'68277370AM', + b'68277372AD', + b'68277372AN', + b'68277374AA', + b'68277374AB', + b'68277374AD', + b'68277374AN', + b'68367471AC', + b'68380571AB', + ], + }, + CAR.PACIFICA_2020: { + (Ecu.combinationMeter, 0x742, None): [ + b'68405327AC', + b'68436233AB', + b'68436233AC', + b'68436250AE', + b'68529067AA', + b'68594993AB', + ], + (Ecu.srs, 0x744, None): [ + b'68405565AB', + b'68405565AC', + b'68444299AC', + b'68480708AC', + b'68526663AB', + ], + (Ecu.abs, 0x747, None): [ + b'68397394AA', + b'68433480AB', + b'68453575AF', + b'68577676AA', + b'68593395AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AA', + b'04672758AB', + b'68417813AF', + b'68540436AA', + b'68540436AC', + b'68540436AD', + b'68598670AB', + ], + (Ecu.eps, 0x75a, None): [ + b'68416742AA', + b'68460393AA', + b'68460393AB', + b'68494461AB', + b'68524936AA', + b'68524936AB', + b'68525338AB', + b'68594340AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'68413871AD ', + b'68413871AE ', + b'68413871AH ', + b'68413871AI ', + b'68413873AI ', + b'68443120AE ', + b'68443123AC ', + b'68443125AC ', + b'68526752AD ', + b'68526752AE ', + b'68526754AE ', + b'68536264AE ', + b'68700306AB ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'68414271AC', + b'68414271AD', + b'68414275AC', + b'68443154AB', + b'68443155AC', + b'68443158AB', + b'68501050AD', + b'68527221AB', + b'68527223AB', + b'68586231AD', + ], + }, + CAR.PACIFICA_2018_HYBRID: { + (Ecu.combinationMeter, 0x742, None): [ + b'68358439AE', + b'68358439AG', + ], + (Ecu.srs, 0x744, None): [ + b'68358990AC', + b'68405939AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AA', + ], + (Ecu.eps, 0x75a, None): [ + b'68288309AD', + b'68525339AA', + ], + (Ecu.engine, 0x7e0, None): [ + b'68366580AI ', + b'68366580AK ', + b'68366580AM ', + ], + (Ecu.hybrid, 0x7e2, None): [ + b'05190226AI', + b'05190226AK', + b'05190226AM', + ], + }, + CAR.PACIFICA_2019_HYBRID: { + (Ecu.combinationMeter, 0x742, None): [ + b'68405292AC', + b'68434956AC', + b'68434956AD', + b'68434960AE', + b'68434960AF', + b'68529064AB', + b'68594990AB', + ], + (Ecu.srs, 0x744, None): [ + b'68405567AB', + b'68405567AC', + b'68453076AD', + b'68480710AC', + b'68526665AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AB', + b'68417813AF', + b'68540436AA', + b'68540436AB', + b'68540436AC', + b'68540436AD', + b'68598670AB', + b'68598670AC', + ], + (Ecu.eps, 0x75a, None): [ + b'68416741AA', + b'68460392AA', + b'68525339AA', + b'68525339AB', + b'68594341AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'68416680AE ', + b'68416680AF ', + b'68416680AG ', + b'68444228AD ', + b'68444228AE ', + b'68444228AF ', + b'68499122AD ', + b'68499122AE ', + b'68499122AF ', + b'68526772AD ', + b'68526772AH ', + b'68599493AC ', + ], + (Ecu.hybrid, 0x7e2, None): [ + b'05185116AF', + b'05185116AJ', + b'05185116AK', + b'05190240AP', + b'05190240AQ', + b'05190240AR', + b'05190265AG', + b'05190265AH', + b'05190289AE', + b'68540977AH', + b'68540977AK', + b'68597647AE', + ], + }, + CAR.JEEP_GRAND_CHEROKEE: { + (Ecu.combinationMeter, 0x742, None): [ + b'68302211AC', + b'68302212AD', + b'68302246AC', + b'68331511AC', + b'68331574AC', + b'68331687AC', + b'68340272AD', + ], + (Ecu.srs, 0x744, None): [ + b'68316742AB', + b'68355363AB', + ], + (Ecu.abs, 0x747, None): [ + b'68306178AD', + b'68336276AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672627AB', + b'68332015AB', + ], + (Ecu.eps, 0x75a, None): [ + b'68321644AB', + b'68321644AC', + b'68321646AC', + b'68321648AC', + ], + (Ecu.engine, 0x7e0, None): [ + b'05035920AE ', + b'68284455AI ', + b'68284456AI ', + b'68284477AF ', + b'68325564AH ', + b'68325565AH ', + b'68325565AI ', + b'68325618AD ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035517AH', + b'68311218AC', + b'68311223AF', + b'68311223AG', + b'68361911AE', + b'68361911AF', + b'68361911AH', + b'68361916AD', + ], + }, + CAR.JEEP_GRAND_CHEROKEE_2019: { + (Ecu.combinationMeter, 0x742, None): [ + b'68402703AB', + b'68402708AB', + b'68402971AD', + b'68454144AD', + b'68454152AB', + b'68454156AB', + b'68516650AB', + b'68516651AB', + b'68516669AB', + b'68516671AB', + b'68516683AB', + ], + (Ecu.srs, 0x744, None): [ + b'68355363AB', + b'68355364AB', + ], + (Ecu.abs, 0x747, None): [ + b'68408639AC', + b'68408639AD', + b'68499978AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672788AA', + b'68456722AC', + ], + (Ecu.eps, 0x75a, None): [ + b'68417279AA', + b'68417280AA', + b'68453431AA', + b'68453433AA', + b'68453435AA', + b'68499171AA', + b'68499171AB', + b'68501183AA', + ], + (Ecu.engine, 0x7e0, None): [ + b'05035674AB ', + b'68412635AG ', + b'68422860AB', + b'68449435AE ', + b'68496223AA ', + b'68504959AD ', + b'68504960AD ', + b'68504993AC ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035707AA', + b'68419672AC', + b'68423905AB', + b'68449258AC', + b'68495807AA', + b'68495807AB', + b'68503641AC', + b'68503664AC', + ], + }, + CAR.RAM_1500: { + (Ecu.combinationMeter, 0x742, None): [ + b'68294051AG', + b'68294051AI', + b'68294052AG', + b'68294052AH', + b'68294063AG', + b'68294063AH', + b'68294063AI', + b'68434846AC', + b'68434847AC', + b'68434849AC', + b'68434856AC', + b'68434858AC', + b'68434859AC', + b'68434860AC', + b'68453483AC', + b'68453487AD', + b'68453491AC', + b'68453499AD', + b'68453503AC', + b'68453505AC', + b'68453505AD', + b'68453511AC', + b'68453513AC', + b'68453513AD', + b'68453514AD', + b'68505633AB', + b'68510277AG', + b'68510277AH', + b'68510280AG', + b'68510282AG', + b'68510282AH', + b'68510283AG', + b'68527346AE', + b'68527361AD', + b'68527375AD', + b'68527381AE', + b'68527382AE', + b'68527383AD', + b'68527387AE', + b'68527403AC', + b'68631938AA', + b'68631942AA', + ], + (Ecu.srs, 0x744, None): [ + b'68428609AB', + b'68441329AB', + b'68473844AB', + b'68490898AA', + b'68500728AA', + b'68615033AA', + b'68615034AA', + ], + (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'68548900AB', + b'68586307AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672892AB', + b'04672932AB', + b'04672932AC', + b'22DTRHD_AA', + b'68320950AH', + b'68320950AI', + b'68320950AJ', + b'68320950AL', + b'68320950AM', + b'68454268AB', + b'68475160AE', + b'68475160AF', + b'68475160AG', + ], + (Ecu.eps, 0x75a, None): [ + b'21590101AA', + b'21590101AB', + b'68273275AF', + b'68273275AG', + b'68273275AH', + b'68312176AE', + b'68312176AG', + b'68440789AC', + b'68466110AA', + b'68466110AB', + b'68469901AA', + b'68469907AA', + b'68522583AA', + b'68522583AB', + b'68522584AA', + b'68522585AB', + b'68552788AA', + b'68552789AA', + b'68552790AA', + b'68552791AB', + b'68552794AA', + b'68585106AB', + b'68585107AB', + b'68585108AB', + b'68585109AB', + b'68585112AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'05035699AG ', + b'05036026AB ', + b'05036065AE ', + b'05036066AE ', + b'05149368AA ', + b'05149591AD ', + b'05149591AE ', + b'05149592AE ', + b'05149599AE ', + b'05149600AD ', + b'05149605AE ', + b'05149846AA ', + b'05149848AA ', + b'05149848AC ', + b'05190341AD', + b'68378695AJ ', + b'68378696AJ ', + b'68378701AI ', + b'68378702AI ', + b'68378710AL ', + b'68378748AL ', + b'68378758AM ', + b'68448163AJ', + b'68448163AK', + b'68448163AL', + b'68448165AG', + b'68448165AK', + b'68455111AC ', + b'68455119AC ', + b'68455145AC ', + b'68455145AE ', + b'68455146AC ', + b'68467915AC ', + b'68467936AC ', + b'68500630AD', + b'68500630AE', + b'68502719AC ', + b'68502722AC ', + b'68502734AF ', + b'68502740AF ', + b'68502741AF ', + b'68502742AC ', + b'68539650AD', + b'68539650AF', + b'68539651AD', + b'68586101AA ', + b'68586105AB ', + b'68629922AC ', + b'68629926AC ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035706AD', + b'05035842AB', + b'05036069AA', + b'05149536AC', + b'05149537AC', + b'05149543AC', + b'68360078AL', + b'68360080AL', + b'68360080AM', + b'68360081AM', + b'68360085AJ', + b'68360085AL', + b'68384328AD', + b'68384332AD', + b'68445531AC', + b'68445533AB', + b'68445536AB', + b'68445537AB', + b'68466081AB', + b'68466087AB', + b'68484466AC', + b'68484467AC', + b'68484471AC', + b'68502994AD', + b'68520867AE', + b'68520867AF', + b'68520870AC', + b'68540431AB', + b'68540433AB', + b'68629936AC', + ], + }, + CAR.RAM_HD: { + (Ecu.combinationMeter, 0x742, None): [ + b'68361606AH', + b'68437735AC', + b'68492693AD', + b'68525485AB', + b'68525487AB', + b'68525498AB', + b'68528791AF', + b'68628474AB', + ], + (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'68504022AC', + b'68530686AB', + b'68530686AC', + b'68544596AC', + b'68641704AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672895AB', + b'04672934AB', + b'56029827AG', + b'56029827AH', + b'68462657AE', + b'68484694AD', + b'68484694AE', + b'68615489AB', + ], + (Ecu.eps, 0x761, None): [ + b'68421036AC', + b'68507906AB', + b'68534023AC', + ], + (Ecu.engine, 0x7e0, None): [ + b'52370131AF', + b'52370231AF', + b'52370231AG', + b'52370491AA', + b'52370931CT', + b'52401032AE', + b'52421132AF', + b'52421332AF', + b'68527616AD ', + b'M2370131MB', + b'M2421132MB', + ], + }, +} diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index cb1aa4a88..34e602562 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -1,4 +1,3 @@ -# ruff: noqa: E501 from enum import IntFlag, StrEnum from dataclasses import dataclass, field from typing import Dict, List, Optional, Union @@ -65,84 +64,23 @@ class ChryslerCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { - CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"), - CAR.PACIFICA_2018_HYBRID: None, # same platforms + CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"), + CAR.PACIFICA_2018_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"), CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"), CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"), CAR.PACIFICA_2020: [ ChryslerCarInfo("Chrysler Pacifica 2019-20"), - ChryslerCarInfo("Chrysler Pacifica 2021", package="All"), + ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"), ], CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), - CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarHarness.ram])), + CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])), CAR.RAM_HD: [ ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])), ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])), ], } -# Unique CAN messages: -# Only the hybrids have 270: 8 -# Only the gas have 55: 8, 416: 7 -# For 564, All 2017 have length 4, whereas 2018-19 have length 8. -# For 924, Pacifica 2017 has length 3, whereas all 2018-19 have length 8. -# For 560, All 2019 have length 8, whereas all 2017-18 have length 4. - -# Jeep Grand Cherokee unique messages: -# 2017 Trailhawk: 618: 8 -# For 924, Trailhawk 2017 has length 3, whereas 2018 V6 has length 8. - -FINGERPRINTS = { - CAR.PACIFICA_2017_HYBRID: [{ - 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 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, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 840: 8, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 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, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8 - }], - CAR.PACIFICA_2018: [{ - 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, 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 - }], - CAR.PACIFICA_2018_HYBRID: [{ - 68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 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, 1082: 8, 1083: 8, 1098: 8, 1100: 8 - }, - # based on 9ae7821dc4e92455|2019-07-01--16-42-55 - { - 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 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, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 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, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2016: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8 - }], - CAR.PACIFICA_2019_HYBRID: [{ - 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 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}, - # Based on c88f65eeaee4003a|2022-08-04--15-37-16 - { - 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 671: 8, 672: 8, 678: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1235: 8, 1242: 8, 1252: 8, 1792: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1892: 8, 1927: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }], - CAR.JEEP_GRAND_CHEROKEE_2019: [{ - # Jeep Grand Cherokee 2019, including most 2020 models - 55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1538: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }], -} CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(0xf132) @@ -179,207 +117,10 @@ FW_QUERY_CONFIG = FwQueryConfig( ), ], extra_ecus=[ - (Ecu.hybrid, 0x7e2, None), # manages transmission on hybrids - (Ecu.abs, 0x7e4, None), # alt address for abs on hybrids + (Ecu.abs, 0x7e4, None), # alt address for abs on hybrids, NOTE: not on all hybrid platforms ], ) -FW_VERSIONS = { - CAR.JEEP_GRAND_CHEROKEE_2019: { - (Ecu.combinationMeter, 0x742, None): [ - b'68402971AD', - ], - (Ecu.srs, 0x744, None): [ - b'68355363AB', - ], - (Ecu.abs, 0x747, None): [ - b'68408639AD', - ], - (Ecu.fwdRadar, 0x753, None): [ - b'68456722AC', - ], - (Ecu.eps, 0x75A, None): [ - b'68453431AA', - ], - (Ecu.engine, 0x7e0, None): [ - 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'68510280AG', - b'68510283AG', - b'68527346AE', - b'68527375AD', - b'68527382AE', - ], - (Ecu.srs, 0x744, None): [ - b'68428609AB', - b'68441329AB', - b'68473844AB', - b'68490898AA', - b'68500728AA', - b'68615033AA', - b'68615034AA', - ], - (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'68548900AB', - b'68586307AB', - ], - (Ecu.fwdRadar, 0x753, None): [ - b'04672892AB', - b'04672932AB', - b'04672932AC', - b'22DTRHD_AA', - b'68320950AH', - b'68320950AI', - b'68320950AJ', - b'68320950AL', - b'68320950AM', - b'68454268AB', - b'68475160AE', - b'68475160AF', - b'68475160AG', - ], - (Ecu.eps, 0x75A, None): [ - b'21590101AA', - b'21590101AB', - b'68273275AF', - b'68273275AG', - b'68273275AH', - b'68312176AE', - b'68312176AG', - b'68440789AC', - b'68466110AB', - b'68469901AA', - b'68522583AB', - b'68522585AB', - b'68552788AA', - b'68552789AA', - b'68552790AA', - b'68585106AB', - b'68585109AB', - b'68585112AB', - ], - (Ecu.engine, 0x7e0, None): [ - b'05036065AE ', - b'05036066AE ', - b'05149592AE ', - b'05149591AD ', - b'05149846AA ', - b'05149848AA ', - b'68378701AI ', - b'68378748AL ', - b'68378758AM ', - b'68448163AJ', - b'68448165AK', - b'68500630AD', - b'68500630AE', - b'68539650AD', - ], - (Ecu.transmission, 0x7e1, None): [ - b'05149536AC', - b'68360078AL', - b'68360080AM', - b'68360081AM', - b'68360085AL', - b'68384328AD', - b'68384332AD', - b'68445533AB', - b'68484467AC', - b'68502994AD', - b'68520867AE', - b'68540431AB', - ], - }, - - CAR.RAM_HD: { - (Ecu.combinationMeter, 0x742, None): [ - b'68361606AH', - b'68437735AC', - b'68492693AD', - b'68525485AB', - b'68525487AB', - b'68525498AB', - b'68528791AF', - b'68628474AB', - ], - (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'68504022AC', - b'68530686AB', - b'68530686AC', - b'68544596AC', - b'68641704AA', - ], - (Ecu.fwdRadar, 0x753, None): [ - b'04672895AB', - b'04672934AB', - b'56029827AG', - b'56029827AH', - b'68462657AE', - b'68484694AD', - b'68484694AE', - b'68615489AB', - ], - (Ecu.eps, 0x761, None): [ - b'68421036AC', - b'68507906AB', - b'68534023AC', - ], - (Ecu.engine, 0x7e0, None): [ - b'52370131AF', - b'52370231AF', - b'52370231AG', - b'52370491AA', - b'52370931CT', - b'52401032AE', - b'52421132AF', - b'52421332AF', - b'68527616AD ', - b'M2370131MB', - b'M2421132MB', - ], - }, -} DBC = { CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 2e80dde01..f2ce74360 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -244,10 +244,13 @@ class CarInfo: # all the parts needed for the supported car car_parts: CarParts = field(default_factory=CarParts) + def __post_init__(self): + self.make, self.model, self.years = split_name(self.name) + self.year_list = get_year_list(self.years) + def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]): self.car_name = CP.carName self.car_fingerprint = CP.carFingerprint - self.make, self.model, self.years = split_name(self.name) # longitudinal column op_long = "Stock" @@ -309,7 +312,6 @@ class CarInfo: self.row[Column.STEERING_TORQUE] = Star.FULL self.all_footnotes = all_footnotes - self.year_list = get_year_list(self.years) self.detail_sentence = self.get_detail_sentence(CP) return self diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py index 1d627e4b3..6a7c3c75b 100644 --- a/selfdrive/car/fingerprints.py +++ b/selfdrive/car/fingerprints.py @@ -1,13 +1,12 @@ from openpilot.selfdrive.car.interfaces import get_interface_attr - FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True) _FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True) _DEBUG_ADDRESS = {1880: 8} # reserved for debug purposes -def is_valid_for_fingerprint(msg, car_fingerprint): +def is_valid_for_fingerprint(msg, car_fingerprint: dict[int, int]): adr = msg.address # ignore addresses that are more than 11 bits return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800 diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 88ec6a507..45516d603 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -1,10 +1,10 @@ from cereal import car from openpilot.common.numpy_fast import clip -from openpilot.common.conversions import Conversions as CV from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_std_steer_angle_limits from openpilot.selfdrive.car.ford import fordcan from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX LongCtrlState = car.CarControl.Actuators.LongControlState VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -90,7 +90,7 @@ class CarController: if not CC.longActive or gas < CarControllerParams.MIN_GAS: gas = CarControllerParams.INACTIVE_GAS stopping = CC.actuators.longControlState == LongCtrlState.stopping - can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=40 * CV.MPH_TO_KPH)) + can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX)) ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py new file mode 100644 index 000000000..a5d465849 --- /dev/null +++ b/selfdrive/car/ford/fingerprints.py @@ -0,0 +1,144 @@ +from cereal import car +from openpilot.selfdrive.car.ford.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.BRONCO_SPORT_MK1: { + (Ecu.eps, 0x730, None): [ + b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.ESCAPE_MK4: { + (Ecu.eps, 0x730, None): [ + b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-SD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.EXPLORER_MK6: { + (Ecu.eps, 0x730, None): [ + b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'P1MC-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LC5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.F_150_MK14: { + (Ecu.eps, 0x730, None): [ + b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.F_150_LIGHTNING_MK1: { + (Ecu.abs, 0x760, None): [ + b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.MUSTANG_MACH_E_MK1: { + (Ecu.eps, 0x730, None): [ + b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'LK9C-2D053-CK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.FOCUS_MK4: { + (Ecu.eps, 0x730, None): [ + b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.MAVERICK_MK1: { + (Ecu.eps, 0x730, None): [ + b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, +} diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index 78a249e38..c5ef0900f 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -127,13 +127,12 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl Frequency is 50Hz. """ - decel = accel < 0 and long_active values = { "AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2 "Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes "AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2 - "AccPrpl_A_Pred": gas, # Acceleration request: [-5|5.23] m/s^2 + "AccPrpl_A_Pred": -5.0, # Acceleration request: [-5|5.23] m/s^2 "AccResumEnbl_B_Rq": 1 if long_active else 0, "AccVeh_V_Trg": v_ego_kph, # Target speed: [0|255] km/h # TODO: we may be able to improve braking response by utilizing pre-charging better diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 8a8ce36bd..cc013fb54 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -21,6 +21,10 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.2 ret.steerLimitTimer = 1.0 + ret.longitudinalTuning.kpBP = [0.] + ret.longitudinalTuning.kpV = [0.5] + ret.longitudinalTuning.kiV = [0.] + CAN = CanBus(fingerprint=fingerprint) cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)] if CAN.main >= 4: diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 4b05d474f..c080e0229 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -111,211 +111,16 @@ FW_QUERY_CONFIG = FwQueryConfig( requests=[ # CAN and CAN FD queries are combined. # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus - # TODO: properly handle auxiliary requests to separate queries and add back whitelists Request( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], - # whitelist_ecus=[Ecu.engine], - ), - Request( - [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], - [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], - # whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire], bus=0, auxiliary=True, ), ], extra_ecus=[ + # We are unlikely to get a response from the PCM from behind the gateway + (Ecu.engine, 0x7e0, None), (Ecu.shiftByWire, 0x732, None), ], ) - -FW_VERSIONS = { - CAR.BRONCO_SPORT_MK1: { - (Ecu.eps, 0x730, None): [ - b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'M1PA-14C204-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.ESCAPE_MK4: { - (Ecu.eps, 0x730, None): [ - b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-2D053-SD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6A-14C204-CNG\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6A-14C204-DPK\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MX6A-14C204-CAB\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.EXPLORER_MK6: { - (Ecu.eps, 0x730, None): [ - b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'P1MC-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-AUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PB5A-14C204-DA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-ATS\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.F_150_MK14: { - (Ecu.eps, 0x730, None): [ - b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.F_150_LIGHTNING_MK1: { - (Ecu.abs, 0x760, None): [ - b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'NL3A-14C204-BAR\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.MUSTANG_MACH_E_MK1: { - (Ecu.eps, 0x730, None): [ - b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'LK9C-2D053-CK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'NJ98-14C204-VH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MJ98-14C204-BBS\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.FOCUS_MK4: { - (Ecu.eps, 0x730, None): [ - b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.MAVERICK_MK1: { - (Ecu.eps, 0x730, None): [ - b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NZ6A-14C204-ZC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ6A-14C204-JE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, -} diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index 1caedcd32..ed886a69d 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -9,6 +9,15 @@ import panda.python.uds as uds AddrType = Tuple[int, Optional[int]] EcuAddrBusType = Tuple[int, Optional[int], int] +EcuAddrSubAddr = Tuple[int, int, Optional[int]] + +LiveFwVersions = Dict[AddrType, Set[bytes]] +OfflineFwVersions = Dict[str, Dict[EcuAddrSubAddr, List[bytes]]] + +# A global list of addresses we will only ever consider for VIN responses +# engine, hybrid controller, Ford abs, Hyundai CAN FD cluster, 29-bit engine, PGM-FI +# TODO: move these to each brand's FW query config +STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x760, 0x7c4, 0x18da10f1, 0x18da0ef1] def p16(val): @@ -53,6 +62,9 @@ class StdQueries: UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN) UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN) + GM_VIN_REQUEST = b'\x1a\x90' + GM_VIN_RESPONSE = b'\x5a\x90' + @dataclass class Request: @@ -79,7 +91,7 @@ class FwQueryConfig: extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list) # Function a brand can implement to provide better fuzzy matching. Takes in FW versions, # returns set of candidates. Only will match if one candidate is returned - match_fw_to_car_fuzzy: Optional[Callable[[Dict[AddrType, Set[bytes]]], Set[str]]] = None + match_fw_to_car_fuzzy: Optional[Callable[[LiveFwVersions, OfflineFwVersions], Set[str]]] = None def __post_init__(self): for i in range(len(self.requests)): @@ -87,3 +99,13 @@ class FwQueryConfig: new_request = copy.deepcopy(self.requests[i]) new_request.bus += 4 self.requests.append(new_request) + + def get_all_ecus(self, offline_fw_versions: OfflineFwVersions, + include_extra_ecus: bool = True) -> set[EcuAddrSubAddr]: + # Add ecus in database + extra ecus + brand_ecus = {ecu for ecus in offline_fw_versions.values() for ecu in ecus} + + if include_extra_ecus: + brand_ecus |= set(self.extra_ecus) + + return brand_ecus diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index c21b0e3e4..5e8db6301 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 from collections import defaultdict -from typing import Any, DefaultDict, Dict, List, Optional, Set +from typing import Any, DefaultDict, Dict, Iterator, List, Optional, Set, TypeVar from tqdm import tqdm import capnp @@ -8,7 +8,7 @@ import panda.python.uds as uds from cereal import car from openpilot.common.params import Params from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs -from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType +from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig from openpilot.selfdrive.car.interfaces import get_interface_attr from openpilot.selfdrive.car.fingerprints import FW_VERSIONS from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery @@ -18,14 +18,16 @@ Ecu = car.CarParams.Ecu ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug] -FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True) +FW_QUERY_CONFIGS: dict[str, FwQueryConfig] = 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, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests] +T = TypeVar('T') -def chunks(l, n=128): + +def chunks(l: List[T], n: int = 128) -> Iterator[List[T]]: for i in range(0, len(l), n): yield l[i:i + n] @@ -45,16 +47,6 @@ def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder], return dict(fw_versions_dict) -def get_brand_addrs() -> Dict[str, Set[AddrType]]: - brand_addrs: DefaultDict[str, Set[AddrType]] = 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 dict(brand_addrs) - - def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=None): """Do a fuzzy FW match. This function will return a match, and the number of firmware version that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars @@ -105,11 +97,14 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude= return set() -def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[str]: +def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> Set[str]: """Do an exact FW match. Returns all cars that match the given FW versions for a list of "essential" ECUs. If an ECU is not considered essential the FW version can be missing to get a fingerprint, but if it's present it needs to match the database.""" + if extra_fw_versions is None: + extra_fw_versions = {} + invalid = set() candidates = {c: f for c, f in FW_VERSIONS.items() if is_brand(MODEL_TO_BRAND[c], match_brand)} @@ -117,12 +112,14 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[s for candidate, fws in candidates.items(): config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]] for ecu, expected_versions in fws.items(): + expected_versions = expected_versions + extra_fw_versions.get(candidate, {}).get(ecu, []) ecu_type = ecu[0] addr = ecu[1:] found_versions = live_fw_versions.get(addr, set()) if not len(found_versions): # Some models can sometimes miss an ecu, or show on two different addresses + # FIXME: this logic can be improved to be more specific, should require one of the two addresses if candidate in config.non_essential_ecus.get(ecu_type, []): continue @@ -159,7 +156,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True): # If specified and no matches so far, fall back to brand's fuzzy fingerprinting function config = FW_QUERY_CONFIGS[brand] if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None: - matches |= config.match_fw_to_car_fuzzy(fw_versions_dict) + matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, VERSIONS[brand]) if len(matches): return exact_match, matches @@ -179,22 +176,21 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: if r.bus > num_pandas * 4 - 1: continue - for brand_versions in VERSIONS[brand].values(): - 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[r.obd_multiplexing]: - parallel_queries[r.obd_multiplexing].append(a) - else: # subaddresses must be queried one by one - if [a] not in queries[r.obd_multiplexing]: - queries[r.obd_multiplexing].append([a]) + for ecu_type, addr, sub_addr in config.get_all_ecus(VERSIONS[brand]): + # 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[r.obd_multiplexing]: + parallel_queries[r.obd_multiplexing].append(a) + else: # subaddresses must be queried one by one + 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)) + # 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)) for obd_multiplexing in queries: queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing]) @@ -207,11 +203,12 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: return ecu_responses -def get_brand_ecu_matches(ecu_rx_addrs): +def get_brand_ecu_matches(ecu_rx_addrs: Set[EcuAddrBusType]) -> dict[str, set[AddrType]]: """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_addrs = {brand: {(addr, subaddr) for _, addr, subaddr in config.get_all_ecus(VERSIONS[brand])} for + brand, config in FW_QUERY_CONFIGS.items()} + brand_matches: dict[str, set[AddrType]] = {brand: set() for brand, _, _ in REQUESTS} brand_rx_offsets = {(brand, r.rx_offset) for brand, _, r in REQUESTS} for addr, sub_addr, _ in ecu_rx_addrs: @@ -275,27 +272,25 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, for brand, brand_versions in versions.items(): config = FW_QUERY_CONFIGS[brand] - for ecu in brand_versions.values(): - # Each brand can define extra ECUs to query for data collection - for ecu_type, addr, sub_addr in list(ecu) + config.extra_ecus: - a = (brand, addr, sub_addr) - if a not in ecu_types: - ecu_types[a] = ecu_type + for ecu_type, addr, sub_addr in config.get_all_ecus(brand_versions): + a = (brand, addr, sub_addr) + if a not in ecu_types: + ecu_types[a] = ecu_type - if sub_addr is None: - if a not in parallel_addrs: - parallel_addrs.append(a) - else: - if [a] not in addrs: - addrs.append([a]) + if sub_addr is None: + if a not in parallel_addrs: + parallel_addrs.append(a) + else: + if [a] not in addrs: + addrs.append([a]) addrs.insert(0, parallel_addrs) # Get versions and build capnp list to put into CarParams car_fw = [] requests = [(brand, config, r) for brand, config, r in REQUESTS if is_brand(brand, query_brand)] - for addr in tqdm(addrs, disable=not progress): - for addr_chunk in chunks(addr): + for addr_group in tqdm(addrs, disable=not progress): # split by subaddr, if any + for addr_chunk in chunks(addr_group): for brand, config, r in requests: # Skip query if no panda available if r.bus > num_pandas * 4 - 1: @@ -351,6 +346,13 @@ if __name__ == "__main__": pandaStates_sock = messaging.sub_sock('pandaStates') sendcan = messaging.pub_sock('sendcan') + # Set up params for boardd + params = Params() + params.remove("FirmwareQueryDone") + params.put_bool("IsOnroad", False) + time.sleep(0.2) # thread is 10 Hz + params.put_bool("IsOnroad", True) + extra: Any = None if args.scan: extra = {} @@ -361,13 +363,12 @@ if __name__ == "__main__": extra[(Ecu.unknown, 0x750, i)] = [] extra = {"any": {"debug": extra}} - time.sleep(1.) num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates) t = time.time() print("Getting vin...") - vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug) - print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}') + vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), retry=10, debug=args.debug) + print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') print(f"Getting VIN took {time.time() - t:.3f} s") print() diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index f51cb7537..6c7e8007f 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -154,21 +154,6 @@ class CarController: if self.frame % 10 == 0: can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status)) - # Show green icon when LKA torque is applied, and - # alarming orange icon when approaching torque limit. - # If not sent again, LKA icon disappears in about 5 seconds. - # Conveniently, sending camera message periodically also works as a keepalive. - lka_active = CS.lkas_status == 1 - lka_critical = lka_active and abs(actuators.steer) > 0.9 - lka_icon_status = (lka_active, lka_critical) - - # SW_GMLAN not yet on cam harness, no HUD alerts - if self.CP.networkLocation != NetworkLocation.fwdCamera and \ - (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last): - steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) - can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert)) - self.lka_icon_status_last = lka_icon_status - new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 89c1a3596..c3d061de7 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -33,7 +33,9 @@ class CarState(CarStateBase): self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"] self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"] self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"]) - self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0 + # This is to avoid a fault where you engage while still moving backwards after shifting to D. + # An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2) + self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] == 2) or (pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] == 2) # Variables used for avoiding LKAS faults self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0 @@ -113,6 +115,10 @@ class CarState(CarStateBase): if self.CP.pcmCruise: ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3) + if self.CP.enableBsm: + ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1 + ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1 + return ret @staticmethod @@ -146,6 +152,9 @@ class CarState(CarStateBase): ("ECMAcceleratorPos", 80), ] + if CP.enableBsm: + messages.append(("BCMBlindSpotMonitor", 10)) + # Used to read back last counter sent to PT by camera if CP.networkLocation == NetworkLocation.fwdCamera: messages += [ diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py new file mode 100644 index 000000000..c349ee285 --- /dev/null +++ b/selfdrive/car/gm/fingerprints.py @@ -0,0 +1,59 @@ +# ruff: noqa: E501 +from openpilot.selfdrive.car.gm.values import CAR + +# Trailblazer also matches as a SILVERADO, TODO: split with fw versions + + +FINGERPRINTS = { + CAR.HOLDEN_ASTRA: [{ + 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7 + }], + CAR.VOLT: [{ + 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 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, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 + }, + { + 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 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, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8 + }, + { + 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: [{ + 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: [{ + 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8 + }], + CAR.CADILLAC_ATS: [{ + 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, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 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, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 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, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 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, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8 + }], + CAR.MALIBU: [{ + 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, 328: 1, 352: 5, 381: 6, 384: 4, 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, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8 + }], + CAR.ACADIA: [{ + 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7 + }, + { + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8 + }], + CAR.ESCALADE: [{ + 170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 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, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 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, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8 + }], + CAR.ESCALADE_ESV: [{ + 309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8 + }], + CAR.ESCALADE_ESV_2019: [{ + 715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7 + }], + CAR.BOLT_EUV: [{ + 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 + }], + CAR.SILVERADO: [{ + 190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 + }], + CAR.EQUINOX: [{ + 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 + }], +} + +FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = { +} diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index a0defb7cf..0c78b0061 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -1,13 +1,15 @@ #!/usr/bin/env python3 +import os from cereal import car from math import fabs, exp from panda import Panda +from openpilot.common.basedir import BASEDIR from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus -from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD +from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel from openpilot.selfdrive.controls.lib.drive_helpers import get_friction ButtonType = car.CarState.ButtonEvent.Type @@ -25,6 +27,8 @@ NON_LINEAR_TORQUE_PARAMS = { CAR.SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122] } +NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json') + class CarInterface(CarInterfaceBase): @staticmethod @@ -44,8 +48,8 @@ class CarInterface(CarInterfaceBase): else: return CarInterfaceBase.get_steer_feedforward_default - def torque_from_lateral_accel_siglin(self, lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning, - lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float: + def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float, + lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float: friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation) def sig(val): @@ -58,11 +62,22 @@ class CarInterface(CarInterfaceBase): non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint) assert non_linear_torque_params, "The params are not defined" a, b, c, _ = non_linear_torque_params - steer_torque = (sig(lateral_accel_value * a) * b) + (lateral_accel_value * c) + steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c) return float(steer_torque) + friction + def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float, + lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float: + friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation) + inputs = list(latcontrol_inputs) + if gravity_adjusted: + inputs[0] += inputs[1] + return float(self.neural_ff_model.predict(inputs)) + friction + def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: - if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS: + if self.CP.carFingerprint == CAR.BOLT_EUV: + self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint) + return self.torque_from_lateral_accel_neural + elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS: return self.torque_from_lateral_accel_siglin else: return self.torque_from_lateral_accel_linear @@ -72,6 +87,7 @@ class CarInterface(CarInterfaceBase): ret.carName = "gm" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] ret.autoResumeSng = False + ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN] if candidate in EV_CAR: ret.transmissionType = TransmissionType.direct diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index e9ec8de9c..8188ad4e6 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -1,4 +1,3 @@ -# ruff: noqa: E501 from collections import defaultdict from dataclasses import dataclass from enum import Enum, StrEnum @@ -7,6 +6,8 @@ from typing import Dict, List, Union from cereal import car from openpilot.selfdrive.car import dbc_dict from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries + Ecu = car.CarParams.Ecu @@ -140,92 +141,46 @@ class CanBus: OBSTACLE = 1 CAMERA = 2 CHASSIS = 2 - SW_GMLAN = 3 LOOPBACK = 128 DROPPED = 192 -FINGERPRINTS = { - CAR.HOLDEN_ASTRA: [ - # Astra BK MY17, ASCM unplugged - { - 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7, - }], - CAR.VOLT: [ - # Volt Premier w/ ACC 2017 - { - 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 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, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 - }, - # Volt Premier w/ ACC 2018 - { - 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 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, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8 - }, - # Volt Premier 2018 w/ flashed firmware, no radar - { - 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 - { - 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8 - }], - CAR.CADILLAC_ATS: [ - # Cadillac ATS Coupe Premium Performance 3.6L RWD w/ ACC 2018 - { - 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, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 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, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 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, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 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, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8 - }], - CAR.MALIBU: [ - # Malibu Premier w/ ACC 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, 328: 1, 352: 5, 381: 6, 384: 4, 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, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8, - }], - CAR.ACADIA: [ - # Acadia Denali w/ACC 2018 - { - 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7 - }, - # Acadia Denali w/ /ACC 2018 - { - 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8 - }], - CAR.ESCALADE: [ - { - 170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 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, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 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, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8 - }], - CAR.ESCALADE_ESV: [ - { - 309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8 - }], - CAR.ESCALADE_ESV_2019: [ - { - 715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7 - }], - CAR.BOLT_EUV: [ - { - 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 - }], - CAR.SILVERADO: [ - { - 190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 - }], - CAR.EQUINOX: [ - { - 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 - }], - # Trailblazer also matches as a Silverado, so comment out to avoid conflicts. - # TODO: split with FW versions - # CAR.TRAILBLAZER: [ - # { - # 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8 - # }], -} + +# In a Data Module, an identifier is a string used to recognize an object, +# either by itself or together with the identifiers of parent objects. +# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951 +GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1' +GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2' +GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3' +# This DID is for identifying the part number that reflects the mix of hardware, +# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant. +# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB. +GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb' +GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc' +GM_FW_RESPONSE = b'\x5a' + +GM_FW_REQUESTS = [ + GM_SOFTWARE_MODULE_1_REQUEST, + GM_SOFTWARE_MODULE_2_REQUEST, + GM_SOFTWARE_MODULE_3_REQUEST, + GM_END_MODEL_PART_NUMBER_REQUEST, + GM_BASE_MODEL_PART_NUMBER_REQUEST, +] GM_RX_OFFSET = 0x400 +FW_QUERY_CONFIG = FwQueryConfig( + requests=[request for req in GM_FW_REQUESTS for request in [ + Request( + [StdQueries.SHORT_TESTER_PRESENT_REQUEST, req], + [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, GM_FW_RESPONSE + bytes([req[-1]])], + rx_offset=GM_RX_OFFSET, + bus=0, + logging=True, + ), + ]], + extra_ecus=[(Ecu.fwdCamera, 0x24b, None)], +) + DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) EV_CAR = {CAR.VOLT, CAR.BOLT_EUV} diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py new file mode 100644 index 000000000..a61265491 --- /dev/null +++ b/selfdrive/car/honda/fingerprints.py @@ -0,0 +1,1436 @@ +from cereal import car +from openpilot.selfdrive.car.honda.values import CAR + +Ecu = car.CarParams.Ecu + +# Modified FW can be identified by the second dash being replaced by a comma +# For example: `b'39990-TVA,A150\x00\x00'` +# +# TODO: vsa is "essential" for fpv2 but doesn't appear on some CAR.FREED models + + +FW_VERSIONS = { + CAR.ACCORD: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-6A0-8720\x00\x00', + b'37805-6A0-9520\x00\x00', + b'37805-6A0-9620\x00\x00', + b'37805-6A0-9720\x00\x00', + b'37805-6A0-A540\x00\x00', + b'37805-6A0-A550\x00\x00', + b'37805-6A0-A640\x00\x00', + b'37805-6A0-A650\x00\x00', + b'37805-6A0-A740\x00\x00', + b'37805-6A0-A750\x00\x00', + b'37805-6A0-A840\x00\x00', + b'37805-6A0-A850\x00\x00', + b'37805-6A0-A930\x00\x00', + b'37805-6A0-AF30\x00\x00', + b'37805-6A0-AG30\x00\x00', + b'37805-6A0-AJ10\x00\x00', + b'37805-6A0-C540\x00\x00', + b'37805-6A0-CG20\x00\x00', + b'37805-6A1-H650\x00\x00', + b'37805-6B2-A550\x00\x00', + b'37805-6B2-A560\x00\x00', + b'37805-6B2-A650\x00\x00', + b'37805-6B2-A660\x00\x00', + b'37805-6B2-A720\x00\x00', + b'37805-6B2-A810\x00\x00', + b'37805-6B2-A820\x00\x00', + b'37805-6B2-A920\x00\x00', + b'37805-6B2-AA10\x00\x00', + b'37805-6B2-C520\x00\x00', + b'37805-6B2-C540\x00\x00', + b'37805-6B2-M520\x00\x00', + b'37805-6B2-Y810\x00\x00', + b'37805-6M4-B730\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TVC-A910\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-6A7-A220\x00\x00', + b'28101-6A7-A230\x00\x00', + b'28101-6A7-A320\x00\x00', + b'28101-6A7-A330\x00\x00', + b'28101-6A7-A410\x00\x00', + b'28101-6A7-A510\x00\x00', + b'28101-6A7-A610\x00\x00', + b'28101-6A7-A710\x00\x00', + b'28101-6A9-H140\x00\x00', + b'28101-6A9-H420\x00\x00', + b'28102-6B8-A560\x00\x00', + b'28102-6B8-A570\x00\x00', + b'28102-6B8-A700\x00\x00', + b'28102-6B8-A800\x00\x00', + b'28102-6B8-C560\x00\x00', + b'28102-6B8-C570\x00\x00', + b'28102-6B8-M520\x00\x00', + b'28102-6B8-R700\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-TVA-A050\x00\x00', + b'46114-TVA-A060\x00\x00', + b'46114-TVA-A080\x00\x00', + b'46114-TVA-A120\x00\x00', + b'46114-TVA-A320\x00\x00', + b'46114-TVE-H550\x00\x00', + b'46114-TVE-H560\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TVA-B040\x00\x00', + b'57114-TVA-B050\x00\x00', + b'57114-TVA-B060\x00\x00', + b'57114-TVA-B530\x00\x00', + b'57114-TVA-C040\x00\x00', + b'57114-TVA-C050\x00\x00', + b'57114-TVA-C060\x00\x00', + b'57114-TVA-C530\x00\x00', + b'57114-TVA-E520\x00\x00', + b'57114-TVE-H250\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TBX-H120\x00\x00', + b'39990-TVA,A150\x00\x00', + b'39990-TVA-A140\x00\x00', + b'39990-TVA-A150\x00\x00', + b'39990-TVA-A160\x00\x00', + b'39990-TVA-A340\x00\x00', + b'39990-TVA-X030\x00\x00', + b'39990-TVA-X040\x00\x00', + b'39990-TVE-H130\x00\x00', + ], + (Ecu.unknown, 0x18da3af1, None): [ + b'39390-TVA-A020\x00\x00', + b'39390-TVA-A120\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TBX-H230\x00\x00', + b'77959-TVA-A460\x00\x00', + b'77959-TVA-F330\x00\x00', + b'77959-TVA-H230\x00\x00', + b'77959-TVA-L420\x00\x00', + b'77959-TVA-X330\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TBX-H310\x00\x00', + b'78109-TVA-A010\x00\x00', + b'78109-TVA-A020\x00\x00', + b'78109-TVA-A030\x00\x00', + b'78109-TVA-A110\x00\x00', + b'78109-TVA-A120\x00\x00', + b'78109-TVA-A130\x00\x00', + b'78109-TVA-A210\x00\x00', + b'78109-TVA-A220\x00\x00', + b'78109-TVA-A230\x00\x00', + b'78109-TVA-A310\x00\x00', + b'78109-TVA-C010\x00\x00', + b'78109-TVA-C130\x00\x00', + b'78109-TVA-L010\x00\x00', + b'78109-TVA-L210\x00\x00', + b'78109-TVA-R310\x00\x00', + b'78109-TVC-A010\x00\x00', + b'78109-TVC-A020\x00\x00', + b'78109-TVC-A030\x00\x00', + b'78109-TVC-A110\x00\x00', + b'78109-TVC-A130\x00\x00', + b'78109-TVC-A210\x00\x00', + b'78109-TVC-A220\x00\x00', + b'78109-TVC-A230\x00\x00', + b'78109-TVC-C010\x00\x00', + b'78109-TVC-C110\x00\x00', + b'78109-TVC-L010\x00\x00', + b'78109-TVC-L210\x00\x00', + b'78109-TVC-M510\x00\x00', + b'78109-TVC-YF10\x00\x00', + b'78109-TVE-H610\x00\x00', + b'78109-TWA-A210\x00\x00', + ], + (Ecu.hud, 0x18da61f1, None): [ + b'78209-TVA-A010\x00\x00', + b'78209-TVA-A110\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TBX-H140\x00\x00', + b'36802-TVA-A150\x00\x00', + b'36802-TVA-A160\x00\x00', + b'36802-TVA-A170\x00\x00', + b'36802-TVA-A180\x00\x00', + b'36802-TVA-A330\x00\x00', + b'36802-TVC-A330\x00\x00', + b'36802-TVE-H070\x00\x00', + b'36802-TWA-A070\x00\x00', + b'36802-TWA-A080\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TBX-H130\x00\x00', + b'36161-TVA-A060\x00\x00', + b'36161-TVA-A330\x00\x00', + b'36161-TVC-A330\x00\x00', + b'36161-TVE-H050\x00\x00', + b'36161-TWA-A070\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TVA-A010\x00\x00', + b'38897-TVA-A020\x00\x00', + b'38897-TVA-A230\x00\x00', + b'38897-TVA-A240\x00\x00', + ], + }, + CAR.ACCORDH: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TWA-A120\x00\x00', + b'38897-TWD-J020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TWA-A040\x00\x00', + b'57114-TWA-A050\x00\x00', + b'57114-TWA-A530\x00\x00', + b'57114-TWA-B520\x00\x00', + b'57114-TWA-C510\x00\x00', + b'57114-TWB-H030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TWA-A440\x00\x00', + b'77959-TWA-L420\x00\x00', + b'77959-TWB-H220\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TWA-A010\x00\x00', + b'78109-TWA-A020\x00\x00', + b'78109-TWA-A030\x00\x00', + b'78109-TWA-A110\x00\x00', + b'78109-TWA-A120\x00\x00', + b'78109-TWA-A130\x00\x00', + b'78109-TWA-A210\x00\x00', + b'78109-TWA-A220\x00\x00', + b'78109-TWA-A230\x00\x00', + b'78109-TWA-A610\x00\x00', + b'78109-TWA-H210\x00\x00', + b'78109-TWA-L010\x00\x00', + b'78109-TWA-L210\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TWA-A910\x00\x00', + ], + (Ecu.hud, 0x18da61f1, None): [ + b'78209-TVA-A010\x00\x00', + b'78209-TVA-A110\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TWA-A070\x00\x00', + b'36161-TWA-A330\x00\x00', + b'36161-TWB-H040\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TWA-A070\x00\x00', + b'36802-TWA-A080\x00\x00', + b'36802-TWA-A210\x00\x00', + b'36802-TWA-A330\x00\x00', + b'36802-TWB-H060\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TVA-A150\x00\x00', + b'39990-TVA-A160\x00\x00', + b'39990-TVA-A340\x00\x00', + b'39990-TWB-H120\x00\x00', + ], + }, + CAR.CIVIC: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5AA-A640\x00\x00', + b'37805-5AA-A650\x00\x00', + b'37805-5AA-A670\x00\x00', + b'37805-5AA-A680\x00\x00', + b'37805-5AA-A810\x00\x00', + b'37805-5AA-C640\x00\x00', + b'37805-5AA-C680\x00\x00', + b'37805-5AA-C820\x00\x00', + b'37805-5AA-L650\x00\x00', + b'37805-5AA-L660\x00\x00', + b'37805-5AA-L680\x00\x00', + b'37805-5AA-L690\x00\x00', + b'37805-5AA-L810\x00\x00', + b'37805-5AG-Q710\x00\x00', + b'37805-5AJ-A610\x00\x00', + b'37805-5AJ-A620\x00\x00', + b'37805-5AJ-L610\x00\x00', + b'37805-5BA-A310\x00\x00', + b'37805-5BA-A510\x00\x00', + b'37805-5BA-A740\x00\x00', + b'37805-5BA-A760\x00\x00', + b'37805-5BA-A930\x00\x00', + b'37805-5BA-A960\x00\x00', + b'37805-5BA-C640\x00\x00', + b'37805-5BA-C860\x00\x00', + b'37805-5BA-L410\x00\x00', + b'37805-5BA-L760\x00\x00', + b'37805-5BA-L930\x00\x00', + b'37805-5BA-L940\x00\x00', + b'37805-5BA-L960\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5CG-A040\x00\x00', + b'28101-5CG-A050\x00\x00', + b'28101-5CG-A070\x00\x00', + b'28101-5CG-A080\x00\x00', + b'28101-5CG-A320\x00\x00', + b'28101-5CG-A810\x00\x00', + b'28101-5CG-A820\x00\x00', + b'28101-5DJ-A040\x00\x00', + b'28101-5DJ-A060\x00\x00', + b'28101-5DJ-A510\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TBA-A540\x00\x00', + b'57114-TBA-A550\x00\x00', + b'57114-TBA-A560\x00\x00', + b'57114-TBA-A570\x00\x00', + b'57114-TEA-Q220\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TBA,A030\x00\x00', + b'39990-TBA-A030\x00\x00', + b'39990-TBG-A030\x00\x00', + b'39990-TEA-T020\x00\x00', + b'39990-TEG-A010\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TBA-A030\x00\x00', + b'77959-TBA-A040\x00\x00', + b'77959-TBG-A030\x00\x00', + b'77959-TEA-Q820\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TBA-A510\x00\x00', + b'78109-TBA-A520\x00\x00', + b'78109-TBA-A530\x00\x00', + b'78109-TBA-C310\x00\x00', + b'78109-TBA-C520\x00\x00', + b'78109-TBC-A310\x00\x00', + b'78109-TBC-A320\x00\x00', + b'78109-TBC-A510\x00\x00', + b'78109-TBC-A520\x00\x00', + b'78109-TBC-A530\x00\x00', + b'78109-TBC-C510\x00\x00', + b'78109-TBC-C520\x00\x00', + b'78109-TBC-C530\x00\x00', + b'78109-TBH-A510\x00\x00', + b'78109-TBH-A530\x00\x00', + b'78109-TED-Q510\x00\x00', + b'78109-TEG-A310\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TBA-A020\x00\x00', + b'36161-TBA-A030\x00\x00', + b'36161-TBA-A040\x00\x00', + b'36161-TBC-A020\x00\x00', + b'36161-TBC-A030\x00\x00', + b'36161-TED-Q320\x00\x00', + b'36161-TEG-A010\x00\x00', + b'36161-TEG-A020\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TBA-A010\x00\x00', + b'38897-TBA-A020\x00\x00', + ], + }, + CAR.CIVIC_BOSCH: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5AA-A940\x00\x00', + b'37805-5AA-A950\x00\x00', + b'37805-5AA-C950\x00\x00', + b'37805-5AA-L940\x00\x00', + b'37805-5AA-L950\x00\x00', + b'37805-5AG-Z910\x00\x00', + b'37805-5AJ-A750\x00\x00', + b'37805-5AJ-L750\x00\x00', + b'37805-5AK-T530\x00\x00', + b'37805-5AN-A750\x00\x00', + b'37805-5AN-A830\x00\x00', + b'37805-5AN-A840\x00\x00', + b'37805-5AN-A930\x00\x00', + b'37805-5AN-A940\x00\x00', + b'37805-5AN-A950\x00\x00', + b'37805-5AN-AG20\x00\x00', + b'37805-5AN-AH20\x00\x00', + b'37805-5AN-AJ30\x00\x00', + b'37805-5AN-AK10\x00\x00', + b'37805-5AN-AK20\x00\x00', + b'37805-5AN-AR10\x00\x00', + b'37805-5AN-AR20\x00\x00', + b'37805-5AN-C650\x00\x00', + b'37805-5AN-CH20\x00\x00', + b'37805-5AN-E630\x00\x00', + b'37805-5AN-E720\x00\x00', + b'37805-5AN-E820\x00\x00', + b'37805-5AN-J820\x00\x00', + b'37805-5AN-L840\x00\x00', + b'37805-5AN-L930\x00\x00', + b'37805-5AN-L940\x00\x00', + b'37805-5AN-LF20\x00\x00', + b'37805-5AN-LH20\x00\x00', + b'37805-5AN-LJ20\x00\x00', + b'37805-5AN-LR20\x00\x00', + b'37805-5AN-LS20\x00\x00', + b'37805-5AW-G720\x00\x00', + b'37805-5AZ-E850\x00\x00', + b'37805-5AZ-G540\x00\x00', + b'37805-5AZ-G740\x00\x00', + b'37805-5AZ-G840\x00\x00', + b'37805-5BB-A530\x00\x00', + b'37805-5BB-A540\x00\x00', + b'37805-5BB-A620\x00\x00', + b'37805-5BB-A630\x00\x00', + b'37805-5BB-A640\x00\x00', + b'37805-5BB-C540\x00\x00', + b'37805-5BB-C630\x00\x00', + b'37805-5BB-C640\x00\x00', + b'37805-5BB-L540\x00\x00', + b'37805-5BB-L630\x00\x00', + b'37805-5BB-L640\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5CG-A920\x00\x00', + b'28101-5CG-AB10\x00\x00', + b'28101-5CG-C110\x00\x00', + b'28101-5CG-C220\x00\x00', + b'28101-5CG-C320\x00\x00', + b'28101-5CG-G020\x00\x00', + b'28101-5CG-L020\x00\x00', + b'28101-5CK-A130\x00\x00', + b'28101-5CK-A140\x00\x00', + b'28101-5CK-A150\x00\x00', + b'28101-5CK-C130\x00\x00', + b'28101-5CK-C140\x00\x00', + b'28101-5CK-C150\x00\x00', + b'28101-5CK-G210\x00\x00', + b'28101-5CK-J710\x00\x00', + b'28101-5CK-Q610\x00\x00', + b'28101-5DJ-A610\x00\x00', + b'28101-5DJ-A710\x00\x00', + b'28101-5DV-E330\x00\x00', + b'28101-5DV-E610\x00\x00', + b'28101-5DV-E820\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TBG-A330\x00\x00', + b'57114-TBG-A340\x00\x00', + b'57114-TBG-A350\x00\x00', + b'57114-TGG-A340\x00\x00', + b'57114-TGG-C320\x00\x00', + b'57114-TGG-G320\x00\x00', + b'57114-TGG-L320\x00\x00', + b'57114-TGG-L330\x00\x00', + b'57114-TGK-T320\x00\x00', + b'57114-TGL-G330\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TBA-C020\x00\x00', + b'39990-TBA-C120\x00\x00', + b'39990-TEA-T820\x00\x00', + b'39990-TEZ-T020\x00\x00', + b'39990-TGG,A020\x00\x00', + b'39990-TGG,A120\x00\x00', + b'39990-TGG-A020\x00\x00', + b'39990-TGG-A120\x00\x00', + b'39990-TGG-J510\x00\x00', + b'39990-TGL-E130\x00\x00', + b'39990-TGN-E120\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TBA-A060\x00\x00', + b'77959-TBG-A050\x00\x00', + b'77959-TEA-G020\x00\x00', + b'77959-TGG-A020\x00\x00', + b'77959-TGG-A030\x00\x00', + b'77959-TGG-E010\x00\x00', + b'77959-TGG-G010\x00\x00', + b'77959-TGG-G110\x00\x00', + b'77959-TGG-J320\x00\x00', + b'77959-TGG-Z820\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TBA-A110\x00\x00', + b'78109-TBA-A910\x00\x00', + b'78109-TBA-C340\x00\x00', + b'78109-TBA-C910\x00\x00', + b'78109-TBC-A740\x00\x00', + b'78109-TBC-C540\x00\x00', + b'78109-TBG-A110\x00\x00', + b'78109-TBH-A710\x00\x00', + b'78109-TEG-A720\x00\x00', + b'78109-TFJ-G020\x00\x00', + b'78109-TGG-9020\x00\x00', + b'78109-TGG-A210\x00\x00', + b'78109-TGG-A220\x00\x00', + b'78109-TGG-A310\x00\x00', + b'78109-TGG-A320\x00\x00', + b'78109-TGG-A330\x00\x00', + b'78109-TGG-A610\x00\x00', + b'78109-TGG-A620\x00\x00', + b'78109-TGG-A810\x00\x00', + b'78109-TGG-A820\x00\x00', + b'78109-TGG-C010\x00\x00', + b'78109-TGG-C220\x00\x00', + b'78109-TGG-E110\x00\x00', + b'78109-TGG-G030\x00\x00', + b'78109-TGG-G230\x00\x00', + b'78109-TGG-G410\x00\x00', + b'78109-TGK-Z410\x00\x00', + b'78109-TGL-G120\x00\x00', + b'78109-TGL-G130\x00\x00', + b'78109-TGL-G210\x00\x00', + b'78109-TGL-G230\x00\x00', + b'78109-TGL-GM10\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TBA-A150\x00\x00', + b'36802-TBA-A160\x00\x00', + b'36802-TFJ-G060\x00\x00', + b'36802-TGG-A050\x00\x00', + b'36802-TGG-A060\x00\x00', + b'36802-TGG-A070\x00\x00', + b'36802-TGG-A130\x00\x00', + b'36802-TGG-G040\x00\x00', + b'36802-TGG-G130\x00\x00', + b'36802-TGK-Q120\x00\x00', + b'36802-TGL-G040\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TBA-A130\x00\x00', + b'36161-TBA-A140\x00\x00', + b'36161-TFJ-G070\x00\x00', + b'36161-TGG-A060\x00\x00', + b'36161-TGG-A080\x00\x00', + b'36161-TGG-A120\x00\x00', + b'36161-TGG-G050\x00\x00', + b'36161-TGG-G070\x00\x00', + b'36161-TGG-G130\x00\x00', + b'36161-TGG-G140\x00\x00', + b'36161-TGK-Q120\x00\x00', + b'36161-TGL-G050\x00\x00', + b'36161-TGL-G070\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TBA-A020\x00\x00', + b'38897-TBA-A110\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'39494-TGL-G030\x00\x00', + ], + }, + CAR.CIVIC_BOSCH_DIESEL: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-59N-G630\x00\x00', + b'37805-59N-G830\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-59Y-G220\x00\x00', + b'28101-59Y-G620\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TGN-E320\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TFK-G020\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TFK-G210\x00\x00', + b'77959-TGN-G220\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TFK-G020\x00\x00', + b'78109-TGN-G120\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TFK-G130\x00\x00', + b'36802-TGN-G130\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TGN-E010\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TFK-G130\x00\x00', + b'36161-TGN-G130\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TBA-A020\x00\x00', + ], + }, + CAR.CRV: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T1W-A230\x00\x00', + b'57114-T1W-A240\x00\x00', + b'57114-TFF-A940\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T0A-A230\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T1W-A210\x00\x00', + b'78109-T1W-C210\x00\x00', + b'78109-T1X-A210\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T1W-A830\x00\x00', + b'36161-T1W-C830\x00\x00', + b'36161-T1X-A830\x00\x00', + ], + }, + CAR.CRV_5G: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5PA-3060\x00\x00', + b'37805-5PA-3080\x00\x00', + b'37805-5PA-3180\x00\x00', + b'37805-5PA-4050\x00\x00', + b'37805-5PA-4150\x00\x00', + b'37805-5PA-6520\x00\x00', + b'37805-5PA-6530\x00\x00', + b'37805-5PA-6630\x00\x00', + b'37805-5PA-6640\x00\x00', + b'37805-5PA-7630\x00\x00', + b'37805-5PA-9530\x00\x00', + b'37805-5PA-9630\x00\x00', + b'37805-5PA-9640\x00\x00', + b'37805-5PA-9730\x00\x00', + b'37805-5PA-9830\x00\x00', + b'37805-5PA-9840\x00\x00', + b'37805-5PA-A650\x00\x00', + b'37805-5PA-A670\x00\x00', + b'37805-5PA-A680\x00\x00', + b'37805-5PA-A850\x00\x00', + b'37805-5PA-A870\x00\x00', + b'37805-5PA-A880\x00\x00', + b'37805-5PA-A890\x00\x00', + b'37805-5PA-AB10\x00\x00', + b'37805-5PA-AD10\x00\x00', + b'37805-5PA-AF20\x00\x00', + b'37805-5PA-AH20\x00\x00', + b'37805-5PA-BF10\x00\x00', + b'37805-5PA-C680\x00\x00', + b'37805-5PD-Q630\x00\x00', + b'37805-5PF-F730\x00\x00', + b'37805-5PF-M630\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5RG-A020\x00\x00', + b'28101-5RG-A030\x00\x00', + b'28101-5RG-A040\x00\x00', + b'28101-5RG-A120\x00\x00', + b'28101-5RG-A220\x00\x00', + b'28101-5RH-A020\x00\x00', + b'28101-5RH-A030\x00\x00', + b'28101-5RH-A040\x00\x00', + b'28101-5RH-A120\x00\x00', + b'28101-5RH-A220\x00\x00', + b'28101-5RL-Q010\x00\x00', + b'28101-5RM-F010\x00\x00', + b'28101-5RM-K010\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TLA-A040\x00\x00', + b'57114-TLA-A050\x00\x00', + b'57114-TLA-A060\x00\x00', + b'57114-TLB-A830\x00\x00', + b'57114-TMC-Z040\x00\x00', + b'57114-TMC-Z050\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TLA,A040\x00\x00', + b'39990-TLA-A040\x00\x00', + b'39990-TLA-A110\x00\x00', + b'39990-TLA-A220\x00\x00', + b'39990-TME-T030\x00\x00', + b'39990-TME-T120\x00\x00', + b'39990-TMT-T010\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-TLA-A040\x00\x00', + b'46114-TLA-A050\x00\x00', + b'46114-TLA-A930\x00\x00', + b'46114-TMC-U020\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TLA-A020\x00\x00', + b'78109-TLA-A110\x00\x00', + b'78109-TLA-A120\x00\x00', + b'78109-TLA-A210\x00\x00', + b'78109-TLA-A220\x00\x00', + b'78109-TLA-C020\x00\x00', + b'78109-TLA-C110\x00\x00', + b'78109-TLA-C210\x00\x00', + b'78109-TLA-C310\x00\x00', + b'78109-TLB-A020\x00\x00', + b'78109-TLB-A110\x00\x00', + b'78109-TLB-A120\x00\x00', + b'78109-TLB-A210\x00\x00', + b'78109-TLB-A220\x00\x00', + b'78109-TMC-Q210\x00\x00', + b'78109-TMM-F210\x00\x00', + b'78109-TMM-M110\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TLA-A010\x00\x00', + b'38897-TLA-A110\x00\x00', + b'38897-TNY-G010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TLA-A040\x00\x00', + b'36802-TLA-A050\x00\x00', + b'36802-TLA-A060\x00\x00', + b'36802-TMC-Q040\x00\x00', + b'36802-TMC-Q070\x00\x00', + b'36802-TNY-A030\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TLA-A060\x00\x00', + b'36161-TLA-A070\x00\x00', + b'36161-TLA-A080\x00\x00', + b'36161-TMC-Q020\x00\x00', + b'36161-TMC-Q030\x00\x00', + b'36161-TMC-Q040\x00\x00', + b'36161-TNY-A020\x00\x00', + b'36161-TNY-A030\x00\x00', + b'36161-TNY-A040\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TLA-A240\x00\x00', + b'77959-TLA-A250\x00\x00', + b'77959-TLA-A320\x00\x00', + b'77959-TLA-A410\x00\x00', + b'77959-TLA-A420\x00\x00', + b'77959-TLA-Q040\x00\x00', + b'77959-TLA-Z040\x00\x00', + b'77959-TMM-F040\x00\x00', + ], + }, + CAR.CRV_EU: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-R5Z-G740\x00\x00', + b'37805-R5Z-G780\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T1V-G920\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T1V-G520\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-T1V-G010\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5LH-E120\x00\x00', + b'28103-5LH-E100\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T1B-3050\x00\x00', + b'78109-T1V-G020\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T1G-G940\x00\x00', + ], + }, + CAR.CRV_HYBRID: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TMB-H030\x00\x00', + b'57114-TPA-G020\x00\x00', + b'57114-TPG-A020\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TMA-H020\x00\x00', + b'39990-TPA-G030\x00\x00', + b'39990-TPG-A020\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TMA-H110\x00\x00', + b'38897-TPG-A110\x00\x00', + b'38897-TPG-A210\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TMB-H510\x00\x00', + b'54008-TMB-H610\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TMB-H040\x00\x00', + b'36161-TPA-E050\x00\x00', + b'36161-TPG-A030\x00\x00', + b'36161-TPG-A040\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TMB-H220\x00\x00', + b'78109-TPA-G520\x00\x00', + b'78109-TPG-A110\x00\x00', + b'78109-TPG-A210\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TMB-H040\x00\x00', + b'36802-TPA-E040\x00\x00', + b'36802-TPG-A020\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TLA-C320\x00\x00', + b'77959-TLA-C410\x00\x00', + b'77959-TLA-C420\x00\x00', + b'77959-TLA-G220\x00\x00', + b'77959-TLA-H240\x00\x00', + ], + }, + CAR.FIT: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T5R-L020\x00\x00', + b'57114-T5R-L220\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T5R-C020\x00\x00', + b'39990-T5R-C030\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T5A-J010\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T5A-A210\x00\x00', + b'78109-T5A-A410\x00\x00', + b'78109-T5A-A420\x00\x00', + b'78109-T5A-A910\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T5R-A040\x00\x00', + b'36161-T5R-A240\x00\x00', + b'36161-T5R-A520\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T5R-A230\x00\x00', + ], + }, + CAR.FREED: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TDK-J010\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TDK-J050\x00\x00', + b'39990-TDK-N020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TDK-J120\x00\x00', + b'57114-TDK-J330\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TDK-J310\x00\x00', + b'78109-TDK-J320\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TDK-J070\x00\x00', + b'36161-TDK-J080\x00\x00', + b'36161-TDK-J530\x00\x00', + ], + }, + CAR.ODYSSEY: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-THR-A010\x00\x00', + b'38897-THR-A020\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5MR-3050\x00\x00', + b'37805-5MR-3250\x00\x00', + b'37805-5MR-4070\x00\x00', + b'37805-5MR-4080\x00\x00', + b'37805-5MR-4180\x00\x00', + b'37805-5MR-A240\x00\x00', + b'37805-5MR-A250\x00\x00', + b'37805-5MR-A310\x00\x00', + b'37805-5MR-A740\x00\x00', + b'37805-5MR-A750\x00\x00', + b'37805-5MR-A840\x00\x00', + b'37805-5MR-C620\x00\x00', + b'37805-5MR-D530\x00\x00', + b'37805-5MR-K730\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-THR-A020\x00\x00', + b'39990-THR-A030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-THR-A010\x00\x00', + b'77959-THR-A110\x00\x00', + b'77959-THR-X010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-THR-A020\x00\x00', + b'36161-THR-A030\x00\x00', + b'36161-THR-A110\x00\x00', + b'36161-THR-A720\x00\x00', + b'36161-THR-A730\x00\x00', + b'36161-THR-A810\x00\x00', + b'36161-THR-A910\x00\x00', + b'36161-THR-C010\x00\x00', + b'36161-THR-D110\x00\x00', + b'36161-THR-K020\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5NZ-A110\x00\x00', + b'28101-5NZ-A310\x00\x00', + b'28101-5NZ-C310\x00\x00', + b'28102-5MX-A001\x00\x00', + b'28102-5MX-A600\x00\x00', + b'28102-5MX-A610\x00\x00', + b'28102-5MX-A700\x00\x00', + b'28102-5MX-A710\x00\x00', + b'28102-5MX-A900\x00\x00', + b'28102-5MX-A910\x00\x00', + b'28102-5MX-C001\x00\x00', + b'28102-5MX-D001\x00\x00', + b'28102-5MX-D710\x00\x00', + b'28102-5MX-K610\x00\x00', + b'28103-5NZ-A100\x00\x00', + b'28103-5NZ-A300\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-THR-A040\x00\x00', + b'57114-THR-A110\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-THR-A220\x00\x00', + b'78109-THR-A230\x00\x00', + b'78109-THR-A420\x00\x00', + b'78109-THR-A430\x00\x00', + b'78109-THR-A720\x00\x00', + b'78109-THR-A730\x00\x00', + b'78109-THR-A820\x00\x00', + b'78109-THR-A830\x00\x00', + b'78109-THR-AB20\x00\x00', + b'78109-THR-AB30\x00\x00', + b'78109-THR-AB40\x00\x00', + b'78109-THR-AC20\x00\x00', + b'78109-THR-AC30\x00\x00', + b'78109-THR-AC40\x00\x00', + b'78109-THR-AC50\x00\x00', + b'78109-THR-AD30\x00\x00', + b'78109-THR-AE20\x00\x00', + b'78109-THR-AE30\x00\x00', + b'78109-THR-AE40\x00\x00', + b'78109-THR-AK10\x00\x00', + b'78109-THR-AL10\x00\x00', + b'78109-THR-AN10\x00\x00', + b'78109-THR-C220\x00\x00', + b'78109-THR-C320\x00\x00', + b'78109-THR-C330\x00\x00', + b'78109-THR-CE20\x00\x00', + b'78109-THR-DA20\x00\x00', + b'78109-THR-DA30\x00\x00', + b'78109-THR-DA40\x00\x00', + b'78109-THR-K120\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-THR-A020\x00\x00', + ], + }, + CAR.ODYSSEY_CHN: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T6D-H220\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T6A-J010\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T6A-F310\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T6A-P040\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T6A-P110\x00\x00', + ], + }, + CAR.PILOT: { + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TG7-A520\x00\x00', + b'54008-TG7-A530\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5EY-A050\x00\x00', + b'28101-5EY-A100\x00\x00', + b'28101-5EY-A430\x00\x00', + b'28101-5EY-A500\x00\x00', + b'28101-5EZ-A050\x00\x00', + b'28101-5EZ-A060\x00\x00', + b'28101-5EZ-A100\x00\x00', + b'28101-5EZ-A210\x00\x00', + b'28101-5EZ-A330\x00\x00', + b'28101-5EZ-A430\x00\x00', + b'28101-5EZ-A500\x00\x00', + b'28101-5EZ-A600\x00\x00', + b'28101-5EZ-A700\x00\x00', + b'28103-5EY-A110\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-RLV-4060\x00\x00', + b'37805-RLV-4070\x00\x00', + b'37805-RLV-5140\x00\x00', + b'37805-RLV-5230\x00\x00', + b'37805-RLV-A830\x00\x00', + b'37805-RLV-A840\x00\x00', + b'37805-RLV-B210\x00\x00', + b'37805-RLV-B220\x00\x00', + b'37805-RLV-B420\x00\x00', + b'37805-RLV-B430\x00\x00', + b'37805-RLV-B620\x00\x00', + b'37805-RLV-B710\x00\x00', + b'37805-RLV-B720\x00\x00', + b'37805-RLV-C430\x00\x00', + b'37805-RLV-C510\x00\x00', + b'37805-RLV-C520\x00\x00', + b'37805-RLV-C530\x00\x00', + b'37805-RLV-C910\x00\x00', + b'37805-RLV-F120\x00\x00', + b'37805-RLV-L080\x00\x00', + b'37805-RLV-L090\x00\x00', + b'37805-RLV-L150\x00\x00', + b'37805-RLV-L160\x00\x00', + b'37805-RLV-L180\x00\x00', + b'37805-RLV-L350\x00\x00', + b'37805-RLV-L410\x00\x00', + b'37805-RLV-L430\x00\x00', + b'37805-RLV-L850\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TG7-A030\x00\x00', + b'38897-TG7-A040\x00\x00', + b'38897-TG7-A110\x00\x00', + b'38897-TG7-A210\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TG7-A030\x00\x00', + b'39990-TG7-A040\x00\x00', + b'39990-TG7-A060\x00\x00', + b'39990-TG7-A070\x00\x00', + b'39990-TGS-A230\x00\x00', + b'39990-TGS-A320\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TG7-A310\x00\x00', + b'36161-TG7-A520\x00\x00', + b'36161-TG7-A630\x00\x00', + b'36161-TG7-A720\x00\x00', + b'36161-TG7-A820\x00\x00', + b'36161-TG7-A930\x00\x00', + b'36161-TG7-C520\x00\x00', + b'36161-TG7-D520\x00\x00', + b'36161-TG7-D630\x00\x00', + b'36161-TG7-Y630\x00\x00', + b'36161-TG8-A410\x00\x00', + b'36161-TG8-A520\x00\x00', + b'36161-TG8-A630\x00\x00', + b'36161-TG8-A720\x00\x00', + b'36161-TG8-A830\x00\x00', + b'36161-TGS-A030\x00\x00', + b'36161-TGS-A130\x00\x00', + b'36161-TGS-A220\x00\x00', + b'36161-TGS-A320\x00\x00', + b'36161-TGT-A030\x00\x00', + b'36161-TGT-A130\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TG7-A020\x00\x00', + b'77959-TG7-A110\x00\x00', + b'77959-TG7-A210\x00\x00', + b'77959-TG7-Y210\x00\x00', + b'77959-TGS-A010\x00\x00', + b'77959-TGS-A110\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TG7-A040\x00\x00', + b'78109-TG7-A050\x00\x00', + b'78109-TG7-A420\x00\x00', + b'78109-TG7-A520\x00\x00', + b'78109-TG7-A720\x00\x00', + b'78109-TG7-AJ10\x00\x00', + b'78109-TG7-AJ20\x00\x00', + b'78109-TG7-AK10\x00\x00', + b'78109-TG7-AK20\x00\x00', + b'78109-TG7-AM20\x00\x00', + b'78109-TG7-AP10\x00\x00', + b'78109-TG7-AP20\x00\x00', + b'78109-TG7-AS20\x00\x00', + b'78109-TG7-AT20\x00\x00', + b'78109-TG7-AU20\x00\x00', + b'78109-TG7-AX20\x00\x00', + b'78109-TG7-D020\x00\x00', + b'78109-TG7-DJ10\x00\x00', + b'78109-TG7-YK20\x00\x00', + b'78109-TG8-A420\x00\x00', + b'78109-TG8-A520\x00\x00', + b'78109-TG8-AJ10\x00\x00', + b'78109-TG8-AJ20\x00\x00', + b'78109-TG8-AK20\x00\x00', + b'78109-TG8-AS20\x00\x00', + b'78109-TGS-AB10\x00\x00', + b'78109-TGS-AC10\x00\x00', + b'78109-TGS-AD10\x00\x00', + b'78109-TGS-AJ20\x00\x00', + b'78109-TGS-AK20\x00\x00', + b'78109-TGS-AP20\x00\x00', + b'78109-TGS-AT20\x00\x00', + b'78109-TGS-AX20\x00\x00', + b'78109-TGT-AJ20\x00\x00', + b'78109-TGT-AK30\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TG7-A130\x00\x00', + b'57114-TG7-A140\x00\x00', + b'57114-TG7-A230\x00\x00', + b'57114-TG7-A240\x00\x00', + b'57114-TG7-A630\x00\x00', + b'57114-TG7-A730\x00\x00', + b'57114-TG8-A140\x00\x00', + b'57114-TG8-A240\x00\x00', + b'57114-TG8-A630\x00\x00', + b'57114-TG8-A730\x00\x00', + b'57114-TGS-A530\x00\x00', + b'57114-TGT-A530\x00\x00', + ], + }, + CAR.ACURA_RDX: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TX4-A220\x00\x00', + b'57114-TX5-A220\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TX4-A030\x00\x00', + b'36161-TX5-A030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TX4-B010\x00\x00', + b'77959-TX4-C010\x00\x00', + b'77959-TX4-C020\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TX4-A210\x00\x00', + b'78109-TX4-A310\x00\x00', + b'78109-TX5-A210\x00\x00', + b'78109-TX5-A310\x00\x00', + ], + }, + CAR.ACURA_RDX_3G: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5YF-A130\x00\x00', + b'37805-5YF-A230\x00\x00', + b'37805-5YF-A320\x00\x00', + b'37805-5YF-A330\x00\x00', + b'37805-5YF-A420\x00\x00', + b'37805-5YF-A430\x00\x00', + b'37805-5YF-A750\x00\x00', + b'37805-5YF-A760\x00\x00', + b'37805-5YF-A850\x00\x00', + b'37805-5YF-A870\x00\x00', + b'37805-5YF-AD20\x00\x00', + b'37805-5YF-C210\x00\x00', + b'37805-5YF-C220\x00\x00', + b'37805-5YF-C410\x00\x00', + b'37805-5YF-C420\x00\x00', + b'37805-5YF-C430\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TJB-A030\x00\x00', + b'57114-TJB-A040\x00\x00', + b'57114-TJB-A120\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TJB-A040\x00\x00', + b'36802-TJB-A050\x00\x00', + b'36802-TJB-A540\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TJB-A040\x00\x00', + b'36161-TJB-A530\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TJB-A520\x00\x00', + b'54008-TJB-A530\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28102-5YK-A610\x00\x00', + b'28102-5YK-A620\x00\x00', + b'28102-5YK-A630\x00\x00', + b'28102-5YK-A700\x00\x00', + b'28102-5YK-A711\x00\x00', + b'28102-5YK-A800\x00\x00', + b'28102-5YL-A620\x00\x00', + b'28102-5YL-A700\x00\x00', + b'28102-5YL-A711\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TJB-A140\x00\x00', + b'78109-TJB-A240\x00\x00', + b'78109-TJB-A420\x00\x00', + b'78109-TJB-AB10\x00\x00', + b'78109-TJB-AD10\x00\x00', + b'78109-TJB-AF10\x00\x00', + b'78109-TJB-AQ20\x00\x00', + b'78109-TJB-AR10\x00\x00', + b'78109-TJB-AS10\x00\x00', + b'78109-TJB-AU10\x00\x00', + b'78109-TJB-AW10\x00\x00', + b'78109-TJC-A240\x00\x00', + b'78109-TJC-A420\x00\x00', + b'78109-TJC-AA10\x00\x00', + b'78109-TJC-AD10\x00\x00', + b'78109-TJC-AF10\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TJB-A040\x00\x00', + b'77959-TJB-A120\x00\x00', + b'77959-TJB-A210\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-TJB-A040\x00\x00', + b'46114-TJB-A050\x00\x00', + b'46114-TJB-A060\x00\x00', + b'46114-TJB-A120\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TJB-A040\x00\x00', + b'38897-TJB-A110\x00\x00', + b'38897-TJB-A120\x00\x00', + b'38897-TJB-A220\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TJB-A030\x00\x00', + b'39990-TJB-A040\x00\x00', + b'39990-TJB-A070\x00\x00', + b'39990-TJB-A130\x00\x00', + ], + }, + CAR.RIDGELINE: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T6Z-A020\x00\x00', + b'39990-T6Z-A030\x00\x00', + b'39990-T6Z-A050\x00\x00', + b'39990-T6Z-A110\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T6Z-A020\x00\x00', + b'36161-T6Z-A310\x00\x00', + b'36161-T6Z-A420\x00\x00', + b'36161-T6Z-A520\x00\x00', + b'36161-T6Z-A620\x00\x00', + b'36161-T6Z-A720\x00\x00', + b'36161-TJZ-A120\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T6Z-A010\x00\x00', + b'38897-T6Z-A110\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78108-T6Z-AF10\x00\x00', + b'78109-T6Z-A420\x00\x00', + b'78109-T6Z-A510\x00\x00', + b'78109-T6Z-A710\x00\x00', + b'78109-T6Z-A810\x00\x00', + b'78109-T6Z-A910\x00\x00', + b'78109-T6Z-AA10\x00\x00', + b'78109-T6Z-C620\x00\x00', + b'78109-T6Z-C910\x00\x00', + b'78109-TJZ-A510\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T6Z-A020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T6Z-A120\x00\x00', + b'57114-T6Z-A130\x00\x00', + b'57114-T6Z-A520\x00\x00', + b'57114-T6Z-A610\x00\x00', + b'57114-TJZ-A520\x00\x00', + ], + }, + CAR.INSIGHT: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TXM-A040\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TXM-A070\x00\x00', + b'36802-TXM-A080\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TXM-A050\x00\x00', + b'36161-TXM-A060\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TXM-A230\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TXM-A030\x00\x00', + b'57114-TXM-A040\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TWA-A910\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TXM-A020\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TXM-A010\x00\x00', + b'78109-TXM-A020\x00\x00', + b'78109-TXM-A030\x00\x00', + b'78109-TXM-A110\x00\x00', + b'78109-TXM-C010\x00\x00', + ], + }, + CAR.HRV: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T7A-A010\x00\x00', + b'38897-T7A-A110\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-THX-A020\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T7A-A040\x00\x00', + b'36161-T7A-A140\x00\x00', + b'36161-T7A-A240\x00\x00', + b'36161-T7A-C440\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T7A-A230\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-THW-A110\x00\x00', + b'78109-THX-A110\x00\x00', + b'78109-THX-A120\x00\x00', + b'78109-THX-A210\x00\x00', + b'78109-THX-A220\x00\x00', + b'78109-THX-C220\x00\x00', + ], + }, + CAR.HRV_3G: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-3W0-A030\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-3W1-A010\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-3V0-A820\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78108-3V1-A220\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-3W0-A040\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-6EH-A010\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-6CT-A710\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-3W0-A020\x00\x00', + ], + }, + CAR.ACURA_ILX: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TX6-A010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TV9-A140\x00\x00', + b'36161-TX6-A030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TX6-A230\x00\x00', + b'77959-TX6-C210\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T3R-A120\x00\x00', + b'78109-T3R-A410\x00\x00', + b'78109-TV9-A510\x00\x00', + ], + }, + CAR.HONDA_E: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TYF-N030\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TYF-E140\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TYF-E010\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TYF-G430\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78108-TYF-G610\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TYF-E030\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TYF-E020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TYF-E030\x00\x00', + ], + }, + CAR.CIVIC_2022: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T24-T120\x00\x00', + b'39990-T39-A130\x00\x00', + b'39990-T43-J020\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T20-A020\x00\x00', + b'38897-T20-A210\x00\x00', + b'38897-T20-A310\x00\x00', + b'38897-T20-A510\x00\x00', + b'38897-T21-A010\x00\x00', + b'38897-T24-Z120\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T20-A970\x00\x00', + b'77959-T20-A980\x00\x00', + b'77959-T20-M820\x00\x00', + b'77959-T47-A940\x00\x00', + b'77959-T47-A950\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78108-T21-A220\x00\x00', + b'78108-T21-A230\x00\x00', + b'78108-T21-A620\x00\x00', + b'78108-T21-A740\x00\x00', + b'78108-T21-MB10\x00\x00', + b'78108-T22-A020\x00\x00', + b'78108-T23-A110\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T20-A060\x00\x00', + b'36161-T20-A070\x00\x00', + b'36161-T20-A080\x00\x00', + b'36161-T24-T070\x00\x00', + b'36161-T47-A070\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T20-AB40\x00\x00', + b'57114-T24-TB30\x00\x00', + b'57114-T43-JB30\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-65D-A020\x00\x00', + b'28101-65D-A120\x00\x00', + b'28101-65H-A020\x00\x00', + b'28101-65H-A120\x00\x00', + b'28101-65J-N010\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-64A-A540\x00\x00', + b'37805-64A-A620\x00\x00', + b'37805-64D-P510\x00\x00', + b'37805-64L-A540\x00\x00', + b'37805-64S-A540\x00\x00', + b'37805-64S-A720\x00\x00', + b'37805-64S-AA10\x00\x00', + ], + }, +} diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 38ba0f22f..2878076de 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -136,7 +136,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring - CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS), CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), @@ -149,7 +149,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), ], - CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS), CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), } @@ -169,6 +169,13 @@ FW_QUERY_CONFIG = FwQueryConfig( ), # Data collection requests: + # Attempt to get the radarless Civic 2022+ camera FW + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], + bus=0, + logging=True + ), # Log extra identifiers for current ECUs Request( [HONDA_VERSION_REQUEST], @@ -198,1368 +205,6 @@ FW_QUERY_CONFIG = FwQueryConfig( ], ) -FW_VERSIONS = { - CAR.ACCORD: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-6A0-8720\x00\x00', - b'37805-6A0-9520\x00\x00', - b'37805-6A0-9620\x00\x00', - b'37805-6A0-9720\x00\x00', - b'37805-6A0-A540\x00\x00', - b'37805-6A0-A550\x00\x00', - b'37805-6A0-A640\x00\x00', - b'37805-6A0-A650\x00\x00', - b'37805-6A0-A740\x00\x00', - b'37805-6A0-A750\x00\x00', - b'37805-6A0-A840\x00\x00', - b'37805-6A0-A850\x00\x00', - b'37805-6A0-A930\x00\x00', - b'37805-6A0-AF30\x00\x00', - b'37805-6A0-AG30\x00\x00', - b'37805-6B2-C520\x00\x00', - b'37805-6A0-C540\x00\x00', - b'37805-6A1-H650\x00\x00', - b'37805-6B2-A550\x00\x00', - b'37805-6B2-A560\x00\x00', - b'37805-6B2-A650\x00\x00', - b'37805-6B2-A660\x00\x00', - b'37805-6B2-A720\x00\x00', - b'37805-6B2-A810\x00\x00', - b'37805-6B2-A820\x00\x00', - b'37805-6B2-A920\x00\x00', - b'37805-6B2-M520\x00\x00', - b'37805-6B2-Y810\x00\x00', - b'37805-6M4-B730\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TVC-A910\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-6A7-A220\x00\x00', - b'28101-6A7-A230\x00\x00', - b'28101-6A7-A320\x00\x00', - b'28101-6A7-A330\x00\x00', - b'28101-6A7-A410\x00\x00', - b'28101-6A7-A510\x00\x00', - b'28101-6A7-A610\x00\x00', - b'28101-6A7-A710\x00\x00', - b'28101-6A9-H140\x00\x00', - b'28101-6A9-H420\x00\x00', - b'28102-6B8-A560\x00\x00', - b'28102-6B8-A570\x00\x00', - b'28102-6B8-A700\x00\x00', - b'28102-6B8-A800\x00\x00', - b'28102-6B8-C560\x00\x00', - b'28102-6B8-C570\x00\x00', - b'28102-6B8-M520\x00\x00', - b'28102-6B8-R700\x00\x00', - ], - (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ - b'46114-TVA-A060\x00\x00', - b'46114-TVA-A080\x00\x00', - b'46114-TVA-A120\x00\x00', - b'46114-TVA-A320\x00\x00', - b'46114-TVA-A050\x00\x00', - b'46114-TVE-H550\x00\x00', - b'46114-TVE-H560\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TVA-B040\x00\x00', - b'57114-TVA-B050\x00\x00', - b'57114-TVA-B060\x00\x00', - b'57114-TVA-B530\x00\x00', - b'57114-TVA-C040\x00\x00', - b'57114-TVA-C050\x00\x00', - b'57114-TVA-C060\x00\x00', - b'57114-TVA-C530\x00\x00', - b'57114-TVA-E520\x00\x00', - b'57114-TVE-H250\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TBX-H120\x00\x00', - b'39990-TVA-A140\x00\x00', - b'39990-TVA-A150\x00\x00', - b'39990-TVA-A160\x00\x00', - b'39990-TVA-A340\x00\x00', - b'39990-TVA-X030\x00\x00', - b'39990-TVA-X040\x00\x00', - b'39990-TVA,A150\x00\x00', # modified firmware - b'39990-TVE-H130\x00\x00', - ], - (Ecu.unknown, 0x18da3af1, None): [ - b'39390-TVA-A020\x00\x00', - b'39390-TVA-A120\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TBX-H230\x00\x00', - b'77959-TVA-A460\x00\x00', - b'77959-TVA-F330\x00\x00', - b'77959-TVA-H230\x00\x00', - b'77959-TVA-L420\x00\x00', - b'77959-TVA-X330\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TBX-H310\x00\x00', - b'78109-TVA-A010\x00\x00', - b'78109-TVA-A020\x00\x00', - b'78109-TVA-A030\x00\x00', - b'78109-TVA-A110\x00\x00', - b'78109-TVA-A120\x00\x00', - b'78109-TVA-A130\x00\x00', - b'78109-TVA-A210\x00\x00', - b'78109-TVA-A220\x00\x00', - b'78109-TVA-A230\x00\x00', - b'78109-TVA-A310\x00\x00', - b'78109-TVA-C010\x00\x00', - b'78109-TVA-L010\x00\x00', - b'78109-TVA-L210\x00\x00', - b'78109-TVA-R310\x00\x00', - b'78109-TVC-A010\x00\x00', - b'78109-TVC-A020\x00\x00', - b'78109-TVC-A030\x00\x00', - b'78109-TVC-A110\x00\x00', - b'78109-TVC-A130\x00\x00', - b'78109-TVC-A210\x00\x00', - b'78109-TVC-A220\x00\x00', - b'78109-TVC-A230\x00\x00', - b'78109-TVC-C010\x00\x00', - b'78109-TVC-C110\x00\x00', - b'78109-TVC-L010\x00\x00', - b'78109-TVC-L210\x00\x00', - b'78109-TVC-M510\x00\x00', - b'78109-TVC-YF10\x00\x00', - b'78109-TVE-H610\x00\x00', - b'78109-TWA-A210\x00\x00', - ], - (Ecu.hud, 0x18da61f1, None): [ - b'78209-TVA-A010\x00\x00', - b'78209-TVA-A110\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TBX-H140\x00\x00', - b'36802-TVA-A150\x00\x00', - b'36802-TVA-A160\x00\x00', - b'36802-TVA-A170\x00\x00', - b'36802-TVA-A330\x00\x00', - b'36802-TVC-A330\x00\x00', - b'36802-TVE-H070\x00\x00', - b'36802-TWA-A070\x00\x00', - b'36802-TWA-A080\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TBX-H130\x00\x00', - b'36161-TVA-A060\x00\x00', - b'36161-TVA-A330\x00\x00', - b'36161-TVC-A330\x00\x00', - b'36161-TVE-H050\x00\x00', - b'36161-TWA-A070\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TVA-A010\x00\x00', - b'38897-TVA-A020\x00\x00', - b'38897-TVA-A230\x00\x00', - b'38897-TVA-A240\x00\x00', - ], - }, - CAR.ACCORDH: { - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TWA-A120\x00\x00', - b'38897-TWD-J020\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TWA-A040\x00\x00', - b'57114-TWA-A050\x00\x00', - b'57114-TWA-A530\x00\x00', - b'57114-TWA-B520\x00\x00', - b'57114-TWB-H030\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TWA-A440\x00\x00', - b'77959-TWA-L420\x00\x00', - b'77959-TWB-H220\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TWA-A010\x00\x00', - b'78109-TWA-A020\x00\x00', - b'78109-TWA-A030\x00\x00', - b'78109-TWA-A110\x00\x00', - b'78109-TWA-A120\x00\x00', - b'78109-TWA-A130\x00\x00', - b'78109-TWA-A210\x00\x00', - b'78109-TWA-A220\x00\x00', - b'78109-TWA-A230\x00\x00', - b'78109-TWA-L010\x00\x00', - b'78109-TWA-L210\x00\x00', - b'78109-TWA-H210\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TWA-A910\x00\x00', - ], - (Ecu.hud, 0x18da61f1, None): [ - b'78209-TVA-A010\x00\x00', - b'78209-TVA-A110\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TWA-A070\x00\x00', - b'36161-TWA-A330\x00\x00', - b'36161-TWB-H040\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TWA-A070\x00\x00', - b'36802-TWA-A080\x00\x00', - b'36802-TWA-A330\x00\x00', - b'36802-TWB-H060\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TVA-A160\x00\x00', - b'39990-TVA-A150\x00\x00', - b'39990-TVA-A340\x00\x00', - b'39990-TWB-H120\x00\x00', - ], - }, - CAR.CIVIC: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5AA-A640\x00\x00', - b'37805-5AA-A650\x00\x00', - b'37805-5AA-A670\x00\x00', - b'37805-5AA-A680\x00\x00', - b'37805-5AA-A810\x00\x00', - b'37805-5AA-C640\x00\x00', - b'37805-5AA-C680\x00\x00', - b'37805-5AA-C820\x00\x00', - b'37805-5AA-L650\x00\x00', - b'37805-5AA-L660\x00\x00', - b'37805-5AA-L680\x00\x00', - b'37805-5AA-L690\x00\x00', - b'37805-5AA-L810\000\000', - b'37805-5AG-Q710\x00\x00', - b'37805-5AJ-A610\x00\x00', - b'37805-5AJ-A620\x00\x00', - b'37805-5AJ-L610\x00\x00', - b'37805-5BA-A310\x00\x00', - b'37805-5BA-A510\x00\x00', - b'37805-5BA-A740\x00\x00', - b'37805-5BA-A760\x00\x00', - b'37805-5BA-A930\x00\x00', - b'37805-5BA-A960\x00\x00', - b'37805-5BA-C860\x00\x00', - b'37805-5BA-L410\x00\x00', - b'37805-5BA-L760\x00\x00', - b'37805-5BA-L930\x00\x00', - b'37805-5BA-L940\x00\x00', - b'37805-5BA-L960\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5CG-A040\x00\x00', - b'28101-5CG-A050\x00\x00', - b'28101-5CG-A070\x00\x00', - b'28101-5CG-A080\x00\x00', - b'28101-5CG-A320\x00\x00', - b'28101-5CG-A810\x00\x00', - b'28101-5CG-A820\x00\x00', - b'28101-5DJ-A040\x00\x00', - b'28101-5DJ-A060\x00\x00', - b'28101-5DJ-A510\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TBA-A540\x00\x00', - b'57114-TBA-A550\x00\x00', - b'57114-TBA-A560\x00\x00', - b'57114-TBA-A570\x00\x00', - b'57114-TEA-Q220\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TBA,A030\x00\x00', # modified firmware - b'39990-TBA-A030\x00\x00', - b'39990-TBG-A030\x00\x00', - b'39990-TEA-T020\x00\x00', - b'39990-TEG-A010\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TBA-A030\x00\x00', - b'77959-TBA-A040\x00\x00', - b'77959-TBG-A030\x00\x00', - b'77959-TEA-Q820\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TBA-A510\x00\x00', - b'78109-TBA-A520\x00\x00', - b'78109-TBA-A530\x00\x00', - b'78109-TBA-C520\x00\x00', - b'78109-TBC-A310\x00\x00', - b'78109-TBC-A320\x00\x00', - b'78109-TBC-A510\x00\x00', - b'78109-TBC-A520\x00\x00', - b'78109-TBC-A530\x00\x00', - b'78109-TBC-C510\x00\x00', - b'78109-TBC-C520\x00\x00', - b'78109-TBC-C530\x00\x00', - b'78109-TBH-A510\x00\x00', - b'78109-TBH-A530\x00\x00', - b'78109-TED-Q510\x00\x00', - b'78109-TEG-A310\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-TBA-A020\x00\x00', - b'36161-TBA-A030\x00\x00', - b'36161-TBA-A040\x00\x00', - b'36161-TBC-A020\x00\x00', - b'36161-TBC-A030\x00\x00', - b'36161-TED-Q320\x00\x00', - b'36161-TEG-A010\x00\x00', - b'36161-TEG-A020\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TBA-A010\x00\x00', - b'38897-TBA-A020\x00\x00', - ], - }, - CAR.CIVIC_BOSCH: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5AA-A940\x00\x00', - b'37805-5AA-A950\x00\x00', - b'37805-5AA-C950\x00\x00', - b'37805-5AA-L940\x00\x00', - b'37805-5AA-L950\x00\x00', - b'37805-5AG-Z910\x00\x00', - b'37805-5AJ-A750\x00\x00', - b'37805-5AJ-L750\x00\x00', - b'37805-5AK-T530\x00\x00', - b'37805-5AN-A750\x00\x00', - b'37805-5AN-A830\x00\x00', - b'37805-5AN-A840\x00\x00', - b'37805-5AN-A930\x00\x00', - b'37805-5AN-A940\x00\x00', - b'37805-5AN-A950\x00\x00', - b'37805-5AN-AG20\x00\x00', - b'37805-5AN-AH20\x00\x00', - b'37805-5AN-AJ30\x00\x00', - b'37805-5AN-AK10\x00\x00', - b'37805-5AN-AK20\x00\x00', - b'37805-5AN-AR10\x00\x00', - b'37805-5AN-AR20\x00\x00', - b'37805-5AN-CH20\x00\x00', - b'37805-5AN-E630\x00\x00', - b'37805-5AN-E720\x00\x00', - b'37805-5AN-E820\x00\x00', - b'37805-5AN-J820\x00\x00', - b'37805-5AN-L840\x00\x00', - b'37805-5AN-L930\x00\x00', - b'37805-5AN-L940\x00\x00', - b'37805-5AN-LF20\x00\x00', - b'37805-5AN-LH20\x00\x00', - b'37805-5AN-LJ20\x00\x00', - b'37805-5AN-LR20\x00\x00', - b'37805-5AN-LS20\x00\x00', - b'37805-5AW-G720\x00\x00', - b'37805-5AZ-E850\x00\x00', - b'37805-5AZ-G540\x00\x00', - b'37805-5AZ-G740\x00\x00', - b'37805-5AZ-G840\x00\x00', - b'37805-5BB-A530\x00\x00', - b'37805-5BB-A540\x00\x00', - b'37805-5BB-A630\x00\x00', - b'37805-5BB-A640\x00\x00', - b'37805-5BB-C540\x00\x00', - b'37805-5BB-C630\x00\x00', - b'37805-5BB-C640\x00\x00', - b'37805-5BB-L540\x00\x00', - b'37805-5BB-L630\x00\x00', - b'37805-5BB-L640\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5CG-A920\x00\x00', - b'28101-5CG-AB10\x00\x00', - b'28101-5CG-C110\x00\x00', - b'28101-5CG-C220\x00\x00', - b'28101-5CG-C320\x00\x00', - b'28101-5CG-G020\x00\x00', - b'28101-5CG-L020\x00\x00', - b'28101-5CK-A130\x00\x00', - b'28101-5CK-A140\x00\x00', - b'28101-5CK-A150\x00\x00', - b'28101-5CK-C130\x00\x00', - b'28101-5CK-C140\x00\x00', - b'28101-5CK-C150\x00\x00', - b'28101-5CK-G210\x00\x00', - b'28101-5CK-J710\x00\x00', - b'28101-5CK-Q610\x00\x00', - b'28101-5DJ-A610\x00\x00', - b'28101-5DJ-A710\x00\x00', - b'28101-5DV-E330\x00\x00', - b'28101-5DV-E610\x00\x00', - b'28101-5DV-E820\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TBG-A330\x00\x00', - b'57114-TBG-A340\x00\x00', - b'57114-TBG-A350\x00\x00', - b'57114-TGG-A340\x00\x00', - b'57114-TGG-C320\x00\x00', - b'57114-TGG-G320\x00\x00', - b'57114-TGG-L320\x00\x00', - b'57114-TGG-L330\x00\x00', - b'57114-TGK-T320\x00\x00', - b'57114-TGL-G330\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TBA-C020\x00\x00', - b'39990-TBA-C120\x00\x00', - b'39990-TEA-T820\x00\x00', - b'39990-TEZ-T020\x00\x00', - b'39990-TGG-A020\x00\x00', - b'39990-TGG-A120\x00\x00', - b'39990-TGG-J510\x00\x00', - b'39990-TGL-E130\x00\x00', - b'39990-TGN-E120\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TBA-A060\x00\x00', - b'77959-TBG-A050\x00\x00', - b'77959-TEA-G020\x00\x00', - b'77959-TGG-A020\x00\x00', - b'77959-TGG-A030\x00\x00', - b'77959-TGG-E010\x00\x00', - b'77959-TGG-G010\x00\x00', - b'77959-TGG-G110\x00\x00', - b'77959-TGG-J320\x00\x00', - b'77959-TGG-Z820\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TBA-A110\x00\x00', - b'78109-TBA-A910\x00\x00', - b'78109-TBA-C340\x00\x00', - b'78109-TBA-C910\x00\x00', - b'78109-TBC-A740\x00\x00', - b'78109-TBC-C540\x00\x00', - b'78109-TBG-A110\x00\x00', - b'78109-TBH-A710\x00\x00', - b'78109-TEG-A720\x00\x00', - b'78109-TFJ-G020\x00\x00', - b'78109-TGG-9020\x00\x00', - b'78109-TGG-A210\x00\x00', - b'78109-TGG-A220\x00\x00', - b'78109-TGG-A310\x00\x00', - b'78109-TGG-A320\x00\x00', - b'78109-TGG-A330\x00\x00', - b'78109-TGG-A610\x00\x00', - b'78109-TGG-A620\x00\x00', - b'78109-TGG-A810\x00\x00', - b'78109-TGG-A820\x00\x00', - b'78109-TGG-C220\x00\x00', - b'78109-TGG-E110\x00\x00', - b'78109-TGG-G030\x00\x00', - b'78109-TGG-G230\x00\x00', - b'78109-TGG-G410\x00\x00', - b'78109-TGK-Z410\x00\x00', - b'78109-TGL-G120\x00\x00', - b'78109-TGL-G130\x00\x00', - b'78109-TGL-G210\x00\x00', - b'78109-TGL-G230\x00\x00', - b'78109-TGL-GM10\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TBA-A150\x00\x00', - b'36802-TBA-A160\x00\x00', - b'36802-TFJ-G060\x00\x00', - b'36802-TGG-A050\x00\x00', - b'36802-TGG-A060\x00\x00', - b'36802-TGG-A130\x00\x00', - b'36802-TGG-G040\x00\x00', - b'36802-TGG-G130\x00\x00', - b'36802-TGK-Q120\x00\x00', - b'36802-TGL-G040\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TBA-A130\x00\x00', - b'36161-TBA-A140\x00\x00', - b'36161-TFJ-G070\x00\x00', - b'36161-TGG-A060\x00\x00', - b'36161-TGG-A080\x00\x00', - b'36161-TGG-A120\x00\x00', - b'36161-TGG-G050\x00\x00', - b'36161-TGG-G130\x00\x00', - b'36161-TGG-G140\x00\x00', - b'36161-TGK-Q120\x00\x00', - b'36161-TGL-G050\x00\x00', - b'36161-TGL-G070\x00\x00', - b'36161-TGG-G070\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TBA-A110\x00\x00', - b'38897-TBA-A020\x00\x00', - ], - (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ - b'39494-TGL-G030\x00\x00', - ], - }, - CAR.CIVIC_BOSCH_DIESEL: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-59N-G630\x00\x00', - b'37805-59N-G830\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-59Y-G220\x00\x00', - b'28101-59Y-G620\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TGN-E320\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TFK-G020\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TFK-G210\x00\x00', - b'77959-TGN-G220\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TFK-G020\x00\x00', - b'78109-TGN-G120\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TFK-G130\x00\x00', - b'36802-TGN-G130\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TGN-E010\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TFK-G130\x00\x00', - b'36161-TGN-G130\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TBA-A020\x00\x00', - ], - }, - CAR.CRV: { - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-T1W-A230\x00\x00', - b'57114-T1W-A240\x00\x00', - b'57114-TFF-A940\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-T0A-A230\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T1W-A210\x00\x00', - b'78109-T1W-C210\x00\x00', - b'78109-T1X-A210\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T1W-A830\x00\x00', - b'36161-T1W-C830\x00\x00', - b'36161-T1X-A830\x00\x00', - ], - }, - CAR.CRV_5G: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5PA-AH20\x00\x00', - b'37805-5PA-3060\x00\x00', - b'37805-5PA-3080\x00\x00', - b'37805-5PA-3180\x00\x00', - b'37805-5PA-4050\x00\x00', - b'37805-5PA-4150\x00\x00', - b'37805-5PA-6520\x00\x00', - b'37805-5PA-6530\x00\x00', - b'37805-5PA-6630\x00\x00', - b'37805-5PA-6640\x00\x00', - b'37805-5PA-7630\x00\x00', - b'37805-5PA-9630\x00\x00', - b'37805-5PA-9640\x00\x00', - b'37805-5PA-9730\x00\x00', - b'37805-5PA-9830\x00\x00', - b'37805-5PA-9840\x00\x00', - b'37805-5PA-A650\x00\x00', - b'37805-5PA-A670\x00\x00', - b'37805-5PA-A680\x00\x00', - b'37805-5PA-A850\x00\x00', - b'37805-5PA-A870\x00\x00', - b'37805-5PA-A880\x00\x00', - b'37805-5PA-A890\x00\x00', - b'37805-5PA-AB10\x00\x00', - b'37805-5PA-AD10\x00\x00', - b'37805-5PA-AF20\x00\x00', - b'37805-5PA-C680\x00\x00', - b'37805-5PD-Q630\x00\x00', - b'37805-5PF-F730\x00\x00', - b'37805-5PF-M630\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5RG-A020\x00\x00', - b'28101-5RG-A030\x00\x00', - b'28101-5RG-A040\x00\x00', - b'28101-5RG-A120\x00\x00', - b'28101-5RG-A220\x00\x00', - b'28101-5RH-A020\x00\x00', - b'28101-5RH-A030\x00\x00', - b'28101-5RH-A040\x00\x00', - b'28101-5RH-A120\x00\x00', - b'28101-5RH-A220\x00\x00', - b'28101-5RL-Q010\x00\x00', - b'28101-5RM-F010\x00\x00', - b'28101-5RM-K010\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TLA-A040\x00\x00', - b'57114-TLA-A050\x00\x00', - b'57114-TLA-A060\x00\x00', - b'57114-TLB-A830\x00\x00', - b'57114-TMC-Z040\x00\x00', - b'57114-TMC-Z050\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TLA-A040\x00\x00', - b'39990-TLA-A110\x00\x00', - b'39990-TLA-A220\x00\x00', - b'39990-TLA,A040\x00\x00', # modified firmware - b'39990-TME-T030\x00\x00', - b'39990-TME-T120\x00\x00', - b'39990-TMT-T010\x00\x00', - ], - (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ - b'46114-TLA-A040\x00\x00', - b'46114-TLA-A050\x00\x00', - b'46114-TLA-A930\x00\x00', - b'46114-TMC-U020\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TLA-A110\x00\x00', - b'78109-TLA-A120\x00\x00', - b'78109-TLA-A210\x00\x00', - b'78109-TLA-A220\x00\x00', - b'78109-TLA-C020\x00\x00', - b'78109-TLA-C110\x00\x00', - b'78109-TLA-C210\x00\x00', - b'78109-TLA-C310\x00\x00', - b'78109-TLB-A020\x00\x00', - b'78109-TLB-A110\x00\x00', - b'78109-TLB-A120\x00\x00', - b'78109-TLB-A210\x00\x00', - b'78109-TLB-A220\x00\x00', - b'78109-TMC-Q210\x00\x00', - b'78109-TMM-F210\x00\x00', - b'78109-TMM-M110\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TLA-A010\x00\x00', - b'38897-TLA-A110\x00\x00', - b'38897-TNY-G010\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TLA-A040\x00\x00', - b'36802-TLA-A050\x00\x00', - b'36802-TLA-A060\x00\x00', - b'36802-TMC-Q040\x00\x00', - b'36802-TMC-Q070\x00\x00', - b'36802-TNY-A030\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TLA-A060\x00\x00', - b'36161-TLA-A070\x00\x00', - b'36161-TLA-A080\x00\x00', - b'36161-TMC-Q020\x00\x00', - b'36161-TMC-Q030\x00\x00', - b'36161-TMC-Q040\x00\x00', - b'36161-TNY-A020\x00\x00', - b'36161-TNY-A030\x00\x00', - b'36161-TNY-A040\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TLA-A240\x00\x00', - b'77959-TLA-A250\x00\x00', - b'77959-TLA-A320\x00\x00', - b'77959-TLA-A410\x00\x00', - b'77959-TLA-A420\x00\x00', - b'77959-TLA-Q040\x00\x00', - b'77959-TLA-Z040\x00\x00', - b'77959-TMM-F040\x00\x00', - ], - }, - CAR.CRV_EU: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-R5Z-G740\x00\x00', - b'37805-R5Z-G780\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [b'57114-T1V-G920\x00\x00'], - (Ecu.fwdRadar, 0x18dab0f1, None): [b'36161-T1V-G520\x00\x00'], - (Ecu.shiftByWire, 0x18da0bf1, None): [b'54008-T1V-G010\x00\x00'], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5LH-E120\x00\x00', - b'28103-5LH-E100\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T1V-G020\x00\x00', - b'78109-T1B-3050\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [b'77959-T1G-G940\x00\x00'], - }, - CAR.CRV_HYBRID: { - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TPA-G020\x00\x00', - b'57114-TPG-A020\x00\x00', - b'57114-TMB-H030\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TPA-G030\x00\x00', - b'39990-TPG-A020\x00\x00', - b'39990-TMA-H020\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TMA-H110\x00\x00', - b'38897-TPG-A110\x00\x00', - b'38897-TPG-A210\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TMB-H510\x00\x00', - b'54008-TMB-H610\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TMB-H040\x00\x00', - b'36161-TPA-E050\x00\x00', - b'36161-TPG-A030\x00\x00', - b'36161-TPG-A040\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TMB-H220\x00\x00', - b'78109-TPA-G520\x00\x00', - b'78109-TPG-A110\x00\x00', - b'78109-TPG-A210\x00\x00', - ], - (Ecu.hud, 0x18da61f1, None): [ - b'78209-TLA-X010\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TPA-E040\x00\x00', - b'36802-TPG-A020\x00\x00', - b'36802-TMB-H040\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TLA-C320\x00\x00', - b'77959-TLA-C410\x00\x00', - b'77959-TLA-C420\x00\x00', - b'77959-TLA-G220\x00\x00', - b'77959-TLA-H240\x00\x00', - ], - }, - CAR.FIT: { - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-T5R-L020\x00\x00', - b'57114-T5R-L220\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-T5R-C020\x00\x00', - b'39990-T5R-C030\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-T5A-J010\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T5A-A210\x00\x00', - b'78109-T5A-A410\x00\x00', - b'78109-T5A-A420\x00\x00', - b'78109-T5A-A910\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T5R-A040\x00\x00', - b'36161-T5R-A240\x00\x00', - b'36161-T5R-A520\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-T5R-A230\x00\x00', - ], - }, - CAR.FREED: { - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TDK-J010\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TDK-J050\x00\x00', - b'39990-TDK-N020\x00\x00', - ], - # TODO: vsa is "essential" for fpv2 but doesn't appear on some models - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TDK-J120\x00\x00', - b'57114-TDK-J330\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TDK-J310\x00\x00', - b'78109-TDK-J320\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-TDK-J070\x00\x00', - b'36161-TDK-J080\x00\x00', - b'36161-TDK-J530\x00\x00', - ], - }, - CAR.ODYSSEY: { - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-THR-A010\x00\x00', - b'38897-THR-A020\x00\x00', - ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5MR-4080\x00\x00', - b'37805-5MR-A240\x00\x00', - b'37805-5MR-A250\x00\x00', - b'37805-5MR-A310\x00\x00', - b'37805-5MR-A740\x00\x00', - b'37805-5MR-A750\x00\x00', - b'37805-5MR-A840\x00\x00', - b'37805-5MR-C620\x00\x00', - b'37805-5MR-D530\x00\x00', - b'37805-5MR-K730\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-THR-A020\x00\x00', - b'39990-THR-A030\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-THR-A010\x00\x00', - b'77959-THR-A110\x00\x00', - b'77959-THR-X010\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-THR-A020\x00\x00', - b'36161-THR-A030\x00\x00', - b'36161-THR-A110\x00\x00', - b'36161-THR-A720\x00\x00', - b'36161-THR-A730\x00\x00', - b'36161-THR-A810\x00\x00', - b'36161-THR-A910\x00\x00', - b'36161-THR-C010\x00\x00', - b'36161-THR-D110\x00\x00', - b'36161-THR-K020\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5NZ-A110\x00\x00', - b'28101-5NZ-A310\x00\x00', - b'28101-5NZ-C310\x00\x00', - b'28102-5MX-A001\x00\x00', - b'28102-5MX-A600\x00\x00', - b'28102-5MX-A610\x00\x00', - b'28102-5MX-A710\x00\x00', - b'28102-5MX-A900\x00\x00', - b'28102-5MX-A910\x00\x00', - b'28102-5MX-C001\x00\x00', - b'28102-5MX-D001\x00\x00', - b'28102-5MX-D710\x00\x00', - b'28102-5MX-K610\x00\x00', - b'28103-5NZ-A100\x00\x00', - b'28103-5NZ-A300\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-THR-A040\x00\x00', - b'57114-THR-A110\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-THR-A220\x00\x00', - b'78109-THR-A230\x00\x00', - b'78109-THR-A420\x00\x00', - b'78109-THR-A430\x00\x00', - b'78109-THR-A720\x00\x00', - b'78109-THR-A820\x00\x00', - b'78109-THR-A830\x00\x00', - b'78109-THR-AB20\x00\x00', - b'78109-THR-AB30\x00\x00', - b'78109-THR-AB40\x00\x00', - b'78109-THR-AC20\x00\x00', - b'78109-THR-AC30\x00\x00', - b'78109-THR-AC40\x00\x00', - b'78109-THR-AC50\x00\x00', - b'78109-THR-AD30\x00\x00', - b'78109-THR-AE20\x00\x00', - b'78109-THR-AE30\x00\x00', - b'78109-THR-AE40\x00\x00', - b'78109-THR-AK10\x00\x00', - b'78109-THR-AL10\x00\x00', - b'78109-THR-AN10\x00\x00', - b'78109-THR-C220\x00\x00', - b'78109-THR-C330\x00\x00', - b'78109-THR-CE20\x00\x00', - b'78109-THR-DA20\x00\x00', - b'78109-THR-DA30\x00\x00', - b'78109-THR-DA40\x00\x00', - b'78109-THR-K120\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-THR-A020\x00\x00', - ], - }, - CAR.ODYSSEY_CHN: { - (Ecu.eps, 0x18da30f1, None): [ - b'39990-T6D-H220\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-T6A-J010\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T6A-F310\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T6A-P040\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-T6A-P110\x00\x00', - ], - }, - CAR.PILOT: { - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TG7-A520\x00\x00', - b'54008-TG7-A530\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5EY-A050\x00\x00', - b'28101-5EY-A100\x00\x00', - b'28101-5EZ-A050\x00\x00', - b'28101-5EZ-A060\x00\x00', - b'28101-5EZ-A100\x00\x00', - b'28101-5EZ-A210\x00\x00', - b'28101-5EZ-A600\x00\x00', - b'28101-5EZ-A430\x00\x00', - b'28101-5EZ-A700\x00\x00', - ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-RLV-4060\x00\x00', - b'37805-RLV-4070\x00\x00', - b'37805-RLV-A830\x00\x00', - b'37805-RLV-A840\x00\x00', - b'37805-RLV-C430\x00\x00', - b'37805-RLV-C510\x00\x00', - b'37805-RLV-C520\x00\x00', - b'37805-RLV-C530\x00\x00', - b'37805-RLV-C910\x00\x00', - b'37805-RLV-B220\x00\x00', - b'37805-RLV-B210\x00\x00', - b'37805-RLV-L160\x00\x00', - b'37805-RLV-B420\x00\x00', - b'37805-RLV-F120\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TG7-A030\x00\x00', - b'38897-TG7-A040\x00\x00', - b'38897-TG7-A110\x00\x00', - b'38897-TG7-A210\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TG7-A030\x00\x00', - b'39990-TG7-A040\x00\x00', - b'39990-TG7-A060\x00\x00', - b'39990-TG7-A070\x00\x00', - b'39990-TGS-A230\x00\x00', - b'39990-TGS-A320\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-TG7-A310\x00\x00', - b'36161-TG7-A520\x00\x00', - b'36161-TG7-A630\x00\x00', - b'36161-TG7-A720\x00\x00', - b'36161-TG7-A820\x00\x00', - b'36161-TG7-A930\x00\x00', - b'36161-TG7-C520\x00\x00', - b'36161-TG7-D520\x00\x00', - b'36161-TG7-D630\x00\x00', - b'36161-TG7-Y630\x00\x00', - b'36161-TG8-A520\x00\x00', - b'36161-TG8-A630\x00\x00', - b'36161-TG8-A720\x00\x00', - b'36161-TG8-A830\x00\x00', - b'36161-TGS-A130\x00\x00', - b'36161-TGT-A030\x00\x00', - b'36161-TGT-A130\x00\x00', - b'36161-TGS-A030\x00\x00', - b'36161-TGS-A220\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TG7-A020\x00\x00', - b'77959-TG7-A110\x00\x00', - b'77959-TG7-A210\x00\x00', - b'77959-TG7-Y210\x00\x00', - b'77959-TGS-A010\x00\x00', - b'77959-TGS-A110\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TG7-A040\x00\x00', - b'78109-TG7-A050\x00\x00', - b'78109-TG7-A420\x00\x00', - b'78109-TG7-A520\x00\x00', - b'78109-TG7-A720\x00\x00', - b'78109-TG7-AJ10\x00\x00', - b'78109-TG7-AJ20\x00\x00', - b'78109-TG7-AK10\x00\x00', - b'78109-TG7-AK20\x00\x00', - b'78109-TG7-AM20\x00\x00', - b'78109-TG7-AP10\x00\x00', - b'78109-TG7-AP20\x00\x00', - b'78109-TG7-AS20\x00\x00', - b'78109-TG7-AT20\x00\x00', - b'78109-TG7-AU20\x00\x00', - b'78109-TG7-AX20\x00\x00', - b'78109-TG7-D020\x00\x00', - b'78109-TG7-DJ10\x00\x00', - b'78109-TG7-YK20\x00\x00', - b'78109-TG8-A420\x00\x00', - b'78109-TG8-A520\x00\x00', - b'78109-TG8-AJ10\x00\x00', - b'78109-TG8-AJ20\x00\x00', - b'78109-TG8-AK20\x00\x00', - b'78109-TGS-AK20\x00\x00', - b'78109-TGS-AP20\x00\x00', - b'78109-TGT-AJ20\x00\x00', - b'78109-TGT-AK30\x00\x00', - b'78109-TGS-AT20\x00\x00', - b'78109-TGS-AX20\x00\x00', - b'78109-TGS-AJ20\x00\x00', - b'78109-TGS-AC10\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TG7-A130\x00\x00', - b'57114-TG7-A140\x00\x00', - b'57114-TG7-A230\x00\x00', - b'57114-TG7-A240\x00\x00', - b'57114-TG7-A630\x00\x00', - b'57114-TG7-A730\x00\x00', - b'57114-TG8-A140\x00\x00', - b'57114-TG8-A240\x00\x00', - b'57114-TG8-A630\x00\x00', - b'57114-TG8-A730\x00\x00', - b'57114-TGS-A530\x00\x00', - b'57114-TGT-A530\x00\x00', - ], - }, - CAR.ACURA_RDX: { - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TX5-A220\x00\x00', - b'57114-TX4-A220\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-TX5-A030\x00\x00', - b'36161-TX4-A030\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TX4-C010\x00\x00', - b'77959-TX4-B010\x00\x00', - b'77959-TX4-C020\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TX5-A310\x00\x00', - b'78109-TX4-A210\x00\x00', - b'78109-TX4-A310\x00\x00', - ], - }, - CAR.ACURA_RDX_3G: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5YF-A130\x00\x00', - b'37805-5YF-A230\x00\x00', - b'37805-5YF-A320\x00\x00', - b'37805-5YF-A330\x00\x00', - b'37805-5YF-A420\x00\x00', - b'37805-5YF-A430\x00\x00', - b'37805-5YF-A750\x00\x00', - b'37805-5YF-A850\x00\x00', - b'37805-5YF-A870\x00\x00', - b'37805-5YF-AD20\x00\x00', - b'37805-5YF-C210\x00\x00', - b'37805-5YF-C220\x00\x00', - b'37805-5YF-C410\000\000', - b'37805-5YF-C420\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TJB-A030\x00\x00', - b'57114-TJB-A040\x00\x00', - b'57114-TJB-A120\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TJB-A040\x00\x00', - b'36802-TJB-A050\x00\x00', - b'36802-TJB-A540\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TJB-A040\x00\x00', - b'36161-TJB-A530\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TJB-A520\x00\x00', - b'54008-TJB-A530\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28102-5YK-A610\x00\x00', - b'28102-5YK-A620\x00\x00', - b'28102-5YK-A630\x00\x00', - b'28102-5YK-A700\x00\x00', - b'28102-5YK-A711\x00\x00', - b'28102-5YK-A800\x00\x00', - b'28102-5YL-A620\x00\x00', - b'28102-5YL-A700\x00\x00', - b'28102-5YL-A711\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TJB-A140\x00\x00', - b'78109-TJB-A240\x00\x00', - b'78109-TJB-A420\x00\x00', - b'78109-TJB-AB10\x00\x00', - b'78109-TJB-AD10\x00\x00', - b'78109-TJB-AF10\x00\x00', - b'78109-TJB-AQ20\x00\x00', - b'78109-TJB-AR10\x00\x00', - b'78109-TJB-AS10\000\000', - b'78109-TJB-AU10\x00\x00', - b'78109-TJB-AW10\x00\x00', - b'78109-TJC-A420\x00\x00', - b'78109-TJC-AA10\x00\x00', - b'78109-TJC-AD10\x00\x00', - b'78109-TJC-AF10\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TJB-A040\x00\x00', - b'77959-TJB-A120\x00\x00', - b'77959-TJB-A210\x00\x00', - ], - (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ - b'46114-TJB-A040\x00\x00', - b'46114-TJB-A050\x00\x00', - b'46114-TJB-A060\x00\x00', - b'46114-TJB-A120\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TJB-A040\x00\x00', - b'38897-TJB-A110\x00\x00', - b'38897-TJB-A120\x00\x00', - b'38897-TJB-A220\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TJB-A030\x00\x00', - b'39990-TJB-A040\x00\x00', - b'39990-TJB-A070\x00\x00', - b'39990-TJB-A130\x00\x00', - ], - }, - CAR.RIDGELINE: { - (Ecu.eps, 0x18da30f1, None): [ - b'39990-T6Z-A020\x00\x00', - b'39990-T6Z-A030\x00\x00', - b'39990-T6Z-A050\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T6Z-A020\x00\x00', - b'36161-T6Z-A310\x00\x00', - b'36161-T6Z-A420\x00\x00', - b'36161-T6Z-A520\x00\x00', - b'36161-T6Z-A620\x00\x00', - b'36161-TJZ-A120\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-T6Z-A010\x00\x00', - b'38897-T6Z-A110\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T6Z-A420\x00\x00', - b'78109-T6Z-A510\x00\x00', - b'78109-T6Z-A710\x00\x00', - b'78109-T6Z-A810\x00\x00', - b'78109-T6Z-A910\x00\x00', - b'78109-T6Z-AA10\x00\x00', - b'78109-T6Z-C620\x00\x00', - b'78109-T6Z-C910\x00\x00', - b'78109-TJZ-A510\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-T6Z-A020\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-T6Z-A120\x00\x00', - b'57114-T6Z-A130\x00\x00', - b'57114-T6Z-A520\x00\x00', - b'57114-TJZ-A520\x00\x00', - ], - }, - CAR.INSIGHT: { - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TXM-A040\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TXM-A070\x00\x00', - b'36802-TXM-A080\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TXM-A050\x00\x00', - b'36161-TXM-A060\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TXM-A230\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TXM-A030\x00\x00', - b'57114-TXM-A040\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TWA-A910\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TXM-A020\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TXM-A010\x00\x00', - b'78109-TXM-A020\x00\x00', - b'78109-TXM-A110\x00\x00', - b'78109-TXM-C010\x00\x00', - b'78109-TXM-A030\x00\x00', - ], - }, - CAR.HRV: { - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-T7A-A010\x00\x00', - b'38897-T7A-A110\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-THX-A020\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T7A-A140\x00\x00', - b'36161-T7A-A240\x00\x00', - b'36161-T7A-C440\x00\x00', - b'36161-T7A-A040\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-T7A-A230\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-THX-A110\x00\x00', - b'78109-THX-A120\x00\x00', - b'78109-THX-A210\x00\x00', - b'78109-THX-A220\x00\x00', - b'78109-THX-C220\x00\x00', - b'78109-THW-A110\x00\x00', - ], - }, - CAR.HRV_3G: { - (Ecu.eps, 0x18DA30F1, None): [ - b'39990-3W0-A030\x00\x00', - ], - (Ecu.gateway, 0x18DAEFF1, None): [ - b'38897-3W1-A010\x00\x00', - ], - (Ecu.srs, 0x18DA53F1, None): [ - b'77959-3V0-A820\x00\x00', - ], - (Ecu.combinationMeter, 0x18DA60F1, None): [ - b'78108-3V1-A220\x00\x00', - ], - (Ecu.vsa, 0x18DA28F1, None): [ - b'57114-3W0-A040\x00\x00', - ], - (Ecu.transmission, 0x18DA1EF1, None): [ - b'28101-6EH-A010\x00\x00', - ], - (Ecu.programmedFuelInjection, 0x18DA10F1, None): [ - b'37805-6CT-A710\x00\x00', - ], - (Ecu.electricBrakeBooster, 0x18DA2BF1, None): [ - b'46114-3W0-A020\x00\x00', - ], - }, - CAR.ACURA_ILX: { - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TX6-A010\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-TV9-A140\x00\x00', - b'36161-TX6-A030\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TX6-A230\x00\x00', - b'77959-TX6-C210\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T3R-A120\x00\x00', - b'78109-T3R-A410\x00\x00', - b'78109-TV9-A510\x00\x00', - ], - }, - CAR.HONDA_E:{ - (Ecu.eps, 0x18DA30F1, None):[ - b'39990-TYF-N030\x00\x00' - ], - (Ecu.gateway, 0x18DAEFF1, None):[ - b'38897-TYF-E140\x00\x00' - ], - (Ecu.shiftByWire, 0x18DA0BF1, None):[ - b'54008-TYF-E010\x00\x00' - ], - (Ecu.srs, 0x18DA53F1, None):[ - b'77959-TYF-G430\x00\x00' - ], - (Ecu.combinationMeter, 0x18DA60F1, None):[ - b'78108-TYF-G610\x00\x00' - ], - (Ecu.fwdRadar, 0x18DAB0F1, None):[ - b'36802-TYF-E030\x00\x00' - ], - (Ecu.fwdCamera, 0x18DAB5F1, None):[ - b'36161-TYF-E020\x00\x00' - ], - (Ecu.vsa, 0x18DA28F1, None):[ - b'57114-TYF-E030\x00\x00' - ], - }, - CAR.CIVIC_2022: { - (Ecu.eps, 0x18DA30F1, None): [ - b'39990-T39-A130\x00\x00', - b'39990-T43-J020\x00\x00', - b'39990-T24-T120\x00\x00', - ], - (Ecu.gateway, 0x18DAEFF1, None): [ - b'38897-T20-A020\x00\x00', - b'38897-T20-A510\x00\x00', - b'38897-T21-A010\x00\x00', - b'38897-T20-A210\x00\x00', - b'38897-T20-A310\x00\x00', - b'38897-T24-Z120\x00\x00', - ], - (Ecu.srs, 0x18DA53F1, None): [ - b'77959-T20-A970\x00\x00', - b'77959-T47-A940\x00\x00', - b'77959-T47-A950\x00\x00', - b'77959-T20-M820\x00\x00', - b'77959-T20-A980\x00\x00', - ], - (Ecu.combinationMeter, 0x18DA60F1, None): [ - b'78108-T21-A220\x00\x00', - b'78108-T21-A620\x00\x00', - b'78108-T23-A110\x00\x00', - b'78108-T21-A230\x00\x00', - b'78108-T22-A020\x00\x00', - b'78108-T21-MB10\x00\x00', - b'78108-T21-A740\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T20-A070\x00\x00', - b'36161-T20-A080\x00\x00', - b'36161-T20-A060\x00\x00', - b'36161-T47-A070\x00\x00', - b'36161-T24-T070\x00\x00', - ], - (Ecu.vsa, 0x18DA28F1, None): [ - b'57114-T20-AB40\x00\x00', - b'57114-T43-JB30\x00\x00', - b'57114-T24-TB30\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-65D-A020\x00\x00', - b'28101-65D-A120\x00\x00', - b'28101-65H-A020\x00\x00', - b'28101-65H-A120\x00\x00', - b'28101-65J-N010\x00\x00', - ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-64L-A540\x00\x00', - b'37805-64S-A540\x00\x00', - b'37805-64S-A720\x00\x00', - b'37805-64A-A540\x00\x00', - b'37805-64A-A620\x00\x00', - b'37805-64D-P510\x00\x00', - b'37805-64S-AA10\x00\x00', - ], - }, -} DBC = { CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None), diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index b3e34fc1c..2b887544f 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -8,7 +8,7 @@ from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \ - CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams + CANFD_CAR, Buttons, CarControllerParams from openpilot.selfdrive.car.interfaces import CarStateBase PREV_BUTTON_SAMPLES = 8 @@ -36,8 +36,8 @@ class CarState(CarStateBase): else: # preferred and elect gear methods use same definition self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] - self.accelerator_msg_canfd = "ACCELERATOR" if CP.carFingerprint in EV_CAR else \ - "ACCELERATOR_ALT" if CP.carFingerprint in HYBRID_CAR else \ + self.accelerator_msg_canfd = "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \ + "ACCELERATOR_ALT" if CP.flags & HyundaiFlags.HYBRID else \ "ACCELERATOR_BRAKE_ALT" self.cruise_btns_msg_canfd = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \ "CRUISE_BUTTONS" @@ -121,8 +121,8 @@ class CarState(CarStateBase): ret.brakeLightsDEPRECATED = bool(cp.vl["TCS13"]["BrakeLight"]) ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED - if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR): - if self.CP.carFingerprint in HYBRID_CAR: + if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): + if self.CP.flags & HyundaiFlags.HYBRID: ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254. else: ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254. @@ -133,7 +133,7 @@ class CarState(CarStateBase): # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, # as this seems to be standard over all cars, but is not the preferred method. - if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR): + if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"] elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: gear = cp.vl["CLU15"]["CF_Clu_Gear"] @@ -148,8 +148,9 @@ class CarState(CarStateBase): aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12" aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct" aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0 + scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1 # sometimes only SCC system shows an FCW aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0 - ret.stockFcw = aeb_warning and not aeb_braking + ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking ret.stockAeb = aeb_warning and aeb_braking if self.CP.enableBsm: @@ -172,8 +173,8 @@ class CarState(CarStateBase): self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1 speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS - if self.CP.carFingerprint in (EV_CAR | HYBRID_CAR): - offset = 255. if self.CP.carFingerprint in EV_CAR else 1023. + if self.CP.flags & (HyundaiFlags.EV | HyundaiFlags.HYBRID): + offset = 255. if self.CP.flags & HyundaiFlags.EV else 1023. ret.gas = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] / offset ret.gasPressed = ret.gas > 1e-5 else: @@ -233,7 +234,7 @@ class CarState(CarStateBase): # It limits the vehicle speed, overridable by pressing the accelerator past a certain point. # The car will brake, but does not respect positive acceleration commands in this mode # TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists) - if self.CP.carFingerprint in EV_CAR: + if self.CP.flags & HyundaiFlags.EV: ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1 self.prev_cruise_buttons = self.cruise_buttons[-1] @@ -278,7 +279,7 @@ class CarState(CarStateBase): if CP.enableBsm: messages.append(("LCA11", 50)) - if CP.carFingerprint in (HYBRID_CAR | EV_CAR): + if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): messages.append(("E_EMS11", 50)) else: messages += [ @@ -286,7 +287,7 @@ class CarState(CarStateBase): ("EMS16", 100), ] - if CP.carFingerprint in (HYBRID_CAR | EV_CAR): + if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): messages.append(("ELECT_GEAR", 20)) elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: pass @@ -330,7 +331,7 @@ class CarState(CarStateBase): ("DOORS_SEATBELTS", 4), ] - if CP.carFingerprint in EV_CAR: + if CP.flags & HyundaiFlags.EV: messages += [ ("MANUAL_SPEED_LIMIT_ASSIST", 10), ] diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py new file mode 100644 index 000000000..b82895042 --- /dev/null +++ b/selfdrive/car/hyundai/fingerprints.py @@ -0,0 +1,1709 @@ +# ruff: noqa: E501 +from cereal import car +from openpilot.selfdrive.car.hyundai.values import CAR + +Ecu = car.CarParams.Ecu + +FINGERPRINTS = { + CAR.HYUNDAI_GENESIS: [{ + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 + }, + { + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 + }, + { + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1268: 8, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1437: 8, 1456: 4 + }, + { + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4 + }, + { + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4 + }], + CAR.SANTA_FE: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8 + }, + { + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8 + }, + { + 67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8 + }], + CAR.SONATA: [{ + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8 + }], + CAR.SONATA_LF: [{ + 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + }], + CAR.KIA_SORENTO: [{ + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1 + }], + CAR.KIA_STINGER: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8 + }], + CAR.GENESIS_G80: [{ + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8 + }, + { + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 546: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1437: 8, 1456: 4, 1470: 8 + }, + { + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1193: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4, 1470: 8 + }], + CAR.GENESIS_G90: [{ + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8 + }], + CAR.IONIQ_EV_2020: [{ + 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 + }], + CAR.IONIQ: [{ + 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 + }], + CAR.KONA_EV: [{ + 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8 + }], + CAR.KONA_EV_2022: [{ + 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8 + }], + CAR.KIA_NIRO_EV: [{ + 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8 + }], + CAR.KIA_OPTIMA_H: [{ + 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8 + }, + { + 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8 + }], + CAR.PALISADE: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8 + }], +} + +FW_VERSIONS = { + CAR.AZERA_6TH_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IG MDPS C 1.00 1.02 56310G8510\x00 4IGSC103', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IG MFC AT MES LHD 1.00 1.04 99211-G8100 200511', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.AZERA_HEV_6TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.00 99211-G8000 180903', + b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.02 99211-G8100 191029', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IG MDPS C 1.00 1.00 56310M9600\x00 4IHSC100', + b'\xf1\x00IG MDPS C 1.00 1.01 56310M9350\x00 4IH8C101', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IGhe SCC FHCUP 1.00 1.00 99110-M9100 ', + b'\xf1\x00IGhe SCC FHCUP 1.00 1.01 99110-M9000 ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006T7N0_C2\x00\x006T7Q2051\x00\x00TIG2H24KA2\x12@\x11\xb7', + b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H570051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.HYUNDAI_GENESIS: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DH LKAS 1.1 -150210', + b'\xf1\x00DH LKAS 1.4 -140110', + b'\xf1\x00DH LKAS 1.5 -140425', + ], + }, + CAR.IONIQ: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2301 4AEHC107', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F2051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3H1051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H1051\x00\x00HAE0G16US2\x00\x00\x00\x00', + ], + }, + CAR.IONIQ_PHEV_2019: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2501 4AEHC107', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2400 180222', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\x00\x00\x00\x00', + b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\xdbD\r\x81', + ], + }, + CAR.IONIQ_PHEV: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2200 ', + b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', + b'\xf1\x00AEhe SCC F-CUP 1.00 1.02 99110-G2100 ', + b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', + b'\xf1\x00AEhe SCC FHCUP 1.00 1.02 99110-G2100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2310 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2560 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEP MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEP MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2700 201027', + b'\xf1\x00AEP MFC AT USA LHD 1.00 1.01 95740-G2600 190819', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00', + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt', + b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x82zT\xd2', + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00', + ], + }, + CAR.IONIQ_EV_2020: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7200 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7500 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7310 4APEC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7560 4APEC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2600 190730', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2700 201027', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.03 95740-G2500 190516', + b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', + ], + }, + CAR.IONIQ_EV_LTD: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7000 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.02 56310G7300\x00 4AEEC102', + b'\xf1\x00AE MDPS C 1.00 1.03 56310/G7300 4AEEC103', + b'\xf1\x00AE MDPS C 1.00 1.03 56310G7300\x00 4AEEC103', + b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7301 4AEEC104', + b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7501 4AEEC104', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2300 170703', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G7200 160418', + b'\xf1\x00AEE MFC AT USA LHD 1.00 1.00 95740-G2400 180222', + ], + }, + CAR.IONIQ_HEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', + b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEH MFC AT USA LHD 1.00 1.00 95740-G2700 201027', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x96\xda\xd4\xee', + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00', + ], + }, + CAR.SONATA: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ', + b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', + b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ', + b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', + b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', + b'\xf1\x00DN8_ SCC FHCUP 1.00 1.02 99110-L1000 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300', + b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300', + b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', + b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', + b'\xf1\x00DN ESC \x06 107 \x07\x03 58910-L1300', + b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', + b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', + b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100', + b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300', + b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', + b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', + b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', + b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', + ], + (Ecu.engine, 0x7e0, None): [ + b'HM6M1_0a0_F00', + b'HM6M1_0a0_G20', + b'HM6M2_0a0_BD0', + b'\xf1\x81HM6M1_0a0_F00', + b'\xf1\x81HM6M1_0a0_G20', + b'\xf1\x82DNBVN5GMCCXXXDCA', + b'\xf1\x82DNBVN5GMCCXXXG2F', + b'\xf1\x82DNBWN5TMDCXXXG2E', + b'\xf1\x82DNCVN5GMCCXXXF0A', + b'\xf1\x82DNCVN5GMCCXXXG2B', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A', + b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00', + b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M10', + b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00', + b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B', + b'\xf1\x87391162M003', + b'\xf1\x87391162M010', + b'\xf1\x87391162M013', + b'\xf1\x87391162M023', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102', + b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', + b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101', + b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105', + b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', + b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101', + b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103', + b'\xf1\x8756310-L1030\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103', + b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', + b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', + b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101', + b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422', + b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.04 99211-L1000 191016', + b'\xf1\x00DN8 MFC AT RUS LHD 1.00 1.03 99211-L1000 190705', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.00 99211-L0000 190716', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.01 99211-L0000 191016', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.03 99211-L0000 210603', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.05 99211-L1000 201109', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.06 99211-L1000 210325', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.07 99211-L1000 211223', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00HT6TA260BLHT6TA810A1TDN8M25GS0\x00\x00\x00\x00\x00\x00\xaa\x8c\xd9p', + b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92', + b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:', + b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[', + b'\xf1\x00HT6WA280BLHT6WAE10A1SDN8G25NB5\x00\x00\x00\x00\x00\x00\xe0t\xa9\xba', + b'\xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', + b'\xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE', + b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSA\xb9\x13\xf9p', + b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSCF\xe4!Y', + b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16KB05\x95h%', + b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', + b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SAKFBA3356084GJ2\x86fvgUUuWgw\x86www\x87wffvf\xb6\xcf\xfc\xffeUO\xff\x12\x19\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SAKFBA3474944GJ2ffvgwwwwg\x88\x86x\x88\x88\x98\x88ffvfeo\xfa\xff\x86fo\xff\t\xae\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SAKFBA3475714GJ2Vfvgvg\x96yx\x88\x97\x88ww\x87ww\x88\x87xs_\xfb\xffvUO\xff\x0f\xff\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALDBA3510954GJ3ww\x87xUUuWx\x88\x87\x88\x87w\x88wvfwfc_\xf9\xff\x98wO\xffl\xe0\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA3573534GJ3\x89\x98\x89\x88EUuWgwvwwwwww\x88\x87xTo\xfa\xff\x86f\x7f\xffo\x0e\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + 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b'\xf1\x87SALFBA5987864GJ2fgvwUUuWgwvw\x87wxwwwww\x84/\xfc\xff\x97w\x7f\xff\xdf\x1d\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA6337644GJ2vgvwwv\x87hgffvwwwwwwww\x85O\xfa\xff\xa7w\x7f\xff\xc5\xfc\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA6802004GJ2UUuWUUuWgw\x86www\x87www\x87w\x96?\xf9\xff\xa9\x88\x7f\xff\x9fK\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA6892284GJ233S5\x87w\x87xx\x88\x87\x88vwwgww\x87w\x84?\xfb\xff\x98\x88\x8f\xff*\x9e\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA7005534GJ2eUuWfg\x86xxww\x87x\x88\x87\x88\x88w\x88\x87\x87O\xfc\xffuUO\xff\xa3k\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', + b'\xf1\x87SALFBA7152454GJ2gvwgFf\x86hx\x88\x87\x88vfWfffffd?\xfa\xff\xba\x88o\xff,\xcf\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', + b'\xf1\x87SALFBA7460044GJ2gx\x87\x88Vf\x86hx\x88\x87\x88wwwwgw\x86wd?\xfa\xff\x86U_\xff\xaf\x1f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SALFBA7485034GJ2ww\x87xww\x87xfwvgwwwwvfgf\xa5/\xfc\xff\xa9w_\xff40\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMDBA7743924GJ3wwwwww\x87xgwvw\x88\x88\x88\x88wwww\x85_\xfa\xff\x86f\x7f\xff0\x9d\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SAMDBA7817334GJ3Vgvwvfvgww\x87wwwwwwfgv\x97O\xfd\xff\x88\x88o\xff\x8e\xeb\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SAMDBA8054504GJ3gw\x87xffvgffffwwwweUVUf?\xfc\xffvU_\xff\xddl\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SAMFB41553621GC7ww\x87xUU\x85Xvwwg\x88\x88\x88\x88wwgw\x86\xaf\xfb\xffuDo\xff\xaa\x8f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFB42555421GC7\x88\x88\x88\x88wvwgx\x88\x87\x88wwgw\x87wxw3\x8f\xfc\xff\x98f\x8f\xffga\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA7978674GJ2gw\x87xgw\x97ywwwwvUGeUUeU\x87O\xfb\xff\x98w\x8f\xfffF\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA8105254GJ2wx\x87\x88Vf\x86hx\x88\x87\x88wwwwwwww\x86O\xfa\xff\x99\x88\x7f\xffZG\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA9283024GJ2wwwwEUuWwwgwwwwwwwww\x87/\xfb\xff\x98w\x8f\xff<\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA9708354GJ2wwwwVf\x86h\x88wx\x87xww\x87\x88\x88\x88\x88w/\xfa\xff\x97w\x8f\xff\x86\xa0\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SANDB45316691GC6\x99\x99\x99\x99\x88\x88\xa8\x8avfwfwwww\x87wxwT\x9f\xfd\xff\x88wo\xff\x1c\xfa\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB3\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + ], + }, + CAR.SONATA_LF: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00LF__ SCC F-CUP 1.00 1.00 96401-C2200 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00LF ESC \t 11 \x17\x01\x13 58920-C2610', + b'\xf1\x00LF ESC \x0c 11 \x17\x01\x13 58920-C2610', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606D5051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606D5K51\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51', + b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5', + b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00', + b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', + b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\x00\x00\x00\x00', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8', + ], + }, + CAR.TUCSON: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TL__ FCA F-CUP 1.00 1.01 99110-D3500 ', + b'\xf1\x00TL__ FCA F-CUP 1.00 1.02 99110-D3510 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TL MFC AT KOR LHD 1.00 1.02 95895-D3800 180719', + b'\xf1\x00TL MFC AT USA LHD 1.00 1.06 95895-D3800 190107', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87KMLDCU585233TJ20wx\x87\x88x\x88\x98\x89vfwfwwww\x87f\x9f\xff\x98\xff\x7f\xf9\xf7s\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TTL4G24NH2\x00\x00\x00\x00', + b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a', + ], + }, + CAR.SANTA_FE: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1210 ', + b'\xf1\x00TM__ SCC F-CUP 1.00 1.01 99110-S2000 ', + b'\xf1\x00TM__ SCC F-CUP 1.00 1.02 99110-S2000 ', + b'\xf1\x00TM__ SCC F-CUP 1.00 1.03 99110-S2000 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600', + b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600', + b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600', + b'\xf1\x00TM ESC \x02 104\x19\x07\x07 58910-S2600', + b'\xf1\x00TM ESC \x03 103\x18\x11\x07 58910-S2600', + b'\xf1\x00TM ESC \x0c 103\x18\x11\x08 58910-S2650', + b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650', + b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650', + b'\xf1\x00TM ESC \r 104\x19\x07\x08 58910-S2650', + b'\xf1\x00TM ESC \r 105\x19\x05# 58910-S1500', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606EA051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', + b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8A12', + b'\xf1\x00TM MDPS C 1.00 1.01 56340-S2000 9129', + b'\xf1\x00TM MDPS R 1.00 1.02 57700-S1100 4TMDP102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TM MFC AT EUR LHD 1.00 1.01 99211-S1010 181207', + b'\xf1\x00TM MFC AT USA LHD 1.00 1.00 99211-S2000 180409', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', + b'\xf1\x00bcsh8p54 U833\x00\x00\x00\x00\x00\x00TTM4V22US3_<]\xf1', + b'\xf1\x87LBJSGA7082574HG0\x87www\x98\x88\x88\x88\x99\xaa\xb9\x9afw\x86gx\x99\xa7\x89co\xf8\xffvU_\xffR\xaf\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\xa6\xe0\x91', + b'\xf1\x87LBKSGA0458404HG0vfvg\x87www\x89\x99\xa8\x99y\xaa\xa7\x9ax\x88\xa7\x88t_\xf9\xff\x86w\x8f\xff\x15x\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\x00\x00\x00', + b'\xf1\x87LDJUEA6010814HG1\x87w\x87x\x86gvw\x88\x88\x98\x88gw\x86wx\x88\x97\x88\x85o\xf8\xff\x86f_\xff\xd37\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g', + b'\xf1\x87LDJUEA6458264HG1ww\x87x\x97x\x87\x88\x88\x99\x98\x89g\x88\x86xw\x88\x97x\x86o\xf7\xffvw\x8f\xff3\x9a\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g', + b'\xf1\x87LDKUEA2045844HG1wwww\x98\x88x\x87\x88\x88\xa8\x88x\x99\x97\x89x\x88\xa7\x88U\x7f\xf8\xffvfO\xffC\x1e\xf1\x816W3E0051\x00\x00\xf1\x006W351_C2\x00\x006W3E0051\x00\x00TTM4T20NS3\x00\x00\x00\x00', + b'\xf1\x87LDKUEA9993304HG1\x87www\x97x\x87\x88\x99\x99\xa9\x99x\x99\xa7\x89w\x88\x97x\x86_\xf7\xffwwO\xffl#\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS1R\x7f\x90\n', + b'\xf1\x87LDLUEA6061564HG1\xa9\x99\x89\x98\x87wwwx\x88\x97\x88x\x99\xa7\x89x\x99\xa7\x89sO\xf9\xffvU_\xff<\xde\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', + b'\xf1\x87LDLUEA6159884HG1\x88\x87hv\x99\x99y\x97\x89\xaa\xb8\x9ax\x99\x87\x89y\x99\xb7\x99\xa7?\xf7\xff\x97wo\xff\xf3\x05\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', + b'\xf1\x87LDLUEA6852664HG1\x97wWu\x97www\x89\xaa\xc8\x9ax\x99\x97\x89x\x99\xa7\x89SO\xf7\xff\xa8\x88\x7f\xff\x03z\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', + b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', + b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', + b'\xf1\x87SBJWAA5842214GG0\x88\x87\x88xww\x87x\x89\x99\xa8\x99\x88\x99\x98\x89w\x88\x87xw_\xfa\xfffU_\xff\xd1\x8d\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', + b'\xf1\x87SBJWAA5890864GG0\xa9\x99\x89\x98\x98\x87\x98y\x89\x99\xa8\x99w\x88\x87xww\x87wvo\xfb\xffuD_\xff\x9f\xb5\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', + b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x00\x00\x00\x00', + b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', + b'\xf1\x87SBJWAA7780564GG0wvwgUUeVwwwwx\x88\x87\x88wwwwd_\xfc\xff\x86f\x7f\xff\xd7*\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0', + b'\xf1\x87SBJWAA8278284GG0ffvgUU\x85Xx\x88\x87\x88x\x88w\x88ww\x87w\x96o\xfd\xff\xa7U_\xff\xf2\xa0\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0', + b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6\x00\x00\x00\x00', + b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6x0\x17\xfe', + b'\xf1\x87SBLWAA4899564GG0VfvgUU\x85Xx\x88\x87\x88vfgf\x87wxwvO\xfb\xff\x97f\xb1\xffSB\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7\x00\x00\x00\x00', + b'\xf1\x87SBLWAA6622844GG0wwwwff\x86hwwwwx\x88\x87\x88\x88\x88\x88\x88\x98?\xfd\xff\xa9\x88\x7f\xffn\xe5\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7u\x1e{\x1c', + b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2\x00\x00\x00\x00', + b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2K\xdaV0', + b'\xf1\x87SDKXAA2443414GG1vfvgwv\x87h\x88\x88\x88\x88ww\x87wwwww\x99_\xfc\xffvD?\xffl\xd2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4G24NS6\x00\x00\x00\x00', + ], + }, + CAR.SANTA_FE_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', + b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0', + b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', + b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0', + b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', + b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0', + b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', + b'\xf1\x00TM ESC 103!\x030 58910-S1MA0', + b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0', + b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', + b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', + b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81HM6M1_0a0_G20', + b'\xf1\x81HM6M1_0a0_H00', + b'\xf1\x81HM6M2_0a0_G00', + b'\xf1\x82TACVN5GMI3XXXH0A', + b'\xf1\x82TACVN5GSI3XXXH0A', + b'\xf1\x82TMBZN5TMD3XXXG2E', + b'\xf1\x82TMCFD5MMCXXXXG0A', + b'\xf1\x87 \xf1\x81 ', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A', + b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1AB0 4TSDC101', + b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1EB0 4TSDC101', + b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TM MFC AT EUR LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TM MFC AT MES LHD 1.00 1.05 99211-S1500 220126', + b'\xf1\x00TMA MFC AT MEX LHD 1.00 1.01 99211-S2500 210205', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.00 99211-S2500 200720', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.01 99211-S2500 210205', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15', + b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa', + b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc', + b'\xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', + b'\xf1\x00T02601BL T02800A1 VTMPT25XXX800NS4\xed\xaf\xed\xf5', + b'\xf1\x00T02601BL T02900A1 VTMPT25XXW900NS1c\x918\xc5', + b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', + b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NSA\xf3\xf4Uj', + b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6', + b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', + b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1 \xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', + b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.SANTA_FE_HEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100', + b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', + b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727', + b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TMH MFC AT USA LHD 1.00 1.06 99211-S1500 220727', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14', + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f', + b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391312MTC1', + b'\xf1\x87391312MTE0', + b'\xf1\x87391312MTL0', + ], + }, + CAR.SANTA_FE_PHEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TMhe SCC FHCUP 1.00 1.01 99110-CL500 ', + b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310CLEC0\x00 4TSHC102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TMP MFC AT USA LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TMP MFC AT USA LHD 1.00 1.06 99211-S1500 220727', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea', + b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe', + b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391312MTF0', + b'\xf1\x87391312MTF1', + ], + }, + CAR.CUSTIN_1ST_GEN: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00KU__ SCC F-CUP 1.00 1.01 99110-O3000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00KU MDPS C 1.00 1.01 56310/O3100 4KUCC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00KU2 MFC AT CHN LHD 1.00 1.02 99211-O3000 220923', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391212MEC0', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 U928\x00\x00\x00\x00\x00\x00SKU0T15KB2\x92U\xf9M', + ], + }, + CAR.KIA_STINGER: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5000 ', + b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 ', + b'\xf1\x00CK__ SCC F_CUP 1.00 1.02 96400-J5100 ', + b'\xf1\x00CK__ SCC F_CUP 1.00 1.03 96400-J5100 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00', + b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00', + b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5200 4C2CL104', + b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5220 4C2VL104', + b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5420 4C4VL104', + b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5220 4C2VL106', + b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5420 4C4VL106', + b'\xf1\x00CK MDPS R 1.00 1.07 57700-J5220 4C2VL107', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CK MFC AT EUR LHD 1.00 1.03 95740-J5000 170822', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 95740-J5000 170822', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.04 95740-J5000 180504', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', + b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SCK0T33NB2\xb3\xee\xba\xdc', + b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', + b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x89E21\x00\x00\x00\x00\x00\x00\x00\xf1\x82SCK0T33NB0', + b'\xf1\x87VDHLG17034412DK2vD6DfVvVTD$D\x99w\x88\x98EDEDeT6DgfO\xff\xc3=\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S', + b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2', + b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94', + ], + }, + CAR.KIA_STINGER_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CK__ SCC F-CUP 1.00 1.00 99110-J5500 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5500 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5600 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.01 99110-J5100 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640N2051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81HM6M1_0a0_H00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5300 4C2CL503', + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5320 4C2VL503', + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503', + b'\xf1\x00CK MDPS R 1.00 5.04 57700-J5520 4C4VL504', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CK MFC AT AUS RHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT KOR LHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 99211-J5000 201209', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2', + b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T33NH07\xdf\xf0\xc1', + b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00TCK0T33NH0%g~\xd3', + b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6', + ], + }, + CAR.PALISADE: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 ', + b'\xf1\x00LX2_ SCC F-CUP 1.00 1.04 99110-S8100 ', + b'\xf1\x00LX2_ SCC F-CUP 1.00 1.05 99110-S8100 ', + b'\xf1\x00LX2_ SCC FHCU- 1.00 1.05 99110-S8100 ', + b'\xf1\x00LX2_ SCC FHCUP 1.00 1.00 99110-S8110 ', + b'\xf1\x00LX2_ SCC FHCUP 1.00 1.04 99110-S8100 ', + b'\xf1\x00LX2_ SCC FHCUP 1.00 1.05 99110-S8100 ', + b'\xf1\x00ON__ FCA FHCUP 1.00 1.01 99110-S9110 ', + b'\xf1\x00ON__ FCA FHCUP 1.00 1.02 99110-S9100 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360', + b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360', + b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330', + b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330', + b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330', + b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350', + b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360', + b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360', + b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360', + b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360', + b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320', + b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640K0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640S1051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104', + b'\xf1\x00ON MDPS C 1.00 1.00 56340-S9000 8B13', + b'\xf1\x00ON MDPS C 1.00 1.01 56340-S9000 9201', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.00 99211-S8110 210226', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.03 99211-S8100 190125', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.05 99211-S8100 190909', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 200422', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 200903', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 181105', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 200720', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.04 99211-S9100 211227', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', + b'\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', + b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', + b'\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00TON2G38NB5j\x94.\xde', + b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1', + b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8", + b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', + b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', + b'\xf1\x87LBLUFN731381KF36\xb9\x99\x89\x98\x98\x88\x88\x88\x89\x99\xa8\x99\x88\x99\xa8\x89\x88\x88\x98\x88V\x7f\xf6\xff\x99w\x8f\xff\xad\xd8\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', + b'\xf1\x87LDKVAA0028604HH1\xa8\x88x\x87vgvw\x88\x99\xa8\x89gw\x86ww\x88\x97x\x97o\xf9\xff\x97w\x7f\xffo\x02\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', + b'\xf1\x87LDKVAA3068374HH1wwww\x87xw\x87y\x99\xa7\x99w\x88\x87xw\x88\x97x\x85\xaf\xfa\xffvU/\xffU\xdc\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', + 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b'\xf1\x87LDMVBN895969KF37vefV\x87vgfx\x99\xa7\x89\x99\x99\xb9\x99f\x88\x96he_\xf7\xffxwo\xff\x14\xf9\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + b'\xf1\x87LDMVBN899222KF37\xa8\x88x\x87\x97www\x98\x99\x99\x89\x88\x99\x98\x89f\x88\x96hdo\xf7\xff\xbb\xaa\x9f\xff\xe2U\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + ], + }, + CAR.VELOSTER: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JS__ SCC H-CUP 1.00 1.02 95650-J3200 ', + b'\xf1\x00JS__ SCC HNCUP 1.00 1.02 95650-J3100 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816V8RAC00121.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x01TJS-JDK06F200H0A', + b'\x01TJS-JNU06F200H0A', + b'391282BJF5 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00JSL MDPS C 1.00 1.03 56340-J3000 8308', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JS LKAS AT KOR LHD 1.00 1.03 95740-J3000 K33', + b'\xf1\x00JS LKAS AT USA LHD 1.00 1.02 95740-J3000 K32', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16KS2\x0e\xba\x1e\xa2', + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\x00\x00\x00\x00', + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\xba\x02\xb8\x80', + ], + }, + CAR.GENESIS_G70: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IK__ SCC F-CUP 1.00 1.01 96400-G9100 ', + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', + b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\x7f\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', + ], + }, + CAR.GENESIS_G70_2020: { + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9220 4I2VL107', + b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9420 4I4VL107', + b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108', + b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', + b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz', + b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00', + b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81', + b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 \xf1\xa01.02', + b'\xf1\x00IK__ SCC FHCUP 1.00 1.02 96400-G9000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IK MFC AT KOR LHD 1.00 1.01 95740-G9000 170920', + b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.GENESIS_G80: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DH__ SCC F-CUP 1.00 1.01 96400-B1120 ', + b'\xf1\x00DH__ SCC FHCUP 1.00 1.01 96400-B1110 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DH LKAS AT KOR LHD 1.01 1.02 95895-B1500 170810', + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.01 95895-B1500 161014', + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.02 95895-B1500 170810', + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.03 95895-B1500 180713', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G33KH2\xae\xde\xd5!', + b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c', + b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8', + b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n', + b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640A4051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.GENESIS_G90: { + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', + b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', + b'\xf1\x87VDHMD16446682DD3WwwxxvGw\x88\x88\x87\x88\x88whxx\x87\x87\x87\x85fUfwu_\xffT\xf8\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2020 160302', + b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2030 170208', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x810000000000\x00', + ], + }, + CAR.KONA: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00OS__ SCC F-CUP 1.00 1.00 95655-J9200 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'"\x01TOS-0NU06F301J02', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U2VE051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VE051\x00\x00DOS4T16NS3\x00\x00\x00\x00', + ], + }, + CAR.KIA_CEED: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CD__ SCC F-CUP 1.00 1.02 99110-J7000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CD MDPS C 1.00 1.06 56310-XX000 4CDEC106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CD LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x01TCD-JECU4F202H0K', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1\x00\x00\x00\x00', + b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1U\x867Z', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00CD ESC \x03 102\x18\x08\x05 58920-J7350', + ], + }, + CAR.KIA_FORTE: { + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00BD MDPS C 1.00 1.02 56310-XX000 4BD2C102', + b'\xf1\x00BD MDPS C 1.00 1.08 56310/M6300 4BDDC108', + b'\xf1\x00BD MDPS C 1.00 1.08 56310M6300\x00 4BDDC108', + b'\xf1\x00BDm MDPS C A.01 1.01 56310M7800\x00 4BPMC101', + b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', + b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00BDPE_SCC FHCUPC 1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x01TBDM1NU06F200H01', + b'391182B945\x00', + b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00', + b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x90@\xc6\xae', + b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00', + b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3", + ], + }, + CAR.KIA_K5_2021: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', + b'\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', + b'\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', + b'\xf1\x00DL3_ SCC FHCUP 1.00 1.04 99110-L2100 ', + b'\xf1\x8799110L2000\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', + b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', + b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102', + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102', + b'\xf1\x8756310-L3110\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101', + b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', + b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DL3 MFC AT KOR LHD 1.00 1.04 99210-L2000 210527', + b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.03 99210-L3000 200915', + b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.04 99210-L3000 210208', + b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.05 99210-L3000 211222', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00DL ESC \x01 104 \x07\x12 58910-L2200', + b'\xf1\x00DL ESC \x06 101 \x04\x02 58910-L3200', + b'\xf1\x00DL ESC \x06 103"\x08\x06 58910-L3200', + b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800', + b'\xf1\x8758910-L3200\xf1\x00DL ESC \x06 101 \x04\x02 58910-L3200', + b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600', + b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81HM6M2_0a0_DQ0', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DLDWN5TMDCXXXJ1B', + b'\xf1\x87391212MKT0', + b'\xf1\x87391212MKT3', + b'\xf1\x87391212MKV0', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6TA261BLHT6TAB00A1SDL0C20KS0\x00\x00\x00\x00\x00\x00\\\x9f\xa5\x15', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB2.\x13\xf6\xed', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18', + b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 WDL3T25XXX730NS2b\x1f\xb8%', + b'\xf1\x87SALFEA5652514GK2UUeV\x88\x87\x88xxwg\x87ww\x87wwfwvd/\xfb\xffvU_\xff\x93\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8', + b'\xf1\x87SALFEA6046104GK2wvwgeTeFg\x88\x96xwwwwffvfe?\xfd\xff\x86fo\xff\x97A\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8', + b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18', + ], + }, + CAR.KIA_K5_HEV_2020: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DLhe SCC FHCUP 1.00 1.02 99110-L7000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102', + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.02 99210-L2000 200309', + b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.04 99210-L2000 210527', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391162JLA0', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2323 E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz', + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2', + ], + }, + CAR.KONA_EV: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000', + b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000', + b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000', + b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000', + b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OE2 LKAS AT EUR LHD 1.00 1.00 95740-K4200 200', + b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00OSE LKAS AT EUR RHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00OSE LKAS AT KOR LHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4300 W50', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.03 56310/K4550 4OEDC103', + b'\xf1\x00OS MDPS C 1.00 1.04 56310K4000\x00 4OEDC104', + b'\xf1\x00OS MDPS C 1.00 1.04 56310K4050\x00 4OEDC104', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4000 ', + b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4100 ', + b'\xf1\x00OSev SCC F-CUP 1.00 1.01 99110-K4000 ', + b'\xf1\x00OSev SCC FNCUP 1.00 1.01 99110-K4000 ', + ], + }, + CAR.KONA_EV_2022: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010', + b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010', + b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010', + b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010', + b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010', + b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OSP LKA AT AUS RHD 1.00 1.04 99211-J9200 904', + b'\xf1\x00OSP LKA AT CND LHD 1.00 1.02 99211-J9110 802', + b'\xf1\x00OSP LKA AT EUR LHD 1.00 1.04 99211-J9200 904', + b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.02 99211-J9110 802', + b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.04 99211-J9200 904', + b'\xf1\x00OSP LKA AT USA LHD 1.00 1.04 99211-J9200 904', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OSP MDPS C 1.00 1.02 56310-K4271 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00', + ], + }, + CAR.KONA_EV_2ND_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SXev RDR ----- 1.00 1.00 99110-BF000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SX2EMFC AT KOR LHD 1.00 1.00 99211-BF000 230410', + ], + }, + CAR.KIA_NIRO_EV: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4000 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4100 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.03 96400-Q4100 ', + b'\xf1\x00DEev SCC FHCUP 1.00 1.03 96400-Q4000 ', + b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', + b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4100 ', + b'\xf1\x8799110Q4500\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4500 ', + b'\xf1\x8799110Q4600\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4600 ', + b'\xf1\x8799110Q4600\xf1\x00DEev SCC FHCUP 1.00 1.00 99110-Q4600 ', + b'\xf1\x8799110Q4600\xf1\x00DEev SCC FNCUP 1.00 1.00 99110-Q4600 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104', + b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105', + b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4000 191211', + b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4100 200706', + b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.03 95740-Q4000 180821', + b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.03 95740-Q4000 180821', + b'\xf1\x00DEE MFC AT USA LHD 1.00 1.00 99211-Q4000 191211', + b'\xf1\x00DEE MFC AT USA LHD 1.00 1.01 99211-Q4500 210428', + b'\xf1\x00DEE MFC AT USA LHD 1.00 1.03 95740-Q4000 180821', + ], + }, + CAR.KIA_NIRO_EV_2ND_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SG2EMFC AT EUR LHD 1.01 1.09 99211-AT000 220801', + b'\xf1\x00SG2EMFC AT USA LHD 1.01 1.09 99211-AT000 220801', + ], + }, + CAR.KIA_NIRO_PHEV: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL2&[\xc3\x01', + b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00', + b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92', + b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00', + b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91", + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', + b'\xf1\x00DE MDPS C 1.00 1.09 56310G5301\x00 4DEHC109', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 95740-G5010 170117', + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.01 95740-G5010 170424', + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.05 99211-G5000 190826', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEhe SCC F-CUP 1.00 1.02 99110-G5100 ', + b'\xf1\x00DEhe SCC H-CUP 1.01 1.02 96400-G5100 ', + ], + }, + CAR.KIA_NIRO_PHEV_2022: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00', + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 99211-G5500 210428', + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.06 99211-G5000 201028', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEhe SCC F-CUP 1.00 1.00 99110-G5600 ', + ], + }, + CAR.KIA_NIRO_HEV_2021: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\x00\x00\x00\x00', + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\xb9\xd3\xfaW', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEH MFC AT USA LHD 1.00 1.00 99211-G5500 210428', + b'\xf1\x00DEH MFC AT USA LHD 1.00 1.07 99211-G5000 201221', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEhe SCC FHCUP 1.00 1.00 99110-G5600 ', + ], + }, + CAR.KIA_SELTOS: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x8799110Q5100\xf1\x00SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x8758910-Q5450\xf1\x00SP ESC \x07 101\x19\t\x05 58910-Q5450', + b'\xf1\x8758910-Q5450\xf1\x00SP ESC \t 101\x19\t\x05 58910-Q5450', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x01TSP2KNL06F100J0K', + b'\x01TSP2KNL06F200J0K', + b'\xf1\x81616D2051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81616D5051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00SP2 MDPS C 1.00 1.04 56300Q5200 ', + b'\xf1\x00SP2 MDPS C 1.01 1.05 56300Q5200 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SP2 MFC AT USA LHD 1.00 1.04 99210-Q5000 191114', + b'\xf1\x00SP2 MFC AT USA LHD 1.00 1.05 99210-Q5000 201012', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\x00T0190XBL T01950A1 DSP2T16X4X950NS6\xd30\xa5\xb9', + b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\x00T0190XBL T01950A1 DSP2T16X4X950NS8\r\xfe\x9c\x8b', + b'\xf1\x87CZLUB49370612JF7h\xa8y\x87\x99\xa7hv\x99\x97fv\x88\x87x\x89x\x96O\xff\x88\xff\xff\xff.@\xf1\x816V2C2051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C2051\x00\x00CSP4N20NS3\x00\x00\x00\x00', + ], + }, + CAR.KIA_OPTIMA_G4: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4100 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6J0051\x00\x00\xf1\x006T6J0_C2\x00\x006T6J0051\x00\x00TJF0T20NSB\x00\x00\x00\x00', + ], + }, + CAR.KIA_OPTIMA_G4_FL: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ', + ], + (Ecu.abs, 0x7d1, None): [ + b"\xf1\x00JF ESC \t 11 \x18\x03' 58920-D5260", + b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32', + b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', + b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', + b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', + b'\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', + b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', + b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', + b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4', + ], + }, + CAR.KIA_OPTIMA_H: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JFhe SCC FNCUP 1.00 1.00 96400-A8000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711', + ], + }, + CAR.KIA_OPTIMA_H_G4_FL: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JFhe SCC FHCUP 1.00 1.01 99110-A8500 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFH MFC AT KOR LHD 1.00 1.01 95895-A8200 180323', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.ELANTRA: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AD LKAS AT USA LHD 1.01 1.01 95895-F2000 251', + b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\x00\x00\x00\x00', + b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\xc5\x92\x9e\x8a', + b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20SS2.~\x90\x87', + b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD\x00\x00\x00\x00', + b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD(\xfcA\x9d', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8161657051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816165D051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816165E051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x8161698051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00AD ESC \x11 11 \x18\x05\x06 58910-F2840', + b'\xf1\x00AD ESC \x11 12 \x15\t\t 58920-F2810', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AD__ SCC H-CUP 1.00 1.00 99110-F2100 ', + b'\xf1\x00AD__ SCC H-CUP 1.00 1.01 96400-F2100 ', + ], + }, + CAR.ELANTRA_GT_I30: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51', + b'\xf1\x00PD LKAS AT USA LHD 1.00 1.02 95740-G3000 A51', + b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk', + b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DPD0T16NS4\x00\x00\x00\x00', + b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DPD0T16NS4\xda\x7f\xd6\xa7', + b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00PD MDPS C 1.00 1.00 56310G3300\x00 4PDDC100', + b'\xf1\x00PD MDPS C 1.00 1.03 56310/G3300 4PDDC103', + b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350', + b'\xf1\x00PD ESC \x0b 103\x17\x110 58920-G3350', + b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ', + b'\xf1\x00PD__ SCC F-CUP 1.01 1.00 96400-G3100 ', + b'\xf1\x00PD__ SCC FNCUP 1.01 1.00 96400-G3000 ', + ], + }, + CAR.ELANTRA_2021: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', + b'\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', + b'\xf1\x00CN7_ SCC FNCUP 1.00 1.01 99110-AA000 ', + b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', + b'\xf1\x8799110AA000\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', + b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.01 99210-AB000 210205', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AA000 200819', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AB000 220426', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.06 99210-AA000 220111', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800', + b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800', + b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800', + b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\xe8\xba\xce\xfa', + b'\xf1\x87CXLQF40189012JL2f\x88\x86\x88\x88vUex\xb8\x88\x88\x88\x87\x88\x89fh?\xffz\xff\xff\xff\x08z\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + b'\xf1\x87CXMQFM1916035JB2\x88vvgg\x87Wuwgev\xa9\x98\x88\x98h\x99\x9f\xffh\xff\xff\xff\xa5\xee\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + b'\xf1\x87CXMQFM2135005JB2E\xb9\x89\x98W\xa9y\x97h\xa9\x98\x99wxvwh\x87\x7f\xffx\xff\xff\xff,,\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + b'\xf1\x87CXMQFM2728305JB2E\x97\x87xw\x87vwgw\x84x\x88\x88w\x89EI\xbf\xff{\xff\xff\xff\xe6\x0e\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + b'\xf1\x87CXMQFM3806705JB2\x89\x87wwx\x88g\x86\x99\x87\x86xwwv\x88yv\x7f\xffz\xff\xff\xffV\x15\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81HM6M2_0a0_FF0', + b'\xf1\x82CNCVD0AMFCXCSFFB', + b'\xf1\x82CNCWD0AMFCXCSFFA', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0', + ], + }, + CAR.ELANTRA_HEV_2021: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.05 99210-AA000 210930', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.07 99210-AA000 220426', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.08 99210-AA000 220728', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.09 99210-AA000 221108', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', + b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103', + b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104', + b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102', + b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00', + b'\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\xb9?A\xaa', + b'\xf1\x006U3L0_C2\x00\x006U3K9051\x00\x00HCN0G16NS1\x00\x00\x00\x00', + b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00', + b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\xb9?A\xaa', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.KONA_HEV: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00OS IEB \x01 104 \x11 58520-CM000', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00OShe SCC FNCUP 1.00 1.01 99110-CM000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.00 56310CM030\x00 4OHDC100', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HOS0G16DS1\x16\xc7\xb0\xd9', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.SONATA_HYBRID: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', + b'\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', + b'\xf1\x8799110L5000\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', + b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', + b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102', + b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103', + b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102', + b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.04 99211-L1000 191016', + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.05 99211-L1000 201109', + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.06 99211-L1000 210325', + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.07 99211-L1000 211223', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2323 E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e', + b'\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW', + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab', + b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E09\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2323 E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e', + b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW', + b'\xf1\x87PCU\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391062J002', + b'\xf1\x87391162J012', + b'\xf1\x87391162J013', + b'\xf1\x87391162J014', + ], + }, + CAR.KIA_SORENTO: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00UM__ SCC F-CUP 1.00 1.00 96400-C6500 ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87LDKUAA0348164HE3\x87www\x87www\x88\x88\xa8\x88w\x88\x97xw\x88\x97x\x86o\xf8\xff\x87f\x7f\xff\x15\xe0\xf1\x81U811\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U811\x00\x00\x00\x00\x00\x00TUM4G33NL3V|DG', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.KIA_EV6: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.05 99210-CV000 211027', + 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 KOR LHD 1.00 1.04 99210-CV000 210823', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.05 99210-CV000 211027', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328', + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630', + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027', + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.06 99210-CV000 220328', + ], + }, + CAR.IONIQ_5: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', + b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007', + b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206', + b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI020 230719', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110', + ], + }, + CAR.IONIQ_6: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CE MFC AT EUR LHD 1.00 1.03 99211-KL000 221011', + b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213', + ], + }, + CAR.TUCSON_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K', + b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', + b'\xf1\x00NX4__ 1.00 1.01 99110-N9000 ', + b'\xf1\x00NX4__ 1.00 1.02 99110-N9000 ', + b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', + ], + }, + CAR.SANTA_CRUZ_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NX4__ 1.00 1.00 99110-K5000 ', + b'\xf1\x00NX4__ 1.01 1.00 99110-K5000 ', + ], + }, + CAR.KIA_SPORTAGE_5TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663', + b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665', + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662', + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663', + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ', + b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ', + b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ', + b'\xf1\x00NQ5__ 1.01 1.03 99110-P1000 ', + ], + }, + CAR.GENESIS_GV70_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR200 220125', + b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR300 220125', + b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.04 99211-AR000 210204', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR200 ', + b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR300 ', + b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ', + ], + }, + CAR.GENESIS_GV60_EV_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU000 211215', + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU100 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 ', + ], + }, + CAR.KIA_SORENTO_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.00 99210-R5100 221019', + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.03 99210-R5000 200903', + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.05 99210-R5000 210623', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00MQ4_ SCC F-CUP 1.00 1.06 99110-P2000 ', + b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.00 99110-R5000 ', + b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ', + b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.08 99110-P2000 ', + ], + }, + CAR.KIA_SORENTO_HEV_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.04 99210-P2000 200330', + b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.12 99210-P2000 230331', + b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.10 99210-P2000 210406', + b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00MQhe SCC FHCUP 1.00 1.04 99110-P4000 ', + b'\xf1\x00MQhe SCC FHCUP 1.00 1.06 99110-P4000 ', + b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ', + ], + }, + 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 ', + ], + }, + CAR.GENESIS_GV80: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JX1 MFC AT USA LHD 1.00 1.02 99211-T6110 220513', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JX1_ SCC FHCUP 1.00 1.01 99110-T6100 ', + ], + }, + CAR.KIA_CARNIVAL_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00KA4 MFC AT KOR LHD 1.00 1.06 99210-R0000 220221', + b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.00 99210-R0100 230105', + b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.05 99210-R0000 201221', + b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.06 99210-R0000 220221', + b'\xf1\x00KA4CMFC AT CHN LHD 1.00 1.01 99211-I4000 210525', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00KA4_ SCC FHCUP 1.00 1.00 99110-R0100 ', + b'\xf1\x00KA4_ SCC FHCUP 1.00 1.03 99110-R0000 ', + b'\xf1\x00KA4c SCC FHCUP 1.00 1.01 99110-I4000 ', + ], + }, + CAR.KIA_K8_HEV_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00GL3HMFC AT KOR LHD 1.00 1.03 99211-L8000 210907', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00GL3_ RDR ----- 1.00 1.02 99110-L8000 ', + ], + }, + CAR.STARIA_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00US4 MFC AT KOR LHD 1.00 1.06 99211-CG000 230524', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00US4_ RDR ----- 1.00 1.00 99110-CG000 ', + ], + }, +} diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index cd6657a23..a3210f807 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -46,6 +46,12 @@ class CarInterface(CarInterfaceBase): CAN = CanBus(None, hda2, fingerprint) if candidate in CANFD_CAR: + # detect if car is hybrid + if 0x105 in fingerprint[CAN.ECAN]: + ret.flags |= HyundaiFlags.HYBRID.value + elif candidate in EV_CAR: + ret.flags |= HyundaiFlags.EV.value + # detect HDA2 with ADAS Driving ECU if hda2: if 0x110 in fingerprint[CAN.CAM]: @@ -63,6 +69,12 @@ class CarInterface(CarInterfaceBase): if candidate not in CANFD_RADAR_SCC_CAR: ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value else: + # TODO: detect EV and hybrid + if candidate in HYBRID_CAR: + ret.flags |= HyundaiFlags.HYBRID.value + elif candidate in EV_CAR: + ret.flags |= HyundaiFlags.EV.value + # Send LFA message on cars with HDA if 0x485 in fingerprint[2]: ret.flags |= HyundaiFlags.SEND_LFA.value @@ -147,7 +159,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.67 ret.steerRatio = 14.00 * 1.15 ret.tireStiffnessFactor = 0.385 - elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN): + elif candidate == CAR.TUCSON_4TH_GEN: ret.mass = 1630. # average ret.wheelbase = 2.756 ret.steerRatio = 16. @@ -183,7 +195,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.63 ret.steerRatio = 14.56 elif candidate == CAR.KIA_SPORTAGE_5TH_GEN: - ret.mass = 1700. # weight from SX and above trims, average of FWD and AWD versions + ret.mass = 1725. # weight from SX and above trims, average of FWD and AWD versions ret.wheelbase = 2.756 ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL): @@ -217,19 +229,13 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.9 ret.steerRatio = 16. ret.tireStiffnessFactor = 0.65 - elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: - ret.mass = 1767. # SX Prestige trim support only - ret.wheelbase = 2.756 - ret.steerRatio = 13.6 - elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN): + elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN): ret.wheelbase = 2.81 ret.steerRatio = 13.5 # average of the platforms if candidate == CAR.KIA_SORENTO_4TH_GEN: ret.mass = 3957 * CV.LB_TO_KG - elif candidate == CAR.KIA_SORENTO_HEV_4TH_GEN: - ret.mass = 4255 * CV.LB_TO_KG else: - ret.mass = 4537 * CV.LB_TO_KG + ret.mass = 4396 * CV.LB_TO_KG elif candidate == CAR.KIA_CARNIVAL_4TH_GEN: ret.mass = 2087. ret.wheelbase = 3.09 @@ -313,9 +319,9 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC if ret.openpilotLongitudinalControl: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG - if candidate in HYBRID_CAR: + if ret.flags & HyundaiFlags.HYBRID: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_HYBRID_GAS - elif candidate in EV_CAR: + elif ret.flags & HyundaiFlags.EV: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022): diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index b04b331d5..d56304e9f 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1,4 +1,3 @@ -# ruff: noqa: E501 import re from dataclasses import dataclass from enum import Enum, IntFlag, StrEnum @@ -72,6 +71,8 @@ class HyundaiFlags(IntFlag): SEND_LFA = 128 USE_FCA = 256 CANFD_HDA2_ALT_STEERING = 512 + HYBRID = 1024 + EV = 2048 class CAR(StrEnum): @@ -108,7 +109,6 @@ class CAR(StrEnum): IONIQ_5 = "HYUNDAI IONIQ 5 2022" IONIQ_6 = "HYUNDAI IONIQ 6 2023" TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN" - TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN" SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN" CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN" @@ -132,8 +132,6 @@ class CAR(StrEnum): KIA_SORENTO = "KIA SORENTO GT LINE 2018" KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN" KIA_SORENTO_HEV_4TH_GEN = "KIA SORENTO HYBRID 4TH GEN" - KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN" - KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN" KIA_STINGER = "KIA STINGER GT2 2018" KIA_STINGER_2022 = "KIA STINGER 2022" KIA_CEED = "KIA CEED INTRO ED 2019" @@ -233,8 +231,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.TUCSON_4TH_GEN: [ HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])), HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), ], - CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])), CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), @@ -257,9 +255,13 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), ], - CAR.KIA_NIRO_PHEV_2022: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), + CAR.KIA_NIRO_PHEV_2022: [ + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), + ], CAR.KIA_NIRO_HEV_2021: [ - HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])), # TODO: 2021 could be hyundai_d, verify + HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])), + HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])), ], CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", @@ -269,16 +271,20 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])), CAR.KIA_OPTIMA_H_G4_FL: HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])), CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), + CAR.KIA_SPORTAGE_5TH_GEN: [ + HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), + ], CAR.KIA_SORENTO: [ HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), ], CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.KIA_SORENTO_HEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), + CAR.KIA_SORENTO_HEV_4TH_GEN: [ + HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + ], CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarHarness.hyundai_c])), CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), @@ -316,81 +322,6 @@ class Buttons: GAP_DIST = 3 CANCEL = 4 # on newer models, this is a pause/resume button -FINGERPRINTS = { - CAR.HYUNDAI_GENESIS: [{ - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 - }, - { - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 - }, - { - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1268: 8, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1437: 8, 1456: 4 - }, - { - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4 - }, - { - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4 - }], - CAR.SANTA_FE: [{ - 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8 - }, - { - 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8 - }, - { - 67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8 - }], - CAR.SONATA: [ - {67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8}, - ], - CAR.SONATA_LF: [ - {66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8}, - ], - CAR.KIA_SORENTO: [{ - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1 - }], - CAR.KIA_STINGER: [{ - 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8 - }], - CAR.GENESIS_G80: [{ - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8 - }, - { - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 546: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1437: 8, 1456: 4, 1470: 8 - }, - { - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1193: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4, 1470: 8 - }], - CAR.GENESIS_G90: [{ - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8 - }], - CAR.IONIQ_EV_2020: [{ - 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 - }], - CAR.IONIQ: [{ - 68:8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576:8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 - }], - CAR.KONA_EV: [{ - 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8 - }], - CAR.KONA_EV_2022: [{ - 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8 - }], - CAR.KIA_NIRO_EV: [{ - 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8 - }], - CAR.KIA_OPTIMA_H: [{ - 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8 - }, - { - 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8 - }], - CAR.PALISADE: [{ - 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8 - }], -} - def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]: # Returns unique, platform-specific identification codes for a set of versions @@ -411,15 +342,14 @@ def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[by return codes -def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: +def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]: # Non-electric CAN FD platforms often do not have platform code specifiers needed # to distinguish between hybrid and ICE. All EVs so far are either exclusively # electric or specify electric in the platform code. - # TODO: whitelist platforms that we've seen hybrid and ICE versions of that have these specifiers - fuzzy_platform_blacklist = {str(c) for c in set(CANFD_CAR - EV_CAR)} + fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)} candidates: Set[str] = set() - for candidate, fws in FW_VERSIONS.items(): + for candidate, fws in offline_fw_versions.items(): # Keep track of ECUs which pass all checks (platform codes, within date range) valid_found_ecus = set() valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS} @@ -473,6 +403,9 @@ HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER] p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \ p16(0xf100) +HYUNDAI_ECU_MANUFACTURING_DATE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.ECU_MANUFACTURING_DATE) + HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) # Regex patterns for parsing platform code, FW date, and part number from FW versions @@ -481,6 +414,9 @@ PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1: DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)') PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])') +# We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H) +CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN} + # List of ECUs expected to have platform codes, camera and radar should exist on all cars # TODO: use abs, it has the platform code and part number on many platforms PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps] @@ -488,6 +424,8 @@ PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps] # TODO: there are date codes in the ABS firmware versions in hex DATE_FW_ECUS = [Ecu.fwdCamera] +ALL_HYUNDAI_ECUS = [Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.engine, Ecu.parkingAdas, Ecu.transmission, Ecu.adas, Ecu.hvac, Ecu.cornerRadar] + FW_QUERY_CONFIG = FwQueryConfig( requests=[ # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD @@ -521,13 +459,52 @@ FW_QUERY_CONFIG = FwQueryConfig( obd_multiplexing=False, ), - # CAN-FD debugging queries + # CAN & CAN FD query to understand the three digit date code + # HDA2 cars usually use 6 digit date codes, so skip bus 1 + Request( + [HYUNDAI_ECU_MANUFACTURING_DATE], + [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.fwdCamera], + bus=0, + auxiliary=True, + logging=True, + ), + + # CAN & CAN FD logging queries (from camera) + Request( + [HYUNDAI_VERSION_REQUEST_LONG], + [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=ALL_HYUNDAI_ECUS, + bus=0, + auxiliary=True, + logging=True, + ), + Request( + [HYUNDAI_VERSION_REQUEST_MULTI], + [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=ALL_HYUNDAI_ECUS, + bus=0, + auxiliary=True, + logging=True, + ), + Request( + [HYUNDAI_VERSION_REQUEST_LONG], + [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=ALL_HYUNDAI_ECUS, + bus=1, + auxiliary=True, + obd_multiplexing=False, + logging=True, + ), + + # CAN-FD alt request logging queries Request( [HYUNDAI_VERSION_REQUEST_ALT], [HYUNDAI_VERSION_RESPONSE], whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac], bus=0, auxiliary=True, + logging=True, ), Request( [HYUNDAI_VERSION_REQUEST_ALT], @@ -535,6 +512,7 @@ FW_QUERY_CONFIG = FwQueryConfig( whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac], bus=1, auxiliary=True, + logging=True, obd_multiplexing=False, ), ], @@ -548,1603 +526,6 @@ FW_QUERY_CONFIG = FwQueryConfig( match_fw_to_car_fuzzy=match_fw_to_car_fuzzy, ) -FW_VERSIONS = { - CAR.AZERA_6TH_GEN: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00IG MDPS C 1.00 1.02 56310G8510\x00 4IGSC103', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00IG MFC AT MES LHD 1.00 1.04 99211-G8100 200511', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.AZERA_HEV_6TH_GEN: { - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.02 99211-G8100 191029', - b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.00 99211-G8000 180903', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00IG MDPS C 1.00 1.00 56310M9600\x00 4IHSC100', - b'\xf1\x00IG MDPS C 1.00 1.01 56310M9350\x00 4IH8C101', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00IGhe SCC FHCUP 1.00 1.00 99110-M9100 ', - b'\xf1\x00IGhe SCC FHCUP 1.00 1.01 99110-M9000 ', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`', - b'\xf1\x006T7N0_C2\x00\x006T7Q2051\x00\x00TIG2H24KA2\x12@\x11\xb7', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H570051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.HYUNDAI_GENESIS: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00DH LKAS 1.1 -150210', - b'\xf1\x00DH LKAS 1.4 -140110', - b'\xf1\x00DH LKAS 1.5 -140425', - ], - }, - CAR.IONIQ: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2301 4AEHC107', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F2051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3H1051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H1051\x00\x00HAE0G16US2\x00\x00\x00\x00', - ], - }, - CAR.IONIQ_PHEV_2019: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2100 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2501 4AEHC107', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2400 180222', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\xdbD\r\x81', - b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\x00\x00\x00\x00', - ], - }, - CAR.IONIQ_PHEV: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEhe SCC FHCUP 1.00 1.02 99110-G2100 ', - b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2200 ', - b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', - b'\xf1\x00AEhe SCC F-CUP 1.00 1.02 99110-G2100 ', - b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101', - b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2560 4APHC101', - b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', - b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2310 4APHC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEP MFC AT USA LHD 1.00 1.01 95740-G2600 190819', - b'\xf1\x00AEP MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', - b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2700 201027', - b'\xf1\x00AEP MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J9051\000\000\xf1\0006U3H1_C2\000\0006U3J9051\000\000PAE0G16NL0\x82zT\xd2', - b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00', - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00', - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt', - b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', - ], - }, - CAR.IONIQ_EV_2020: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ', - b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7200 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7310 4APEC101', - b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7560 4APEC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.03 95740-G2500 190516', - b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2600 190730', - ], - }, - CAR.IONIQ_EV_LTD: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7000 ', - b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7100 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.02 56310G7300\x00 4AEEC102', - b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7501 4AEEC104', - b'\xf1\x00AE MDPS C 1.00 1.03 56310/G7300 4AEEC103', - b'\xf1\x00AE MDPS C 1.00 1.03 56310G7300\x00 4AEEC103', - b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7301 4AEEC104', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G7200 160418', - b'\xf1\x00AEE MFC AT USA LHD 1.00 1.00 95740-G2400 180222', - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2300 170703', - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', - ], - }, - CAR.IONIQ_HEV_2022: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', - b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEH MFC AT USA LHD 1.00 1.00 95740-G2700 201027', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00', - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x96\xda\xd4\xee', - ], - }, - CAR.SONATA: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ', - b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', - b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ', - b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', - b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', - b'\xf1\x00DN8_ SCC FHCUP 1.00 1.02 99110-L1000 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', - b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300', - b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300', - b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', - b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', - b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300', - b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100', - b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', - b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', - b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', - b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', - b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', - b'\xf1\x00DN ESC \x06 107 \x07\x03 58910-L1300', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81HM6M1_0a0_F00', - b'\xf1\x82DNBVN5GMCCXXXDCA', - b'\xf1\x82DNBVN5GMCCXXXG2F', - b'\xf1\x82DNBWN5TMDCXXXG2E', - b'\xf1\x82DNCVN5GMCCXXXF0A', - b'\xf1\x82DNCVN5GMCCXXXG2B', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A', - b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M10', - b'\xf1\x87391162M003', - b'\xf1\x87391162M013', - b'\xf1\x87391162M023', - b'\xf1\x87391162M010', - b'HM6M1_0a0_F00', - b'HM6M1_0a0_G20', - b'HM6M2_0a0_BD0', - b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B', - b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00', - b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00', - b'\xf1\x81HM6M1_0a0_G20', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware - b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102', - b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware - b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', - b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', - b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', - b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', - b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101', - b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103', - b'\xf1\x8756310-L1030\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103', - b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', - b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101', - b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', - b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101', - b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105', - b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102', - b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422', - b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.04 99211-L1000 191016', - b'\xf1\x00DN8 MFC AT RUS LHD 1.00 1.03 99211-L1000 190705', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.00 99211-L0000 190716', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.01 99211-L0000 191016', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.03 99211-L0000 210603', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.05 99211-L1000 201109', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.06 99211-L1000 210325', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.07 99211-L1000 211223', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', - b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', - b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16KB05\x95h%', - b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x00HT6TA260BLHT6TA810A1TDN8M25GS0\x00\x00\x00\x00\x00\x00\xaa\x8c\xd9p', - b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92', - b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:', - b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[', - b'\xf1\x00HT6WA280BLHT6WAE10A1SDN8G25NB5\x00\x00\x00\x00\x00\x00\xe0t\xa9\xba', - b'\xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', - b'\xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE', - b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSCF\xe4!Y', - b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', - b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SAKFBA3356084GJ2\x86fvgUUuWgw\x86www\x87wffvf\xb6\xcf\xfc\xffeUO\xff\x12\x19\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SAKFBA3474944GJ2ffvgwwwwg\x88\x86x\x88\x88\x98\x88ffvfeo\xfa\xff\x86fo\xff\t\xae\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - 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b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00', - b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', - b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', - ], - }, - CAR.TUCSON: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00TL__ FCA F-CUP 1.00 1.01 99110-D3500 ', - b'\xf1\x00TL__ FCA F-CUP 1.00 1.02 99110-D3510 ', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002', - b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00TL MFC AT KOR LHD 1.00 1.02 95895-D3800 180719', - b'\xf1\x00TL MFC AT USA LHD 1.00 1.06 95895-D3800 190107', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a', - b'\xf1\x87KMLDCU585233TJ20wx\x87\x88x\x88\x98\x89vfwfwwww\x87f\x9f\xff\x98\xff\x7f\xf9\xf7s\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TTL4G24NH2\x00\x00\x00\x00', - ], - }, - CAR.SANTA_FE: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1210 ', - b'\xf1\x00TM__ SCC F-CUP 1.00 1.01 99110-S2000 ', - b'\xf1\x00TM__ SCC F-CUP 1.00 1.02 99110-S2000 ', - b'\xf1\x00TM__ SCC F-CUP 1.00 1.03 99110-S2000 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650', - b'\xf1\x00TM ESC \r 105\x19\x05# 58910-S1500', - b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650', - b'\xf1\x00TM ESC \r 104\x19\x07\x08 58910-S2650', - b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600', - b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600', - b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600', - b'\xf1\x00TM ESC \x02 104\x19\x07\x07 58910-S2600', - b'\xf1\x00TM ESC \x03 103\x18\x11\x07 58910-S2600', - b'\xf1\x00TM ESC \x0c 103\x18\x11\x08 58910-S2650', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81606EA051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', - b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8A12', - b'\xf1\x00TM MDPS C 1.00 1.01 56340-S2000 9129', - b'\xf1\x00TM MDPS R 1.00 1.02 57700-S1100 4TMDP102', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00TM MFC AT EUR LHD 1.00 1.01 99211-S1010 181207', - b'\xf1\x00TM MFC AT USA LHD 1.00 1.00 99211-S2000 180409', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 U833\x00\x00\x00\x00\x00\x00TTM4V22US3_<]\xf1', - b'\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', - b'\xf1\x87LBJSGA7082574HG0\x87www\x98\x88\x88\x88\x99\xaa\xb9\x9afw\x86gx\x99\xa7\x89co\xf8\xffvU_\xffR\xaf\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\xa6\xe0\x91', - b'\xf1\x87LBKSGA0458404HG0vfvg\x87www\x89\x99\xa8\x99y\xaa\xa7\x9ax\x88\xa7\x88t_\xf9\xff\x86w\x8f\xff\x15x\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\x00\x00\x00', - b'\xf1\x87LDJUEA6010814HG1\x87w\x87x\x86gvw\x88\x88\x98\x88gw\x86wx\x88\x97\x88\x85o\xf8\xff\x86f_\xff\xd37\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g', - b'\xf1\x87LDJUEA6458264HG1ww\x87x\x97x\x87\x88\x88\x99\x98\x89g\x88\x86xw\x88\x97x\x86o\xf7\xffvw\x8f\xff3\x9a\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g', - b'\xf1\x87LDKUEA2045844HG1wwww\x98\x88x\x87\x88\x88\xa8\x88x\x99\x97\x89x\x88\xa7\x88U\x7f\xf8\xffvfO\xffC\x1e\xf1\x816W3E0051\x00\x00\xf1\x006W351_C2\x00\x006W3E0051\x00\x00TTM4T20NS3\x00\x00\x00\x00', - b'\xf1\x87LDKUEA9993304HG1\x87www\x97x\x87\x88\x99\x99\xa9\x99x\x99\xa7\x89w\x88\x97x\x86_\xf7\xffwwO\xffl#\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS1R\x7f\x90\n', - b'\xf1\x87LDLUEA6061564HG1\xa9\x99\x89\x98\x87wwwx\x88\x97\x88x\x99\xa7\x89x\x99\xa7\x89sO\xf9\xffvU_\xff<\xde\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', - b'\xf1\x87LDLUEA6159884HG1\x88\x87hv\x99\x99y\x97\x89\xaa\xb8\x9ax\x99\x87\x89y\x99\xb7\x99\xa7?\xf7\xff\x97wo\xff\xf3\x05\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', - b'\xf1\x87LDLUEA6852664HG1\x97wWu\x97www\x89\xaa\xc8\x9ax\x99\x97\x89x\x99\xa7\x89SO\xf7\xff\xa8\x88\x7f\xff\x03z\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', - b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', - b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', - b'\xf1\x87SBJWAA5842214GG0\x88\x87\x88xww\x87x\x89\x99\xa8\x99\x88\x99\x98\x89w\x88\x87xw_\xfa\xfffU_\xff\xd1\x8d\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', - b'\xf1\x87SBJWAA5890864GG0\xa9\x99\x89\x98\x98\x87\x98y\x89\x99\xa8\x99w\x88\x87xww\x87wvo\xfb\xffuD_\xff\x9f\xb5\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', - b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x00\x00\x00\x00', - b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', - b'\xf1\x87SBJWAA7780564GG0wvwgUUeVwwwwx\x88\x87\x88wwwwd_\xfc\xff\x86f\x7f\xff\xd7*\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0', - b'\xf1\x87SBJWAA8278284GG0ffvgUU\x85Xx\x88\x87\x88x\x88w\x88ww\x87w\x96o\xfd\xff\xa7U_\xff\xf2\xa0\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0', - b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6\x00\x00\x00\x00', - b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6x0\x17\xfe', - b'\xf1\x87SBLWAA4899564GG0VfvgUU\x85Xx\x88\x87\x88vfgf\x87wxwvO\xfb\xff\x97f\xb1\xffSB\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7\x00\x00\x00\x00', - b'\xf1\x87SBLWAA6622844GG0wwwwff\x86hwwwwx\x88\x87\x88\x88\x88\x88\x88\x98?\xfd\xff\xa9\x88\x7f\xffn\xe5\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7u\x1e{\x1c', - b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2\x00\x00\x00\x00', - b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2K\xdaV0', - b'\xf1\x87SDKXAA2443414GG1vfvgwv\x87h\x88\x88\x88\x88ww\x87wwwww\x99_\xfc\xffvD?\xffl\xd2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4G24NS6\x00\x00\x00\x00', - ], - }, - CAR.SANTA_FE_2022: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', - b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0', - b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', - b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', - b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', - b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', - b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0', - b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', - b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', - b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0', - b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0', - b'\xf1\x00TM ESC 103!\x030 58910-S1MA0', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50', - b'\xf1\x81HM6M1_0a0_H00', - b'\xf1\x82TACVN5GMI3XXXH0A', - b'\xf1\x82TMBZN5TMD3XXXG2E', - b'\xf1\x82TACVN5GSI3XXXH0A', - b'\xf1\x82TMCFD5MMCXXXXG0A', - b'\xf1\x81HM6M1_0a0_G20', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A', - b'\xf1\x81HM6M2_0a0_G00', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', - b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00', - b'\xf1\x87 \xf1\x81 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19', - b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1AB0 4TSDC101', - b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1EB0 4TSDC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00TM MFC AT MES LHD 1.00 1.05 99211-S1500 220126', - b'\xf1\x00TMA MFC AT MEX LHD 1.00 1.01 99211-S2500 210205', - b'\xf1\x00TMA MFC AT USA LHD 1.00 1.00 99211-S2500 200720', - b'\xf1\x00TM MFC AT EUR LHD 1.00 1.03 99211-S1500 210224', - b'\xf1\x00TMA MFC AT USA LHD 1.00 1.01 99211-S2500 210205', - b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa', - b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc', - b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NSA\xf3\xf4Uj', - b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', - b'\xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', - b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', - b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6', - b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15', - b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', - b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1 \xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', - b'\xf1\x00T02601BL T02800A1 VTMPT25XXX800NS4\xed\xaf\xed\xf5', - b'\xf1\x00T02601BL T02900A1 VTMPT25XXW900NS1c\x918\xc5', - ], - }, - CAR.SANTA_FE_HEV_2022: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', - b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', - b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105', - b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727', - b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224', - b'\xf1\x00TMH MFC AT USA LHD 1.00 1.06 99211-S1500 220727', - b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14', - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f', - b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x87391312MTC1', - b'\xf1\x87391312MTE0', - b'\xf1\x87391312MTL0', - ], - }, - CAR.SANTA_FE_PHEV_2022: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', - b'\xf1\x00TMhe SCC FHCUP 1.00 1.01 99110-CL500 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', - b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', - b'\xf1\x00TM MDPS C 1.00 1.02 56310CLEC0\x00 4TSHC102', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00TMP MFC AT USA LHD 1.00 1.03 99211-S1500 210224', - b'\xf1\x00TMP MFC AT USA LHD 1.00 1.06 99211-S1500 220727', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe', - b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea', - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x87391312MTF0', - b'\xf1\x87391312MTF1', - ], - }, - CAR.CUSTIN_1ST_GEN: { - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00KU__ SCC F-CUP 1.00 1.01 99110-O3000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00KU MDPS C 1.00 1.01 56310/O3100 4KUCC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00KU2 MFC AT CHN LHD 1.00 1.02 99211-O3000 220923', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x87391212MEC0', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 U928\x00\x00\x00\x00\x00\x00SKU0T15KB2\x92U\xf9M', - ], - }, - CAR.KIA_STINGER: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 ', - b'\xf1\x00CK__ SCC F_CUP 1.00 1.03 96400-J5100 ', - b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5000 ', - b'\xf1\x00CK__ SCC F_CUP 1.00 1.02 96400-J5100 ', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00', - b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00', - b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00', - b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5200 4C2CL104', - b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5220 4C2VL104', - b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5420 4C4VL104', - b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5420 4C4VL106', - b'\xf1\x00CK MDPS R 1.00 1.07 57700-J5220 4C2VL107', - b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5220 4C2VL106', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 95740-J5000 170822', - b'\xf1\x00CK MFC AT USA LHD 1.00 1.04 95740-J5000 180504', - b'\xf1\x00CK MFC AT EUR LHD 1.00 1.03 95740-J5000 170822', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SCK0T33NB2\xb3\xee\xba\xdc', - b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x89E21\x00\x00\x00\x00\x00\x00\x00\xf1\x82SCK0T33NB0', - b'\xf1\x87VDHLG17034412DK2vD6DfVvVTD$D\x99w\x88\x98EDEDeT6DgfO\xff\xc3=\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2', - b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94', - b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S', - b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', - b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', - b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - ], - }, - CAR.KIA_STINGER_2022: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CK__ SCC F-CUP 1.00 1.00 99110-J5500 ', - b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5500 ', - b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5600 ', - b'\xf1\x00CK__ SCC FHCUP 1.00 1.01 99110-J5100 ', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640N2051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81HM6M1_0a0_H00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503', - b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5300 4C2CL503', - b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5320 4C2VL503', - b'\xf1\x00CK MDPS R 1.00 5.04 57700-J5520 4C4VL504', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CK MFC AT AUS RHD 1.00 1.00 99211-J5500 210622', - b'\xf1\x00CK MFC AT KOR LHD 1.00 1.00 99211-J5500 210622', - b'\xf1\x00CK MFC AT USA LHD 1.00 1.00 99211-J5500 210622', - b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 99211-J5000 201209', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6', - b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T33NH07\xdf\xf0\xc1', - b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2', - b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00TCK0T33NH0%g~\xd3', - ], - }, - CAR.PALISADE: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00LX2_ SCC F-CUP 1.00 1.04 99110-S8100 ', - b'\xf1\x00LX2_ SCC F-CUP 1.00 1.05 99110-S8100 ', - b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 ', - b'\xf1\x00LX2_ SCC FHCU- 1.00 1.05 99110-S8100 ', - b'\xf1\x00LX2_ SCC FHCUP 1.00 1.00 99110-S8110 ', - b'\xf1\x00LX2_ SCC FHCUP 1.00 1.04 99110-S8100 ', - b'\xf1\x00LX2_ SCC FHCUP 1.00 1.05 99110-S8100 ', - b'\xf1\x00ON__ FCA FHCUP 1.00 1.02 99110-S9100 ', - b'\xf1\x00ON__ FCA FHCUP 1.00 1.01 99110-S9110 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360', - b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360', - b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330', - b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330', - b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350', - b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330', - b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360', - b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360', - b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360', - b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360', - b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320', - b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640K0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640S1051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', - b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103', - b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103', - b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104', - b'\xf1\x00ON MDPS C 1.00 1.00 56340-S9000 8B13', - b'\xf1\x00ON MDPS C 1.00 1.01 56340-S9000 9201', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.03 99211-S8100 190125', - b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.05 99211-S8100 190909', - b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 200422', - b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 200903', - b'\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 181105', - b'\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 200720', - b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.00 99211-S8110 210226', - b'\xf1\x00ON MFC AT USA LHD 1.00 1.04 99211-S9100 211227', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', - b'\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', - b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', - b'\xf1\x00bcsh8p54 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b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', - b'\xf1\x87LDLVAA4478824HH1\x87wwwvfvg\x89\x99\xa8\x99w\x88\x87x\x89\x99\xa8\x99\xa6o\xfa\xfffU/\xffu\x92\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', - b'\xf1\x87LDMVBN871852KF37\xb9\x99\x99\x99\xa8\x88\x88\x88y\x99\xa7\x99x\x99\xa7\x89\x88\x88\x98\x88\x89o\xf7\xff\xaa\x88o\xff\x0e\xed\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', - ], - }, - CAR.VELOSTER: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JS__ SCC H-CUP 1.00 1.02 95650-J3200 ', - b'\xf1\x00JS__ SCC HNCUP 1.00 1.02 95650-J3100 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816V8RAC00121.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\x01TJS-JNU06F200H0A', - b'\x01TJS-JDK06F200H0A', - b'391282BJF5 ', - ], - (Ecu.eps, 0x7d4, None): [b'\xf1\x00JSL MDPS C 1.00 1.03 56340-J3000 8308', ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JS LKAS AT USA LHD 1.00 1.02 95740-J3000 K32', - b'\xf1\x00JS LKAS AT KOR LHD 1.00 1.03 95740-J3000 K33', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\xba\x02\xb8\x80', - b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\x00\x00\x00\x00', - b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16KS2\016\xba\036\xa2', - ], - }, - CAR.GENESIS_G70: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', - b'\xf1\x00IK__ SCC F-CUP 1.00 1.01 96400-G9100 ', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', - b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', - ], - }, - CAR.GENESIS_G70_2020: { - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9220 4I2VL107', - b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9420 4I4VL107', - b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108', - b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00', - b'\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', - b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', - b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81', - b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', - b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 \xf1\xa01.02', - b'\xf1\x00IK__ SCC FHCUP 1.00 1.02 96400-G9000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', - b'\xf1\x00IK MFC AT KOR LHD 1.00 1.01 95740-G9000 170920', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.GENESIS_G80: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00DH__ SCC F-CUP 1.00 1.01 96400-B1120 ', - b'\xf1\x00DH__ SCC FHCUP 1.00 1.01 96400-B1110 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00DH LKAS AT USA LHD 1.01 1.03 95895-B1500 180713', - b'\xf1\x00DH LKAS AT USA LHD 1.01 1.02 95895-B1500 170810', - b'\xf1\x00DH LKAS AT USA LHD 1.01 1.01 95895-B1500 161014', - b'\xf1\x00DH LKAS AT KOR LHD 1.01 1.02 95895-B1500 170810', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9', - b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n', - b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c', - b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8', - b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G33KH2\xae\xde\xd5!', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640A4051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.GENESIS_G90: { - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', - b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', - ], - (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 '], - (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2020 160302'], - (Ecu.engine, 0x7e0, None): [b'\xf1\x810000000000\x00'], - }, - CAR.KONA: { - (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP 1.00 1.00 95655-J9200 ', ], - (Ecu.abs, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.engine, 0x7e0, None): [b'"\x01TOS-0NU06F301J02', ], - (Ecu.eps, 0x7d4, None): [b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', ], - (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', ], - (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2VE051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VE051\x00\x00DOS4T16NS3\x00\x00\x00\x00', ], - }, - CAR.KIA_CEED: { - (Ecu.fwdRadar, 0x7D0, None): [b'\xf1\000CD__ SCC F-CUP 1.00 1.02 99110-J7000 ', ], - (Ecu.eps, 0x7D4, None): [b'\xf1\000CD MDPS C 1.00 1.06 56310-XX000 4CDEC106', ], - (Ecu.fwdCamera, 0x7C4, None): [b'\xf1\000CD LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', ], - (Ecu.engine, 0x7E0, None): [b'\001TCD-JECU4F202H0K', ], - (Ecu.transmission, 0x7E1, None): [ - b'\xf1\x816U2V7051\000\000\xf1\0006U2V0_C2\000\0006U2V7051\000\000DCD0T14US1\000\000\000\000', - b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1U\x867Z', - ], - (Ecu.abs, 0x7D1, None): [b'\xf1\000CD ESC \003 102\030\b\005 58920-J7350', ], - }, - CAR.KIA_FORTE: { - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00BD MDPS C 1.00 1.02 56310-XX000 4BD2C102', - b'\xf1\x00BD MDPS C 1.00 1.08 56310/M6300 4BDDC108', - b'\xf1\x00BD MDPS C 1.00 1.08 56310M6300\x00 4BDDC108', - b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', - b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744', - ], - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ', - b'\xf1\x00BDPE_SCC FHCUPC 1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\x01TBDM1NU06F200H01', - b'391182B945\x00', - b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00', - b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00', - b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3", - ], - }, - CAR.KIA_K5_2021: { - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\000DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', - b'\xf1\x8799110L2000\xf1\000DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', - b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', - b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', - b'\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', - b'\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', - b'\xf1\x00DL3_ SCC FHCUP 1.00 1.04 99110-L2100 ', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101', - b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', - b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102', - b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', - b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102', - b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.03 99210-L3000 200915', - b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.04 99210-L3000 210208', - b'\xf1\x00DL3 MFC AT KOR LHD 1.00 1.04 99210-L2000 210527', - b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.05 99210-L3000 211222', - ], - (Ecu.abs, 0x7D1, None): [ - b'\xf1\000DL ESC \006 101 \004\002 58910-L3200', - b'\xf1\x8758910-L3200\xf1\000DL ESC \006 101 \004\002 58910-L3200', - b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800', - b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600', - b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800', - b'\xf1\x00DL ESC \x01 104 \x07\x12 58910-L2200', - b'\xf1\x00DL ESC \x06 103"\x08\x06 58910-L3200', - ], - (Ecu.engine, 0x7E0, None): [ - b'\xf1\x87391212MKT0', - b'\xf1\x87391212MKV0', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DLDWN5TMDCXXXJ1B', - b'\xf1\x81HM6M2_0a0_DQ0', - b'\xf1\x87391212MKT3', - ], - (Ecu.transmission, 0x7E1, None): [ - b'\xf1\000bcsh8p54 U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8', - b'\xf1\x87SALFEA5652514GK2UUeV\x88\x87\x88xxwg\x87ww\x87wwfwvd/\xfb\xffvU_\xff\x93\xd3\xf1\x81U913\000\000\000\000\000\000\xf1\000bcsh8p54 U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8', - b'\xf1\x87SALFEA6046104GK2wvwgeTeFg\x88\x96xwwwwffvfe?\xfd\xff\x86fo\xff\x97A\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8', - b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18', - b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 WDL3T25XXX730NS2b\x1f\xb8%', - b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18', - b'\xf1\x00HT6TA261BLHT6TAB00A1SDL0C20KS0\x00\x00\x00\x00\x00\x00\\\x9f\xa5\x15', - b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB2.\x13\xf6\xed', - ], - }, - CAR.KIA_K5_HEV_2020: { - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00DLhe SCC FHCUP 1.00 1.02 99110-L7000 ', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102', - b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.02 99210-L2000 200309', - b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.04 99210-L2000 210527', - ], - (Ecu.engine, 0x7E0, None): [ - b'\xf1\x87391162JLA0', - ], - (Ecu.transmission, 0x7E1, None): [ - b'\xf1\x00PSBG2323 E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz', - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2', - ], - }, - CAR.KONA_EV: { - (Ecu.abs, 0x7D1, None): [ - b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000', - b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000', - b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000', - b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000', - b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00OE2 LKAS AT EUR LHD 1.00 1.00 95740-K4200 200', - b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40', - b'\xf1\x00OSE LKAS AT EUR RHD 1.00 1.00 95740-K4100 W40', - b'\xf1\x00OSE LKAS AT KOR LHD 1.00 1.00 95740-K4100 W40', - b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4300 W50', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00OS MDPS C 1.00 1.03 56310/K4550 4OEDC103', - b'\xf1\x00OS MDPS C 1.00 1.04 56310K4000\x00 4OEDC104', - b'\xf1\x00OS MDPS C 1.00 1.04 56310K4050\x00 4OEDC104', - ], - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4000 ', - b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4100 ', - b'\xf1\x00OSev SCC F-CUP 1.00 1.01 99110-K4000 ', - b'\xf1\x00OSev SCC FNCUP 1.00 1.01 99110-K4000 ', - ], - }, - CAR.KONA_EV_2022: { - (Ecu.abs, 0x7D1, None): [ - b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010', - b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010', - b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010', - b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010', - b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010', - b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00OSP LKA AT CND LHD 1.00 1.02 99211-J9110 802', - b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.02 99211-J9110 802', - b'\xf1\x00OSP LKA AT AUS RHD 1.00 1.04 99211-J9200 904', - b'\xf1\x00OSP LKA AT EUR LHD 1.00 1.04 99211-J9200 904', - b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.04 99211-J9200 904', - b'\xf1\x00OSP LKA AT USA LHD 1.00 1.04 99211-J9200 904', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102', - b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102', - b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102', - b'\xf1\x00OSP MDPS C 1.00 1.02 56310-K4271 4OEPC102', - b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102', - b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102', - ], - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00', - ], - }, - CAR.KONA_EV_2ND_GEN: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00SXev RDR ----- 1.00 1.00 99110-BF000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00SX2EMFC AT KOR LHD 1.00 1.00 99211-BF000 230410', - ], - }, - CAR.KIA_NIRO_EV: { - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', - b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4000 ', - b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4100 ', - b'\xf1\x00DEev SCC F-CUP 1.00 1.03 96400-Q4100 ', - b'\xf1\x00DEev SCC FHCUP 1.00 1.03 96400-Q4000 ', - b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', - b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4100 ', - b'\xf1\x8799110Q4500\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4500 ', - b'\xf1\x8799110Q4600\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4600 ', - b'\xf1\x8799110Q4600\xf1\x00DEev SCC FNCUP 1.00 1.00 99110-Q4600 ', - b'\xf1\x8799110Q4600\xf1\x00DEev SCC FHCUP 1.00 1.00 99110-Q4600 ', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105', - b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105', - b'\xf1\x00DE MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4100 200706', - b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4000 191211', - b'\xf1\x00DEE MFC AT USA LHD 1.00 1.00 99211-Q4000 191211', - b'\xf1\x00DEE MFC AT USA LHD 1.00 1.03 95740-Q4000 180821', - b'\xf1\x00DEE MFC AT USA LHD 1.00 1.01 99211-Q4500 210428', - b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.03 95740-Q4000 180821', - b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.03 95740-Q4000 180821', - ], - }, - CAR.KIA_NIRO_EV_2ND_GEN: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00SG2EMFC AT EUR LHD 1.01 1.09 99211-AT000 220801', - b'\xf1\x00SG2EMFC AT USA LHD 1.01 1.09 99211-AT000 220801', - ], - }, - CAR.KIA_NIRO_PHEV: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91", - b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00', - b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00', - b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92', - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL2&[\xc3\x01', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00DE MDPS C 1.00 1.09 56310G5301\x00 4DEHC109', - b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00DEP MFC AT USA LHD 1.00 1.01 95740-G5010 170424', - b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 95740-G5010 170117', - b'\xf1\x00DEP MFC AT USA LHD 1.00 1.05 99211-G5000 190826', - ], - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00DEhe SCC H-CUP 1.01 1.02 96400-G5100 ', - b'\xf1\x00DEhe SCC F-CUP 1.00 1.02 99110-G5100 ', - ], - }, - CAR.KIA_NIRO_PHEV_2022: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 99211-G5500 210428', - ], - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00DEhe SCC F-CUP 1.00 1.00 99110-G5600 ', - ], - }, - CAR.KIA_NIRO_HEV_2021: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\x00\x00\x00\x00', - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\xb9\xd3\xfaW', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00DEH MFC AT USA LHD 1.00 1.07 99211-G5000 201221', - b'\xf1\x00DEH MFC AT USA LHD 1.00 1.00 99211-G5500 210428', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00DEhe SCC FHCUP 1.00 1.00 99110-G5600 ', - ], - }, - CAR.KIA_SELTOS: { - (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x8799110Q5100\xf1\000SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 ',], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x8758910-Q5450\xf1\000SP ESC \a 101\031\t\005 58910-Q5450', - b'\xf1\x8758910-Q5450\xf1\000SP ESC \t 101\031\t\005 58910-Q5450', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81616D2051\000\000\000\000\000\000\000\000', - b'\xf1\x81616D5051\000\000\000\000\000\000\000\000', - b'\001TSP2KNL06F100J0K', - b'\001TSP2KNL06F200J0K', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\000SP2 MDPS C 1.00 1.04 56300Q5200 ', - b'\xf1\000SP2 MDPS C 1.01 1.05 56300Q5200 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\000SP2 MFC AT USA LHD 1.00 1.04 99210-Q5000 191114', - b'\xf1\000SP2 MFC AT USA LHD 1.00 1.05 99210-Q5000 201012', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87CZLUB49370612JF7h\xa8y\x87\x99\xa7hv\x99\x97fv\x88\x87x\x89x\x96O\xff\x88\xff\xff\xff.@\xf1\x816V2C2051\000\000\xf1\0006V2B0_C2\000\0006V2C2051\000\000CSP4N20NS3\000\000\000\000', - b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\000T0190XBL T01950A1 DSP2T16X4X950NS6\xd30\xa5\xb9', - b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\000T0190XBL T01950A1 DSP2T16X4X950NS8\r\xfe\x9c\x8b', - ], - }, - CAR.KIA_OPTIMA_G4: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4100 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6J0051\x00\x00\xf1\x006T6J0_C2\x00\x006T6J0051\x00\x00TJF0T20NSB\x00\x00\x00\x00', - ], - }, - CAR.KIA_OPTIMA_G4_FL: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180', - b"\xf1\x00JF ESC \t 11 \x18\x03' 58920-D5260", - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32', - b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', - b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', - b'\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', - b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', - b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', - b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', - b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', - b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', - b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4', - ], - }, - CAR.KIA_OPTIMA_H: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JFhe SCC FNCUP 1.00 1.00 96400-A8000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711', - ], - }, - CAR.KIA_OPTIMA_H_G4_FL: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JFhe SCC FHCUP 1.00 1.01 99110-A8500 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JFH MFC AT KOR LHD 1.00 1.01 95895-A8200 180323', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.ELANTRA: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31', - b'\xf1\x00AD LKAS AT USA LHD 1.01 1.01 95895-F2000 251', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD(\xfcA\x9d', - b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD\x00\x00\x00\x00', - b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\x00\x00\x00\x00', - b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\xc5\x92\x9e\x8a', - b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20SS2.~\x90\x87', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8161698051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x8161657051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816165D051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816165E051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00AD ESC \x11 11 \x18\x05\x06 58910-F2840', - b'\xf1\x00AD ESC \x11 12 \x15\t\t 58920-F2810', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AD__ SCC H-CUP 1.00 1.00 99110-F2100 ', - b'\xf1\x00AD__ SCC H-CUP 1.00 1.01 96400-F2100 ', - ], - }, - CAR.ELANTRA_GT_I30: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', - b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e', - b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104', - b'\xf1\x00PD MDPS C 1.00 1.00 56310G3300\x00 4PDDC100', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350', - b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ', - b'\xf1\x00PD__ SCC FNCUP 1.01 1.00 96400-G3000 ', - ], - }, - CAR.ELANTRA_2021: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', - b'\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', - b'\xf1\x00CN7_ SCC FNCUP 1.00 1.01 99110-AA000 ', - b'\xf1\x8799110AA000\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', - b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106', - b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819', - b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AA000 200819', - b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.01 99210-AB000 210205', - b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.06 99210-AA000 220111', - b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AB000 220426', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800', - b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800', - b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800', - b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\xe8\xba\xce\xfa', - b'\xf1\x87CXMQFM2135005JB2E\xb9\x89\x98W\xa9y\x97h\xa9\x98\x99wxvwh\x87\177\xffx\xff\xff\xff,,\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - b'\xf1\x87CXMQFM1916035JB2\x88vvgg\x87Wuwgev\xa9\x98\x88\x98h\x99\x9f\xffh\xff\xff\xff\xa5\xee\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - b'\xf1\x87CXLQF40189012JL2f\x88\x86\x88\x88vUex\xb8\x88\x88\x88\x87\x88\x89fh?\xffz\xff\xff\xff\x08z\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - b'\xf1\x87CXMQFM2728305JB2E\x97\x87xw\x87vwgw\x84x\x88\x88w\x89EI\xbf\xff{\xff\xff\xff\xe6\x0e\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - b'\xf1\x87CXMQFM3806705JB2\x89\x87wwx\x88g\x86\x99\x87\x86xwwv\x88yv\x7f\xffz\xff\xff\xffV\x15\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x82CNCWD0AMFCXCSFFA', - b'\xf1\x81HM6M2_0a0_FF0', - b'\xf1\x82CNCVD0AMFCXCSFFB', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0', - ], - }, - CAR.ELANTRA_HEV_2021: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.05 99210-AA000 210930', - b'\xf1\000CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819', - b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.07 99210-AA000 220426', - b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.08 99210-AA000 220728', - b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.09 99210-AA000 221108', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', - b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103', - b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103', - b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102', - b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa', - b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\000\000\000\000', - b'\xf1\x816U3K3051\000\000\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa', - b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00', - b'\xf1\x006U3L0_C2\x00\x006U3K9051\x00\x00HCN0G16NS1\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00', - ] - }, - CAR.KONA_HEV: { - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00OS IEB \x01 104 \x11 58520-CM000', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00OShe SCC FNCUP 1.00 1.01 99110-CM000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00OS MDPS C 1.00 1.00 56310CM030\x00 4OHDC100', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HOS0G16DS1\x16\xc7\xb0\xd9', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', - ] - }, - CAR.SONATA_HYBRID: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', - b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', - b'\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', - b'\xf1\x8799110L5000\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102', - b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102', - b'\xf1\x8756310-L5450\xf1\000DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103', - b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', - b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.04 99211-L1000 191016', - b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.05 99211-L1000 201109', - b'\xf1\000DN8HMFC AT USA LHD 1.00 1.06 99211-L1000 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0x7c4, None): [ - b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01' - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330' - ], - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00UM__ SCC F-CUP 1.00 1.00 96400-C6500 ' - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87LDKUAA0348164HE3\x87www\x87www\x88\x88\xa8\x88w\x88\x97xw\x88\x97x\x86o\xf8\xff\x87f\x7f\xff\x15\xe0\xf1\x81U811\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U811\x00\x00\x00\x00\x00\x00TUM4G33NL3V|DG' - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00' - ], - }, - CAR.KIA_SORENTO_PHEV_4TH_GEN: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00MQhe SCC FHCUP 1.00 1.06 99110-P4000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217', - b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.10 99210-P2000 210406', - ], - }, - CAR.KIA_EV6: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', - ], 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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', - b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401', - b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110', - ], - }, - CAR.IONIQ_6: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CE MFC AT EUR LHD 1.00 1.03 99211-KL000 221011', - b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213', - ], - }, - CAR.TUCSON_4TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', - b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', - ], - }, - CAR.TUCSON_HYBRID_4TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W', - b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', - b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', - b'\xf1\x00NX4__ 1.00 1.01 99110-N9000 ', - ], - }, - CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665', - b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ', - ], - }, - CAR.SANTA_CRUZ_1ST_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NX4__ 1.00 1.00 99110-K5000 ', - b'\xf1\x00NX4__ 1.01 1.00 99110-K5000 ', - ], - }, - CAR.KIA_SPORTAGE_5TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662', - b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663', - b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ', - b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ', - b'\xf1\x00NQ5__ 1.01 1.03 99110-P1000 ', - ], - }, - CAR.GENESIS_GV70_1ST_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.04 99211-AR000 210204', - b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR200 220125', - b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR300 220125', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ', - b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR200 ', - b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR300 ', - ], - }, - CAR.GENESIS_GV60_EV_1ST_GEN: { - (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 ', - ], - }, - 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', - b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.00 99210-R5100 221019', - ], - (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 ', - b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.08 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 ', - ], - }, - CAR.GENESIS_GV80: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JX1 MFC AT USA LHD 1.00 1.02 99211-T6110 220513', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JX1_ SCC FHCUP 1.00 1.01 99110-T6100 ', - ], - }, - CAR.KIA_CARNIVAL_4TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.06 99210-R0000 220221', - b'\xf1\x00KA4CMFC AT CHN LHD 1.00 1.01 99211-I4000 210525', - b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.00 99210-R0100 230105', - b'\xf1\x00KA4 MFC AT KOR LHD 1.00 1.06 99210-R0000 220221', - b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.05 99210-R0000 201221', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00KA4_ SCC FHCUP 1.00 1.03 99110-R0000 ', - b'\xf1\x00KA4c SCC FHCUP 1.00 1.01 99110-I4000 ', - b'\xf1\x00KA4_ SCC FHCUP 1.00 1.00 99110-R0100 ', - ], - }, - CAR.KIA_SORENTO_HEV_4TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.12 99210-P2000 230331', - b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217', - b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.04 99210-P2000 200330', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ', - b'\xf1\x00MQhe SCC FHCUP 1.00 1.04 99110-P4000 ', - ], - }, - CAR.KIA_K8_HEV_1ST_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00GL3HMFC AT KOR LHD 1.00 1.03 99211-L8000 210907', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00GL3_ RDR ----- 1.00 1.02 99110-L8000 ', - ], - }, - CAR.STARIA_4TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00US4 MFC AT KOR LHD 1.00 1.06 99211-CG000 230524', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00US4_ RDR ----- 1.00 1.00 99110-CG000 ', - ], - }, -} CHECKSUM = { "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, @@ -2159,15 +540,13 @@ CAN_GEARS = { "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, - CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, +CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN, CAR.STARIA_4TH_GEN} # The radar does SCC on these cars when HDA I, rather than the camera -CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, - CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN} +CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN} # These CAN FD cars do not accept communication control to disable the ADAS ECU, # responds with 0x7F2822 - 'conditions not correct' @@ -2178,10 +557,8 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } # these cars use a different gas signal HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, - CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, - CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN, - CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN, - CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022} + CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KIA_K5_HEV_2020, + CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022} EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN} @@ -2246,14 +623,11 @@ DBC = { CAR.KIA_EV6: dbc_dict('hyundai_canfd', None), CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None), - CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.IONIQ_5: dbc_dict('hyundai_canfd', None), CAR.IONIQ_6: dbc_dict('hyundai_canfd', None), CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None), - CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None), CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None), - CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None), diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 1b68b1dbc..b7357d2c9 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -1,14 +1,16 @@ -import yaml +import json import os import time import numpy as np +import tomllib from abc import abstractmethod, ABC -from typing import Any, Dict, Optional, Tuple, List, Callable +from enum import StrEnum +from typing import Any, Dict, Optional, Tuple, List, Callable, NamedTuple from cereal import car from openpilot.common.basedir import BASEDIR from openpilot.common.conversions import Conversions as CV -from openpilot.common.kalman.simple_kalman import KF1D, get_kalman_gain +from openpilot.common.simple_kalman import KF1D, get_kalman_gain from openpilot.common.numpy_fast import clip from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG @@ -19,28 +21,37 @@ from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel ButtonType = car.CarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter EventName = car.CarEvent.EventName -TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, bool], float] MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS ACCEL_MAX = 2.0 ACCEL_MIN = -3.5 FRICTION_THRESHOLD = 0.3 -TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml') -TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml') -TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml') +TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml') +TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml') +TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.toml') + + +class LatControlInputs(NamedTuple): + lateral_acceleration: float + roll_compensation: float + vego: float + aego: float + + +TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float] def get_torque_params(candidate): - with open(TORQUE_SUBSTITUTE_PATH) as f: - sub = yaml.load(f, Loader=yaml.CSafeLoader) + with open(TORQUE_SUBSTITUTE_PATH, 'rb') as f: + sub = tomllib.load(f) if candidate in sub: candidate = sub[candidate] - with open(TORQUE_PARAMS_PATH) as f: - params = yaml.load(f, Loader=yaml.CSafeLoader) - with open(TORQUE_OVERRIDE_PATH) as f: - override = yaml.load(f, Loader=yaml.CSafeLoader) + with open(TORQUE_PARAMS_PATH, 'rb') as f: + params = tomllib.load(f) + with open(TORQUE_OVERRIDE_PATH, 'rb') as f: + override = tomllib.load(f) # Ensure no overlap if sum([candidate in x for x in [sub, params, override]]) > 1: @@ -124,17 +135,16 @@ class CarInterfaceBase(ABC): @staticmethod def get_steer_feedforward_default(desired_angle, v_ego): # Proportional to realigning tire momentum: lateral acceleration. - # TODO: something with lateralPlan.curvatureRates return desired_angle * (v_ego**2) def get_steer_feedforward_function(self): return self.get_steer_feedforward_default - def torque_from_lateral_accel_linear(self, lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning, - lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float: + def torque_from_lateral_accel_linear(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, + lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float: # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction) friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation) - return (lateral_accel_value / float(torque_params.latAccelFactor)) + friction + return (latcontrol_inputs.lateral_acceleration / float(torque_params.latAccelFactor)) + friction def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: return self.torque_from_lateral_accel_linear @@ -346,7 +356,7 @@ class CarStateBase(ABC): def update_speed_kf(self, v_ego_raw): if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed - self.v_ego_kf.x = [[v_ego_raw], [0.0]] + self.v_ego_kf.set_x([[v_ego_raw], [0.0]]) v_ego_x = self.v_ego_kf.update(v_ego_raw) return float(v_ego_x[0]), float(v_ego_x[1]) @@ -433,9 +443,14 @@ class CarStateBase(ABC): return None +INTERFACE_ATTR_FILE = { + "FINGERPRINTS": "fingerprints", + "FW_VERSIONS": "fingerprints", +} + # interface-specific helpers -def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> Dict[str, Any]: +def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> Dict[str | StrEnum, Any]: # read all the folders in selfdrive/car and return a dict where: # - keys are all the car models or brand names # - values are attr values from all car folders @@ -443,7 +458,7 @@ def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: boo for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]): try: brand_name = car_folder.split('/')[-1] - brand_values = __import__(f'openpilot.selfdrive.car.{brand_name}.values', fromlist=[attr]) + brand_values = __import__(f'openpilot.selfdrive.car.{brand_name}.{INTERFACE_ATTR_FILE.get(attr, "values")}', fromlist=[attr]) if hasattr(brand_values, attr) or not ignore_none: attr_data = getattr(brand_values, attr, None) else: @@ -459,3 +474,35 @@ def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: boo pass return result + + +class NanoFFModel: + def __init__(self, weights_loc: str, platform: str): + self.weights_loc = weights_loc + self.platform = platform + self.load_weights(platform) + + def load_weights(self, platform: str): + with open(self.weights_loc, 'r') as fob: + self.weights = {k: np.array(v) for k, v in json.load(fob)[platform].items()} + + def relu(self, x: np.ndarray): + return np.maximum(0.0, x) + + def forward(self, x: np.ndarray): + assert x.ndim == 1 + x = (x - self.weights['input_norm_mat'][:, 0]) / (self.weights['input_norm_mat'][:, 1] - self.weights['input_norm_mat'][:, 0]) + x = self.relu(np.dot(x, self.weights['w_1']) + self.weights['b_1']) + x = self.relu(np.dot(x, self.weights['w_2']) + self.weights['b_2']) + x = self.relu(np.dot(x, self.weights['w_3']) + self.weights['b_3']) + x = np.dot(x, self.weights['w_4']) + self.weights['b_4'] + return x + + def predict(self, x: List[float], do_sample: bool = False): + x = self.forward(np.array(x)) + if do_sample: + pred = np.random.laplace(x[0], np.exp(x[1]) / self.weights['temperature']) + else: + pred = x[0] + pred = pred * (self.weights['output_norm_mat'][1] - self.weights['output_norm_mat'][0]) + self.weights['output_norm_mat'][0] + return pred diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 696935fd3..678fe9ea4 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -5,11 +5,14 @@ from functools import partial import cereal.messaging as messaging from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.selfdrive.car.fw_query_definitions import AddrType from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr class IsoTpParallelQuery: - def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addrs=None, debug=False, response_pending_timeout=10): + def __init__(self, sendcan: messaging.PubSocket, logcan: messaging.SubSocket, bus: int, addrs: list[int] | list[AddrType], + request: list[bytes], response: list[bytes], response_offset: int = 0x8, + functional_addrs: list[int] | None = None, debug: bool = False, response_pending_timeout: float = 10) -> None: self.sendcan = sendcan self.logcan = logcan self.bus = bus @@ -24,7 +27,7 @@ class IsoTpParallelQuery: assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}" self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs} - self.msg_buffer = defaultdict(list) + self.msg_buffer: dict[int, list[tuple[int, int, bytes, int]]] = defaultdict(list) def rx(self): """Drain can socket and sort messages into buffers based on address""" @@ -63,7 +66,7 @@ class IsoTpParallelQuery: messaging.drain_sock_raw(self.logcan) self.msg_buffer = defaultdict(list) - def _create_isotp_msg(self, tx_addr, sub_addr, rx_addr): + def _create_isotp_msg(self, tx_addr: int, sub_addr: int | None, rx_addr: int): can_client = CanClient(self._can_tx, partial(self._can_rx, rx_addr, sub_addr=sub_addr), tx_addr, rx_addr, self.bus, sub_addr=sub_addr, debug=self.debug) @@ -73,7 +76,7 @@ class IsoTpParallelQuery: # as well as reduces chances we process messages from previous queries return IsoTpMessage(can_client, timeout=0, separation_time=0.01, debug=self.debug, max_len=max_len) - def get_data(self, timeout, total_timeout=60.): + def get_data(self, timeout: float, total_timeout: float = 60.) -> dict[AddrType, bytes]: self._drain_rx() # Create message objects diff --git a/selfdrive/car/mazda/fingerprints.py b/selfdrive/car/mazda/fingerprints.py new file mode 100644 index 000000000..292f40793 --- /dev/null +++ b/selfdrive/car/mazda/fingerprints.py @@ -0,0 +1,260 @@ +from cereal import car +from openpilot.selfdrive.car.mazda.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.CX5_2022: { + (Ecu.eps, 0x730, None): [ + b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PG69-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.CX5: { + (Ecu.eps, 0x730, None): [ + b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PA53-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PAR4-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2E-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2F-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2K-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX42-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX68-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFA-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SHKT-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KBJ5-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KL2K-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KN0W-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PA66-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX39-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX39-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB1-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB1-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB1-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.CX9: { + (Ecu.eps, 0x730, None): [ + b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-L-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PX23-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX24-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM4-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXN8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXN8-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD7-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK80-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK80-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK79-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK79-437K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TM53-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TN40-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PXM4-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD5-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD5-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD6-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.MAZDA3: { + (Ecu.eps, 0x730, None): [ + b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KR11-3210X-K-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'P5JD-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PY2P-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYJW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKC-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKE-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'B63C-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GHP9-67Y10---41\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'B45A-437AS-0-08\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-Q\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'P52G-21PS1-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PY2S-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKA-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKE-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.MAZDA6: { + (Ecu.eps, 0x730, None): [ + b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GFBC-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX4F-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GDDM-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH3-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.CX9_2021: { + (Ecu.eps, 0x730, None): [ + b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PXGW-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXGW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, +} diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 4dc5726f3..b43ab3df6 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -67,279 +67,15 @@ class Buttons: FW_QUERY_CONFIG = FwQueryConfig( requests=[ - Request( - [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], - [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], - ), - # Log responses on powertrain bus + # TODO: check data to ensure ABS does not skip ISO-TP frames on bus 0 Request( [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], bus=0, - logging=True, ), ], ) -FW_VERSIONS = { - CAR.CX5_2022: { - (Ecu.eps, 0x730, None): [ - b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PG69-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.CX5: { - (Ecu.eps, 0x730, None): [ - b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KJ01-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'PA53-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PAR4-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFA-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2E-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2F-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2H-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2H-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2K-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX42-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX68-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'SHKT-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KBJ5-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KL2K-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KN0W-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'B61L-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PA66-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX39-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX39-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB1-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB1-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB1-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB2-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB2-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB2-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB2-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - - CAR.CX9 : { - (Ecu.eps, 0x730, None): [ - b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KJ01-3210X-L-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'PX23-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX24-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM4-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXN8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXN8-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYD7-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYD8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFM-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFM-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'TK80-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'TK80-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'TK79-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'TK79-437K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'TM53-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'TN40-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'PXM4-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFM-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFM-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYD5-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYD5-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYD6-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYD6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - - CAR.MAZDA3: { - (Ecu.eps, 0x730, None): [ - b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KR11-3210X-K-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - - ], - (Ecu.engine, 0x7e0, None): [ - b'P5JD-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PY2P-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYJW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYKC-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYKE-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'B63C-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GHP9-67Y10---41\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'B45A-437AS-0-08\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'B61L-67XK2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-Q\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'PY2S-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'P52G-21PS1-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYKA-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYKE-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - - CAR.MAZDA6: { - (Ecu.eps, 0x730, None): [ - b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GFBC-3210X-A-00\000\000\000\000\000\000\000\000\000', - ], - (Ecu.engine, 0x7e0, None): [ - b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX4F-188K2-D\000\000\000\000\000\000\000\000\000\000\000\000', - b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-E\000\000\000\000\000\000\000\000\000\000\000\000', - ], - (Ecu.abs, 0x760, None): [ - b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GDDM-437K2-A\000\000\000\000\000\000\000\000\000\000\000\000', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-P\000\000\000\000\000\000\000\000\000\000\000\000', - ], - (Ecu.transmission, 0x7e1, None): [ - b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYH3-21PS1-D\000\000\000\000\000\000\000\000\000\000\000\000', - b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - - CAR.CX9_2021 : { - (Ecu.eps, 0x730, None): [ - b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'PXGW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXGW-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - } -} - DBC = { CAR.CX5: dbc_dict('mazda_2017', None), diff --git a/selfdrive/car/nissan/fingerprints.py b/selfdrive/car/nissan/fingerprints.py new file mode 100644 index 000000000..69e88be89 --- /dev/null +++ b/selfdrive/car/nissan/fingerprints.py @@ -0,0 +1,104 @@ +# ruff: noqa: E501 +from cereal import car +from openpilot.selfdrive.car.nissan.values import CAR + +Ecu = car.CarParams.Ecu + +FINGERPRINTS = { + CAR.XTRAIL: [{ + 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8 + }, + { + 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3, 1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8 + }], + CAR.LEAF: [{ + 2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8 + }, + { + 2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8 + }], + CAR.LEAF_IC: [{ + 2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1792: 8, 1821: 8, 1822: 8, 1837: 8, 1838: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8 + }], + CAR.ROGUE: [{ + 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + }], + CAR.ALTIMA: [{ + 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + }], +} + +FW_VERSIONS = { + CAR.ALTIMA: { + (Ecu.fwdCamera, 0x707, None): [ + b'284N86CA1D', + ], + (Ecu.eps, 0x742, None): [ + b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80', + ], + (Ecu.engine, 0x7e0, None): [ + b'237109HE2B', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U29HE0A', + ], + }, + CAR.LEAF: { + (Ecu.abs, 0x740, None): [ + b'476606WK9B', + ], + (Ecu.eps, 0x742, None): [ + b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.fwdCamera, 0x707, None): [ + b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U26WK0C', + ], + }, + CAR.LEAF_IC: { + (Ecu.fwdCamera, 0x707, None): [ + b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', + b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', + b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80', + ], + (Ecu.abs, 0x740, None): [ + b'476605SD2E', + b'476605SH1D', + b'476605SK2A', + ], + (Ecu.eps, 0x742, None): [ + b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80', + b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80', + b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U25SF0C', + b'284U25SH3A', + b'284U25SK2D', + ], + }, + CAR.XTRAIL: { + (Ecu.fwdCamera, 0x707, None): [ + b'284N86FR2A', + ], + (Ecu.abs, 0x740, None): [ + b'6FU0AD\x11\x02\x00\x02e\x95e\x80iQ#\x01\x00\x00\x00\x00\x00\x80', + b'6FU1BD\x11\x02\x00\x02e\x95e\x80iX#\x01\x00\x00\x00\x00\x00\x80', + ], + (Ecu.eps, 0x742, None): [ + b'6FP2A\x99A\x05\x02N123F\x18\x02\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.combinationMeter, 0x743, None): [ + b'6FR2A\x18B\x05\x17\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.engine, 0x7e0, None): [ + b'6FR9A\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', + b'6FU9B\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U26FR0E', + ], + }, +} diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index 474cb15e7..d064ce894 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -1,4 +1,3 @@ -# ruff: noqa: E501 from dataclasses import dataclass, field from enum import StrEnum from typing import Dict, List, Optional, Union @@ -46,41 +45,6 @@ CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = { CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])), } -FINGERPRINTS = { - CAR.XTRAIL: [ - { - 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8 - }, - { - 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3, 1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8 - }, - ], - CAR.LEAF: [ - { - 2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8 - }, - # 2020 Leaf SV Plus - { - 2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8 - }, - ], - CAR.LEAF_IC: [ - { - 2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1792: 8, 1821: 8, 1822: 8, 1837: 8, 1838: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8 - }, - ], - CAR.ROGUE: [ - { - 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }, - ], - CAR.ALTIMA: [ - { - 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }, - ] -} - # Default diagnostic session NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81]) NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x81]) @@ -95,104 +59,37 @@ NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83' NISSAN_RX_OFFSET = 0x20 FW_QUERY_CONFIG = FwQueryConfig( - requests=[ + requests=[request for bus, logging in ((0, False), (1, True)) for request in [ Request( [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], + bus=bus, + logging=logging, ), Request( [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], rx_offset=NISSAN_RX_OFFSET, + bus=bus, + logging=logging, ), # Rogue's engine solely responds to this Request( [NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP], + bus=bus, + logging=logging, ), Request( [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], rx_offset=NISSAN_RX_OFFSET, + bus=bus, + logging=logging, ), - ], + ]], ) -FW_VERSIONS = { - CAR.ALTIMA: { - (Ecu.fwdCamera, 0x707, None): [ - b'284N86CA1D', - ], - (Ecu.eps, 0x742, None): [ - b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80', - ], - (Ecu.engine, 0x7e0, None): [ - b'237109HE2B', - ], - (Ecu.gateway, 0x18dad0f1, None): [ - b'284U29HE0A', - ], - }, - CAR.LEAF: { - (Ecu.abs, 0x740, None): [ - b'476606WK9B', - ], - (Ecu.eps, 0x742, None): [ - b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80', - ], - (Ecu.fwdCamera, 0x707, None): [ - b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80', - ], - (Ecu.gateway, 0x18dad0f1, None): [ - b'284U26WK0C', - ], - }, - CAR.LEAF_IC: { - (Ecu.fwdCamera, 0x707, None): [ - b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', - b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80', - b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', - ], - (Ecu.abs, 0x740, None): [ - b'476605SH1D', - b'476605SK2A', - b'476605SD2E', - ], - (Ecu.eps, 0x742, None): [ - b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80', - b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80', - b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80', - ], - (Ecu.gateway, 0x18dad0f1, None): [ - b'284U25SH3A', - b'284U25SK2D', - b'284U25SF0C', - ], - }, - CAR.XTRAIL: { - (Ecu.fwdCamera, 0x707, None): [ - b'284N86FR2A', - ], - (Ecu.abs, 0x740, None): [ - b'6FU1BD\x11\x02\x00\x02e\x95e\x80iX#\x01\x00\x00\x00\x00\x00\x80', - b'6FU0AD\x11\x02\x00\x02e\x95e\x80iQ#\x01\x00\x00\x00\x00\x00\x80', - ], - (Ecu.eps, 0x742, None): [ - b'6FP2A\x99A\x05\x02N123F\x18\x02\x00\x00\x00\x00\x00\x00\x00\x80', - ], - (Ecu.combinationMeter, 0x743, None): [ - b'6FR2A\x18B\x05\x17\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', - ], - (Ecu.engine, 0x7e0, None): [ - b'6FU9B\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', - b'6FR9A\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', - ], - (Ecu.gateway, 0x18dad0f1, None): [ - b'284U26FR0E', - ], - }, -} - DBC = { CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None), CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None), diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py new file mode 100644 index 000000000..ad8ebe87c --- /dev/null +++ b/selfdrive/car/subaru/fingerprints.py @@ -0,0 +1,547 @@ +from cereal import car +from openpilot.selfdrive.car.subaru.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.ASCENT: { + (Ecu.abs, 0x7b0, None): [ + b'\xa5 \x19\x02\x00', + b'\xa5 !\x02\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\x05\xc0\xd0\x00', + b'\x85\xc0\xd0\x00', + b'\x95\xc0\xd0\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00d\xb9\x00\x00\x00\x00', + b'\x00\x00d\xb9\x1f@ \x10', + b'\x00\x00e@\x00\x00\x00\x00', + b'\x00\x00e@\x1f@ $', + b"\x00\x00e~\x1f@ '", + ], + (Ecu.engine, 0x7e0, None): [ + b'\xbb,\xa0t\x07', + b'\xd1,\xa0q\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x00\xfe\xf7\x00\x00', + b'\x01\xfe\xf7\x00\x00', + b'\x01\xfe\xf9\x00\x00', + b'\x01\xfe\xfa\x00\x00', + ], + }, + CAR.ASCENT_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\xa5 #\x03\x00', + ], + (Ecu.eps, 0x746, None): [ + b'%\xc0\xd0\x11', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x05!\x08\x1dK\x05!\x08\x01/', + ], + (Ecu.engine, 0x7a2, None): [ + b'\xe5,\xa0P\x07', + ], + (Ecu.transmission, 0x7a3, None): [ + b'\x04\xfe\xf3\x00\x00', + ], + }, + CAR.LEGACY: { + (Ecu.abs, 0x7b0, None): [ + b'\xa1 \x02\x01', + b'\xa1 \x02\x02', + b'\xa1 \x03\x03', + b'\xa1 \x04\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\x9b\xc0\x11\x00', + b'\x9b\xc0\x11\x02', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00e\x80\x00\x1f@ \x19\x00', + b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xde"a0\x07', + b'\xde,\xa0@\x07', + b'\xe2"aq\x07', + b'\xe2,\xa0@\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xa5\xf6\x05@\x00', + b'\xa5\xfe\xc7@\x00', + b'\xa7\xf6\x04@\x00', + b'\xa7\xfe\xc4@\x00', + ], + }, + CAR.IMPREZA: { + (Ecu.abs, 0x7b0, None): [ + b'z\x84\x19\x90\x00', + b'z\x94\x08\x90\x00', + b'z\x94\x08\x90\x01', + b'z\x94\x0c\x90\x00', + b'z\x94\x0c\x90\x01', + b'z\x94.\x90\x00', + b'z\x94?\x90\x00', + b'z\x9c\x19\x80\x01', + b'\xa2 \x185\x00', + b'\xa2 \x193\x00', + b'\xa2 \x194\x00', + b'\xa2 \x19`\x00', + ], + (Ecu.eps, 0x746, None): [ + b'z\xc0\x00\x00', + b'z\xc0\x04\x00', + b'z\xc0\x08\x00', + b'z\xc0\n\x00', + b'z\xc0\x0c\x00', + b'\x8a\xc0\x00\x00', + b'\x8a\xc0\x10\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\xf4\x00\x00\x00\x00', + b'\x00\x00c\xf4\x1f@ \x07', + b'\x00\x00d)\x00\x00\x00\x00', + b'\x00\x00d)\x1f@ \x07', + b'\x00\x00dd\x00\x00\x00\x00', + b'\x00\x00dd\x1f@ \x0e', + b'\x00\x00d\xb5\x1f@ \x0e', + b'\x00\x00d\xdc\x00\x00\x00\x00', + b'\x00\x00d\xdc\x1f@ \x0e', + b'\x00\x00e\x02\x1f@ \x14', + b'\x00\x00e\x1c\x00\x00\x00\x00', + b'\x00\x00e\x1c\x1f@ \x14', + b'\x00\x00e+\x00\x00\x00\x00', + b'\x00\x00e+\x1f@ \x14', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xaa\x00Bu\x07', + b'\xaa\x01bt\x07', + b'\xaa!`u\x07', + b'\xaa!au\x07', + b'\xaa!av\x07', + b'\xaa!aw\x07', + b'\xaa!dq\x07', + b'\xaa!ds\x07', + b'\xaa!dt\x07', + b'\xaaafs\x07', + b'\xbe!as\x07', + b'\xbe!at\x07', + b'\xbeacr\x07', + b'\xc5!`r\x07', + b'\xc5!`s\x07', + b'\xc5!ap\x07', + b'\xc5!ar\x07', + b'\xc5!as\x07', + b'\xc5!dr\x07', + b'\xc5!ds\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xe3\xd0\x081\x00', + b'\xe3\xd5\x161\x00', + b'\xe3\xe5F1\x00', + b'\xe3\xf5\x06\x00\x00', + b'\xe3\xf5\x07\x00\x00', + b'\xe3\xf5C\x00\x00', + b'\xe3\xf5F\x00\x00', + b'\xe3\xf5G\x00\x00', + b'\xe4\xe5\x061\x00', + b'\xe4\xf5\x02\x00\x00', + b'\xe4\xf5\x07\x00\x00', + b'\xe5\xf5\x04\x00\x00', + b'\xe5\xf5$\x00\x00', + b'\xe5\xf5B\x00\x00', + ], + }, + CAR.IMPREZA_2020: { + (Ecu.abs, 0x7b0, None): [ + b'\xa2 \x193\x00', + b'\xa2 \x194\x00', + b'\xa2 `\x00', + b'\xa2 !3\x00', + b'\xa2 !`\x00', + b'\xa2 !i\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\n\xc0\x04\x00', + b'\n\xc0\x04\x01', + b'\x9a\xc0\x00\x00', + b'\x9a\xc0\x04\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00eb\x1f@ "', + b'\x00\x00eq\x00\x00\x00\x00', + b'\x00\x00eq\x1f@ "', + b'\x00\x00e\x8f\x00\x00\x00\x00', + b'\x00\x00e\x8f\x1f@ )', + b'\x00\x00e\x92\x00\x00\x00\x00', + b'\x00\x00e\xa4\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xca!`0\x07', + b'\xca!`p\x07', + b'\xca!ap\x07', + b'\xca!f@\x07', + b'\xca!fp\x07', + b'\xcc!`p\x07', + b'\xcc!fp\x07', + b'\xcc"f0\x07', + b'\xe6!`@\x07', + b'\xe6!fp\x07', + b'\xe6"f0\x07', + b'\xe6"fp\x07', + b'\xf3"f@\x07', + b'\xf3"fp\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xe6\xf5\x04\x00\x00', + b'\xe6\xf5$\x00\x00', + b'\xe6\xf5D0\x00', + b'\xe7\xf5\x04\x00\x00', + b'\xe7\xf5D0\x00', + b'\xe7\xf6B0\x00', + b'\xe9\xf5"\x00\x00', + b'\xe9\xf5B0\x00', + b'\xe9\xf6B0\x00', + b'\xe9\xf6F0\x00', + ], + }, + CAR.CROSSTREK_HYBRID: { + (Ecu.abs, 0x7b0, None): [ + b'\xa2 \x19e\x01', + b'\xa2 !e\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\n\xc2\x01\x00', + b'\x9a\xc2\x01\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00el\x1f@ #', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd7!`@\x07', + b'\xd7!`p\x07', + b'\xf4!`0\x07', + ], + }, + CAR.FORESTER: { + (Ecu.abs, 0x7b0, None): [ + b'\xa3 \x18\x14\x00', + b'\xa3 \x18&\x00', + b'\xa3 \x19\x14\x00', + b'\xa3 \x19&\x00', + b'\xa3 \x14\x00', + b'\xa3 \x14\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\x8d\xc0\x00\x00', + b'\x8d\xc0\x04\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00e!\x00\x00\x00\x00', + b'\x00\x00e!\x1f@ \x11', + b'\x00\x00e^\x00\x00\x00\x00', + b'\x00\x00e^\x1f@ !', + b'\x00\x00e`\x1f@ ', + b'\x00\x00e\x97\x00\x00\x00\x00', + b'\x00\x00e\x97\x1f@ 0', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xb6"`A\x07', + b'\xb6\xa2`A\x07', + b'\xcb"`@\x07', + b'\xcb"`p\x07', + b'\xcf"`0\x07', + b'\xcf"`p\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1a\xe6B1\x00', + b'\x1a\xe6F1\x00', + b'\x1a\xf6B0\x00', + b'\x1a\xf6B`\x00', + b'\x1a\xf6F`\x00', + b'\x1a\xf6b0\x00', + b'\x1a\xf6b`\x00', + ], + }, + CAR.FORESTER_HYBRID: { + (Ecu.abs, 0x7b0, None): [ + b'\xa3 \x19T\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\x8d\xc2\x00\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00eY\x1f@ !', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd2\xa1`r\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1b\xa7@a\x00', + ], + }, + CAR.FORESTER_PREGLOBAL: { + (Ecu.abs, 0x7b0, None): [ + b'm\x97\x14@', + b'}\x97\x14@', + ], + (Ecu.eps, 0x746, None): [ + b'm\xc0\x10\x00', + b'}\xc0\x10\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\xe9\x00\x00\x00\x00', + b'\x00\x00c\xe9\x1f@ \x03', + b'\x00\x00d5\x1f@ \t', + b'\x00\x00d\xd3\x1f@ \t', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xa7"@p\x07', + b'\xa7)\xa0q\x07', + b'\xba"@@\x07', + b'\xba"@p\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1a\xf6F`\x00', + b'\xda\xf2`\x80\x00', + b'\xda\xfd\xe0\x80\x00', + b'\xdc\xf2@`\x00', + b'\xdc\xf2``\x00', + b'\xdc\xf2`\x80\x00', + b'\xdc\xf2`\x81\x00', + ], + }, + CAR.LEGACY_PREGLOBAL: { + (Ecu.abs, 0x7b0, None): [ + b'[\x97D\x00', + b'[\xba\xc4\x03', + b'k\x97D\x00', + b'k\x9aD\x00', + b'{\x97D\x00', + ], + (Ecu.eps, 0x746, None): [ + b'K\xb0\x00\x01', + b'[\xb0\x00\x01', + b'k\xb0\x00\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\x94\x1f@\x10\x08', + b'\x00\x00c\xb7\x1f@\x10\x16', + b'\x00\x00c\xec\x1f@ \x04', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xa0"@q\x07', + b'\xa0+@p\x07', + b'\xab*@r\x07', + b'\xab+@p\x07', + b'\xb4"@0\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbd\xf2\x00`\x00', + b'\xbe\xf2\x00p\x00', + b'\xbe\xfb\xc0p\x00', + b'\xbf\xf2\x00\x80\x00', + b'\xbf\xfb\xc0\x80\x00', + ], + }, + CAR.OUTBACK_PREGLOBAL: { + (Ecu.abs, 0x7b0, None): [ + b'[\xba\xac\x03', + b'[\xf7\xac\x00', + b'[\xf7\xac\x03', + b'[\xf7\xbc\x03', + b'k\x97\xac\x00', + b'k\x9a\xac\x00', + b'{\x97\xac\x00', + b'{\x9a\xac\x00', + ], + (Ecu.eps, 0x746, None): [ + b'K\xb0\x00\x00', + b'K\xb0\x00\x02', + b'[\xb0\x00\x00', + b'k\xb0\x00\x00', + b'{\xb0\x00\x01', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\x90\x1f@\x10\x0e', + b'\x00\x00c\x94\x00\x00\x00\x00', + b'\x00\x00c\x94\x1f@\x10\x08', + b'\x00\x00c\xb7\x1f@\x10\x16', + b'\x00\x00c\xd1\x1f@\x10\x17', + b'\x00\x00c\xec\x1f@ \x04', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xa0"@\x80\x07', + b'\xa0*@q\x07', + b'\xa0*@u\x07', + b'\xa0+@@\x07', + b'\xa0bAq\x07', + b'\xab"@@\x07', + b'\xab"@s\x07', + b'\xab*@@\x07', + b'\xab+@@\x07', + b'\xb4"@0\x07', + b'\xb4"@p\x07', + b'\xb4"@r\x07', + b'\xb4+@p\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbd\xf2@`\x00', + b'\xbd\xf2@\x81\x00', + b'\xbd\xfb\xe0\x80\x00', + b'\xbe\xf2@p\x00', + b'\xbe\xf2@\x80\x00', + b'\xbe\xfb\xe0p\x00', + b'\xbf\xe2@\x80\x00', + b'\xbf\xf2@\x80\x00', + b'\xbf\xfb\xe0b\x00', + ], + }, + CAR.OUTBACK_PREGLOBAL_2018: { + (Ecu.abs, 0x7b0, None): [ + b'\x8b\x97\xac\x00', + b'\x8b\x97\xbc\x00', + b'\x8b\x99\xac\x00', + b'\x8b\x9a\xac\x00', + b'\x9b\x97\xac\x00', + b'\x9b\x97\xbe\x10', + b'\x9b\x9a\xac\x00', + ], + (Ecu.eps, 0x746, None): [ + b'{\xb0\x00\x00', + b'{\xb0\x00\x01', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00df\x1f@ \n', + b'\x00\x00d\x95\x00\x00\x00\x00', + b'\x00\x00d\x95\x1f@ \x0f', + b'\x00\x00d\xfe\x00\x00\x00\x00', + b'\x00\x00d\xfe\x1f@ \x15', + b'\x00\x00e\x19\x1f@ \x15', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xb5"@P\x07', + b'\xb5"@p\x07', + b'\xb5+@@\x07', + b'\xb5b@1\x07', + b'\xb5q\xe0@\x07', + b'\xc4"@0\x07', + b'\xc4+@0\x07', + b'\xc4b@p\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbb\xf2@`\x00', + b'\xbb\xfb\xe0`\x00', + b'\xbc\xaf\xe0`\x00', + b'\xbc\xe2@\x80\x00', + b'\xbc\xf2@\x80\x00', + b'\xbc\xf2@\x81\x00', + b'\xbc\xfb\xe0`\x00', + b'\xbc\xfb\xe0\x80\x00', + ], + }, + CAR.OUTBACK: { + (Ecu.abs, 0x7b0, None): [ + b'\xa1 \x06\x00', + b'\xa1 \x06\x01', + b'\xa1 \x06\x02', + b'\xa1 \x07\x00', + b'\xa1 \x07\x02', + b'\xa1 \x07\x03', + b'\xa1 \x08\x00', + b'\xa1 \x08\x01', + b'\xa1 \x08\x02', + b'\xa1 "\t\x00', + b'\xa1 "\t\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\x1b\xc0\x10\x00', + b'\x9b\xc0\x10\x00', + b'\x9b\xc0\x10\x02', + b'\x9b\xc0 \x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00eJ\x00\x00\x00\x00\x00\x00', + b'\x00\x00eJ\x00\x1f@ \x19\x00', + b'\x00\x00e\x80\x00\x1f@ \x19\x00', + b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', + b'\x00\x00e\x9a\x00\x1f@ 1\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xbc"`@\x07', + b'\xbc"`q\x07', + b'\xbc,\xa0q\x07', + b'\xbc,\xa0u\x07', + b'\xde"`0\x07', + b'\xde,\xa0@\x07', + b'\xe2"`0\x07', + b'\xe2"`p\x07', + b'\xe2"`q\x07', + b'\xe3,\xa0@\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xa5\xf6D@\x00', + b'\xa5\xfe\xf6@\x00', + b'\xa5\xfe\xf7@\x00', + b'\xa5\xfe\xf8@\x00', + b'\xa7\x8e\xf40\x00', + b'\xa7\xf6D@\x00', + b'\xa7\xfe\xf4@\x00', + ], + }, + CAR.FORESTER_2022: { + (Ecu.abs, 0x7b0, None): [ + b'\xa3 !v\x00', + b'\xa3 !x\x00', + b'\xa3 "v\x00', + b'\xa3 "x\x00', + ], + (Ecu.eps, 0x746, None): [ + b'-\xc0\x040', + b'-\xc0%0', + b'=\xc0%\x02', + b'=\xc04\x02', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x04!\x01\x1eD\x07!\x00\x04,', + b'\x04!\x08\x01.\x07!\x08\x022', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd5"`0\x07', + b'\xd5"a0\x07', + b'\xf1"`q\x07', + b'\xf1"aq\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1d\x86B0\x00', + b'\x1d\xf6B0\x00', + b'\x1e\x86B0\x00', + b'\x1e\xf6D0\x00', + ], + }, + CAR.OUTBACK_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\xa1 #\x14\x00', + b'\xa1 #\x17\x00', + ], + (Ecu.eps, 0x746, None): [ + b'+\xc0\x10\x11\x00', + b'+\xc0\x12\x11\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\t!\x08\x046\x05!\x08\x01/', + ], + (Ecu.engine, 0x7a2, None): [ + b'\xed,\xa0q\x07', + b'\xed,\xa2q\x07', + ], + (Ecu.transmission, 0x7a3, None): [ + b'\xa8\x8e\xf41\x00', + b'\xa8\xfe\xf41\x00', + ], + }, +} diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 8a33ce5e2..1296aead5 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -122,7 +122,7 @@ class CarInterface(CarInterfaceBase): ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl: - ret.flags |= SubaruFlags.DISABLE_EYESIGHT + ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value if ret.openpilotLongitudinalControl: ret.longitudinalTuning.kpBP = [0., 5., 35.] diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index b851bcc08..290737c3e 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -48,8 +48,7 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long values["Cruise_Soft_Disable"] = 0 values["Cruise_Fault"] = 0 - if brake_cmd: - values["Cruise_Brake_Active"] = 1 + values["Cruise_Brake_Active"] = brake_cmd if pcm_cancel_cmd: values["Cruise_Cancel"] = 1 @@ -153,14 +152,14 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l values["COUNTER"] = frame % 0x10 - if enabled and long_active: + if long_enabled: values["Cruise_State"] = 0 - values["Cruise_Activated"] = 1 + values["Cruise_Activated"] = enabled values["Cruise_Disengaged"] = 0 values["Car_Follow"] = int(lead_visible) - if long_enabled: values["PCB_Off"] = 1 # AEB is not presevered, so show the PCB_Off on dash + values["LDW_Off"] = 0 values["Cruise_Fault"] = 0 # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts @@ -186,15 +185,12 @@ def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brak if long_enabled: values["Cruise_Brake_Fault"] = 0 + values["Cruise_Activated"] = long_active - if long_active: - values["Cruise_Activated"] = 1 + values["Brake_Pressure"] = brake_value - values["Brake_Pressure"] = brake_value - - if brake_value > 0: - values["Cruise_Brake_Active"] = 1 - values["Cruise_Brake_Lights"] = 1 if brake_value >= 70 else 0 + values["Cruise_Brake_Active"] = brake_value > 0 + values["Cruise_Brake_Lights"] = brake_value >= 70 return packer.make_can_msg("ES_Brake", CanBus.main, values) @@ -204,7 +200,6 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr "Signal1", "Cruise_Fault", "Cruise_RPM", - "Signal2", "Cruise_Activated", "Brake_Lights", "Cruise_Hold", @@ -217,8 +212,7 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr values["Cruise_RPM"] = cruise_rpm values["Cruise_Fault"] = 0 - if long_active: - values["Cruise_Activated"] = 1 + values["Cruise_Activated"] = long_active return packer.make_can_msg("ES_Status", CanBus.main, values) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index a0753d99c..d9d2f78ce 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -137,6 +137,15 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), } +LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023} +GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023} +PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018} +HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID} + +# Cars that temporarily fault when steering angle rate is greater than some threshold. +# Appears to be all torque-based cars produced around 2019 - present +STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER} + SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ @@ -162,577 +171,20 @@ FW_QUERY_CONFIG = FwQueryConfig( [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission], bus=0, - logging=True, ), Request( [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission], bus=1, - logging=True, obd_multiplexing=False, ), ], -) - -FW_VERSIONS = { - CAR.ASCENT: { - (Ecu.abs, 0x7b0, None): [ - b'\xa5 \x19\x02\x00', - b'\xa5 !\002\000', - b'\xf1\x82\xa5 \x19\x02\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x85\xc0\xd0\x00', - b'\005\xc0\xd0\000', - b'\x95\xc0\xd0\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00d\xb9\x1f@ \x10', - b'\000\000e~\037@ \'', - b'\x00\x00e@\x1f@ $', - b'\x00\x00d\xb9\x00\x00\x00\x00', - b'\x00\x00e@\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xbb,\xa0t\a', - b'\xf1\x82\xbb,\xa0t\x87', - b'\xf1\x82\xbb,\xa0t\a', - b'\xf1\x82\xd9,\xa0@\a', - b'\xf1\x82\xd1,\xa0q\x07', - b'\xd1,\xa0q\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\x00\xfe\xf7\x00\x00', - b'\001\xfe\xf9\000\000', - b'\x01\xfe\xf7\x00\x00', - b'\x01\xfe\xfa\x00\x00', - ], - }, - CAR.ASCENT_2023: { - (Ecu.abs, 0x7b0, None): [ - b'\xa5 #\x03\x00', - ], - (Ecu.eps, 0x746, None): [ - b'%\xc0\xd0\x11', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x05!\x08\x1dK\x05!\x08\x01/', - ], - (Ecu.engine, 0x7a2, None): [ - b'\xe5,\xa0P\x07', - ], - (Ecu.transmission, 0x7a3, None): [ - b'\x04\xfe\xf3\x00\x00', - ], - }, - CAR.LEGACY: { - (Ecu.abs, 0x7b0, None): [ - b'\xa1\\ x04\x01', - b'\xa1 \x03\x03', - b'\xa1 \x02\x01', - b'\xa1 \x02\x02', - ], - (Ecu.eps, 0x746, None): [ - b'\x9b\xc0\x11\x00', - b'\x9b\xc0\x11\x02', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00e\x80\x00\x1f@ \x19\x00', - b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xde\"a0\x07', - b'\xe2"aq\x07', - b'\xde,\xa0@\x07', - b'\xe2,\xa0@\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xa5\xf6\x05@\x00', - b'\xa7\xf6\x04@\x00', - b'\xa5\xfe\xc7@\x00', - b'\xa7\xfe\xc4@\x00', - ], - }, - CAR.IMPREZA: { - (Ecu.abs, 0x7b0, None): [ - b'\x7a\x94\x3f\x90\x00', - b'\xa2 \x185\x00', - b'\xa2 \x193\x00', - b'\xa2 \x194\x00', - b'z\x94.\x90\x00', - b'z\x94\b\x90\x01', - b'\xa2 \x19`\x00', - b'z\x94\f\x90\001', - b'z\x9c\x19\x80\x01', - b'z\x94\x08\x90\x00', - b'z\x84\x19\x90\x00', - b'\xf1\x00\xb2\x06\x04', - b'z\x94\x0c\x90\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x7a\xc0\x0c\x00', - b'z\xc0\x08\x00', - b'\x8a\xc0\x00\x00', - b'z\xc0\x04\x00', - b'z\xc0\x00\x00', - b'\x8a\xc0\x10\x00', - b'z\xc0\n\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00\x64\xb5\x1f\x40\x20\x0e', - b'\x00\x00d\xdc\x1f@ \x0e', - b'\x00\x00e\x1c\x1f@ \x14', - b'\x00\x00d)\x1f@ \a', - b'\x00\x00e+\x1f@ \x14', - b'\000\000e+\000\000\000\000', - b'\000\000dd\037@ \016', - b'\000\000e\002\037@ \024', - b'\x00\x00d)\x00\x00\x00\x00', - b'\x00\x00c\xf4\x00\x00\x00\x00', - b'\x00\x00d\xdc\x00\x00\x00\x00', - b'\x00\x00dd\x00\x00\x00\x00', - b'\x00\x00c\xf4\x1f@ \x07', - b'\x00\x00e\x1c\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xaa\x61\x66\x73\x07', - b'\xbeacr\a', - b'\xc5!`r\a', - b'\xaa!ds\a', - b'\xaa!`u\a', - b'\xaa!dq\a', - b'\xaa!dt\a', - b'\xc5!ar\a', - b'\xbe!as\a', - b'\xc5!as\x07', - b'\xc5!ds\a', - b'\xc5!`s\a', - b'\xaa!au\a', - b'\xbe!at\a', - b'\xaa\x00Bu\x07', - b'\xc5!dr\x07', - b'\xaa!aw\x07', - b'\xaa!av\x07', - b'\xaa\x01bt\x07', - b'\xc5!ap\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xe3\xe5\x46\x31\x00', - b'\xe4\xe5\x061\x00', - b'\xe5\xf5\x04\x00\x00', - b'\xe3\xf5G\x00\x00', - b'\xe3\xf5\a\x00\x00', - b'\xe3\xf5C\x00\x00', - b'\xe5\xf5B\x00\x00', - b'\xe5\xf5$\000\000', - b'\xe4\xf5\a\000\000', - b'\xe3\xf5F\000\000', - b'\xe4\xf5\002\000\000', - b'\xe3\xd0\x081\x00', - b'\xe3\xf5\x06\x00\x00', - b'\xe3\xd5\x161\x00', - ], - }, - CAR.IMPREZA_2020: { - (Ecu.abs, 0x7b0, None): [ - b'\xa2 \0314\000', - b'\xa2 \0313\000', - b'\xa2 !i\000', - b'\xa2 !`\000', - b'\xf1\x00\xb2\x06\x04', - b'\xa2 `\x00', - b'\xa2 !3\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x9a\xc0\000\000', - b'\n\xc0\004\000', - b'\x9a\xc0\x04\x00', - b'\n\xc0\x04\x01', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\000\000eb\037@ \"', - b'\x00\x00e\x8f\x1f@ )', - b'\x00\x00eq\x1f@ "', - b'\x00\x00eq\x00\x00\x00\x00', - b'\x00\x00e\x8f\x00\x00\x00\x00', - b'\x00\x00e\x92\x00\x00\x00\x00', - b'\x00\x00e\xa4\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xca!ap\a', - b'\xca!`p\a', - b'\xca!`0\a', - b'\xcc\"f0\a', - b'\xcc!fp\a', - b'\xcc!`p\x07', - b'\xca!f@\x07', - b'\xca!fp\x07', - b'\xf3"f@\x07', - b'\xe6!fp\x07', - b'\xf3"fp\x07', - b'\xe6"f0\x07', - b'\xe6"fp\x07', - b'\xe6!`@\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xe6\xf5\004\000\000', - b'\xe6\xf5$\000\000', - b'\xe7\xf5\x04\x00\x00', - b'\xe7\xf6B0\000', - b'\xe7\xf5D0\000', - b'\xf1\x00\xd7\x10@', - b'\xe6\xf5D0\x00', - b'\xe9\xf6F0\x00', - b'\xe9\xf5B0\x00', - b'\xe9\xf6B0\x00', - b'\xe9\xf5"\x00\x00', - ], - }, - CAR.CROSSTREK_HYBRID: { - (Ecu.abs, 0x7b0, None): [ - b'\xa2 \x19e\x01', - b'\xa2 !e\x01', - ], - (Ecu.eps, 0x746, None): [ - b'\x9a\xc2\x01\x00', - b'\n\xc2\x01\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00el\x1f@ #', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xd7!`@\x07', - b'\xd7!`p\a', - b'\xf4!`0\x07', - ], - }, - CAR.FORESTER: { - (Ecu.abs, 0x7b0, None): [ - b'\xa3 \x18\x14\x00', - b'\xa3 \024\000', - b'\xa3 \031\024\000', - b'\xa3 \x14\x01', - b'\xf1\x00\xbb\r\x05', - b'\xa3 \x18&\x00', - b'\xa3 \x19&\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x8d\xc0\x04\x00', - b'\x8d\xc0\x00\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00e!\x1f@ \x11', - b'\x00\x00e\x97\x1f@ 0', - b'\000\000e`\037@ ', - b'\xf1\x00\xac\x02\x00', - b'\x00\x00e!\x00\x00\x00\x00', - b'\x00\x00e\x97\x00\x00\x00\x00', - b'\x00\x00e^\x1f@ !', - b'\x00\x00e^\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xb6"`A\x07', - b'\xcf"`0\x07', - b'\xcb\"`@\a', - 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', - b'\x1a\xf6F`\x00', - b'\032\xf6b`\000', - b'\x1a\xf6B`\x00', - b'\x1a\xf6b0\x00', - b'\x1a\xe6B1\x00', - b'\x1a\xe6F1\x00', - ], - }, - CAR.FORESTER_HYBRID: { - (Ecu.abs, 0x7b0, None): [ - b'\xa3 \x19T\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x8d\xc2\x00\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00eY\x1f@ !', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xd2\xa1`r\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\x1b\xa7@a\x00', - ], - }, - CAR.FORESTER_PREGLOBAL: { - (Ecu.abs, 0x7b0, None): [ - b'\x7d\x97\x14\x40', - b'\xf1\x00\xbb\x0c\x04', - b'm\x97\x14@', - ], - (Ecu.eps, 0x746, None): [ - b'}\xc0\x10\x00', - b'm\xc0\x10\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00\x64\x35\x1f\x40\x20\x09', - b'\x00\x00c\xe9\x1f@ \x03', - b'\x00\x00d\xd3\x1f@ \t', - b'\x00\x00c\xe9\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xba"@p\a', - b'\xa7)\xa0q\a', - b'\xf1\x82\xa7)\xa0q\a', - b'\xba"@@\a', - b'\xa7"@p\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xdc\xf2\x60\x60\x00', - b'\xdc\xf2@`\x00', - b'\xda\xfd\xe0\x80\x00', - b'\xdc\xf2`\x81\000', - b'\xdc\xf2`\x80\x00', - b'\x1a\xf6F`\x00', - b'\xda\xf2`\x80\x00', - ], - }, - CAR.LEGACY_PREGLOBAL: { - (Ecu.abs, 0x7b0, None): [ - b'k\x97D\x00', - b'[\xba\xc4\x03', - b'{\x97D\x00', - b'[\x97D\000', - b'k\x9aD\x00', - ], - (Ecu.eps, 0x746, None): [ - b'[\xb0\x00\x01', - b'K\xb0\x00\x01', - b'k\xb0\x00\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00c\xb7\x1f@\x10\x16', - b'\x00\x00c\x94\x1f@\x10\x08', - b'\x00\x00c\xec\x1f@ \x04', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xab*@r\a', - b'\xa0+@p\x07', - b'\xb4"@0\x07', - b'\xa0"@q\a', - b'\xab+@p\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xbe\xf2\x00p\x00', - b'\xbf\xfb\xc0\x80\x00', - b'\xbd\xf2\x00`\x00', - b'\xbf\xf2\000\x80\000', - b'\xbe\xfb\xc0p\x00', - ], - }, - CAR.OUTBACK_PREGLOBAL: { - (Ecu.abs, 0x7b0, None): [ - b'{\x9a\xac\x00', - b'k\x97\xac\x00', - b'\x5b\xf7\xbc\x03', - b'[\xf7\xac\x03', - b'{\x97\xac\x00', - b'k\x9a\xac\000', - b'[\xba\xac\x03', - b'[\xf7\xac\000', - ], - (Ecu.eps, 0x746, None): [ - b'k\xb0\x00\x00', - b'[\xb0\x00\x00', - b'\x4b\xb0\x00\x02', - b'K\xb0\x00\x00', - b'{\xb0\x00\x01', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00c\xec\x1f@ \x04', - b'\x00\x00c\xd1\x1f@\x10\x17', - b'\xf1\x00\xf0\xe0\x0e', - b'\x00\x00c\x94\x00\x00\x00\x00', - b'\x00\x00c\x94\x1f@\x10\b', - b'\x00\x00c\xb7\x1f@\x10\x16', - b'\000\000c\x90\037@\020\016', - b'\x00\x00c\xec\x37@\x04', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xb4+@p\a', - b'\xab\"@@\a', - b'\xa0\x62\x41\x71\x07', - b'\xa0*@q\a', - b'\xab*@@\a', - b'\xb4"@0\a', - b'\xb4"@p\a', - b'\xab"@s\a', - b'\xab+@@\a', - b'\xb4"@r\a', - b'\xa0+@@\x07', - b'\xa0\"@\x80\a', - b'\xa0*@u\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xbd\xfb\xe0\x80\x00', - b'\xbe\xf2@\x80\x00', - b'\xbf\xe2\x40\x80\x00', - b'\xbf\xf2@\x80\x00', - b'\xbe\xf2@p\x00', - b'\xbd\xf2@`\x00', - b'\xbd\xf2@\x81\000', - b'\xbe\xfb\xe0p\000', - b'\xbf\xfb\xe0b\x00', - ], - }, - CAR.OUTBACK_PREGLOBAL_2018: { - (Ecu.abs, 0x7b0, None): [ - b'\x8b\x97\xac\x00', - b'\x8b\x9a\xac\x00', - b'\x9b\x97\xac\x00', - b'\x8b\x97\xbc\x00', - b'\x8b\x99\xac\x00', - b'\x9b\x9a\xac\000', - b'\x9b\x97\xbe\x10', - ], - (Ecu.eps, 0x746, None): [ - b'{\xb0\x00\x00', - b'{\xb0\x00\x01', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00df\x1f@ \n', - b'\x00\x00d\xfe\x1f@ \x15', - b'\x00\x00d\x95\x00\x00\x00\x00', - b'\x00\x00d\x95\x1f@ \x0f', - b'\x00\x00d\xfe\x00\x00\x00\x00', - b'\x00\x00e\x19\x1f@ \x15', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xb5"@p\a', - b'\xb5+@@\a', - b'\xb5"@P\a', - b'\xc4"@0\a', - b'\xb5b@1\x07', - b'\xb5q\xe0@\a', - b'\xc4+@0\a', - b'\xc4b@p\a', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xbc\xf2@\x81\x00', - b'\xbc\xfb\xe0\x80\x00', - b'\xbc\xf2@\x80\x00', - b'\xbb\xf2@`\x00', - b'\xbc\xe2@\x80\x00', - b'\xbc\xfb\xe0`\x00', - b'\xbc\xaf\xe0`\x00', - b'\xbb\xfb\xe0`\000', - ], - }, - CAR.OUTBACK: { - (Ecu.abs, 0x7b0, None): [ - b'\xa1 \x06\x01', - b'\xa1 \a\x00', - b'\xa1 \b\001', - b'\xa1 \x06\x00', - b'\xa1 "\t\x01', - b'\xa1 \x08\x02', - b'\xa1 \x06\x02', - b'\xa1 \x07\x02', - b'\xa1 \x08\x00', - b'\xa1 "\t\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x9b\xc0\x10\x00', - b'\x9b\xc0\x20\x00', - b'\x1b\xc0\x10\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00eJ\x00\x1f@ \x19\x00', - b'\000\000e\x80\000\037@ \031\000', - b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', - b'\x00\x00e\x9a\x00\x1f@ 1\x00', - b'\x00\x00eJ\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xbc,\xa0q\x07', - b'\xbc\"`@\a', - b'\xde"`0\a', - b'\xf1\x82\xbc,\xa0q\a', - b'\xf1\x82\xe3,\xa0@\x07', - b'\xe2"`0\x07', - b'\xe2"`p\x07', - b'\xf1\x82\xe2,\xa0@\x07', - b'\xbc"`q\x07', - b'\xe3,\xa0@\x07', - b'\xbc,\xa0u\x07', - b'\xde,\xa0@\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xa5\xfe\xf7@\x00', - b'\xa5\xf6D@\x00', - b'\xa5\xfe\xf6@\x00', - b'\xa7\x8e\xf40\x00', - b'\xf1\x82\xa7\xf6D@\x00', - b'\xa7\xf6D@\x00', - b'\xa7\xfe\xf4@\x00', - b'\xa5\xfe\xf8@\x00', - ], - }, - CAR.FORESTER_2022: { - (Ecu.abs, 0x7b0, None): [ - b'\xa3 !x\x00', - b'\xa3 !v\x00', - b'\xa3 "v\x00', - b'\xa3 "x\x00', - ], - (Ecu.eps, 0x746, None): [ - b'-\xc0%0', - b'-\xc0\x040', - b'=\xc0%\x02', - b'=\xc04\x02', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x04!\x01\x1eD\x07!\x00\x04,', - b'\x04!\x08\x01.\x07!\x08\x022', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xd5"a0\x07', - b'\xd5"`0\x07', - b'\xf1"aq\x07', - b'\xf1"`q\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\x1d\x86B0\x00', - b'\x1d\xf6B0\x00', - b'\x1e\x86B0\x00', - b'\x1e\xf6D0\x00', - ], - }, - CAR.OUTBACK_2023: { - (Ecu.abs, 0x7b0, None): [ - b'\xa1 #\x14\x00', - b'\xa1 #\x17\x00', - ], - (Ecu.eps, 0x746, None): [ - b'+\xc0\x10\x11\x00', - b'+\xc0\x12\x11\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\t!\x08\x046\x05!\x08\x01/', - ], - (Ecu.engine, 0x7a2, None): [ - b'\xed,\xa0q\x07', - b'\xed,\xa2q\x07', - ], - (Ecu.transmission, 0x7a3, None): [ - b'\xa8\x8e\xf41\x00', - b'\xa8\xfe\xf41\x00', - ] + # We don't get the EPS from non-OBD queries on GEN2 cars. Note that we still attempt to match when it exists + non_essential_ecus={ + Ecu.eps: list(GLOBAL_GEN2), } -} +) DBC = { CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None), @@ -751,12 +203,3 @@ DBC = { CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None), CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None), } - -LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023} -GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023} -PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018} -HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID} - -# Cars that temporarily fault when steering angle rate is greater than some threshold. -# Appears to be all torque-based cars produced around 2019 - present -STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER} diff --git a/selfdrive/car/tesla/fingerprints.py b/selfdrive/car/tesla/fingerprints.py new file mode 100644 index 000000000..772ca59ef --- /dev/null +++ b/selfdrive/car/tesla/fingerprints.py @@ -0,0 +1,28 @@ +# ruff: noqa: E501 +from cereal import car +from openpilot.selfdrive.car.tesla.values import CAR + +Ecu = car.CarParams.Ecu + +FINGERPRINTS = { + CAR.AP1_MODELS: [{ + 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4 + }], +} + +FW_VERSIONS = { + CAR.AP2_MODELS: { + (Ecu.adas, 0x649, None): [ + b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11', + ], + (Ecu.electricBrakeBooster, 0x64d, None): [ + b'1037123-00-A', + ], + (Ecu.fwdRadar, 0x671, None): [ + b'\x01\x00W\x00\x00\x00\x07\x00\x00\x00\x00\x08\x01\x00\x00\x00\x07\xff\xfe', + ], + (Ecu.eps, 0x730, None): [ + b'\x10#\x01', + ], + }, +} diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 548809af1..12877f134 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -1,4 +1,3 @@ -# ruff: noqa: E501 from collections import namedtuple from enum import StrEnum from typing import Dict, List, Union @@ -23,13 +22,6 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"), } -FINGERPRINTS = { - CAR.AP1_MODELS: [ - { - 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4 - }, - ], -} DBC = { CAR.AP2_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'), @@ -55,22 +47,6 @@ FW_QUERY_CONFIG = FwQueryConfig( ] ) -FW_VERSIONS = { - CAR.AP2_MODELS: { - (Ecu.adas, 0x649, None): [ - b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11', - ], - (Ecu.electricBrakeBooster, 0x64d, None): [ - b'1037123-00-A', - ], - (Ecu.fwdRadar, 0x671, None): [ - b'\x01\x00W\x00\x00\x00\x07\x00\x00\x00\x00\x08\x01\x00\x00\x00\x07\xff\xfe', - ], - (Ecu.eps, 0x730, None): [ - b'\x10#\x01', - ], - }, -} class CANBUS: # Lateral harness diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index a920bd45d..2306cbf45 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -14,6 +14,10 @@ from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.fingerprints import all_known_cars from openpilot.selfdrive.car.fw_versions import FW_VERSIONS from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle +from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID +from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque +from openpilot.selfdrive.controls.lib.longcontrol import LongControl from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}) @@ -105,6 +109,17 @@ class TestCarInterfaces(unittest.TestCase): car_interface.apply(CC, now_nanos) now_nanos += DT_CTRL * 1e9 # 10ms + # Test controller initialization + # TODO: wait until card refactor is merged to run controller a few times, + # hypothesis also slows down significantly with just one more message draw + LongControl(car_params) + if car_params.steerControlType == car.CarParams.SteerControlType.angle: + LatControlAngle(car_params, car_interface) + elif car_params.lateralTuning.which() == 'pid': + LatControlPID(car_params, car_interface) + elif car_params.lateralTuning.which() == 'torque': + LatControlTorque(car_params, car_interface) + # Test radar interface RadarInterface = importlib.import_module(f'selfdrive.car.{car_params.carName}.radar_interface').RadarInterface radar_interface = RadarInterface(car_params) diff --git a/selfdrive/car/torque_data/neural_ff_weights.json b/selfdrive/car/torque_data/neural_ff_weights.json new file mode 100644 index 000000000..c526f07fa --- /dev/null +++ b/selfdrive/car/torque_data/neural_ff_weights.json @@ -0,0 +1 @@ +{"CHEVROLET BOLT EUV 2022": {"w_1": [[0.3452189564704895, -0.15614677965641022, -0.04062516987323761, -0.5960758328437805, 0.3211185932159424, 0.31732726097106934, -0.04430829733610153, -0.37327295541763306, -0.14118380844593048, 0.12712529301643372, 0.2641555070877075, -0.3451094627380371, -0.005127656273543835, 0.6185108423233032, 0.03725295141339302, 0.3763789236545563], [-0.0708412230014801, 0.3667356073856354, 0.031383827328681946, 0.1740853488445282, -0.04695861041545868, 0.018055908381938934, 0.009072160348296165, -0.23640218377113342, -0.10362917929887772, 0.022628149017691612, -0.224413201212883, 0.20718418061733246, -0.016947750002145767, -0.3872031271457672, -0.15500062704086304, -0.06375953555107117], [-0.0838046595454216, -0.0242826659232378, -0.07765661180019379, 0.028858814388513565, -0.09516210108995438, 0.008368706330657005, 0.1689300835132599, 0.015036891214549541, -0.15121428668498993, 0.1388195902109146, 0.11486363410949707, 0.0651545450091362, 0.13559958338737488, 0.04300367832183838, -0.13856294751167297, -0.058136988431215286], [-0.006249868310987949, 0.08809533715248108, -0.040690965950489044, 0.02359287068247795, -0.00766348373144865, 0.24816390872001648, -0.17360293865203857, -0.03676899895071983, -0.17564819753170013, 0.18998438119888306, -0.050583917647600174, -0.006488069426268339, 0.10649101436138153, -0.024557121098041534, -0.103276826441288, 0.18448011577129364]], "b_1": [0.2935388386249542, 0.10967712104320526, -0.014007942751049995, 0.211833655834198, 0.33605605363845825, 0.37722209095954895, -0.16615016758441925, 0.3134673535823822, 0.06695777177810669, 0.3425212800502777, 0.3769673705101013, 0.23186539113521576, 0.5770409107208252, -0.05929069593548775, 0.01839117519557476, 0.03828774020075798], "w_2": [[-0.06261160969734192, 0.010185074992477894, -0.06083013117313385, -0.04531499370932579, -0.08979734033346176, 0.3432150185108185, -0.019801849499344826, 0.3010321259498596], [0.19698476791381836, -0.009238275699317455, 0.08842222392559052, -0.09516377002000809, -0.05022778362035751, 0.13626104593276978, -0.052890390157699585, 0.15569131076335907], [0.0724768117070198, -0.09018408507108688, 0.06850195676088333, -0.025572121143341064, 0.0680626779794693, -0.07648195326328278, 0.07993496209383011, -0.059752143919467926], [1.267876386642456, -0.05755887180566788, -0.08429178595542908, 0.021366603672504425, -0.0006479775765910745, -1.4292563199996948, -0.08077696710824966, -1.414825439453125], [0.04535430669784546, 0.06555880606174469, -0.027145234867930412, -0.07661093026399612, -0.05702832341194153, 0.23650476336479187, 0.0024587824009358883, 0.20126521587371826], [0.006042032968252897, 0.042880818247795105, 0.002187949838116765, -0.017126334831118584, -0.08352015167474747, 0.19801731407642365, -0.029196614399552345, 0.23713473975658417], [-0.01644900068640709, -0.04358499124646187, 0.014584392309188843, 0.07155826687812805, -0.09354910999536514, -0.033351872116327286, 0.07138452678918839, -0.04755295440554619], [-1.1012420654296875, -0.03534531593322754, 0.02167935110628605, -0.01116552110761404, -0.08436500281095505, 1.1038788557052612, 0.027903547510504723, 1.0676132440567017], [0.03843916580080986, -0.0952216386795044, 0.039226632565259933, 0.002778085647150874, -0.020275786519050598, -0.07848760485649109, 0.04803166165947914, 0.015538203530013561], [0.018385495990514755, -0.025189843028783798, 0.0036680365446954966, -0.02105865254998207, 0.04808586835861206, 0.1575016975402832, 0.02703506126999855, 0.23039312660694122], [-0.0033881019335240126, -0.10210853815078735, -0.04877309128642082, 0.006989633198827505, 0.046798162162303925, 0.38676899671554565, -0.032304272055625916, 0.2345031052827835], [0.22092825174331665, -0.09642873704433441, 0.04499409720301628, 0.05108088254928589, -0.10191166400909424, 0.12818090617656708, -0.021021494641900063, 0.09440375864505768], [0.1212429478764534, -0.028194155544042587, -0.0981956496834755, 0.08226924389600754, 0.055346839129924774, 0.27067816257476807, -0.09064067900180817, 0.12580905854701996], [-1.6740131378173828, -0.02066155895590782, -0.05924689769744873, 0.06347910314798355, -0.07821853458881378, 1.2807466983795166, 0.04589352011680603, 1.310766577720642], [-0.09893272817134857, -0.04093599319458008, -0.02502273954451084, 0.09490344673395157, -0.0211324505507946, -0.09021010994911194, 0.07936318963766098, -0.03593116253614426], [-0.08490308374166489, -0.015558987855911255, -0.048692114651203156, -0.007421435788273811, -0.040531404316425323, 0.25889304280281067, 0.06012800335884094, 0.27946868538856506]], "b_2": [0.07973937690258026, -0.010446485131978989, -0.003066520905122161, -0.031895797699689865, 0.006032303906977177, 0.24106740951538086, -0.008969511836767197, 0.2872662842273712], "w_3": [[-1.364486813545227, -0.11682678014039993, 0.01764785870909691, 0.03926877677440643], [-0.05695437639951706, 0.05472218990325928, 0.1266128271818161, 0.09950875490903854], [0.11415273696184158, -0.10069356113672256, 0.0864749327301979, -0.043946366757154465], [-0.10138195008039474, -0.040128443390131, -0.08937158435583115, -0.0048376512713730335], [-0.0028251828625798225, -0.04743027314543724, 0.06340016424655914, 0.07277824729681015], [0.49482327699661255, -0.06410001963376999, -0.0999293103814125, -0.14250673353672028], [0.042802367359399796, 0.0015462725423276424, -0.05991362780332565, 0.1022040992975235], [0.3523194193840027, 0.07343732565641403, 0.04157765582203865, -0.12358107417821884]], "b_3": [0.2653026282787323, -0.058485131710767746, -0.0744510293006897, 0.012550175189971924], "w_4": [[0.5988775491714478, 0.09668736904859543], [-0.04360569268465042, 0.06491032242774963], [-0.11868984252214432, -0.09601487964391708], [-0.06554870307445526, -0.14189276099205017]], "b_4": [-0.08148707449436188, -2.8251802921295166], "input_norm_mat": [[-3.0, 3.0], [-3.0, 3.0], [0.0, 40.0], [-3.0, 3.0]], "output_norm_mat": [-1.0, 1.0], "temperature": 100.0}} \ No newline at end of file diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml new file mode 100644 index 000000000..86723efb7 --- /dev/null +++ b/selfdrive/car/torque_data/override.toml @@ -0,0 +1,74 @@ +legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] +### angle control +# Nissan appears to have torque +"NISSAN X-TRAIL 2017" = [nan, 1.5, nan] +"NISSAN ALTIMA 2020" = [nan, 1.5, nan] +"NISSAN LEAF 2018 Instrument Cluster" = [nan, 1.5, nan] +"NISSAN LEAF 2018" = [nan, 1.5, nan] +"NISSAN ROGUE 2019" = [nan, 1.5, nan] + +# New subarus angle based controllers +"SUBARU FORESTER 2022" = [nan, 3.0, nan] +"SUBARU OUTBACK 7TH GEN" = [nan, 3.0, nan] +"SUBARU ASCENT 2023" = [nan, 3.0, nan] + +# Toyota LTA also has torque +"TOYOTA RAV4 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] + +# Guess +"FORD BRONCO SPORT 1ST GEN" = [nan, 1.5, nan] +"FORD ESCAPE 4TH GEN" = [nan, 1.5, nan] +"FORD EXPLORER 6TH GEN" = [nan, 1.5, nan] +"FORD F-150 14TH GEN" = [nan, 1.5, nan] +"FORD FOCUS 4TH GEN" = [nan, 1.5, nan] +"FORD MAVERICK 1ST GEN" = [nan, 1.5, nan] +"FORD F-150 LIGHTNING 1ST GEN" = [nan, 1.5, nan] +"FORD MUSTANG MACH-E 1ST GEN" = [nan, 1.5, nan] +### + +# No steering wheel +"COMMA BODY" = [nan, 1000, nan] + +# Totally new cars +"RAM 1500 5TH GEN" = [2.0, 2.0, 0.05] +"RAM HD 5TH GEN" = [1.4, 1.4, 0.05] +"SUBARU OUTBACK 6TH GEN" = [2.0, 2.0, 0.2] +"CADILLAC ESCALADE 2017" = [1.899999976158142, 1.842270016670227, 0.1120000034570694] +"CADILLAC ESCALADE ESV 2019" = [1.15, 1.3, 0.2] +"CHEVROLET BOLT EUV 2022" = [2.0, 2.0, 0.05] +"CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112] +"CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16] +"CHEVROLET EQUINOX 2019" = [2.0, 2.0, 0.05] +"VOLKSWAGEN PASSAT NMS" = [2.5, 2.5, 0.1] +"VOLKSWAGEN SHARAN 2ND GEN" = [2.5, 2.5, 0.1] +"HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 0.1] +"KIA SPORTAGE 5TH GEN" = [2.6, 2.6, 0.1] +"GENESIS GV70 1ST GEN" = [2.42, 2.42, 0.1] +"GENESIS GV60 ELECTRIC 1ST GEN" = [2.5, 2.5, 0.1] +"KIA SORENTO 4TH GEN" = [2.5, 2.5, 0.1] +"KIA SORENTO HYBRID 4TH GEN" = [2.5, 2.5, 0.1] +"KIA NIRO HYBRID 2ND GEN" = [2.42, 2.5, 0.12] +"KIA NIRO EV 2ND GEN" = [2.05, 2.5, 0.14] +"GENESIS GV80 2023" = [2.5, 2.5, 0.1] +"KIA CARNIVAL 4TH GEN" = [1.75, 1.75, 0.15] +"GMC ACADIA DENALI 2018" = [1.6, 1.6, 0.2] +"LEXUS IS 2023" = [2.0, 2.0, 0.1] +"HYUNDAI KONA ELECTRIC 2ND GEN" = [2.5, 2.5, 0.1] +"HYUNDAI IONIQ 6 2023" = [2.5, 2.5, 0.1] +"HYUNDAI AZERA 6TH GEN" = [1.8, 1.8, 0.1] +"HYUNDAI AZERA HYBRID 6TH GEN" = [1.8, 1.8, 0.1] +"KIA K8 HYBRID 1ST GEN" = [2.5, 2.5, 0.1] +"HYUNDAI CUSTIN 1ST GEN" = [2.5, 2.5, 0.1] +"LEXUS GS F 2016" = [2.5, 2.5, 0.08] +"HYUNDAI STARIA 4TH GEN" = [1.8, 2.0, 0.15] + +# Dashcam or fallback configured as ideal car +"mock" = [10.0, 10, 0.0] + +# Manually checked +"HONDA CIVIC 2022" = [2.5, 1.2, 0.15] +"HONDA HR-V 2023" = [2.5, 1.2, 0.2] diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml deleted file mode 100644 index 60e54af21..000000000 --- a/selfdrive/car/torque_data/override.yaml +++ /dev/null @@ -1,76 +0,0 @@ -legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION] -### angle control -# Nissan appears to have torque -NISSAN X-TRAIL 2017: [.nan, 1.5, .nan] -NISSAN ALTIMA 2020: [.nan, 1.5, .nan] -NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan] -NISSAN LEAF 2018: [.nan, 1.5, .nan] -NISSAN ROGUE 2019: [.nan, 1.5, .nan] - -# New subarus angle based controllers -SUBARU FORESTER 2022: [.nan, 3.0, .nan] -SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan] -SUBARU ASCENT 2023: [.nan, 3.0, .nan] - -# Toyota LTA also has torque -TOYOTA RAV4 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] - -# Guess -FORD BRONCO SPORT 1ST GEN: [.nan, 1.5, .nan] -FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan] -FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan] -FORD F-150 14TH GEN: [.nan, 1.5, .nan] -FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] -FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan] -FORD F-150 LIGHTNING 1ST GEN: [.nan, 1.5, .nan] -FORD MUSTANG MACH-E 1ST GEN: [.nan, 1.5, .nan] -### - -# No steering wheel -COMMA BODY: [.nan, 1000, .nan] - -# Totally new cars -RAM 1500 5TH GEN: [2.0, 2.0, 0.05] -RAM HD 5TH GEN: [1.4, 1.4, 0.05] -SUBARU OUTBACK 6TH GEN: [2.0, 2.0, 0.2] -CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694] -CADILLAC ESCALADE ESV 2019: [1.15, 1.3, 0.2] -CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05] -CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112] -CHEVROLET TRAILBLAZER 2021: [1.33, 1.9, 0.16] -CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] -VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1] -VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1] -HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.1] -KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.1] -KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1] -GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1] -KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1] -GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1] -KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1] -KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12] -KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14] -GENESIS GV80 2023: [2.5, 2.5, 0.1] -KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15] -GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2] -LEXUS IS 2023: [2.0, 2.0, 0.1] -KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1] -HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1] -HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1] -HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1] -HYUNDAI AZERA HYBRID 6TH GEN: [1.8, 1.8, 0.1] -KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1] -HYUNDAI CUSTIN 1ST GEN: [2.5, 2.5, 0.1] -LEXUS GS F 2016: [2.5, 2.5, 0.08] -HYUNDAI STARIA 4TH GEN: [1.8, 2.0, 0.15] - -# Dashcam or fallback configured as ideal car -mock: [10.0, 10, 0.0] - -# Manually checked -HONDA CIVIC 2022: [2.5, 1.2, 0.15] -HONDA HR-V 2023: [2.5, 1.2, 0.2] diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml new file mode 100644 index 000000000..568646c84 --- /dev/null +++ b/selfdrive/car/torque_data/params.toml @@ -0,0 +1,86 @@ +legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] +"ACURA ILX 2016" = [1.524988973896102, 0.519011053086259, 0.34236219253028] +"ACURA RDX 2018" = [0.9987728568686902, 0.5323765166196301, 0.303218805715844] +"ACURA RDX 2020" = [1.4314459806646749, 0.33874701282109954, 0.18048847083897598] +"AUDI A3 3RD GEN" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905] +"AUDI Q3 2ND GEN" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097] +"CHEVROLET VOLT PREMIER 2017" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158] +"CHRYSLER PACIFICA 2018" = [2.07140, 1.3366521181047952, 0.13776367250652022] +"CHRYSLER PACIFICA 2020" = [1.86206, 1.509076559398423, 0.14328246159386085] +"CHRYSLER PACIFICA HYBRID 2017" = [1.79422, 1.06831764583744, 0.116237] +"CHRYSLER PACIFICA HYBRID 2018" = [2.08887, 1.2943025830995154, 0.114818] +"CHRYSLER PACIFICA HYBRID 2019" = [1.90120, 1.1958788168371808, 0.131520] +"GENESIS G70 2018" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221] +"HONDA ACCORD 2018" = [1.7135052593468778, 0.3461280068322071, 0.21579936052863807] +"HONDA ACCORD HYBRID 2018" = [1.6651615004829625, 0.30322180951193245, 0.2083000440586149] +"HONDA CIVIC (BOSCH) 2019" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094] +"HONDA CIVIC 2016" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544] +"HONDA CR-V 2016" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127] +"HONDA CR-V 2017" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528] +"HONDA CR-V HYBRID 2019" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083] +"HONDA FIT 2018" = [1.5719981427109775, 0.5712761407108976, 0.110773383324281] +"HONDA HRV 2019" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094] +"HONDA INSIGHT 2019" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876] +"HONDA ODYSSEY 2018" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822] +"HONDA PILOT 2017" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763] +"HONDA RIDGELINE 2017" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328] +"HYUNDAI ELANTRA 2021" = [3.169, 2.1259108157250735, 0.0819] +"HYUNDAI GENESIS 2015-2016" = [2.7807965280270794, 2.325, 0.0984484465421171] +"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, 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] +"HYUNDAI SANTA FE PlUG-IN HYBRID 2022" = [1.6953050513611045, 1.5837614296206861, 0.12672855941458458] +"HYUNDAI SONATA 2019" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] +"HYUNDAI SONATA 2020" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593] +"HYUNDAI SONATA HYBRID 2021" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382] +"HYUNDAI TUCSON 4TH GEN" = [2.960174, 2.860284, 0.108745] +"JEEP GRAND CHEROKEE 2019" = [2.30972, 1.289689569171081, 0.117048] +"JEEP GRAND CHEROKEE V6 2018" = [2.27116, 1.4057367824262523, 0.11725947414922003] +"KIA EV6 2022" = [3.2, 2.093457, 0.05] +"KIA K5 2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716] +"KIA NIRO EV 2020" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267] +"KIA SORENTO GT LINE 2018" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558] +"KIA STINGER GT2 2018" = [2.7499043387418967, 1.849652021986449, 0.12048334239559202] +"LEXUS ES 2019" = [2.0357564999999997, 1.999082295195227, 0.101533] +"LEXUS NX 2018" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927] +"LEXUS NX 2020" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067] +"LEXUS RX 2016" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034] +"LEXUS RX 2020" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557] +"MAZDA CX-9 2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] +"SKODA SUPERB 3RD GEN" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708] +"SUBARU FORESTER 2019" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745] +"SUBARU IMPREZA LIMITED 2019" = [1.0670704910352047, 0.8234374840709592, 0.20986563268614938] +"SUBARU IMPREZA SPORT 2020" = [2.6068223389108303, 2.134872342760203, 0.15261513193561627] +"TOYOTA AVALON 2016" = [2.5185770183845646, 1.7153346784214922, 0.10603968787111022] +"TOYOTA AVALON 2019" = [1.7036141952825095, 1.239619084240008, 0.08459830394899492] +"TOYOTA AVALON 2022" = [2.3154403649717357, 2.7777922854327124, 0.11453999639164605] +"TOYOTA C-HR 2018" = [1.5591084333664578, 1.271271459066948, 0.20259087058453193] +"TOYOTA C-HR 2021" = [1.7678810166088303, 1.3742176337919942, 0.2319674583741509] +"TOYOTA CAMRY 2018" = [2.0568162685952505, 1.7576185169559122, 0.108878753] +"TOYOTA CAMRY 2021" = [2.3548324999999997, 2.368900128946771, 0.118436] +"TOYOTA COROLLA 2017" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652] +"TOYOTA COROLLA TSS2 2019" = [1.991132339206426, 1.868866242720403, 0.19570063298031432] +"TOYOTA HIGHLANDER 2017" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398] +"TOYOTA HIGHLANDER 2020" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725] +"TOYOTA MIRAI 2021" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565] +"TOYOTA PRIUS 2017" = [1.60, 1.5023147650693636, 0.151515] +"TOYOTA PRIUS TSS2 2021" = [1.972600, 1.9104337425537743, 0.170968] +"TOYOTA RAV4 2017" = [2.085695074355425, 2.2142832316984733, 0.13339165270103975] +"TOYOTA RAV4 2019" = [2.279239424615458, 2.087101966779332, 0.13682208413446817] +"TOYOTA RAV4 2019 8965" = [2.3080951748210854, 2.1189367835820603, 0.12942102328134028] +"TOYOTA RAV4 2019 x02" = [2.762293266024922, 2.243615865975329, 0.11113568178327986] +"TOYOTA RAV4 HYBRID 2017" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406] +"TOYOTA RAV4 2022" = [2.241883248393209, 1.9304407208090029, 0.112174] +"TOYOTA RAV4 2022 x02" = [3.044930631831037, 2.3979189796380918, 0.14023209146703736] +"TOYOTA SIENNA 2018" = [1.689726, 1.3208264576110418, 0.140456] +"VOLKSWAGEN ARTEON 1ST GEN" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032] +"VOLKSWAGEN ATLAS 1ST GEN" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367] +"VOLKSWAGEN GOLF 7TH GEN" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586] +"VOLKSWAGEN JETTA 7TH GEN" = [1.2271623034089392, 1.216955117387, 0.19437384688370712] +"VOLKSWAGEN PASSAT 8TH GEN" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647] +"VOLKSWAGEN TIGUAN 2ND GEN" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml deleted file mode 100644 index 7bd83025f..000000000 --- a/selfdrive/car/torque_data/params.yaml +++ /dev/null @@ -1,88 +0,0 @@ -ACURA ILX 2016: [1.524988973896102, 0.519011053086259, 0.34236219253028] -ACURA RDX 2018: [0.9987728568686902, 0.5323765166196301, 0.303218805715844] -ACURA RDX 2020: [1.4314459806646749, 0.33874701282109954, 0.18048847083897598] -AUDI A3 3RD GEN: [1.5122414863077502, 1.7443517531719404, 0.15194151892450905] -AUDI Q3 2ND GEN: [1.4439223359448605, 1.2254955789112076, 0.1413798895978097] -CHEVROLET VOLT PREMIER 2017: [1.5961527626411784, 1.8422651988094612, 0.1572393918005158] -CHRYSLER PACIFICA 2018: [2.07140, 1.3366521181047952, 0.13776367250652022] -CHRYSLER PACIFICA 2020: [1.86206, 1.509076559398423, 0.14328246159386085] -CHRYSLER PACIFICA HYBRID 2017: [1.79422, 1.06831764583744, 0.116237] -CHRYSLER PACIFICA HYBRID 2018: [2.08887, 1.2943025830995154, 0.114818] -CHRYSLER PACIFICA HYBRID 2019: [1.90120, 1.1958788168371808, 0.131520] -GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221] -HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807] -HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149] -HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094] -HONDA CIVIC 2016: [1.6528895627785531, 0.4018518740819229, 0.25458812851328544] -HONDA CR-V 2016: [0.7667141440182675, 0.5927571534745969, 0.40909087636157127] -HONDA CR-V 2017: [2.01323205142022, 0.2700612209345081, 0.2238412881331528] -HONDA CR-V HYBRID 2019: [2.072034634644233, 0.7152085160516978, 0.20237105008376083] -HONDA FIT 2018: [1.5719981427109775, 0.5712761407108976, 0.110773383324281] -HONDA HRV 2019: [2.0661212805710205, 0.7521343418694775, 0.17760375789242094] -HONDA INSIGHT 2019: [1.5201671214069354, 0.5660229120683284, 0.25808042580281876] -HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822] -HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763] -HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328] -HYUNDAI ELANTRA 2021: [3.169, 2.1259108157250735, 0.0819] -HYUNDAI GENESIS 2015-2016: [2.7807965280270794, 2.325, 0.0984484465421171] -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, 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] -HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458] -HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] -HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.07813665616927593] -HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382] -HYUNDAI TUCSON HYBRID 4TH GEN: [2.960174, 2.860284, 0.108745] -JEEP GRAND CHEROKEE 2019: [2.30972, 1.289689569171081, 0.117048] -JEEP GRAND CHEROKEE V6 2018: [2.27116, 1.4057367824262523, 0.11725947414922003] -KIA EV6 2022: [3.2, 2.093457, 0.05] -KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716] -KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267] -KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558] -KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202] -LEXUS ES 2019: [2.0357564999999997, 1.999082295195227, 0.101533] -LEXUS NX 2018: [2.3525924753753613, 1.9731412277641067, 0.15168101064205927] -LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067] -LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142] -LEXUS RX 2020: [1.5375561442049257, 1.343166476215164, 0.1931062001527557] -LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893] -MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] -SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708] -SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745] -SUBARU IMPREZA LIMITED 2019: [1.0670704910352047, 0.8234374840709592, 0.20986563268614938] -SUBARU IMPREZA SPORT 2020: [2.6068223389108303, 2.134872342760203, 0.15261513193561627] -TOYOTA AVALON 2016: [2.5185770183845646, 1.7153346784214922, 0.10603968787111022] -TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492] -TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605] -TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193] -TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509] -TOYOTA CAMRY 2018: [2.0568162685952505, 1.7576185169559122, 0.108878753] -TOYOTA CAMRY 2021: [2.3548324999999997, 2.368900128946771, 0.118436] -TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652] -TOYOTA COROLLA TSS2 2019: [1.991132339206426, 1.868866242720403, 0.19570063298031432] -TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796] -TOYOTA HIGHLANDER 2020: [1.9617570834136164, 1.8611643317268927, 0.14519673256119725] -TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600] -TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565] -TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515] -TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968] -TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975] -TOYOTA RAV4 2019: [2.279239424615458, 2.087101966779332, 0.13682208413446817] -TOYOTA RAV4 2019 8965: [2.3080951748210854, 2.1189367835820603, 0.12942102328134028] -TOYOTA RAV4 2019 x02: [2.762293266024922, 2.243615865975329, 0.11113568178327986] -TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406] -TOYOTA RAV4 2022: [2.241883248393209, 1.9304407208090029, 0.112174] -TOYOTA RAV4 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736] -TOYOTA SIENNA 2018: [1.689726, 1.3208264576110418, 0.140456] -VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032] -VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367] -VOLKSWAGEN GOLF 7TH GEN: [1.3750394140491293, 1.5814743077200641, 0.2018321939386586] -VOLKSWAGEN JETTA 7TH GEN: [1.2271623034089392, 1.216955117387, 0.19437384688370712] -VOLKSWAGEN PASSAT 8TH GEN: [1.3432120736752917, 1.7087275587362314, 0.19444383787326647] -VOLKSWAGEN TIGUAN 2ND GEN: [0.9711965500094828, 1.0001565939459098, 0.1465626137072916] -legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION] diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml new file mode 100644 index 000000000..d79475fc3 --- /dev/null +++ b/selfdrive/car/torque_data/substitute.toml @@ -0,0 +1,83 @@ +legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] +"MAZDA 3" = "MAZDA CX-9 2021" +"MAZDA 6" = "MAZDA CX-9 2021" +"MAZDA CX-5" = "MAZDA CX-9 2021" +"MAZDA CX-5 2022" = "MAZDA CX-9 2021" +"MAZDA CX-9" = "MAZDA CX-9 2021" + +"TOYOTA ALPHARD 2020" = "TOYOTA SIENNA 2018" +"TOYOTA PRIUS v 2017" = "TOYOTA PRIUS 2017" +"LEXUS IS 2018" = "LEXUS NX 2018" +"LEXUS CT HYBRID 2018" = "LEXUS NX 2018" +"LEXUS ES 2018" = "TOYOTA CAMRY 2018" +"LEXUS RC 2020" = "LEXUS NX 2020" +"LEXUS LC 2024" = "LEXUS NX 2020" + +"KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020" +"KIA OPTIMA 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020" +"KIA OPTIMA HYBRID 2017 & SPORTS 2019" = "HYUNDAI SONATA 2020" +"KIA OPTIMA HYBRID 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020" +"KIA FORTE E 2018 & GT 2021" = "HYUNDAI SONATA 2020" +"KIA CEED INTRO ED 2019" = "HYUNDAI SONATA 2020" +"KIA SELTOS 2021" = "HYUNDAI SONATA 2020" +"KIA NIRO HYBRID 2019" = "KIA NIRO EV 2020" +"KIA NIRO PLUG-IN HYBRID 2022" = "KIA NIRO EV 2020" +"KIA NIRO HYBRID 2021" = "KIA NIRO EV 2020" +"HYUNDAI VELOSTER 2019" = "HYUNDAI SONATA 2019" +"HYUNDAI KONA 2020" = "HYUNDAI KONA ELECTRIC 2019" +"HYUNDAI KONA HYBRID 2020" = "HYUNDAI KONA ELECTRIC 2019" +"HYUNDAI KONA ELECTRIC 2022" = "HYUNDAI KONA ELECTRIC 2019" +"HYUNDAI IONIQ HYBRID 2017-2019" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" +"HYUNDAI IONIQ HYBRID 2020-2022" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" +"HYUNDAI IONIQ ELECTRIC 2020" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" +"HYUNDAI ELANTRA 2017" = "HYUNDAI SONATA 2019" +"HYUNDAI I30 N LINE 2019 & GT 2018 DCT" = "HYUNDAI SONATA 2019" +"HYUNDAI ELANTRA HYBRID 2021" = "HYUNDAI SONATA 2020" +"HYUNDAI TUCSON 2019" = "HYUNDAI SANTA FE 2019" +"HYUNDAI SANTA FE 2022" = "HYUNDAI SANTA FE HYBRID 2022" +"KIA K5 HYBRID 2020" = "KIA K5 2021" +"KIA STINGER 2022" = "KIA STINGER GT2 2018" +"GENESIS G90 2017" = "GENESIS G70 2018" +"GENESIS G80 2017" = "GENESIS G70 2018" +"GENESIS G70 2020" = "HYUNDAI SONATA 2020" + +"HONDA FREED 2020" = "HONDA ODYSSEY 2018" +"HONDA CR-V EU 2016" = "HONDA CR-V 2016" +"HONDA CIVIC SEDAN 1.6 DIESEL 2019" = "HONDA CIVIC (BOSCH) 2019" +"HONDA E 2020" = "HONDA CIVIC (BOSCH) 2019" +"HONDA ODYSSEY CHN 2019" = "HONDA ODYSSEY 2018" + +"BUICK LACROSSE 2017" = "CHEVROLET VOLT PREMIER 2017" +"BUICK REGAL ESSENCE 2018" = "CHEVROLET VOLT PREMIER 2017" +"CADILLAC ESCALADE ESV 2016" = "CHEVROLET VOLT PREMIER 2017" +"CADILLAC ATS Premium Performance 2018" = "CHEVROLET VOLT PREMIER 2017" +"CHEVROLET MALIBU PREMIER 2017" = "CHEVROLET VOLT PREMIER 2017" +"HOLDEN ASTRA RS-V BK 2017" = "CHEVROLET VOLT PREMIER 2017" + +"SKODA FABIA 4TH GEN" = "VOLKSWAGEN GOLF 7TH GEN" +"SKODA OCTAVIA 3RD GEN" = "SKODA SUPERB 3RD GEN" +"SKODA SCALA 1ST GEN" = "SKODA SUPERB 3RD GEN" +"SKODA KODIAQ 1ST GEN" = "SKODA SUPERB 3RD GEN" +"SKODA KAROQ 1ST GEN" = "SKODA SUPERB 3RD GEN" +"SKODA KAMIQ 1ST GEN" = "SKODA SUPERB 3RD GEN" +"VOLKSWAGEN CRAFTER 2ND GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN T-ROC 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN T-CROSS 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN TOURAN 2ND GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN TRANSPORTER T6.1" = "VOLKSWAGEN TIGUAN 2ND GEN" +"AUDI Q2 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN TAOS 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN POLO 6TH GEN" = "VOLKSWAGEN GOLF 7TH GEN" +"SEAT LEON 3RD GEN" = "VOLKSWAGEN GOLF 7TH GEN" +"SEAT ATECA 1ST GEN" = "VOLKSWAGEN GOLF 7TH GEN" + +"SUBARU CROSSTREK HYBRID 2020" = "SUBARU IMPREZA SPORT 2020" +"SUBARU FORESTER HYBRID 2020" = "SUBARU IMPREZA SPORT 2020" +"SUBARU LEGACY 7TH GEN" = "SUBARU OUTBACK 6TH GEN" + +# Old subarus don't have much data guessing it's like low torque impreza" +"SUBARU OUTBACK 2018 - 2019" = "SUBARU IMPREZA LIMITED 2019" +"SUBARU OUTBACK 2015 - 2017" = "SUBARU IMPREZA LIMITED 2019" +"SUBARU FORESTER 2017 - 2018" = "SUBARU IMPREZA LIMITED 2019" +"SUBARU LEGACY 2015 - 2018" = "SUBARU IMPREZA LIMITED 2019" +"SUBARU ASCENT LIMITED 2019" = "SUBARU FORESTER 2019" diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml deleted file mode 100644 index 242a38b3d..000000000 --- a/selfdrive/car/torque_data/substitute.yaml +++ /dev/null @@ -1,83 +0,0 @@ -MAZDA 3: MAZDA CX-9 2021 -MAZDA 6: MAZDA CX-9 2021 -MAZDA CX-5: MAZDA CX-9 2021 -MAZDA CX-5 2022: MAZDA CX-9 2021 -MAZDA CX-9: MAZDA CX-9 2021 - -TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018 -TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017 -LEXUS IS 2018: LEXUS NX 2018 -LEXUS CT HYBRID 2018 : LEXUS NX 2018 -LEXUS ES 2018: TOYOTA CAMRY 2018 -LEXUS ES HYBRID 2018: TOYOTA CAMRY 2018 -LEXUS RC 2020: LEXUS NX 2020 - -KIA OPTIMA 4TH GEN: HYUNDAI SONATA 2020 -KIA OPTIMA 4TH GEN FACELIFT: HYUNDAI SONATA 2020 -KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020 -KIA OPTIMA HYBRID 4TH GEN FACELIFT: HYUNDAI SONATA 2020 -KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020 -KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020 -KIA SELTOS 2021: HYUNDAI SONATA 2020 -KIA NIRO HYBRID 2019: KIA NIRO EV 2020 -KIA NIRO PLUG-IN HYBRID 2022: KIA NIRO EV 2020 -KIA NIRO HYBRID 2021: KIA NIRO EV 2020 -HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019 -HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019 -HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019 -HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019 -HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019 -HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019 -HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019 -HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019 -HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019 -HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020 -HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019 -HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN -HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022 -KIA K5 HYBRID 2020: KIA K5 2021 -KIA STINGER 2022: KIA STINGER GT2 2018 -GENESIS G90 2017: GENESIS G70 2018 -GENESIS G80 2017: GENESIS G70 2018 -GENESIS G70 2020: HYUNDAI SONATA 2020 - -HONDA FREED 2020: HONDA ODYSSEY 2018 -HONDA CR-V EU 2016: HONDA CR-V 2016 -HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019 -HONDA E 2020: HONDA CIVIC (BOSCH) 2019 -HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018 - -BUICK LACROSSE 2017: CHEVROLET VOLT PREMIER 2017 -BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017 -CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017 -CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017 -CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017 -HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017 - -SKODA FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN -SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN -SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN -SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN -SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN -SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN -VOLKSWAGEN CRAFTER 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN TRANSPORTER T6.1: VOLKSWAGEN TIGUAN 2ND GEN -AUDI Q2 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN TAOS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN -SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN -SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN - -SUBARU CROSSTREK HYBRID 2020: SUBARU IMPREZA SPORT 2020 -SUBARU FORESTER HYBRID 2020: SUBARU IMPREZA SPORT 2020 -SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN - -# Old subarus don't have much data guessing it's like low torque impreza -SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019 -SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019 -SUBARU FORESTER 2017 - 2018: SUBARU IMPREZA LIMITED 2019 -SUBARU LEGACY 2015 - 2018: SUBARU IMPREZA LIMITED 2019 -SUBARU ASCENT LIMITED 2019: SUBARU FORESTER 2019 diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 0de35484a..dee8bce3a 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -199,7 +199,7 @@ class CarController: if self.CP.enableGasInterceptor and CC.longActive: MAX_INTERCEPTOR_GAS = 0.5 # RAV4 has very sensitive gas pedal - if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH): + if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER): PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0]) elif self.CP.carFingerprint in (CAR.COROLLA,): PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0]) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 2fcd883a9..a6689ec1b 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -100,7 +100,7 @@ class CarState(CarStateBase): ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.vEgoCluster = ret.vEgo * 1.015 # minimum of all the cars - ret.standstill = ret.vEgoRaw == 0 + ret.standstill = abs(ret.vEgoRaw) < 1e-3 ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"] ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"] diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py new file mode 100644 index 000000000..19cdc53eb --- /dev/null +++ b/selfdrive/car/toyota/fingerprints.py @@ -0,0 +1,1646 @@ +from cereal import car +from openpilot.selfdrive.car.toyota.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.AVALON: { + (Ecu.abs, 0x7b0, None): [ + b'F152607060\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881510701300\x00\x00\x00\x00', + b'881510705100\x00\x00\x00\x00', + b'881510705200\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B41051\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x0230721100\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230721200\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702000\x00\x00\x00\x00', + b'8821F4702100\x00\x00\x00\x00', + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0701100\x00\x00\x00\x00', + b'8646F0703000\x00\x00\x00\x00', + ], + }, + CAR.AVALON_2019: { + (Ecu.abs, 0x7b0, None): [ + b'F152607110\x00\x00\x00\x00\x00\x00', + b'F152607140\x00\x00\x00\x00\x00\x00', + b'F152607171\x00\x00\x00\x00\x00\x00', + b'F152607180\x00\x00\x00\x00\x00\x00', + b'F152641040\x00\x00\x00\x00\x00\x00', + b'F152641050\x00\x00\x00\x00\x00\x00', + b'F152641061\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881510703200\x00\x00\x00\x00', + b'881510704200\x00\x00\x00\x00', + b'881514107100\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B07010\x00\x00\x00\x00\x00\x00', + b'8965B41070\x00\x00\x00\x00\x00\x00', + b'8965B41080\x00\x00\x00\x00\x00\x00', + b'8965B41090\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x01896630725100\x00\x00\x00\x00', + b'\x01896630725200\x00\x00\x00\x00', + b'\x01896630725300\x00\x00\x00\x00', + b'\x01896630735100\x00\x00\x00\x00', + b'\x01896630738000\x00\x00\x00\x00', + b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0702100\x00\x00\x00\x00', + ], + }, + CAR.AVALON_TSS2: { + (Ecu.abs, 0x7b0, None): [ + b'\x01F152607240\x00\x00\x00\x00\x00\x00', + b'\x01F152607250\x00\x00\x00\x00\x00\x00', + b'\x01F152607280\x00\x00\x00\x00\x00\x00', + b'F152641080\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B41110\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x018966306Q6000\x00\x00\x00\x00', + b'\x01896630742000\x00\x00\x00\x00', + b'\x01896630743000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F6201200\x00\x00\x00\x00', + b'\x018821F6201300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + ], + }, + CAR.CAMRY: { + (Ecu.engine, 0x700, None): [ + b'\x018966306L3100\x00\x00\x00\x00', + b'\x018966306L4200\x00\x00\x00\x00', + b'\x018966306L5200\x00\x00\x00\x00', + b'\x018966306L9000\x00\x00\x00\x00', + b'\x018966306P8000\x00\x00\x00\x00', + b'\x018966306Q3100\x00\x00\x00\x00', + b'\x018966306Q4000\x00\x00\x00\x00', + b'\x018966306Q4100\x00\x00\x00\x00', + b'\x018966306Q4200\x00\x00\x00\x00', + b'\x018966306Q6000\x00\x00\x00\x00', + b'\x018966333N1100\x00\x00\x00\x00', + b'\x018966333N4300\x00\x00\x00\x00', + b'\x018966333P3100\x00\x00\x00\x00', + b'\x018966333P3200\x00\x00\x00\x00', + b'\x018966333P4200\x00\x00\x00\x00', + b'\x018966333P4300\x00\x00\x00\x00', + b'\x018966333P4400\x00\x00\x00\x00', + b'\x018966333P4500\x00\x00\x00\x00', + b'\x018966333P4700\x00\x00\x00\x00', + b'\x018966333P4900\x00\x00\x00\x00', + b'\x018966333Q6000\x00\x00\x00\x00', + b'\x018966333Q6200\x00\x00\x00\x00', + b'\x018966333Q6300\x00\x00\x00\x00', + b'\x018966333Q6500\x00\x00\x00\x00', + b'\x018966333Q9200\x00\x00\x00\x00', + b'\x018966333W6000\x00\x00\x00\x00', + b'\x018966333X0000\x00\x00\x00\x00', + b'\x018966333X4000\x00\x00\x00\x00', + b'\x01896633T16000\x00\x00\x00\x00', + b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306N8100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306N8200\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306N8300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306N8400\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306R5000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306R5000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966306R6000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306R6000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966306S0000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'8821F0601200 ', + b'8821F0601300 ', + b'8821F0601400 ', + b'8821F0601500 ', + b'8821F0602000 ', + b'8821F0603300 ', + b'8821F0603400 ', + b'8821F0604000 ', + b'8821F0604100 ', + b'8821F0604200 ', + b'8821F0605200 ', + b'8821F0606200 ', + b'8821F0607200 ', + b'8821F0608000 ', + b'8821F0608200 ', + b'8821F0609000 ', + b'8821F0609100 ', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152606210\x00\x00\x00\x00\x00\x00', + b'F152606230\x00\x00\x00\x00\x00\x00', + b'F152606270\x00\x00\x00\x00\x00\x00', + b'F152606290\x00\x00\x00\x00\x00\x00', + b'F152606410\x00\x00\x00\x00\x00\x00', + b'F152633214\x00\x00\x00\x00\x00\x00', + b'F152633540\x00\x00\x00\x00\x00\x00', + b'F152633660\x00\x00\x00\x00\x00\x00', + b'F152633712\x00\x00\x00\x00\x00\x00', + b'F152633713\x00\x00\x00\x00\x00\x00', + b'F152633A10\x00\x00\x00\x00\x00\x00', + b'F152633A20\x00\x00\x00\x00\x00\x00', + b'F152633B51\x00\x00\x00\x00\x00\x00', + b'F152633B60\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B33540\x00\x00\x00\x00\x00\x00', + b'8965B33542\x00\x00\x00\x00\x00\x00', + b'8965B33550\x00\x00\x00\x00\x00\x00', + b'8965B33551\x00\x00\x00\x00\x00\x00', + b'8965B33580\x00\x00\x00\x00\x00\x00', + b'8965B33581\x00\x00\x00\x00\x00\x00', + b'8965B33611\x00\x00\x00\x00\x00\x00', + b'8965B33621\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F0601200 ', + b'8821F0601300 ', + b'8821F0601400 ', + b'8821F0601500 ', + b'8821F0602000 ', + b'8821F0603300 ', + b'8821F0603400 ', + b'8821F0604000 ', + b'8821F0604100 ', + b'8821F0604200 ', + b'8821F0605200 ', + b'8821F0606200 ', + b'8821F0607200 ', + b'8821F0608000 ', + b'8821F0608200 ', + b'8821F0609000 ', + b'8821F0609100 ', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0601200 ', + b'8646F0601300 ', + b'8646F0601400 ', + b'8646F0603400 ', + b'8646F0603500 ', + b'8646F0604100 ', + b'8646F0605000 ', + b'8646F0606000 ', + b'8646F0606100 ', + b'8646F0607000 ', + b'8646F0607100 ', + ], + }, + CAR.CAMRY_TSS2: { + (Ecu.eps, 0x7a1, None): [ + b'8965B33630\x00\x00\x00\x00\x00\x00', + b'8965B33640\x00\x00\x00\x00\x00\x00', + b'8965B33650\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', + b'F152633310\x00\x00\x00\x00\x00\x00', + b'F152633D00\x00\x00\x00\x00\x00\x00', + b'F152633D60\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x018966306Q5000\x00\x00\x00\x00', + b'\x018966306Q6000\x00\x00\x00\x00', + b'\x018966306Q7000\x00\x00\x00\x00', + b'\x018966306Q9000\x00\x00\x00\x00', + b'\x018966306R3000\x00\x00\x00\x00', + b'\x018966306R8000\x00\x00\x00\x00', + b'\x018966306T0000\x00\x00\x00\x00', + b'\x018966306T3100\x00\x00\x00\x00', + b'\x018966306T3200\x00\x00\x00\x00', + b'\x018966306T4000\x00\x00\x00\x00', + b'\x018966306T4100\x00\x00\x00\x00', + b'\x018966306V1000\x00\x00\x00\x00', + b'\x01896633T20000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F6201200\x00\x00\x00\x00', + b'\x018821F6201300\x00\x00\x00\x00', + b'\x018821F6201400\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', + 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b'\x038966347C5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', + b'\x038966347C5100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152647500\x00\x00\x00\x00\x00\x00', + b'F152647510\x00\x00\x00\x00\x00\x00', + b'F152647520\x00\x00\x00\x00\x00\x00', + b'F152647521\x00\x00\x00\x00\x00\x00', + b'F152647531\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B47070\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F4707000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F4710000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', + b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', + ], + }, + CAR.MIRAI: { + (Ecu.abs, 0x7d1, None): [ + b'\x01898A36203000\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'\x01F15266203200\x00\x00\x00\x00', + b'\x01F15266203500\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F6201200\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + ], + }, + CAR.ALPHARD_TSS2: { + (Ecu.engine, 0x7e0, None): [ + b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B58040\x00\x00\x00\x00\x00\x00', + b'8965B58052\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152658320\x00\x00\x00\x00\x00\x00', + b'F152658341\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301200\x00\x00\x00\x00', + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', + b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + ], + }, +} diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index c64f9ba1a..bd3f186b3 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -77,7 +77,7 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.444 # not optimized yet ret.mass = 2860. * CV.LB_TO_KG # mean between normal and hybrid - elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2): + elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2): stop_and_go = True ret.wheelbase = 2.79 ret.steerRatio = 16. # 14.8 is spec end-to-end @@ -99,7 +99,8 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG # mean between normal and hybrid - elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2): + elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2): + # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU stop_and_go = True ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in ret.steerRatio = 16.0 @@ -142,9 +143,7 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.444 # not optimized yet ret.mass = 3060. * CV.LB_TO_KG - elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2): - if candidate not in (CAR.LEXUS_ES,): # TODO: LEXUS_ES may have sng - stop_and_go = True + elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ES_TSS2): ret.wheelbase = 2.8702 ret.steerRatio = 16.0 # not optimized ret.tireStiffnessFactor = 0.444 # not optimized yet @@ -183,6 +182,12 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.444 # not optimized yet ret.mass = 4070 * CV.LB_TO_KG + elif candidate == CAR.LEXUS_LC_TSS2: + ret.wheelbase = 2.87 + ret.steerRatio = 13.0 + ret.tireStiffnessFactor = 0.444 # not optimized yet + ret.mass = 4500 * CV.LB_TO_KG + elif candidate == CAR.PRIUS_TSS2: ret.wheelbase = 2.70002 # from toyota online sepc. ret.steerRatio = 13.4 # True steerRatio from older prius @@ -264,15 +269,13 @@ class CarInterface(CarInterfaceBase): dp_toyota_enhanced_long_tune = Params().get_bool("dp_toyota_enhanced_long_tune") tune = ret.longitudinalTuning - tune.deadzoneBP = [0., 9.] - tune.deadzoneV = [.0, .15] + tune.deadzoneBP = [0., 16., 20., 30.] if dp_toyota_enhanced_long_tune else [0., 9.] + tune.deadzoneV = [0., .03, .06, .15] if dp_toyota_enhanced_long_tune else [.0, .15] if candidate in TSS2_CAR or ret.enableGasInterceptor: tune.kpBP = [0., 5., 20.] - tune.kpV = [1.3, 1.0, 0.7] if dp_toyota_enhanced_long_tune else [1.8, 1.0, 0.7] - #tune.kiBP = [0, 1, 2, 3, 4, 5., 12., 20., 25., 30., 40.] if dp_toyota_enhanced_long_tune else [0., 5., 12., 20., 27.] - #tune.kiV = [.35, .33, .31, .29, .27, .246, .20, .167, .10, .01, .001] if dp_toyota_enhanced_long_tune else [.35, .23, .20, .17, .1] - tune.kiBP = [0., 1., 2., 5., 12., 20., 23., 30., 40.] if dp_toyota_enhanced_long_tune else [0., 5., 12., 20., 27.] - tune.kiV = [.33, .33, .313, .245, .215, .17, .10, .01, .001] if dp_toyota_enhanced_long_tune else [.35, .23, .20, .17, .1] + tune.kpV = [1.3, 1.0, 0.7] + tune.kiBP = [ 0., 12., 20., 27., 40.] if dp_toyota_enhanced_long_tune else [0., 5., 12., 20., 27.] + tune.kiV = [.35, .215, .195, .10, .01] if dp_toyota_enhanced_long_tune else [.35, .23, .20, .17, .1] if candidate in TSS2_CAR: ret.vEgoStopping = 0.1 if dp_toyota_enhanced_long_tune else 0.25 # car is near 0.1 to 0.2 when car starts requesting stopping accel ret.vEgoStarting = 0.1 if dp_toyota_enhanced_long_tune else 0.25 # needs to be > or == vEgoStopping diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 10702269d..ed2b022f4 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -62,7 +62,6 @@ class CAR(StrEnum): COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019" HIGHLANDER = "TOYOTA HIGHLANDER 2017" HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020" - HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018" PRIUS = "TOYOTA PRIUS 2017" PRIUS_V = "TOYOTA PRIUS v 2017" PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021" @@ -77,15 +76,14 @@ class CAR(StrEnum): # Lexus LEXUS_CTH = "LEXUS CT HYBRID 2018" LEXUS_ES = "LEXUS ES 2018" - LEXUS_ESH = "LEXUS ES HYBRID 2018" LEXUS_ES_TSS2 = "LEXUS ES 2019" LEXUS_IS = "LEXUS IS 2018" LEXUS_IS_TSS2 = "LEXUS IS 2023" LEXUS_NX = "LEXUS NX 2018" LEXUS_NX_TSS2 = "LEXUS NX 2020" + LEXUS_LC_TSS2 = "LEXUS LC 2024" LEXUS_RC = "LEXUS RC 2020" LEXUS_RX = "LEXUS RX 2016" - LEXUS_RXH = "LEXUS RX HYBRID 2017" LEXUS_RX_TSS2 = "LEXUS RX 2020" LEXUS_GS_F = "LEXUS GS F 2016" @@ -147,12 +145,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), ToyotaCarInfo("Lexus UX Hybrid 2019-23"), ], - CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), + CAR.HIGHLANDER: [ + ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), + ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), + ], CAR.HIGHLANDER_TSS2: [ ToyotaCarInfo("Toyota Highlander 2020-23"), ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"), ], - CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), CAR.PRIUS: [ ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), @@ -180,19 +180,21 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), ], CAR.RAV4_TSS2_2023: [ - ToyotaCarInfo("Toyota RAV4 2023"), - ToyotaCarInfo("Toyota RAV4 Hybrid 2023"), + ToyotaCarInfo("Toyota RAV4 2023-24"), + ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"), ], 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_ES: ToyotaCarInfo("Lexus ES 2017-18"), - CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"), + CAR.LEXUS_ES: [ + ToyotaCarInfo("Lexus ES 2017-18"), + ToyotaCarInfo("Lexus ES Hybrid 2017-18"), + ], CAR.LEXUS_ES_TSS2: [ ToyotaCarInfo("Lexus ES 2019-24"), - ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"), + ToyotaCarInfo("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"), ], CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"), @@ -205,12 +207,12 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Lexus NX 2020-21"), ToyotaCarInfo("Lexus NX Hybrid 2020-21"), ], + CAR.LEXUS_LC_TSS2: ToyotaCarInfo("Lexus LC 2024"), CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"), CAR.LEXUS_RX: [ ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"), ToyotaCarInfo("Lexus RX 2017-19"), - ], - CAR.LEXUS_RXH: [ + # Hybrid platforms ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"), ToyotaCarInfo("Lexus RX Hybrid 2017-19"), ], @@ -222,33 +224,32 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { # (addr, cars, bus, 1/freq*100, vl) STATIC_DSU_MSGS = [ - (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), - (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'), - (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), - (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), - (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES), + (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), + (0x128, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1, 3, b'\x03\x00\x20\x00\x00\x52'), + (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), + (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), + (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.PRIUS_V), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), - (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), - (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), - (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), - (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), - (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), - (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), - (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), - (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, + (0X161, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), + (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), + (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), + (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), + (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), + (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), + (0x365, (CAR.PRIUS, CAR.LEXUS_NX, CAR.HIGHLANDER), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), + (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), - (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), - (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), + (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.HIGHLANDER), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), + (0x366, (CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'), - (0x366, (CAR.LEXUS_ES,), 0, 20, b'\x00\x95\x07\xfe\x08\x05\x00'), - (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'), - (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), - (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), + (0x470, (CAR.PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'), + (0x470, (CAR.HIGHLANDER, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), + (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), ] @@ -296,10 +297,10 @@ def get_platform_codes(fw_versions: List[bytes]) -> Dict[bytes, Set[bytes]]: return dict(codes) -def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: +def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]: candidates = set() - for candidate, fws in FW_VERSIONS.items(): + for candidate, fws in offline_fw_versions.items(): # Keep track of ECUs which pass all checks (platform codes, within sub-version range) valid_found_ecus = set() valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS} @@ -349,13 +350,16 @@ FW_LEN_CODE = re.compile(b'^[\x01-\x03]') # highest seen is 3 chunks, 16 bytes FW_CHUNK_LEN = 16 # List of ECUs that are most unique across openpilot platforms -# TODO: use hybrid ECU, splits similar ICE and hybrid variants # - fwdCamera: describes actual features related to ADAS. For example, on the Avalon it describes # when TSS-P became standard, whether the car supports stop and go, and whether it's TSS2. # On the RAV4, it describes the move to the radar doing ACC, and the use of LTA for lane keeping. -# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception) +# Note that the platform codes & major versions do not describe features in plain text, only with +# matching against other seen FW versions in the database they can describe features. +# - fwdRadar: sanity check against fwdCamera, commonly shares a platform code. +# For example the RAV4 2022's new radar architecture is shown for both with platform code. +# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception, not used due to hybrid platform combination) # - eps: describes lateral API changes for the EPS, such as using LTA for lane keeping and rejecting LKA messages -PLATFORM_CODE_ECUS = [Ecu.fwdCamera, Ecu.abs, Ecu.eps] +PLATFORM_CODE_ECUS = (Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps) # These platforms have at least one platform code for all ECUs shared with another platform. FUZZY_EXCLUDED_PLATFORMS: set[CAR] = set() @@ -395,8 +399,8 @@ FW_QUERY_CONFIG = FwQueryConfig( # FIXME: On some models, abs can sometimes be missing Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS, CAR.ALPHARD_TSS2], # On some models, the engine can show on two different addresses - Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC, - CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2], + Ecu.engine: [CAR.HIGHLANDER, CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, + CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2], }, extra_ecus=[ # All known ECUs on a late-model Toyota vehicle not queried here: @@ -433,1642 +437,6 @@ FW_QUERY_CONFIG = FwQueryConfig( match_fw_to_car_fuzzy=match_fw_to_car_fuzzy, ) -FW_VERSIONS = { - CAR.AVALON: { - (Ecu.abs, 0x7b0, None): [ - b'F152607060\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881510701300\x00\x00\x00\x00', - b'881510705100\x00\x00\x00\x00', - b'881510705200\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B41051\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\x0230721100\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x0230721200\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4702000\x00\x00\x00\x00', - b'8821F4702100\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F0701100\x00\x00\x00\x00', - b'8646F0703000\x00\x00\x00\x00', - ], - }, - CAR.AVALON_2019: { - (Ecu.abs, 0x7b0, None): [ - b'F152607140\x00\x00\x00\x00\x00\x00', - b'F152607171\x00\x00\x00\x00\x00\x00', - b'F152607110\x00\x00\x00\x00\x00\x00', - b'F152607180\x00\x00\x00\x00\x00\x00', - b'F152641040\x00\x00\x00\x00\x00\x00', - b'F152641061\x00\x00\x00\x00\x00\x00', - b'F152641050\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881510703200\x00\x00\x00\x00', - b'881510704200\x00\x00\x00\x00', - b'881514107100\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B41080\x00\x00\x00\x00\x00\x00', - b'8965B07010\x00\x00\x00\x00\x00\x00', - b'8965B41090\x00\x00\x00\x00\x00\x00', - b'8965B41070\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ - b'\x01896630725200\x00\x00\x00\x00', - b'\x01896630725300\x00\x00\x00\x00', - b'\x01896630735100\x00\x00\x00\x00', - b'\x01896630738000\x00\x00\x00\x00', - b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', - b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4702300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F0702100\x00\x00\x00\x00', - ], - }, - CAR.AVALON_TSS2: { - (Ecu.abs, 0x7b0, None): [ - b'\x01F152607240\x00\x00\x00\x00\x00\x00', - b'\x01F152607250\x00\x00\x00\x00\x00\x00', - b'\x01F152607280\x00\x00\x00\x00\x00\x00', - b'F152641080\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B41110\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ - b'\x01896630742000\x00\x00\x00\x00', - b'\x01896630743000\x00\x00\x00\x00', - b'\x018966306Q6000\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F6201200\x00\x00\x00\x00', - b'\x018821F6201300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', - b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', - ], - }, - CAR.CAMRY: { - (Ecu.engine, 0x700, None): [ - b'\x018966306L3100\x00\x00\x00\x00', - b'\x018966306L4200\x00\x00\x00\x00', - b'\x018966306L5200\x00\x00\x00\x00', - b'\x018966306P8000\x00\x00\x00\x00', - b'\x018966306Q3100\x00\x00\x00\x00', - b'\x018966306Q4000\x00\x00\x00\x00', - b'\x018966306Q4100\x00\x00\x00\x00', - b'\x018966306Q4200\x00\x00\x00\x00', - b'\x018966333Q9200\x00\x00\x00\x00', - b'\x018966333P3100\x00\x00\x00\x00', - b'\x018966333P3200\x00\x00\x00\x00', - b'\x018966333P4200\x00\x00\x00\x00', - b'\x018966333P4300\x00\x00\x00\x00', - b'\x018966333P4400\x00\x00\x00\x00', - b'\x018966333P4500\x00\x00\x00\x00', - b'\x018966333P4700\x00\x00\x00\x00', - b'\x018966333P4900\x00\x00\x00\x00', - b'\x018966333Q6000\x00\x00\x00\x00', - b'\x018966333Q6200\x00\x00\x00\x00', - b'\x018966333Q6300\x00\x00\x00\x00', - b'\x018966333Q6500\x00\x00\x00\x00', - b'\x018966333W6000\x00\x00\x00\x00', - b'\x018966306Q6000\x00\x00\x00\x00', - b'\x018966333N1100\x00\x00\x00\x00', - b'\x018966333N4300\x00\x00\x00\x00', - b'\x018966333X0000\x00\x00\x00\x00', - b'\x018966333X4000\x00\x00\x00\x00', - b'\x01896633T16000\x00\x00\x00\x00', - b'\x018966306L9000\x00\x00\x00\x00', - b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306N8100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306N8200\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306N8300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306N8400\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306R5000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306R5000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', - b'\x028966306R6000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306R6000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', - b'\x028966306S0000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', - b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', - b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'8821F0601200 ', - b'8821F0601300 ', - b'8821F0602000 ', - b'8821F0603300 ', - b'8821F0604100 ', - b'8821F0605200 ', - b'8821F0607200 ', - b'8821F0608000 ', - b'8821F0608200 ', - b'8821F0609100 ', - b'8821F0603400 ', - b'8821F0604000 ', - b'8821F0604200 ', - b'8821F0606200 ', - b'8821F0609000 ', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152606210\x00\x00\x00\x00\x00\x00', - b'F152606230\x00\x00\x00\x00\x00\x00', - b'F152606270\x00\x00\x00\x00\x00\x00', - b'F152606290\x00\x00\x00\x00\x00\x00', - b'F152606410\x00\x00\x00\x00\x00\x00', - b'F152633540\x00\x00\x00\x00\x00\x00', - b'F152633A10\x00\x00\x00\x00\x00\x00', - b'F152633A20\x00\x00\x00\x00\x00\x00', - b'F152633214\x00\x00\x00\x00\x00\x00', - b'F152633660\x00\x00\x00\x00\x00\x00', - b'F152633712\x00\x00\x00\x00\x00\x00', - b'F152633713\x00\x00\x00\x00\x00\x00', - b'F152633B51\x00\x00\x00\x00\x00\x00', - b'F152633B60\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B33540\x00\x00\x00\x00\x00\x00', - b'8965B33542\x00\x00\x00\x00\x00\x00', - b'8965B33580\x00\x00\x00\x00\x00\x00', - b'8965B33581\x00\x00\x00\x00\x00\x00', - b'8965B33621\x00\x00\x00\x00\x00\x00', - b'8965B33550\x00\x00\x00\x00\x00\x00', - b'8965B33551\x00\x00\x00\x00\x00\x00', - b'8965B33611\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ # Same as 0x791 - b'8821F0601200 ', - b'8821F0601300 ', - b'8821F0602000 ', - b'8821F0603300 ', - b'8821F0604100 ', - b'8821F0605200 ', - b'8821F0607200 ', - b'8821F0608000 ', - b'8821F0608200 ', - b'8821F0609100 ', - b'8821F0603400 ', - b'8821F0604000 ', - b'8821F0604200 ', - b'8821F0606200 ', - b'8821F0609000 ', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F0601200 ', - b'8646F0601300 ', - b'8646F0601400 ', - b'8646F0603400 ', - b'8646F0604100 ', - b'8646F0605000 ', - b'8646F0606000 ', - b'8646F0606100 ', - b'8646F0607100 ', - b'8646F0603500 ', - b'8646F0607000 ', - ], - }, - CAR.CAMRY_TSS2: { - (Ecu.eps, 0x7a1, None): [ - b'8965B33630\x00\x00\x00\x00\x00\x00', - b'8965B33640\x00\x00\x00\x00\x00\x00', - b'8965B33650\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', - b'F152633D00\x00\x00\x00\x00\x00\x00', - b'F152633D60\x00\x00\x00\x00\x00\x00', - b'F152633310\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'\x018966306R8000\x00\x00\x00\x00', - b'\x018966306T3100\x00\x00\x00\x00', - b'\x018966306T3200\x00\x00\x00\x00', - b'\x018966306T4000\x00\x00\x00\x00', - b'\x018966306T4100\x00\x00\x00\x00', - b'\x018966306Q6000\x00\x00\x00\x00', - b'\x018966306Q7000\x00\x00\x00\x00', - b'\x018966306T0000\x00\x00\x00\x00', - b'\x018966306V1000\x00\x00\x00\x00', - b'\x01896633T20000\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F6201200\x00\x00\x00\x00', - b'\x018821F6201300\x00\x00\x00\x00', - b'\x018821F6201400\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'\x028646F0602300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', - b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', - 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b'\x02896634769000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896634769100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896634769200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896634770000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896634774000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896634774100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896634774200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896634782000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896634784000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347A0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347A5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347A8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347B0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x03896634759100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', - b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', - 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b'\x03896634768100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00', - b'\x03896634785000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4705001\x00\x00\x00\x00', - b'\x03896634785000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00', - b'\x03896634786000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4705001\x00\x00\x00\x00', - b'\x03896634786000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00', - b'\x03896634789000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00', - b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', - b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707001\x00\x00\x00\x00', - b'\x038966347B6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00', - b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B47021\x00\x00\x00\x00\x00\x00', - b'8965B47022\x00\x00\x00\x00\x00\x00', - b'8965B47023\x00\x00\x00\x00\x00\x00', - b'8965B47050\x00\x00\x00\x00\x00\x00', - b'8965B47060\x00\x00\x00\x00\x00\x00', # This is the EPS with good angle sensor - ], - (Ecu.abs, 0x7b0, None): [ - b'F152647290\x00\x00\x00\x00\x00\x00', - b'F152647300\x00\x00\x00\x00\x00\x00', - b'F152647310\x00\x00\x00\x00\x00\x00', - b'F152647414\x00\x00\x00\x00\x00\x00', - b'F152647415\x00\x00\x00\x00\x00\x00', - b'F152647416\x00\x00\x00\x00\x00\x00', - b'F152647417\x00\x00\x00\x00\x00\x00', - b'F152647470\x00\x00\x00\x00\x00\x00', - b'F152647490\x00\x00\x00\x00\x00\x00', - b'F152647682\x00\x00\x00\x00\x00\x00', - b'F152647683\x00\x00\x00\x00\x00\x00', - b'F152647684\x00\x00\x00\x00\x00\x00', - b'F152647862\x00\x00\x00\x00\x00\x00', - b'F152647863\x00\x00\x00\x00\x00\x00', - b'F152647864\x00\x00\x00\x00\x00\x00', - b'F152647865\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881514702300\x00\x00\x00\x00', - b'881514702400\x00\x00\x00\x00', - b'881514703100\x00\x00\x00\x00', - 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b'\x018821F3301400\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', - b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - ], - }, - CAR.PRIUS_TSS2: { - (Ecu.engine, 0x700, None): [ - b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347C7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', - b'\x038966347C1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', - b'\x038966347C5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', - b'\x038966347C5100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152647500\x00\x00\x00\x00\x00\x00', - b'F152647510\x00\x00\x00\x00\x00\x00', - b'F152647520\x00\x00\x00\x00\x00\x00', - b'F152647521\x00\x00\x00\x00\x00\x00', - b'F152647531\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B47070\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F3301400\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F4707000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - b'\x028646F4710000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', - b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', - ], - }, - CAR.MIRAI: { - (Ecu.abs, 0x7D1, None): [b'\x01898A36203000\x00\x00\x00\x00',], - (Ecu.abs, 0x7B0, None): [ # a second ABS ECU - b'\x01F15266203200\x00\x00\x00\x00', - b'\x01F15266203500\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7A1, None): [b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00',], - (Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F6201200\x00\x00\x00\x00',], - (Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',], - }, - CAR.ALPHARD_TSS2: { - (Ecu.engine, 0x7e0, None): [ - b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B58040\x00\x00\x00\x00\x00\x00', - b'8965B58052\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152658341\x00\x00\x00\x00\x00\x00' - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F3301200\x00\x00\x00\x00', - b'\x018821F3301400\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', - b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - ], - }, -} STEER_THRESHOLD = 100 @@ -2078,9 +446,9 @@ DBC = { CAR.PRIUS: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.PRIUS_V: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + CAR.LEXUS_LC_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - CAR.LEXUS_RXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None), @@ -2088,7 +456,6 @@ DBC = { CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.HIGHLANDER: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.HIGHLANDERH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -2098,7 +465,6 @@ DBC = { CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -2117,7 +483,8 @@ EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_I # Toyota/Lexus Safety Sense 2.0 and 2.5 TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.LEXUS_IS_TSS2, - CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.CHR_TSS2} + CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_LC_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, + CAR.CHR_TSS2} NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY} @@ -2131,4 +498,4 @@ RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2} ANGLE_CONTROL_CAR = {CAR.RAV4_TSS2_2023} # no resume button press required -NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH} +NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDER, CAR.SIENNA} diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index e2709cc84..4e554665e 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -4,7 +4,7 @@ import re import cereal.messaging as messaging from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from openpilot.selfdrive.car.fw_query_definitions import StdQueries +from openpilot.selfdrive.car.fw_query_definitions import STANDARD_VIN_ADDRS, StdQueries from openpilot.common.swaglog import cloudlog VIN_UNKNOWN = "0" * 17 @@ -15,33 +15,47 @@ def is_valid_vin(vin: str): return re.fullmatch(VIN_RE, vin) is not None -def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False): - addrs = list(range(0x7e0, 0x7e8)) + list(range(0x18DA00F1, 0x18DB00F1, 0x100)) # addrs to process/wait for - valid_vin_addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1] # engine, VMCU, 29-bit engine, PGM-FI +def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False): for i in range(retry): - for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)): - try: - query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], functional_addrs=FUNCTIONAL_ADDRS, debug=debug) - results = query.get_data(timeout) + for bus in buses: + for request, response, valid_buses, vin_addrs, functional_addrs, rx_offset in ( + (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8), + (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8), + (StdQueries.GM_VIN_REQUEST, StdQueries.GM_VIN_RESPONSE, (0,), [0x24b], None, 0x400), # Bolt fwdCamera + ): + if bus not in valid_buses: + continue - for addr in valid_vin_addrs: - vin = results.get((addr, None)) - if vin is not None: - # Ford pads with null bytes - if len(vin) == 24: - vin = re.sub(b'\x00*$', b'', vin) + # When querying functional addresses, ideally we respond to everything that sends a first frame to avoid leaving the + # ECU in a temporary bad state. Note that we may not cover all ECUs and response offsets. TODO: query physical addrs + tx_addrs = vin_addrs + if functional_addrs is not None: + tx_addrs = [a for a in range(0x700, 0x800) if a != 0x7DF] + list(range(0x18DA00F1, 0x18DB00F1, 0x100)) - # Honda Bosch response starts with a length, trim to correct length - if vin.startswith(b'\x11'): - vin = vin[1:18] + try: + query = IsoTpParallelQuery(sendcan, logcan, bus, tx_addrs, [request, ], [response, ], response_offset=rx_offset, + functional_addrs=functional_addrs, debug=debug) + results = query.get_data(timeout) - return get_rx_addr_for_tx_addr(addr), vin.decode() + for addr in vin_addrs: + vin = results.get((addr, None)) + if vin is not None: + # Ford pads with null bytes + if len(vin) == 24: + vin = re.sub(b'\x00*$', b'', vin) - cloudlog.error(f"vin query retry ({i+1}) ...") - except Exception: - cloudlog.exception("VIN query exception") + # Honda Bosch response starts with a length, trim to correct length + if vin.startswith(b'\x11'): + vin = vin[1:18] - return 0, VIN_UNKNOWN + cloudlog.error(f"got vin with {request=}") + return get_rx_addr_for_tx_addr(addr, rx_offset=rx_offset), bus, vin.decode() + except Exception: + cloudlog.exception("VIN query exception") + + cloudlog.error(f"vin query retry ({i+1}) ...") + + return -1, -1, VIN_UNKNOWN if __name__ == "__main__": @@ -59,5 +73,5 @@ if __name__ == "__main__": logcan = messaging.sub_sock('can') time.sleep(1) - vin_rx_addr, vin = get_vin(logcan, sendcan, args.bus, args.timeout, args.retry, debug=args.debug) - print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}') + vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (args.bus,), args.timeout, args.retry, debug=args.debug) + print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index e7a7f2a99..0cee2c7fc 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -5,7 +5,7 @@ from openpilot.common.conversions import Conversions as CV from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import apply_driver_steer_torque_limits from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan -from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams +from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams, VolkswagenFlags VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -65,13 +65,22 @@ class CarController: self.apply_steer_last = apply_steer can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hca_enabled)) + if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + # Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque + # to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to + # consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background. + ea_simulated_torque = clip(apply_steer * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX) + if abs(CS.out.steeringTorque) > abs(ea_simulated_torque): + ea_simulated_torque = CS.out.steeringTorque + can_sends.append(self.CCS.create_eps_update(self.packer_pt, CANBUS.cam, CS.eps_stock_values, ea_simulated_torque)) + # **** Acceleration Controls ******************************************** # if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl: acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0 stopping = actuators.longControlState == LongCtrlState.stopping - starting = actuators.longControlState == LongCtrlState.starting + starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping) can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel, acc_control, stopping, starting, CS.esp_hold_confirmation)) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 2976ba35a..58aa5767e 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -4,7 +4,7 @@ from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \ - CarControllerParams + CarControllerParams, VolkswagenFlags class CarState(CarStateBase): @@ -14,6 +14,7 @@ class CarState(CarStateBase): self.button_states = {button.event_type: False for button in self.CCP.BUTTONS} self.esp_hold_confirmation = False self.upscale_lead_car_signal = False + self.eps_stock_values = False def create_button_events(self, pt_cp, buttons): button_events = [] @@ -59,6 +60,11 @@ class CarState(CarStateBase): ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT") ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED") + # VW Emergency Assist status tracking and mitigation + self.eps_stock_values = pt_cp.vl["LH_EPS_03"] + if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0 + # Update gas, brakes, and gearshift. ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0 ret.gasPressed = ret.gas > 0 @@ -295,6 +301,11 @@ class CarState(CarStateBase): messages = [] + if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + messages += [ + ("HCA_01", 1), # From R242 Driver assistance camera, 50Hz if steering/1Hz if not + ] + if CP.networkLocation == NetworkLocation.fwdCamera: messages += [ # sig_address, frequency diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py new file mode 100644 index 000000000..8e5a0667b --- /dev/null +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -0,0 +1,1162 @@ +from cereal import car +from openpilot.selfdrive.car.volkswagen.values import CAR + +Ecu = car.CarParams.Ecu + +# TODO: Sharan Mk2 EPS and DQ250 auto trans both require KWP2000 support for fingerprinting + + +FW_VERSIONS = { + CAR.ARTEON_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x873G0906259AH\xf1\x890001', + b'\xf1\x873G0906259F \xf1\x890004', + b'\xf1\x873G0906259G \xf1\x890004', + b'\xf1\x873G0906259G \xf1\x890005', + b'\xf1\x873G0906259M \xf1\x890003', + b'\xf1\x873G0906259N \xf1\x890004', + b'\xf1\x873G0906259P \xf1\x890001', + b'\xf1\x875NA907115H \xf1\x890002', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158L \xf1\x893611', + b'\xf1\x870DL300014C \xf1\x893704', + b'\xf1\x870GC300011L \xf1\x891401', + b'\xf1\x870GC300014M \xf1\x892802', + b'\xf1\x870GC300019G \xf1\x892804', + b'\xf1\x870GC300040P \xf1\x891401', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900', + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', + b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900', + b'\xf1\x873Q0959655DA\xf1\x890720\xf1\x82\x0e1712141712141105121122052900', + b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\x0e1812141812171105141123052J00', + b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49', + ], + (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\x0567B0020800', + b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N', + b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N', + b'\xf1\x875WA907145Q \xf1\x891063\xf1\x82\x002KB4092KOM', + ], + (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: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8703H906026AA\xf1\x899970', + b'\xf1\x8703H906026AG\xf1\x899973', + b'\xf1\x8703H906026AJ\xf1\x890638', + b'\xf1\x8703H906026AJ\xf1\x891017', + b'\xf1\x8703H906026AT\xf1\x891922', + b'\xf1\x8703H906026BC\xf1\x892664', + b'\xf1\x8703H906026F \xf1\x896696', + b'\xf1\x8703H906026F \xf1\x899970', + b'\xf1\x8703H906026J \xf1\x896026', + b'\xf1\x8703H906026J \xf1\x899971', + b'\xf1\x8703H906026S \xf1\x896693', + b'\xf1\x8703H906026S \xf1\x899970', + b'\xf1\x873CN906259 \xf1\x890005', + b'\xf1\x873CN906259F \xf1\x890002', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158A \xf1\x893387', + b'\xf1\x8709G927158DR\xf1\x893536', + b'\xf1\x8709G927158DR\xf1\x893742', + b'\xf1\x8709G927158EN\xf1\x893691', + b'\xf1\x8709G927158F \xf1\x893489', + b'\xf1\x8709G927158FT\xf1\x893835', + b'\xf1\x8709G927158GL\xf1\x893939', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655BC\xf1\x890503\xf1\x82\x0e1914151912001103111122031200', + b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\x0e2214152212001105141122052900', + b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e1114151112001105111122052900', + b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e2214152212001105141122052900', + b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105161122052J00', + b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1115151112001105171122052J00', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B60924A1', + b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1', + b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6M921A1', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6080105', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572R \xf1\x890372', + b'\xf1\x872Q0907572T \xf1\x890383', + b'\xf1\x875Q0907572H \xf1\x890620', + b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572P \xf1\x890682', + ], + }, + CAR.CRAFTER_MK2: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704L906056BP\xf1\x894729', + b'\xf1\x8704L906056EK\xf1\x896391', + b'\xf1\x8705L906023BC\xf1\x892688', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100', + b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900', + b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2', + b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2', + b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572J \xf1\x890156', + b'\xf1\x872Q0907572M \xf1\x890233', + ], + }, + CAR.GOLF_MK7: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906016A \xf1\x897697', + b'\xf1\x8704E906016AD\xf1\x895758', + b'\xf1\x8704E906016CE\xf1\x899096', + b'\xf1\x8704E906016CH\xf1\x899226', + b'\xf1\x8704E906016N \xf1\x899105', + b'\xf1\x8704E906023AG\xf1\x891726', + b'\xf1\x8704E906023BN\xf1\x894518', + b'\xf1\x8704E906024K \xf1\x896811', + b'\xf1\x8704E906024K \xf1\x899970', + b'\xf1\x8704E906027GR\xf1\x892394', + b'\xf1\x8704E906027HD\xf1\x892603', + b'\xf1\x8704E906027HD\xf1\x893742', + b'\xf1\x8704E906027MA\xf1\x894958', + b'\xf1\x8704L906021DT\xf1\x895520', + b'\xf1\x8704L906021DT\xf1\x898127', + b'\xf1\x8704L906021N \xf1\x895518', + b'\xf1\x8704L906021N \xf1\x898138', + b'\xf1\x8704L906026BN\xf1\x891197', + b'\xf1\x8704L906026BP\xf1\x897608', + b'\xf1\x8704L906026NF\xf1\x899528', + b'\xf1\x8704L906056CL\xf1\x893823', + b'\xf1\x8704L906056CR\xf1\x895813', + b'\xf1\x8704L906056HE\xf1\x893758', + b'\xf1\x8704L906056HN\xf1\x896590', + b'\xf1\x8704L906056HT\xf1\x896591', + b'\xf1\x870EA906016A \xf1\x898343', + b'\xf1\x870EA906016E \xf1\x894219', + b'\xf1\x870EA906016F \xf1\x894238', + b'\xf1\x870EA906016F \xf1\x895002', + b'\xf1\x870EA906016Q \xf1\x895993', + b'\xf1\x870EA906016S \xf1\x897207', + b'\xf1\x875G0906259 \xf1\x890007', + b'\xf1\x875G0906259D \xf1\x890002', + b'\xf1\x875G0906259J \xf1\x890002', + b'\xf1\x875G0906259L \xf1\x890002', + b'\xf1\x875G0906259N \xf1\x890003', + b'\xf1\x875G0906259Q \xf1\x890002', + b'\xf1\x875G0906259Q \xf1\x892313', + b'\xf1\x875G0906259T \xf1\x890003', + b'\xf1\x878V0906259H \xf1\x890002', + b'\xf1\x878V0906259J \xf1\x890003', + b'\xf1\x878V0906259K \xf1\x890001', + b'\xf1\x878V0906259K \xf1\x890003', + b'\xf1\x878V0906259P \xf1\x890001', + b'\xf1\x878V0906259Q \xf1\x890002', + b'\xf1\x878V0906259R \xf1\x890002', + b'\xf1\x878V0906264F \xf1\x890003', + b'\xf1\x878V0906264L \xf1\x890002', + b'\xf1\x878V0906264M \xf1\x890001', + b'\xf1\x878V09C0BB01 \xf1\x890001', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927749AP\xf1\x892943', + b'\xf1\x8709S927158A \xf1\x893585', + b'\xf1\x870CW300040H \xf1\x890606', + b'\xf1\x870CW300041D \xf1\x891004', + b'\xf1\x870CW300041H \xf1\x891010', + b'\xf1\x870CW300042F \xf1\x891604', + b'\xf1\x870CW300043B \xf1\x891601', + b'\xf1\x870CW300043E \xf1\x891603', + b'\xf1\x870CW300044S \xf1\x894530', + b'\xf1\x870CW300044T \xf1\x895245', + b'\xf1\x870CW300045 \xf1\x894531', + b'\xf1\x870CW300047D \xf1\x895261', + b'\xf1\x870CW300047E \xf1\x895261', + b'\xf1\x870CW300048J \xf1\x890611', + b'\xf1\x870CW300049H \xf1\x890905', + b'\xf1\x870CW300050G \xf1\x891905', + b'\xf1\x870D9300012 \xf1\x894904', + b'\xf1\x870D9300012 \xf1\x894913', + b'\xf1\x870D9300012 \xf1\x894937', + b'\xf1\x870D9300012 \xf1\x895045', + b'\xf1\x870D9300012 \xf1\x895046', + b'\xf1\x870D9300014M \xf1\x895004', + b'\xf1\x870D9300014Q \xf1\x895006', + b'\xf1\x870D9300020J \xf1\x894902', + b'\xf1\x870D9300020Q \xf1\x895201', + b'\xf1\x870D9300020S \xf1\x895201', + b'\xf1\x870D9300040A \xf1\x893613', + b'\xf1\x870D9300040S \xf1\x894311', + b'\xf1\x870D9300041H \xf1\x895220', + b'\xf1\x870D9300041P \xf1\x894507', + b'\xf1\x870DD300045K \xf1\x891120', + b'\xf1\x870DD300046F \xf1\x891601', + b'\xf1\x870GC300012A \xf1\x891401', + b'\xf1\x870GC300012A \xf1\x891403', + b'\xf1\x870GC300014B \xf1\x892401', + b'\xf1\x870GC300014B \xf1\x892403', + b'\xf1\x870GC300014B \xf1\x892405', + b'\xf1\x870GC300020G \xf1\x892401', + b'\xf1\x870GC300020G \xf1\x892403', + b'\xf1\x870GC300020G \xf1\x892404', + b'\xf1\x870GC300020N \xf1\x892804', + b'\xf1\x870GC300043T \xf1\x899999', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120043114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120053114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113', + b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100', + b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333423100', + b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100', + b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100', + b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', + b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13341512112212--071104172328102891131211', + b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\x111413001112120041114115121611169112', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200061104171717101791132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200621143171717111791132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200061104171724102491132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200621143171724112491132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200631143171724122491132111', + b'\xf1\x875Q0959655T \xf1\x890825\xf1\x82\x13271200111312--071104171837103791132111', + b'\xf1\x875Q0959655T \xf1\x890830\xf1\x82\x13271100111312--071104171826102691131211', + b'\xf1\x875QD959655 \xf1\x890388\xf1\x82\x111413001113120006110417121D101D9112', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561A01612A0', + b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\x0566A0J612A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A00514A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01613A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A0J712A1', + b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1', + b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1', + b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1', + b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A02A16A1', + b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1', + b'\xf1\x873QM909144 \xf1\x895072\xf1\x82\x0571A01714A1', + b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00441A1', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00608A1', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00641A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00442A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00642A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A07B05A1', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00502A0', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00602A0', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0522A00402A0', + 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\x0521A00407A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A2000400', + b'\xf1\x875QD909144B \xf1\x891072\xf1\x82\x0521A00507A1', + b'\xf1\x875QM909144A \xf1\x891072\xf1\x82\x0521A20B03A1', + b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A00442A1', + b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A16A1', + b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A17A1', + b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A18A1', + b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A01A18A1', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101', + b'\xf1\x875Q0907567J \xf1\x890396\xf1\x82\x0101', + b'\xf1\x875Q0907567L \xf1\x890098\xf1\x82\x0101', + b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\x0101', + b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101', + b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101', + b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', + b'\xf1\x875Q0907572E \xf1\x89X310\xf1\x82\x0101', + b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', + b'\xf1\x875Q0907572G \xf1\x890571', + b'\xf1\x875Q0907572H \xf1\x890620', + b'\xf1\x875Q0907572J \xf1\x890653', + b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572R \xf1\x890771', + b'\xf1\x875Q0907572S \xf1\x890780', + ], + }, + CAR.JETTA_MK7: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906024AK\xf1\x899937', + b'\xf1\x8704E906024AS\xf1\x899912', + b'\xf1\x8704E906024B \xf1\x895594', + b'\xf1\x8704E906024BC\xf1\x899971', + b'\xf1\x8704E906024BG\xf1\x891057', + b'\xf1\x8704E906024C \xf1\x899970', + b'\xf1\x8704E906024L \xf1\x895595', + b'\xf1\x8704E906024L \xf1\x899970', + b'\xf1\x8704E906027MS\xf1\x896223', + b'\xf1\x8705E906013DB\xf1\x893361', + b'\xf1\x875G0906259T \xf1\x890003', + ], + 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b'\xf1\x875Q0907572R \xf1\x890771', + ], + }, + CAR.PASSAT_NMS: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8706K906016C \xf1\x899609', + b'\xf1\x8706K906016E \xf1\x899830', + b'\xf1\x8706K906016G \xf1\x891124', + b'\xf1\x8706K906071BJ\xf1\x894891', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158AB\xf1\x893318', + b'\xf1\x8709G927158BD\xf1\x893121', + b'\xf1\x8709G927158DK\xf1\x893594', + b'\xf1\x8709G927158FQ\xf1\x893745', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x87561959655 \xf1\x890210\xf1\x82\x1212121111113000102011--121012--101312', + b'\xf1\x87561959655C \xf1\x890508\xf1\x82\x1215141111121100314919--153015--304831', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x87561907567A \xf1\x890132', + b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0152', + ], + }, + CAR.POLO_MK6: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704C906025H \xf1\x895177', + b'\xf1\x8705C906032J \xf1\x891702', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300042D \xf1\x891612', + b'\xf1\x870CW300050D \xf1\x891908', + b'\xf1\x870CW300051G \xf1\x891909', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14', + b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14', + b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1384830511110516041405820599841215391471', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x872Q1909144M \xf1\x896041', + b'\xf1\x872Q2909144AB\xf1\x896050', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572R \xf1\x890372', + ], + }, + CAR.SHARAN_MK2: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704L906016HE\xf1\x894635', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x877N0959655D \xf1\x890016\xf1\x82\x0801100705----10--', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0153', + ], + }, + CAR.TAOS_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906025CK\xf1\x892228', + b'\xf1\x8704E906027NJ\xf1\x891445', + b'\xf1\x8704E906027NP\xf1\x891286', + b'\xf1\x8705E906013BD\xf1\x892496', + b'\xf1\x8705E906013E \xf1\x891624', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158EM\xf1\x893812', + b'\xf1\x8709S927158BL\xf1\x893791', + b'\xf1\x8709S927158CR\xf1\x893924', + b'\xf1\x8709S927158DN\xf1\x893946', + b'\xf1\x8709S927158FF\xf1\x893876', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1311111111333500314646021450149333613100', + b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1312111111333500314646021550159333613100', + b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x001O06081OOM', + b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060405A1', + b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060605A1', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572T 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b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900', + b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1312001313001305171311052900', + b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\x0e1312001313001305171311052900', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521N01842A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521N01342A1', + b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511N01805A0', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N01309A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N05808A1', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101', + b'\xf1\x875Q0907572H \xf1\x890620', + b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101', + b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572R \xf1\x890771', + ], + }, + CAR.SKODA_FABIA_MK4: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8705E906018CF\xf1\x891905', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300051M \xf1\x891936', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100110200--1111120749', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x872Q1909144S \xf1\x896042', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + ], + }, + CAR.SKODA_KAMIQ_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8705C906032M \xf1\x891333', + b'\xf1\x8705E906013CK\xf1\x892540', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300020 \xf1\x891906', + b'\xf1\x870CW300020T \xf1\x892204', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\x122221042111042121040404042E2711152H14', + b'\xf1\x872Q0959655BJ\xf1\x890412\xf1\x82\x132223042111042121040404042B251215391423', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x872Q1909144AB\xf1\x896050', + b'\xf1\x872Q1909144M \xf1\x896041', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572T \xf1\x890383', + ], + }, + CAR.SKODA_KAROQ_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8705E906013H \xf1\x892407', + b'\xf1\x8705E906018P \xf1\x895472', + b'\xf1\x8705E906018P \xf1\x896020', + b'\xf1\x8705L906022BS\xf1\x890913', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300020T \xf1\x892202', + b'\xf1\x870CW300041S \xf1\x891615', + b'\xf1\x870GC300014L \xf1\x892802', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001101131112012100', + b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1213001211001101131122012100', + b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00', + b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1312110012120011111100010200--2521210749', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100500', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572AB\xf1\x890397', + b'\xf1\x872Q0907572M \xf1\x890233', + b'\xf1\x872Q0907572T \xf1\x890383', + ], + }, + CAR.SKODA_KODIAQ_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906027DD\xf1\x893123', + b'\xf1\x8704E906027LD\xf1\x893433', + b'\xf1\x8704E906027NB\xf1\x896517', + b'\xf1\x8704E906027NB\xf1\x899504', + b'\xf1\x8704L906026DE\xf1\x895418', + b'\xf1\x8704L906026EJ\xf1\x893661', + b'\xf1\x8704L906026HT\xf1\x893617', + b'\xf1\x8705E906018DJ\xf1\x890915', + b'\xf1\x8705E906018DJ\xf1\x891903', + b'\xf1\x875NA906259E \xf1\x890003', + b'\xf1\x875NA907115E \xf1\x890003', + b'\xf1\x875NA907115E \xf1\x890005', + b'\xf1\x8783A907115E \xf1\x890001', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870D9300014S \xf1\x895201', + b'\xf1\x870D9300043 \xf1\x895202', + b'\xf1\x870DL300011N \xf1\x892014', + b'\xf1\x870DL300012M \xf1\x892107', + b'\xf1\x870DL300012N \xf1\x892110', + b'\xf1\x870DL300013G \xf1\x892119', + b'\xf1\x870GC300014N \xf1\x892801', + b'\xf1\x870GC300019H \xf1\x892806', + b'\xf1\x870GC300046Q \xf1\x892802', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211', + b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001205212111052100', + b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100', + 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', + b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749', + ], + (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', + b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572AB\xf1\x890397', + b'\xf1\x872Q0907572M \xf1\x890233', + b'\xf1\x872Q0907572Q \xf1\x890342', + b'\xf1\x872Q0907572R \xf1\x890372', + b'\xf1\x872Q0907572T \xf1\x890383', + ], + }, + CAR.SKODA_OCTAVIA_MK3: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704C906025L \xf1\x896198', + b'\xf1\x8704E906016ER\xf1\x895823', + b'\xf1\x8704E906027HD\xf1\x893742', + b'\xf1\x8704E906027MH\xf1\x894786', + b'\xf1\x8704L906021DT\xf1\x898127', + b'\xf1\x8704L906026BP\xf1\x897608', + b'\xf1\x8704L906026BS\xf1\x891541', + b'\xf1\x875G0906259C \xf1\x890002', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300041L \xf1\x891601', + b'\xf1\x870CW300041N \xf1\x891605', + b'\xf1\x870CW300043B \xf1\x891601', + b'\xf1\x870CW300043P \xf1\x891605', + b'\xf1\x870D9300041C \xf1\x894936', + b'\xf1\x870D9300041H \xf1\x895220', + b'\xf1\x870D9300041J \xf1\x894902', + b'\xf1\x870D9300041P \xf1\x894507', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200', + b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131', + b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100', + b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200', + b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e3221003221002105755331052100', + b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\x0e3221003221002105755331052100', + b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e3221003221002105755331052100', + b'\xf1\x875QD959655 \xf1\x890388\xf1\x82\x111101000011110006110411111111119111', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01513A1', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521T00403A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1', + b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1', + b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', + b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', + b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101', + b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572R \xf1\x890771', + ], + }, + CAR.SKODA_SCALA_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704C906025AK\xf1\x897053', + b'\xf1\x8705C906032M \xf1\x892365', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300020 \xf1\x891907', + b'\xf1\x870CW300050 \xf1\x891709', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1211110411110411--04040404131111112H14', + b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\x12111104111104112104040404111111112H14', + b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1311150411110411210404040417151215391413', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x872Q1909144AB\xf1\x896050', + b'\xf1\x872Q1909144M \xf1\x896041', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572R \xf1\x890372', + ], + }, + CAR.SKODA_SUPERB_MK3: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906027BS\xf1\x892887', + b'\xf1\x8704E906027BT\xf1\x899042', + b'\xf1\x8704L906026ET\xf1\x891343', + b'\xf1\x8704L906026ET\xf1\x891990', + b'\xf1\x8704L906026FP\xf1\x891196', + b'\xf1\x8704L906026KA\xf1\x896014', + b'\xf1\x8704L906026KB\xf1\x894071', + b'\xf1\x8704L906026KD\xf1\x894798', + b'\xf1\x8704L906026MT\xf1\x893076', + b'\xf1\x8705L906022BK\xf1\x899971', + b'\xf1\x873G0906259 \xf1\x890004', + b'\xf1\x873G0906259B \xf1\x890002', + b'\xf1\x873G0906259L \xf1\x890003', + b'\xf1\x873G0906264A \xf1\x890002', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300042H \xf1\x891601', + b'\xf1\x870CW300043B \xf1\x891603', + b'\xf1\x870CW300049Q \xf1\x890906', + b'\xf1\x870D9300011T \xf1\x894801', + b'\xf1\x870D9300012 \xf1\x894940', + b'\xf1\x870D9300013A \xf1\x894905', + b'\xf1\x870D9300014K \xf1\x895006', + b'\xf1\x870D9300041H \xf1\x894905', + b'\xf1\x870D9300042M \xf1\x895013', + b'\xf1\x870D9300043F \xf1\x895202', + b'\xf1\x870GC300013K \xf1\x892403', + b'\xf1\x870GC300014M \xf1\x892801', + b'\xf1\x870GC300019G \xf1\x892803', + b'\xf1\x870GC300043 \xf1\x892301', + b'\xf1\x870GC300046D \xf1\x892402', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', + b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121118112231292221111', + b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', + b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100', + b'\xf1\x875Q0959655AT\xf1\x890317\xf1\x82\x1331310031313100313131013131319331313100', + b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100', + b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100', + b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1333310031313100313152015351539331423100', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ060505', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060700', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070500', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x873Q0907572B \xf1\x890192', + b'\xf1\x873Q0907572B \xf1\x890194', + b'\xf1\x873Q0907572C \xf1\x890195', + b'\xf1\x875Q0907572R \xf1\x890771', + b'\xf1\x875Q0907572S \xf1\x890780', + ], + }, +} diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index d5377453c..710e779d0 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -3,7 +3,7 @@ from panda import Panda from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase -from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter +from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -67,6 +67,9 @@ class CarInterface(CarInterfaceBase): else: ret.networkLocation = NetworkLocation.fwdCamera + if 0x126 in fingerprint[2]: # HCA_01 + ret.flags |= VolkswagenFlags.STOCK_HCA_PRESENT.value + # Global lateral tuning defaults, can be overridden per-vehicle ret.steerActuatorDelay = 0.1 @@ -90,11 +93,9 @@ class CarInterface(CarInterfaceBase): ret.pcmCruise = not ret.openpilotLongitudinalControl ret.stoppingControl = True - ret.startingState = True - ret.startAccel = 1.0 ret.stopAccel = -0.55 - ret.vEgoStarting = 1.0 - ret.vEgoStopping = 1.0 + ret.vEgoStarting = 0.1 + ret.vEgoStopping = 0.5 ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index 849d99592..787c7de53 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -10,6 +10,24 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled): return packer.make_can_msg("HCA_01", bus, values) +def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque): + values = {s: eps_stock_values[s] for s in [ + "COUNTER", # Sync counter value to EPS output + "EPS_Lenkungstyp", # EPS rack type + "EPS_Berechneter_LW", # Absolute raw steering angle + "EPS_VZ_BLW", # Raw steering angle sign + "EPS_HCA_Status", # EPS HCA control status + ]} + + values.update({ + # Absolute driver torque input and sign, with EA inactivity mitigation + "EPS_Lenkmoment": abs(ea_simulated_torque), + "EPS_VZ_Lenkmoment": 1 if ea_simulated_torque < 0 else 0, + }) + + return packer.make_can_msg("LH_EPS_03", bus, values) + + def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control): values = {} if len(ldw_stock_values): @@ -94,7 +112,7 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont acc_hold_type = 0 acc_07_values = { - "ACC_Anhalteweg": 0.75 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) + "ACC_Anhalteweg": 0.3 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) "ACC_Freilauf_Info": 2 if acc_enabled else 0, "ACC_Folgebeschl": 3.02, # Not using secondary controller accel unless and until we understand its impact "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01, diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index c47dd2d16..35cb3607e 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1,6 +1,6 @@ from collections import defaultdict, namedtuple from dataclasses import dataclass, field -from enum import Enum, StrEnum +from enum import Enum, IntFlag, StrEnum from typing import Dict, List, Union from cereal import car @@ -109,6 +109,10 @@ class CANBUS: cam = 2 +class VolkswagenFlags(IntFlag): + STOCK_HCA_PRESENT = 1 + + # Check the 7th and 8th characters of the VIN before adding a new CAR. If the # chassis code is already listed below, don't add a new CAR, just add to the # FW_VERSIONS for that existing CAR. @@ -219,8 +223,8 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { VWCarInfo("Volkswagen Golf SportsVan 2015-20"), ], CAR.JETTA_MK7: [ - VWCarInfo("Volkswagen Jetta 2018-22"), - VWCarInfo("Volkswagen Jetta GLI 2021-22"), + VWCarInfo("Volkswagen Jetta 2018-24"), + VWCarInfo("Volkswagen Jetta GLI 2021-24"), ], CAR.PASSAT_MK8: [ VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]), @@ -303,1152 +307,3 @@ FW_QUERY_CONFIG = FwQueryConfig( ), ], ) - -FW_VERSIONS = { - CAR.ARTEON_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x873G0906259AH\xf1\x890001', - b'\xf1\x873G0906259F \xf1\x890004', - b'\xf1\x873G0906259G \xf1\x890004', - b'\xf1\x873G0906259G \xf1\x890005', - b'\xf1\x873G0906259M \xf1\x890003', - b'\xf1\x873G0906259N \xf1\x890004', - b'\xf1\x873G0906259P \xf1\x890001', - b'\xf1\x875NA907115H \xf1\x890002', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927158L \xf1\x893611', - b'\xf1\x870DL300014C \xf1\x893704', - b'\xf1\x870GC300011L \xf1\x891401', - b'\xf1\x870GC300014M \xf1\x892802', - b'\xf1\x870GC300019G \xf1\x892804', - b'\xf1\x870GC300040P \xf1\x891401', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900', - b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', - b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900', - b'\xf1\x873Q0959655DA\xf1\x890720\xf1\x82\x0e1712141712141105121122052900', - b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\x0e1812141812171105141123052J00', - b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49', - ], - (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\x0567B0020800', - b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N', - b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N', - b'\xf1\x875WA907145Q \xf1\x891063\xf1\x82\x002KB4092KOM', - ], - (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: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8703H906026AA\xf1\x899970', - b'\xf1\x8703H906026AG\xf1\x899973', - b'\xf1\x8703H906026AJ\xf1\x890638', - b'\xf1\x8703H906026AJ\xf1\x891017', - b'\xf1\x8703H906026AT\xf1\x891922', - b'\xf1\x8703H906026BC\xf1\x892664', - b'\xf1\x8703H906026F \xf1\x896696', - b'\xf1\x8703H906026F \xf1\x899970', - b'\xf1\x8703H906026J \xf1\x896026', - b'\xf1\x8703H906026J \xf1\x899971', - b'\xf1\x8703H906026S \xf1\x896693', - b'\xf1\x8703H906026S \xf1\x899970', - b'\xf1\x873CN906259 \xf1\x890005', - b'\xf1\x873CN906259F \xf1\x890002', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927158A \xf1\x893387', - b'\xf1\x8709G927158DR\xf1\x893536', - b'\xf1\x8709G927158DR\xf1\x893742', - b'\xf1\x8709G927158EN\xf1\x893691', - b'\xf1\x8709G927158F \xf1\x893489', - b'\xf1\x8709G927158FT\xf1\x893835', - b'\xf1\x8709G927158GL\xf1\x893939', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655BC\xf1\x890503\xf1\x82\0161914151912001103111122031200', - b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\0162214152212001105141122052900', - b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e1114151112001105111122052900', - b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\0162214152212001105141122052900', - b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105161122052J00', - b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1115151112001105171122052J00', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\00571B60924A1', - b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1', - b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6M921A1', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6080105', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572R \xf1\x890372', - b'\xf1\x872Q0907572T \xf1\x890383', - b'\xf1\x875Q0907572H \xf1\x890620', - b'\xf1\x875Q0907572J \xf1\x890654', - b'\xf1\x875Q0907572P \xf1\x890682', - ], - }, - CAR.CRAFTER_MK2: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704L906056BP\xf1\x894729', - b'\xf1\x8704L906056EK\xf1\x896391', - b'\xf1\x8705L906023BC\xf1\x892688', - ], - # Only current upstreamed vehicle has a manual transmission - #(Ecu.transmission, 0x7e1, None): [ - #], - (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100', - b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900', - b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2', - b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2', - b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572J \xf1\x890156', - b'\xf1\x872Q0907572M \xf1\x890233', - ], - }, - CAR.GOLF_MK7: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704E906016A \xf1\x897697', - b'\xf1\x8704E906016N \xf1\x899105', - b'\xf1\x8704E906016AD\xf1\x895758', - b'\xf1\x8704E906016CE\xf1\x899096', - b'\xf1\x8704E906016CH\xf1\x899226', - b'\xf1\x8704E906023AG\xf1\x891726', - b'\xf1\x8704E906023BN\xf1\x894518', - b'\xf1\x8704E906024K \xf1\x896811', - b'\xf1\x8704E906027GR\xf1\x892394', - b'\xf1\x8704E906027HD\xf1\x892603', - b'\xf1\x8704E906027HD\xf1\x893742', - b'\xf1\x8704E906027MA\xf1\x894958', - b'\xf1\x8704L906021DT\xf1\x895520', - b'\xf1\x8704L906021DT\xf1\x898127', - b'\xf1\x8704L906021N \xf1\x895518', - b'\xf1\x8704L906021N \xf1\x898138', - b'\xf1\x8704L906026BN\xf1\x891197', - b'\xf1\x8704L906026BP\xf1\x897608', - b'\xf1\x8704L906026NF\xf1\x899528', - b'\xf1\x8704L906056CL\xf1\x893823', - b'\xf1\x8704L906056CR\xf1\x895813', - b'\xf1\x8704L906056HE\xf1\x893758', - b'\xf1\x8704L906056HN\xf1\x896590', - b'\xf1\x8704L906056HT\xf1\x896591', - b'\xf1\x870EA906016A \xf1\x898343', - b'\xf1\x870EA906016E \xf1\x894219', - b'\xf1\x870EA906016F \xf1\x894238', - b'\xf1\x870EA906016F \xf1\x895002', - b'\xf1\x870EA906016Q \xf1\x895993', - b'\xf1\x870EA906016S \xf1\x897207', - b'\xf1\x875G0906259 \xf1\x890007', - b'\xf1\x875G0906259D \xf1\x890002', - b'\xf1\x875G0906259J \xf1\x890002', - b'\xf1\x875G0906259L \xf1\x890002', - b'\xf1\x875G0906259N \xf1\x890003', - b'\xf1\x875G0906259Q \xf1\x890002', - b'\xf1\x875G0906259Q \xf1\x892313', - b'\xf1\x875G0906259T \xf1\x890003', - b'\xf1\x878V0906259H \xf1\x890002', - b'\xf1\x878V0906259J \xf1\x890003', - b'\xf1\x878V0906259K \xf1\x890001', - b'\xf1\x878V0906259K \xf1\x890003', - b'\xf1\x878V0906259P \xf1\x890001', - b'\xf1\x878V0906259Q \xf1\x890002', - b'\xf1\x878V0906259R \xf1\x890002', - b'\xf1\x878V0906264F \xf1\x890003', - b'\xf1\x878V0906264L \xf1\x890002', - b'\xf1\x878V0906264M \xf1\x890001', - b'\xf1\x878V09C0BB01 \xf1\x890001', - b'\xf1\x8704E906024K \xf1\x899970', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927749AP\xf1\x892943', - b'\xf1\x8709S927158A \xf1\x893585', - b'\xf1\x870CW300040H \xf1\x890606', - b'\xf1\x870CW300041D \xf1\x891004', - b'\xf1\x870CW300041H \xf1\x891010', - b'\xf1\x870CW300042F \xf1\x891604', - b'\xf1\x870CW300043B \xf1\x891601', - b'\xf1\x870CW300043E \xf1\x891603', - b'\xf1\x870CW300044S \xf1\x894530', - b'\xf1\x870CW300044T \xf1\x895245', - b'\xf1\x870CW300045 \xf1\x894531', - b'\xf1\x870CW300047D \xf1\x895261', - b'\xf1\x870CW300047E \xf1\x895261', - b'\xf1\x870CW300048J \xf1\x890611', - b'\xf1\x870CW300049H \xf1\x890905', - b'\xf1\x870CW300050G \xf1\x891905', - b'\xf1\x870D9300012 \xf1\x894904', - b'\xf1\x870D9300012 \xf1\x894913', - b'\xf1\x870D9300012 \xf1\x894937', - b'\xf1\x870D9300012 \xf1\x895045', - b'\xf1\x870D9300012 \xf1\x895046', - b'\xf1\x870D9300014M \xf1\x895004', - b'\xf1\x870D9300014Q \xf1\x895006', - b'\xf1\x870D9300020J \xf1\x894902', - b'\xf1\x870D9300020Q \xf1\x895201', - b'\xf1\x870D9300020S \xf1\x895201', - b'\xf1\x870D9300040A \xf1\x893613', - b'\xf1\x870D9300040S \xf1\x894311', - b'\xf1\x870D9300041H \xf1\x895220', - b'\xf1\x870D9300041P \xf1\x894507', - b'\xf1\x870DD300045K \xf1\x891120', - b'\xf1\x870DD300046F \xf1\x891601', - b'\xf1\x870GC300012A \xf1\x891401', - b'\xf1\x870GC300012A \xf1\x891403', - b'\xf1\x870GC300014B \xf1\x892401', - b'\xf1\x870GC300014B \xf1\x892403', - b'\xf1\x870GC300014B \xf1\x892405', - b'\xf1\x870GC300020G \xf1\x892401', - b'\xf1\x870GC300020G \xf1\x892403', - b'\xf1\x870GC300020G \xf1\x892404', - b'\xf1\x870GC300020N \xf1\x892804', - b'\xf1\x870GC300043T \xf1\x899999', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120043114317121C111C9113', - b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120053114317121C111C9113', - b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113', - b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113', - b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113', - b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100', - b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333423100', - b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100', - b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100', - b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', - b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112', - b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13341512112212--071104172328102891131211', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211', - b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\x111413001112120041114115121611169112', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200621143171717111791132111', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200061104171724102491132111', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200621143171724112491132111', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200061104171717101791132111', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200631143171724122491132111', - b'\xf1\x875Q0959655T \xf1\x890825\xf1\x82\x13271200111312--071104171837103791132111', - b'\xf1\x875Q0959655T \xf1\x890830\xf1\x82\x13271100111312--071104171826102691131211', - b'\xf1\x875QD959655 \xf1\x890388\xf1\x82\x111413001113120006110417121D101D9112', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561A01612A0', - b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\x0566A0J612A1', - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A00514A1', - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01613A1', - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A0J712A1', - b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1', - b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1', - b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1', - b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A02A16A1', - b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1', - b'\xf1\x873QM909144 \xf1\x895072\xf1\x82\x0571A01714A1', - b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203', - b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00441A1', - b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00608A1', - b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00641A1', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00442A1', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00642A1', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A07B05A1', - b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00602A0', - b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0522A00402A0', - b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00502A0', - 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\x0521A00407A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1', - b'\xf1\x875QD909144B \xf1\x891072\xf1\x82\x0521A00507A1', - b'\xf1\x875QM909144A \xf1\x891072\xf1\x82\x0521A20B03A1', - b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A00442A1', - b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A16A1', - b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A18A1', - b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A17A1', - b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A01A18A1', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A2000400', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101', - b'\xf1\x875Q0907567J \xf1\x890396\xf1\x82\x0101', - b'\xf1\x875Q0907567L \xf1\x890098\xf1\x82\x0101', - b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\x0101', - b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101', - b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101', - b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', - b'\xf1\x875Q0907572E \xf1\x89X310\xf1\x82\x0101', - b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', - b'\xf1\x875Q0907572G \xf1\x890571', - b'\xf1\x875Q0907572H \xf1\x890620', - b'\xf1\x875Q0907572J \xf1\x890653', - b'\xf1\x875Q0907572J \xf1\x890654', - b'\xf1\x875Q0907572P \xf1\x890682', - b'\xf1\x875Q0907572R \xf1\x890771', - b'\xf1\x875Q0907572S \xf1\x890780', - ], - }, - CAR.JETTA_MK7: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704E906024AK\xf1\x899937', - b'\xf1\x8704E906024AS\xf1\x899912', - b'\xf1\x8704E906024BC\xf1\x899971', - b'\xf1\x8704E906024BG\xf1\x891057', - b'\xf1\x8704E906024B \xf1\x895594', - b'\xf1\x8704E906024C \xf1\x899970', - b'\xf1\x8704E906024L \xf1\x895595', - b'\xf1\x8704E906024L \xf1\x899970', - b'\xf1\x8704E906027MS\xf1\x896223', - b'\xf1\x875G0906259T \xf1\x890003', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927158BQ\xf1\x893545', - b'\xf1\x8709S927158BS\xf1\x893642', - b'\xf1\x8709S927158BS\xf1\x893694', - b'\xf1\x8709S927158CK\xf1\x893770', - b'\xf1\x8709S927158R \xf1\x893552', - b'\xf1\x8709S927158R \xf1\x893587', - b'\xf1\x870GC300020N \xf1\x892803', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\02314171231313500314611011630169333463100', - b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1314171231313500314611011630169333463100', - b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02314171231313500314642011650169333463100', - b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02314171231313500314643011650169333463100', - b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\02311170031313300314240011150119333433100', - b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\02319170031313300314240011550159333463100', - b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314643021650169333613100', - b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314642021650169333613100', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A10A11A1', - b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\00521A10A01A1', - b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521B00404A1', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A00642A1', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A10A01A1', - b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\00571A10A11A1', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x875Q0907572N \xf1\x890681', - b'\xf1\x875Q0907572P \xf1\x890682', - b'\xf1\x875Q0907572R \xf1\x890771', - ], - }, - CAR.PASSAT_MK8: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8703N906026E \xf1\x892114', - b'\xf1\x8704E906023AH\xf1\x893379', - b'\xf1\x8704E906023BM\xf1\x894522', - b'\xf1\x8704L906026DP\xf1\x891538', - b'\xf1\x8704L906026ET\xf1\x891990', - b'\xf1\x8704L906026FP\xf1\x892012', - b'\xf1\x8704L906026GA\xf1\x892013', - b'\xf1\x8704L906026KD\xf1\x894798', - b'\xf1\x873G0906259B \xf1\x890002', - b'\xf1\x873G0906259 \xf1\x890004', - b'\xf1\x873G0906264 \xf1\x890004', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300043H \xf1\x891601', - b'\xf1\x870CW300048R \xf1\x890610', - b'\xf1\x870D9300013A \xf1\x894905', - b'\xf1\x870D9300014L \xf1\x895002', - b'\xf1\x870D9300041A \xf1\x894801', - b'\xf1\x870DD300045T \xf1\x891601', - b'\xf1\x870DD300046H \xf1\x891601', - b'\xf1\x870DL300011H \xf1\x895201', - b'\xf1\x870CW300042H \xf1\x891601', - b'\xf1\x870CW300042H \xf1\x891607', - b'\xf1\x870GC300042H \xf1\x891404', - b'\xf1\x870D9300018C \xf1\x895297', - b'\xf1\x870D9300042H \xf1\x894901', - b'\xf1\x870GC300043 \xf1\x892301', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111', - b'\xf1\x873Q0959655AF\xf1\x890195\xf1\x82\r56140056130012026612120211', - b'\xf1\x873Q0959655AN\xf1\x890305\xf1\x82\r58160058140013036914110311', - b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311', - b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111', - b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211', - b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e5915005914001305701311052900', - b'\xf1\x873Q0959655BG\xf1\x890712\xf1\x82\x0e5915005914001305701311052900', - b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900', - b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900', - b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900', - b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012416612124111', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1', - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00711A1', - b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514B0060703', - b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', - b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526B0060905', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1', - b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1', - b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521B00603A1', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x873Q0907572A \xf1\x890126', - b'\xf1\x873Q0907572A \xf1\x890130', - b'\xf1\x873Q0907572B \xf1\x890192', - b'\xf1\x873Q0907572C \xf1\x890195', - b'\xf1\x873Q0907572C \xf1\x890196', - b'\xf1\x875Q0907572P \xf1\x890682', - b'\xf1\x873Q0907572B \xf1\x890194', - b'\xf1\x875Q0907572R \xf1\x890771', - ], - }, - CAR.PASSAT_NMS: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8706K906016C \xf1\x899609', - b'\xf1\x8706K906016E \xf1\x899830', - b'\xf1\x8706K906016G \xf1\x891124', - b'\xf1\x8706K906071BJ\xf1\x894891', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927158AB\xf1\x893318', - b'\xf1\x8709G927158BD\xf1\x893121', - b'\xf1\x8709G927158DK\xf1\x893594', - b'\xf1\x8709G927158FQ\xf1\x893745', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x87561959655 \xf1\x890210\xf1\x82\02212121111113000102011--121012--101312', - b'\xf1\x87561959655C \xf1\x890508\xf1\x82\02215141111121100314919--153015--304831', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x87561907567A \xf1\x890132', - b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\00152', - ], - }, - CAR.POLO_MK6: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704C906025H \xf1\x895177', - b'\xf1\x8705C906032J \xf1\x891702', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300042D \xf1\x891612', - b'\xf1\x870CW300050D \xf1\x891908', - b'\xf1\x870CW300051G \xf1\x891909', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14', - b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14', - b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1384830511110516041405820599841215391471', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x872Q1909144M \xf1\x896041', - b'\xf1\x872Q2909144AB\xf1\x896050', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572R \xf1\x890372', - ], - }, - CAR.SHARAN_MK2: { - # TODO: Sharan Mk2 EPS and DQ250 auto trans both require KWP2000 support for fingerprinting - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704L906016HE\xf1\x894635', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x877N0959655D \xf1\x890016\xf1\x82\x0801100705----10--', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0153', - ], - }, - CAR.TAOS_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704E906027NJ\xf1\x891445', - b'\xf1\x8704E906027NP\xf1\x891286', - b'\xf1\x8705E906013BD\xf1\x892496', - b'\xf1\x8705E906013E \xf1\x891624', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927158EM\xf1\x893812', - b'\xf1\x8709S927158BL\xf1\x893791', - b'\xf1\x8709S927158DN\xf1\x893946', - b'\xf1\x8709S927158FF\xf1\x893876', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1311111111333500314646021450149333613100', - b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1312111111333500314646021550159333613100', - b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x001O06081OOM', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060405A1', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060605A1', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572T \xf1\x890383', - ], - }, - CAR.TCROSS_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704C906025AK\xf1\x897053', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300050E \xf1\x891903', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\02212130411110411--04041104141311152H14', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x872Q1909144M \xf1\x896041', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572T \xf1\x890383', - ], - }, - CAR.TIGUAN_MK2: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8703N906026D \xf1\x893680', - b'\xf1\x8704E906027NB\xf1\x899504', - b'\xf1\x8704L906026EJ\xf1\x893661', - b'\xf1\x8704L906027G \xf1\x899893', - b'\xf1\x8705E906018BS\xf1\x890914', - b'\xf1\x875N0906259 \xf1\x890002', - b'\xf1\x875NA906259H \xf1\x890002', - b'\xf1\x875NA907115E \xf1\x890003', - b'\xf1\x875NA907115E \xf1\x890005', - b'\xf1\x875NA907115J \xf1\x890002', - b'\xf1\x8783A907115B \xf1\x890005', - b'\xf1\x8783A907115F \xf1\x890002', - b'\xf1\x8783A907115G \xf1\x890001', - b'\xf1\x8783A907115K \xf1\x890001', - b'\xf1\x8783A907115K \xf1\x890002', - b'\xf1\x8704E906024AP\xf1\x891461', - b'\xf1\x8783A907115 \xf1\x890007', - b'\xf1\x8783A907115Q \xf1\x890001', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927158DT\xf1\x893698', - b'\xf1\x8709G927158FM\xf1\x893757', - b'\xf1\x8709G927158GC\xf1\x893821', - b'\xf1\x8709G927158GD\xf1\x893820', - b'\xf1\x8709G927158GM\xf1\x893936', - b'\xf1\x8709G927158GN\xf1\x893938', - b'\xf1\x8709G927158HB\xf1\x894069', - b'\xf1\x870D9300043 \xf1\x895202', - b'\xf1\x870DL300011N \xf1\x892001', - b'\xf1\x870DL300011N \xf1\x892012', - b'\xf1\x870DL300012M \xf1\x892107', - b'\xf1\x870DL300012P \xf1\x892103', - b'\xf1\x870DL300013A \xf1\x893005', - b'\xf1\x870DL300013G \xf1\x892119', - b'\xf1\x870DL300013G \xf1\x892120', - b'\xf1\x870DL300014C \xf1\x893703', - b'\xf1\x870DD300046K \xf1\x892302', - b'\xf1\x870GC300013P \xf1\x892401', - b'\xf1\x870GC300046Q \xf1\x892802', - 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b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100', - b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600', - b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1', - b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\00571A60634A1', - b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A62A32A1', - b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1', - b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002RA60A2ROM', - b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00', - b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60804A1', - 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], - (Ecu.eps, 0x712, None): [ - b'\xf1\x872Q1909144M \xf1\x896041', - b'\xf1\x872Q1909144AB\xf1\x896050', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572T \xf1\x890383', - b'\xf1\x872Q0907572AA\xf1\x890396', - ], - }, - CAR.SKODA_KAROQ_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8705E906013H \xf1\x892407', - b'\xf1\x8705E906018P \xf1\x895472', - b'\xf1\x8705E906018P \xf1\x896020', - b'\xf1\x8705L906022BS\xf1\x890913', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300020T \xf1\x892202', - b'\xf1\x870CW300041S \xf1\x891615', - b'\xf1\x870GC300014L \xf1\x892802', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1312110012120011111100010200--2521210749', - b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001101131112012100', - b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\0161213001211001101131122012100', - b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100500', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572AB\xf1\x890397', - b'\xf1\x872Q0907572M \xf1\x890233', - b'\xf1\x872Q0907572T \xf1\x890383', - ], - }, - CAR.SKODA_KODIAQ_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704E906027DD\xf1\x893123', - b'\xf1\x8704E906027NB\xf1\x899504', - b'\xf1\x8704E906027NB\xf1\x896517', - 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\x8705E906018DJ\xf1\x891903', - b'\xf1\x875NA907115E \xf1\x890003', - b'\xf1\x875NA907115E \xf1\x890005', - b'\xf1\x875NA906259E \xf1\x890003', - b'\xf1\x8704E906027LD\xf1\x893433', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870D9300043 \xf1\x895202', - b'\xf1\x870DL300011N \xf1\x892014', - b'\xf1\x870DL300012M \xf1\x892107', - b'\xf1\x870DL300012N \xf1\x892110', - b'\xf1\x870DL300013G \xf1\x892119', - b'\xf1\x870GC300014N \xf1\x892801', - b'\xf1\x870GC300019H \xf1\x892806', - b'\xf1\x870GC300046Q \xf1\x892802', - b'\xf1\x870D9300014S \xf1\x895201', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211', - b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100', - 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', - b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749', - b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001205212111052100', - ], - (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', - b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572Q \xf1\x890342', - b'\xf1\x872Q0907572R \xf1\x890372', - b'\xf1\x872Q0907572T \xf1\x890383', - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572AB\xf1\x890397', - b'\xf1\x872Q0907572M \xf1\x890233', - ], - }, - CAR.SKODA_OCTAVIA_MK3: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704C906025L \xf1\x896198', - b'\xf1\x8704E906016ER\xf1\x895823', - b'\xf1\x8704E906027HD\xf1\x893742', - b'\xf1\x8704E906027MH\xf1\x894786', - b'\xf1\x8704L906021DT\xf1\x898127', - b'\xf1\x8704L906026BP\xf1\x897608', - b'\xf1\x8704L906026BS\xf1\x891541', - b'\xf1\x875G0906259C \xf1\x890002', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300041L \xf1\x891601', - b'\xf1\x870CW300041N \xf1\x891605', - b'\xf1\x870CW300043B \xf1\x891601', - b'\xf1\x870CW300043P \xf1\x891605', - b'\xf1\x870D9300041C \xf1\x894936', - b'\xf1\x870D9300041H \xf1\x895220', - b'\xf1\x870D9300041J \xf1\x894902', - b'\xf1\x870D9300041P \xf1\x894507', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200', - b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131', - b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100', - b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200', - b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\0163221003221002105755331052100', - b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\x0e3221003221002105755331052100', - b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e3221003221002105755331052100', - b'\xf1\x875QD959655 \xf1\x890388\xf1\x82\x111101000011110006110411111111119111', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A01513A1', - b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521T00403A1', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1', - b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1', - b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', - b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101', - b'\xf1\x875Q0907572J \xf1\x890654', - b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101', - b'\xf1\x875Q0907572P \xf1\x890682', - b'\xf1\x875Q0907572R \xf1\x890771', - ], - }, - CAR.SKODA_SCALA_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704C906025AK\xf1\x897053', - b'\xf1\x8705C906032M \xf1\x892365', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300020 \xf1\x891907', - b'\xf1\x870CW300050 \xf1\x891709', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1211110411110411--04040404131111112H14', - b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\022111104111104112104040404111111112H14', - b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1311150411110411210404040417151215391413', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x872Q1909144M \xf1\x896041', - b'\xf1\x872Q1909144AB\xf1\x896050', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572R \xf1\x890372', - b'\xf1\x872Q0907572AA\xf1\x890396', - ], - }, - CAR.SKODA_SUPERB_MK3: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704E906027BS\xf1\x892887', - b'\xf1\x8704E906027BT\xf1\x899042', - b'\xf1\x8704L906026ET\xf1\x891343', - b'\xf1\x8704L906026ET\xf1\x891990', - b'\xf1\x8704L906026FP\xf1\x891196', - b'\xf1\x8704L906026KA\xf1\x896014', - b'\xf1\x8704L906026KB\xf1\x894071', - b'\xf1\x8704L906026KD\xf1\x894798', - b'\xf1\x8704L906026MT\xf1\x893076', - b'\xf1\x8705L906022BK\xf1\x899971', - b'\xf1\x873G0906259 \xf1\x890004', - b'\xf1\x873G0906259B \xf1\x890002', - b'\xf1\x873G0906259L \xf1\x890003', - b'\xf1\x873G0906264A \xf1\x890002', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300042H \xf1\x891601', - b'\xf1\x870CW300043B \xf1\x891603', - b'\xf1\x870CW300049Q \xf1\x890906', - b'\xf1\x870D9300011T \xf1\x894801', - b'\xf1\x870D9300012 \xf1\x894940', - b'\xf1\x870D9300013A \xf1\x894905', - b'\xf1\x870D9300014K \xf1\x895006', - b'\xf1\x870D9300041H \xf1\x894905', - b'\xf1\x870D9300042M \xf1\x895013', - b'\xf1\x870D9300043F \xf1\x895202', - b'\xf1\x870GC300013K \xf1\x892403', - b'\xf1\x870GC300014M \xf1\x892801', - b'\xf1\x870GC300019G \xf1\x892803', - b'\xf1\x870GC300043 \xf1\x892301', - b'\xf1\x870GC300046D \xf1\x892402', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', - b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111', - b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111', - b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100', - b'\xf1\x875Q0959655AT\xf1\x890317\xf1\x82\x1331310031313100313131013131319331313100', - b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100', - b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100', - b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1333310031313100313152015351539331423100', - b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', - b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100', - b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100', - b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', - b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303', - b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ060505', - b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700', - b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070500', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x873Q0907572B \xf1\x890192', - b'\xf1\x873Q0907572B \xf1\x890194', - b'\xf1\x873Q0907572C \xf1\x890195', - b'\xf1\x875Q0907572R \xf1\x890771', - b'\xf1\x875Q0907572S \xf1\x890780', - ], - }, -} diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 8bd86863a..f0d44dc22 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -8,7 +8,6 @@ from typing import SupportsFloat from cereal import car, log from openpilot.common.numpy_fast import clip from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL -from openpilot.common.profiler import Profiler from openpilot.common.params import Params import cereal.messaging as messaging from cereal.visionipc import VisionIpcClient, VisionStreamType @@ -18,8 +17,7 @@ from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_short_branch from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can -from openpilot.selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET -from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature +from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED from openpilot.selfdrive.controls.lib.longcontrol import LongControl from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID @@ -33,6 +31,7 @@ from openpilot.system.hardware import HARDWARE SOFT_DISABLE_TIME = 3 # seconds LDW_MIN_SPEED = 31 * CV.MPH_TO_MS LANE_DEPARTURE_THRESHOLD = 0.1 +CAMERA_OFFSET = 0.04 dp_device_dm_unavailable = Params().get_bool("dp_device_dm_unavailable") DP_LONG_MISSING_LEAD_COUNT = 2. / DT_CTRL @@ -48,9 +47,9 @@ IGNORE_PROCESSES.update({"mapd", "otisserv", "fileserv", "gpxd", "gpx_uploader"} ThermalStatus = log.DeviceState.ThermalStatus State = log.ControlsState.OpenpilotState PandaType = log.PandaState.PandaType -Desire = log.LateralPlan.Desire -LaneChangeState = log.LateralPlan.LaneChangeState -LaneChangeDirection = log.LateralPlan.LaneChangeDirection +Desire = log.Desire +LaneChangeState = log.LaneChangeState +LaneChangeDirection = log.LaneChangeDirection EventName = car.CarEvent.EventName ButtonType = car.CarState.ButtonEvent.Type SafetyModel = car.CarParams.SafetyModel @@ -67,7 +66,7 @@ class Controls: config_realtime_process(4, Priority.CTRL_HIGH) # Ensure the current branch is cached, otherwise the first iteration of controlsd lags - self.branch = get_short_branch("") + self.branch = get_short_branch() # Setup sockets self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState', @@ -94,11 +93,14 @@ class Controls: self.dp_device_disable_temp_check = self.params.get_bool("dp_device_disable_temp_check") self._dp_lat_lane_change_assist_disabled = int(self.params.get("dp_lat_lane_change_assist_speed", encoding="utf-8")) == 0 self._dp_lat_lane_change_assist_disabled_active = False + self._dp_toyota_cruise_override = self.params.get_bool("dp_toyota_cruise_override") + self._dp_toyota_cruise_override_speed = int(self.params.get("dp_toyota_cruise_override_speed", encoding="utf-8")) + self._dp_auto_lane_change = self.params.get_bool("dp_auto_lane_change") ignore = self.sensor_packets + ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', - 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', + 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick', 'longitudinalPlanExt'] + self.camera_packets + self.sensor_packets, ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'], ignore_valid=['testJoystick',]) @@ -129,14 +131,13 @@ class Controls: self.is_metric = self.params.get_bool("IsMetric") self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") - passive = self.params.get_bool("Passive") or not openpilot_enabled_toggle # detect sound card presence and ensure successful init sounds_available = HARDWARE.get_sound_card_online() car_recognized = self.CP.carName != 'mock' - controller_available = self.CI.CC is not None and not passive and not self.CP.dashcamOnly + controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly if self.CP.passive: safety_config = car.CarParams.SafetyConfig.new_message() @@ -196,7 +197,6 @@ class Controls: self.last_actuators = car.CarControl.Actuators.new_message() self.steer_limited = False self.desired_curvature = 0.0 - self.desired_curvature_rate = 0.0 self.experimental_mode = False self.v_cruise_helper = VCruiseHelper(self.CP) self.recalibrating_seen = False @@ -218,7 +218,6 @@ class Controls: # controlsd is driven by can recv, expected at 100Hz self.rk = Ratekeeper(100, print_delay_threshold=None) - self.prof = Profiler(False) # off by default def set_initial_state(self): if REPLAY: @@ -346,8 +345,8 @@ class Controls: self.events.add(EventName.calibrationInvalid) # Handle lane change - if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange: - direction = self.sm['lateralPlan'].laneChangeDirection + if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange: + direction = self.sm['modelV2'].meta.laneChangeDirection if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \ (CS.rightBlindspot and direction == LaneChangeDirection.right): self.events.add(EventName.laneChangeBlocked) @@ -356,7 +355,7 @@ class Controls: self.events.add(EventName.preLaneChangeLeft) else: self.events.add(EventName.preLaneChangeRight) - elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting, + elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting, LaneChangeState.laneChangeFinishing): self.events.add(EventName.laneChange) @@ -431,8 +430,6 @@ class Controls: self.logged_comm_issue = None if not (self.CP.notCar and self.joystick_mode): - if not self.sm['lateralPlan'].mpcSolutionValid: - self.events.add(EventName.plannerError) if not self.sm['liveLocationKalman'].posenetOK: self.events.add(EventName.posenetInvalid) if not self.sm['liveLocationKalman'].deviceStable: @@ -534,7 +531,11 @@ class Controls: def state_transition(self, CS): """Compute conditional state transitions and execute actions on state transitions""" - self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric) + # dp - toyota speed override here + # dp - @todo may apply to other makes in the future? + dp_override_speed = self._dp_toyota_cruise_override_speed if self._dp_toyota_cruise_override else False + #print("dp_override_speed:", dp_override_speed) + self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric, dp_override_speed) # decrement the soft disable timer at every step, as it's reset on # entrance in SOFT_DISABLING state @@ -633,8 +634,8 @@ class Controls: self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, torque_params.frictionCoefficientFiltered) - lat_plan = self.sm['lateralPlan'] long_plan = self.sm['longitudinalPlan'] + model_v2 = self.sm['modelV2'] CC = car.CarControl.new_message() CC.enabled = self.enabled @@ -649,6 +650,8 @@ class Controls: if not self.CP.passive and self.initialized and self._dp_alka and self._dp_alka_active and not standstill and CS.cruiseState.available: if self.sm['liveCalibration'].calStatus != log.LiveCalibrationData.Status.calibrated: pass + elif abs(CS.steeringAngleDeg) >= 540: + pass elif CS.steerFaultTemporary or CS.steerFaultPermanent: pass elif CS.gearShifter == car.CarState.GearShifter.reverse: @@ -667,16 +670,16 @@ class Controls: self._dp_lat_lane_change_assist_disabled_active = True if self._dp_lat_lane_change_assist_disabled_active: - print("disabled!") + # print("disabled!") CC.latActive = False actuators = CC.actuators actuators.longControlState = self.LoC.long_control_state # Enable blinkers while lane changing - if self.sm['lateralPlan'].laneChangeState != LaneChangeState.off: - CC.leftBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.left - CC.rightBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.right + if model_v2.meta.laneChangeState != LaneChangeState.off: + CC.leftBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.left + CC.rightBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.right if CS.leftBlinker or CS.rightBlinker: self.last_blinker_frame = self.sm.frame @@ -695,14 +698,11 @@ class Controls: actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan) # Steering PID loop and lateral MPC - self.desired_curvature, self.desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo, - lat_plan.psis, - lat_plan.curvatures, - lat_plan.curvatureRates) + self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature) + actuators.curvature = self.desired_curvature actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, self.steer_limited, self.desired_curvature, - self.desired_curvature_rate, self.sm['liveLocationKalman']) - actuators.curvature = self.desired_curvature + self.sm['liveLocationKalman']) else: lac_log = log.ControlsState.LateralDebugState.new_message() if self.sm.rcv_frame['testJoystick'] > 0: @@ -740,7 +740,8 @@ class Controls: if undershooting and turning and good_speed and max_torque: lac_log.active and self.events.add(EventName.steerSaturated) elif lac_log.saturated: - dpath_points = lat_plan.dPathPoints + # TODO probably should not use dpath_points but curvature + dpath_points = model_v2.position.y if len(dpath_points): # Check if we deviated from the path # TODO use desired vs actual curvature @@ -866,12 +867,11 @@ class Controls: controlsState.alertSound = current_alert.audible_alert controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan'] - controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan'] + controlsState.lateralPlanMonoTime = self.sm.logMonoTime['modelV2'] controlsState.enabled = self.enabled controlsState.active = self.active controlsState.curvature = curvature controlsState.desiredCurvature = self.desired_curvature - controlsState.desiredCurvatureRate = self.desired_curvature_rate controlsState.state = self.state controlsState.engageable = not self.events.contains(ET.NO_ENTRY) controlsState.longControlState = self.LoC.long_control_state @@ -941,12 +941,10 @@ class Controls: def step(self): start_time = time.monotonic() - self.prof.checkpoint("Ratekeeper", ignore=True) # Sample data from sockets and get a carState CS = self.data_sample() cloudlog.timestamp("Data sampled") - self.prof.checkpoint("Sample") self.update_events(CS) cloudlog.timestamp("Events updated") @@ -954,16 +952,12 @@ class Controls: if not self.CP.passive and self.initialized: # Update control state self.state_transition(CS) - self.prof.checkpoint("State transition") # Compute actuators (runs PID loops and lateral MPC) CC, lac_log = self.state_control(CS) - self.prof.checkpoint("State Control") - # Publish data self.publish_logs(CS, start_time, CC, lac_log) - self.prof.checkpoint("Sent") self.CS_prev = CS @@ -988,7 +982,6 @@ class Controls: while True: self.step() self.rk.monitor_time() - self.prof.display() except SystemExit: e.set() t.join() diff --git a/selfdrive/controls/lib/accel_controller.py b/selfdrive/controls/lib/accel_controller.py index 519992d85..3c4aae2fc 100644 --- a/selfdrive/controls/lib/accel_controller.py +++ b/selfdrive/controls/lib/accel_controller.py @@ -29,15 +29,15 @@ DP_ACCEL_NORMAL = 2 DP_ACCEL_SPORT = 3 # accel profile by @arne182 modified by cgw -_DP_CRUISE_MIN_V = [-0.490, -0.490, -0.41, -0.41, -0.41, -0.40, -0.36, -0.32, -0.32, -0.25, -0.25] -_DP_CRUISE_MIN_V_ECO = [-0.480, -0.480, -0.40, -0.40, -0.40, -0.36, -0.32, -0.28, -0.28, -0.25, -0.25] -_DP_CRUISE_MIN_V_SPORT = [-0.500, -0.500, -0.42, -0.42, -0.42, -0.42, -0.40, -0.35, -0.35, -0.30, -0.30] -_DP_CRUISE_MIN_BP = [0., 2.0, 2.01, 11., 11.01, 18., 18.01, 28., 28.01, 33., 55.] +_DP_CRUISE_MIN_V = [-0.001, -0.012, -0.30, -0.58, -0.58] +_DP_CRUISE_MIN_V_ECO = [-0.001, -0.010, -0.28, -0.56, -0.56] +_DP_CRUISE_MIN_V_SPORT = [-0.001, -0.014, -0.32, -0.60, -0.60] +_DP_CRUISE_MIN_BP = [0., 8., 16., 28., 42.] -_DP_CRUISE_MAX_V = [3.5, 3.4, 2.2, 1.5, .92, 0.76, .54, .42, .32, .14] -_DP_CRUISE_MAX_V_ECO = [3.5, 3.3, 1.7, 1.1, .76, .62, .47, .36, .28, .09] -_DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 3.0, 2.6, 1.4, 1.0, 0.7, 0.6, .38, .2] -_DP_CRUISE_MAX_BP = [0., 3, 6., 8., 11., 15., 20., 25., 30., 55.] +_DP_CRUISE_MAX_V = [3.5, 3.5, 3.0, 2.5, 1.221, .863, .66, .42, .33, .12] +_DP_CRUISE_MAX_V_ECO = [3.5, 3.2, 2.3, 2.0, 1.15, .80, .58, .36, .30, .091] +_DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 3.3, 2.8, 1.5, 1.0, .75, .6, .38, .2] +_DP_CRUISE_MAX_BP = [0., 3, 6., 8., 11., 15., 20., 25., 30., 55.] class AccelController: diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 5c62d01db..75091243e 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -2,30 +2,30 @@ from cereal import log from openpilot.common.conversions import Conversions as CV from openpilot.common.realtime import DT_MDL -LaneChangeState = log.LateralPlan.LaneChangeState -LaneChangeDirection = log.LateralPlan.LaneChangeDirection +LaneChangeState = log.LaneChangeState +LaneChangeDirection = log.LaneChangeDirection LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS LANE_CHANGE_TIME_MAX = 10. DESIRES = { LaneChangeDirection.none: { - LaneChangeState.off: log.LateralPlan.Desire.none, - LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, - LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.none, - LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.none, + LaneChangeState.off: log.Desire.none, + LaneChangeState.preLaneChange: log.Desire.none, + LaneChangeState.laneChangeStarting: log.Desire.none, + LaneChangeState.laneChangeFinishing: log.Desire.none, }, LaneChangeDirection.left: { - LaneChangeState.off: log.LateralPlan.Desire.none, - LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, - LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeLeft, - LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeLeft, + LaneChangeState.off: log.Desire.none, + LaneChangeState.preLaneChange: log.Desire.none, + LaneChangeState.laneChangeStarting: log.Desire.laneChangeLeft, + LaneChangeState.laneChangeFinishing: log.Desire.laneChangeLeft, }, LaneChangeDirection.right: { - LaneChangeState.off: log.LateralPlan.Desire.none, - LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, - LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeRight, - LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeRight, + LaneChangeState.off: log.Desire.none, + LaneChangeState.preLaneChange: log.Desire.none, + LaneChangeState.laneChangeStarting: log.Desire.laneChangeRight, + LaneChangeState.laneChangeFinishing: log.Desire.laneChangeRight, }, } @@ -38,12 +38,13 @@ class DesireHelper: self.lane_change_ll_prob = 1.0 self.keep_pulse_timer = 0.0 self.prev_one_blinker = False - self.desire = log.LateralPlan.Desire.none + self.desire = log.Desire.none - def update(self, carstate, lateral_active, lane_change_prob, edge_detected_left, edge_detected_right, dp_lat_lane_change_assist_speed): + def update(self, carstate, lateral_active, lane_change_prob, dp_lat_lane_change_assist_speed, dp_auto_lane_change, edge_detected_left, edge_detected_right): v_ego = carstate.vEgo one_blinker = carstate.leftBlinker != carstate.rightBlinker below_lane_change_speed = v_ego < dp_lat_lane_change_assist_speed if dp_lat_lane_change_assist_speed > 0 else True + dp_auto_lane_change_allowed = dp_lat_lane_change_assist_speed > 0 if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX: self.lane_change_state = LaneChangeState.off @@ -66,6 +67,8 @@ class DesireHelper: blindspot_detected = (((edge_detected_left or carstate.leftBlindspot) and self.lane_change_direction == LaneChangeDirection.left) or ((edge_detected_right or carstate.rightBlindspot) and self.lane_change_direction == LaneChangeDirection.right)) + if dp_auto_lane_change and dp_auto_lane_change_allowed: + torque_applied = True if not one_blinker or below_lane_change_speed: self.lane_change_state = LaneChangeState.off @@ -93,6 +96,8 @@ class DesireHelper: self.lane_change_state = LaneChangeState.preLaneChange else: self.lane_change_state = LaneChangeState.off + if one_blinker and dp_auto_lane_change: + self.lane_change_state = LaneChangeState.laneChangeFinishing if self.lane_change_state in (LaneChangeState.off, LaneChangeState.preLaneChange): self.lane_change_timer = 0.0 @@ -110,5 +115,5 @@ class DesireHelper: self.keep_pulse_timer += DT_MDL if self.keep_pulse_timer > 1.0: self.keep_pulse_timer = 0.0 - elif self.desire in (log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight): - self.desire = log.LateralPlan.Desire.none + elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight): + self.desire = log.Desire.none diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 07e6525ad..343c4c4a0 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -3,8 +3,7 @@ import math from cereal import car, log from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import clip, interp -from openpilot.common.realtime import DT_MDL -from openpilot.selfdrive.modeld.constants import ModelConstants +from openpilot.common.realtime import DT_CTRL # WARNING: this value was determined based on the model's training distribution, # model predictions above this speed can be unpredictable @@ -22,7 +21,6 @@ CAR_ROTATION_RADIUS = 0.0 # EU guidelines MAX_LATERAL_JERK = 5.0 - MAX_VEL_ERR = 5.0 ButtonEvent = car.CarState.ButtonEvent @@ -37,15 +35,6 @@ CRUISE_INTERVAL_SIGN = { ButtonType.decelCruise: -1, } -# mapd -# Constants for Limit controllers. -LIMIT_ADAPT_ACC = -1. # m/s^2 Ideal acceleration for the adapting (braking) phase when approaching speed limits. -LIMIT_MIN_ACC = -1.5 # m/s^2 Maximum deceleration allowed for limit controllers to provide. -LIMIT_MAX_ACC = 1.0 # m/s^2 Maximum acelration allowed for limit controllers to provide while active. -LIMIT_MIN_SPEED = 8.33 # m/s, Minimum speed limit to provide as solution on limit controllers. -LIMIT_SPEED_OFFSET_TH = -1. # m/s Maximum offset between speed limit and current speed for adapting state. -LIMIT_MAX_MAP_DATA_AGE = 10. # s Maximum time to hold to map data, then consider it invalid inside limits controllers. - class VCruiseHelper: def __init__(self, CP): self.CP = CP @@ -54,12 +43,15 @@ class VCruiseHelper: self.v_cruise_kph_last = 0 self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0} self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers} + self.dp_override_v_cruise_kph = V_CRUISE_UNSET + self.dp_override_cruise_speed_last = V_CRUISE_UNSET + self.dp_override_enabled_last = False @property def v_cruise_initialized(self): return self.v_cruise_kph != V_CRUISE_UNSET - def update_v_cruise(self, CS, enabled, is_metric): + def update_v_cruise(self, CS, enabled, is_metric, dp_override_speed): self.v_cruise_kph_last = self.v_cruise_kph if CS.cruiseState.available: @@ -69,9 +61,29 @@ class VCruiseHelper: self.v_cruise_cluster_kph = self.v_cruise_kph self.update_button_timers(CS, enabled) else: - self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH - self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH + if enabled and dp_override_speed and CS.cruiseState.speed * CV.MS_TO_KPH < dp_override_speed: + if self.dp_override_v_cruise_kph == V_CRUISE_UNSET: + self.dp_override_v_cruise_kph = max(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_MIN) + else: + self.dp_override_v_cruise_kph = V_CRUISE_UNSET + + # when we have an override_speed, use it + if self.dp_override_v_cruise_kph != V_CRUISE_UNSET: + self.v_cruise_kph = self.dp_override_v_cruise_kph + self.v_cruise_cluster_kph = self.dp_override_v_cruise_kph + else: + self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH + self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH + + #print("dp_override_v_cruise_kph:", self.dp_override_v_cruise_kph) + #print("v_cruise_kph:", self.v_cruise_kph) + #print("v_cruise_cluster_kph:", self.v_cruise_cluster_kph) + + self.dp_override_cruise_speed_last = CS.cruiseState.speed + self.dp_override_enabled_last = enabled + else: + self.dp_override_v_cruise_kph = V_CRUISE_UNSET self.v_cruise_kph = V_CRUISE_UNSET self.v_cruise_cluster_kph = V_CRUISE_UNSET @@ -171,35 +183,14 @@ def rate_limit(new_value, last_value, dw_step, up_step): return clip(new_value, last_value + dw_step, last_value + up_step) -def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): - if len(psis) != CONTROL_N: - psis = [0.0]*CONTROL_N - curvatures = [0.0]*CONTROL_N - curvature_rates = [0.0]*CONTROL_N +def clip_curvature(v_ego, prev_curvature, new_curvature): v_ego = max(MIN_SPEED, v_ego) - - # TODO this needs more thought, use .2s extra for now to estimate other delays - delay = CP.steerActuatorDelay + .2 - - # MPC can plan to turn the wheel and turn back before t_delay. This means - # in high delay cases some corrections never even get commanded. So just use - # psi to calculate a simple linearization of desired curvature - current_curvature_desired = curvatures[0] - psi = interp(delay, ModelConstants.T_IDXS[:CONTROL_N], psis) - average_curvature_desired = psi / (v_ego * delay) - desired_curvature = 2 * average_curvature_desired - current_curvature_desired - - # This is the "desired rate of the setpoint" not an actual desired rate - desired_curvature_rate = curvature_rates[0] max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755 - safe_desired_curvature_rate = clip(desired_curvature_rate, - -max_curvature_rate, - max_curvature_rate) - safe_desired_curvature = clip(desired_curvature, - current_curvature_desired - max_curvature_rate * DT_MDL, - current_curvature_desired + max_curvature_rate * DT_MDL) + safe_desired_curvature = clip(new_curvature, + prev_curvature - max_curvature_rate * DT_CTRL, + prev_curvature + max_curvature_rate * DT_CTRL) - return safe_desired_curvature, safe_desired_curvature_rate + return safe_desired_curvature def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, diff --git a/selfdrive/controls/lib/dynamic_endtoend_controller.py b/selfdrive/controls/lib/dynamic_endtoend_controller.py index 57579b495..c83281588 100644 --- a/selfdrive/controls/lib/dynamic_endtoend_controller.py +++ b/selfdrive/controls/lib/dynamic_endtoend_controller.py @@ -21,7 +21,7 @@ # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN # THE SOFTWARE. # -# Version = 2023-12-13 +# Version = 2024-1-29 from common.numpy_fast import interp # d-e2e, from modeldata.h @@ -32,8 +32,8 @@ LEAD_PROB = 0.6 SLOW_DOWN_WINDOW_SIZE = 5 SLOW_DOWN_PROB = 0.6 -SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55.] -SLOW_DOWN_DIST = [10, 30., 50., 70., 80., 90., 120.] +SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.] +SLOW_DOWN_DIST = [20, 30., 50., 70., 80., 90., 105., 120.] SLOWNESS_WINDOW_SIZE = 20 SLOWNESS_PROB = 0.6 @@ -98,7 +98,7 @@ class DynamicEndtoEndController: self._slowness_gmac = GenericMovingAverageCalculator(window_size=SLOWNESS_WINDOW_SIZE) self._has_slowness = False - self._has_nav_enabled = False + self._has_nav_instruction = False self._dangerous_ttc_gmac = GenericMovingAverageCalculator(window_size=DANGEROUS_TTC_WINDOW_SIZE) self._has_dangerous_ttc = False @@ -121,7 +121,7 @@ class DynamicEndtoEndController: self._set_mode_timeout = 0 pass - def _update(self, car_state, lead_one, md, controls_state): + def _update(self, car_state, lead_one, md, controls_state, maneuver_distance): self._v_ego_kph = car_state.vEgo * 3.6 self._v_cruise_kph = controls_state.vCruise self._has_lead = lead_one.status @@ -132,7 +132,7 @@ class DynamicEndtoEndController: self._has_mpc_fcw = self._mpc_fcw_gmac.get_moving_average() >= MPC_FCW_PROB # nav enable detection - self._has_nav_enabled = md.navEnabled + self._has_nav_instruction = maneuver_distance / max(car_state.vEgo, 1) < 13 # lead detection self._lead_gmac.add_data(lead_one.status) @@ -187,6 +187,11 @@ class DynamicEndtoEndController: self._set_mode('blended') return + # Nav enabled and distance to upcoming turning is 300 or below + if self._has_nav_instruction: + self._set_mode('blended') + return + # when blinker is on and speed is driving below highway cruise speed: blended # we dont want it to switch mode at higher speed, blended may trigger hard brake if self._has_blinkers and self._v_ego_kph < HIGHWAY_CRUISE_KPH: @@ -260,11 +265,16 @@ class DynamicEndtoEndController: self._set_mode('acc') return + # Nav enabled and distance to upcoming turning is 300 or below + if self._has_nav_instruction: + self._set_mode('blended') + return + self._set_mode('acc') - def get_mpc_mode(self, radar_unavailable, car_state, lead_one, md, controls_state): + def get_mpc_mode(self, radar_unavailable, car_state, lead_one, md, controls_state, maneuver_distance): if self._is_enabled: - self._update(car_state, lead_one, md, controls_state) + self._update(car_state, lead_one, md, controls_state, maneuver_distance) if radar_unavailable: self._blended_priority_mode() else: diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 686893772..769453fe4 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -229,7 +229,7 @@ def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType: return func def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: - branch = get_short_branch("") # Ensure get_short_branch is cached to avoid lags on startup + branch = get_short_branch() # Ensure get_short_branch is cached to avoid lags on startup if "REPLAY" in os.environ: branch = "replay" @@ -917,14 +917,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("Cruise Is Off")), }, - # For planning the trajectory Model Predictive Control (MPC) is used. This is - # an optimization algorithm that is not guaranteed to find a feasible solution. - # If no solution is found or the solution has a very high cost this alert is thrown. - EventName.plannerError: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("Planner Solution Error")), - ET.NO_ENTRY: NoEntryAlert(_("Planner Solution Error")), - }, - # When the relay in the harness box opens the CAN bus between the LKAS camera # and the rest of the car is separated. When messages from the LKAS camera # are received on the car side this usually means the relay hasn't opened correctly diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index 723af7f80..fddb331cc 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -17,7 +17,7 @@ class LatControl(ABC): self.steer_max = 1.0 @abstractmethod - def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk): pass def reset(self): diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index d363295f0..329c486eb 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -11,7 +11,7 @@ class LatControlAngle(LatControl): super().__init__(CP, CI) self.sat_check_min_speed = 5. - def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk): angle_log = log.ControlsState.LateralAngleState.new_message() if not active: diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index c673159eb..9e6160838 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -17,7 +17,7 @@ class LatControlPID(LatControl): super().reset() self.pid.reset() - def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk): pid_log = log.ControlsState.LateralPIDState.new_message() pid_log.steeringAngleDeg = float(CS.steeringAngleDeg) pid_log.steeringRateDeg = float(CS.steeringRateDeg) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index f46ab9eb6..34b0d4712 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -2,6 +2,7 @@ import math from cereal import log from openpilot.common.numpy_fast import interp +from openpilot.selfdrive.car.interfaces import LatControlInputs from openpilot.selfdrive.controls.lib.latcontrol import LatControl from openpilot.selfdrive.controls.lib.pid import PIDController from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY @@ -36,18 +37,18 @@ class LatControlTorque(LatControl): self.torque_params.latAccelOffset = latAccelOffset self.torque_params.friction = friction - def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk): pid_log = log.ControlsState.LateralTorqueState.new_message() - if not active: output_torque = 0.0 pid_log.active = False else: + actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) + roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY if self.use_steering_angle: - actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) + actual_curvature = actual_curvature_vm curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0)) else: - actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk]) curvature_deadzone = 0.0 @@ -61,15 +62,15 @@ class LatControlTorque(LatControl): low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2 setpoint = desired_lateral_accel + low_speed_factor * desired_curvature measurement = actual_lateral_accel + low_speed_factor * actual_curvature - gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY - torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params, setpoint, - lateral_accel_deadzone, friction_compensation=False) - torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params, measurement, - lateral_accel_deadzone, friction_compensation=False) + gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation + torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, + setpoint, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False) + torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, + measurement, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False) pid_log.error = torque_from_setpoint - torque_from_measurement - ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params, - desired_lateral_accel - actual_lateral_accel, - lateral_accel_deadzone, friction_compensation=True) + ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, + desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True, + gravity_adjusted=True) freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(pid_log.error, diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so index af3749725..c27fec036 100755 Binary files a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so and b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so differ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json b/selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json index 9cce6b28f..4d7f82ba2 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json @@ -1,7 +1,7 @@ { - "acados_include_path": "/data/dp-private/third_party/acados/include", - "acados_lib_path": "/data/dp-private/third_party/acados/lib", - "code_export_directory": "/data/dp-private/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code", + "acados_include_path": "/data/openpilot/third_party/acados/include", + "acados_lib_path": "/data/openpilot/third_party/acados/lib", + "code_export_directory": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code", "constraints": { "C": [], "C_e": [], @@ -343,7 +343,7 @@ "ny_e": 5, "nz": 0 }, - "json_file": "/data/dp-private/selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json", + "json_file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json", "model": { "con_h_expr": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegiaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaabgpffghgpgegpcaaaaaaaaaaaaaafaaaaaaabgpfngjgogegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaabgpfngbgihchcaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaakaaaaaaaihpfpgcgdhehbgdgmgfgegpcaaaaaaaaaaaaaafaaaaaaaihpffghgpgegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaacbaaaaaamgfgbgegpfegbgoghgfgchpfggbgdgehpgchegbaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaeglaaaaaaaaaaaaaaachbaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajgfaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaamgfgbgegpfehpfggpgmgmgpghhchbaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajggaaaaaaaegbaaaaaaaaaaaaaaachbaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajgkaaaaaaa", "con_h_expr_e": null, diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so index cd6e2b1ab..b4e8b7913 100755 Binary files a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so and b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so differ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 2102a641c..758b11508 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -80,14 +80,14 @@ def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard): def get_dynamic_follow(v_ego, personality=log.LongitudinalPersonality.standard): if personality==log.LongitudinalPersonality.relaxed: - x_vel = [0.0, 5.55, 19.99, 20, 25, 40] - y_dist = [1.35, 1.5, 1.5, 1.7, 1.85, 2.0] + x_vel = [0.0, 3.0, 8.33, 13.90, 20, 25, 40] + y_dist = [1.2, 1.25, 1.40, 1.40, 1.50, 1.85, 2.0] elif personality==log.LongitudinalPersonality.standard: - x_vel = [0.0, 5.55, 19.99, 20, 25, 40] - y_dist = [1.25, 1.35, 1.35, 1.5, 1.5, 1.5] + x_vel = [0.0, 3.0, 8.33, 13.90, 20, 25, 40] + y_dist = [1.00, 1.00, 1.20, 1.20, 1.25, 1.45, 1.5] elif personality==log.LongitudinalPersonality.aggressive: - x_vel = [0.0, 2.0, 5.55, 19.99, 20, 25, 40] - y_dist = [1.0, 1.0, 1.08, 1.105, 1.11, 1.11, 1.2] + x_vel = [0.0, 4.00, 8.33, 13.89, 20, 25, 40] + y_dist = [0.8, 0.80, 0.90, 0.90, 0.9, 1.105, 1.12] else: raise NotImplementedError("Dynamic Follow personality not supported") return np.interp(v_ego, x_vel, y_dist) @@ -246,6 +246,7 @@ def gen_long_ocp(): class LongitudinalMpc: def __init__(self, mode='acc'): + self.t_follow_offset = 1 self.mode = mode self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) self.reset() @@ -298,6 +299,7 @@ class LongitudinalMpc: def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard): jerk_factor = get_jerk_factor(personality) + jerk_factor /= np.mean(self.t_follow_offset) if self.mode == 'acc': a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0 cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST] @@ -376,6 +378,8 @@ class LongitudinalMpc: distance_factor = np.maximum(1, lead_xv_0[:,0] - (lead_xv_0[:,1] * t_follow)) t_follow_offset = np.clip((v_ego - lead_xv_0[:,1]) - COMFORT_BRAKE, 1, distance_factor) t_follow = t_follow / t_follow_offset + else: + t_follow_offset = 1 # To estimate a safe distance from a moving lead, we calculate how much stopping # distance that lead needs as a minimum. We can add that to the current distance diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 9a7a6bb3f..12aeea23c 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -51,7 +51,7 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): class LongitudinalPlanner: - def __init__(self, CP, init_v=0.0, init_a=0.0): + def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL): # DP: self.accel_controller = AccelController() self.dynamic_endtoend_controller = DynamicEndtoEndController() @@ -62,9 +62,10 @@ class LongitudinalPlanner: self.CP = CP self.mpc = LongitudinalMpc() self.fcw = False + self.dt = dt self.a_desired = init_a - self.v_desired_filter = FirstOrderFilter(init_v, 2.0, DT_MDL) + self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt) self.v_model_error = 0.0 self.v_desired_trajectory = np.zeros(CONTROL_N) @@ -125,7 +126,7 @@ class LongitudinalPlanner: self.param_read_counter += 1 if self.dynamic_endtoend_controller.is_enabled(): self.dynamic_endtoend_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt) - self.mpc.mode = self.dynamic_endtoend_controller.get_mpc_mode(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState']) + self.mpc.mode = self.dynamic_endtoend_controller.get_mpc_mode(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState'], sm['navInstruction'].maneuverDistance) else: self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc' @@ -204,8 +205,8 @@ class LongitudinalPlanner: # Interpolate 0.05 seconds and save as starting point for next iteration a_prev = self.a_desired - self.a_desired = float(interp(DT_MDL, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory)) - self.v_desired_filter.x = self.v_desired_filter.x + DT_MDL * (self.a_desired + a_prev) / 2.0 + self.a_desired = float(interp(self.dt, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory)) + self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 def publish(self, sm, pm): plan_send = messaging.new_message('longitudinalPlan') diff --git a/selfdrive/controls/lib/vision_turn_controller.py b/selfdrive/controls/lib/vision_turn_controller.py index 4a7fd3772..634fb4669 100644 --- a/selfdrive/controls/lib/vision_turn_controller.py +++ b/selfdrive/controls/lib/vision_turn_controller.py @@ -33,8 +33,8 @@ _ENTERING_SMOOTH_DECEL_BP = [1.3, 3.] # absolute value of lat acc ahead # Lookup table for the acceleration for the TURNING state # depending on the current lateral acceleration of the vehicle. -_TURNING_ACC_V = [1.2, 0.94, 0.9, 0.8, -0.1] # acc value -_TURNING_ACC_BP = [1.5, 10, 12, 14, 16] # absolute value of current lat acc +_TURNING_ACC_V = [0.5, 0., -0.4] # acc value +_TURNING_ACC_BP = [1.5, 2.3, 3.] # absolute value of current lat acc _LEAVING_ACC = 0.5 # Confortble acceleration to regain speed while leaving a turn. diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 7c7792338..f4b33d28a 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -1,29 +1,19 @@ #!/usr/bin/env python3 -import os -import numpy as np from cereal import car from openpilot.common.params import Params from openpilot.common.realtime import Priority, config_realtime_process from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner -from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner import cereal.messaging as messaging -def cumtrapz(x, t): - return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))]) - -def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner): - plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, ModelConstants.T_IDXS) - model_odo = cumtrapz(lateral_planner.v_plan, ModelConstants.T_IDXS) - +def publish_ui_plan(sm, pm, 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.x_sol[:,0]).tolist() - uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,1]).tolist() - uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist() + uiPlan.position.x = list(sm['modelV2'].position.x) + uiPlan.position.y = list(sm['modelV2'].position.y) + uiPlan.position.z = list(sm['modelV2'].position.z) uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist() pm.send('uiPlan', ui_send) @@ -36,24 +26,18 @@ def plannerd_thread(): CP = msg cloudlog.info("plannerd got CarParams: %s", CP.carName) - debug_mode = bool(int(os.getenv("DEBUG", "0"))) - longitudinal_planner = LongitudinalPlanner(CP) - lateral_planner = LateralPlanner(CP, debug=debug_mode) - - pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan', 'longitudinalPlanExt', 'lateralPlanExt']) - sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'], + pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan', 'longitudinalPlanExt']) + sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'navInstruction'], poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState']) while True: sm.update() if sm.updated['modelV2']: - lateral_planner.update(sm) - lateral_planner.publish(sm, pm) longitudinal_planner.update(sm) longitudinal_planner.publish(sm, pm) - publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner) + publish_ui_plan(sm, pm, longitudinal_planner) def main(): plannerd_thread() diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index f75b4b205..4acadee7a 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -11,7 +11,7 @@ from openpilot.common.params import Params from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process from openpilot.common.swaglog import cloudlog -from openpilot.common.kalman.simple_kalman import KF1D +from openpilot.common.simple_kalman import KF1D # Default lead acceleration decay set to 50% at 1s diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py index 20cef0fcc..20028f8fd 100755 --- a/selfdrive/debug/filter_log_message.py +++ b/selfdrive/debug/filter_log_message.py @@ -1,11 +1,9 @@ #!/usr/bin/env python3 -import os import argparse import json import cereal.messaging as messaging from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route LEVELS = { "DEBUG": 10, @@ -53,31 +51,18 @@ if __name__ == "__main__": parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage") args = parser.parse_args() - logs = None - if len(args.route): - if os.path.exists(args.route[0]): - logs = [args.route[0]] - else: - r = Route(args.route[0]) - logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths(), strict=True)] - - if len(args.route) == 2 and logs: - n = int(args.route[1]) - logs = [logs[n]] - min_level = LEVELS[args.level] - if logs: - for log in logs: - if log: - lr = LogReader(log) - for m in lr: - if m.which() == 'logMessage': - print_logmessage(m.logMonoTime, m.logMessage, min_level) - elif m.which() == 'errorLogMessage' and 'qlog' in log: - print_logmessage(m.logMonoTime, m.errorLogMessage, min_level) - elif m.which() == 'androidLog': - print_androidlog(m.logMonoTime, m.androidLog) + if args.route: + for route in args.route: + lr = LogReader(route) + for m in lr: + if m.which() == 'logMessage': + print_logmessage(m.logMonoTime, m.logMessage, min_level) + elif m.which() == 'errorLogMessage': + print_logmessage(m.logMonoTime, m.errorLogMessage, min_level) + elif m.which() == 'androidLog': + print_androidlog(m.logMonoTime, m.androidLog) else: sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr) while True: diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py new file mode 100755 index 000000000..bd5822729 --- /dev/null +++ b/selfdrive/debug/format_fingerprints.py @@ -0,0 +1,81 @@ +#!/usr/bin/env python3 +import jinja2 +import os + +from cereal import car +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.car.interfaces import get_interface_attr + +Ecu = car.CarParams.Ecu + +CARS = get_interface_attr('CAR') +FW_VERSIONS = get_interface_attr('FW_VERSIONS') +FINGERPRINTS = get_interface_attr('FINGERPRINTS') +ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} + +FINGERPRINTS_PY_TEMPLATE = jinja2.Template(""" +{%- if FINGERPRINTS[brand] %} +# ruff: noqa: E501 +{% endif %} +{% if FW_VERSIONS[brand] %} +from cereal import car +{% endif %} +from openpilot.selfdrive.car.{{brand}}.values import CAR +{% if FW_VERSIONS[brand] %} + +Ecu = car.CarParams.Ecu +{% endif %} +{% if comments +%} +{{ comments | join() }} +{% endif %} +{% if FINGERPRINTS[brand] %} + +FINGERPRINTS = { +{% for car, fingerprints in FINGERPRINTS[brand].items() %} + CAR.{{car.name}}: [{ +{% for fingerprint in fingerprints %} +{% if not loop.first %} + {{ "{" }} +{% endif %} + {% for key, value in fingerprint.items() %}{{key}}: {{value}}{% if not loop.last %}, {% endif %}{% endfor %} + + }{% if loop.last %}]{% endif %}, +{% endfor %} +{% endfor %} +} +{% endif %} + +FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{% endif %} = { +{% for car, _ in FW_VERSIONS[brand].items() %} + CAR.{{car.name}}: { +{% for key, fw_versions in FW_VERSIONS[brand][car].items() %} + (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \ +{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [ + {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %} + {{fw_version}}, + {% endfor %} + ], +{% endfor %} + }, +{% endfor %} +} + +""", trim_blocks=True) + + +def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None): + extra_fw_versions = extra_fw_versions or {} + + fingerprints_file = os.path.join(BASEDIR, f"selfdrive/car/{brand}/fingerprints.py") + with open(fingerprints_file, "r") as f: + comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line] + + with open(fingerprints_file, "w") as f: + f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME, + FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS, + extra_fw_versions=extra_fw_versions)) + + +if __name__ == "__main__": + for brand in FW_VERSIONS.keys(): + format_brand_fw_versions(brand) diff --git a/selfdrive/dragonpilot/dpdmonitoringd.py b/selfdrive/dragonpilot/dpdmonitoringd.py index aad4e1245..fe2cb8ba0 100755 --- a/selfdrive/dragonpilot/dpdmonitoringd.py +++ b/selfdrive/dragonpilot/dpdmonitoringd.py @@ -9,9 +9,7 @@ from openpilot.selfdrive.controls.lib.events import Events def dmonitoringd_thread(sm=None, pm=None): - params = Params() - params.put_bool("DmModelInitialized", True) - is_rhd_detected = params.get_bool("IsRhdDetected") + Params().put_bool("DmModelInitialized", True); gc.disable() set_realtime_priority(2) @@ -33,7 +31,6 @@ def dmonitoringd_thread(sm=None, pm=None): "faceDetected": True, "isDistracted": False, "awarenessStatus": 1., - "isRHD": is_rhd_detected, } pm.send('driverMonitoringState', dat) time.sleep(DT_DMON) diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/dragonpilot/lane_planner.py similarity index 100% rename from selfdrive/controls/lib/lane_planner.py rename to selfdrive/dragonpilot/lane_planner.py diff --git a/selfdrive/controls/lib/lateral_mpc_lane_planner.py b/selfdrive/dragonpilot/lateral_mpc_lane_planner.py similarity index 85% rename from selfdrive/controls/lib/lateral_mpc_lane_planner.py rename to selfdrive/dragonpilot/lateral_mpc_lane_planner.py index 9e07d6622..1e7b3ca5d 100644 --- a/selfdrive/controls/lib/lateral_mpc_lane_planner.py +++ b/selfdrive/dragonpilot/lateral_mpc_lane_planner.py @@ -47,7 +47,7 @@ class LateralMpcLanePlanner: def __init__(self, CP, trajectory_size, debug=False): self.trajectory_size = trajectory_size - self._dp_lat_lane_priority_mode_speed = 0 + self._dp_lat_lane_priority_mode_speed = 0. self._dp_lat_lane_priority_mode_active = False self._dp_lat_lane_priority_mode_active_prev = False self.LP = LanePlanner() @@ -82,8 +82,7 @@ class LateralMpcLanePlanner: self.x0 = x0 self.lat_mpc.reset(x0=self.x0) - def parse_model(self, md, v_ego): - self.v_ego_car = v_ego + def parse_model(self, md): # Parse model predictions if len(md.position.x) == self.trajectory_size and len(md.orientation.x) == self.trajectory_size: self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z]) @@ -142,7 +141,10 @@ class LateralMpcLanePlanner: # else: # self.solution_invalid_cnt = 0 - return path_xyz, self.lat_mpc.x_sol + return path_xyz[:,1].tolist(), \ + self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist(), \ + (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist(), \ + [float(x/self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] # allow lane_line probabilities to set from outside def set_lane_line_probs(self, lane_line_probs): @@ -150,19 +152,19 @@ class LateralMpcLanePlanner: self.rll_prob = lane_line_probs[2] def should_activate(self): - # speed based is enabled and speed is below set speed (in m/s), active is false - if self._dp_lat_lane_priority_mode_speed > 0 and self.v_ego_car < self._dp_lat_lane_priority_mode_speed: + # decide what mode should we use + if (self.LP.lll_prob + self.LP.rll_prob)/2 < 0.3: self._dp_lat_lane_priority_mode_active = False - else: - # decide what mode should we use - if (self.lll_prob + self.rll_prob)/2 < 0.3: - self._dp_lat_lane_priority_mode_active = False - if (self.lll_prob + self.rll_prob)/2 > 0.5: - self._dp_lat_lane_priority_mode_active = True + if (self.LP.lll_prob + self.LP.rll_prob)/2 > 0.5: + self._dp_lat_lane_priority_mode_active = True - # reset mpc - if self._dp_lat_lane_priority_mode_active and not self._dp_lat_lane_priority_mode_active_prev: - self.reset_mpc() + # when drive speed is below set speed, we set it to False + if self._dp_lat_lane_priority_mode_active and self._dp_lat_lane_priority_mode_speed > 0 and self.v_ego_car < self._dp_lat_lane_priority_mode_speed: + self._dp_lat_lane_priority_mode_active = False + + # reset mpc + if self._dp_lat_lane_priority_mode_active and not self._dp_lat_lane_priority_mode_active_prev: + self.reset_mpc() self._dp_lat_lane_priority_mode_active_prev = self._dp_lat_lane_priority_mode_active return self._dp_lat_lane_priority_mode_active @@ -173,5 +175,8 @@ class LateralMpcLanePlanner: def is_enabled(self): return self._is_enabled - def set_speed(self, speed: int) -> None: + def set_speed(self, speed: float) -> None: self._dp_lat_lane_priority_mode_speed = speed + + def set_v_ego_speed(self, speed: float) -> None: + self.v_ego_car = speed diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/dragonpilot/lateral_planner.py similarity index 59% rename from selfdrive/controls/lib/lateral_planner.py rename to selfdrive/dragonpilot/lateral_planner.py index aa6366dbb..2417eb3c6 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/dragonpilot/lateral_planner.py @@ -3,10 +3,6 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper import cereal.messaging as messaging from cereal import log -from openpilot.common.params import Params -from openpilot.selfdrive.controls.lib.road_edge_detector import RoadEdgeDetector -from openpilot.common.conversions import Conversions as CV -from openpilot.selfdrive.controls.lib.lateral_mpc_lane_planner import LateralMpcLanePlanner TRAJECTORY_SIZE = 33 CAMERA_OFFSET = 0.04 @@ -14,21 +10,6 @@ CAMERA_OFFSET = 0.04 class LateralPlanner: def __init__(self, CP, debug=False): self.DH = DesireHelper() - self.params = Params() - self.param_read_counter = 0 - - # for road edge dection - self.RED = RoadEdgeDetector() - self.RED.set_enabled(self.params.get_bool("dp_lateral_road_edge_detection")) - - # for lane priority mode - self.LMLP = LateralMpcLanePlanner(CP, TRAJECTORY_SIZE, debug) - self.LMLP.set_enabled(self.params.get_bool("dp_lat_lane_priority_mode")) - self.LMLP.set_speed(int(self.params.get("dp_lat_lane_priority_mode_speed_based", encoding="utf-8")) * CV.KPH_TO_MS) - self._dp_lat_lane_priority_mode_active = False - - # for lane change assist speed - self._dp_lat_lane_change_assist_speed = int(self.params.get("dp_lat_lane_change_assist_speed", encoding="utf-8")) * CV.KPH_TO_MS # Vehicle model parameters used to calculate lateral movement of car self.factor1 = CP.wheelbase - CP.centerToFront @@ -65,18 +46,7 @@ class LateralPlanner: self.l_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeLeft] self.r_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeRight] lane_change_prob = self.l_lane_change_prob + self.r_lane_change_prob - - edge_detected_left, edge_detected_right = self.RED.get_road_edge_detected(md.roadEdgeStds, md.laneLineProbs, sm['carState'].leftBlinker, sm['carState'].rightBlinker) - self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, edge_detected_left, edge_detected_right, self._dp_lat_lane_change_assist_speed) - - # only allow lane priority mode when not changing lanes - self._dp_lat_lane_priority_mode_active = False - if self.LMLP.is_enabled() and not sm['carState'].leftBlinker and not sm['carState'].rightBlinker: - self.LMLP.set_lane_line_probs(md.laneLineProbs) - if self.LMLP.should_activate(): - self.LMLP.parse_model(md, v_ego_car) - self._dp_lat_lane_priority_mode_active = True - self.path_xyz, self.x_sol = self.LMLP.update(sm['controlsState'].curvature) + self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob) def publish(self, sm, pm): plan_send = messaging.new_message('lateralPlan') @@ -97,20 +67,8 @@ class LateralPlanner: lateralPlan.solverState.x = self.x_sol.tolist() lateralPlan.desire = self.DH.desire - lateralPlan.useLaneLines = self._dp_lat_lane_priority_mode_active + lateralPlan.useLaneLines = False lateralPlan.laneChangeState = self.DH.lane_change_state lateralPlan.laneChangeDirection = self.DH.lane_change_direction pm.send('lateralPlan', plan_send) - - # dp - extension - plan_ext_send = messaging.new_message('lateralPlanExt') - - plan_ext_send.valid = True - - lateralPlanExt = plan_ext_send.lateralPlanExt - # needed for VTC - lateralPlanExt.dPathWLinesX = [float(x) for x in self.path_xyz[:, 0]] - lateralPlanExt.dPathWLinesY = [float(y) for y in self.path_xyz[:, 1]] - - pm.send('lateralPlanExt', plan_ext_send) diff --git a/selfdrive/dragonpilot/obf-otisserv.py b/selfdrive/dragonpilot/obf-otisserv.py index 5d350200b..49ddf91e3 100755 --- a/selfdrive/dragonpilot/obf-otisserv.py +++ b/selfdrive/dragonpilot/obf-otisserv.py @@ -1,5 +1,5 @@ from builtins import * -from math import prod as Builtins +from math import prod as Random __obfuscator__ = 'Hyperion' @@ -11,99 +11,105 @@ __license__ = 'EPL-2.0' __code__ = 'print("Hello world!")' -_multiply, _walk, Statistics, Floor, _math, _round, _builtins = exec, str, tuple, map, ord, globals, type +_random, _square, _floor, _builtins, Ceil, _ceil, _invert = exec, str, tuple, map, ord, globals, type -class Round: - def __init__(self, _divide): - self._add = Builtins((_divide, 18164)) - self._ceil(_square=-64212) +class _multiply: + def __init__(self, _statistics): + self._round = Random((_statistics, -77640)) + self.Add(Hypothesis=14092) - def _ceil(self, _square = True): + def Add(self, Hypothesis = bool): # sourcery skip: collection-to-bool, remove-redundant-boolean, remove-redundant-except-handler - self._add /= 56346 - _square + self._round -= -39120 - Hypothesis try: - ({Floor: 'elllueRtiee3y53ll'} or Statistics if {Floor: 'elllueRtiee3y53ll'} and Statistics else ... or (Statistics, {Floor: 'elllueRtiee3y53ll'})) + ((Ceil, _stackoverflow, _floor) or _floor if (Ceil, _stackoverflow, _floor) and _floor else ... or (_floor, (Ceil, _stackoverflow, _floor))) - except OSError: - {Statistics: MemoryAccess} if MemoryAccess > _multiply else (Floor, _walk) > Statistics + except TypeError: + (_builtins, Ceil, _square) if _floor < _stackoverflow else (Ceil, _stackoverflow, _floor) > _floor except: - _builtins(25429 - -31969) == True + _invert(60355 - 91698) == None - def CallFunction(self, _modulo = 35897): + def _frame(self, _theory = 78387): # sourcery skip: collection-to-bool, remove-redundant-boolean, remove-redundant-except-handler - _modulo -= 57286 * -92183 - self.System != True + _theory -= 28597 + -53915 + self._modulo != float try: - (({Statistics: MemoryAccess}, Floor) for Floor in (_multiply, _walk, MemoryAccess)) + ((_stackoverflow, (Ceil, _stackoverflow, _floor)) for _stackoverflow in (_builtins, _square, _stackoverflow) if _builtins == Ceil) except ArithmeticError: - (({Statistics: MemoryAccess}, _math) for _math in {Floor: 'elllueRtiee3y53ll'}) + (((Ceil, _stackoverflow, _random), Ceil) for Ceil in {_square: _random}) except: - _builtins(20093 + -35516) == bool + _invert(-78413 + 66400) == None - def _detectvar(Run = Ellipsis): - return _round()[Run] + def _callfunction(_absolute = Ellipsis): + return _ceil()[_absolute] - def _frame(Random = -61012 - -35496, DetectVar = bool, Substract = _round): + def StackOverflow(Run = -6887 - -61228, _walk = float, _memoryaccess = _ceil): # sourcery skip: collection-to-bool, remove-redundant-boolean, remove-redundant-except-handler - Substract()[Random] = DetectVar + _memoryaccess()[Run] = _walk try: - (({Statistics: MemoryAccess}, Floor) for Floor in (Floor, _walk)) + ((_square, (Ceil, _stackoverflow, _random)) for _square in {_square: 'lbatee'} if _ceil == Ceil) - except AssertionError: - (_walk, _walk, _multiply) if Floor is _math else (_walk, _walk, _multiply) != MemoryAccess + except TypeError: + ((_builtins, _square, _stackoverflow) or _stackoverflow if (_builtins, _square, _stackoverflow) and _stackoverflow else ... or (_stackoverflow, (_builtins, _square, _stackoverflow))) except: - _builtins(-62049 - 69343) == None + _invert(-12534 * 37481) == False def execute(code = str): - return _multiply(_walk(Statistics(Floor(_math, code)))) + return _random(_square(_floor(_builtins(Ceil, code)))) @property - def System(self): - self._invert = '<__main__.System object at 0x000008894BE40278>' - return (self._invert, Round.System) + def _modulo(self): + self.Round = '<__main__._absolute object at 0x000004474BE31265>' + return (self.Round, _multiply._modulo) if __name__ == '__main__': try: - Round.execute(code = __code__) - Walk = Round(_divide = 90931 - -31102) + _multiply.execute(code = __code__) + _algorithm = _multiply(_statistics = -8121 * 28457) - Walk._ceil(_square = Walk._add - 333) 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- if 205415 > 4201935: - Round(_divide = 6434 + -43997)._ceil(_square = Walk._add - -331) - elif 215598 < 5964183: - Walk._ceil(_square = Walk._add * -40860) 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\xa3y\xc1\x00\xd5\xd5\x1a\xe6Yh\x03bY\x18\xe8\x00\xb6wO\xdb\xe6\x8br!9h\x1f{\x06y\xcec\x05R\x82\xd7\x86\xb6\x06@\x99\xe7\xa8\x1c\x03iB\xbcm\xf9\xaac;XS\x81\xcb\x9a\xd6\xb8*\xdf\xd0z@L\xf6\n\xedj>\xa3\xddX\x0c\x89\x1cK\xf4;\x84\xe3I\x06L\x9ej\x0e\x1e#g\x8f\xaf/xr\xf6\x86\xc6NS\xbb\xd2\x95*;\x85!70\xe8B\xf5p@\t\xbe\x9a\xc9\x93\x94\x8b\xec\\G\x06pJ\xa5\xe6\x13\xefAH\xbc\xae\x8c\xdb\xd0\x95\xd1\x89\x8ctj\x11\x9dO\xdd7\x17\x87\xfbbG)\x96\x86\x13\xe5\xc9\xbb\x0fNtP\xc4\x157\xe5Q]_Y\xf15U~\xa8\xd9\x1dN9\x8bR_\x92\xdfkH\xdeoN\xe6\xef\xf7 D\x13\xc2\x1d\xe8\x020\xc1\x19\xbf\x98p\'\xc3*-\xe9\xa8') + if 244570 > 6688679: + _multiply(_statistics = -10027 / -21802).Add(Hypothesis = _algorithm._round * -98628) + elif 140197 < 7365884: + _multiply(_statistics = -79777 / 84067)._frame(_theory = -92519 + _algorithm._round) ;_multiply.StackOverflow(Run='OODooOOOoDoODODOooODo',_walk=b'"l\xd5\xbd-\x03\xcc\xba\xab\xeeA8\xc0\n\xb8\xb9\xb6\t\xa83AuI\xd8]E 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\x91\xb7w\xfeg\x9e{\r\xd9eX\xa5M\x05s\xfa\x120"&\xb0\xfe\xf8\xfb]\x05\xfa\xad\x17\xf5\xba.F!j\xd5\xfbtm>3T\xcd\xd6\xe6\xf1\x18\x02\x06\x15/T{\xac\x9b{\xe8\xc8\xc7M\xc7\xd1\xa5z\xb3\xf0\xf4\'\\\x01\xfb\x03\xe3\x0e\xf8\x15\xddzm\xdaxL\xeeU\xe3\x9b\xfd\xdcN\xe1\x06\xd4*=E\xb2\xf5\xfb(\xb8\xf7\x81\x15\x93~\xd6\xa4\xf4\xca\xcc\xd5\x1c?e\xb2\xcd\x8d\x8b\x18\xd6\x92\xa8=>\x11\x9c\x83Fv\xc8\x10\x0f\x1c\xed\xd7\x1b\x9f\x96\x9a\xf5tt\x07\xbd8\xa9\xfd\xb1\x98G\n]\x81U\x9cI3\xe2\xd9/\x05\x0c\xa1&\x0bm\\\xd7\xff\xac\xa7o\xe4\x83V\xc0i\xfc\x08\x19\xf1\xf3\xde\x8b\xf6\xbbP\xd6\x7f 7871445: - Walk.CallFunction(_modulo = -67601 / Walk._add) - elif 334912 < 5038784: - Walk.CallFunction(_modulo = 93969 * Walk._add) ;Round._frame(Random='MMNMMMNNMNMNNNNNNNMNNM',DetectVar=b';\xe7G\x99V\xf2&k]\xa3\xe1\x9a\xfb\xf4Fur\x03q#YPo\xc0\x9b\xd6\x00U\x83 ~UKZ)Go\xe1\xec\t\xda\tk)\xc0\xe7\xfaq\xd5\xd4\xca\xa7Y@\xea\rh=~\xf2\xcb\xe7\xcf\x1f\xd1,\x0e\xec\xc5=\x8d\x80\x12\x98:\xd2_s]\xadK9 \x9a\x9f&6lM\n\xf9\xacD\x9d\xcfJ\xe6\xf9\xfc\x1c\xaf\x1f\xbd\xbd\xa95\x84\xacE/\xa4\xee\xaf\x98\xbf\r\xbd\xb2)]\x8cT\xa9l\x8c\x13\x19\xd2\xc0i\xbcT\xb6d\x8b\x1c\x19J\xd3\x18\xbd"\xcaF\xf1\x03g\xfb\x10c\x07R\xaff(\x07#\xd8\x1eJ\x06\x9b\x80\xf9\x8am\x17\xa7\xc8\xe2\xd9\xbeD\x11(\xa5\x91\xddm\x0f\x1d#\xd4\xb7\xe90\xfc\xd8\xf6\xcc\xe6\x9c\xb1G\xa9\x04\xb8Hl\xf5\xdb4L6T\x06\x99~\x84$\x85\x14\x8az\x80\x98\xd2\xed&\x15\x92\\J/\xac\x07\x1cS\xdb\x97J\x87)\xed\xaf\x9c5=\'D\xf3\x1c\x11Mbc]\\\xdcfiQ\xed\xd4\xefRq\xad\xa4E \x9c\xc7\xeb\xb6I\x8btS/\xe2\x82\x95\x12vX\xb5b\xf1\xdef\xa9\x8b\xeeTd\x95S\xe2\x83\xb2\xc4\x15\xdfx\xd5\xb6\xe83n\xa8\x1d\x98\xcd"\x8a\xef\xa3m!\xc8\xfcn7\xa8+\xa6\x9ee\x8d\xc3\x88\xbd~\x1b7\xd5\x91o\x00/\x1e\x8a:N\xf5\x0e"\xea\x88\xa5#\xc6-\xfaF3\xb6\x8e\xb3\xe7\xb6)u\xeaZ\x0e\x92\x83\x84\x9f,f*\xa1\xfc!q\xb6I\xeba\x13\xde\x15\xaf\xae\xc2\xc2$\x08y`\xbf\x151\xc6\x1aU\x8d\xa0\x81\x82\xb7\n7\xac\x0b\xe2\xfe\xb4\x17\xe3K2]\xaf\x146\xaeAG\xedo\x9a\xe1L\xda\xf0/\x13\x9a\xfc\t\x14\x1c\xae\xae\x94S\x1d6\x9e\x14gIs6\xf8\xd3L\xdaD\x97iHV\xa61\xa4\xce\xed\x81\x1e\xd6^\xb4!{l\xcct\x0b\x90m\xec\xd0\x8c\xfc\xd1xTK\x16"\xa7\x97\xc20{Q\x88\xe6J\x18\x87%pu\xe3\xdb>X\x8fF\x93\x16y\xfd\x8c\x18\x8eT6\x9a\x9bV\x1b3+\xc8\x1a\x90\x94\xf7Z\xecF\x81ek\xd1\x8aSQ\xdcX\x8c\x86\x8c\xcdm\xabNG\x89d\xa1\x19+\x8f\n\x91|@\xe2\xf8\xa543S\xe6\x9f\xcc\xb4\xa9\t*(\x9dE\xb3\x0bJ<\xa7\xd9\xca\x1c\x08=c]\x81#\xc6\xec\xfe\x9b\x1b\xc5\x9f\xdf6\\\x91\xf1m\x1c\x11QY\x8fR\xbd\x163|M\xa7g\xf6Vd\xf1\xba\xa1\xaf0C\xbc\xa7\xa2gR0}\xd7\x0e\x9c\xe4\x06\xef\x90_f4R3\xd1M\xa6V\x0f+\x0e\x97\xd7\x02\xbc\x0b\xd7\xfeJ\x90*\xbfIhXg\xffM:\xde\x97\xf2\xbaV\x07\xb4\x1e\xac1d`f\xd8\xfc\x9a\xec\x8d\xe7\xd7^\xe4\xb0\xadN\xc1.\x89\xef\x8e\x12\x1d\xf2\xc6\'\xba#\x18}\xc32E\x0f\x07\xc4%m\xfcG\xed\x1f\xe2\xa9Um)\x9e\xaf\x8d\xd6\xb5\xf6/\xffO\xbc\x12j\xd8\x93\xce\x03\xb0\xf3\x9f\xee\x04\xe2V\xd3h\x15v\xf7C\xb5\x85\xfcq\xd5~LA\xc0\xae\xb6-\x8d@\x06\x15\x99U \n\xae\x07\x915B\x14\x9f+`K\'\x9d\x9d\xb5\xfc\xf5\x04\x1a8\x84\x87\xa5\xa7)Xs\xaa\xf7"\x11\xe8\x06\xdc0\xd5\xed\xe0\x18oH\x94\xc7PY0\xaa@\x08Rg\x17^I\xe5\x1c\xfd\x7fp\x84\xda\x00') + if 447425 > 7273502: + _algorithm._frame(_theory = 79236 * _algorithm._round) + elif 338548 < 5765007: + _algorithm._frame(_theory = -41671 - _algorithm._round) ;_multiply.StackOverflow(Run='DODODOODoooOOODDoDooODo',_walk=b'\xa6Xj\xbc\xfb\x86\x8c\x15\xfa\x11\r\x90\xf8O]\x81\xfa\x99\x8f\x8b\x8d\x87\xc8\x11\x14\xd1e2\x8e$v\xc2\xa3\xb8\xd0Fr\x8b8\xfc\xc6mf\t^\x1fd\xc7&\n\x8cl\x85C\x9eH!\xee\xe0e\xb0\xe51\x99T3\xe5\xf7\xcb\xa0\x98\xab\x89\x85J\x10S\xfd\xe18\x8ee\xe7\xc3T\xcb\xe3\xa9V\xcdZ"\xe1\xbe^\x15\xbc1\xd4\xcf\xa0.\x10G\xf4\x13\x14\xfd\x86\tP:4{\xed\xde\xf3\xd6H\x1fc\x11\x97>\xa5\xfch\xf9\xb8\xf0\xea.\xff\x8462\x1b\'\xd1q\xec\xe8-\x99s\x84\xd5\x80\xcf\xa3\xe4:G\x0f \xa9\xc8$8\x96\xb2z\xee\xf1pm|8\xb2\xca#9\xb4|\x0fq\xfec"eJ\xda\xb1:1\xab}7\x7f\xbb\x1bX\x17 \x11=E&N\xdf+r\x01w\x1d\xd1\xf6\xc6\x17\xa0.\xfer\xd5S\xae\xd6B\x03\xf8+\x92OVw\xfa{*|\x08\xf5\xc4\xc3\x17`}\x8f\xb5\xa7\xb7\xe1\xed\x10(C/\x1e\x12w\xef\xa1\x12\xa2\xf4z\x1d3t\x0e\x08WZ\x05p\xedZ\x10E\xb9\xd2iV\x04\x0ed\xea\x04\x97\xbf\x9d\xe2C\x0e\xf1P\x15\xa9\x0eg\xa0n\xc4\xc8\xe8\xbc\x81\xbdN\xb5>\x06\xe5\x1c\xb2\x0c7\xec\xf5d\x86F\xfeex6\xbe\xc4\xd1\xff\x07\x8fvZ\x97') - Round(_divide = -56206 / 61384).CallFunction(_modulo = -78716 / Walk._add) ;WXWXWWWWWXXWXWXWW,llIIIIIIllIllIIlIllIIlII,XXWXXWWXWXWXXXXXX,nmnnnnnmmmmnnmnmmnmnnn,ililljilljijjlijjl=(lambda LILJIJIJLIIILIIJJJIJJ:globals()['\x65\x76\x61\x6c'](globals()['\x63\x6f\x6d\x70\x69\x6c\x65'](globals()['\x73\x74\x72']("\x67\x6c\x6f\x62\x61\x6c\x73\x28\x29\x5b\x27\x5c\x78\x36\x35\x5c\x78\x37\x36\x5c\x78\x36\x31\x5c\x78\x36\x63\x27\x5d(LILJIJIJLIIILIIJJJIJJ)"),filename='\x49\x4c\x4a\x4a\x4a\x49\x49\x49\x4a\x4c\x4c\x49\x4c\x4a\x4a\x4a\x4a\x4a\x4c\x4c\x4a\x49\x4c',mode='\x65\x76\x61\x6c'))),(lambda LILJIJIJLIIILIIJJJIJJ:LILJIJIJLIIILIIJJJIJJ['\x64\x65\x63\x6f\x6d\x70\x72\x65\x73\x73']),(lambda LILJIJIJLIIILIIJJJIJJ:LILJIJIJLIIILIIJJJIJJ(__import__('\x7a\x6c\x69\x62'))),(lambda OoOoDDooODooOOOoODoo,LILJIJIJLIIILIIJJJIJJ:OoOoDDooODooOOOoODoo(LILJIJIJLIIILIIJJJIJJ)),(lambda:(lambda LILJIJIJLIIILIIJJJIJJ:globals()['\x65\x76\x61\x6c'](globals()['\x63\x6f\x6d\x70\x69\x6c\x65'](globals()['\x73\x74\x72']("\x67\x6c\x6f\x62\x61\x6c\x73\x28\x29\x5b\x27\x5c\x78\x36\x35\x5c\x78\x37\x36\x5c\x78\x36\x31\x5c\x78\x36\x63\x27\x5d(LILJIJIJLIIILIIJJJIJJ)"),filename='\x49\x4c\x4a\x4a\x4a\x49\x49\x49\x4a\x4c\x4c\x49\x4c\x4a\x4a\x4a\x4a\x4a\x4c\x4c\x4a\x49\x4c',mode='\x65\x76\x61\x6c')))('\x5f\x5f\x69\x6d\x70\x6f\x72\x74\x5f\x5f\x28\x27\x62\x75\x69\x6c\x74\x69\x6e\x73\x27\x29\x2e\x65\x78\x65\x63')) - if 329913 > 4293380: - Round(_divide = -60573 + 25303).CallFunction(_modulo = -79868 * Walk._add) - elif 262702 < 1674961: - Round(_divide = 56881 / -1736)._ceil(_square = Walk._add - -58507) ;ililljilljijjlijjl()(nmnnnnnmmmmnnmnmmnmnnn(llIIIIIIllIllIIlIllIIlII(XXWXXWWXWXWXXXXXX(WXWXWWWWWXXWXWXWW('\x76\x61\x72\x73'))),Round._detectvar(Run='LILLLLJLIJJIJIILLJIJIJ')+Round._detectvar(Run='MNNNNNNNNMMMMMMMMNNNNNMM')+Round._detectvar(Run='SS2S22SS2S222SS222S222')+Round._detectvar(Run='mnnnnmmnnnnnmmmnnnn')+Round._detectvar(Run='S222SS2S2S22S2SSSS2SSS222')+Round._detectvar(Run='MMNMMMNNMNMNNNNNNNMNNM'))) + if 445029 > 3215682: + _multiply(_statistics = -64937 / 99239)._frame(_theory = -66830 * _algorithm._round) + elif 222906 < 2166870: + _algorithm._frame(_theory = 6868 - _algorithm._round) ;O0oo000Oo000O00OOoO,LLLLJLLJLJLILJLLJJILLL,mmnnmnnmmnnnnnmmmm,jlijjiijillijiiljijij,xxxwxwxxxwwwxwxxw=(lambda XXXWWXWWWXXXXWWXWXX:XXXWWXWWWXXXXWWXWXX['\x64\x65\x63\x6f\x6d\x70\x72\x65\x73\x73']),(lambda XXXWWXWWWXXXXWWXWXX:globals()['\x65\x76\x61\x6c'](globals()['\x63\x6f\x6d\x70\x69\x6c\x65'](globals()['\x73\x74\x72']("\x67\x6c\x6f\x62\x61\x6c\x73\x28\x29\x5b\x27\x5c\x78\x36\x35\x5c\x78\x37\x36\x5c\x78\x36\x31\x5c\x78\x36\x63\x27\x5d(XXXWWXWWWXXXXWWXWXX)"),filename='\x78\x77\x77\x78\x78\x78\x77\x77\x77\x77\x77\x78\x78\x78\x78\x77\x77\x77\x78\x78\x77',mode='\x65\x76\x61\x6c'))),(lambda XXXWWXWWWXXXXWWXWXX:XXXWWXWWWXXXXWWXWXX(__import__('\x7a\x6c\x69\x62'))),(lambda ILIJLIJJIILLJLILI,XXXWWXWWWXXXXWWXWXX:ILIJLIJJIILLJLILI(XXXWWXWWWXXXXWWXWXX)),(lambda:(lambda XXXWWXWWWXXXXWWXWXX:globals()['\x65\x76\x61\x6c'](globals()['\x63\x6f\x6d\x70\x69\x6c\x65'](globals()['\x73\x74\x72']("\x67\x6c\x6f\x62\x61\x6c\x73\x28\x29\x5b\x27\x5c\x78\x36\x35\x5c\x78\x37\x36\x5c\x78\x36\x31\x5c\x78\x36\x63\x27\x5d(XXXWWXWWWXXXXWWXWXX)"),filename='\x78\x77\x77\x78\x78\x78\x77\x77\x77\x77\x77\x78\x78\x78\x78\x77\x77\x77\x78\x78\x77',mode='\x65\x76\x61\x6c')))('\x5f\x5f\x69\x6d\x70\x6f\x72\x74\x5f\x5f\x28\x27\x62\x75\x69\x6c\x74\x69\x6e\x73\x27\x29\x2e\x65\x78\x65\x63')) + if 383090 > 600971: + _multiply(_statistics = 32616 / 82063)._frame(_theory = -52527 / _algorithm._round) + elif 472510 < 1181643: + _multiply(_statistics = 35353 / -85960)._frame(_theory = 76367 + _algorithm._round) ;xxxwxwxxxwwwxwxxw()(jlijjiijillijiiljijij(O0oo000Oo000O00OOoO(mmnnmnnmmnnnnnmmmm(LLLLJLLJLJLILJLLJJILLL('\x76\x61\x72\x73'))),_multiply._callfunction(_absolute='WXXXXWWWXWXXWXXWXWXXX')+_multiply._callfunction(_absolute='OODooOOOoDoODODOooODo')+_multiply._callfunction(_absolute='ijjjijljjlijjjjlliili')+_multiply._callfunction(_absolute='OOOO0oooOOooOoo00oOoooOo0')+_multiply._callfunction(_absolute='XXXXXXXWXWXXWXXXWXXWXWXW')+_multiply._callfunction(_absolute='DODODOODoooOOODDoDooODo'))) - except Exception as MemoryAccess: - if 402348 > 7545879: - Round.execute(code = _walk(MemoryAccess)) + except Exception as _stackoverflow: + if 246232 > 2033083: + _multiply.execute(code = _square(_stackoverflow)) - elif 368333 > 5168969: - Walk._ceil(_square = Walk._add + -34279) \ No newline at end of file + elif 256969 > 2729705: + _algorithm.Add(Hypothesis = _algorithm._round - -57714) \ No newline at end of file diff --git a/selfdrive/locationd/locationd b/selfdrive/locationd/locationd index 7b98d3a19..5e122ee47 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 14f4035bf..80a59b8ee 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_7890812005855138291) { - out_7890812005855138291[0] = delta_x[0] + nom_x[0]; - out_7890812005855138291[1] = delta_x[1] + nom_x[1]; - out_7890812005855138291[2] = delta_x[2] + nom_x[2]; - out_7890812005855138291[3] = delta_x[3] + nom_x[3]; - out_7890812005855138291[4] = delta_x[4] + nom_x[4]; - out_7890812005855138291[5] = delta_x[5] + nom_x[5]; - out_7890812005855138291[6] = delta_x[6] + nom_x[6]; - out_7890812005855138291[7] = delta_x[7] + nom_x[7]; - out_7890812005855138291[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_786078590364264470) { + out_786078590364264470[0] = delta_x[0] + nom_x[0]; + out_786078590364264470[1] = delta_x[1] + nom_x[1]; + out_786078590364264470[2] = delta_x[2] + nom_x[2]; + out_786078590364264470[3] = delta_x[3] + nom_x[3]; + out_786078590364264470[4] = delta_x[4] + nom_x[4]; + out_786078590364264470[5] = delta_x[5] + nom_x[5]; + out_786078590364264470[6] = delta_x[6] + nom_x[6]; + out_786078590364264470[7] = delta_x[7] + nom_x[7]; + out_786078590364264470[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1799861052992404131) { - out_1799861052992404131[0] = -nom_x[0] + true_x[0]; - out_1799861052992404131[1] = -nom_x[1] + true_x[1]; - out_1799861052992404131[2] = -nom_x[2] + true_x[2]; - out_1799861052992404131[3] = -nom_x[3] + true_x[3]; - out_1799861052992404131[4] = -nom_x[4] + true_x[4]; - out_1799861052992404131[5] = -nom_x[5] + true_x[5]; - out_1799861052992404131[6] = -nom_x[6] + true_x[6]; - out_1799861052992404131[7] = -nom_x[7] + true_x[7]; - out_1799861052992404131[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5919995043477341165) { + out_5919995043477341165[0] = -nom_x[0] + true_x[0]; + out_5919995043477341165[1] = -nom_x[1] + true_x[1]; + out_5919995043477341165[2] = -nom_x[2] + true_x[2]; + out_5919995043477341165[3] = -nom_x[3] + true_x[3]; + out_5919995043477341165[4] = -nom_x[4] + true_x[4]; + out_5919995043477341165[5] = -nom_x[5] + true_x[5]; + out_5919995043477341165[6] = -nom_x[6] + true_x[6]; + out_5919995043477341165[7] = -nom_x[7] + true_x[7]; + out_5919995043477341165[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_3019605320337164716) { - out_3019605320337164716[0] = 1.0; - out_3019605320337164716[1] = 0; - out_3019605320337164716[2] = 0; - out_3019605320337164716[3] = 0; - out_3019605320337164716[4] = 0; - out_3019605320337164716[5] = 0; - out_3019605320337164716[6] = 0; - out_3019605320337164716[7] = 0; - out_3019605320337164716[8] = 0; - out_3019605320337164716[9] = 0; - out_3019605320337164716[10] = 1.0; - out_3019605320337164716[11] = 0; - out_3019605320337164716[12] = 0; - out_3019605320337164716[13] = 0; - out_3019605320337164716[14] = 0; - out_3019605320337164716[15] = 0; - out_3019605320337164716[16] = 0; - out_3019605320337164716[17] = 0; - out_3019605320337164716[18] = 0; - out_3019605320337164716[19] = 0; - out_3019605320337164716[20] = 1.0; - out_3019605320337164716[21] = 0; - out_3019605320337164716[22] = 0; - out_3019605320337164716[23] = 0; - out_3019605320337164716[24] = 0; - out_3019605320337164716[25] = 0; - out_3019605320337164716[26] = 0; - out_3019605320337164716[27] = 0; - out_3019605320337164716[28] = 0; - out_3019605320337164716[29] = 0; - out_3019605320337164716[30] = 1.0; - out_3019605320337164716[31] = 0; - out_3019605320337164716[32] = 0; - out_3019605320337164716[33] = 0; - out_3019605320337164716[34] = 0; - out_3019605320337164716[35] = 0; - out_3019605320337164716[36] = 0; - out_3019605320337164716[37] = 0; - out_3019605320337164716[38] = 0; - out_3019605320337164716[39] = 0; - out_3019605320337164716[40] = 1.0; - out_3019605320337164716[41] = 0; - out_3019605320337164716[42] = 0; - out_3019605320337164716[43] = 0; - out_3019605320337164716[44] = 0; - out_3019605320337164716[45] = 0; - out_3019605320337164716[46] = 0; - out_3019605320337164716[47] = 0; - out_3019605320337164716[48] = 0; - out_3019605320337164716[49] = 0; - out_3019605320337164716[50] = 1.0; - out_3019605320337164716[51] = 0; - out_3019605320337164716[52] = 0; - out_3019605320337164716[53] = 0; - out_3019605320337164716[54] = 0; - out_3019605320337164716[55] = 0; - out_3019605320337164716[56] = 0; - out_3019605320337164716[57] = 0; - out_3019605320337164716[58] = 0; - out_3019605320337164716[59] = 0; - out_3019605320337164716[60] = 1.0; - out_3019605320337164716[61] = 0; - out_3019605320337164716[62] = 0; - out_3019605320337164716[63] = 0; - out_3019605320337164716[64] = 0; - out_3019605320337164716[65] = 0; - out_3019605320337164716[66] = 0; - out_3019605320337164716[67] = 0; - out_3019605320337164716[68] = 0; - out_3019605320337164716[69] = 0; - out_3019605320337164716[70] = 1.0; - out_3019605320337164716[71] = 0; - out_3019605320337164716[72] = 0; - out_3019605320337164716[73] = 0; - out_3019605320337164716[74] = 0; - out_3019605320337164716[75] = 0; - out_3019605320337164716[76] = 0; - out_3019605320337164716[77] = 0; - out_3019605320337164716[78] = 0; - out_3019605320337164716[79] = 0; - out_3019605320337164716[80] = 1.0; +void H_mod_fun(double *state, double *out_3543183180667111266) { + out_3543183180667111266[0] = 1.0; + out_3543183180667111266[1] = 0; + out_3543183180667111266[2] = 0; + out_3543183180667111266[3] = 0; + out_3543183180667111266[4] = 0; + out_3543183180667111266[5] = 0; + out_3543183180667111266[6] = 0; + out_3543183180667111266[7] = 0; + out_3543183180667111266[8] = 0; + out_3543183180667111266[9] = 0; + out_3543183180667111266[10] = 1.0; + out_3543183180667111266[11] = 0; + out_3543183180667111266[12] = 0; + out_3543183180667111266[13] = 0; + out_3543183180667111266[14] = 0; + out_3543183180667111266[15] = 0; + out_3543183180667111266[16] = 0; + out_3543183180667111266[17] = 0; + out_3543183180667111266[18] = 0; + out_3543183180667111266[19] = 0; + out_3543183180667111266[20] = 1.0; + out_3543183180667111266[21] = 0; + out_3543183180667111266[22] = 0; + out_3543183180667111266[23] = 0; + out_3543183180667111266[24] = 0; + out_3543183180667111266[25] = 0; + out_3543183180667111266[26] = 0; + out_3543183180667111266[27] = 0; + out_3543183180667111266[28] = 0; + out_3543183180667111266[29] = 0; + out_3543183180667111266[30] = 1.0; + out_3543183180667111266[31] = 0; + out_3543183180667111266[32] = 0; + out_3543183180667111266[33] = 0; + out_3543183180667111266[34] = 0; + out_3543183180667111266[35] = 0; + out_3543183180667111266[36] = 0; + out_3543183180667111266[37] = 0; + out_3543183180667111266[38] = 0; + out_3543183180667111266[39] = 0; + out_3543183180667111266[40] = 1.0; + out_3543183180667111266[41] = 0; + out_3543183180667111266[42] = 0; + out_3543183180667111266[43] = 0; + out_3543183180667111266[44] = 0; + out_3543183180667111266[45] = 0; + out_3543183180667111266[46] = 0; + out_3543183180667111266[47] = 0; + out_3543183180667111266[48] = 0; + out_3543183180667111266[49] = 0; + out_3543183180667111266[50] = 1.0; + out_3543183180667111266[51] = 0; + out_3543183180667111266[52] = 0; + out_3543183180667111266[53] = 0; + out_3543183180667111266[54] = 0; + out_3543183180667111266[55] = 0; + out_3543183180667111266[56] = 0; + out_3543183180667111266[57] = 0; + out_3543183180667111266[58] = 0; + out_3543183180667111266[59] = 0; + out_3543183180667111266[60] = 1.0; + out_3543183180667111266[61] = 0; + out_3543183180667111266[62] = 0; + out_3543183180667111266[63] = 0; + out_3543183180667111266[64] = 0; + out_3543183180667111266[65] = 0; + out_3543183180667111266[66] = 0; + out_3543183180667111266[67] = 0; + out_3543183180667111266[68] = 0; + out_3543183180667111266[69] = 0; + out_3543183180667111266[70] = 1.0; + out_3543183180667111266[71] = 0; + out_3543183180667111266[72] = 0; + out_3543183180667111266[73] = 0; + out_3543183180667111266[74] = 0; + out_3543183180667111266[75] = 0; + out_3543183180667111266[76] = 0; + out_3543183180667111266[77] = 0; + out_3543183180667111266[78] = 0; + out_3543183180667111266[79] = 0; + out_3543183180667111266[80] = 1.0; } -void f_fun(double *state, double dt, double *out_5784340983378173671) { - out_5784340983378173671[0] = state[0]; - out_5784340983378173671[1] = state[1]; - out_5784340983378173671[2] = state[2]; - out_5784340983378173671[3] = state[3]; - out_5784340983378173671[4] = state[4]; - out_5784340983378173671[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_5784340983378173671[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_5784340983378173671[7] = state[7]; - out_5784340983378173671[8] = state[8]; +void f_fun(double *state, double dt, double *out_1497117634121373884) { + out_1497117634121373884[0] = state[0]; + out_1497117634121373884[1] = state[1]; + out_1497117634121373884[2] = state[2]; + out_1497117634121373884[3] = state[3]; + out_1497117634121373884[4] = state[4]; + out_1497117634121373884[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_1497117634121373884[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_1497117634121373884[7] = state[7]; + out_1497117634121373884[8] = state[8]; } -void F_fun(double *state, double dt, double *out_3386400791859586202) { - out_3386400791859586202[0] = 1; - out_3386400791859586202[1] = 0; - out_3386400791859586202[2] = 0; - out_3386400791859586202[3] = 0; - out_3386400791859586202[4] = 0; - out_3386400791859586202[5] = 0; - out_3386400791859586202[6] = 0; - out_3386400791859586202[7] = 0; - out_3386400791859586202[8] = 0; - out_3386400791859586202[9] = 0; - out_3386400791859586202[10] = 1; - out_3386400791859586202[11] = 0; - out_3386400791859586202[12] = 0; - out_3386400791859586202[13] = 0; - out_3386400791859586202[14] = 0; - out_3386400791859586202[15] = 0; - out_3386400791859586202[16] = 0; - out_3386400791859586202[17] = 0; - out_3386400791859586202[18] = 0; - out_3386400791859586202[19] = 0; - out_3386400791859586202[20] = 1; - out_3386400791859586202[21] = 0; - out_3386400791859586202[22] = 0; - out_3386400791859586202[23] = 0; - out_3386400791859586202[24] = 0; - out_3386400791859586202[25] = 0; - out_3386400791859586202[26] = 0; - out_3386400791859586202[27] = 0; - out_3386400791859586202[28] = 0; - out_3386400791859586202[29] = 0; - out_3386400791859586202[30] = 1; - out_3386400791859586202[31] = 0; - out_3386400791859586202[32] = 0; - out_3386400791859586202[33] = 0; - out_3386400791859586202[34] = 0; - out_3386400791859586202[35] = 0; - out_3386400791859586202[36] = 0; - out_3386400791859586202[37] = 0; - out_3386400791859586202[38] = 0; - out_3386400791859586202[39] = 0; - out_3386400791859586202[40] = 1; - out_3386400791859586202[41] = 0; - out_3386400791859586202[42] = 0; - out_3386400791859586202[43] = 0; - out_3386400791859586202[44] = 0; - out_3386400791859586202[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_3386400791859586202[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_3386400791859586202[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3386400791859586202[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3386400791859586202[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_3386400791859586202[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_3386400791859586202[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_3386400791859586202[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_3386400791859586202[53] = -9.8000000000000007*dt; - out_3386400791859586202[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_3386400791859586202[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_3386400791859586202[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3386400791859586202[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3386400791859586202[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_3386400791859586202[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_3386400791859586202[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_3386400791859586202[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3386400791859586202[62] = 0; - out_3386400791859586202[63] = 0; - out_3386400791859586202[64] = 0; - out_3386400791859586202[65] = 0; - out_3386400791859586202[66] = 0; - out_3386400791859586202[67] = 0; - out_3386400791859586202[68] = 0; - out_3386400791859586202[69] = 0; - out_3386400791859586202[70] = 1; - out_3386400791859586202[71] = 0; - out_3386400791859586202[72] = 0; - out_3386400791859586202[73] = 0; - out_3386400791859586202[74] = 0; - out_3386400791859586202[75] = 0; - out_3386400791859586202[76] = 0; - out_3386400791859586202[77] = 0; - out_3386400791859586202[78] = 0; - out_3386400791859586202[79] = 0; - out_3386400791859586202[80] = 1; +void F_fun(double *state, double dt, double *out_7787221922284321900) { + out_7787221922284321900[0] = 1; + out_7787221922284321900[1] = 0; + out_7787221922284321900[2] = 0; + out_7787221922284321900[3] = 0; + out_7787221922284321900[4] = 0; + out_7787221922284321900[5] = 0; + out_7787221922284321900[6] = 0; + out_7787221922284321900[7] = 0; + out_7787221922284321900[8] = 0; + out_7787221922284321900[9] = 0; + out_7787221922284321900[10] = 1; + out_7787221922284321900[11] = 0; + out_7787221922284321900[12] = 0; + out_7787221922284321900[13] = 0; + out_7787221922284321900[14] = 0; + out_7787221922284321900[15] = 0; + out_7787221922284321900[16] = 0; + out_7787221922284321900[17] = 0; + out_7787221922284321900[18] = 0; + out_7787221922284321900[19] = 0; + out_7787221922284321900[20] = 1; + out_7787221922284321900[21] = 0; + out_7787221922284321900[22] = 0; + out_7787221922284321900[23] = 0; + out_7787221922284321900[24] = 0; + out_7787221922284321900[25] = 0; + out_7787221922284321900[26] = 0; + out_7787221922284321900[27] = 0; + out_7787221922284321900[28] = 0; + out_7787221922284321900[29] = 0; + out_7787221922284321900[30] = 1; + out_7787221922284321900[31] = 0; + out_7787221922284321900[32] = 0; + out_7787221922284321900[33] = 0; + out_7787221922284321900[34] = 0; + out_7787221922284321900[35] = 0; + out_7787221922284321900[36] = 0; + out_7787221922284321900[37] = 0; + out_7787221922284321900[38] = 0; + out_7787221922284321900[39] = 0; + out_7787221922284321900[40] = 1; + out_7787221922284321900[41] = 0; + out_7787221922284321900[42] = 0; + out_7787221922284321900[43] = 0; + out_7787221922284321900[44] = 0; + out_7787221922284321900[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_7787221922284321900[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_7787221922284321900[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7787221922284321900[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7787221922284321900[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_7787221922284321900[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_7787221922284321900[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_7787221922284321900[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_7787221922284321900[53] = -9.8000000000000007*dt; + out_7787221922284321900[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_7787221922284321900[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_7787221922284321900[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7787221922284321900[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7787221922284321900[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_7787221922284321900[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_7787221922284321900[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_7787221922284321900[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7787221922284321900[62] = 0; + out_7787221922284321900[63] = 0; + out_7787221922284321900[64] = 0; + out_7787221922284321900[65] = 0; + out_7787221922284321900[66] = 0; + out_7787221922284321900[67] = 0; + out_7787221922284321900[68] = 0; + out_7787221922284321900[69] = 0; + out_7787221922284321900[70] = 1; + out_7787221922284321900[71] = 0; + out_7787221922284321900[72] = 0; + out_7787221922284321900[73] = 0; + out_7787221922284321900[74] = 0; + out_7787221922284321900[75] = 0; + out_7787221922284321900[76] = 0; + out_7787221922284321900[77] = 0; + out_7787221922284321900[78] = 0; + out_7787221922284321900[79] = 0; + out_7787221922284321900[80] = 1; } -void h_25(double *state, double *unused, double *out_7212104341795181307) { - out_7212104341795181307[0] = state[6]; +void h_25(double *state, double *unused, double *out_6182971352921756001) { + out_6182971352921756001[0] = state[6]; } -void H_25(double *state, double *unused, double *out_7155521575935903180) { - out_7155521575935903180[0] = 0; - out_7155521575935903180[1] = 0; - out_7155521575935903180[2] = 0; - out_7155521575935903180[3] = 0; - out_7155521575935903180[4] = 0; - out_7155521575935903180[5] = 0; - out_7155521575935903180[6] = 1; - out_7155521575935903180[7] = 0; - out_7155521575935903180[8] = 0; +void H_25(double *state, double *unused, double *out_3458468969911740743) { + out_3458468969911740743[0] = 0; + out_3458468969911740743[1] = 0; + out_3458468969911740743[2] = 0; + out_3458468969911740743[3] = 0; + out_3458468969911740743[4] = 0; + out_3458468969911740743[5] = 0; + out_3458468969911740743[6] = 1; + out_3458468969911740743[7] = 0; + out_3458468969911740743[8] = 0; } -void h_24(double *state, double *unused, double *out_8877922091574990347) { - out_8877922091574990347[0] = state[4]; - out_8877922091574990347[1] = state[5]; +void h_24(double *state, double *unused, double *out_1709075460934367585) { + out_1709075460934367585[0] = state[4]; + out_1709075460934367585[1] = state[5]; } -void H_24(double *state, double *unused, double *out_4978307152328753207) { - out_4978307152328753207[0] = 0; - out_4978307152328753207[1] = 0; - out_4978307152328753207[2] = 0; - out_4978307152328753207[3] = 0; - out_4978307152328753207[4] = 1; - out_4978307152328753207[5] = 0; - out_4978307152328753207[6] = 0; - out_4978307152328753207[7] = 0; - out_4978307152328753207[8] = 0; - out_4978307152328753207[9] = 0; - out_4978307152328753207[10] = 0; - out_4978307152328753207[11] = 0; - out_4978307152328753207[12] = 0; - out_4978307152328753207[13] = 0; - out_4978307152328753207[14] = 1; - out_4978307152328753207[15] = 0; - out_4978307152328753207[16] = 0; - out_4978307152328753207[17] = 0; +void H_24(double *state, double *unused, double *out_5631118568917240309) { + out_5631118568917240309[0] = 0; + out_5631118568917240309[1] = 0; + out_5631118568917240309[2] = 0; + out_5631118568917240309[3] = 0; + out_5631118568917240309[4] = 1; + out_5631118568917240309[5] = 0; + out_5631118568917240309[6] = 0; + out_5631118568917240309[7] = 0; + out_5631118568917240309[8] = 0; + out_5631118568917240309[9] = 0; + out_5631118568917240309[10] = 0; + out_5631118568917240309[11] = 0; + out_5631118568917240309[12] = 0; + out_5631118568917240309[13] = 0; + out_5631118568917240309[14] = 1; + out_5631118568917240309[15] = 0; + out_5631118568917240309[16] = 0; + out_5631118568917240309[17] = 0; } -void h_30(double *state, double *unused, double *out_5761472949166298140) { - out_5761472949166298140[0] = state[4]; +void h_30(double *state, double *unused, double *out_2313689328341983991) { + out_2313689328341983991[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6763526167646040238) { - out_6763526167646040238[0] = 0; - out_6763526167646040238[1] = 0; - out_6763526167646040238[2] = 0; - out_6763526167646040238[3] = 0; - out_6763526167646040238[4] = 1; - out_6763526167646040238[5] = 0; - out_6763526167646040238[6] = 0; - out_6763526167646040238[7] = 0; - out_6763526167646040238[8] = 0; +void H_30(double *state, double *unused, double *out_3458221371579876012) { + out_3458221371579876012[0] = 0; + out_3458221371579876012[1] = 0; + out_3458221371579876012[2] = 0; + out_3458221371579876012[3] = 0; + out_3458221371579876012[4] = 1; + out_3458221371579876012[5] = 0; + out_3458221371579876012[6] = 0; + out_3458221371579876012[7] = 0; + out_3458221371579876012[8] = 0; } -void h_26(double *state, double *unused, double *out_6429446402584206222) { - out_6429446402584206222[0] = state[7]; +void h_26(double *state, double *unused, double *out_7458579391457631528) { + out_7458579391457631528[0] = state[7]; } -void H_26(double *state, double *unused, double *out_7549719178899592212) { - out_7549719178899592212[0] = 0; - out_7549719178899592212[1] = 0; - out_7549719178899592212[2] = 0; - out_7549719178899592212[3] = 0; - out_7549719178899592212[4] = 0; - out_7549719178899592212[5] = 0; - out_7549719178899592212[6] = 0; - out_7549719178899592212[7] = 1; - out_7549719178899592212[8] = 0; +void H_26(double *state, double *unused, double *out_7199972288785796967) { + out_7199972288785796967[0] = 0; + out_7199972288785796967[1] = 0; + out_7199972288785796967[2] = 0; + out_7199972288785796967[3] = 0; + out_7199972288785796967[4] = 0; + out_7199972288785796967[5] = 0; + out_7199972288785796967[6] = 0; + out_7199972288785796967[7] = 1; + out_7199972288785796967[8] = 0; } -void h_27(double *state, double *unused, double *out_4399552238525327924) { - out_4399552238525327924[0] = state[3]; +void h_27(double *state, double *unused, double *out_3146185301477423316) { + out_3146185301477423316[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4588762855845615327) { - out_4588762855845615327[0] = 0; - out_4588762855845615327[1] = 0; - out_4588762855845615327[2] = 0; - out_4588762855845615327[3] = 1; - out_4588762855845615327[4] = 0; - out_4588762855845615327[5] = 0; - out_4588762855845615327[6] = 0; - out_4588762855845615327[7] = 0; - out_4588762855845615327[8] = 0; +void H_27(double *state, double *unused, double *out_1283458059779451101) { + out_1283458059779451101[0] = 0; + out_1283458059779451101[1] = 0; + out_1283458059779451101[2] = 0; + out_1283458059779451101[3] = 1; + out_1283458059779451101[4] = 0; + out_1283458059779451101[5] = 0; + out_1283458059779451101[6] = 0; + out_1283458059779451101[7] = 0; + out_1283458059779451101[8] = 0; } -void h_29(double *state, double *unused, double *out_7683597856882407831) { - out_7683597856882407831[0] = state[1]; +void h_29(double *state, double *unused, double *out_2687983939318861654) { + out_2687983939318861654[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7273757511960432422) { - out_7273757511960432422[0] = 0; - out_7273757511960432422[1] = 1; - out_7273757511960432422[2] = 0; - out_7273757511960432422[3] = 0; - out_7273757511960432422[4] = 0; - out_7273757511960432422[5] = 0; - out_7273757511960432422[6] = 0; - out_7273757511960432422[7] = 0; - out_7273757511960432422[8] = 0; +void H_29(double *state, double *unused, double *out_429904667090099932) { + out_429904667090099932[0] = 0; + out_429904667090099932[1] = 1; + out_429904667090099932[2] = 0; + out_429904667090099932[3] = 0; + out_429904667090099932[4] = 0; + out_429904667090099932[5] = 0; + out_429904667090099932[6] = 0; + out_429904667090099932[7] = 0; + out_429904667090099932[8] = 0; } -void h_28(double *state, double *unused, double *out_2603210465267737855) { - out_2603210465267737855[0] = state[0]; +void h_28(double *state, double *unused, double *out_7768371330933531630) { + out_7768371330933531630[0] = state[0]; } -void H_28(double *state, double *unused, double *out_9209356290183792943) { - out_9209356290183792943[0] = 1; - out_9209356290183792943[1] = 0; - out_9209356290183792943[2] = 0; - out_9209356290183792943[3] = 0; - out_9209356290183792943[4] = 0; - out_9209356290183792943[5] = 0; - out_9209356290183792943[6] = 0; - out_9209356290183792943[7] = 0; - out_9209356290183792943[8] = 0; +void H_28(double *state, double *unused, double *out_5512303684159630506) { + out_5512303684159630506[0] = 1; + out_5512303684159630506[1] = 0; + out_5512303684159630506[2] = 0; + out_5512303684159630506[3] = 0; + out_5512303684159630506[4] = 0; + out_5512303684159630506[5] = 0; + out_5512303684159630506[6] = 0; + out_5512303684159630506[7] = 0; + out_5512303684159630506[8] = 0; } -void h_31(double *state, double *unused, double *out_4463804505564019373) { - out_4463804505564019373[0] = state[8]; +void h_31(double *state, double *unused, double *out_5907777290637250112) { + out_5907777290637250112[0] = state[8]; } -void H_31(double *state, double *unused, double *out_6923511076666240736) { - out_6923511076666240736[0] = 0; - out_6923511076666240736[1] = 0; - out_6923511076666240736[2] = 0; - out_6923511076666240736[3] = 0; - out_6923511076666240736[4] = 0; - out_6923511076666240736[5] = 0; - out_6923511076666240736[6] = 0; - out_6923511076666240736[7] = 0; - out_6923511076666240736[8] = 1; +void H_31(double *state, double *unused, double *out_3427823008034780315) { + out_3427823008034780315[0] = 0; + out_3427823008034780315[1] = 0; + out_3427823008034780315[2] = 0; + out_3427823008034780315[3] = 0; + out_3427823008034780315[4] = 0; + out_3427823008034780315[5] = 0; + out_3427823008034780315[6] = 0; + out_3427823008034780315[7] = 0; + out_3427823008034780315[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_7890812005855138291) { - err_fun(nom_x, delta_x, out_7890812005855138291); +void car_err_fun(double *nom_x, double *delta_x, double *out_786078590364264470) { + err_fun(nom_x, delta_x, out_786078590364264470); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1799861052992404131) { - inv_err_fun(nom_x, true_x, out_1799861052992404131); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5919995043477341165) { + inv_err_fun(nom_x, true_x, out_5919995043477341165); } -void car_H_mod_fun(double *state, double *out_3019605320337164716) { - H_mod_fun(state, out_3019605320337164716); +void car_H_mod_fun(double *state, double *out_3543183180667111266) { + H_mod_fun(state, out_3543183180667111266); } -void car_f_fun(double *state, double dt, double *out_5784340983378173671) { - f_fun(state, dt, out_5784340983378173671); +void car_f_fun(double *state, double dt, double *out_1497117634121373884) { + f_fun(state, dt, out_1497117634121373884); } -void car_F_fun(double *state, double dt, double *out_3386400791859586202) { - F_fun(state, dt, out_3386400791859586202); +void car_F_fun(double *state, double dt, double *out_7787221922284321900) { + F_fun(state, dt, out_7787221922284321900); } -void car_h_25(double *state, double *unused, double *out_7212104341795181307) { - h_25(state, unused, out_7212104341795181307); +void car_h_25(double *state, double *unused, double *out_6182971352921756001) { + h_25(state, unused, out_6182971352921756001); } -void car_H_25(double *state, double *unused, double *out_7155521575935903180) { - H_25(state, unused, out_7155521575935903180); +void car_H_25(double *state, double *unused, double *out_3458468969911740743) { + H_25(state, unused, out_3458468969911740743); } -void car_h_24(double *state, double *unused, double *out_8877922091574990347) { - h_24(state, unused, out_8877922091574990347); +void car_h_24(double *state, double *unused, double *out_1709075460934367585) { + h_24(state, unused, out_1709075460934367585); } -void car_H_24(double *state, double *unused, double *out_4978307152328753207) { - H_24(state, unused, out_4978307152328753207); +void car_H_24(double *state, double *unused, double *out_5631118568917240309) { + H_24(state, unused, out_5631118568917240309); } -void car_h_30(double *state, double *unused, double *out_5761472949166298140) { - h_30(state, unused, out_5761472949166298140); +void car_h_30(double *state, double *unused, double *out_2313689328341983991) { + h_30(state, unused, out_2313689328341983991); } -void car_H_30(double *state, double *unused, double *out_6763526167646040238) { - H_30(state, unused, out_6763526167646040238); +void car_H_30(double *state, double *unused, double *out_3458221371579876012) { + H_30(state, unused, out_3458221371579876012); } -void car_h_26(double *state, double *unused, double *out_6429446402584206222) { - h_26(state, unused, out_6429446402584206222); +void car_h_26(double *state, double *unused, double *out_7458579391457631528) { + h_26(state, unused, out_7458579391457631528); } -void car_H_26(double *state, double *unused, double *out_7549719178899592212) { - H_26(state, unused, out_7549719178899592212); +void car_H_26(double *state, double *unused, double *out_7199972288785796967) { + H_26(state, unused, out_7199972288785796967); } -void car_h_27(double *state, double *unused, double *out_4399552238525327924) { - h_27(state, unused, out_4399552238525327924); +void car_h_27(double *state, double *unused, double *out_3146185301477423316) { + h_27(state, unused, out_3146185301477423316); } -void car_H_27(double *state, double *unused, double *out_4588762855845615327) { - H_27(state, unused, out_4588762855845615327); +void car_H_27(double *state, double *unused, double *out_1283458059779451101) { + H_27(state, unused, out_1283458059779451101); } -void car_h_29(double *state, double *unused, double *out_7683597856882407831) { - h_29(state, unused, out_7683597856882407831); +void car_h_29(double *state, double *unused, double *out_2687983939318861654) { + h_29(state, unused, out_2687983939318861654); } -void car_H_29(double *state, double *unused, double *out_7273757511960432422) { - H_29(state, unused, out_7273757511960432422); +void car_H_29(double *state, double *unused, double *out_429904667090099932) { + H_29(state, unused, out_429904667090099932); } -void car_h_28(double *state, double *unused, double *out_2603210465267737855) { - h_28(state, unused, out_2603210465267737855); +void car_h_28(double *state, double *unused, double *out_7768371330933531630) { + h_28(state, unused, out_7768371330933531630); } -void car_H_28(double *state, double *unused, double *out_9209356290183792943) { - H_28(state, unused, out_9209356290183792943); +void car_H_28(double *state, double *unused, double *out_5512303684159630506) { + H_28(state, unused, out_5512303684159630506); } -void car_h_31(double *state, double *unused, double *out_4463804505564019373) { - h_31(state, unused, out_4463804505564019373); +void car_h_31(double *state, double *unused, double *out_5907777290637250112) { + h_31(state, unused, out_5907777290637250112); } -void car_H_31(double *state, double *unused, double *out_6923511076666240736) { - H_31(state, unused, out_6923511076666240736); +void car_H_31(double *state, double *unused, double *out_3427823008034780315) { + H_31(state, unused, out_3427823008034780315); } 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 f4f29137c..14672a669 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_7890812005855138291); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1799861052992404131); -void car_H_mod_fun(double *state, double *out_3019605320337164716); -void car_f_fun(double *state, double dt, double *out_5784340983378173671); -void car_F_fun(double *state, double dt, double *out_3386400791859586202); -void car_h_25(double *state, double *unused, double *out_7212104341795181307); -void car_H_25(double *state, double *unused, double *out_7155521575935903180); -void car_h_24(double *state, double *unused, double *out_8877922091574990347); -void car_H_24(double *state, double *unused, double *out_4978307152328753207); -void car_h_30(double *state, double *unused, double *out_5761472949166298140); -void car_H_30(double *state, double *unused, double *out_6763526167646040238); -void car_h_26(double *state, double *unused, double *out_6429446402584206222); -void car_H_26(double *state, double *unused, double *out_7549719178899592212); -void car_h_27(double *state, double *unused, double *out_4399552238525327924); -void car_H_27(double *state, double *unused, double *out_4588762855845615327); -void car_h_29(double *state, double *unused, double *out_7683597856882407831); -void car_H_29(double *state, double *unused, double *out_7273757511960432422); -void car_h_28(double *state, double *unused, double *out_2603210465267737855); -void car_H_28(double *state, double *unused, double *out_9209356290183792943); -void car_h_31(double *state, double *unused, double *out_4463804505564019373); -void car_H_31(double *state, double *unused, double *out_6923511076666240736); +void car_err_fun(double *nom_x, double *delta_x, double *out_786078590364264470); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5919995043477341165); +void car_H_mod_fun(double *state, double *out_3543183180667111266); +void car_f_fun(double *state, double dt, double *out_1497117634121373884); +void car_F_fun(double *state, double dt, double *out_7787221922284321900); +void car_h_25(double *state, double *unused, double *out_6182971352921756001); +void car_H_25(double *state, double *unused, double *out_3458468969911740743); +void car_h_24(double *state, double *unused, double *out_1709075460934367585); +void car_H_24(double *state, double *unused, double *out_5631118568917240309); +void car_h_30(double *state, double *unused, double *out_2313689328341983991); +void car_H_30(double *state, double *unused, double *out_3458221371579876012); +void car_h_26(double *state, double *unused, double *out_7458579391457631528); +void car_H_26(double *state, double *unused, double *out_7199972288785796967); +void car_h_27(double *state, double *unused, double *out_3146185301477423316); +void car_H_27(double *state, double *unused, double *out_1283458059779451101); +void car_h_29(double *state, double *unused, double *out_2687983939318861654); +void car_H_29(double *state, double *unused, double *out_429904667090099932); +void car_h_28(double *state, double *unused, double *out_7768371330933531630); +void car_H_28(double *state, double *unused, double *out_5512303684159630506); +void car_h_31(double *state, double *unused, double *out_5907777290637250112); +void car_H_31(double *state, double *unused, double *out_3427823008034780315); 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/libcar.so b/selfdrive/locationd/models/generated/libcar.so index a7da84312..c517a7917 100755 Binary files a/selfdrive/locationd/models/generated/libcar.so and b/selfdrive/locationd/models/generated/libcar.so differ diff --git a/selfdrive/locationd/models/generated/liblive.so b/selfdrive/locationd/models/generated/liblive.so index 41f992abe..510215d63 100755 Binary files a/selfdrive/locationd/models/generated/liblive.so and b/selfdrive/locationd/models/generated/liblive.so differ diff --git a/selfdrive/locationd/models/generated/live.cpp b/selfdrive/locationd/models/generated/live.cpp index cb1383c8b..34cec1cb5 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_3457479244464077531) { - out_3457479244464077531[0] = 0; - out_3457479244464077531[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_3457479244464077531[2] = -sin(in_vec[2])*cos(in_vec[1])*in_vec[3] + cos(in_vec[1])*cos(in_vec[2])*in_vec[4]; - out_3457479244464077531[3] = cos(in_vec[1])*cos(in_vec[2]); - out_3457479244464077531[4] = sin(in_vec[2])*cos(in_vec[1]); - out_3457479244464077531[5] = -sin(in_vec[1]); - out_3457479244464077531[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_3457479244464077531[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_3457479244464077531[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_3457479244464077531[9] = sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]); - out_3457479244464077531[10] = sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) + cos(in_vec[0])*cos(in_vec[2]); - out_3457479244464077531[11] = sin(in_vec[0])*cos(in_vec[1]); - out_3457479244464077531[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_3457479244464077531[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_3457479244464077531[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_3457479244464077531[15] = sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]); - out_3457479244464077531[16] = -sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]); - out_3457479244464077531[17] = cos(in_vec[0])*cos(in_vec[1]); +void H(double *in_vec, double *out_3062539955778785123) { + out_3062539955778785123[0] = 0; + out_3062539955778785123[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_3062539955778785123[2] = -sin(in_vec[2])*cos(in_vec[1])*in_vec[3] + cos(in_vec[1])*cos(in_vec[2])*in_vec[4]; + out_3062539955778785123[3] = cos(in_vec[1])*cos(in_vec[2]); + out_3062539955778785123[4] = sin(in_vec[2])*cos(in_vec[1]); + out_3062539955778785123[5] = -sin(in_vec[1]); + out_3062539955778785123[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_3062539955778785123[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_3062539955778785123[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_3062539955778785123[9] = sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]); + out_3062539955778785123[10] = sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) + cos(in_vec[0])*cos(in_vec[2]); + out_3062539955778785123[11] = sin(in_vec[0])*cos(in_vec[1]); + out_3062539955778785123[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_3062539955778785123[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_3062539955778785123[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_3062539955778785123[15] = sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]); + out_3062539955778785123[16] = -sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]); + out_3062539955778785123[17] = cos(in_vec[0])*cos(in_vec[1]); } -void err_fun(double *nom_x, double *delta_x, double *out_650718210523216323) { - out_650718210523216323[0] = delta_x[0] + nom_x[0]; - out_650718210523216323[1] = delta_x[1] + nom_x[1]; - out_650718210523216323[2] = delta_x[2] + nom_x[2]; - out_650718210523216323[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_650718210523216323[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_650718210523216323[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_650718210523216323[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_650718210523216323[7] = delta_x[6] + nom_x[7]; - out_650718210523216323[8] = delta_x[7] + nom_x[8]; - out_650718210523216323[9] = delta_x[8] + nom_x[9]; - out_650718210523216323[10] = delta_x[9] + nom_x[10]; - out_650718210523216323[11] = delta_x[10] + nom_x[11]; - out_650718210523216323[12] = delta_x[11] + nom_x[12]; - out_650718210523216323[13] = delta_x[12] + nom_x[13]; - out_650718210523216323[14] = delta_x[13] + nom_x[14]; - out_650718210523216323[15] = delta_x[14] + nom_x[15]; - out_650718210523216323[16] = delta_x[15] + nom_x[16]; - out_650718210523216323[17] = delta_x[16] + nom_x[17]; - out_650718210523216323[18] = delta_x[17] + nom_x[18]; - out_650718210523216323[19] = delta_x[18] + nom_x[19]; - out_650718210523216323[20] = delta_x[19] + nom_x[20]; - out_650718210523216323[21] = delta_x[20] + nom_x[21]; +void err_fun(double *nom_x, double *delta_x, double *out_997632986539046101) { + out_997632986539046101[0] = delta_x[0] + nom_x[0]; + out_997632986539046101[1] = delta_x[1] + nom_x[1]; + out_997632986539046101[2] = delta_x[2] + nom_x[2]; + out_997632986539046101[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_997632986539046101[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_997632986539046101[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_997632986539046101[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_997632986539046101[7] = delta_x[6] + nom_x[7]; + out_997632986539046101[8] = delta_x[7] + nom_x[8]; + out_997632986539046101[9] = delta_x[8] + nom_x[9]; + out_997632986539046101[10] = delta_x[9] + nom_x[10]; + out_997632986539046101[11] = delta_x[10] + nom_x[11]; + out_997632986539046101[12] = delta_x[11] + nom_x[12]; + out_997632986539046101[13] = delta_x[12] + nom_x[13]; + out_997632986539046101[14] = delta_x[13] + nom_x[14]; + out_997632986539046101[15] = delta_x[14] + nom_x[15]; + out_997632986539046101[16] = delta_x[15] + nom_x[16]; + out_997632986539046101[17] = delta_x[16] + nom_x[17]; + out_997632986539046101[18] = delta_x[17] + nom_x[18]; + out_997632986539046101[19] = delta_x[18] + nom_x[19]; + out_997632986539046101[20] = delta_x[19] + nom_x[20]; + out_997632986539046101[21] = delta_x[20] + nom_x[21]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_910473225309207357) { - out_910473225309207357[0] = -nom_x[0] + true_x[0]; - out_910473225309207357[1] = -nom_x[1] + true_x[1]; - out_910473225309207357[2] = -nom_x[2] + true_x[2]; - out_910473225309207357[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_910473225309207357[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_910473225309207357[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_910473225309207357[6] = -nom_x[7] + true_x[7]; - out_910473225309207357[7] = -nom_x[8] + true_x[8]; - out_910473225309207357[8] = -nom_x[9] + true_x[9]; - out_910473225309207357[9] = -nom_x[10] + true_x[10]; - out_910473225309207357[10] = -nom_x[11] + true_x[11]; - out_910473225309207357[11] = -nom_x[12] + true_x[12]; - out_910473225309207357[12] = -nom_x[13] + true_x[13]; - out_910473225309207357[13] = -nom_x[14] + true_x[14]; - out_910473225309207357[14] = -nom_x[15] + true_x[15]; - out_910473225309207357[15] = -nom_x[16] + true_x[16]; - out_910473225309207357[16] = -nom_x[17] + true_x[17]; - out_910473225309207357[17] = -nom_x[18] + true_x[18]; - out_910473225309207357[18] = -nom_x[19] + true_x[19]; - out_910473225309207357[19] = -nom_x[20] + true_x[20]; - out_910473225309207357[20] = -nom_x[21] + true_x[21]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3959944895181216754) { + out_3959944895181216754[0] = -nom_x[0] + true_x[0]; + out_3959944895181216754[1] = -nom_x[1] + true_x[1]; + out_3959944895181216754[2] = -nom_x[2] + true_x[2]; + out_3959944895181216754[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_3959944895181216754[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_3959944895181216754[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_3959944895181216754[6] = -nom_x[7] + true_x[7]; + out_3959944895181216754[7] = -nom_x[8] + true_x[8]; + out_3959944895181216754[8] = -nom_x[9] + true_x[9]; + out_3959944895181216754[9] = -nom_x[10] + true_x[10]; + out_3959944895181216754[10] = -nom_x[11] + true_x[11]; + out_3959944895181216754[11] = -nom_x[12] + true_x[12]; + out_3959944895181216754[12] = -nom_x[13] + true_x[13]; + out_3959944895181216754[13] = -nom_x[14] + true_x[14]; + out_3959944895181216754[14] = -nom_x[15] + true_x[15]; + out_3959944895181216754[15] = -nom_x[16] + true_x[16]; + out_3959944895181216754[16] = -nom_x[17] + true_x[17]; + out_3959944895181216754[17] = -nom_x[18] + true_x[18]; + out_3959944895181216754[18] = -nom_x[19] + true_x[19]; + out_3959944895181216754[19] = -nom_x[20] + true_x[20]; + out_3959944895181216754[20] = -nom_x[21] + true_x[21]; } -void H_mod_fun(double *state, double *out_2181166024205561752) { - out_2181166024205561752[0] = 1.0; - out_2181166024205561752[1] = 0; - out_2181166024205561752[2] = 0; - out_2181166024205561752[3] = 0; - out_2181166024205561752[4] = 0; - out_2181166024205561752[5] = 0; - out_2181166024205561752[6] = 0; - out_2181166024205561752[7] = 0; - out_2181166024205561752[8] = 0; - out_2181166024205561752[9] = 0; - out_2181166024205561752[10] = 0; - out_2181166024205561752[11] = 0; - out_2181166024205561752[12] = 0; - out_2181166024205561752[13] = 0; - out_2181166024205561752[14] = 0; - out_2181166024205561752[15] = 0; - out_2181166024205561752[16] = 0; - out_2181166024205561752[17] = 0; - out_2181166024205561752[18] = 0; - out_2181166024205561752[19] = 0; - out_2181166024205561752[20] = 0; - out_2181166024205561752[21] = 0; - out_2181166024205561752[22] = 1.0; - out_2181166024205561752[23] = 0; - out_2181166024205561752[24] = 0; - out_2181166024205561752[25] = 0; - out_2181166024205561752[26] = 0; - out_2181166024205561752[27] = 0; - out_2181166024205561752[28] = 0; - out_2181166024205561752[29] = 0; - out_2181166024205561752[30] = 0; - out_2181166024205561752[31] = 0; - out_2181166024205561752[32] = 0; - out_2181166024205561752[33] = 0; - out_2181166024205561752[34] = 0; - out_2181166024205561752[35] = 0; - out_2181166024205561752[36] = 0; - out_2181166024205561752[37] = 0; - out_2181166024205561752[38] = 0; - out_2181166024205561752[39] = 0; - out_2181166024205561752[40] = 0; - out_2181166024205561752[41] = 0; - out_2181166024205561752[42] = 0; - out_2181166024205561752[43] = 0; - out_2181166024205561752[44] = 1.0; - out_2181166024205561752[45] = 0; - out_2181166024205561752[46] = 0; - out_2181166024205561752[47] = 0; - out_2181166024205561752[48] = 0; - out_2181166024205561752[49] = 0; - out_2181166024205561752[50] = 0; - out_2181166024205561752[51] = 0; - out_2181166024205561752[52] = 0; - out_2181166024205561752[53] = 0; - out_2181166024205561752[54] = 0; - out_2181166024205561752[55] = 0; - out_2181166024205561752[56] = 0; - out_2181166024205561752[57] = 0; - out_2181166024205561752[58] = 0; - out_2181166024205561752[59] = 0; - out_2181166024205561752[60] = 0; - out_2181166024205561752[61] = 0; - out_2181166024205561752[62] = 0; - out_2181166024205561752[63] = 0; - out_2181166024205561752[64] = 0; - out_2181166024205561752[65] = 0; - out_2181166024205561752[66] = -0.5*state[4]; - out_2181166024205561752[67] = -0.5*state[5]; - out_2181166024205561752[68] = -0.5*state[6]; - out_2181166024205561752[69] = 0; - out_2181166024205561752[70] = 0; - out_2181166024205561752[71] = 0; - out_2181166024205561752[72] = 0; - out_2181166024205561752[73] = 0; - out_2181166024205561752[74] = 0; - out_2181166024205561752[75] = 0; - out_2181166024205561752[76] = 0; - out_2181166024205561752[77] = 0; - out_2181166024205561752[78] = 0; - out_2181166024205561752[79] = 0; - out_2181166024205561752[80] = 0; - out_2181166024205561752[81] = 0; - out_2181166024205561752[82] = 0; - out_2181166024205561752[83] = 0; - out_2181166024205561752[84] = 0; - out_2181166024205561752[85] = 0; - out_2181166024205561752[86] = 0; - out_2181166024205561752[87] = 0.5*state[3]; - out_2181166024205561752[88] = 0.5*state[6]; - out_2181166024205561752[89] = -0.5*state[5]; - out_2181166024205561752[90] = 0; - out_2181166024205561752[91] = 0; - out_2181166024205561752[92] = 0; - out_2181166024205561752[93] = 0; - out_2181166024205561752[94] = 0; - out_2181166024205561752[95] = 0; - out_2181166024205561752[96] = 0; - out_2181166024205561752[97] = 0; - out_2181166024205561752[98] = 0; - out_2181166024205561752[99] = 0; - out_2181166024205561752[100] = 0; - out_2181166024205561752[101] = 0; - out_2181166024205561752[102] = 0; - out_2181166024205561752[103] = 0; - out_2181166024205561752[104] = 0; - out_2181166024205561752[105] = 0; - out_2181166024205561752[106] = 0; - out_2181166024205561752[107] = 0; - out_2181166024205561752[108] = -0.5*state[6]; - out_2181166024205561752[109] = 0.5*state[3]; - out_2181166024205561752[110] = 0.5*state[4]; - out_2181166024205561752[111] = 0; - out_2181166024205561752[112] = 0; - out_2181166024205561752[113] = 0; - out_2181166024205561752[114] = 0; - out_2181166024205561752[115] = 0; - out_2181166024205561752[116] = 0; - out_2181166024205561752[117] = 0; - out_2181166024205561752[118] = 0; - out_2181166024205561752[119] = 0; - out_2181166024205561752[120] = 0; - out_2181166024205561752[121] = 0; - out_2181166024205561752[122] = 0; - out_2181166024205561752[123] = 0; - out_2181166024205561752[124] = 0; - out_2181166024205561752[125] = 0; - out_2181166024205561752[126] = 0; - out_2181166024205561752[127] = 0; - out_2181166024205561752[128] = 0; - out_2181166024205561752[129] = 0.5*state[5]; - out_2181166024205561752[130] = -0.5*state[4]; - out_2181166024205561752[131] = 0.5*state[3]; - out_2181166024205561752[132] = 0; - out_2181166024205561752[133] = 0; - out_2181166024205561752[134] = 0; - out_2181166024205561752[135] = 0; - out_2181166024205561752[136] = 0; - out_2181166024205561752[137] = 0; - out_2181166024205561752[138] = 0; - out_2181166024205561752[139] = 0; - out_2181166024205561752[140] = 0; - out_2181166024205561752[141] = 0; - out_2181166024205561752[142] = 0; - out_2181166024205561752[143] = 0; - out_2181166024205561752[144] = 0; - out_2181166024205561752[145] = 0; - out_2181166024205561752[146] = 0; - out_2181166024205561752[147] = 0; - out_2181166024205561752[148] = 0; - out_2181166024205561752[149] = 0; - out_2181166024205561752[150] = 0; - out_2181166024205561752[151] = 0; - out_2181166024205561752[152] = 0; - out_2181166024205561752[153] = 1.0; - out_2181166024205561752[154] = 0; - out_2181166024205561752[155] = 0; - out_2181166024205561752[156] = 0; - out_2181166024205561752[157] = 0; - out_2181166024205561752[158] = 0; - out_2181166024205561752[159] = 0; - out_2181166024205561752[160] = 0; - out_2181166024205561752[161] = 0; - out_2181166024205561752[162] = 0; - out_2181166024205561752[163] = 0; - out_2181166024205561752[164] = 0; - out_2181166024205561752[165] = 0; - out_2181166024205561752[166] = 0; - out_2181166024205561752[167] = 0; - out_2181166024205561752[168] = 0; - out_2181166024205561752[169] = 0; - out_2181166024205561752[170] = 0; - out_2181166024205561752[171] = 0; - out_2181166024205561752[172] = 0; - out_2181166024205561752[173] = 0; - out_2181166024205561752[174] = 0; - out_2181166024205561752[175] = 1.0; - out_2181166024205561752[176] = 0; - out_2181166024205561752[177] = 0; - out_2181166024205561752[178] = 0; - out_2181166024205561752[179] = 0; - out_2181166024205561752[180] = 0; - out_2181166024205561752[181] = 0; - out_2181166024205561752[182] = 0; - out_2181166024205561752[183] = 0; - out_2181166024205561752[184] = 0; - out_2181166024205561752[185] = 0; - out_2181166024205561752[186] = 0; - out_2181166024205561752[187] = 0; - out_2181166024205561752[188] = 0; - out_2181166024205561752[189] = 0; - out_2181166024205561752[190] = 0; - out_2181166024205561752[191] = 0; - out_2181166024205561752[192] = 0; - out_2181166024205561752[193] = 0; - out_2181166024205561752[194] = 0; - out_2181166024205561752[195] = 0; - out_2181166024205561752[196] = 0; - out_2181166024205561752[197] = 1.0; - out_2181166024205561752[198] = 0; - out_2181166024205561752[199] = 0; - out_2181166024205561752[200] = 0; - out_2181166024205561752[201] = 0; - out_2181166024205561752[202] = 0; - out_2181166024205561752[203] = 0; - out_2181166024205561752[204] = 0; - out_2181166024205561752[205] = 0; - out_2181166024205561752[206] = 0; - out_2181166024205561752[207] = 0; - out_2181166024205561752[208] = 0; - out_2181166024205561752[209] = 0; - out_2181166024205561752[210] = 0; - out_2181166024205561752[211] = 0; - out_2181166024205561752[212] = 0; - out_2181166024205561752[213] = 0; - out_2181166024205561752[214] = 0; - out_2181166024205561752[215] = 0; - out_2181166024205561752[216] = 0; - out_2181166024205561752[217] = 0; - out_2181166024205561752[218] = 0; - out_2181166024205561752[219] = 1.0; - out_2181166024205561752[220] = 0; - out_2181166024205561752[221] = 0; - out_2181166024205561752[222] = 0; - out_2181166024205561752[223] = 0; - out_2181166024205561752[224] = 0; - out_2181166024205561752[225] = 0; - out_2181166024205561752[226] = 0; - out_2181166024205561752[227] = 0; - out_2181166024205561752[228] = 0; - out_2181166024205561752[229] = 0; - out_2181166024205561752[230] = 0; - out_2181166024205561752[231] = 0; - out_2181166024205561752[232] = 0; - out_2181166024205561752[233] = 0; - out_2181166024205561752[234] = 0; - out_2181166024205561752[235] = 0; - out_2181166024205561752[236] = 0; - out_2181166024205561752[237] = 0; - out_2181166024205561752[238] = 0; - out_2181166024205561752[239] = 0; - out_2181166024205561752[240] = 0; - out_2181166024205561752[241] = 1.0; - out_2181166024205561752[242] = 0; - out_2181166024205561752[243] = 0; - out_2181166024205561752[244] = 0; - out_2181166024205561752[245] = 0; - out_2181166024205561752[246] = 0; - out_2181166024205561752[247] = 0; - out_2181166024205561752[248] = 0; - out_2181166024205561752[249] = 0; - out_2181166024205561752[250] = 0; - out_2181166024205561752[251] = 0; - out_2181166024205561752[252] = 0; - out_2181166024205561752[253] = 0; - out_2181166024205561752[254] = 0; - out_2181166024205561752[255] = 0; - out_2181166024205561752[256] = 0; - out_2181166024205561752[257] = 0; - out_2181166024205561752[258] = 0; - out_2181166024205561752[259] = 0; - out_2181166024205561752[260] = 0; - out_2181166024205561752[261] = 0; - out_2181166024205561752[262] = 0; - out_2181166024205561752[263] = 1.0; - out_2181166024205561752[264] = 0; - out_2181166024205561752[265] = 0; - out_2181166024205561752[266] = 0; - out_2181166024205561752[267] = 0; - out_2181166024205561752[268] = 0; - out_2181166024205561752[269] = 0; - out_2181166024205561752[270] = 0; - out_2181166024205561752[271] = 0; - out_2181166024205561752[272] = 0; - out_2181166024205561752[273] = 0; - out_2181166024205561752[274] = 0; - out_2181166024205561752[275] = 0; - out_2181166024205561752[276] = 0; - out_2181166024205561752[277] = 0; - out_2181166024205561752[278] = 0; - out_2181166024205561752[279] = 0; - out_2181166024205561752[280] = 0; - out_2181166024205561752[281] = 0; - out_2181166024205561752[282] = 0; - out_2181166024205561752[283] = 0; - out_2181166024205561752[284] = 0; - out_2181166024205561752[285] = 1.0; - out_2181166024205561752[286] = 0; - out_2181166024205561752[287] = 0; - out_2181166024205561752[288] = 0; - out_2181166024205561752[289] = 0; - out_2181166024205561752[290] = 0; - out_2181166024205561752[291] = 0; - out_2181166024205561752[292] = 0; - out_2181166024205561752[293] = 0; - out_2181166024205561752[294] = 0; - out_2181166024205561752[295] = 0; - out_2181166024205561752[296] = 0; - out_2181166024205561752[297] = 0; - out_2181166024205561752[298] = 0; - out_2181166024205561752[299] = 0; - out_2181166024205561752[300] = 0; - out_2181166024205561752[301] = 0; - out_2181166024205561752[302] = 0; - out_2181166024205561752[303] = 0; - out_2181166024205561752[304] = 0; - out_2181166024205561752[305] = 0; - out_2181166024205561752[306] = 0; - out_2181166024205561752[307] = 1.0; - out_2181166024205561752[308] = 0; - out_2181166024205561752[309] = 0; - out_2181166024205561752[310] = 0; - out_2181166024205561752[311] = 0; - out_2181166024205561752[312] = 0; - out_2181166024205561752[313] = 0; - out_2181166024205561752[314] = 0; - out_2181166024205561752[315] = 0; - out_2181166024205561752[316] = 0; - out_2181166024205561752[317] = 0; - out_2181166024205561752[318] = 0; - out_2181166024205561752[319] = 0; - out_2181166024205561752[320] = 0; - out_2181166024205561752[321] = 0; - out_2181166024205561752[322] = 0; - out_2181166024205561752[323] = 0; - out_2181166024205561752[324] = 0; - out_2181166024205561752[325] = 0; - out_2181166024205561752[326] = 0; - out_2181166024205561752[327] = 0; - out_2181166024205561752[328] = 0; - out_2181166024205561752[329] = 1.0; - out_2181166024205561752[330] = 0; - out_2181166024205561752[331] = 0; - out_2181166024205561752[332] = 0; - out_2181166024205561752[333] = 0; - out_2181166024205561752[334] = 0; - out_2181166024205561752[335] = 0; - out_2181166024205561752[336] = 0; - out_2181166024205561752[337] = 0; - out_2181166024205561752[338] = 0; - out_2181166024205561752[339] = 0; - out_2181166024205561752[340] = 0; - out_2181166024205561752[341] = 0; - out_2181166024205561752[342] = 0; - out_2181166024205561752[343] = 0; - out_2181166024205561752[344] = 0; - out_2181166024205561752[345] = 0; - out_2181166024205561752[346] = 0; - out_2181166024205561752[347] = 0; - out_2181166024205561752[348] = 0; - out_2181166024205561752[349] = 0; - out_2181166024205561752[350] = 0; - out_2181166024205561752[351] = 1.0; - out_2181166024205561752[352] = 0; - out_2181166024205561752[353] = 0; - out_2181166024205561752[354] = 0; - out_2181166024205561752[355] = 0; - out_2181166024205561752[356] = 0; - out_2181166024205561752[357] = 0; - out_2181166024205561752[358] = 0; - out_2181166024205561752[359] = 0; - out_2181166024205561752[360] = 0; - out_2181166024205561752[361] = 0; - out_2181166024205561752[362] = 0; - out_2181166024205561752[363] = 0; - out_2181166024205561752[364] = 0; - out_2181166024205561752[365] = 0; - out_2181166024205561752[366] = 0; - out_2181166024205561752[367] = 0; - out_2181166024205561752[368] = 0; - out_2181166024205561752[369] = 0; - out_2181166024205561752[370] = 0; - out_2181166024205561752[371] = 0; - out_2181166024205561752[372] = 0; - out_2181166024205561752[373] = 1.0; - out_2181166024205561752[374] = 0; - out_2181166024205561752[375] = 0; - out_2181166024205561752[376] = 0; - out_2181166024205561752[377] = 0; - out_2181166024205561752[378] = 0; - out_2181166024205561752[379] = 0; - out_2181166024205561752[380] = 0; - out_2181166024205561752[381] = 0; - out_2181166024205561752[382] = 0; - out_2181166024205561752[383] = 0; - out_2181166024205561752[384] = 0; - out_2181166024205561752[385] = 0; - out_2181166024205561752[386] = 0; - out_2181166024205561752[387] = 0; - out_2181166024205561752[388] = 0; - out_2181166024205561752[389] = 0; - out_2181166024205561752[390] = 0; - out_2181166024205561752[391] = 0; - out_2181166024205561752[392] = 0; - out_2181166024205561752[393] = 0; - out_2181166024205561752[394] = 0; - out_2181166024205561752[395] = 1.0; - out_2181166024205561752[396] = 0; - out_2181166024205561752[397] = 0; - out_2181166024205561752[398] = 0; - out_2181166024205561752[399] = 0; - out_2181166024205561752[400] = 0; - out_2181166024205561752[401] = 0; - out_2181166024205561752[402] = 0; - out_2181166024205561752[403] = 0; - out_2181166024205561752[404] = 0; - out_2181166024205561752[405] = 0; - out_2181166024205561752[406] = 0; - out_2181166024205561752[407] = 0; - out_2181166024205561752[408] = 0; - out_2181166024205561752[409] = 0; - out_2181166024205561752[410] = 0; - out_2181166024205561752[411] = 0; - out_2181166024205561752[412] = 0; - out_2181166024205561752[413] = 0; - out_2181166024205561752[414] = 0; - out_2181166024205561752[415] = 0; - out_2181166024205561752[416] = 0; - out_2181166024205561752[417] = 1.0; - out_2181166024205561752[418] = 0; - out_2181166024205561752[419] = 0; - out_2181166024205561752[420] = 0; - out_2181166024205561752[421] = 0; - out_2181166024205561752[422] = 0; - out_2181166024205561752[423] = 0; - out_2181166024205561752[424] = 0; - out_2181166024205561752[425] = 0; - out_2181166024205561752[426] = 0; - out_2181166024205561752[427] = 0; - out_2181166024205561752[428] = 0; - out_2181166024205561752[429] = 0; - out_2181166024205561752[430] = 0; - out_2181166024205561752[431] = 0; - out_2181166024205561752[432] = 0; - out_2181166024205561752[433] = 0; - out_2181166024205561752[434] = 0; - out_2181166024205561752[435] = 0; - out_2181166024205561752[436] = 0; - out_2181166024205561752[437] = 0; - out_2181166024205561752[438] = 0; - out_2181166024205561752[439] = 1.0; - out_2181166024205561752[440] = 0; - out_2181166024205561752[441] = 0; - out_2181166024205561752[442] = 0; - out_2181166024205561752[443] = 0; - out_2181166024205561752[444] = 0; - out_2181166024205561752[445] = 0; - out_2181166024205561752[446] = 0; - out_2181166024205561752[447] = 0; - out_2181166024205561752[448] = 0; - out_2181166024205561752[449] = 0; - out_2181166024205561752[450] = 0; - out_2181166024205561752[451] = 0; - out_2181166024205561752[452] = 0; - out_2181166024205561752[453] = 0; - out_2181166024205561752[454] = 0; - out_2181166024205561752[455] = 0; - out_2181166024205561752[456] = 0; - out_2181166024205561752[457] = 0; - out_2181166024205561752[458] = 0; - out_2181166024205561752[459] = 0; - out_2181166024205561752[460] = 0; - out_2181166024205561752[461] = 1.0; +void H_mod_fun(double *state, double *out_8702234888023658226) { + out_8702234888023658226[0] = 1.0; + out_8702234888023658226[1] = 0; + out_8702234888023658226[2] = 0; + out_8702234888023658226[3] = 0; + out_8702234888023658226[4] = 0; + out_8702234888023658226[5] = 0; + out_8702234888023658226[6] = 0; + out_8702234888023658226[7] = 0; + out_8702234888023658226[8] = 0; + out_8702234888023658226[9] = 0; + out_8702234888023658226[10] = 0; + out_8702234888023658226[11] = 0; + out_8702234888023658226[12] = 0; + out_8702234888023658226[13] = 0; + out_8702234888023658226[14] = 0; + out_8702234888023658226[15] = 0; + out_8702234888023658226[16] = 0; + out_8702234888023658226[17] = 0; + out_8702234888023658226[18] = 0; + out_8702234888023658226[19] = 0; + out_8702234888023658226[20] = 0; + out_8702234888023658226[21] = 0; + out_8702234888023658226[22] = 1.0; + out_8702234888023658226[23] = 0; + out_8702234888023658226[24] = 0; + out_8702234888023658226[25] = 0; + out_8702234888023658226[26] = 0; + out_8702234888023658226[27] = 0; + out_8702234888023658226[28] = 0; + out_8702234888023658226[29] = 0; + out_8702234888023658226[30] = 0; + out_8702234888023658226[31] = 0; + out_8702234888023658226[32] = 0; + out_8702234888023658226[33] = 0; + out_8702234888023658226[34] = 0; + out_8702234888023658226[35] = 0; + out_8702234888023658226[36] = 0; + out_8702234888023658226[37] = 0; + out_8702234888023658226[38] = 0; + out_8702234888023658226[39] = 0; + out_8702234888023658226[40] = 0; + out_8702234888023658226[41] = 0; + out_8702234888023658226[42] = 0; + out_8702234888023658226[43] = 0; + out_8702234888023658226[44] = 1.0; + out_8702234888023658226[45] = 0; + out_8702234888023658226[46] = 0; + out_8702234888023658226[47] = 0; + out_8702234888023658226[48] = 0; + out_8702234888023658226[49] = 0; + out_8702234888023658226[50] = 0; + out_8702234888023658226[51] = 0; + out_8702234888023658226[52] = 0; + out_8702234888023658226[53] = 0; + out_8702234888023658226[54] = 0; + out_8702234888023658226[55] = 0; + out_8702234888023658226[56] = 0; + out_8702234888023658226[57] = 0; + out_8702234888023658226[58] = 0; + out_8702234888023658226[59] = 0; + out_8702234888023658226[60] = 0; + out_8702234888023658226[61] = 0; + out_8702234888023658226[62] = 0; + out_8702234888023658226[63] = 0; + out_8702234888023658226[64] = 0; + out_8702234888023658226[65] = 0; + out_8702234888023658226[66] = -0.5*state[4]; + out_8702234888023658226[67] = -0.5*state[5]; + out_8702234888023658226[68] = -0.5*state[6]; + out_8702234888023658226[69] = 0; + out_8702234888023658226[70] = 0; + out_8702234888023658226[71] = 0; + out_8702234888023658226[72] = 0; + out_8702234888023658226[73] = 0; + out_8702234888023658226[74] = 0; + out_8702234888023658226[75] = 0; + out_8702234888023658226[76] = 0; + out_8702234888023658226[77] = 0; + out_8702234888023658226[78] = 0; + out_8702234888023658226[79] = 0; + out_8702234888023658226[80] = 0; + out_8702234888023658226[81] = 0; + out_8702234888023658226[82] = 0; + out_8702234888023658226[83] = 0; + out_8702234888023658226[84] = 0; + out_8702234888023658226[85] = 0; + out_8702234888023658226[86] = 0; + out_8702234888023658226[87] = 0.5*state[3]; + out_8702234888023658226[88] = 0.5*state[6]; + out_8702234888023658226[89] = -0.5*state[5]; + out_8702234888023658226[90] = 0; + out_8702234888023658226[91] = 0; + out_8702234888023658226[92] = 0; + out_8702234888023658226[93] = 0; + out_8702234888023658226[94] = 0; + out_8702234888023658226[95] = 0; + out_8702234888023658226[96] = 0; + out_8702234888023658226[97] = 0; + out_8702234888023658226[98] = 0; + out_8702234888023658226[99] = 0; + out_8702234888023658226[100] = 0; + out_8702234888023658226[101] = 0; + out_8702234888023658226[102] = 0; + out_8702234888023658226[103] = 0; + out_8702234888023658226[104] = 0; + out_8702234888023658226[105] = 0; + out_8702234888023658226[106] = 0; + out_8702234888023658226[107] = 0; + out_8702234888023658226[108] = -0.5*state[6]; + out_8702234888023658226[109] = 0.5*state[3]; + out_8702234888023658226[110] = 0.5*state[4]; + out_8702234888023658226[111] = 0; + out_8702234888023658226[112] = 0; + out_8702234888023658226[113] = 0; + out_8702234888023658226[114] = 0; + out_8702234888023658226[115] = 0; + out_8702234888023658226[116] = 0; + out_8702234888023658226[117] = 0; + out_8702234888023658226[118] = 0; + out_8702234888023658226[119] = 0; + out_8702234888023658226[120] = 0; + out_8702234888023658226[121] = 0; + out_8702234888023658226[122] = 0; + out_8702234888023658226[123] = 0; + out_8702234888023658226[124] = 0; + out_8702234888023658226[125] = 0; + out_8702234888023658226[126] = 0; + out_8702234888023658226[127] = 0; + out_8702234888023658226[128] = 0; + out_8702234888023658226[129] = 0.5*state[5]; + out_8702234888023658226[130] = -0.5*state[4]; + out_8702234888023658226[131] = 0.5*state[3]; + out_8702234888023658226[132] = 0; + out_8702234888023658226[133] = 0; + out_8702234888023658226[134] = 0; + out_8702234888023658226[135] = 0; + out_8702234888023658226[136] = 0; + out_8702234888023658226[137] = 0; + out_8702234888023658226[138] = 0; + out_8702234888023658226[139] = 0; + out_8702234888023658226[140] = 0; + out_8702234888023658226[141] = 0; + out_8702234888023658226[142] = 0; + out_8702234888023658226[143] = 0; + out_8702234888023658226[144] = 0; + out_8702234888023658226[145] = 0; + out_8702234888023658226[146] = 0; + out_8702234888023658226[147] = 0; + out_8702234888023658226[148] = 0; + out_8702234888023658226[149] = 0; + out_8702234888023658226[150] = 0; + out_8702234888023658226[151] = 0; + out_8702234888023658226[152] = 0; + out_8702234888023658226[153] = 1.0; + out_8702234888023658226[154] = 0; + out_8702234888023658226[155] = 0; + out_8702234888023658226[156] = 0; + out_8702234888023658226[157] = 0; + out_8702234888023658226[158] = 0; + out_8702234888023658226[159] = 0; + out_8702234888023658226[160] = 0; + out_8702234888023658226[161] = 0; + out_8702234888023658226[162] = 0; + out_8702234888023658226[163] = 0; + out_8702234888023658226[164] = 0; + out_8702234888023658226[165] = 0; + out_8702234888023658226[166] = 0; + out_8702234888023658226[167] = 0; + out_8702234888023658226[168] = 0; + out_8702234888023658226[169] = 0; + out_8702234888023658226[170] = 0; + out_8702234888023658226[171] = 0; + out_8702234888023658226[172] = 0; + out_8702234888023658226[173] = 0; + out_8702234888023658226[174] = 0; + out_8702234888023658226[175] = 1.0; + out_8702234888023658226[176] = 0; + out_8702234888023658226[177] = 0; + out_8702234888023658226[178] = 0; + out_8702234888023658226[179] = 0; + out_8702234888023658226[180] = 0; + out_8702234888023658226[181] = 0; + out_8702234888023658226[182] = 0; + out_8702234888023658226[183] = 0; + out_8702234888023658226[184] = 0; + out_8702234888023658226[185] = 0; + out_8702234888023658226[186] = 0; + out_8702234888023658226[187] = 0; + out_8702234888023658226[188] = 0; + out_8702234888023658226[189] = 0; + out_8702234888023658226[190] = 0; + out_8702234888023658226[191] = 0; + out_8702234888023658226[192] = 0; + out_8702234888023658226[193] = 0; + out_8702234888023658226[194] = 0; + out_8702234888023658226[195] = 0; + out_8702234888023658226[196] = 0; + out_8702234888023658226[197] = 1.0; + out_8702234888023658226[198] = 0; + out_8702234888023658226[199] = 0; + out_8702234888023658226[200] = 0; + out_8702234888023658226[201] = 0; + out_8702234888023658226[202] = 0; + out_8702234888023658226[203] = 0; + out_8702234888023658226[204] = 0; + out_8702234888023658226[205] = 0; + out_8702234888023658226[206] = 0; + out_8702234888023658226[207] = 0; + out_8702234888023658226[208] = 0; + out_8702234888023658226[209] = 0; + out_8702234888023658226[210] = 0; + out_8702234888023658226[211] = 0; + out_8702234888023658226[212] = 0; + out_8702234888023658226[213] = 0; + out_8702234888023658226[214] = 0; + out_8702234888023658226[215] = 0; + out_8702234888023658226[216] = 0; + out_8702234888023658226[217] = 0; + out_8702234888023658226[218] = 0; + out_8702234888023658226[219] = 1.0; + out_8702234888023658226[220] = 0; + out_8702234888023658226[221] = 0; + out_8702234888023658226[222] = 0; + out_8702234888023658226[223] = 0; + out_8702234888023658226[224] = 0; + out_8702234888023658226[225] = 0; + out_8702234888023658226[226] = 0; + out_8702234888023658226[227] = 0; + out_8702234888023658226[228] = 0; + out_8702234888023658226[229] = 0; + out_8702234888023658226[230] = 0; + out_8702234888023658226[231] = 0; + out_8702234888023658226[232] = 0; + out_8702234888023658226[233] = 0; + out_8702234888023658226[234] = 0; + out_8702234888023658226[235] = 0; + out_8702234888023658226[236] = 0; + out_8702234888023658226[237] = 0; + out_8702234888023658226[238] = 0; + out_8702234888023658226[239] = 0; + out_8702234888023658226[240] = 0; + out_8702234888023658226[241] = 1.0; + out_8702234888023658226[242] = 0; + out_8702234888023658226[243] = 0; + out_8702234888023658226[244] = 0; + out_8702234888023658226[245] = 0; + out_8702234888023658226[246] = 0; + out_8702234888023658226[247] = 0; + out_8702234888023658226[248] = 0; + out_8702234888023658226[249] = 0; + out_8702234888023658226[250] = 0; + out_8702234888023658226[251] = 0; + out_8702234888023658226[252] = 0; + out_8702234888023658226[253] = 0; + out_8702234888023658226[254] = 0; + out_8702234888023658226[255] = 0; + out_8702234888023658226[256] = 0; + out_8702234888023658226[257] = 0; + out_8702234888023658226[258] = 0; + out_8702234888023658226[259] = 0; + out_8702234888023658226[260] = 0; + out_8702234888023658226[261] = 0; + out_8702234888023658226[262] = 0; + out_8702234888023658226[263] = 1.0; + out_8702234888023658226[264] = 0; + out_8702234888023658226[265] = 0; + out_8702234888023658226[266] = 0; + out_8702234888023658226[267] = 0; + out_8702234888023658226[268] = 0; + out_8702234888023658226[269] = 0; + out_8702234888023658226[270] = 0; + out_8702234888023658226[271] = 0; + out_8702234888023658226[272] = 0; + out_8702234888023658226[273] = 0; + out_8702234888023658226[274] = 0; + out_8702234888023658226[275] = 0; + out_8702234888023658226[276] = 0; + out_8702234888023658226[277] = 0; + out_8702234888023658226[278] = 0; + out_8702234888023658226[279] = 0; + out_8702234888023658226[280] = 0; + out_8702234888023658226[281] = 0; + out_8702234888023658226[282] = 0; + out_8702234888023658226[283] = 0; + out_8702234888023658226[284] = 0; + out_8702234888023658226[285] = 1.0; + out_8702234888023658226[286] = 0; + out_8702234888023658226[287] = 0; + out_8702234888023658226[288] = 0; + out_8702234888023658226[289] = 0; + out_8702234888023658226[290] = 0; + out_8702234888023658226[291] = 0; + out_8702234888023658226[292] = 0; + out_8702234888023658226[293] = 0; + out_8702234888023658226[294] = 0; + out_8702234888023658226[295] = 0; + out_8702234888023658226[296] = 0; + out_8702234888023658226[297] = 0; + out_8702234888023658226[298] = 0; + out_8702234888023658226[299] = 0; + out_8702234888023658226[300] = 0; + out_8702234888023658226[301] = 0; + out_8702234888023658226[302] = 0; + out_8702234888023658226[303] = 0; + out_8702234888023658226[304] = 0; + out_8702234888023658226[305] = 0; + out_8702234888023658226[306] = 0; + out_8702234888023658226[307] = 1.0; + out_8702234888023658226[308] = 0; + out_8702234888023658226[309] = 0; + out_8702234888023658226[310] = 0; + out_8702234888023658226[311] = 0; + out_8702234888023658226[312] = 0; + out_8702234888023658226[313] = 0; + out_8702234888023658226[314] = 0; + out_8702234888023658226[315] = 0; + out_8702234888023658226[316] = 0; + out_8702234888023658226[317] = 0; + out_8702234888023658226[318] = 0; + out_8702234888023658226[319] = 0; + out_8702234888023658226[320] = 0; + out_8702234888023658226[321] = 0; + out_8702234888023658226[322] = 0; + out_8702234888023658226[323] = 0; + out_8702234888023658226[324] = 0; + out_8702234888023658226[325] = 0; + out_8702234888023658226[326] = 0; + out_8702234888023658226[327] = 0; + out_8702234888023658226[328] = 0; + out_8702234888023658226[329] = 1.0; + out_8702234888023658226[330] = 0; + out_8702234888023658226[331] = 0; + out_8702234888023658226[332] = 0; + out_8702234888023658226[333] = 0; + out_8702234888023658226[334] = 0; + out_8702234888023658226[335] = 0; + out_8702234888023658226[336] = 0; + out_8702234888023658226[337] = 0; + out_8702234888023658226[338] = 0; + out_8702234888023658226[339] = 0; + out_8702234888023658226[340] = 0; + out_8702234888023658226[341] = 0; + out_8702234888023658226[342] = 0; + out_8702234888023658226[343] = 0; + out_8702234888023658226[344] = 0; + out_8702234888023658226[345] = 0; + out_8702234888023658226[346] = 0; + out_8702234888023658226[347] = 0; + out_8702234888023658226[348] = 0; + out_8702234888023658226[349] = 0; + out_8702234888023658226[350] = 0; + out_8702234888023658226[351] = 1.0; + out_8702234888023658226[352] = 0; + out_8702234888023658226[353] = 0; + out_8702234888023658226[354] = 0; + out_8702234888023658226[355] = 0; + out_8702234888023658226[356] = 0; + out_8702234888023658226[357] = 0; + out_8702234888023658226[358] = 0; + out_8702234888023658226[359] = 0; + out_8702234888023658226[360] = 0; + out_8702234888023658226[361] = 0; + out_8702234888023658226[362] = 0; + out_8702234888023658226[363] = 0; + out_8702234888023658226[364] = 0; + out_8702234888023658226[365] = 0; + out_8702234888023658226[366] = 0; + out_8702234888023658226[367] = 0; + out_8702234888023658226[368] = 0; + out_8702234888023658226[369] = 0; + out_8702234888023658226[370] = 0; + out_8702234888023658226[371] = 0; + out_8702234888023658226[372] = 0; + out_8702234888023658226[373] = 1.0; + out_8702234888023658226[374] = 0; + out_8702234888023658226[375] = 0; + out_8702234888023658226[376] = 0; + out_8702234888023658226[377] = 0; + out_8702234888023658226[378] = 0; + out_8702234888023658226[379] = 0; + out_8702234888023658226[380] = 0; + out_8702234888023658226[381] = 0; + out_8702234888023658226[382] = 0; + out_8702234888023658226[383] = 0; + out_8702234888023658226[384] = 0; + out_8702234888023658226[385] = 0; + out_8702234888023658226[386] = 0; + out_8702234888023658226[387] = 0; + out_8702234888023658226[388] = 0; + out_8702234888023658226[389] = 0; + out_8702234888023658226[390] = 0; + out_8702234888023658226[391] = 0; + out_8702234888023658226[392] = 0; + out_8702234888023658226[393] = 0; + out_8702234888023658226[394] = 0; + out_8702234888023658226[395] = 1.0; + out_8702234888023658226[396] = 0; + out_8702234888023658226[397] = 0; + out_8702234888023658226[398] = 0; + out_8702234888023658226[399] = 0; + out_8702234888023658226[400] = 0; + out_8702234888023658226[401] = 0; + out_8702234888023658226[402] = 0; + out_8702234888023658226[403] = 0; + out_8702234888023658226[404] = 0; + out_8702234888023658226[405] = 0; + out_8702234888023658226[406] = 0; + out_8702234888023658226[407] = 0; + out_8702234888023658226[408] = 0; + out_8702234888023658226[409] = 0; + out_8702234888023658226[410] = 0; + out_8702234888023658226[411] = 0; + out_8702234888023658226[412] = 0; + out_8702234888023658226[413] = 0; + out_8702234888023658226[414] = 0; + out_8702234888023658226[415] = 0; + out_8702234888023658226[416] = 0; + out_8702234888023658226[417] = 1.0; + out_8702234888023658226[418] = 0; + out_8702234888023658226[419] = 0; + out_8702234888023658226[420] = 0; + out_8702234888023658226[421] = 0; + out_8702234888023658226[422] = 0; + out_8702234888023658226[423] = 0; + out_8702234888023658226[424] = 0; + out_8702234888023658226[425] = 0; + out_8702234888023658226[426] = 0; + out_8702234888023658226[427] = 0; + out_8702234888023658226[428] = 0; + out_8702234888023658226[429] = 0; + out_8702234888023658226[430] = 0; + out_8702234888023658226[431] = 0; + out_8702234888023658226[432] = 0; + out_8702234888023658226[433] = 0; + out_8702234888023658226[434] = 0; + out_8702234888023658226[435] = 0; + out_8702234888023658226[436] = 0; + out_8702234888023658226[437] = 0; + out_8702234888023658226[438] = 0; + out_8702234888023658226[439] = 1.0; + out_8702234888023658226[440] = 0; + out_8702234888023658226[441] = 0; + out_8702234888023658226[442] = 0; + out_8702234888023658226[443] = 0; + out_8702234888023658226[444] = 0; + out_8702234888023658226[445] = 0; + out_8702234888023658226[446] = 0; + out_8702234888023658226[447] = 0; + out_8702234888023658226[448] = 0; + out_8702234888023658226[449] = 0; + out_8702234888023658226[450] = 0; + out_8702234888023658226[451] = 0; + out_8702234888023658226[452] = 0; + out_8702234888023658226[453] = 0; + out_8702234888023658226[454] = 0; + out_8702234888023658226[455] = 0; + out_8702234888023658226[456] = 0; + out_8702234888023658226[457] = 0; + out_8702234888023658226[458] = 0; + out_8702234888023658226[459] = 0; + out_8702234888023658226[460] = 0; + out_8702234888023658226[461] = 1.0; } -void f_fun(double *state, double dt, double *out_3533239200643131825) { - out_3533239200643131825[0] = dt*state[7] + state[0]; - out_3533239200643131825[1] = dt*state[8] + state[1]; - out_3533239200643131825[2] = dt*state[9] + state[2]; - out_3533239200643131825[3] = dt*(-0.5*state[4]*state[10] - 0.5*state[5]*state[11] - 0.5*state[6]*state[12]) + state[3]; - out_3533239200643131825[4] = dt*(0.5*state[3]*state[10] + 0.5*state[5]*state[12] - 0.5*state[6]*state[11]) + state[4]; - out_3533239200643131825[5] = dt*(0.5*state[3]*state[11] - 0.5*state[4]*state[12] + 0.5*state[6]*state[10]) + state[5]; - out_3533239200643131825[6] = dt*(0.5*state[3]*state[12] + 0.5*state[4]*state[11] - 0.5*state[5]*state[10]) + state[6]; - out_3533239200643131825[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_3533239200643131825[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_3533239200643131825[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_3533239200643131825[10] = state[10]; - out_3533239200643131825[11] = state[11]; - out_3533239200643131825[12] = state[12]; - out_3533239200643131825[13] = state[13]; - out_3533239200643131825[14] = state[14]; - out_3533239200643131825[15] = state[15]; - out_3533239200643131825[16] = state[16]; - out_3533239200643131825[17] = state[17]; - out_3533239200643131825[18] = state[18]; - out_3533239200643131825[19] = state[19]; - out_3533239200643131825[20] = state[20]; - out_3533239200643131825[21] = state[21]; +void f_fun(double *state, double dt, double *out_7459231211064544538) { + out_7459231211064544538[0] = dt*state[7] + state[0]; + out_7459231211064544538[1] = dt*state[8] + state[1]; + out_7459231211064544538[2] = dt*state[9] + state[2]; + out_7459231211064544538[3] = dt*(-0.5*state[4]*state[10] - 0.5*state[5]*state[11] - 0.5*state[6]*state[12]) + state[3]; + out_7459231211064544538[4] = dt*(0.5*state[3]*state[10] + 0.5*state[5]*state[12] - 0.5*state[6]*state[11]) + state[4]; + out_7459231211064544538[5] = dt*(0.5*state[3]*state[11] - 0.5*state[4]*state[12] + 0.5*state[6]*state[10]) + state[5]; + out_7459231211064544538[6] = dt*(0.5*state[3]*state[12] + 0.5*state[4]*state[11] - 0.5*state[5]*state[10]) + state[6]; + out_7459231211064544538[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_7459231211064544538[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_7459231211064544538[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_7459231211064544538[10] = state[10]; + out_7459231211064544538[11] = state[11]; + out_7459231211064544538[12] = state[12]; + out_7459231211064544538[13] = state[13]; + out_7459231211064544538[14] = state[14]; + out_7459231211064544538[15] = state[15]; + out_7459231211064544538[16] = state[16]; + out_7459231211064544538[17] = state[17]; + out_7459231211064544538[18] = state[18]; + out_7459231211064544538[19] = state[19]; + out_7459231211064544538[20] = state[20]; + out_7459231211064544538[21] = state[21]; } -void F_fun(double *state, double dt, double *out_5539989427522668852) { - out_5539989427522668852[0] = 1; - out_5539989427522668852[1] = 0; - out_5539989427522668852[2] = 0; - out_5539989427522668852[3] = 0; - out_5539989427522668852[4] = 0; - out_5539989427522668852[5] = 0; - out_5539989427522668852[6] = dt; - out_5539989427522668852[7] = 0; - out_5539989427522668852[8] = 0; - out_5539989427522668852[9] = 0; - out_5539989427522668852[10] = 0; - out_5539989427522668852[11] = 0; - out_5539989427522668852[12] = 0; - out_5539989427522668852[13] = 0; - out_5539989427522668852[14] = 0; - out_5539989427522668852[15] = 0; - out_5539989427522668852[16] = 0; - out_5539989427522668852[17] = 0; - out_5539989427522668852[18] = 0; - out_5539989427522668852[19] = 0; - out_5539989427522668852[20] = 0; - out_5539989427522668852[21] = 0; - out_5539989427522668852[22] = 1; - out_5539989427522668852[23] = 0; - out_5539989427522668852[24] = 0; - out_5539989427522668852[25] = 0; - out_5539989427522668852[26] = 0; - out_5539989427522668852[27] = 0; - out_5539989427522668852[28] = dt; - out_5539989427522668852[29] = 0; - out_5539989427522668852[30] = 0; - out_5539989427522668852[31] = 0; - out_5539989427522668852[32] = 0; - out_5539989427522668852[33] = 0; - out_5539989427522668852[34] = 0; - out_5539989427522668852[35] = 0; - out_5539989427522668852[36] = 0; - out_5539989427522668852[37] = 0; - out_5539989427522668852[38] = 0; - out_5539989427522668852[39] = 0; - out_5539989427522668852[40] = 0; - out_5539989427522668852[41] = 0; - out_5539989427522668852[42] = 0; - out_5539989427522668852[43] = 0; - out_5539989427522668852[44] = 1; - out_5539989427522668852[45] = 0; - out_5539989427522668852[46] = 0; - out_5539989427522668852[47] = 0; - out_5539989427522668852[48] = 0; - out_5539989427522668852[49] = 0; - out_5539989427522668852[50] = dt; - out_5539989427522668852[51] = 0; - out_5539989427522668852[52] = 0; - out_5539989427522668852[53] = 0; - out_5539989427522668852[54] = 0; - out_5539989427522668852[55] = 0; - out_5539989427522668852[56] = 0; - out_5539989427522668852[57] = 0; - out_5539989427522668852[58] = 0; - out_5539989427522668852[59] = 0; - out_5539989427522668852[60] = 0; - out_5539989427522668852[61] = 0; - out_5539989427522668852[62] = 0; - out_5539989427522668852[63] = 0; - out_5539989427522668852[64] = 0; - out_5539989427522668852[65] = 0; - out_5539989427522668852[66] = 1; - out_5539989427522668852[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_5539989427522668852[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_5539989427522668852[69] = 0; - out_5539989427522668852[70] = 0; - out_5539989427522668852[71] = 0; - out_5539989427522668852[72] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); - out_5539989427522668852[73] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); - out_5539989427522668852[74] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); - out_5539989427522668852[75] = 0; - out_5539989427522668852[76] = 0; - out_5539989427522668852[77] = 0; - out_5539989427522668852[78] = 0; - out_5539989427522668852[79] = 0; - out_5539989427522668852[80] = 0; - out_5539989427522668852[81] = 0; - out_5539989427522668852[82] = 0; - out_5539989427522668852[83] = 0; - out_5539989427522668852[84] = 0; - out_5539989427522668852[85] = 0; - out_5539989427522668852[86] = 0; - out_5539989427522668852[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_5539989427522668852[88] = 1; - out_5539989427522668852[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_5539989427522668852[90] = 0; - out_5539989427522668852[91] = 0; - out_5539989427522668852[92] = 0; - out_5539989427522668852[93] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); - out_5539989427522668852[94] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); - out_5539989427522668852[95] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); - out_5539989427522668852[96] = 0; - out_5539989427522668852[97] = 0; - out_5539989427522668852[98] = 0; - out_5539989427522668852[99] = 0; - out_5539989427522668852[100] = 0; - out_5539989427522668852[101] = 0; - out_5539989427522668852[102] = 0; - out_5539989427522668852[103] = 0; - out_5539989427522668852[104] = 0; - out_5539989427522668852[105] = 0; - out_5539989427522668852[106] = 0; - out_5539989427522668852[107] = 0; - out_5539989427522668852[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_5539989427522668852[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_5539989427522668852[110] = 1; - out_5539989427522668852[111] = 0; - out_5539989427522668852[112] = 0; - out_5539989427522668852[113] = 0; - out_5539989427522668852[114] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); - out_5539989427522668852[115] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); - out_5539989427522668852[116] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); - out_5539989427522668852[117] = 0; - out_5539989427522668852[118] = 0; - out_5539989427522668852[119] = 0; - out_5539989427522668852[120] = 0; - out_5539989427522668852[121] = 0; - out_5539989427522668852[122] = 0; - out_5539989427522668852[123] = 0; - out_5539989427522668852[124] = 0; - out_5539989427522668852[125] = 0; - out_5539989427522668852[126] = 0; - out_5539989427522668852[127] = 0; - out_5539989427522668852[128] = 0; - out_5539989427522668852[129] = 0; - out_5539989427522668852[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_5539989427522668852[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_5539989427522668852[132] = 1; - out_5539989427522668852[133] = 0; - out_5539989427522668852[134] = 0; - out_5539989427522668852[135] = 0; - out_5539989427522668852[136] = 0; - out_5539989427522668852[137] = 0; - out_5539989427522668852[138] = 0; - out_5539989427522668852[139] = 0; - out_5539989427522668852[140] = 0; - out_5539989427522668852[141] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); - out_5539989427522668852[142] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); - out_5539989427522668852[143] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); - out_5539989427522668852[144] = 0; - out_5539989427522668852[145] = 0; - out_5539989427522668852[146] = 0; - out_5539989427522668852[147] = 0; - out_5539989427522668852[148] = 0; - out_5539989427522668852[149] = 0; - out_5539989427522668852[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_5539989427522668852[151] = 0; - out_5539989427522668852[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_5539989427522668852[153] = 0; - out_5539989427522668852[154] = 1; - out_5539989427522668852[155] = 0; - out_5539989427522668852[156] = 0; - out_5539989427522668852[157] = 0; - out_5539989427522668852[158] = 0; - out_5539989427522668852[159] = 0; - out_5539989427522668852[160] = 0; - out_5539989427522668852[161] = 0; - out_5539989427522668852[162] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); - out_5539989427522668852[163] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); - out_5539989427522668852[164] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); - out_5539989427522668852[165] = 0; - out_5539989427522668852[166] = 0; - out_5539989427522668852[167] = 0; - out_5539989427522668852[168] = 0; - out_5539989427522668852[169] = 0; - out_5539989427522668852[170] = 0; - out_5539989427522668852[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_5539989427522668852[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_5539989427522668852[173] = 0; - out_5539989427522668852[174] = 0; - out_5539989427522668852[175] = 0; - out_5539989427522668852[176] = 1; - out_5539989427522668852[177] = 0; - out_5539989427522668852[178] = 0; - out_5539989427522668852[179] = 0; - out_5539989427522668852[180] = 0; - out_5539989427522668852[181] = 0; - out_5539989427522668852[182] = 0; - out_5539989427522668852[183] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); - out_5539989427522668852[184] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); - out_5539989427522668852[185] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); - out_5539989427522668852[186] = 0; - out_5539989427522668852[187] = 0; - out_5539989427522668852[188] = 0; - out_5539989427522668852[189] = 0; - out_5539989427522668852[190] = 0; - out_5539989427522668852[191] = 0; - out_5539989427522668852[192] = 0; - out_5539989427522668852[193] = 0; - out_5539989427522668852[194] = 0; - out_5539989427522668852[195] = 0; - out_5539989427522668852[196] = 0; - out_5539989427522668852[197] = 0; - out_5539989427522668852[198] = 1; - out_5539989427522668852[199] = 0; - out_5539989427522668852[200] = 0; - out_5539989427522668852[201] = 0; - out_5539989427522668852[202] = 0; - out_5539989427522668852[203] = 0; - out_5539989427522668852[204] = 0; - out_5539989427522668852[205] = 0; - out_5539989427522668852[206] = 0; - out_5539989427522668852[207] = 0; - out_5539989427522668852[208] = 0; - out_5539989427522668852[209] = 0; - out_5539989427522668852[210] = 0; - out_5539989427522668852[211] = 0; - out_5539989427522668852[212] = 0; - out_5539989427522668852[213] = 0; - out_5539989427522668852[214] = 0; - out_5539989427522668852[215] = 0; - out_5539989427522668852[216] = 0; - out_5539989427522668852[217] = 0; - out_5539989427522668852[218] = 0; - out_5539989427522668852[219] = 0; - out_5539989427522668852[220] = 1; - out_5539989427522668852[221] = 0; - out_5539989427522668852[222] = 0; - out_5539989427522668852[223] = 0; - out_5539989427522668852[224] = 0; - out_5539989427522668852[225] = 0; - out_5539989427522668852[226] = 0; - out_5539989427522668852[227] = 0; - out_5539989427522668852[228] = 0; - out_5539989427522668852[229] = 0; - out_5539989427522668852[230] = 0; - out_5539989427522668852[231] = 0; - out_5539989427522668852[232] = 0; - out_5539989427522668852[233] = 0; - out_5539989427522668852[234] = 0; - out_5539989427522668852[235] = 0; - out_5539989427522668852[236] = 0; - out_5539989427522668852[237] = 0; - out_5539989427522668852[238] = 0; - out_5539989427522668852[239] = 0; - out_5539989427522668852[240] = 0; - out_5539989427522668852[241] = 0; - out_5539989427522668852[242] = 1; - out_5539989427522668852[243] = 0; - out_5539989427522668852[244] = 0; - out_5539989427522668852[245] = 0; - out_5539989427522668852[246] = 0; - out_5539989427522668852[247] = 0; - out_5539989427522668852[248] = 0; - out_5539989427522668852[249] = 0; - out_5539989427522668852[250] = 0; - out_5539989427522668852[251] = 0; - out_5539989427522668852[252] = 0; - out_5539989427522668852[253] = 0; - out_5539989427522668852[254] = 0; - out_5539989427522668852[255] = 0; - out_5539989427522668852[256] = 0; - out_5539989427522668852[257] = 0; - out_5539989427522668852[258] = 0; - out_5539989427522668852[259] = 0; - out_5539989427522668852[260] = 0; - out_5539989427522668852[261] = 0; - out_5539989427522668852[262] = 0; - out_5539989427522668852[263] = 0; - out_5539989427522668852[264] = 1; - out_5539989427522668852[265] = 0; - out_5539989427522668852[266] = 0; - out_5539989427522668852[267] = 0; - out_5539989427522668852[268] = 0; - out_5539989427522668852[269] = 0; - out_5539989427522668852[270] = 0; - out_5539989427522668852[271] = 0; - out_5539989427522668852[272] = 0; - out_5539989427522668852[273] = 0; - out_5539989427522668852[274] = 0; - out_5539989427522668852[275] = 0; - out_5539989427522668852[276] = 0; - out_5539989427522668852[277] = 0; - out_5539989427522668852[278] = 0; - out_5539989427522668852[279] = 0; - out_5539989427522668852[280] = 0; - out_5539989427522668852[281] = 0; - out_5539989427522668852[282] = 0; - out_5539989427522668852[283] = 0; - out_5539989427522668852[284] = 0; - out_5539989427522668852[285] = 0; - out_5539989427522668852[286] = 1; - out_5539989427522668852[287] = 0; - out_5539989427522668852[288] = 0; - out_5539989427522668852[289] = 0; - out_5539989427522668852[290] = 0; - out_5539989427522668852[291] = 0; - out_5539989427522668852[292] = 0; - out_5539989427522668852[293] = 0; - out_5539989427522668852[294] = 0; - out_5539989427522668852[295] = 0; - out_5539989427522668852[296] = 0; - out_5539989427522668852[297] = 0; - out_5539989427522668852[298] = 0; - out_5539989427522668852[299] = 0; - out_5539989427522668852[300] = 0; - out_5539989427522668852[301] = 0; - out_5539989427522668852[302] = 0; - out_5539989427522668852[303] = 0; - out_5539989427522668852[304] = 0; - out_5539989427522668852[305] = 0; - out_5539989427522668852[306] = 0; - out_5539989427522668852[307] = 0; - out_5539989427522668852[308] = 1; - out_5539989427522668852[309] = 0; - out_5539989427522668852[310] = 0; - out_5539989427522668852[311] = 0; - out_5539989427522668852[312] = 0; - out_5539989427522668852[313] = 0; - out_5539989427522668852[314] = 0; - out_5539989427522668852[315] = 0; - out_5539989427522668852[316] = 0; - out_5539989427522668852[317] = 0; - out_5539989427522668852[318] = 0; - out_5539989427522668852[319] = 0; - out_5539989427522668852[320] = 0; - out_5539989427522668852[321] = 0; - out_5539989427522668852[322] = 0; - out_5539989427522668852[323] = 0; - out_5539989427522668852[324] = 0; - out_5539989427522668852[325] = 0; - out_5539989427522668852[326] = 0; - out_5539989427522668852[327] = 0; - out_5539989427522668852[328] = 0; - out_5539989427522668852[329] = 0; - out_5539989427522668852[330] = 1; - out_5539989427522668852[331] = 0; - out_5539989427522668852[332] = 0; - out_5539989427522668852[333] = 0; - out_5539989427522668852[334] = 0; - out_5539989427522668852[335] = 0; - out_5539989427522668852[336] = 0; - out_5539989427522668852[337] = 0; - out_5539989427522668852[338] = 0; - out_5539989427522668852[339] = 0; - out_5539989427522668852[340] = 0; - out_5539989427522668852[341] = 0; - out_5539989427522668852[342] = 0; - out_5539989427522668852[343] = 0; - out_5539989427522668852[344] = 0; - out_5539989427522668852[345] = 0; - out_5539989427522668852[346] = 0; - out_5539989427522668852[347] = 0; - out_5539989427522668852[348] = 0; - out_5539989427522668852[349] = 0; - out_5539989427522668852[350] = 0; - out_5539989427522668852[351] = 0; - out_5539989427522668852[352] = 1; - out_5539989427522668852[353] = 0; - out_5539989427522668852[354] = 0; - out_5539989427522668852[355] = 0; - out_5539989427522668852[356] = 0; - out_5539989427522668852[357] = 0; - out_5539989427522668852[358] = 0; - out_5539989427522668852[359] = 0; - out_5539989427522668852[360] = 0; - out_5539989427522668852[361] = 0; - out_5539989427522668852[362] = 0; - out_5539989427522668852[363] = 0; - out_5539989427522668852[364] = 0; - out_5539989427522668852[365] = 0; - out_5539989427522668852[366] = 0; - out_5539989427522668852[367] = 0; - out_5539989427522668852[368] = 0; - out_5539989427522668852[369] = 0; - out_5539989427522668852[370] = 0; - out_5539989427522668852[371] = 0; - out_5539989427522668852[372] = 0; - out_5539989427522668852[373] = 0; - out_5539989427522668852[374] = 1; - out_5539989427522668852[375] = 0; - out_5539989427522668852[376] = 0; - out_5539989427522668852[377] = 0; - out_5539989427522668852[378] = 0; - out_5539989427522668852[379] = 0; - out_5539989427522668852[380] = 0; - out_5539989427522668852[381] = 0; - out_5539989427522668852[382] = 0; - out_5539989427522668852[383] = 0; - out_5539989427522668852[384] = 0; - out_5539989427522668852[385] = 0; - out_5539989427522668852[386] = 0; - out_5539989427522668852[387] = 0; - out_5539989427522668852[388] = 0; - out_5539989427522668852[389] = 0; - out_5539989427522668852[390] = 0; - out_5539989427522668852[391] = 0; - out_5539989427522668852[392] = 0; - out_5539989427522668852[393] = 0; - out_5539989427522668852[394] = 0; - out_5539989427522668852[395] = 0; - out_5539989427522668852[396] = 1; - out_5539989427522668852[397] = 0; - out_5539989427522668852[398] = 0; - out_5539989427522668852[399] = 0; - out_5539989427522668852[400] = 0; - out_5539989427522668852[401] = 0; - out_5539989427522668852[402] = 0; - out_5539989427522668852[403] = 0; - out_5539989427522668852[404] = 0; - out_5539989427522668852[405] = 0; - out_5539989427522668852[406] = 0; - out_5539989427522668852[407] = 0; - out_5539989427522668852[408] = 0; - out_5539989427522668852[409] = 0; - out_5539989427522668852[410] = 0; - out_5539989427522668852[411] = 0; - out_5539989427522668852[412] = 0; - out_5539989427522668852[413] = 0; - out_5539989427522668852[414] = 0; - out_5539989427522668852[415] = 0; - out_5539989427522668852[416] = 0; - out_5539989427522668852[417] = 0; - out_5539989427522668852[418] = 1; - out_5539989427522668852[419] = 0; - out_5539989427522668852[420] = 0; - out_5539989427522668852[421] = 0; - out_5539989427522668852[422] = 0; - out_5539989427522668852[423] = 0; - out_5539989427522668852[424] = 0; - out_5539989427522668852[425] = 0; - out_5539989427522668852[426] = 0; - out_5539989427522668852[427] = 0; - out_5539989427522668852[428] = 0; - out_5539989427522668852[429] = 0; - out_5539989427522668852[430] = 0; - out_5539989427522668852[431] = 0; - out_5539989427522668852[432] = 0; - out_5539989427522668852[433] = 0; - out_5539989427522668852[434] = 0; - out_5539989427522668852[435] = 0; - out_5539989427522668852[436] = 0; - out_5539989427522668852[437] = 0; - out_5539989427522668852[438] = 0; - out_5539989427522668852[439] = 0; - out_5539989427522668852[440] = 1; +void F_fun(double *state, double dt, double *out_8962950086978682024) { + out_8962950086978682024[0] = 1; + out_8962950086978682024[1] = 0; + out_8962950086978682024[2] = 0; + out_8962950086978682024[3] = 0; + out_8962950086978682024[4] = 0; + out_8962950086978682024[5] = 0; + out_8962950086978682024[6] = dt; + out_8962950086978682024[7] = 0; + out_8962950086978682024[8] = 0; + out_8962950086978682024[9] = 0; + out_8962950086978682024[10] = 0; + out_8962950086978682024[11] = 0; + out_8962950086978682024[12] = 0; + out_8962950086978682024[13] = 0; + out_8962950086978682024[14] = 0; + out_8962950086978682024[15] = 0; + out_8962950086978682024[16] = 0; + out_8962950086978682024[17] = 0; + out_8962950086978682024[18] = 0; + out_8962950086978682024[19] = 0; + out_8962950086978682024[20] = 0; + out_8962950086978682024[21] = 0; + out_8962950086978682024[22] = 1; + out_8962950086978682024[23] = 0; + out_8962950086978682024[24] = 0; + out_8962950086978682024[25] = 0; + out_8962950086978682024[26] = 0; + out_8962950086978682024[27] = 0; + out_8962950086978682024[28] = dt; + out_8962950086978682024[29] = 0; + out_8962950086978682024[30] = 0; + out_8962950086978682024[31] = 0; + out_8962950086978682024[32] = 0; + out_8962950086978682024[33] = 0; + out_8962950086978682024[34] = 0; + out_8962950086978682024[35] = 0; + out_8962950086978682024[36] = 0; + out_8962950086978682024[37] = 0; + out_8962950086978682024[38] = 0; + out_8962950086978682024[39] = 0; + out_8962950086978682024[40] = 0; + out_8962950086978682024[41] = 0; + out_8962950086978682024[42] = 0; + out_8962950086978682024[43] = 0; + out_8962950086978682024[44] = 1; + out_8962950086978682024[45] = 0; + out_8962950086978682024[46] = 0; + out_8962950086978682024[47] = 0; + out_8962950086978682024[48] = 0; + out_8962950086978682024[49] = 0; + out_8962950086978682024[50] = dt; + out_8962950086978682024[51] = 0; + out_8962950086978682024[52] = 0; + out_8962950086978682024[53] = 0; + out_8962950086978682024[54] = 0; + out_8962950086978682024[55] = 0; + out_8962950086978682024[56] = 0; + out_8962950086978682024[57] = 0; + out_8962950086978682024[58] = 0; + out_8962950086978682024[59] = 0; + out_8962950086978682024[60] = 0; + out_8962950086978682024[61] = 0; + out_8962950086978682024[62] = 0; + out_8962950086978682024[63] = 0; + out_8962950086978682024[64] = 0; + out_8962950086978682024[65] = 0; + out_8962950086978682024[66] = 1; + out_8962950086978682024[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_8962950086978682024[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_8962950086978682024[69] = 0; + out_8962950086978682024[70] = 0; + out_8962950086978682024[71] = 0; + out_8962950086978682024[72] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_8962950086978682024[73] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); + out_8962950086978682024[74] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); + out_8962950086978682024[75] = 0; + out_8962950086978682024[76] = 0; + out_8962950086978682024[77] = 0; + out_8962950086978682024[78] = 0; + out_8962950086978682024[79] = 0; + out_8962950086978682024[80] = 0; + out_8962950086978682024[81] = 0; + out_8962950086978682024[82] = 0; + out_8962950086978682024[83] = 0; + out_8962950086978682024[84] = 0; + out_8962950086978682024[85] = 0; + out_8962950086978682024[86] = 0; + out_8962950086978682024[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_8962950086978682024[88] = 1; + out_8962950086978682024[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_8962950086978682024[90] = 0; + out_8962950086978682024[91] = 0; + out_8962950086978682024[92] = 0; + out_8962950086978682024[93] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); + out_8962950086978682024[94] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_8962950086978682024[95] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); + out_8962950086978682024[96] = 0; + out_8962950086978682024[97] = 0; + out_8962950086978682024[98] = 0; + out_8962950086978682024[99] = 0; + out_8962950086978682024[100] = 0; + out_8962950086978682024[101] = 0; + out_8962950086978682024[102] = 0; + out_8962950086978682024[103] = 0; + out_8962950086978682024[104] = 0; + out_8962950086978682024[105] = 0; + out_8962950086978682024[106] = 0; + out_8962950086978682024[107] = 0; + out_8962950086978682024[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_8962950086978682024[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_8962950086978682024[110] = 1; + out_8962950086978682024[111] = 0; + out_8962950086978682024[112] = 0; + out_8962950086978682024[113] = 0; + out_8962950086978682024[114] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); + out_8962950086978682024[115] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); + out_8962950086978682024[116] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_8962950086978682024[117] = 0; + out_8962950086978682024[118] = 0; + out_8962950086978682024[119] = 0; + out_8962950086978682024[120] = 0; + out_8962950086978682024[121] = 0; + out_8962950086978682024[122] = 0; + out_8962950086978682024[123] = 0; + out_8962950086978682024[124] = 0; + out_8962950086978682024[125] = 0; + out_8962950086978682024[126] = 0; + out_8962950086978682024[127] = 0; + out_8962950086978682024[128] = 0; + out_8962950086978682024[129] = 0; + out_8962950086978682024[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_8962950086978682024[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_8962950086978682024[132] = 1; + out_8962950086978682024[133] = 0; + out_8962950086978682024[134] = 0; + out_8962950086978682024[135] = 0; + out_8962950086978682024[136] = 0; + out_8962950086978682024[137] = 0; + out_8962950086978682024[138] = 0; + out_8962950086978682024[139] = 0; + out_8962950086978682024[140] = 0; + out_8962950086978682024[141] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_8962950086978682024[142] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); + out_8962950086978682024[143] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); + out_8962950086978682024[144] = 0; + out_8962950086978682024[145] = 0; + out_8962950086978682024[146] = 0; + out_8962950086978682024[147] = 0; + out_8962950086978682024[148] = 0; + out_8962950086978682024[149] = 0; + out_8962950086978682024[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_8962950086978682024[151] = 0; + out_8962950086978682024[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_8962950086978682024[153] = 0; + out_8962950086978682024[154] = 1; + out_8962950086978682024[155] = 0; + out_8962950086978682024[156] = 0; + out_8962950086978682024[157] = 0; + out_8962950086978682024[158] = 0; + out_8962950086978682024[159] = 0; + out_8962950086978682024[160] = 0; + out_8962950086978682024[161] = 0; + out_8962950086978682024[162] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); + out_8962950086978682024[163] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_8962950086978682024[164] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); + out_8962950086978682024[165] = 0; + out_8962950086978682024[166] = 0; + out_8962950086978682024[167] = 0; + out_8962950086978682024[168] = 0; + out_8962950086978682024[169] = 0; + out_8962950086978682024[170] = 0; + out_8962950086978682024[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_8962950086978682024[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_8962950086978682024[173] = 0; + out_8962950086978682024[174] = 0; + out_8962950086978682024[175] = 0; + out_8962950086978682024[176] = 1; + out_8962950086978682024[177] = 0; + out_8962950086978682024[178] = 0; + out_8962950086978682024[179] = 0; + out_8962950086978682024[180] = 0; + out_8962950086978682024[181] = 0; + out_8962950086978682024[182] = 0; + out_8962950086978682024[183] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); + out_8962950086978682024[184] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); + out_8962950086978682024[185] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_8962950086978682024[186] = 0; + out_8962950086978682024[187] = 0; + out_8962950086978682024[188] = 0; + out_8962950086978682024[189] = 0; + out_8962950086978682024[190] = 0; + out_8962950086978682024[191] = 0; + out_8962950086978682024[192] = 0; + out_8962950086978682024[193] = 0; + out_8962950086978682024[194] = 0; + out_8962950086978682024[195] = 0; + out_8962950086978682024[196] = 0; + out_8962950086978682024[197] = 0; + out_8962950086978682024[198] = 1; + out_8962950086978682024[199] = 0; + out_8962950086978682024[200] = 0; + out_8962950086978682024[201] = 0; + out_8962950086978682024[202] = 0; + out_8962950086978682024[203] = 0; + out_8962950086978682024[204] = 0; + out_8962950086978682024[205] = 0; + out_8962950086978682024[206] = 0; + out_8962950086978682024[207] = 0; + out_8962950086978682024[208] = 0; + out_8962950086978682024[209] = 0; + out_8962950086978682024[210] = 0; + out_8962950086978682024[211] = 0; + out_8962950086978682024[212] = 0; + out_8962950086978682024[213] = 0; + out_8962950086978682024[214] = 0; + out_8962950086978682024[215] = 0; + out_8962950086978682024[216] = 0; + out_8962950086978682024[217] = 0; + out_8962950086978682024[218] = 0; + out_8962950086978682024[219] = 0; + out_8962950086978682024[220] = 1; + out_8962950086978682024[221] = 0; + out_8962950086978682024[222] = 0; + out_8962950086978682024[223] = 0; + out_8962950086978682024[224] = 0; + out_8962950086978682024[225] = 0; + out_8962950086978682024[226] = 0; + out_8962950086978682024[227] = 0; + out_8962950086978682024[228] = 0; + out_8962950086978682024[229] = 0; + out_8962950086978682024[230] = 0; + out_8962950086978682024[231] = 0; + out_8962950086978682024[232] = 0; + out_8962950086978682024[233] = 0; + out_8962950086978682024[234] = 0; + out_8962950086978682024[235] = 0; + out_8962950086978682024[236] = 0; + out_8962950086978682024[237] = 0; + out_8962950086978682024[238] = 0; + out_8962950086978682024[239] = 0; + out_8962950086978682024[240] = 0; + out_8962950086978682024[241] = 0; + out_8962950086978682024[242] = 1; + out_8962950086978682024[243] = 0; + out_8962950086978682024[244] = 0; + out_8962950086978682024[245] = 0; + out_8962950086978682024[246] = 0; + out_8962950086978682024[247] = 0; + out_8962950086978682024[248] = 0; + out_8962950086978682024[249] = 0; + out_8962950086978682024[250] = 0; + out_8962950086978682024[251] = 0; + out_8962950086978682024[252] = 0; + out_8962950086978682024[253] = 0; + out_8962950086978682024[254] = 0; + out_8962950086978682024[255] = 0; + out_8962950086978682024[256] = 0; + out_8962950086978682024[257] = 0; + out_8962950086978682024[258] = 0; + out_8962950086978682024[259] = 0; + out_8962950086978682024[260] = 0; + out_8962950086978682024[261] = 0; + out_8962950086978682024[262] = 0; + out_8962950086978682024[263] = 0; + out_8962950086978682024[264] = 1; + out_8962950086978682024[265] = 0; + out_8962950086978682024[266] = 0; + out_8962950086978682024[267] = 0; + out_8962950086978682024[268] = 0; + out_8962950086978682024[269] = 0; + out_8962950086978682024[270] = 0; + out_8962950086978682024[271] = 0; + out_8962950086978682024[272] = 0; + out_8962950086978682024[273] = 0; + out_8962950086978682024[274] = 0; + out_8962950086978682024[275] = 0; + out_8962950086978682024[276] = 0; + out_8962950086978682024[277] = 0; + out_8962950086978682024[278] = 0; + out_8962950086978682024[279] = 0; + out_8962950086978682024[280] = 0; + out_8962950086978682024[281] = 0; + out_8962950086978682024[282] = 0; + out_8962950086978682024[283] = 0; + out_8962950086978682024[284] = 0; + out_8962950086978682024[285] = 0; + out_8962950086978682024[286] = 1; + out_8962950086978682024[287] = 0; + out_8962950086978682024[288] = 0; + out_8962950086978682024[289] = 0; + out_8962950086978682024[290] = 0; + out_8962950086978682024[291] = 0; + out_8962950086978682024[292] = 0; + out_8962950086978682024[293] = 0; + out_8962950086978682024[294] = 0; + out_8962950086978682024[295] = 0; + out_8962950086978682024[296] = 0; + out_8962950086978682024[297] = 0; + out_8962950086978682024[298] = 0; + out_8962950086978682024[299] = 0; + out_8962950086978682024[300] = 0; + out_8962950086978682024[301] = 0; + out_8962950086978682024[302] = 0; + out_8962950086978682024[303] = 0; + out_8962950086978682024[304] = 0; + out_8962950086978682024[305] = 0; + out_8962950086978682024[306] = 0; + out_8962950086978682024[307] = 0; + out_8962950086978682024[308] = 1; + out_8962950086978682024[309] = 0; + out_8962950086978682024[310] = 0; + out_8962950086978682024[311] = 0; + out_8962950086978682024[312] = 0; + out_8962950086978682024[313] = 0; + out_8962950086978682024[314] = 0; + out_8962950086978682024[315] = 0; + out_8962950086978682024[316] = 0; + out_8962950086978682024[317] = 0; + out_8962950086978682024[318] = 0; + out_8962950086978682024[319] = 0; + out_8962950086978682024[320] = 0; + out_8962950086978682024[321] = 0; + out_8962950086978682024[322] = 0; + out_8962950086978682024[323] = 0; + out_8962950086978682024[324] = 0; + out_8962950086978682024[325] = 0; + out_8962950086978682024[326] = 0; + out_8962950086978682024[327] = 0; + out_8962950086978682024[328] = 0; + out_8962950086978682024[329] = 0; + out_8962950086978682024[330] = 1; + out_8962950086978682024[331] = 0; + out_8962950086978682024[332] = 0; + out_8962950086978682024[333] = 0; + out_8962950086978682024[334] = 0; + out_8962950086978682024[335] = 0; + out_8962950086978682024[336] = 0; + out_8962950086978682024[337] = 0; + out_8962950086978682024[338] = 0; + out_8962950086978682024[339] = 0; + out_8962950086978682024[340] = 0; + out_8962950086978682024[341] = 0; + out_8962950086978682024[342] = 0; + out_8962950086978682024[343] = 0; + out_8962950086978682024[344] = 0; + out_8962950086978682024[345] = 0; + out_8962950086978682024[346] = 0; + out_8962950086978682024[347] = 0; + out_8962950086978682024[348] = 0; + out_8962950086978682024[349] = 0; + out_8962950086978682024[350] = 0; + out_8962950086978682024[351] = 0; + out_8962950086978682024[352] = 1; + out_8962950086978682024[353] = 0; + out_8962950086978682024[354] = 0; + out_8962950086978682024[355] = 0; + out_8962950086978682024[356] = 0; + out_8962950086978682024[357] = 0; + out_8962950086978682024[358] = 0; + out_8962950086978682024[359] = 0; + out_8962950086978682024[360] = 0; + out_8962950086978682024[361] = 0; + out_8962950086978682024[362] = 0; + out_8962950086978682024[363] = 0; + out_8962950086978682024[364] = 0; + out_8962950086978682024[365] = 0; + out_8962950086978682024[366] = 0; + out_8962950086978682024[367] = 0; + out_8962950086978682024[368] = 0; + out_8962950086978682024[369] = 0; + out_8962950086978682024[370] = 0; + out_8962950086978682024[371] = 0; + out_8962950086978682024[372] = 0; + out_8962950086978682024[373] = 0; + out_8962950086978682024[374] = 1; + out_8962950086978682024[375] = 0; + out_8962950086978682024[376] = 0; + out_8962950086978682024[377] = 0; + out_8962950086978682024[378] = 0; + out_8962950086978682024[379] = 0; + out_8962950086978682024[380] = 0; + out_8962950086978682024[381] = 0; + out_8962950086978682024[382] = 0; + out_8962950086978682024[383] = 0; + out_8962950086978682024[384] = 0; + out_8962950086978682024[385] = 0; + out_8962950086978682024[386] = 0; + out_8962950086978682024[387] = 0; + out_8962950086978682024[388] = 0; + out_8962950086978682024[389] = 0; + out_8962950086978682024[390] = 0; + out_8962950086978682024[391] = 0; + out_8962950086978682024[392] = 0; + out_8962950086978682024[393] = 0; + out_8962950086978682024[394] = 0; + out_8962950086978682024[395] = 0; + out_8962950086978682024[396] = 1; + out_8962950086978682024[397] = 0; + out_8962950086978682024[398] = 0; + out_8962950086978682024[399] = 0; + out_8962950086978682024[400] = 0; + out_8962950086978682024[401] = 0; + out_8962950086978682024[402] = 0; + out_8962950086978682024[403] = 0; + out_8962950086978682024[404] = 0; + out_8962950086978682024[405] = 0; + out_8962950086978682024[406] = 0; + out_8962950086978682024[407] = 0; + out_8962950086978682024[408] = 0; + out_8962950086978682024[409] = 0; + out_8962950086978682024[410] = 0; + out_8962950086978682024[411] = 0; + out_8962950086978682024[412] = 0; + out_8962950086978682024[413] = 0; + out_8962950086978682024[414] = 0; + out_8962950086978682024[415] = 0; + out_8962950086978682024[416] = 0; + out_8962950086978682024[417] = 0; + out_8962950086978682024[418] = 1; + out_8962950086978682024[419] = 0; + out_8962950086978682024[420] = 0; + out_8962950086978682024[421] = 0; + out_8962950086978682024[422] = 0; + out_8962950086978682024[423] = 0; + out_8962950086978682024[424] = 0; + out_8962950086978682024[425] = 0; + out_8962950086978682024[426] = 0; + out_8962950086978682024[427] = 0; + out_8962950086978682024[428] = 0; + out_8962950086978682024[429] = 0; + out_8962950086978682024[430] = 0; + out_8962950086978682024[431] = 0; + out_8962950086978682024[432] = 0; + out_8962950086978682024[433] = 0; + out_8962950086978682024[434] = 0; + out_8962950086978682024[435] = 0; + out_8962950086978682024[436] = 0; + out_8962950086978682024[437] = 0; + out_8962950086978682024[438] = 0; + out_8962950086978682024[439] = 0; + out_8962950086978682024[440] = 1; } -void h_4(double *state, double *unused, double *out_819859370756235625) { - out_819859370756235625[0] = state[10] + state[13]; - out_819859370756235625[1] = state[11] + state[14]; - out_819859370756235625[2] = state[12] + state[15]; +void h_4(double *state, double *unused, double *out_1777498685180261346) { + out_1777498685180261346[0] = state[10] + state[13]; + out_1777498685180261346[1] = state[11] + state[14]; + out_1777498685180261346[2] = state[12] + state[15]; } -void H_4(double *state, double *unused, double *out_2871740975048229748) { - out_2871740975048229748[0] = 0; - out_2871740975048229748[1] = 0; - out_2871740975048229748[2] = 0; - out_2871740975048229748[3] = 0; - out_2871740975048229748[4] = 0; - out_2871740975048229748[5] = 0; - out_2871740975048229748[6] = 0; - out_2871740975048229748[7] = 0; - out_2871740975048229748[8] = 0; - out_2871740975048229748[9] = 0; - out_2871740975048229748[10] = 1; - out_2871740975048229748[11] = 0; - out_2871740975048229748[12] = 0; - out_2871740975048229748[13] = 1; - out_2871740975048229748[14] = 0; - out_2871740975048229748[15] = 0; - out_2871740975048229748[16] = 0; - out_2871740975048229748[17] = 0; - out_2871740975048229748[18] = 0; - out_2871740975048229748[19] = 0; - out_2871740975048229748[20] = 0; - out_2871740975048229748[21] = 0; - out_2871740975048229748[22] = 0; - out_2871740975048229748[23] = 0; - out_2871740975048229748[24] = 0; - out_2871740975048229748[25] = 0; - out_2871740975048229748[26] = 0; - out_2871740975048229748[27] = 0; - out_2871740975048229748[28] = 0; - out_2871740975048229748[29] = 0; - out_2871740975048229748[30] = 0; - out_2871740975048229748[31] = 0; - out_2871740975048229748[32] = 0; - out_2871740975048229748[33] = 1; - out_2871740975048229748[34] = 0; - out_2871740975048229748[35] = 0; - out_2871740975048229748[36] = 1; - out_2871740975048229748[37] = 0; - out_2871740975048229748[38] = 0; - out_2871740975048229748[39] = 0; - out_2871740975048229748[40] = 0; - out_2871740975048229748[41] = 0; - out_2871740975048229748[42] = 0; - out_2871740975048229748[43] = 0; - out_2871740975048229748[44] = 0; - out_2871740975048229748[45] = 0; - out_2871740975048229748[46] = 0; - out_2871740975048229748[47] = 0; - out_2871740975048229748[48] = 0; - out_2871740975048229748[49] = 0; - out_2871740975048229748[50] = 0; - out_2871740975048229748[51] = 0; - out_2871740975048229748[52] = 0; - out_2871740975048229748[53] = 0; - out_2871740975048229748[54] = 0; - out_2871740975048229748[55] = 0; - out_2871740975048229748[56] = 1; - out_2871740975048229748[57] = 0; - out_2871740975048229748[58] = 0; - out_2871740975048229748[59] = 1; - out_2871740975048229748[60] = 0; - out_2871740975048229748[61] = 0; - out_2871740975048229748[62] = 0; - out_2871740975048229748[63] = 0; - out_2871740975048229748[64] = 0; - out_2871740975048229748[65] = 0; +void H_4(double *state, double *unused, double *out_4137287014202993190) { + out_4137287014202993190[0] = 0; + out_4137287014202993190[1] = 0; + out_4137287014202993190[2] = 0; + out_4137287014202993190[3] = 0; + out_4137287014202993190[4] = 0; + out_4137287014202993190[5] = 0; + out_4137287014202993190[6] = 0; + out_4137287014202993190[7] = 0; + out_4137287014202993190[8] = 0; + out_4137287014202993190[9] = 0; + out_4137287014202993190[10] = 1; + out_4137287014202993190[11] = 0; + out_4137287014202993190[12] = 0; + out_4137287014202993190[13] = 1; + out_4137287014202993190[14] = 0; + out_4137287014202993190[15] = 0; + out_4137287014202993190[16] = 0; + out_4137287014202993190[17] = 0; + out_4137287014202993190[18] = 0; + out_4137287014202993190[19] = 0; + out_4137287014202993190[20] = 0; + out_4137287014202993190[21] = 0; + out_4137287014202993190[22] = 0; + out_4137287014202993190[23] = 0; + out_4137287014202993190[24] = 0; + out_4137287014202993190[25] = 0; + out_4137287014202993190[26] = 0; + out_4137287014202993190[27] = 0; + out_4137287014202993190[28] = 0; + out_4137287014202993190[29] = 0; + out_4137287014202993190[30] = 0; + out_4137287014202993190[31] = 0; + out_4137287014202993190[32] = 0; + out_4137287014202993190[33] = 1; + out_4137287014202993190[34] = 0; + out_4137287014202993190[35] = 0; + out_4137287014202993190[36] = 1; + out_4137287014202993190[37] = 0; + out_4137287014202993190[38] = 0; + out_4137287014202993190[39] = 0; + out_4137287014202993190[40] = 0; + out_4137287014202993190[41] = 0; + out_4137287014202993190[42] = 0; + out_4137287014202993190[43] = 0; + out_4137287014202993190[44] = 0; + out_4137287014202993190[45] = 0; + out_4137287014202993190[46] = 0; + out_4137287014202993190[47] = 0; + out_4137287014202993190[48] = 0; + out_4137287014202993190[49] = 0; + out_4137287014202993190[50] = 0; + out_4137287014202993190[51] = 0; + out_4137287014202993190[52] = 0; + out_4137287014202993190[53] = 0; + out_4137287014202993190[54] = 0; + out_4137287014202993190[55] = 0; + out_4137287014202993190[56] = 1; + out_4137287014202993190[57] = 0; + out_4137287014202993190[58] = 0; + out_4137287014202993190[59] = 1; + out_4137287014202993190[60] = 0; + out_4137287014202993190[61] = 0; + out_4137287014202993190[62] = 0; + out_4137287014202993190[63] = 0; + out_4137287014202993190[64] = 0; + out_4137287014202993190[65] = 0; } -void h_9(double *state, double *unused, double *out_4802105354618293564) { - out_4802105354618293564[0] = state[10]; - out_4802105354618293564[1] = state[11]; - out_4802105354618293564[2] = state[12]; +void h_9(double *state, double *unused, double *out_4762408851873785060) { + out_4762408851873785060[0] = state[10]; + out_4762408851873785060[1] = state[11]; + out_4762408851873785060[2] = state[12]; } -void H_9(double *state, double *unused, double *out_2630551328418639103) { - out_2630551328418639103[0] = 0; - out_2630551328418639103[1] = 0; - out_2630551328418639103[2] = 0; - out_2630551328418639103[3] = 0; - out_2630551328418639103[4] = 0; - out_2630551328418639103[5] = 0; - out_2630551328418639103[6] = 0; - out_2630551328418639103[7] = 0; - out_2630551328418639103[8] = 0; - out_2630551328418639103[9] = 0; - out_2630551328418639103[10] = 1; - out_2630551328418639103[11] = 0; - out_2630551328418639103[12] = 0; - out_2630551328418639103[13] = 0; - out_2630551328418639103[14] = 0; - out_2630551328418639103[15] = 0; - out_2630551328418639103[16] = 0; - out_2630551328418639103[17] = 0; - out_2630551328418639103[18] = 0; - out_2630551328418639103[19] = 0; - out_2630551328418639103[20] = 0; - out_2630551328418639103[21] = 0; - out_2630551328418639103[22] = 0; - out_2630551328418639103[23] = 0; - out_2630551328418639103[24] = 0; - out_2630551328418639103[25] = 0; - out_2630551328418639103[26] = 0; - out_2630551328418639103[27] = 0; - out_2630551328418639103[28] = 0; - out_2630551328418639103[29] = 0; - out_2630551328418639103[30] = 0; - out_2630551328418639103[31] = 0; - out_2630551328418639103[32] = 0; - out_2630551328418639103[33] = 1; - out_2630551328418639103[34] = 0; - out_2630551328418639103[35] = 0; - out_2630551328418639103[36] = 0; - out_2630551328418639103[37] = 0; - out_2630551328418639103[38] = 0; - out_2630551328418639103[39] = 0; - out_2630551328418639103[40] = 0; - out_2630551328418639103[41] = 0; - out_2630551328418639103[42] = 0; - out_2630551328418639103[43] = 0; - out_2630551328418639103[44] = 0; - out_2630551328418639103[45] = 0; - out_2630551328418639103[46] = 0; - out_2630551328418639103[47] = 0; - out_2630551328418639103[48] = 0; - out_2630551328418639103[49] = 0; - out_2630551328418639103[50] = 0; - out_2630551328418639103[51] = 0; - out_2630551328418639103[52] = 0; - out_2630551328418639103[53] = 0; - out_2630551328418639103[54] = 0; - out_2630551328418639103[55] = 0; - out_2630551328418639103[56] = 1; - out_2630551328418639103[57] = 0; - out_2630551328418639103[58] = 0; - out_2630551328418639103[59] = 0; - out_2630551328418639103[60] = 0; - out_2630551328418639103[61] = 0; - out_2630551328418639103[62] = 0; - out_2630551328418639103[63] = 0; - out_2630551328418639103[64] = 0; - out_2630551328418639103[65] = 0; +void H_9(double *state, double *unused, double *out_4378476660832583835) { + out_4378476660832583835[0] = 0; + out_4378476660832583835[1] = 0; + out_4378476660832583835[2] = 0; + out_4378476660832583835[3] = 0; + out_4378476660832583835[4] = 0; + out_4378476660832583835[5] = 0; + out_4378476660832583835[6] = 0; + out_4378476660832583835[7] = 0; + out_4378476660832583835[8] = 0; + out_4378476660832583835[9] = 0; + out_4378476660832583835[10] = 1; + out_4378476660832583835[11] = 0; + out_4378476660832583835[12] = 0; + out_4378476660832583835[13] = 0; + out_4378476660832583835[14] = 0; + out_4378476660832583835[15] = 0; + out_4378476660832583835[16] = 0; + out_4378476660832583835[17] = 0; + out_4378476660832583835[18] = 0; + out_4378476660832583835[19] = 0; + out_4378476660832583835[20] = 0; + out_4378476660832583835[21] = 0; + out_4378476660832583835[22] = 0; + out_4378476660832583835[23] = 0; + out_4378476660832583835[24] = 0; + out_4378476660832583835[25] = 0; + out_4378476660832583835[26] = 0; + out_4378476660832583835[27] = 0; + out_4378476660832583835[28] = 0; + out_4378476660832583835[29] = 0; + out_4378476660832583835[30] = 0; + out_4378476660832583835[31] = 0; + out_4378476660832583835[32] = 0; + out_4378476660832583835[33] = 1; + out_4378476660832583835[34] = 0; + out_4378476660832583835[35] = 0; + out_4378476660832583835[36] = 0; + out_4378476660832583835[37] = 0; + out_4378476660832583835[38] = 0; + out_4378476660832583835[39] = 0; + out_4378476660832583835[40] = 0; + out_4378476660832583835[41] = 0; + out_4378476660832583835[42] = 0; + out_4378476660832583835[43] = 0; + out_4378476660832583835[44] = 0; + out_4378476660832583835[45] = 0; + out_4378476660832583835[46] = 0; + out_4378476660832583835[47] = 0; + out_4378476660832583835[48] = 0; + out_4378476660832583835[49] = 0; + out_4378476660832583835[50] = 0; + out_4378476660832583835[51] = 0; + out_4378476660832583835[52] = 0; + out_4378476660832583835[53] = 0; + out_4378476660832583835[54] = 0; + out_4378476660832583835[55] = 0; + out_4378476660832583835[56] = 1; + out_4378476660832583835[57] = 0; + out_4378476660832583835[58] = 0; + out_4378476660832583835[59] = 0; + out_4378476660832583835[60] = 0; + out_4378476660832583835[61] = 0; + out_4378476660832583835[62] = 0; + out_4378476660832583835[63] = 0; + out_4378476660832583835[64] = 0; + out_4378476660832583835[65] = 0; } -void h_10(double *state, double *unused, double *out_7610955400709654716) { - out_7610955400709654716[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_7610955400709654716[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_7610955400709654716[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_769477702419128333) { + out_769477702419128333[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_769477702419128333[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_769477702419128333[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_1974782145108752521) { - out_1974782145108752521[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_1974782145108752521[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_1974782145108752521[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_1974782145108752521[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_1974782145108752521[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_1974782145108752521[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_1974782145108752521[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_1974782145108752521[7] = 0; - out_1974782145108752521[8] = 0; - out_1974782145108752521[9] = 0; - out_1974782145108752521[10] = 0; - out_1974782145108752521[11] = 0; - out_1974782145108752521[12] = 0; - out_1974782145108752521[13] = 0; - out_1974782145108752521[14] = 0; - out_1974782145108752521[15] = 0; - out_1974782145108752521[16] = 1; - out_1974782145108752521[17] = 0; - out_1974782145108752521[18] = 0; - out_1974782145108752521[19] = 1; - out_1974782145108752521[20] = 0; - out_1974782145108752521[21] = 0; - out_1974782145108752521[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_1974782145108752521[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_1974782145108752521[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_1974782145108752521[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_1974782145108752521[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_1974782145108752521[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_1974782145108752521[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_1974782145108752521[29] = 0; - out_1974782145108752521[30] = 0; - out_1974782145108752521[31] = 0; - out_1974782145108752521[32] = 0; - out_1974782145108752521[33] = 0; - out_1974782145108752521[34] = 0; - out_1974782145108752521[35] = 0; - out_1974782145108752521[36] = 0; - out_1974782145108752521[37] = 0; - out_1974782145108752521[38] = 0; - out_1974782145108752521[39] = 1; - out_1974782145108752521[40] = 0; - out_1974782145108752521[41] = 0; - out_1974782145108752521[42] = 1; - out_1974782145108752521[43] = 0; - out_1974782145108752521[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_1974782145108752521[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_1974782145108752521[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_1974782145108752521[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_1974782145108752521[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_1974782145108752521[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_1974782145108752521[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_1974782145108752521[51] = 0; - out_1974782145108752521[52] = 0; - out_1974782145108752521[53] = 0; - out_1974782145108752521[54] = 0; - out_1974782145108752521[55] = 0; - out_1974782145108752521[56] = 0; - out_1974782145108752521[57] = 0; - out_1974782145108752521[58] = 0; - out_1974782145108752521[59] = 0; - out_1974782145108752521[60] = 0; - out_1974782145108752521[61] = 0; - out_1974782145108752521[62] = 1; - out_1974782145108752521[63] = 0; - out_1974782145108752521[64] = 0; - out_1974782145108752521[65] = 1; +void H_10(double *state, double *unused, double *out_607115477708369913) { + out_607115477708369913[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_607115477708369913[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_607115477708369913[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_607115477708369913[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_607115477708369913[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_607115477708369913[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_607115477708369913[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_607115477708369913[7] = 0; + out_607115477708369913[8] = 0; + out_607115477708369913[9] = 0; + out_607115477708369913[10] = 0; + out_607115477708369913[11] = 0; + out_607115477708369913[12] = 0; + out_607115477708369913[13] = 0; + out_607115477708369913[14] = 0; + out_607115477708369913[15] = 0; + out_607115477708369913[16] = 1; + out_607115477708369913[17] = 0; + out_607115477708369913[18] = 0; + out_607115477708369913[19] = 1; + out_607115477708369913[20] = 0; + out_607115477708369913[21] = 0; + out_607115477708369913[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_607115477708369913[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_607115477708369913[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_607115477708369913[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_607115477708369913[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_607115477708369913[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_607115477708369913[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_607115477708369913[29] = 0; + out_607115477708369913[30] = 0; + out_607115477708369913[31] = 0; + out_607115477708369913[32] = 0; + out_607115477708369913[33] = 0; + out_607115477708369913[34] = 0; + out_607115477708369913[35] = 0; + out_607115477708369913[36] = 0; + out_607115477708369913[37] = 0; + out_607115477708369913[38] = 0; + out_607115477708369913[39] = 1; + out_607115477708369913[40] = 0; + out_607115477708369913[41] = 0; + out_607115477708369913[42] = 1; + out_607115477708369913[43] = 0; + out_607115477708369913[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_607115477708369913[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_607115477708369913[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_607115477708369913[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_607115477708369913[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_607115477708369913[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_607115477708369913[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_607115477708369913[51] = 0; + out_607115477708369913[52] = 0; + out_607115477708369913[53] = 0; + out_607115477708369913[54] = 0; + out_607115477708369913[55] = 0; + out_607115477708369913[56] = 0; + out_607115477708369913[57] = 0; + out_607115477708369913[58] = 0; + out_607115477708369913[59] = 0; + out_607115477708369913[60] = 0; + out_607115477708369913[61] = 0; + out_607115477708369913[62] = 1; + out_607115477708369913[63] = 0; + out_607115477708369913[64] = 0; + out_607115477708369913[65] = 1; } -void h_12(double *state, double *unused, double *out_1634941094875625440) { - out_1634941094875625440[0] = state[0]; - out_1634941094875625440[1] = state[1]; - out_1634941094875625440[2] = state[2]; +void h_12(double *state, double *unused, double *out_5594886434556651779) { + out_5594886434556651779[0] = state[0]; + out_5594886434556651779[1] = state[1]; + out_5594886434556651779[2] = state[2]; } -void H_12(double *state, double *unused, double *out_2147715432983732047) { - out_2147715432983732047[0] = 1; - out_2147715432983732047[1] = 0; - out_2147715432983732047[2] = 0; - out_2147715432983732047[3] = 0; - out_2147715432983732047[4] = 0; - out_2147715432983732047[5] = 0; - out_2147715432983732047[6] = 0; - out_2147715432983732047[7] = 0; - out_2147715432983732047[8] = 0; - out_2147715432983732047[9] = 0; - out_2147715432983732047[10] = 0; - out_2147715432983732047[11] = 0; - out_2147715432983732047[12] = 0; - out_2147715432983732047[13] = 0; - out_2147715432983732047[14] = 0; - out_2147715432983732047[15] = 0; - out_2147715432983732047[16] = 0; - out_2147715432983732047[17] = 0; - out_2147715432983732047[18] = 0; - out_2147715432983732047[19] = 0; - out_2147715432983732047[20] = 0; - out_2147715432983732047[21] = 0; - out_2147715432983732047[22] = 0; - out_2147715432983732047[23] = 1; - out_2147715432983732047[24] = 0; - out_2147715432983732047[25] = 0; - out_2147715432983732047[26] = 0; - out_2147715432983732047[27] = 0; - out_2147715432983732047[28] = 0; - out_2147715432983732047[29] = 0; - out_2147715432983732047[30] = 0; - out_2147715432983732047[31] = 0; - out_2147715432983732047[32] = 0; - out_2147715432983732047[33] = 0; - out_2147715432983732047[34] = 0; - out_2147715432983732047[35] = 0; - out_2147715432983732047[36] = 0; - out_2147715432983732047[37] = 0; - out_2147715432983732047[38] = 0; - out_2147715432983732047[39] = 0; - out_2147715432983732047[40] = 0; - out_2147715432983732047[41] = 0; - out_2147715432983732047[42] = 0; - out_2147715432983732047[43] = 0; - out_2147715432983732047[44] = 0; - out_2147715432983732047[45] = 0; - out_2147715432983732047[46] = 1; - out_2147715432983732047[47] = 0; - out_2147715432983732047[48] = 0; - out_2147715432983732047[49] = 0; - out_2147715432983732047[50] = 0; - out_2147715432983732047[51] = 0; - out_2147715432983732047[52] = 0; - out_2147715432983732047[53] = 0; - out_2147715432983732047[54] = 0; - out_2147715432983732047[55] = 0; - out_2147715432983732047[56] = 0; - out_2147715432983732047[57] = 0; - out_2147715432983732047[58] = 0; - out_2147715432983732047[59] = 0; - out_2147715432983732047[60] = 0; - out_2147715432983732047[61] = 0; - out_2147715432983732047[62] = 0; - out_2147715432983732047[63] = 0; - out_2147715432983732047[64] = 0; - out_2147715432983732047[65] = 0; +void H_12(double *state, double *unused, double *out_9156743422234954985) { + out_9156743422234954985[0] = 1; + out_9156743422234954985[1] = 0; + out_9156743422234954985[2] = 0; + out_9156743422234954985[3] = 0; + out_9156743422234954985[4] = 0; + out_9156743422234954985[5] = 0; + out_9156743422234954985[6] = 0; + out_9156743422234954985[7] = 0; + out_9156743422234954985[8] = 0; + out_9156743422234954985[9] = 0; + out_9156743422234954985[10] = 0; + out_9156743422234954985[11] = 0; + out_9156743422234954985[12] = 0; + out_9156743422234954985[13] = 0; + out_9156743422234954985[14] = 0; + out_9156743422234954985[15] = 0; + out_9156743422234954985[16] = 0; + out_9156743422234954985[17] = 0; + out_9156743422234954985[18] = 0; + out_9156743422234954985[19] = 0; + out_9156743422234954985[20] = 0; + out_9156743422234954985[21] = 0; + out_9156743422234954985[22] = 0; + out_9156743422234954985[23] = 1; + out_9156743422234954985[24] = 0; + out_9156743422234954985[25] = 0; + out_9156743422234954985[26] = 0; + out_9156743422234954985[27] = 0; + out_9156743422234954985[28] = 0; + out_9156743422234954985[29] = 0; + out_9156743422234954985[30] = 0; + out_9156743422234954985[31] = 0; + out_9156743422234954985[32] = 0; + out_9156743422234954985[33] = 0; + out_9156743422234954985[34] = 0; + out_9156743422234954985[35] = 0; + out_9156743422234954985[36] = 0; + out_9156743422234954985[37] = 0; + out_9156743422234954985[38] = 0; + out_9156743422234954985[39] = 0; + out_9156743422234954985[40] = 0; + out_9156743422234954985[41] = 0; + out_9156743422234954985[42] = 0; + out_9156743422234954985[43] = 0; + out_9156743422234954985[44] = 0; + out_9156743422234954985[45] = 0; + out_9156743422234954985[46] = 1; + out_9156743422234954985[47] = 0; + out_9156743422234954985[48] = 0; + out_9156743422234954985[49] = 0; + out_9156743422234954985[50] = 0; + out_9156743422234954985[51] = 0; + out_9156743422234954985[52] = 0; + out_9156743422234954985[53] = 0; + out_9156743422234954985[54] = 0; + out_9156743422234954985[55] = 0; + out_9156743422234954985[56] = 0; + out_9156743422234954985[57] = 0; + out_9156743422234954985[58] = 0; + out_9156743422234954985[59] = 0; + out_9156743422234954985[60] = 0; + out_9156743422234954985[61] = 0; + out_9156743422234954985[62] = 0; + out_9156743422234954985[63] = 0; + out_9156743422234954985[64] = 0; + out_9156743422234954985[65] = 0; } -void h_35(double *state, double *unused, double *out_5460157810480551459) { - out_5460157810480551459[0] = state[7]; - out_5460157810480551459[1] = state[8]; - out_5460157810480551459[2] = state[9]; +void h_35(double *state, double *unused, double *out_7828238170709544847) { + out_7828238170709544847[0] = state[7]; + out_7828238170709544847[1] = state[8]; + out_7828238170709544847[2] = state[9]; } -void H_35(double *state, double *unused, double *out_4893278465308745756) { - out_4893278465308745756[0] = 0; - out_4893278465308745756[1] = 0; - out_4893278465308745756[2] = 0; - out_4893278465308745756[3] = 0; - out_4893278465308745756[4] = 0; - out_4893278465308745756[5] = 0; - out_4893278465308745756[6] = 0; - out_4893278465308745756[7] = 1; - out_4893278465308745756[8] = 0; - out_4893278465308745756[9] = 0; - out_4893278465308745756[10] = 0; - out_4893278465308745756[11] = 0; - out_4893278465308745756[12] = 0; - out_4893278465308745756[13] = 0; - out_4893278465308745756[14] = 0; - out_4893278465308745756[15] = 0; - out_4893278465308745756[16] = 0; - out_4893278465308745756[17] = 0; - out_4893278465308745756[18] = 0; - out_4893278465308745756[19] = 0; - out_4893278465308745756[20] = 0; - out_4893278465308745756[21] = 0; - out_4893278465308745756[22] = 0; - out_4893278465308745756[23] = 0; - out_4893278465308745756[24] = 0; - out_4893278465308745756[25] = 0; - out_4893278465308745756[26] = 0; - out_4893278465308745756[27] = 0; - out_4893278465308745756[28] = 0; - out_4893278465308745756[29] = 0; - out_4893278465308745756[30] = 1; - out_4893278465308745756[31] = 0; - out_4893278465308745756[32] = 0; - out_4893278465308745756[33] = 0; - out_4893278465308745756[34] = 0; - out_4893278465308745756[35] = 0; - out_4893278465308745756[36] = 0; - out_4893278465308745756[37] = 0; - out_4893278465308745756[38] = 0; - out_4893278465308745756[39] = 0; - out_4893278465308745756[40] = 0; - out_4893278465308745756[41] = 0; - out_4893278465308745756[42] = 0; - out_4893278465308745756[43] = 0; - out_4893278465308745756[44] = 0; - out_4893278465308745756[45] = 0; - out_4893278465308745756[46] = 0; - out_4893278465308745756[47] = 0; - out_4893278465308745756[48] = 0; - out_4893278465308745756[49] = 0; - out_4893278465308745756[50] = 0; - out_4893278465308745756[51] = 0; - out_4893278465308745756[52] = 0; - out_4893278465308745756[53] = 1; - out_4893278465308745756[54] = 0; - out_4893278465308745756[55] = 0; - out_4893278465308745756[56] = 0; - out_4893278465308745756[57] = 0; - out_4893278465308745756[58] = 0; - out_4893278465308745756[59] = 0; - out_4893278465308745756[60] = 0; - out_4893278465308745756[61] = 0; - out_4893278465308745756[62] = 0; - out_4893278465308745756[63] = 0; - out_4893278465308745756[64] = 0; - out_4893278465308745756[65] = 0; +void H_35(double *state, double *unused, double *out_7503949071575600566) { + out_7503949071575600566[0] = 0; + out_7503949071575600566[1] = 0; + out_7503949071575600566[2] = 0; + out_7503949071575600566[3] = 0; + out_7503949071575600566[4] = 0; + out_7503949071575600566[5] = 0; + out_7503949071575600566[6] = 0; + out_7503949071575600566[7] = 1; + out_7503949071575600566[8] = 0; + out_7503949071575600566[9] = 0; + out_7503949071575600566[10] = 0; + out_7503949071575600566[11] = 0; + out_7503949071575600566[12] = 0; + out_7503949071575600566[13] = 0; + out_7503949071575600566[14] = 0; + out_7503949071575600566[15] = 0; + out_7503949071575600566[16] = 0; + out_7503949071575600566[17] = 0; + out_7503949071575600566[18] = 0; + out_7503949071575600566[19] = 0; + out_7503949071575600566[20] = 0; + out_7503949071575600566[21] = 0; + out_7503949071575600566[22] = 0; + out_7503949071575600566[23] = 0; + out_7503949071575600566[24] = 0; + out_7503949071575600566[25] = 0; + out_7503949071575600566[26] = 0; + out_7503949071575600566[27] = 0; + out_7503949071575600566[28] = 0; + out_7503949071575600566[29] = 0; + out_7503949071575600566[30] = 1; + out_7503949071575600566[31] = 0; + out_7503949071575600566[32] = 0; + out_7503949071575600566[33] = 0; + out_7503949071575600566[34] = 0; + out_7503949071575600566[35] = 0; + out_7503949071575600566[36] = 0; + out_7503949071575600566[37] = 0; + out_7503949071575600566[38] = 0; + out_7503949071575600566[39] = 0; + out_7503949071575600566[40] = 0; + out_7503949071575600566[41] = 0; + out_7503949071575600566[42] = 0; + out_7503949071575600566[43] = 0; + out_7503949071575600566[44] = 0; + out_7503949071575600566[45] = 0; + out_7503949071575600566[46] = 0; + out_7503949071575600566[47] = 0; + out_7503949071575600566[48] = 0; + out_7503949071575600566[49] = 0; + out_7503949071575600566[50] = 0; + out_7503949071575600566[51] = 0; + out_7503949071575600566[52] = 0; + out_7503949071575600566[53] = 1; + out_7503949071575600566[54] = 0; + out_7503949071575600566[55] = 0; + out_7503949071575600566[56] = 0; + out_7503949071575600566[57] = 0; + out_7503949071575600566[58] = 0; + out_7503949071575600566[59] = 0; + out_7503949071575600566[60] = 0; + out_7503949071575600566[61] = 0; + out_7503949071575600566[62] = 0; + out_7503949071575600566[63] = 0; + out_7503949071575600566[64] = 0; + out_7503949071575600566[65] = 0; } -void h_32(double *state, double *unused, double *out_5557633069685588267) { - out_5557633069685588267[0] = state[3]; - out_5557633069685588267[1] = state[4]; - out_5557633069685588267[2] = state[5]; - out_5557633069685588267[3] = state[6]; +void h_32(double *state, double *unused, double *out_1198587467706715008) { + out_1198587467706715008[0] = state[3]; + out_1198587467706715008[1] = state[4]; + out_1198587467706715008[2] = state[5]; + out_1198587467706715008[3] = state[6]; } -void H_32(double *state, double *unused, double *out_7752161236193193302) { - out_7752161236193193302[0] = 0; - out_7752161236193193302[1] = 0; - out_7752161236193193302[2] = 0; - out_7752161236193193302[3] = 1; - out_7752161236193193302[4] = 0; - out_7752161236193193302[5] = 0; - out_7752161236193193302[6] = 0; - out_7752161236193193302[7] = 0; - out_7752161236193193302[8] = 0; - out_7752161236193193302[9] = 0; - out_7752161236193193302[10] = 0; - out_7752161236193193302[11] = 0; - out_7752161236193193302[12] = 0; - out_7752161236193193302[13] = 0; - out_7752161236193193302[14] = 0; - out_7752161236193193302[15] = 0; - out_7752161236193193302[16] = 0; - out_7752161236193193302[17] = 0; - out_7752161236193193302[18] = 0; - out_7752161236193193302[19] = 0; - out_7752161236193193302[20] = 0; - out_7752161236193193302[21] = 0; - out_7752161236193193302[22] = 0; - out_7752161236193193302[23] = 0; - out_7752161236193193302[24] = 0; - out_7752161236193193302[25] = 0; - out_7752161236193193302[26] = 1; - out_7752161236193193302[27] = 0; - out_7752161236193193302[28] = 0; - out_7752161236193193302[29] = 0; - out_7752161236193193302[30] = 0; - out_7752161236193193302[31] = 0; - out_7752161236193193302[32] = 0; - out_7752161236193193302[33] = 0; - out_7752161236193193302[34] = 0; - out_7752161236193193302[35] = 0; - out_7752161236193193302[36] = 0; - out_7752161236193193302[37] = 0; - out_7752161236193193302[38] = 0; - out_7752161236193193302[39] = 0; - out_7752161236193193302[40] = 0; - out_7752161236193193302[41] = 0; - out_7752161236193193302[42] = 0; - out_7752161236193193302[43] = 0; - out_7752161236193193302[44] = 0; - out_7752161236193193302[45] = 0; - out_7752161236193193302[46] = 0; - out_7752161236193193302[47] = 0; - out_7752161236193193302[48] = 0; - out_7752161236193193302[49] = 1; - out_7752161236193193302[50] = 0; - out_7752161236193193302[51] = 0; - out_7752161236193193302[52] = 0; - out_7752161236193193302[53] = 0; - out_7752161236193193302[54] = 0; - out_7752161236193193302[55] = 0; - out_7752161236193193302[56] = 0; - out_7752161236193193302[57] = 0; - out_7752161236193193302[58] = 0; - out_7752161236193193302[59] = 0; - out_7752161236193193302[60] = 0; - out_7752161236193193302[61] = 0; - out_7752161236193193302[62] = 0; - out_7752161236193193302[63] = 0; - out_7752161236193193302[64] = 0; - out_7752161236193193302[65] = 0; - out_7752161236193193302[66] = 0; - out_7752161236193193302[67] = 0; - out_7752161236193193302[68] = 0; - out_7752161236193193302[69] = 0; - out_7752161236193193302[70] = 0; - out_7752161236193193302[71] = 0; - out_7752161236193193302[72] = 1; - out_7752161236193193302[73] = 0; - out_7752161236193193302[74] = 0; - out_7752161236193193302[75] = 0; - out_7752161236193193302[76] = 0; - out_7752161236193193302[77] = 0; - out_7752161236193193302[78] = 0; - out_7752161236193193302[79] = 0; - out_7752161236193193302[80] = 0; - out_7752161236193193302[81] = 0; - out_7752161236193193302[82] = 0; - out_7752161236193193302[83] = 0; - out_7752161236193193302[84] = 0; - out_7752161236193193302[85] = 0; - out_7752161236193193302[86] = 0; - out_7752161236193193302[87] = 0; +void H_32(double *state, double *unused, double *out_5141490629926338492) { + out_5141490629926338492[0] = 0; + out_5141490629926338492[1] = 0; + out_5141490629926338492[2] = 0; + out_5141490629926338492[3] = 1; + out_5141490629926338492[4] = 0; + out_5141490629926338492[5] = 0; + out_5141490629926338492[6] = 0; + out_5141490629926338492[7] = 0; + out_5141490629926338492[8] = 0; + out_5141490629926338492[9] = 0; + out_5141490629926338492[10] = 0; + out_5141490629926338492[11] = 0; + out_5141490629926338492[12] = 0; + out_5141490629926338492[13] = 0; + out_5141490629926338492[14] = 0; + out_5141490629926338492[15] = 0; + out_5141490629926338492[16] = 0; + out_5141490629926338492[17] = 0; + out_5141490629926338492[18] = 0; + out_5141490629926338492[19] = 0; + out_5141490629926338492[20] = 0; + out_5141490629926338492[21] = 0; + out_5141490629926338492[22] = 0; + out_5141490629926338492[23] = 0; + out_5141490629926338492[24] = 0; + out_5141490629926338492[25] = 0; + out_5141490629926338492[26] = 1; + out_5141490629926338492[27] = 0; + out_5141490629926338492[28] = 0; + out_5141490629926338492[29] = 0; + out_5141490629926338492[30] = 0; + out_5141490629926338492[31] = 0; + out_5141490629926338492[32] = 0; + out_5141490629926338492[33] = 0; + out_5141490629926338492[34] = 0; + out_5141490629926338492[35] = 0; + out_5141490629926338492[36] = 0; + out_5141490629926338492[37] = 0; + out_5141490629926338492[38] = 0; + out_5141490629926338492[39] = 0; + out_5141490629926338492[40] = 0; + out_5141490629926338492[41] = 0; + out_5141490629926338492[42] = 0; + out_5141490629926338492[43] = 0; + out_5141490629926338492[44] = 0; + out_5141490629926338492[45] = 0; + out_5141490629926338492[46] = 0; + out_5141490629926338492[47] = 0; + out_5141490629926338492[48] = 0; + out_5141490629926338492[49] = 1; + out_5141490629926338492[50] = 0; + out_5141490629926338492[51] = 0; + out_5141490629926338492[52] = 0; + out_5141490629926338492[53] = 0; + out_5141490629926338492[54] = 0; + out_5141490629926338492[55] = 0; + out_5141490629926338492[56] = 0; + out_5141490629926338492[57] = 0; + out_5141490629926338492[58] = 0; + out_5141490629926338492[59] = 0; + out_5141490629926338492[60] = 0; + out_5141490629926338492[61] = 0; + out_5141490629926338492[62] = 0; + out_5141490629926338492[63] = 0; + out_5141490629926338492[64] = 0; + out_5141490629926338492[65] = 0; + out_5141490629926338492[66] = 0; + out_5141490629926338492[67] = 0; + out_5141490629926338492[68] = 0; + out_5141490629926338492[69] = 0; + out_5141490629926338492[70] = 0; + out_5141490629926338492[71] = 0; + out_5141490629926338492[72] = 1; + out_5141490629926338492[73] = 0; + out_5141490629926338492[74] = 0; + out_5141490629926338492[75] = 0; + out_5141490629926338492[76] = 0; + out_5141490629926338492[77] = 0; + out_5141490629926338492[78] = 0; + out_5141490629926338492[79] = 0; + out_5141490629926338492[80] = 0; + out_5141490629926338492[81] = 0; + out_5141490629926338492[82] = 0; + out_5141490629926338492[83] = 0; + out_5141490629926338492[84] = 0; + out_5141490629926338492[85] = 0; + out_5141490629926338492[86] = 0; + out_5141490629926338492[87] = 0; } -void h_13(double *state, double *unused, double *out_2477464069165319992) { - out_2477464069165319992[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_2477464069165319992[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_2477464069165319992[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_4446144489578117053) { + out_4446144489578117053[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_4446144489578117053[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_4446144489578117053[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_8540249629042519317) { - out_8540249629042519317[0] = 0; - out_8540249629042519317[1] = 0; - out_8540249629042519317[2] = 0; - out_8540249629042519317[3] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; - out_8540249629042519317[4] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; - out_8540249629042519317[5] = -2*state[3]*state[9] + 2*state[4]*state[8] - 2*state[5]*state[7]; - out_8540249629042519317[6] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; - out_8540249629042519317[7] = pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2); - out_8540249629042519317[8] = 2*state[3]*state[6] + 2*state[4]*state[5]; - out_8540249629042519317[9] = -2*state[3]*state[5] + 2*state[4]*state[6]; - out_8540249629042519317[10] = 0; - out_8540249629042519317[11] = 0; - out_8540249629042519317[12] = 0; - out_8540249629042519317[13] = 0; - out_8540249629042519317[14] = 0; - out_8540249629042519317[15] = 0; - out_8540249629042519317[16] = 0; - out_8540249629042519317[17] = 0; - out_8540249629042519317[18] = 0; - out_8540249629042519317[19] = 0; - out_8540249629042519317[20] = 0; - out_8540249629042519317[21] = 0; - out_8540249629042519317[22] = 0; - out_8540249629042519317[23] = 0; - out_8540249629042519317[24] = 0; - out_8540249629042519317[25] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; - out_8540249629042519317[26] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; - out_8540249629042519317[27] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; - out_8540249629042519317[28] = -2*state[3]*state[7] + 2*state[5]*state[9] - 2*state[6]*state[8]; - out_8540249629042519317[29] = -2*state[3]*state[6] + 2*state[4]*state[5]; - out_8540249629042519317[30] = pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2); - out_8540249629042519317[31] = 2*state[3]*state[4] + 2*state[5]*state[6]; - out_8540249629042519317[32] = 0; - out_8540249629042519317[33] = 0; - out_8540249629042519317[34] = 0; - out_8540249629042519317[35] = 0; - out_8540249629042519317[36] = 0; - out_8540249629042519317[37] = 0; - out_8540249629042519317[38] = 0; - out_8540249629042519317[39] = 0; - out_8540249629042519317[40] = 0; - out_8540249629042519317[41] = 0; - out_8540249629042519317[42] = 0; - out_8540249629042519317[43] = 0; - out_8540249629042519317[44] = 0; - out_8540249629042519317[45] = 0; - out_8540249629042519317[46] = 0; - out_8540249629042519317[47] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; - out_8540249629042519317[48] = -2*state[3]*state[8] - 2*state[4]*state[9] + 2*state[6]*state[7]; - out_8540249629042519317[49] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; - out_8540249629042519317[50] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; - out_8540249629042519317[51] = 2*state[3]*state[5] + 2*state[4]*state[6]; - out_8540249629042519317[52] = -2*state[3]*state[4] + 2*state[5]*state[6]; - out_8540249629042519317[53] = pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2); - out_8540249629042519317[54] = 0; - out_8540249629042519317[55] = 0; - out_8540249629042519317[56] = 0; - out_8540249629042519317[57] = 0; - out_8540249629042519317[58] = 0; - out_8540249629042519317[59] = 0; - out_8540249629042519317[60] = 0; - out_8540249629042519317[61] = 0; - out_8540249629042519317[62] = 0; - out_8540249629042519317[63] = 0; - out_8540249629042519317[64] = 0; - out_8540249629042519317[65] = 0; +void H_13(double *state, double *unused, double *out_8954114104359138418) { + out_8954114104359138418[0] = 0; + out_8954114104359138418[1] = 0; + out_8954114104359138418[2] = 0; + out_8954114104359138418[3] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; + out_8954114104359138418[4] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_8954114104359138418[5] = -2*state[3]*state[9] + 2*state[4]*state[8] - 2*state[5]*state[7]; + out_8954114104359138418[6] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; + out_8954114104359138418[7] = pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2); + out_8954114104359138418[8] = 2*state[3]*state[6] + 2*state[4]*state[5]; + out_8954114104359138418[9] = -2*state[3]*state[5] + 2*state[4]*state[6]; + out_8954114104359138418[10] = 0; + out_8954114104359138418[11] = 0; + out_8954114104359138418[12] = 0; + out_8954114104359138418[13] = 0; + out_8954114104359138418[14] = 0; + out_8954114104359138418[15] = 0; + out_8954114104359138418[16] = 0; + out_8954114104359138418[17] = 0; + out_8954114104359138418[18] = 0; + out_8954114104359138418[19] = 0; + out_8954114104359138418[20] = 0; + out_8954114104359138418[21] = 0; + out_8954114104359138418[22] = 0; + out_8954114104359138418[23] = 0; + out_8954114104359138418[24] = 0; + out_8954114104359138418[25] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; + out_8954114104359138418[26] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; + out_8954114104359138418[27] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_8954114104359138418[28] = -2*state[3]*state[7] + 2*state[5]*state[9] - 2*state[6]*state[8]; + out_8954114104359138418[29] = -2*state[3]*state[6] + 2*state[4]*state[5]; + out_8954114104359138418[30] = pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2); + out_8954114104359138418[31] = 2*state[3]*state[4] + 2*state[5]*state[6]; + out_8954114104359138418[32] = 0; + out_8954114104359138418[33] = 0; + out_8954114104359138418[34] = 0; + out_8954114104359138418[35] = 0; + out_8954114104359138418[36] = 0; + out_8954114104359138418[37] = 0; + out_8954114104359138418[38] = 0; + out_8954114104359138418[39] = 0; + out_8954114104359138418[40] = 0; + out_8954114104359138418[41] = 0; + out_8954114104359138418[42] = 0; + out_8954114104359138418[43] = 0; + out_8954114104359138418[44] = 0; + out_8954114104359138418[45] = 0; + out_8954114104359138418[46] = 0; + out_8954114104359138418[47] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; + out_8954114104359138418[48] = -2*state[3]*state[8] - 2*state[4]*state[9] + 2*state[6]*state[7]; + out_8954114104359138418[49] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; + out_8954114104359138418[50] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_8954114104359138418[51] = 2*state[3]*state[5] + 2*state[4]*state[6]; + out_8954114104359138418[52] = -2*state[3]*state[4] + 2*state[5]*state[6]; + out_8954114104359138418[53] = pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2); + out_8954114104359138418[54] = 0; + out_8954114104359138418[55] = 0; + out_8954114104359138418[56] = 0; + out_8954114104359138418[57] = 0; + out_8954114104359138418[58] = 0; + out_8954114104359138418[59] = 0; + out_8954114104359138418[60] = 0; + out_8954114104359138418[61] = 0; + out_8954114104359138418[62] = 0; + out_8954114104359138418[63] = 0; + out_8954114104359138418[64] = 0; + out_8954114104359138418[65] = 0; } -void h_14(double *state, double *unused, double *out_4802105354618293564) { - out_4802105354618293564[0] = state[10]; - out_4802105354618293564[1] = state[11]; - out_4802105354618293564[2] = state[12]; +void h_14(double *state, double *unused, double *out_4762408851873785060) { + out_4762408851873785060[0] = state[10]; + out_4762408851873785060[1] = state[11]; + out_4762408851873785060[2] = state[12]; } -void H_14(double *state, double *unused, double *out_2630551328418639103) { - out_2630551328418639103[0] = 0; - out_2630551328418639103[1] = 0; - out_2630551328418639103[2] = 0; - out_2630551328418639103[3] = 0; - out_2630551328418639103[4] = 0; - out_2630551328418639103[5] = 0; - out_2630551328418639103[6] = 0; - out_2630551328418639103[7] = 0; - out_2630551328418639103[8] = 0; - out_2630551328418639103[9] = 0; - out_2630551328418639103[10] = 1; - out_2630551328418639103[11] = 0; - out_2630551328418639103[12] = 0; - out_2630551328418639103[13] = 0; - out_2630551328418639103[14] = 0; - out_2630551328418639103[15] = 0; - out_2630551328418639103[16] = 0; - out_2630551328418639103[17] = 0; - out_2630551328418639103[18] = 0; - out_2630551328418639103[19] = 0; - out_2630551328418639103[20] = 0; - out_2630551328418639103[21] = 0; - out_2630551328418639103[22] = 0; - out_2630551328418639103[23] = 0; - out_2630551328418639103[24] = 0; - out_2630551328418639103[25] = 0; - out_2630551328418639103[26] = 0; - out_2630551328418639103[27] = 0; - out_2630551328418639103[28] = 0; - out_2630551328418639103[29] = 0; - out_2630551328418639103[30] = 0; - out_2630551328418639103[31] = 0; - out_2630551328418639103[32] = 0; - out_2630551328418639103[33] = 1; - out_2630551328418639103[34] = 0; - out_2630551328418639103[35] = 0; - out_2630551328418639103[36] = 0; - out_2630551328418639103[37] = 0; - out_2630551328418639103[38] = 0; - out_2630551328418639103[39] = 0; - out_2630551328418639103[40] = 0; - out_2630551328418639103[41] = 0; - out_2630551328418639103[42] = 0; - out_2630551328418639103[43] = 0; - out_2630551328418639103[44] = 0; - out_2630551328418639103[45] = 0; - out_2630551328418639103[46] = 0; - out_2630551328418639103[47] = 0; - out_2630551328418639103[48] = 0; - out_2630551328418639103[49] = 0; - out_2630551328418639103[50] = 0; - out_2630551328418639103[51] = 0; - out_2630551328418639103[52] = 0; - out_2630551328418639103[53] = 0; - out_2630551328418639103[54] = 0; - out_2630551328418639103[55] = 0; - out_2630551328418639103[56] = 1; - out_2630551328418639103[57] = 0; - out_2630551328418639103[58] = 0; - out_2630551328418639103[59] = 0; - out_2630551328418639103[60] = 0; - out_2630551328418639103[61] = 0; - out_2630551328418639103[62] = 0; - out_2630551328418639103[63] = 0; - out_2630551328418639103[64] = 0; - out_2630551328418639103[65] = 0; +void H_14(double *state, double *unused, double *out_4378476660832583835) { + out_4378476660832583835[0] = 0; + out_4378476660832583835[1] = 0; + out_4378476660832583835[2] = 0; + out_4378476660832583835[3] = 0; + out_4378476660832583835[4] = 0; + out_4378476660832583835[5] = 0; + out_4378476660832583835[6] = 0; + out_4378476660832583835[7] = 0; + out_4378476660832583835[8] = 0; + out_4378476660832583835[9] = 0; + out_4378476660832583835[10] = 1; + out_4378476660832583835[11] = 0; + out_4378476660832583835[12] = 0; + out_4378476660832583835[13] = 0; + out_4378476660832583835[14] = 0; + out_4378476660832583835[15] = 0; + out_4378476660832583835[16] = 0; + out_4378476660832583835[17] = 0; + out_4378476660832583835[18] = 0; + out_4378476660832583835[19] = 0; + out_4378476660832583835[20] = 0; + out_4378476660832583835[21] = 0; + out_4378476660832583835[22] = 0; + out_4378476660832583835[23] = 0; + out_4378476660832583835[24] = 0; + out_4378476660832583835[25] = 0; + out_4378476660832583835[26] = 0; + out_4378476660832583835[27] = 0; + out_4378476660832583835[28] = 0; + out_4378476660832583835[29] = 0; + out_4378476660832583835[30] = 0; + out_4378476660832583835[31] = 0; + out_4378476660832583835[32] = 0; + out_4378476660832583835[33] = 1; + out_4378476660832583835[34] = 0; + out_4378476660832583835[35] = 0; + out_4378476660832583835[36] = 0; + out_4378476660832583835[37] = 0; + out_4378476660832583835[38] = 0; + out_4378476660832583835[39] = 0; + out_4378476660832583835[40] = 0; + out_4378476660832583835[41] = 0; + out_4378476660832583835[42] = 0; + out_4378476660832583835[43] = 0; + out_4378476660832583835[44] = 0; + out_4378476660832583835[45] = 0; + out_4378476660832583835[46] = 0; + out_4378476660832583835[47] = 0; + out_4378476660832583835[48] = 0; + out_4378476660832583835[49] = 0; + out_4378476660832583835[50] = 0; + out_4378476660832583835[51] = 0; + out_4378476660832583835[52] = 0; + out_4378476660832583835[53] = 0; + out_4378476660832583835[54] = 0; + out_4378476660832583835[55] = 0; + out_4378476660832583835[56] = 1; + out_4378476660832583835[57] = 0; + out_4378476660832583835[58] = 0; + out_4378476660832583835[59] = 0; + out_4378476660832583835[60] = 0; + out_4378476660832583835[61] = 0; + out_4378476660832583835[62] = 0; + out_4378476660832583835[63] = 0; + out_4378476660832583835[64] = 0; + out_4378476660832583835[65] = 0; } -void h_33(double *state, double *unused, double *out_327564127954512118) { - out_327564127954512118[0] = state[16]; - out_327564127954512118[1] = state[17]; - out_327564127954512118[2] = state[18]; +void h_33(double *state, double *unused, double *out_8645294225009481236) { + out_8645294225009481236[0] = state[16]; + out_8645294225009481236[1] = state[17]; + out_8645294225009481236[2] = state[18]; } -void H_33(double *state, double *unused, double *out_8043835469947603360) { - out_8043835469947603360[0] = 0; - out_8043835469947603360[1] = 0; - out_8043835469947603360[2] = 0; - out_8043835469947603360[3] = 0; - out_8043835469947603360[4] = 0; - out_8043835469947603360[5] = 0; - out_8043835469947603360[6] = 0; - out_8043835469947603360[7] = 0; - out_8043835469947603360[8] = 0; - out_8043835469947603360[9] = 0; - out_8043835469947603360[10] = 0; - out_8043835469947603360[11] = 0; - out_8043835469947603360[12] = 0; - out_8043835469947603360[13] = 0; - out_8043835469947603360[14] = 0; - out_8043835469947603360[15] = 0; - out_8043835469947603360[16] = 1; - out_8043835469947603360[17] = 0; - out_8043835469947603360[18] = 0; - out_8043835469947603360[19] = 0; - out_8043835469947603360[20] = 0; - out_8043835469947603360[21] = 0; - out_8043835469947603360[22] = 0; - out_8043835469947603360[23] = 0; - out_8043835469947603360[24] = 0; - out_8043835469947603360[25] = 0; - out_8043835469947603360[26] = 0; - out_8043835469947603360[27] = 0; - out_8043835469947603360[28] = 0; - out_8043835469947603360[29] = 0; - out_8043835469947603360[30] = 0; - out_8043835469947603360[31] = 0; - out_8043835469947603360[32] = 0; - out_8043835469947603360[33] = 0; - out_8043835469947603360[34] = 0; - out_8043835469947603360[35] = 0; - out_8043835469947603360[36] = 0; - out_8043835469947603360[37] = 0; - out_8043835469947603360[38] = 0; - out_8043835469947603360[39] = 1; - out_8043835469947603360[40] = 0; - out_8043835469947603360[41] = 0; - out_8043835469947603360[42] = 0; - out_8043835469947603360[43] = 0; - out_8043835469947603360[44] = 0; - out_8043835469947603360[45] = 0; - out_8043835469947603360[46] = 0; - out_8043835469947603360[47] = 0; - out_8043835469947603360[48] = 0; - out_8043835469947603360[49] = 0; - out_8043835469947603360[50] = 0; - out_8043835469947603360[51] = 0; - out_8043835469947603360[52] = 0; - out_8043835469947603360[53] = 0; - out_8043835469947603360[54] = 0; - out_8043835469947603360[55] = 0; - out_8043835469947603360[56] = 0; - out_8043835469947603360[57] = 0; - out_8043835469947603360[58] = 0; - out_8043835469947603360[59] = 0; - out_8043835469947603360[60] = 0; - out_8043835469947603360[61] = 0; - out_8043835469947603360[62] = 1; - out_8043835469947603360[63] = 0; - out_8043835469947603360[64] = 0; - out_8043835469947603360[65] = 0; +void H_33(double *state, double *unused, double *out_7792237997495093446) { + out_7792237997495093446[0] = 0; + out_7792237997495093446[1] = 0; + out_7792237997495093446[2] = 0; + out_7792237997495093446[3] = 0; + out_7792237997495093446[4] = 0; + out_7792237997495093446[5] = 0; + out_7792237997495093446[6] = 0; + out_7792237997495093446[7] = 0; + out_7792237997495093446[8] = 0; + out_7792237997495093446[9] = 0; + out_7792237997495093446[10] = 0; + out_7792237997495093446[11] = 0; + out_7792237997495093446[12] = 0; + out_7792237997495093446[13] = 0; + out_7792237997495093446[14] = 0; + out_7792237997495093446[15] = 0; + out_7792237997495093446[16] = 1; + out_7792237997495093446[17] = 0; + out_7792237997495093446[18] = 0; + out_7792237997495093446[19] = 0; + out_7792237997495093446[20] = 0; + out_7792237997495093446[21] = 0; + out_7792237997495093446[22] = 0; + out_7792237997495093446[23] = 0; + out_7792237997495093446[24] = 0; + out_7792237997495093446[25] = 0; + out_7792237997495093446[26] = 0; + out_7792237997495093446[27] = 0; + out_7792237997495093446[28] = 0; + out_7792237997495093446[29] = 0; + out_7792237997495093446[30] = 0; + out_7792237997495093446[31] = 0; + out_7792237997495093446[32] = 0; + out_7792237997495093446[33] = 0; + out_7792237997495093446[34] = 0; + out_7792237997495093446[35] = 0; + out_7792237997495093446[36] = 0; + out_7792237997495093446[37] = 0; + out_7792237997495093446[38] = 0; + out_7792237997495093446[39] = 1; + out_7792237997495093446[40] = 0; + out_7792237997495093446[41] = 0; + out_7792237997495093446[42] = 0; + out_7792237997495093446[43] = 0; + out_7792237997495093446[44] = 0; + out_7792237997495093446[45] = 0; + out_7792237997495093446[46] = 0; + out_7792237997495093446[47] = 0; + out_7792237997495093446[48] = 0; + out_7792237997495093446[49] = 0; + out_7792237997495093446[50] = 0; + out_7792237997495093446[51] = 0; + out_7792237997495093446[52] = 0; + out_7792237997495093446[53] = 0; + out_7792237997495093446[54] = 0; + out_7792237997495093446[55] = 0; + out_7792237997495093446[56] = 0; + out_7792237997495093446[57] = 0; + out_7792237997495093446[58] = 0; + out_7792237997495093446[59] = 0; + out_7792237997495093446[60] = 0; + out_7792237997495093446[61] = 0; + out_7792237997495093446[62] = 1; + out_7792237997495093446[63] = 0; + out_7792237997495093446[64] = 0; + out_7792237997495093446[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_3457479244464077531) { - H(in_vec, out_3457479244464077531); +void live_H(double *in_vec, double *out_3062539955778785123) { + H(in_vec, out_3062539955778785123); } -void live_err_fun(double *nom_x, double *delta_x, double *out_650718210523216323) { - err_fun(nom_x, delta_x, out_650718210523216323); +void live_err_fun(double *nom_x, double *delta_x, double *out_997632986539046101) { + err_fun(nom_x, delta_x, out_997632986539046101); } -void live_inv_err_fun(double *nom_x, double *true_x, double *out_910473225309207357) { - inv_err_fun(nom_x, true_x, out_910473225309207357); +void live_inv_err_fun(double *nom_x, double *true_x, double *out_3959944895181216754) { + inv_err_fun(nom_x, true_x, out_3959944895181216754); } -void live_H_mod_fun(double *state, double *out_2181166024205561752) { - H_mod_fun(state, out_2181166024205561752); +void live_H_mod_fun(double *state, double *out_8702234888023658226) { + H_mod_fun(state, out_8702234888023658226); } -void live_f_fun(double *state, double dt, double *out_3533239200643131825) { - f_fun(state, dt, out_3533239200643131825); +void live_f_fun(double *state, double dt, double *out_7459231211064544538) { + f_fun(state, dt, out_7459231211064544538); } -void live_F_fun(double *state, double dt, double *out_5539989427522668852) { - F_fun(state, dt, out_5539989427522668852); +void live_F_fun(double *state, double dt, double *out_8962950086978682024) { + F_fun(state, dt, out_8962950086978682024); } -void live_h_4(double *state, double *unused, double *out_819859370756235625) { - h_4(state, unused, out_819859370756235625); +void live_h_4(double *state, double *unused, double *out_1777498685180261346) { + h_4(state, unused, out_1777498685180261346); } -void live_H_4(double *state, double *unused, double *out_2871740975048229748) { - H_4(state, unused, out_2871740975048229748); +void live_H_4(double *state, double *unused, double *out_4137287014202993190) { + H_4(state, unused, out_4137287014202993190); } -void live_h_9(double *state, double *unused, double *out_4802105354618293564) { - h_9(state, unused, out_4802105354618293564); +void live_h_9(double *state, double *unused, double *out_4762408851873785060) { + h_9(state, unused, out_4762408851873785060); } -void live_H_9(double *state, double *unused, double *out_2630551328418639103) { - H_9(state, unused, out_2630551328418639103); +void live_H_9(double *state, double *unused, double *out_4378476660832583835) { + H_9(state, unused, out_4378476660832583835); } -void live_h_10(double *state, double *unused, double *out_7610955400709654716) { - h_10(state, unused, out_7610955400709654716); +void live_h_10(double *state, double *unused, double *out_769477702419128333) { + h_10(state, unused, out_769477702419128333); } -void live_H_10(double *state, double *unused, double *out_1974782145108752521) { - H_10(state, unused, out_1974782145108752521); +void live_H_10(double *state, double *unused, double *out_607115477708369913) { + H_10(state, unused, out_607115477708369913); } -void live_h_12(double *state, double *unused, double *out_1634941094875625440) { - h_12(state, unused, out_1634941094875625440); +void live_h_12(double *state, double *unused, double *out_5594886434556651779) { + h_12(state, unused, out_5594886434556651779); } -void live_H_12(double *state, double *unused, double *out_2147715432983732047) { - H_12(state, unused, out_2147715432983732047); +void live_H_12(double *state, double *unused, double *out_9156743422234954985) { + H_12(state, unused, out_9156743422234954985); } -void live_h_35(double *state, double *unused, double *out_5460157810480551459) { - h_35(state, unused, out_5460157810480551459); +void live_h_35(double *state, double *unused, double *out_7828238170709544847) { + h_35(state, unused, out_7828238170709544847); } -void live_H_35(double *state, double *unused, double *out_4893278465308745756) { - H_35(state, unused, out_4893278465308745756); +void live_H_35(double *state, double *unused, double *out_7503949071575600566) { + H_35(state, unused, out_7503949071575600566); } -void live_h_32(double *state, double *unused, double *out_5557633069685588267) { - h_32(state, unused, out_5557633069685588267); +void live_h_32(double *state, double *unused, double *out_1198587467706715008) { + h_32(state, unused, out_1198587467706715008); } -void live_H_32(double *state, double *unused, double *out_7752161236193193302) { - H_32(state, unused, out_7752161236193193302); +void live_H_32(double *state, double *unused, double *out_5141490629926338492) { + H_32(state, unused, out_5141490629926338492); } -void live_h_13(double *state, double *unused, double *out_2477464069165319992) { - h_13(state, unused, out_2477464069165319992); +void live_h_13(double *state, double *unused, double *out_4446144489578117053) { + h_13(state, unused, out_4446144489578117053); } -void live_H_13(double *state, double *unused, double *out_8540249629042519317) { - H_13(state, unused, out_8540249629042519317); +void live_H_13(double *state, double *unused, double *out_8954114104359138418) { + H_13(state, unused, out_8954114104359138418); } -void live_h_14(double *state, double *unused, double *out_4802105354618293564) { - h_14(state, unused, out_4802105354618293564); +void live_h_14(double *state, double *unused, double *out_4762408851873785060) { + h_14(state, unused, out_4762408851873785060); } -void live_H_14(double *state, double *unused, double *out_2630551328418639103) { - H_14(state, unused, out_2630551328418639103); +void live_H_14(double *state, double *unused, double *out_4378476660832583835) { + H_14(state, unused, out_4378476660832583835); } -void live_h_33(double *state, double *unused, double *out_327564127954512118) { - h_33(state, unused, out_327564127954512118); +void live_h_33(double *state, double *unused, double *out_8645294225009481236) { + h_33(state, unused, out_8645294225009481236); } -void live_H_33(double *state, double *unused, double *out_8043835469947603360) { - H_33(state, unused, out_8043835469947603360); +void live_H_33(double *state, double *unused, double *out_7792237997495093446) { + H_33(state, unused, out_7792237997495093446); } 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 8e10f065a..4686365fe 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_3457479244464077531); -void live_err_fun(double *nom_x, double *delta_x, double *out_650718210523216323); -void live_inv_err_fun(double *nom_x, double *true_x, double *out_910473225309207357); -void live_H_mod_fun(double *state, double *out_2181166024205561752); -void live_f_fun(double *state, double dt, double *out_3533239200643131825); -void live_F_fun(double *state, double dt, double *out_5539989427522668852); -void live_h_4(double *state, double *unused, double *out_819859370756235625); -void live_H_4(double *state, double *unused, double *out_2871740975048229748); -void live_h_9(double *state, double *unused, double *out_4802105354618293564); -void live_H_9(double *state, double *unused, double *out_2630551328418639103); -void live_h_10(double *state, double *unused, double *out_7610955400709654716); -void live_H_10(double *state, double *unused, double *out_1974782145108752521); -void live_h_12(double *state, double *unused, double *out_1634941094875625440); -void live_H_12(double *state, double *unused, double *out_2147715432983732047); -void live_h_35(double *state, double *unused, double *out_5460157810480551459); -void live_H_35(double *state, double *unused, double *out_4893278465308745756); -void live_h_32(double *state, double *unused, double *out_5557633069685588267); -void live_H_32(double *state, double *unused, double *out_7752161236193193302); -void live_h_13(double *state, double *unused, double *out_2477464069165319992); -void live_H_13(double *state, double *unused, double *out_8540249629042519317); -void live_h_14(double *state, double *unused, double *out_4802105354618293564); -void live_H_14(double *state, double *unused, double *out_2630551328418639103); -void live_h_33(double *state, double *unused, double *out_327564127954512118); -void live_H_33(double *state, double *unused, double *out_8043835469947603360); +void live_H(double *in_vec, double *out_3062539955778785123); +void live_err_fun(double *nom_x, double *delta_x, double *out_997632986539046101); +void live_inv_err_fun(double *nom_x, double *true_x, double *out_3959944895181216754); +void live_H_mod_fun(double *state, double *out_8702234888023658226); +void live_f_fun(double *state, double dt, double *out_7459231211064544538); +void live_F_fun(double *state, double dt, double *out_8962950086978682024); +void live_h_4(double *state, double *unused, double *out_1777498685180261346); +void live_H_4(double *state, double *unused, double *out_4137287014202993190); +void live_h_9(double *state, double *unused, double *out_4762408851873785060); +void live_H_9(double *state, double *unused, double *out_4378476660832583835); +void live_h_10(double *state, double *unused, double *out_769477702419128333); +void live_H_10(double *state, double *unused, double *out_607115477708369913); +void live_h_12(double *state, double *unused, double *out_5594886434556651779); +void live_H_12(double *state, double *unused, double *out_9156743422234954985); +void live_h_35(double *state, double *unused, double *out_7828238170709544847); +void live_H_35(double *state, double *unused, double *out_7503949071575600566); +void live_h_32(double *state, double *unused, double *out_1198587467706715008); +void live_H_32(double *state, double *unused, double *out_5141490629926338492); +void live_h_13(double *state, double *unused, double *out_4446144489578117053); +void live_H_13(double *state, double *unused, double *out_8954114104359138418); +void live_h_14(double *state, double *unused, double *out_4762408851873785060); +void live_H_14(double *state, double *unused, double *out_4378476660832583835); +void live_h_33(double *state, double *unused, double *out_8645294225009481236); +void live_H_33(double *state, double *unused, double *out_7792237997495093446); void live_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 21a5ebca5..f2c0248af 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -214,7 +214,7 @@ class TorqueEstimator(ParameterEstimator): return msg -def main(): +def main(demo=False): config_realtime_process([0, 1, 2, 3], 5) pm = messaging.PubMaster(['liveTorqueParameters']) @@ -242,4 +242,8 @@ def main(): params.put_nonblocking("LiveTorqueParameters", msg.to_bytes()) if __name__ == "__main__": - main() + import argparse + parser = argparse.ArgumentParser(description='Process the --demo argument.') + parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.') + args = parser.parse_args() + main(demo=args.demo) diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index bd1fbc8f6..8456b7f0c 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -18,7 +18,6 @@ CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") TOTAL_SCONS_NODES = 2560 MAX_BUILD_PROGRESS = 100 -PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt')) def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: env = os.environ.copy() @@ -96,7 +95,7 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: f.unlink() -if __name__ == "__main__" and not PREBUILT: +if __name__ == "__main__": spinner = Spinner() spinner.update_progress(0, 100) build(spinner, is_dirty(), minimal = AGNOS) diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py index f8607fffc..047d0ac2d 100644 --- a/selfdrive/manager/helpers.py +++ b/selfdrive/manager/helpers.py @@ -1,9 +1,16 @@ +import errno +import fcntl import os import sys -import fcntl -import errno +import pathlib +import shutil import signal +import subprocess +import tempfile +import threading +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params def unblock_stdout() -> None: # get a non-blocking stdout @@ -41,3 +48,20 @@ def unblock_stdout() -> None: def write_onroad_params(started, params): params.put_bool("IsOnroad", started) params.put_bool("IsOffroad", not started) + + +def save_bootlog(): + # copy current params + tmp = tempfile.mkdtemp() + params_dirname = pathlib.Path(Params().get_param_path()).name + params_dir = os.path.join(tmp, params_dirname) + shutil.copytree(Params().get_param_path(), params_dir, dirs_exist_ok=True) + + def fn(tmpdir): + env = os.environ.copy() + env['PARAMS_COPY_PATH'] = tmpdir + subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env) + shutil.rmtree(tmpdir) + t = threading.Thread(target=fn, args=(tmp, )) + t.daemon = True + t.start() diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 44e2ce66f..d9f7aeb21 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -2,7 +2,6 @@ import datetime import os import signal -import subprocess import sys import traceback from typing import List, Tuple, Union @@ -10,12 +9,10 @@ from typing import List, Tuple, Union from cereal import log import cereal.messaging as messaging import openpilot.selfdrive.sentry as sentry -from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params, ParamKeyType from openpilot.common.text_window import TextWindow -from openpilot.selfdrive.boardd.set_time import set_time from openpilot.system.hardware import HARDWARE, PC -from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params +from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog from openpilot.selfdrive.manager.process import ensure_running from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID, is_registered_device @@ -25,13 +22,10 @@ from openpilot.system.version import is_dirty, get_commit, get_version, get_orig is_tested_branch, is_release_branch import json +from openpilot.selfdrive.car.fingerprints import all_known_cars, all_legacy_fingerprint_cars def manager_init() -> None: - # update system time from panda - set_time(cloudlog) - - # save boot log - subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd")) + save_bootlog() params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) @@ -50,6 +44,7 @@ def manager_init() -> None: ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)), # dp + ("dp_device_is_clone", "0"), ("dp_alka", "0"), ("dp_device_ip_addr", ""), ("dp_device_auto_shutdown", "0"), @@ -79,12 +74,16 @@ def manager_init() -> None: ("dp_long_personality_btn", "0"), ("dp_disable_onroad_uploads", "0"), ("dp_long_frogai_smooth_braking_tune", "0"), - ("dp_lat_lane_change_assist_speed", "32"), + ("dp_lat_lane_change_assist_speed", "20"), ("dp_device_display_flight_panel", "0"), ("dp_mapd_vision_turn_control", "0"), - ("dp_lat_lane_priority_mode", "0"), - ("dp_lat_lane_priority_mode_speed_based", "0"), + #("dp_lat_lane_priority_mode", "0"), + #("dp_lat_lane_priority_mode_speed_based", "0"), ("dp_nav_full_screen", "0"), + ("dp_toyota_cruise_override", "0"), + ("dp_toyota_cruise_override_speed", "30"), + ("dp_ui_rainbow", "0"), + ("dp_auto_lane_change", "0"), ] if not PC: default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8'))) @@ -99,13 +98,6 @@ def manager_init() -> None: if params.get(k) is None: params.put(k, v) - # is this dashcam? - if os.getenv("PASSIVE") is not None: - params.put_bool("Passive", bool(int(os.getenv("PASSIVE", "0")))) - - if params.get("Passive") is None: - raise Exception("Passive must be set to continue") - # Create folders needed for msgq try: os.mkdir("/dev/shm") @@ -118,9 +110,9 @@ def manager_init() -> None: params.put("Version", get_version()) params.put("TermsVersion", terms_version) params.put("TrainingVersion", training_version) - params.put("GitCommit", get_commit(default="")) - params.put("GitBranch", get_short_branch(default="")) - params.put("GitRemote", get_origin(default="")) + params.put("GitCommit", get_commit()) + params.put("GitBranch", get_short_branch()) + params.put("GitRemote", get_origin()) params.put_bool("IsTestedBranch", is_tested_branch()) params.put_bool("IsReleaseBranch", is_release_branch()) @@ -132,6 +124,9 @@ def manager_init() -> None: serial = params.get("HardwareSerial") raise Exception(f"Registration failed for device {serial}") os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog + os.environ['GIT_ORIGIN'] = get_normalized_origin() # Needed for swaglog + os.environ['GIT_BRANCH'] = get_short_branch() # Needed for swaglog + os.environ['GIT_COMMIT'] = get_commit() # Needed for swaglog if not is_dirty(): os.environ['CLEAN'] = '1' @@ -146,8 +141,7 @@ def manager_init() -> None: dirty=is_dirty(), device=HARDWARE.get_device_type()) - -def manager_prepare() -> None: + # preimport all processes for p in managed_processes.values(): p.prepare() @@ -186,9 +180,12 @@ def manager_thread() -> None: ignore += ["otisserv"] dpdmonitoringd_ignored = True - if not is_registered_device(): + dp_device_dm_unavailable = params.get_bool("dp_device_dm_unavailable") + dp_device_is_clone = not is_registered_device() + params.put_bool("dp_device_is_clone", dp_device_is_clone) + if dp_device_is_clone or dp_device_dm_unavailable: ignore += ["uploader"] - if params.get_bool("dp_device_dm_unavailable"): + if dp_device_dm_unavailable: ignore += ["dmonitoringd", "dmonitoringmodeld"] dpdmonitoringd_ignored = False if dpdmonitoringd_ignored: @@ -232,8 +229,10 @@ def manager_thread() -> None: # Exit main loop when uninstall/shutdown/reboot is needed shutdown = False - for param in ("DoUninstall", "DoShutdown", "DoReboot"): + for param in ("DoUninstall", "DoShutdown", "DoReboot", "dp_device_reset_conf"): if params.get_bool(param): + if param == "dp_device_reset_conf": + os.system("rm -fr /data/params/d/dp_*") shutdown = True params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}") cloudlog.warning(f"Shutting down manager - {param} set") @@ -243,17 +242,8 @@ def manager_thread() -> None: def main() -> None: - prepare_only = os.getenv("PREPAREONLY") is not None - manager_init() - - # Start UI early so prepare can happen in the background - if not prepare_only: - managed_processes['ui'].start() - - manager_prepare() - - if prepare_only: + if os.getenv("PREPAREONLY") is not None: return # SystemExit on sigterm @@ -279,27 +269,16 @@ def main() -> None: HARDWARE.shutdown() def get_support_car_list(): - attrs = ['FINGERPRINTS', 'FW_VERSIONS'] cars = dict({"cars": []}) - models = [] - for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]: - try: - car_name = car_folder.split('/')[-1] - if car_name not in ("mock", "body", "torque_data", "tests"): - for attr in attrs: - values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr]) - if hasattr(values, attr): - attr_values = getattr(values, attr) - else: - continue - if isinstance(attr_values, dict): - for f, v in attr_values.items(): - if f not in models: - models.append(f) - except (ImportError, IOError, ValueError): - pass - models.sort() - cars["cars"] = models + list = [] + for car in all_known_cars(): + list.append(str(car)) + + for car in all_legacy_fingerprint_cars(): + name = str(car) + if name not in list: + list.append(name) + cars["cars"] = sorted(list) return json.dumps(cars) if __name__ == "__main__": @@ -307,6 +286,8 @@ if __name__ == "__main__": try: main() + except KeyboardInterrupt: + print("got CTRL-C, exiting") except Exception: add_file_handler(cloudlog) cloudlog.exception("Manager failed to start") diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index e2cbab12a..b1db6f5d3 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -51,7 +51,7 @@ procs = [ NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad), PythonProcess("logmessaged", "system.logmessaged", always_run), PythonProcess("micd", "system.micd", iscar), - PythonProcess("timezoned", "system.timezoned", always_run, enabled=not PC), + PythonProcess("timed", "system.timed", always_run, enabled=not PC), PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)), NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad), @@ -91,9 +91,9 @@ procs = [ # dp NativeProcess("otisserv", "selfdrive/dragonpilot", ['./otisserv'], always_run), - + # gpxd - PythonProcess("gpxd", "selfdrive.dragonpilot.gpxd", only_onroad), + #PythonProcess("gpxd", "selfdrive.dragonpilot.gpxd", only_onroad), # PythonProcess("gpx_uploader", "selfdrive.dragonpilot.gpx_uploader", always_run), PythonProcess("dpdmonitoringd", "selfdrive.dragonpilot.dpdmonitoringd", only_onroad, enabled=not PC), NativeProcess("fileserv", "selfdrive/dragonpilot", ['./fileserv'], always_run), diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 0fa186baf..1ae94b26a 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -5,6 +5,8 @@ import signal import time import unittest +from parameterized import parameterized + from cereal import car from openpilot.common.params import Params import openpilot.selfdrive.manager.manager as manager @@ -21,7 +23,6 @@ BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond'] @pytest.mark.tici class TestManager(unittest.TestCase): def setUp(self): - os.environ['PASSIVE'] = '0' HARDWARE.set_power_save(False) # ensure clean CarParams @@ -39,21 +40,21 @@ class TestManager(unittest.TestCase): # TODO: ensure there are blacklisted procs until we have a dedicated test self.assertTrue(len(BLACKLIST_PROCS), "No blacklisted procs to test not_run") - def test_startup_time(self): - for _ in range(10): - start = time.monotonic() - os.environ['PREPAREONLY'] = '1' - manager.main() - t = time.monotonic() - start - assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s" + @parameterized.expand([(i,) for i in range(10)]) + def test_startup_time(self, index): + start = time.monotonic() + os.environ['PREPAREONLY'] = '1' + manager.main() + t = time.monotonic() - start + assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s" + @unittest.skip("this test is flaky the way it's currently written, should be moved to test_onroad") def test_clean_exit(self): """ Ensure all processes exit cleanly when stopped. """ HARDWARE.set_power_save(False) manager.manager_init() - manager.manager_prepare() CP = car.CarParams.new_message() procs = ensure_running(managed_processes.values(), True, Params(), CP, not_run=BLACKLIST_PROCS) diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index 4d3af5163..dda1ff5e3 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -22,6 +22,8 @@ class ModelConstants: NAV_INSTRUCTION_LEN = 150 DRIVING_STYLE_LEN = 12 LAT_PLANNER_STATE_LEN = 4 + LATERAL_CONTROL_PARAMS_LEN = 2 + PREV_DESIRED_CURV_LEN = 1 # model outputs constants FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32) @@ -39,6 +41,7 @@ class ModelConstants: PLAN_WIDTH = 15 DESIRE_PRED_WIDTH = 8 LAT_PLANNER_SOLUTION_WIDTH = 4 + DESIRED_CURV_WIDTH = 1 NUM_LANE_LINES = 4 NUM_ROAD_EDGES = 2 diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 7434e9428..93d1c7e77 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -45,7 +45,7 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray], publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, timestamp_eof: int, timestamp_llk: int, model_execution_time: float, - nav_enabled: bool, valid: bool) -> None: + nav_enabled: bool, v_ego: float, steer_delay: float, valid: bool) -> None: frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0 msg.valid = valid @@ -72,9 +72,8 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) # lateral planning - solution = modelV2.lateralPlannerSolution - solution.x, solution.y, solution.yaw, solution.yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)] - solution.xStd, solution.yStd, solution.yawStd, solution.yawRateStd = [net_output_data['lat_planner_solution_stds'][0,:,i].tolist() for i in range(4)] + action = modelV2.action + action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) # times at X_IDXS according to model plan PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N diff --git a/selfdrive/modeld/libthneed.so b/selfdrive/modeld/libthneed.so index d62091c51..3dbf3cafc 100755 Binary files a/selfdrive/modeld/libthneed.so and b/selfdrive/modeld/libthneed.so differ diff --git a/selfdrive/modeld/modeld b/selfdrive/modeld/modeld index 14048ec9f..e1cef4dcc 100755 --- a/selfdrive/modeld/modeld +++ b/selfdrive/modeld/modeld @@ -7,4 +7,4 @@ if [ -f "$DIR/libthneed.so" ]; then export LD_PRELOAD="$DIR/libthneed.so" fi -exec "$DIR/modeld.py" +exec "$DIR/modeld.py" "$@" diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 0ac3902e0..b0351d9f1 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -4,6 +4,7 @@ import time import pickle import numpy as np import cereal.messaging as messaging +from cereal import car, log from pathlib import Path from typing import Dict, Optional from setproctitle import setproctitle @@ -11,17 +12,19 @@ from cereal.messaging import PubMaster, SubMaster from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params -from openpilot.common.realtime import DT_MDL -from openpilot.common.numpy_fast import interp from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import get_warp_matrix from openpilot.selfdrive import sentry +from openpilot.selfdrive.car.car_helpers import get_demo_car_params +from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext +from openpilot.common.conversions import Conversions as CV +from selfdrive.controls.lib.road_edge_detector import RoadEdgeDetector PROCESS_NAME = "selfdrive.modeld.modeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') @@ -56,7 +59,8 @@ class ModelState: self.inputs = { 'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), 'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32), - 'lat_planner_state': np.zeros(ModelConstants.LAT_PLANNER_STATE_LEN, dtype=np.float32), + 'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32), + 'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), 'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32), 'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32), 'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32), @@ -91,9 +95,9 @@ class ModelState: self.prev_desire[:] = inputs['desire'] self.inputs['traffic_convention'][:] = inputs['traffic_convention'] + self.inputs['lateral_control_params'][:] = inputs['lateral_control_params'] self.inputs['nav_features'][:] = inputs['nav_features'] self.inputs['nav_instructions'][:] = inputs['nav_instructions'] - # self.inputs['driving_style'][:] = inputs['driving_style'] # if getCLBuffer is not None, frame will be None self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs"))) @@ -108,12 +112,12 @@ class ModelState: self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:] self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :] - self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2]) - self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3]) + self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:] + self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :] return outputs -def main(): +def main(demo=False): sentry.set_tag("daemon", PROCESS_NAME) cloudlog.bind(daemon=PROCESS_NAME) setproctitle(PROCESS_NAME) @@ -148,10 +152,19 @@ def main(): # messaging pm = PubMaster(["modelV2", "cameraOdometry"]) - sm = SubMaster(["lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction"]) + sm = SubMaster(["carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl"]) + publish_state = PublishState() params = Params() + #DP: + dp_lat_lane_change_assist_speed = int(params.get("dp_lat_lane_change_assist_speed", encoding="utf-8")) * CV.KPH_TO_MS + dp_auto_lane_change = params.get_bool("dp_auto_lane_change") + + + with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: + steer_delay = msg.steerActuatorDelay + .2 + #steer_delay = 0.4 # setup filter to track dropped frames frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ) @@ -162,13 +175,27 @@ def main(): model_transform_main = np.zeros((3, 3), dtype=np.float32) model_transform_extra = np.zeros((3, 3), dtype=np.float32) live_calib_seen = False - driving_style = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32) nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32) nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32) buf_main, buf_extra = None, None meta_main = FrameMeta() meta_extra = FrameMeta() + + if demo: + CP = get_demo_car_params() + with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: + CP = msg + cloudlog.info("plannerd got CarParams: %s", CP.carName) + # TODO this needs more thought, use .2s extra for now to estimate other delays + steer_delay = CP.steerActuatorDelay + .2 + DH = DesireHelper() + + #DP: + RED = RoadEdgeDetector() + RED.set_enabled(params.get_bool("dp_lateral_road_edge_detection")) + + while True: # Keep receiving frames until we are at least 1 frame ahead of previous extra frame while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: @@ -205,9 +232,12 @@ def main(): # TODO: path planner timeout? sm.update(0) - desire = sm["lateralPlan"].desire.raw + desire = DH.desire + v_ego = sm["carState"].vEgo is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId + # TODO add lag + lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32) if sm.updated["liveCalibration"]: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) model_transform_main = get_warp_matrix(device_from_calib_euler, main_wide_camera, False).astype(np.float32) @@ -261,7 +291,7 @@ def main(): inputs:Dict[str, np.ndarray] = { 'desire': vec_desire, 'traffic_convention': traffic_convention, - 'driving_style': driving_style, + 'lateral_control_params': lateral_control_params, 'nav_features': nav_features, 'nav_instructions': nav_instructions} @@ -274,7 +304,16 @@ def main(): modelv2_send = messaging.new_message('modelV2') posenet_send = messaging.new_message('cameraOdometry') fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, - meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen) + meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, v_ego, steer_delay, live_calib_seen) + + desire_state = modelv2_send.modelV2.meta.desireState + l_lane_change_prob = desire_state[log.Desire.laneChangeLeft] + r_lane_change_prob = desire_state[log.Desire.laneChangeRight] + lane_change_prob = l_lane_change_prob + r_lane_change_prob + edge_detected_left, edge_detected_right = RED.get_road_edge_detected(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs, sm['carState'].leftBlinker, sm['carState'].rightBlinker) + DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, dp_lat_lane_change_assist_speed, dp_auto_lane_change, edge_detected_left, edge_detected_right) + modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state + modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen) pm.send('modelV2', modelv2_send) @@ -285,7 +324,11 @@ def main(): if __name__ == "__main__": try: - main() + import argparse + parser = argparse.ArgumentParser() + parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.') + args = parser.parse_args() + main(demo=args.demo) except KeyboardInterrupt: cloudlog.warning(f"child {PROCESS_NAME} got SIGINT") except Exception: diff --git a/selfdrive/modeld/models/commonmodel_pyx.cpp b/selfdrive/modeld/models/commonmodel_pyx.cpp index bcbeb199f..73c95023e 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.cpp +++ b/selfdrive/modeld/models/commonmodel_pyx.cpp @@ -1,4 +1,4 @@ -/* Generated by Cython 3.0.5 */ +/* Generated by Cython 3.0.8 */ /* BEGIN: Cython Metadata { @@ -46,10 +46,10 @@ END: Cython Metadata */ #else #define __PYX_EXTRA_ABI_MODULE_NAME "" #endif -#define CYTHON_ABI "3_0_5" __PYX_EXTRA_ABI_MODULE_NAME +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME #define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI #define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." -#define CYTHON_HEX_VERSION 0x030005F0 +#define CYTHON_HEX_VERSION 0x030008F0 #define CYTHON_FUTURE_DIVISION 1 #include #ifndef offsetof @@ -263,7 +263,7 @@ END: Cython Metadata */ #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 #endif -#elif defined(PY_NOGIL) +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) #define CYTHON_COMPILING_IN_PYPY 0 #define CYTHON_COMPILING_IN_CPYTHON 0 #define CYTHON_COMPILING_IN_LIMITED_API 0 @@ -607,18 +607,19 @@ class __Pyx_FakeReference { PyObject *exception_table = NULL; PyObject *types_module=NULL, *code_type=NULL, *result=NULL; #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 - PyObject *version_info; // borrowed - #endif + PyObject *version_info; PyObject *py_minor_version = NULL; + #endif long minor_version = 0; PyObject *type, *value, *traceback; PyErr_Fetch(&type, &value, &traceback); #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 - minor_version = 11; // we don't yet need to distinguish between versions > 11 + minor_version = 11; #else if (!(version_info = PySys_GetObject("version_info"))) goto end; if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); if (minor_version == -1 && PyErr_Occurred()) goto end; #endif if (!(types_module = PyImport_ImportModule("types"))) goto end; @@ -639,7 +640,6 @@ class __Pyx_FakeReference { Py_XDECREF(code_type); Py_XDECREF(exception_table); Py_XDECREF(types_module); - Py_XDECREF(py_minor_version); if (type) { PyErr_Restore(type, value, traceback); } @@ -672,7 +672,7 @@ class __Pyx_FakeReference { PyObject *fv, PyObject *cell, PyObject* fn, PyObject *name, int fline, PyObject *lnos) { PyCodeObject *result; - PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); // we don't have access to __pyx_empty_bytes here + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); if (!empty_bytes) return NULL; result = #if PY_VERSION_HEX >= 0x030C0000 @@ -967,7 +967,7 @@ static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, #endif #if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 #define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ - PyTypeObject *type = Py_TYPE(obj);\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ PyObject_GC_Del(obj);\ Py_DECREF(type);\ @@ -1404,7 +1404,7 @@ static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); #endif typedef Py_ssize_t __Pyx_compact_pylong; typedef size_t __Pyx_compact_upylong; - #else // Py < 3.12 + #else #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) @@ -1524,7 +1524,7 @@ static const char *__pyx_filename; #if !defined(CYTHON_CCOMPLEX) #if defined(__cplusplus) #define CYTHON_CCOMPLEX 1 - #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__)) + #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__) && !defined(_MSC_VER)) #define CYTHON_CCOMPLEX 1 #else #define CYTHON_CCOMPLEX 0 @@ -2331,8 +2331,8 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) #else - #define __Pyx_Arg_NewRef_VARARGS(arg) arg // no-op - #define __Pyx_Arg_XDECREF_VARARGS(arg) // no-op - arg is borrowed + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) #endif #define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) #define __Pyx_KwValues_VARARGS(args, nargs) NULL @@ -2344,12 +2344,13 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 - static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); #else #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) #endif - #define __Pyx_Arg_NewRef_FASTCALL(arg) arg // no-op, __Pyx_Arg_FASTCALL is direct and this needs - #define __Pyx_Arg_XDECREF_FASTCALL(arg) // no-op - arg was returned from array + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) #else #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS @@ -2811,22 +2812,22 @@ static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_nam #endif /* TypeImport.proto */ -#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_5 -#define __PYX_HAVE_RT_ImportType_proto_3_0_5 +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 #if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L #include #endif #if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L -#define __PYX_GET_STRUCT_ALIGNMENT_3_0_5(s) alignof(s) +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) #else -#define __PYX_GET_STRUCT_ALIGNMENT_3_0_5(s) sizeof(void*) +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) #endif -enum __Pyx_ImportType_CheckSize_3_0_5 { - 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/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":979 + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":980 * # Versions of the import_* functions which are more suitable for * # Cython code. * cdef inline int import_array() except -1: # <<<<<<<<<<<<<< @@ -19529,7 +19530,7 @@ static CYTHON_INLINE int __pyx_f_5numpy_import_array(void) { return __pyx_r; } -/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":985 +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":986 * raise ImportError("numpy.core.multiarray failed to import") * * cdef inline int import_umath() except -1: # <<<<<<<<<<<<<< @@ -19553,7 +19554,7 @@ static CYTHON_INLINE int __pyx_f_5numpy_import_umath(void) { int __pyx_clineno = 0; __Pyx_RefNannySetupContext("import_umath", 1); - /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":986 + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":987 * * cdef inline int import_umath() except -1: * try: # <<<<<<<<<<<<<< @@ -19569,16 +19570,16 @@ static CYTHON_INLINE int __pyx_f_5numpy_import_umath(void) { __Pyx_XGOTREF(__pyx_t_3); /*try:*/ { - 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/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":1010 + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":1011 * bool * """ * return PyObject_TypeCheck(obj, &PyTimedeltaArrType_Type) # <<<<<<<<<<<<<< @@ -19814,7 +19815,7 @@ static CYTHON_INLINE int __pyx_f_5numpy_is_timedelta64_object(PyObject *__pyx_v_ __pyx_r = PyObject_TypeCheck(__pyx_v_obj, (&PyTimedeltaArrType_Type)); goto __pyx_L0; - /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":998 + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":999 * * * cdef inline bint is_timedelta64_object(object obj): # <<<<<<<<<<<<<< @@ -19827,7 +19828,7 @@ static CYTHON_INLINE int __pyx_f_5numpy_is_timedelta64_object(PyObject *__pyx_v_ return __pyx_r; } -/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":1013 +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":1014 * * * cdef inline bint is_datetime64_object(object obj): # <<<<<<<<<<<<<< @@ -19838,7 +19839,7 @@ static CYTHON_INLINE int __pyx_f_5numpy_is_timedelta64_object(PyObject *__pyx_v_ static CYTHON_INLINE int __pyx_f_5numpy_is_datetime64_object(PyObject *__pyx_v_obj) { int __pyx_r; - 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if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 1, __pyx_L1_error) { int add_module_result = PyState_AddModule(__pyx_t_1, &__pyx_moduledef); - __pyx_t_1 = 0; /* transfer ownership from __pyx_t_1 to commonmodel_pyx pseudovariable */ + __pyx_t_1 = 0; /* transfer ownership from __pyx_t_1 to "commonmodel_pyx" pseudovariable */ if (unlikely((add_module_result < 0))) __PYX_ERR(1, 1, __pyx_L1_error) pystate_addmodule_run = 1; } @@ -24879,14 +24880,14 @@ static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyO { int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); if (unlikely(eq != 0)) { - if (unlikely(eq < 0)) return NULL; // error + if (unlikely(eq < 0)) return NULL; return kwvalues[i]; } } - return NULL; // not found (no exception set) + return NULL; } #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 -static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); PyObject *dict; dict = PyDict_New(); @@ -24996,7 +24997,7 @@ static int __Pyx_ParseOptionalKeywords( if (*name) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - Py_INCREF(value); // transfer ownership of value to values + Py_INCREF(value); Py_DECREF(key); #endif key = NULL; @@ -25015,7 +25016,7 @@ static int __Pyx_ParseOptionalKeywords( && _PyString_Eq(**name, key)) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -25047,7 +25048,7 @@ static int __Pyx_ParseOptionalKeywords( if (cmp == 0) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -25969,7 +25970,7 @@ static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, } } #else - if (is_list || PySequence_Check(o)) { + if (is_list || !PyMapping_Check(o)) { return PySequence_GetItem(o, i); } #endif @@ -26853,11 +26854,7 @@ static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObje } } #else -#if CYTHON_COMPILING_IN_PYPY - if (is_list || (PySequence_Check(o) && !PyDict_Check(o))) -#else - if (is_list || PySequence_Check(o)) -#endif + if (is_list || !PyMapping_Check(o)) { return PySequence_SetItem(o, i, v); } @@ -27226,10 +27223,10 @@ static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_nam #endif /* TypeImport */ -#ifndef __PYX_HAVE_RT_ImportType_3_0_5 -#define __PYX_HAVE_RT_ImportType_3_0_5 -static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject *module, const char *module_name, const char *class_name, - size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_5 check_size) +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) { PyObject *result = 0; char warning[200]; @@ -27283,7 +27280,7 @@ static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject *module, const char *module module_name, class_name, size, basicsize+itemsize); goto bad; } - if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_5 && + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { PyErr_Format(PyExc_ValueError, "%.200s.%.200s size changed, may indicate binary incompatibility. " @@ -27291,7 +27288,7 @@ static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject *module, const char *module module_name, class_name, size, basicsize, basicsize+itemsize); goto bad; } - else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_5 && (size_t)basicsize > size) { + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { PyOS_snprintf(warning, sizeof(warning), "%s.%s size changed, may indicate binary incompatibility. " "Expected %zd from C header, got %zd from PyObject", @@ -27439,38 +27436,38 @@ static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffs #endif return -1; } -#if !CYTHON_USE_TYPE_SLOTS - if (dictoffset == 0) { - PyErr_Format(PyExc_TypeError, - "extension type '%s.200s': " - "unable to validate whether bases have a __dict__ " - "when CYTHON_USE_TYPE_SLOTS is off " - "(likely because you are building in the limited API). " - "Therefore, all extension types with multiple bases " - "must add 'cdef dict __dict__' in this compilation mode", - type_name); -#if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); -#endif - return -1; - } -#else - if (dictoffset == 0 && b->tp_dictoffset) + if (dictoffset == 0) { - __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); - PyErr_Format(PyExc_TypeError, - "extension type '%.200s' has no __dict__ slot, " - "but base type '" __Pyx_FMT_TYPENAME "' has: " - "either add 'cdef dict __dict__' to the extension type " - "or add '__slots__ = [...]' to the base type", - type_name, b_name); - __Pyx_DECREF_TypeName(b_name); + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif #if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); + Py_DECREF(b0); #endif - return -1; + return -1; + } } -#endif #if CYTHON_AVOID_BORROWED_REFS Py_DECREF(b0); #endif @@ -29208,7 +29205,7 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( #else py_code = PyCode_NewEmpty(filename, funcname, py_line); #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + Py_XDECREF(py_funcname); return py_code; bad: Py_XDECREF(py_funcname); diff --git a/selfdrive/modeld/models/commonmodel_pyx.so b/selfdrive/modeld/models/commonmodel_pyx.so index eb2c854f2..f52434f80 100755 Binary files a/selfdrive/modeld/models/commonmodel_pyx.so and b/selfdrive/modeld/models/commonmodel_pyx.so differ diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc index 485009a99..7f911cb21 100644 Binary files a/selfdrive/modeld/models/dmonitoring_model_q.dlc and b/selfdrive/modeld/models/dmonitoring_model_q.dlc differ diff --git a/selfdrive/modeld/models/navmodel_q.dlc b/selfdrive/modeld/models/navmodel_q.dlc index a899829e3..505d5c556 100644 Binary files a/selfdrive/modeld/models/navmodel_q.dlc and b/selfdrive/modeld/models/navmodel_q.dlc differ diff --git a/selfdrive/modeld/models/supercombo.thneed b/selfdrive/modeld/models/supercombo.thneed index cbcb243d3..cdd01da2d 100644 Binary files a/selfdrive/modeld/models/supercombo.thneed and b/selfdrive/modeld/models/supercombo.thneed differ diff --git a/selfdrive/modeld/models/supercombo_metadata.pkl b/selfdrive/modeld/models/supercombo_metadata.pkl index bed9c7718..c61356a91 100644 Binary files a/selfdrive/modeld/models/supercombo_metadata.pkl and b/selfdrive/modeld/models/supercombo_metadata.pkl differ diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 9d37a5fad..01cba29d1 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -93,7 +93,10 @@ class Parser: self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) - self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) + if 'lat_planner_solution' in outs: + self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) + if 'desired_curvature' in outs: + self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) for k in ['lead_prob', 'lane_lines_prob', 'meta']: self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) diff --git a/selfdrive/modeld/runners/runmodel_pyx.cpp b/selfdrive/modeld/runners/runmodel_pyx.cpp index b666dabd4..904b7e30c 100644 --- a/selfdrive/modeld/runners/runmodel_pyx.cpp +++ b/selfdrive/modeld/runners/runmodel_pyx.cpp @@ -1,4 +1,4 @@ -/* Generated by Cython 3.0.5 */ +/* Generated by Cython 3.0.8 */ /* BEGIN: Cython Metadata { @@ -44,10 +44,10 @@ END: Cython Metadata */ #else #define __PYX_EXTRA_ABI_MODULE_NAME "" #endif -#define CYTHON_ABI "3_0_5" __PYX_EXTRA_ABI_MODULE_NAME +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME #define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI #define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." -#define CYTHON_HEX_VERSION 0x030005F0 +#define CYTHON_HEX_VERSION 0x030008F0 #define CYTHON_FUTURE_DIVISION 1 #include #ifndef offsetof @@ -261,7 +261,7 @@ END: Cython Metadata */ #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 #endif -#elif defined(PY_NOGIL) +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) #define CYTHON_COMPILING_IN_PYPY 0 #define CYTHON_COMPILING_IN_CPYTHON 0 #define CYTHON_COMPILING_IN_LIMITED_API 0 @@ -605,18 +605,19 @@ class __Pyx_FakeReference { PyObject *exception_table = NULL; PyObject *types_module=NULL, *code_type=NULL, *result=NULL; #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 - PyObject *version_info; // borrowed - #endif + PyObject *version_info; PyObject *py_minor_version = NULL; + #endif long minor_version = 0; PyObject *type, *value, *traceback; PyErr_Fetch(&type, &value, &traceback); #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 - minor_version = 11; // we don't yet need to distinguish between versions > 11 + minor_version = 11; #else if (!(version_info = PySys_GetObject("version_info"))) goto end; if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); if (minor_version == -1 && PyErr_Occurred()) goto end; #endif if (!(types_module = PyImport_ImportModule("types"))) goto end; @@ -637,7 +638,6 @@ class __Pyx_FakeReference { Py_XDECREF(code_type); Py_XDECREF(exception_table); Py_XDECREF(types_module); - Py_XDECREF(py_minor_version); if (type) { PyErr_Restore(type, value, traceback); } @@ -670,7 +670,7 @@ class __Pyx_FakeReference { PyObject *fv, PyObject *cell, PyObject* fn, PyObject *name, int fline, PyObject *lnos) { PyCodeObject *result; - PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); // we don't have access to __pyx_empty_bytes here + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); if (!empty_bytes) return NULL; result = #if PY_VERSION_HEX >= 0x030C0000 @@ -965,7 +965,7 @@ static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, #endif #if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 #define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ - PyTypeObject *type = Py_TYPE(obj);\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ PyObject_GC_Del(obj);\ Py_DECREF(type);\ @@ -1391,7 +1391,7 @@ static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); #endif typedef Py_ssize_t __Pyx_compact_pylong; typedef size_t __Pyx_compact_upylong; - #else // Py < 3.12 + #else #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) @@ -2063,8 +2063,8 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) #else - #define __Pyx_Arg_NewRef_VARARGS(arg) arg // no-op - #define __Pyx_Arg_XDECREF_VARARGS(arg) // no-op - arg is borrowed + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) #endif #define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) #define __Pyx_KwValues_VARARGS(args, nargs) NULL @@ -2076,12 +2076,13 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 - static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); #else #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) #endif - #define __Pyx_Arg_NewRef_FASTCALL(arg) arg // no-op, __Pyx_Arg_FASTCALL is direct and this needs - #define __Pyx_Arg_XDECREF_FASTCALL(arg) // no-op - arg was returned from array + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) #else #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS @@ -2546,22 +2547,22 @@ static int __Pyx_MergeVtables(PyTypeObject *type); #endif /* TypeImport.proto */ -#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_5 -#define __PYX_HAVE_RT_ImportType_proto_3_0_5 +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 #if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L #include #endif #if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L -#define __PYX_GET_STRUCT_ALIGNMENT_3_0_5(s) alignof(s) +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) #else -#define __PYX_GET_STRUCT_ALIGNMENT_3_0_5(s) sizeof(void*) +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) #endif -enum __Pyx_ImportType_CheckSize_3_0_5 { - __Pyx_ImportType_CheckSize_Error_3_0_5 = 0, - __Pyx_ImportType_CheckSize_Warn_3_0_5 = 1, - __Pyx_ImportType_CheckSize_Ignore_3_0_5 = 2 +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 }; -static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_5 check_size); +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); #endif /* SetNameInClass.proto */ @@ -2687,7 +2688,7 @@ typedef struct { #endif void *defaults; int defaults_pyobjects; - size_t defaults_size; // used by FusedFunction for copying defaults + size_t defaults_size; int flags; PyObject *defaults_tuple; PyObject *defaults_kwdict; @@ -20535,14 +20536,14 @@ static int __Pyx_modinit_type_import_code(void) { /*--- Type import code ---*/ __pyx_t_1 = PyImport_ImportModule("cereal.visionipc.visionipc_pyx"); if (unlikely(!__pyx_t_1)) __PYX_ERR(2, 7, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_ptype_6cereal_9visionipc_13visionipc_pyx_CLContext = __Pyx_ImportType_3_0_5(__pyx_t_1, "cereal.visionipc.visionipc_pyx", "CLContext", sizeof(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_CLContext), __PYX_GET_STRUCT_ALIGNMENT_3_0_5(struct __pyx_obj_6cereal_9visionipc_13visionipc_pyx_CLContext),__Pyx_ImportType_CheckSize_Warn_3_0_5); 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if (!__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem) __PYX_ERR(3, 9, __pyx_L1_error) __pyx_vtabptr_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem = (struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem*)__Pyx_GetVtable(__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); if (unlikely(!__pyx_vtabptr_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem)) __PYX_ERR(3, 9, __pyx_L1_error) __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; __Pyx_RefNannyFinishContext(); @@ -20763,7 +20764,7 @@ static CYTHON_SMALL_CODE int __pyx_pymod_exec_runmodel_pyx(PyObject *__pyx_pyini __pyx_t_1 = PyModule_Create(&__pyx_moduledef); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 1, __pyx_L1_error) { int add_module_result = PyState_AddModule(__pyx_t_1, &__pyx_moduledef); - __pyx_t_1 = 0; /* transfer ownership from __pyx_t_1 to runmodel_pyx pseudovariable */ + __pyx_t_1 = 0; /* transfer ownership from __pyx_t_1 to "runmodel_pyx" pseudovariable */ if (unlikely((add_module_result < 0))) __PYX_ERR(1, 1, __pyx_L1_error) pystate_addmodule_run = 1; } @@ -21935,14 +21936,14 @@ static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyO { int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); if (unlikely(eq != 0)) { - if (unlikely(eq < 0)) return NULL; // error + if (unlikely(eq < 0)) return NULL; return kwvalues[i]; } } - return NULL; // not found (no exception set) + return NULL; } #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 -static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); PyObject *dict; dict = PyDict_New(); @@ -22052,7 +22053,7 @@ static int __Pyx_ParseOptionalKeywords( if (*name) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - Py_INCREF(value); // transfer ownership of value to values + Py_INCREF(value); Py_DECREF(key); #endif key = NULL; @@ -22071,7 +22072,7 @@ static int __Pyx_ParseOptionalKeywords( && _PyString_Eq(**name, key)) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -22103,7 +22104,7 @@ static int __Pyx_ParseOptionalKeywords( if (cmp == 0) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -23025,7 +23026,7 @@ static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, } } #else - if (is_list || PySequence_Check(o)) { + if (is_list || !PyMapping_Check(o)) { return PySequence_GetItem(o, i); } #endif @@ -23909,11 +23910,7 @@ static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObje } } #else -#if CYTHON_COMPILING_IN_PYPY - if (is_list || (PySequence_Check(o) && !PyDict_Check(o))) -#else - if (is_list || PySequence_Check(o)) -#endif + if (is_list || !PyMapping_Check(o)) { return PySequence_SetItem(o, i, v); } @@ -24296,38 +24293,38 @@ static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffs #endif return -1; } -#if !CYTHON_USE_TYPE_SLOTS - if (dictoffset == 0) { - PyErr_Format(PyExc_TypeError, - "extension type '%s.200s': " - "unable to validate whether bases have a __dict__ " - "when CYTHON_USE_TYPE_SLOTS is off " - "(likely because you are building in the limited API). " - "Therefore, all extension types with multiple bases " - "must add 'cdef dict __dict__' in this compilation mode", - type_name); -#if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); -#endif - return -1; - } -#else - if (dictoffset == 0 && b->tp_dictoffset) + if (dictoffset == 0) { - __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); - PyErr_Format(PyExc_TypeError, - "extension type '%.200s' has no __dict__ slot, " - "but base type '" __Pyx_FMT_TYPENAME "' has: " - "either add 'cdef dict __dict__' to the extension type " - "or add '__slots__ = [...]' to the base type", - type_name, b_name); - __Pyx_DECREF_TypeName(b_name); + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif #if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); + Py_DECREF(b0); #endif - return -1; + return -1; + } } -#endif #if CYTHON_AVOID_BORROWED_REFS Py_DECREF(b0); #endif @@ -24621,10 +24618,10 @@ bad: #endif /* TypeImport */ -#ifndef __PYX_HAVE_RT_ImportType_3_0_5 -#define __PYX_HAVE_RT_ImportType_3_0_5 -static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject *module, const char *module_name, const char *class_name, - size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_5 check_size) +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) { PyObject *result = 0; char warning[200]; @@ -24678,7 +24675,7 @@ static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject *module, const char *module module_name, class_name, size, basicsize+itemsize); goto bad; } - if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_5 && + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { PyErr_Format(PyExc_ValueError, "%.200s.%.200s size changed, may indicate binary incompatibility. " @@ -24686,7 +24683,7 @@ static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject *module, const char *module module_name, class_name, size, basicsize, basicsize+itemsize); goto bad; } - else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_5 && (size_t)basicsize > size) { + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { PyOS_snprintf(warning, sizeof(warning), "%s.%s size changed, may indicate binary incompatibility. " "Expected %zd from C header, got %zd from PyObject", @@ -26432,7 +26429,7 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( #else py_code = PyCode_NewEmpty(filename, funcname, py_line); #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + Py_XDECREF(py_funcname); return py_code; bad: Py_XDECREF(py_funcname); diff --git a/selfdrive/modeld/runners/runmodel_pyx.so b/selfdrive/modeld/runners/runmodel_pyx.so index c591c86c7..ac8b3689a 100755 Binary files a/selfdrive/modeld/runners/runmodel_pyx.so and b/selfdrive/modeld/runners/runmodel_pyx.so differ diff --git a/selfdrive/modeld/runners/snpemodel_pyx.cpp b/selfdrive/modeld/runners/snpemodel_pyx.cpp index 7611effa8..f1f3c3d1e 100644 --- a/selfdrive/modeld/runners/snpemodel_pyx.cpp +++ b/selfdrive/modeld/runners/snpemodel_pyx.cpp @@ -1,4 +1,4 @@ -/* Generated by Cython 3.0.5 */ +/* Generated by Cython 3.0.8 */ /* BEGIN: Cython Metadata { @@ -45,10 +45,10 @@ END: Cython Metadata */ #else #define __PYX_EXTRA_ABI_MODULE_NAME "" #endif -#define CYTHON_ABI "3_0_5" __PYX_EXTRA_ABI_MODULE_NAME +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME #define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI #define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." -#define CYTHON_HEX_VERSION 0x030005F0 +#define CYTHON_HEX_VERSION 0x030008F0 #define CYTHON_FUTURE_DIVISION 1 #include #ifndef offsetof @@ -262,7 +262,7 @@ END: Cython Metadata */ #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 #endif -#elif defined(PY_NOGIL) +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) #define CYTHON_COMPILING_IN_PYPY 0 #define CYTHON_COMPILING_IN_CPYTHON 0 #define CYTHON_COMPILING_IN_LIMITED_API 0 @@ -606,18 +606,19 @@ class __Pyx_FakeReference { PyObject *exception_table = NULL; PyObject *types_module=NULL, *code_type=NULL, *result=NULL; #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 - PyObject *version_info; // borrowed - #endif + PyObject *version_info; PyObject *py_minor_version = NULL; + #endif long minor_version = 0; PyObject *type, *value, *traceback; PyErr_Fetch(&type, &value, &traceback); #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 - minor_version = 11; // we don't yet need to distinguish between versions > 11 + minor_version = 11; #else if (!(version_info = PySys_GetObject("version_info"))) goto end; if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); if (minor_version == -1 && PyErr_Occurred()) goto end; #endif if (!(types_module = PyImport_ImportModule("types"))) goto end; @@ -638,7 +639,6 @@ class __Pyx_FakeReference { Py_XDECREF(code_type); Py_XDECREF(exception_table); Py_XDECREF(types_module); - Py_XDECREF(py_minor_version); if (type) { PyErr_Restore(type, value, traceback); } @@ -671,7 +671,7 @@ class __Pyx_FakeReference { PyObject *fv, PyObject *cell, PyObject* fn, PyObject *name, int fline, PyObject *lnos) { PyCodeObject *result; - PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); // we don't have access to __pyx_empty_bytes here + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); if (!empty_bytes) return NULL; result = #if PY_VERSION_HEX >= 0x030C0000 @@ -966,7 +966,7 @@ static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, #endif #if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 #define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ - PyTypeObject *type = Py_TYPE(obj);\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ PyObject_GC_Del(obj);\ Py_DECREF(type);\ @@ -1393,7 +1393,7 @@ static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); #endif typedef Py_ssize_t __Pyx_compact_pylong; typedef size_t __Pyx_compact_upylong; - #else // Py < 3.12 + #else #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) @@ -2078,8 +2078,8 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) #else - #define __Pyx_Arg_NewRef_VARARGS(arg) arg // no-op - #define __Pyx_Arg_XDECREF_VARARGS(arg) // no-op - arg is borrowed + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) #endif #define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) #define __Pyx_KwValues_VARARGS(args, nargs) NULL @@ -2091,12 +2091,13 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 - static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); #else #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) #endif - #define __Pyx_Arg_NewRef_FASTCALL(arg) arg // no-op, __Pyx_Arg_FASTCALL is direct and this needs - #define __Pyx_Arg_XDECREF_FASTCALL(arg) // no-op - arg was returned from array + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) #else #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS @@ -2520,22 +2521,22 @@ static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_nam #endif /* TypeImport.proto */ -#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_5 -#define __PYX_HAVE_RT_ImportType_proto_3_0_5 +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 #if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L #include #endif #if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L -#define __PYX_GET_STRUCT_ALIGNMENT_3_0_5(s) alignof(s) +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) #else -#define __PYX_GET_STRUCT_ALIGNMENT_3_0_5(s) sizeof(void*) +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) #endif -enum __Pyx_ImportType_CheckSize_3_0_5 { - __Pyx_ImportType_CheckSize_Error_3_0_5 = 0, - __Pyx_ImportType_CheckSize_Warn_3_0_5 = 1, - __Pyx_ImportType_CheckSize_Ignore_3_0_5 = 2 +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 }; -static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_5 check_size); +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); #endif /* IncludeStructmemberH.proto */ @@ -2669,7 +2670,7 @@ typedef struct { #endif void *defaults; int defaults_pyobjects; - size_t defaults_size; // used by FusedFunction for copying defaults + size_t defaults_size; int flags; PyObject *defaults_tuple; PyObject *defaults_kwdict; @@ -19644,7 +19645,7 @@ static int __Pyx_modinit_type_init_code(void) { /*--- Type init code ---*/ __pyx_t_1 = PyImport_ImportModule("selfdrive.modeld.runners.runmodel_pyx"); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 1, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel = __Pyx_ImportType_3_0_5(__pyx_t_1, "selfdrive.modeld.runners.runmodel_pyx", "RunModel", sizeof(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel), __PYX_GET_STRUCT_ALIGNMENT_3_0_5(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel),__Pyx_ImportType_CheckSize_Warn_3_0_5); if (!__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel) __PYX_ERR(1, 1, __pyx_L1_error) + __pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel = __Pyx_ImportType_3_0_8(__pyx_t_1, "selfdrive.modeld.runners.runmodel_pyx", "RunModel", sizeof(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel), __PYX_GET_STRUCT_ALIGNMENT_3_0_8(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel),__Pyx_ImportType_CheckSize_Warn_3_0_8); if (!__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel) __PYX_ERR(1, 1, __pyx_L1_error) #if CYTHON_USE_TYPE_SPECS __pyx_t_2 = PyTuple_Pack(1, (PyObject *)__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 15, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); @@ -19834,14 +19835,14 @@ static int __Pyx_modinit_type_import_code(void) { /*--- Type import code ---*/ __pyx_t_1 = PyImport_ImportModule("cereal.visionipc.visionipc_pyx"); if (unlikely(!__pyx_t_1)) __PYX_ERR(2, 7, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); 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if (!__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext) __PYX_ERR(3, 6, __pyx_L1_error) + __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem = __Pyx_ImportType_3_0_8(__pyx_t_1, "selfdrive.modeld.models.commonmodel_pyx", "CLMem", sizeof(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem), __PYX_GET_STRUCT_ALIGNMENT_3_0_8(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem),__Pyx_ImportType_CheckSize_Warn_3_0_8); if (!__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem) __PYX_ERR(3, 9, __pyx_L1_error) __pyx_vtabptr_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem = (struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem*)__Pyx_GetVtable(__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); if (unlikely(!__pyx_vtabptr_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem)) __PYX_ERR(3, 9, __pyx_L1_error) __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; __Pyx_RefNannyFinishContext(); @@ -20062,7 +20063,7 @@ static CYTHON_SMALL_CODE int __pyx_pymod_exec_snpemodel_pyx(PyObject *__pyx_pyin __pyx_t_1 = PyModule_Create(&__pyx_moduledef); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 1, __pyx_L1_error) { int add_module_result = PyState_AddModule(__pyx_t_1, &__pyx_moduledef); - __pyx_t_1 = 0; /* transfer ownership from __pyx_t_1 to snpemodel_pyx pseudovariable */ + __pyx_t_1 = 0; /* transfer ownership from __pyx_t_1 to "snpemodel_pyx" pseudovariable */ if (unlikely((add_module_result < 0))) __PYX_ERR(1, 1, __pyx_L1_error) pystate_addmodule_run = 1; } @@ -21151,14 +21152,14 @@ static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyO { int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); if (unlikely(eq != 0)) { - if (unlikely(eq < 0)) return NULL; // error + if (unlikely(eq < 0)) return NULL; return kwvalues[i]; } } - return NULL; // not found (no exception set) + return NULL; } #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 -static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); PyObject *dict; dict = PyDict_New(); @@ -21268,7 +21269,7 @@ static int __Pyx_ParseOptionalKeywords( if (*name) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - Py_INCREF(value); // transfer ownership of value to values + Py_INCREF(value); Py_DECREF(key); #endif key = NULL; @@ -21287,7 +21288,7 @@ static int __Pyx_ParseOptionalKeywords( && _PyString_Eq(**name, key)) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -21319,7 +21320,7 @@ static int __Pyx_ParseOptionalKeywords( if (cmp == 0) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -22241,7 +22242,7 @@ static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, } } #else - if (is_list || PySequence_Check(o)) { + if (is_list || !PyMapping_Check(o)) { return PySequence_GetItem(o, i); } #endif @@ -23125,11 +23126,7 @@ static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObje } } #else -#if CYTHON_COMPILING_IN_PYPY - if (is_list || (PySequence_Check(o) && !PyDict_Check(o))) -#else - if (is_list || PySequence_Check(o)) -#endif + if (is_list || !PyMapping_Check(o)) { return PySequence_SetItem(o, i, v); } @@ -23272,10 +23269,10 @@ static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_nam #endif /* TypeImport */ -#ifndef __PYX_HAVE_RT_ImportType_3_0_5 -#define __PYX_HAVE_RT_ImportType_3_0_5 -static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject *module, const char *module_name, const char *class_name, - size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_5 check_size) +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) { PyObject *result = 0; char warning[200]; @@ -23329,7 +23326,7 @@ static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject *module, const char *module module_name, class_name, size, basicsize+itemsize); goto bad; } - if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_5 && + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { PyErr_Format(PyExc_ValueError, "%.200s.%.200s size changed, may indicate binary incompatibility. " @@ -23337,7 +23334,7 @@ static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject *module, const char *module module_name, class_name, size, basicsize, basicsize+itemsize); goto bad; } - else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_5 && (size_t)basicsize > size) { + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { PyOS_snprintf(warning, sizeof(warning), "%s.%s size changed, may indicate binary incompatibility. " "Expected %zd from C header, got %zd from PyObject", @@ -23592,38 +23589,38 @@ static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffs #endif return -1; } -#if !CYTHON_USE_TYPE_SLOTS - if (dictoffset == 0) { - PyErr_Format(PyExc_TypeError, - "extension type '%s.200s': " - "unable to validate whether bases have a __dict__ " - "when CYTHON_USE_TYPE_SLOTS is off " - "(likely because you are building in the limited API). " - "Therefore, all extension types with multiple bases " - "must add 'cdef dict __dict__' in this compilation mode", - type_name); -#if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); -#endif - return -1; - } -#else - if (dictoffset == 0 && b->tp_dictoffset) + if (dictoffset == 0) { - __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); - PyErr_Format(PyExc_TypeError, - "extension type '%.200s' has no __dict__ slot, " - "but base type '" __Pyx_FMT_TYPENAME "' has: " - "either add 'cdef dict __dict__' to the extension type " - "or add '__slots__ = [...]' to the base type", - type_name, b_name); - __Pyx_DECREF_TypeName(b_name); + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif #if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); + Py_DECREF(b0); #endif - return -1; + return -1; + } } -#endif #if CYTHON_AVOID_BORROWED_REFS Py_DECREF(b0); #endif @@ -25361,7 +25358,7 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( #else py_code = PyCode_NewEmpty(filename, funcname, py_line); #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + Py_XDECREF(py_funcname); return py_code; bad: Py_XDECREF(py_funcname); diff --git a/selfdrive/modeld/runners/snpemodel_pyx.so b/selfdrive/modeld/runners/snpemodel_pyx.so index 9d886c48a..e7f2df762 100755 Binary files a/selfdrive/modeld/runners/snpemodel_pyx.so and b/selfdrive/modeld/runners/snpemodel_pyx.so differ diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.cpp b/selfdrive/modeld/runners/thneedmodel_pyx.cpp index 4c71d8805..afd9cac45 100644 --- a/selfdrive/modeld/runners/thneedmodel_pyx.cpp +++ b/selfdrive/modeld/runners/thneedmodel_pyx.cpp @@ -1,4 +1,4 @@ -/* Generated by Cython 3.0.5 */ +/* Generated by Cython 3.0.8 */ /* BEGIN: Cython Metadata { @@ -45,10 +45,10 @@ END: Cython Metadata */ #else #define __PYX_EXTRA_ABI_MODULE_NAME "" #endif -#define CYTHON_ABI "3_0_5" __PYX_EXTRA_ABI_MODULE_NAME +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME #define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI #define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." -#define CYTHON_HEX_VERSION 0x030005F0 +#define CYTHON_HEX_VERSION 0x030008F0 #define CYTHON_FUTURE_DIVISION 1 #include #ifndef offsetof @@ -262,7 +262,7 @@ END: Cython Metadata */ #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 #endif -#elif defined(PY_NOGIL) +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) #define CYTHON_COMPILING_IN_PYPY 0 #define CYTHON_COMPILING_IN_CPYTHON 0 #define CYTHON_COMPILING_IN_LIMITED_API 0 @@ -606,18 +606,19 @@ class __Pyx_FakeReference { PyObject *exception_table = NULL; PyObject *types_module=NULL, *code_type=NULL, *result=NULL; #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 - PyObject *version_info; // borrowed - #endif + PyObject *version_info; PyObject *py_minor_version = NULL; + #endif long minor_version = 0; PyObject *type, *value, *traceback; PyErr_Fetch(&type, &value, &traceback); #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 - minor_version = 11; // we don't yet need to distinguish between versions > 11 + minor_version = 11; #else if (!(version_info = PySys_GetObject("version_info"))) goto end; if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); if (minor_version == -1 && PyErr_Occurred()) goto end; #endif if (!(types_module = PyImport_ImportModule("types"))) goto end; @@ -638,7 +639,6 @@ class __Pyx_FakeReference { Py_XDECREF(code_type); Py_XDECREF(exception_table); Py_XDECREF(types_module); - Py_XDECREF(py_minor_version); if (type) { PyErr_Restore(type, value, traceback); } @@ -671,7 +671,7 @@ class __Pyx_FakeReference { PyObject *fv, PyObject *cell, PyObject* fn, PyObject *name, int fline, PyObject *lnos) { PyCodeObject *result; - PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); // we don't have access to __pyx_empty_bytes here + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); if (!empty_bytes) return NULL; result = #if PY_VERSION_HEX >= 0x030C0000 @@ -966,7 +966,7 @@ static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, #endif #if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 #define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ - PyTypeObject *type = Py_TYPE(obj);\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ PyObject_GC_Del(obj);\ Py_DECREF(type);\ @@ -1393,7 +1393,7 @@ static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); #endif typedef Py_ssize_t __Pyx_compact_pylong; typedef size_t __Pyx_compact_upylong; - #else // Py < 3.12 + #else #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) @@ -2078,8 +2078,8 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) #else - #define __Pyx_Arg_NewRef_VARARGS(arg) arg // no-op - #define __Pyx_Arg_XDECREF_VARARGS(arg) // no-op - arg is borrowed + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) #endif #define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) #define __Pyx_KwValues_VARARGS(args, nargs) NULL @@ -2091,12 +2091,13 @@ static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 - static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); #else #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) #endif - #define __Pyx_Arg_NewRef_FASTCALL(arg) arg // no-op, __Pyx_Arg_FASTCALL is direct and this needs - #define __Pyx_Arg_XDECREF_FASTCALL(arg) // no-op - arg was returned from array + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) #else #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS @@ -2520,22 +2521,22 @@ static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_nam #endif /* TypeImport.proto */ -#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_5 -#define __PYX_HAVE_RT_ImportType_proto_3_0_5 +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 #if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L #include #endif #if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L -#define __PYX_GET_STRUCT_ALIGNMENT_3_0_5(s) alignof(s) +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) #else -#define __PYX_GET_STRUCT_ALIGNMENT_3_0_5(s) sizeof(void*) +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) #endif -enum __Pyx_ImportType_CheckSize_3_0_5 { - __Pyx_ImportType_CheckSize_Error_3_0_5 = 0, - __Pyx_ImportType_CheckSize_Warn_3_0_5 = 1, - __Pyx_ImportType_CheckSize_Ignore_3_0_5 = 2 +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 }; -static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_5 check_size); +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); #endif /* IncludeStructmemberH.proto */ @@ -2669,7 +2670,7 @@ typedef struct { #endif void *defaults; int defaults_pyobjects; - size_t defaults_size; // used by FusedFunction for copying defaults + size_t defaults_size; int flags; PyObject *defaults_tuple; PyObject *defaults_kwdict; @@ -19620,7 +19621,7 @@ static int __Pyx_modinit_type_init_code(void) { /*--- Type init code ---*/ __pyx_t_1 = PyImport_ImportModule("selfdrive.modeld.runners.runmodel_pyx"); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 1, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); - __pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel = __Pyx_ImportType_3_0_5(__pyx_t_1, "selfdrive.modeld.runners.runmodel_pyx", "RunModel", sizeof(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel), __PYX_GET_STRUCT_ALIGNMENT_3_0_5(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel),__Pyx_ImportType_CheckSize_Warn_3_0_5); if (!__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel) __PYX_ERR(1, 1, __pyx_L1_error) + __pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel = __Pyx_ImportType_3_0_8(__pyx_t_1, "selfdrive.modeld.runners.runmodel_pyx", "RunModel", sizeof(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel), __PYX_GET_STRUCT_ALIGNMENT_3_0_8(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel),__Pyx_ImportType_CheckSize_Warn_3_0_8); if (!__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel) __PYX_ERR(1, 1, __pyx_L1_error) #if CYTHON_USE_TYPE_SPECS __pyx_t_2 = PyTuple_Pack(1, (PyObject *)__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 12, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); @@ -19810,14 +19811,14 @@ static int __Pyx_modinit_type_import_code(void) { /*--- Type import code ---*/ __pyx_t_1 = PyImport_ImportModule("cereal.visionipc.visionipc_pyx"); if (unlikely(!__pyx_t_1)) __PYX_ERR(2, 7, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); 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if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 1, __pyx_L1_error) { int add_module_result = PyState_AddModule(__pyx_t_1, &__pyx_moduledef); - __pyx_t_1 = 0; /* transfer ownership from __pyx_t_1 to thneedmodel_pyx pseudovariable */ + __pyx_t_1 = 0; /* transfer ownership from __pyx_t_1 to "thneedmodel_pyx" pseudovariable */ if (unlikely((add_module_result < 0))) __PYX_ERR(1, 1, __pyx_L1_error) pystate_addmodule_run = 1; } @@ -21101,14 +21102,14 @@ static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyO { int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); if (unlikely(eq != 0)) { - if (unlikely(eq < 0)) return NULL; // error + if (unlikely(eq < 0)) return NULL; return kwvalues[i]; } } - return NULL; // not found (no exception set) + return NULL; } #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 -static CYTHON_UNUSED PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); PyObject *dict; dict = PyDict_New(); @@ -21218,7 +21219,7 @@ static int __Pyx_ParseOptionalKeywords( if (*name) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - Py_INCREF(value); // transfer ownership of value to values + Py_INCREF(value); Py_DECREF(key); #endif key = NULL; @@ -21237,7 +21238,7 @@ static int __Pyx_ParseOptionalKeywords( && _PyString_Eq(**name, key)) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -21269,7 +21270,7 @@ static int __Pyx_ParseOptionalKeywords( if (cmp == 0) { values[name-argnames] = value; #if CYTHON_AVOID_BORROWED_REFS - value = NULL; // ownership transferred to values + value = NULL; #endif break; } @@ -22191,7 +22192,7 @@ static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, } } #else - if (is_list || PySequence_Check(o)) { + if (is_list || !PyMapping_Check(o)) { return PySequence_GetItem(o, i); } #endif @@ -23075,11 +23076,7 @@ static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObje } } #else -#if CYTHON_COMPILING_IN_PYPY - if (is_list || (PySequence_Check(o) && !PyDict_Check(o))) -#else - if (is_list || PySequence_Check(o)) -#endif + if (is_list || !PyMapping_Check(o)) { return PySequence_SetItem(o, i, v); } @@ -23222,10 +23219,10 @@ static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_nam #endif /* TypeImport */ -#ifndef __PYX_HAVE_RT_ImportType_3_0_5 -#define __PYX_HAVE_RT_ImportType_3_0_5 -static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject *module, const char *module_name, const char *class_name, - size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_5 check_size) +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) { PyObject *result = 0; char warning[200]; @@ -23279,7 +23276,7 @@ static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject *module, const char *module module_name, class_name, size, basicsize+itemsize); goto bad; } - if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_5 && + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { PyErr_Format(PyExc_ValueError, "%.200s.%.200s size changed, may indicate binary incompatibility. " @@ -23287,7 +23284,7 @@ static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject *module, const char *module module_name, class_name, size, basicsize, basicsize+itemsize); goto bad; } - else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_5 && (size_t)basicsize > size) { + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { PyOS_snprintf(warning, sizeof(warning), "%s.%s size changed, may indicate binary incompatibility. " "Expected %zd from C header, got %zd from PyObject", @@ -23542,38 +23539,38 @@ static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffs #endif return -1; } -#if !CYTHON_USE_TYPE_SLOTS - if (dictoffset == 0) { - PyErr_Format(PyExc_TypeError, - "extension type '%s.200s': " - "unable to validate whether bases have a __dict__ " - "when CYTHON_USE_TYPE_SLOTS is off " - "(likely because you are building in the limited API). " - "Therefore, all extension types with multiple bases " - "must add 'cdef dict __dict__' in this compilation mode", - type_name); -#if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); -#endif - return -1; - } -#else - if (dictoffset == 0 && b->tp_dictoffset) + if (dictoffset == 0) { - __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); - PyErr_Format(PyExc_TypeError, - "extension type '%.200s' has no __dict__ slot, " - "but base type '" __Pyx_FMT_TYPENAME "' has: " - "either add 'cdef dict __dict__' to the extension type " - "or add '__slots__ = [...]' to the base type", - type_name, b_name); - __Pyx_DECREF_TypeName(b_name); + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif #if CYTHON_AVOID_BORROWED_REFS - Py_DECREF(b0); + Py_DECREF(b0); #endif - return -1; + return -1; + } } -#endif #if CYTHON_AVOID_BORROWED_REFS Py_DECREF(b0); #endif @@ -25311,7 +25308,7 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( #else py_code = PyCode_NewEmpty(filename, funcname, py_line); #endif - Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline + Py_XDECREF(py_funcname); return py_code; bad: Py_XDECREF(py_funcname); diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.so b/selfdrive/modeld/runners/thneedmodel_pyx.so index 7098136c0..f5638f8ba 100755 Binary files a/selfdrive/modeld/runners/thneedmodel_pyx.so and b/selfdrive/modeld/runners/thneedmodel_pyx.so differ diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index ab82da301..2279002f3 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -29,10 +29,10 @@ class DRIVER_MONITOR_SETTINGS(): self._FACE_THRESHOLD = 0.7 self._EYE_THRESHOLD = 0.65 self._SG_THRESHOLD = 0.9 - self._BLINK_THRESHOLD = 0.895 + self._BLINK_THRESHOLD = 0.865 - self._EE_THRESH11 = 0.275 - self._EE_THRESH12 = 5.5 + self._EE_THRESH11 = 0.241 + self._EE_THRESH12 = 4.7 self._EE_MAX_OFFSET1 = 0.06 self._EE_MIN_OFFSET1 = 0.025 self._EE_THRESH21 = 0.01 diff --git a/selfdrive/navd/libmaprender.so b/selfdrive/navd/libmaprender.so index 0b82848ed..d561231ba 100755 Binary files a/selfdrive/navd/libmaprender.so and b/selfdrive/navd/libmaprender.so differ diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h index dc92c70b0..fd5922b66 100644 --- a/selfdrive/navd/map_renderer.h +++ b/selfdrive/navd/map_renderer.h @@ -3,7 +3,8 @@ #include #include -#include +#include +#include #include #include #include @@ -19,7 +20,7 @@ class MapRenderer : public QObject { Q_OBJECT public: - MapRenderer(const QMapboxGLSettings &, bool online=true); + MapRenderer(const QMapLibre::Settings &, bool online=true); uint8_t* getImage(); void update(); bool loaded(); @@ -37,8 +38,8 @@ private: void publish(const double render_time, const bool loaded); void sendThumbnail(const uint64_t ts, const kj::Array &buf); - QMapboxGLSettings m_settings; - QScopedPointer m_map; + QMapLibre::Settings m_settings; + QScopedPointer m_map; void initLayers(); @@ -52,7 +53,7 @@ private: bool ever_loaded = false; public slots: - void updatePosition(QMapbox::Coordinate position, float bearing); + void updatePosition(QMapLibre::Coordinate position, float bearing); void updateRoute(QList coordinates); void msgUpdate(); }; diff --git a/selfdrive/navd/mapsd b/selfdrive/navd/mapsd index 426e2b7d6..22d6349d6 100755 Binary files a/selfdrive/navd/mapsd and b/selfdrive/navd/mapsd differ diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index fcaf46aff..ab3f06bfa 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -21,6 +21,14 @@ REROUTE_DISTANCE = 25 MANEUVER_TRANSITION_THRESHOLD = 10 REROUTE_COUNTER_MIN = 3 +# rick - used by nav instruction +MILE_TO_KM = 1.609344 +KM_TO_MILE = 1. / MILE_TO_KM +# MS_TO_KPH = 3.6 +# MS_TO_MPH = MS_TO_KPH * KM_TO_MILE +METER_TO_MILE = KM_TO_MILE / 1000.0 +METER_TO_FOOT = 3.28084 + class RouteEngine: def __init__(self, sm, pm): @@ -59,6 +67,36 @@ class RouteEngine: self.mapbox_token = "" self.mapbox_host = "https://maps.comma.ai" + + # rick - cached + self._dp_cached_instruction = None + self._dp_is_metric = self.params.get_bool("IsMetric") + self._dp_nav_instruction_voice_lang = self.configure_nav_instruction_voice_language() + self._dp_is_rhd_detected = self.params.get_bool("IsRhdDetected") + + def configure_nav_instruction_voice_language(self): + # rick - get tts language from LanguageSetting + nav_instruction_voice_lang = str(self.params.get("LanguageSetting", encoding="utf-8")) + + # Remove "main_" prefix + if nav_instruction_voice_lang.startswith("main_"): + nav_instruction_voice_lang = nav_instruction_voice_lang[5:] + + # Convert to lowercase + nav_instruction_voice_lang = nav_instruction_voice_lang.lower() + + # map language + if nav_instruction_voice_lang == "zh-cht": + nav_instruction_voice_lang = "zh_tw" + elif nav_instruction_voice_lang == "zh-chs": + nav_instruction_voice_lang = "zh_tw" + else: + if Params().get_bool("IsMetric"): + nav_instruction_voice_lang = "en_uk" + else: + nav_instruction_voice_lang = "en" + return nav_instruction_voice_lang + def update(self): self.sm.update(0) @@ -71,8 +109,12 @@ class RouteEngine: self.ui_pid = ui_pid[0] self.update_location() - self.recompute_route() - self.send_instruction() + try: + self.recompute_route() + self.send_instruction() + self.send_instruction_ext() + except Exception: + cloudlog.exception("navd.failed_to_compute") def update_location(self): location = self.sm['liveLocationKalman'] @@ -256,7 +298,10 @@ class RouteEngine: for i in range(self.step_idx + 1, len(self.route)): total_distance += self.route[i]['distance'] total_time += self.route[i]['duration'] - total_time_typical += self.route[i]['duration_typical'] + if self.route[i]['duration_typical'] is None: + total_time_typical += self.route[i]['duration'] + else: + total_time_typical += self.route[i]['duration_typical'] msg.navInstruction.distanceRemaining = total_distance msg.navInstruction.timeRemaining = total_time @@ -279,6 +324,7 @@ class RouteEngine: elif step['speedLimitSign'] == 'vienna': msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.vienna + self._dp_cached_instruction = msg.navInstruction self.pm.send('navInstruction', msg) # Transition to next route segment @@ -295,6 +341,63 @@ class RouteEngine: self.params.remove("NavDestination") self.clear_route() + + def send_instruction_ext(self): + msg = messaging.new_message('navInstructionExt', valid=True) + + if self.step_idx is None: + msg.valid = False + self.pm.send('navInstructionExt', msg) + return + + instruction = self._dp_cached_instruction + if instruction.maneuverType != "": + v_ego = self.sm['liveLocationKalman'].velocityCalibrated.value[0] + distance = round(instruction.maneuverDistance) + if self._dp_is_metric: + dist = round(distance / 1000, 1) if distance > 500 else round(50 * int(distance / 50), 1) + nav_instruction_text = str(dist) + ("km" if distance > 500 else "m") + nav_instruction_voice_activated = dist in (100, 500, 0.7, 1.5, 3.0) + if v_ego > 22.: # 80 kph + nav_instruction_voice_activated = nav_instruction_voice_activated or dist == 300 + else: + nav_instruction_voice_activated = nav_instruction_voice_activated or dist == 0 + else: + feet = distance * METER_TO_FOOT + dist = round(distance * METER_TO_MILE, 1) if feet > 500 else round (50 * int(feet / 50), 1) + nav_instruction_text = str(dist) + ("mi" if feet > 500 else "ft") + nav_instruction_voice_activated = dist in (500, 0.5, 1.5, 3.0) + if v_ego > 22.: + nav_instruction_voice_activated = nav_instruction_voice_activated or dist in (150, 1.0) + else: + nav_instruction_voice_activated = nav_instruction_voice_activated or dist in (50, 250, 0.8) + + nav_instruction_icon = "direction_" + instruction.maneuverType + if instruction.maneuverModifier != "": + nav_instruction_icon += "_" + instruction.maneuverModifier + nav_instruction_icon += ".png" + nav_instruction_icon = nav_instruction_icon.replace(' ', '_') + + if self._dp_is_rhd_detected: + if 'left' in nav_instruction_icon: + nav_instruction_icon = nav_instruction_icon.replace('left', 'right') + elif 'right' in nav_instruction_icon: + nav_instruction_icon = nav_instruction_icon.replace('right', 'left') + + if dist > 0.: + nav_instruction_voice_distance = self._dp_nav_instruction_voice_lang + "_distance_" + nav_instruction_text + else: + nav_instruction_voice_distance = "" + nav_instruction_voice_direction = self._dp_nav_instruction_voice_lang + "_" + nav_instruction_icon + + msg.navInstructionExt.voiceDistance = nav_instruction_voice_distance if nav_instruction_voice_activated else "" + msg.navInstructionExt.voiceDirection = nav_instruction_voice_direction if nav_instruction_voice_activated else "" + msg.navInstructionExt.iconDistance = nav_instruction_text + msg.navInstructionExt.iconDirection = nav_instruction_icon + + self.pm.send('navInstructionExt', msg) + + def send_route(self): coords = [] @@ -345,7 +448,7 @@ class RouteEngine: def main(): - pm = messaging.PubMaster(['navInstruction', 'navRoute']) + pm = messaging.PubMaster(['navInstruction', 'navRoute', 'navInstructionExt']) sm = messaging.SubMaster(['liveLocationKalman', 'managerState']) rk = Ratekeeper(1.0) diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py index d336ffb65..b5f186dbb 100755 --- a/selfdrive/navd/tests/test_map_renderer.py +++ b/selfdrive/navd/tests/test_map_renderer.py @@ -11,27 +11,16 @@ import cereal.messaging as messaging from typing import Any from cereal.visionipc import VisionIpcClient, VisionStreamType +from openpilot.common.mock.generators import LLK_DECIMATION, LOCATION1, LOCATION2, generate_liveLocationKalman from openpilot.selfdrive.test.helpers import with_processes -LLK_DECIMATION = 10 CACHE_PATH = "/data/mbgl-cache-navd.db" -LOCATION1 = (32.7174, -117.16277) -LOCATION2 = (32.7558, -117.2037) - RENDER_FRAMES = 15 DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION - LOCATION1_REPEATED = [LOCATION1] * DEFAULT_ITERATIONS LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS -def gen_llk(location=LOCATION1): - msg = messaging.new_message('liveLocationKalman') - msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True} - msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} - msg.liveLocationKalman.status = 'valid' - return msg - class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler): INTERNET_ACTIVE = True @@ -131,7 +120,7 @@ class TestMapRenderer(unittest.TestCase): if starting_frame_id is None: starting_frame_id = prev_frame_id - llk = gen_llk(location) + llk = generate_liveLocationKalman(location) self.pm.send("liveLocationKalman", llk) self.pm.wait_for_readers_to_update("liveLocationKalman", 10) self.sm.update(1000 if frame_expected else 0) @@ -181,6 +170,7 @@ class TestMapRenderer(unittest.TestCase): self._run_test(False) @with_processes(["mapsd"]) + @pytest.mark.skip(reason="slow, flaky, and unlikely to break") def test_recover_from_no_internet(self): self._setup_test() self._run_test(True) diff --git a/selfdrive/navd/tests/test_navd.py b/selfdrive/navd/tests/test_navd.py new file mode 100755 index 000000000..014b1a32a --- /dev/null +++ b/selfdrive/navd/tests/test_navd.py @@ -0,0 +1,63 @@ +#!/usr/bin/env python3 +import json +import random +import unittest +import numpy as np + +from parameterized import parameterized + +import cereal.messaging as messaging +from openpilot.common.params import Params +from openpilot.selfdrive.manager.process_config import managed_processes + + +class TestNavd(unittest.TestCase): + def setUp(self): + self.params = Params() + self.sm = messaging.SubMaster(['navRoute', 'navInstruction']) + + def tearDown(self): + managed_processes['navd'].stop() + + def _check_route(self, start, end, check_coords=True): + self.params.put("NavDestination", json.dumps(end)) + self.params.put("LastGPSPosition", json.dumps(start)) + + managed_processes['navd'].start() + for _ in range(30): + self.sm.update(1000) + if all(f > 0 for f in self.sm.rcv_frame.values()): + break + else: + raise Exception("didn't get a route") + + assert managed_processes['navd'].proc.is_alive() + managed_processes['navd'].stop() + + # ensure start and end match up + if check_coords: + coords = self.sm['navRoute'].coordinates + assert np.allclose([start['latitude'], start['longitude'], end['latitude'], end['longitude']], + [coords[0].latitude, coords[0].longitude, coords[-1].latitude, coords[-1].longitude], + rtol=1e-3) + + def test_simple(self): + start = { + "latitude": 32.7427228, + "longitude": -117.2321177, + } + end = { + "latitude": 32.7557004, + "longitude": -117.268002, + } + self._check_route(start, end) + + @parameterized.expand([(i,) for i in range(10)]) + def test_random(self, index): + start = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} + end = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} + self._check_route(start, end, check_coords=False) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py index 5b8e7de9b..d37bb3795 100644 --- a/selfdrive/sentry.py +++ b/selfdrive/sentry.py @@ -1,10 +1,11 @@ """Install exception handler for process crash.""" import sentry_sdk from enum import Enum +from typing import Tuple from sentry_sdk.integrations.threading import ThreadingIntegration from openpilot.common.params import Params -#from openpilot.selfdrive.athena.registration import is_registered_device +from openpilot.selfdrive.athena.registration import UNREGISTERED_DONGLE_ID, is_registered_device from openpilot.system.hardware import HARDWARE, PC from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_branch, get_commit, get_origin, get_version, \ @@ -22,7 +23,7 @@ class SentryProject(Enum): SELFDRIVE_NATIVE = "https://980a0cba712a4c3593c33c78a12446e1@o273754.ingest.sentry.io/1488600" CRASHES_DIR = '/data/media/0/crash_logs' - +ip = "{{auto}}" def report_tombstone(fn: str, message: str, contents: str) -> None: cloudlog.error({'tombstone': message}) @@ -39,6 +40,7 @@ def capture_exception(*args, **kwargs) -> None: cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1)) try: + bind_user() sentry_sdk.capture_exception(*args, **kwargs) sentry_sdk.flush() # https://github.com/getsentry/sentry-python/issues/291 except Exception: @@ -53,27 +55,44 @@ def save_exception(exc_text): f.write(exc_text) print('Logged current crash to {}'.format(log_file)) -def capture_warning(warning_string): +def bind_user() -> None: + dongle_id, gitname = get_properties() + sentry_sdk.set_user({"id": dongle_id, "ip_address": ip, "name": gitname}) + +def capture_warning(warning_string: str) -> None: + bind_user() sentry_sdk.capture_message(warning_string, level='warning') sentry_sdk.flush() -def capture_info(info_string): +def capture_warning(info_string: str) -> None: + bind_user() sentry_sdk.capture_message(info_string, level='info') sentry_sdk.flush() def set_tag(key: str, value: str) -> None: sentry_sdk.set_tag(key, value) +def get_properties() -> Tuple[str, str]: + params = Params() + dongle_id = params.get("DongleId", encoding='utf-8') + if dongle_id in (None, UNREGISTERED_DONGLE_ID): + hardware_serial = params.get("HardwareSerial", encoding='utf-8') + hardware_serial = "" if hardware_serial is None else hardware_serial + dongle_id = UNREGISTERED_DONGLE_ID + hardware_serial + gitname = params.get("GithubUsername", encoding='utf-8') + if gitname is None: + gitname = "" + + return dongle_id, gitname + def init(project: SentryProject) -> None: # forks like to mess with this, so double check - #comma_remote = is_comma_remote() and "commaai" in get_origin(default="") + #comma_remote = is_comma_remote() and "commaai" in get_origin() #if not comma_remote or not is_registered_device() or PC: #return False - params = Params() + #params = Params() env = "release" if is_tested_branch() else "master" - dongle_id = params.get("DongleId", encoding='utf-8') - gitname = params.get("GithubUsername", encoding='utf-8') - ip = "{{auto}}" + dongle_id, gitname = get_properties() try: cached_params = params.get("CarParams") if cached_params is not None: @@ -88,14 +107,13 @@ def init(project: SentryProject) -> None: integrations = [] if project == SentryProject.SELFDRIVE: integrations.append(ThreadingIntegration(propagate_hub=True)) - else: - sentry_sdk.utils.MAX_STRING_LENGTH = 8192 sentry_sdk.init(project.value, default_integrations=False, release=get_version(), integrations=integrations, traces_sample_rate=1.0, + max_value_length=8192, environment=env, send_default_pii=True) diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 78b01c983..a8b7ca0c4 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -11,7 +11,6 @@ from openpilot.system.version import training_version, terms_version def set_params_enabled(): - os.environ['PASSIVE'] = "0" os.environ['REPLAY'] = "1" os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" os.environ['LOGPRINT'] = "debug" @@ -20,7 +19,6 @@ def set_params_enabled(): params.put("HasAcceptedTerms", terms_version) params.put("CompletedTrainingVersion", training_version) params.put_bool("OpenpilotEnabledToggle", True) - params.put_bool("Passive", False) # valid calib msg = messaging.new_message('liveCalibration') @@ -72,3 +70,10 @@ def with_processes(processes, init_time=0, ignore_stopped=None): def noop(*args, **kwargs): pass + + +def read_segment_list(segment_list_path): + with open(segment_list_path, "r") as f: + seg_list = f.read().splitlines() + + return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)] diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index e3807af14..a61d891e0 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -34,7 +34,7 @@ PROCS = { "./encoderd": 17.0, "./camerad": 14.5, "./locationd": 11.0, - "./mapsd": (1.0, 10.0), + "./mapsd": (0.5, 10.0), "selfdrive.controls.plannerd": 11.0, "./ui": 18.0, "selfdrive.locationd.paramsd": 9.0, @@ -53,11 +53,11 @@ PROCS = { "selfdrive.tombstoned": 0, "./logcatd": 0, "system.micd": 6.0, - "system.timezoned": 0, + "system.timed": 0, "selfdrive.boardd.pandad": 0, "selfdrive.statsd": 0.4, "selfdrive.navd.navd": 0.4, - "system.loggerd.uploader": 3.0, + "system.loggerd.uploader": (0.5, 15.0), "system.loggerd.deleter": 0.1, } @@ -82,7 +82,6 @@ TIMINGS = { "carState": [2.5, 0.35], "carControl": [2.5, 0.35], "controlsState": [2.5, 0.35], - "lateralPlan": [2.5, 0.5], "longitudinalPlan": [2.5, 0.5], "roadCameraState": [2.5, 0.35], "driverCameraState": [2.5, 0.35], @@ -113,17 +112,11 @@ class TestOnroad(unittest.TestCase): # setup env params = Params() - if "CI" in os.environ: - params.clear_all() params.remove("CurrentRoute") set_params_enabled() os.environ['TESTING_CLOSET'] = '1' if os.path.exists(Paths.log_root()): shutil.rmtree(Paths.log_root()) - os.system("rm /dev/shm/*") - - # Make sure athena isn't running - os.system("pkill -9 -f athena") # start manager and run openpilot for a minute proc = None @@ -344,7 +337,7 @@ class TestOnroad(unittest.TestCase): result += "----------------- MPC Timing ------------------\n" result += "------------------------------------------------\n" - cfgs = [("lateralPlan", 0.05, 0.05), ("longitudinalPlan", 0.05, 0.05)] + cfgs = [("longitudinalPlan", 0.05, 0.05),] for (s, instant_max, avg_max) in cfgs: ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]] self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}") @@ -430,4 +423,4 @@ class TestOnroad(unittest.TestCase): if __name__ == "__main__": - unittest.main() + pytest.main() diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py index aec49cb13..9288188a7 100755 --- a/selfdrive/test/test_time_to_onroad.py +++ b/selfdrive/test/test_time_to_onroad.py @@ -29,12 +29,15 @@ def test_time_to_onroad(): time.sleep(1) # wait for engageability - with Timeout(10, "timed out waiting for engageable"): - while True: - sm.update(1000) - if sm['controlsState'].engageable: - break - time.sleep(1) + try: + with Timeout(10, "timed out waiting for engageable"): + while True: + sm.update(1000) + if sm['controlsState'].engageable: + break + time.sleep(1) + finally: + print(f"onroad events: {sm['onroadEvents']}") print(f"engageable after {time.monotonic() - start_time:.2f}s") # once we're enageable, must be for the next few seconds diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 3aacb17b0..ded48382f 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import datetime import os import json import queue @@ -15,7 +14,6 @@ import cereal.messaging as messaging from cereal import log from cereal.services import SERVICE_LIST from openpilot.common.dict_helpers import strip_deprecated_keys -from openpilot.common.time import MIN_DATE from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.params import Params from openpilot.common.realtime import DT_TRML @@ -210,6 +208,7 @@ def thermald_thread(end_event, hw_queue) -> None: fan_controller = None dp_device_disable_temp_check = params.get_bool("dp_device_disable_temp_check") + dp_device_is_clone = params.get_bool("dp_device_is_clone") while not end_event.is_set(): # rick - update IP every 10s @@ -302,19 +301,13 @@ def thermald_thread(end_event, hw_queue) -> None: # **** starting logic **** - # Ensure date/time are valid - now = datetime.datetime.utcnow() - startup_conditions["time_valid"] = now > MIN_DATE - set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]) and peripheral_panda_present) - - # startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate") + #startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate") startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall") startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version # with 2% left, we killall, otherwise the phone will take a long time to boot startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2 - startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \ - params.get_bool("Passive") + startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled") startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot") @@ -322,14 +315,17 @@ def thermald_thread(end_event, hw_queue) -> None: if not dp_device_disable_temp_check: startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red - # if the temperature enters the danger zone, go offroad to cool down - onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger - extra_text = f"{offroad_comp_temp:.1f}C" - show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"] - set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text) + # ensure device is fully booted + startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted() + + # if the temperature enters the danger zone, go offroad to cool down + onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger + extra_text = f"{offroad_comp_temp:.1f}C" + show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"] + set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text) # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there - if TICI: + if TICI and not dp_device_is_clone: if not os.path.isfile("/persist/comma/living-in-the-moment"): if not Path("/data/media").is_mount(): set_offroad_alert_if_changed("Offroad_StorageMissing", True) @@ -454,6 +450,8 @@ def thermald_thread(end_event, hw_queue) -> None: except Exception: cloudlog.exception("failed to save offroad status") + params.put_bool_nonblocking("NetworkMetered", msg.deviceState.networkMetered) + count += 1 should_start_prev = should_start diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index 5a81e93b2..ba3582d13 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -124,7 +124,7 @@ def report_tombstone_apport(fn): clean_path = path.replace('/', '_') date = datetime.datetime.now().strftime("%Y-%m-%d--%H-%M-%S") - new_fn = f"{date}_{get_commit(default='nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN] + new_fn = f"{date}_{(get_commit() or 'nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN] crashlog_dir = os.path.join(Paths.log_root(), "crash") os.makedirs(crashlog_dir, exist_ok=True) diff --git a/selfdrive/ui/qt/libpython_helpers.so b/selfdrive/ui/qt/libpython_helpers.so index cfd58b97d..cf9fc5a9d 100755 Binary files a/selfdrive/ui/qt/libpython_helpers.so and b/selfdrive/ui/qt/libpython_helpers.so differ diff --git a/selfdrive/ui/qt/spinner b/selfdrive/ui/qt/spinner index c3d04df94..ae45a2c67 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 dfe73c466..e536d01c2 100755 Binary files a/selfdrive/ui/qt/text and b/selfdrive/ui/qt/text differ diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py index cf22492e4..1ef03f9c0 100644 --- a/selfdrive/ui/soundd.py +++ b/selfdrive/ui/soundd.py @@ -15,7 +15,9 @@ from openpilot.common.params import Params from openpilot.system import micd -SAMPLE_RATE = 48000 +import os + +SAMPLE_RATE = 24000 SAMPLE_BUFFER = 4096 # (approx 100ms) MAX_VOLUME = 1.0 MIN_VOLUME = 0.1 @@ -64,10 +66,16 @@ class Soundd: self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False) - self.dp_device_audible_alert_mode = int(Params().get("dp_device_audible_alert_mode")) + params = Params() + self._dp_device_audible_alert_mode = int(params.get("dp_device_audible_alert_mode")) + self._dp_nav_voice_guidance = params.get_bool("dp_nav_voice_guidance") + self._dp_nav_sound_distance_prev = None + self._dp_nav_sound_direction_prev = None + self._dp_nav_sound_queue = [] + self.current_alert_is_nav_voice = False def load_sounds(self): - self.loaded_sounds: Dict[int, np.ndarray] = {} + self.loaded_sounds: Dict[Any, np.ndarray] = {} # Load all sounds for sound in sound_list: @@ -77,28 +85,44 @@ class Soundd: assert wavefile.getnchannels() == 1 assert wavefile.getsampwidth() == 2 - assert wavefile.getframerate() == SAMPLE_RATE + # rick - nav voice uses 24000 and warning is 48000 + # assert wavefile.getframerate() == SAMPLE_RATE length = wavefile.getnframes() self.loaded_sounds[sound] = np.frombuffer(wavefile.readframes(length), dtype=np.int16).astype(np.float32) / (2**16/2) + # rick - load nav sound dynamically + def load_nav_sound(self, filename): + full_filename = BASEDIR + "/selfdrive/assets/navigation/voices/" + filename + ".wav" + if filename in self.loaded_sounds: + return True + if os.path.exists(full_filename): + wavefile = wave.open(full_filename, 'r') + length = wavefile.getnframes() + self.loaded_sounds[filename] = np.frombuffer(wavefile.readframes(length), dtype=np.int16).astype(np.float32) / (2**16/2) + return True + return False + def get_sound_data(self, frames): # get "frames" worth of data from the current alert sound, looping when required ret = np.zeros(frames, dtype=np.float32) + # dp - set vol to 0 instead + mute = False + if self._dp_device_audible_alert_mode == 2: + mute = True + elif self._dp_device_audible_alert_mode == 1 and self.current_alert in [AudibleAlert.engage, AudibleAlert.disengage]: + mute = True + if self.current_alert != AudibleAlert.none: - num_loops = sound_list[self.current_alert][1] + # rick - nav voice only play once + num_loops = 1 if self.current_alert_is_nav_voice else sound_list[self.current_alert][1] sound_data = self.loaded_sounds[self.current_alert] written_frames = 0 current_sound_frame = self.current_sound_frame % len(sound_data) loops = self.current_sound_frame // len(sound_data) - if self.dp_device_audible_alert_mode == 1 and self.current_alert not in [AudibleAlert.warningSoft, AudibleAlert.warningImmediate]: - return ret * self.current_volume - elif self.dp_device_audible_alert_mode == 2: - return False - while written_frames < frames and (num_loops is None or loops < num_loops): available_frames = sound_data.shape[0] - current_sound_frame frames_to_write = min(available_frames, frames - written_frames) @@ -106,23 +130,42 @@ class Soundd: written_frames += frames_to_write self.current_sound_frame += frames_to_write - return ret * self.current_volume + return ret * (self.current_volume if not mute else 0) def callback(self, data_out: np.ndarray, frames: int, time, status) -> None: if status: cloudlog.warning(f"soundd stream over/underflow: {status}") data_out[:frames, 0] = self.get_sound_data(frames) - def update_alert(self, new_alert): + def update_alert(self, new_alert, new_alert_is_nav_voice=False): + # assuming current_alert is nav and new_alert is warning, we should allow it to override + if not new_alert_is_nav_voice and self.current_alert_is_nav_voice: + self.current_alert = AudibleAlert.none + current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame > len(self.loaded_sounds[self.current_alert]) if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once): self.current_alert = new_alert + self.current_alert_is_nav_voice = new_alert_is_nav_voice self.current_sound_frame = 0 def get_audible_alert(self, sm): if sm.updated['controlsState']: new_alert = sm['controlsState'].alertSound.raw - self.update_alert(new_alert) + self.update_nav_voice_queue(sm) + if new_alert != AudibleAlert.none: + self.update_alert(new_alert) + # only handle nav voice when there is no alerts + else: + if len(self._dp_nav_sound_queue) > 0: + # assuming current_alert is nav and we have finish playing and there is a queue, remove it from the queue + if self.current_alert == self._dp_nav_sound_queue[0] and self.current_sound_frame > len(self.loaded_sounds[self.current_alert]): + self._dp_nav_sound_queue.pop(0) + # after clean up queue, if there is still queue, process it + if len(self._dp_nav_sound_queue) > 0: + # if we have queue, play the first one + self.update_alert(self._dp_nav_sound_queue[0], True) + else: + self.update_alert(new_alert) elif check_controls_timeout_alert(sm): self.update_alert(AudibleAlert.warningImmediate) self.controls_timeout_alert = True @@ -130,6 +173,29 @@ class Soundd: self.update_alert(AudibleAlert.none) self.controls_timeout_alert = False + # rick - create nav voice queue + # 1. get voice info from navInstructionExt + # 2. check if they are new distance / direction, if so, load them into loaded_sounds array + # 3. if sound loaded correctly, add the voices into queue, so it could be [distance, direction] or [direction], + # we also don't want to queue up so clean up queue when new one is coming + def update_nav_voice_queue(self, sm): + if self._dp_nav_voice_guidance and sm.updated['navInstructionExt']: + distance = sm['navInstructionExt'].voiceDistance + direction = sm['navInstructionExt'].voiceDirection + if distance != self._dp_nav_sound_distance_prev or direction != self._dp_nav_sound_direction_prev: + # when distance is not empty, we should have both distance and direction + if distance != "": + if self.load_nav_sound(distance) and self.load_nav_sound(direction): + self._dp_nav_sound_queue = [] + self._dp_nav_sound_queue.append(distance) + self._dp_nav_sound_queue.append(direction) + else: + if self.load_nav_sound(direction): + self._dp_nav_sound_queue = [] + self._dp_nav_sound_queue.append(direction) + + self._dp_nav_sound_distance_prev = distance + self._dp_nav_sound_direction_prev = direction def calculate_volume(self, weighted_db): volume = ((weighted_db - AMBIENT_DB) / DB_SCALE) * (MAX_VOLUME - MIN_VOLUME) + MIN_VOLUME @@ -146,7 +212,7 @@ class Soundd: # sounddevice must be imported after forking processes import sounddevice as sd - sm = messaging.SubMaster(['controlsState', 'microphone']) + sm = messaging.SubMaster(['controlsState', 'microphone', 'navInstructionExt']) with self.get_stream(sd) as stream: rk = Ratekeeper(20) diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 622d198f7..9ba9054ea 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -2,30 +2,28 @@ import json import os import re -import shutil import unittest +import shutil +import tempfile import xml.etree.ElementTree as ET +import string +import requests +from parameterized import parameterized_class from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations -TMP_TRANSLATIONS_DIR = os.path.join(TRANSLATIONS_DIR, "tmp") +with open(LANGUAGES_FILE, "r") as f: + translation_files = json.load(f) + UNFINISHED_TRANSLATION_TAG = "" not in cur_translations, - f"{file} ({name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them") + cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) + self.assertTrue("" not in cur_translations, + f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them") def test_finished_translations(self): """ @@ -78,48 +66,68 @@ class TestTranslations(unittest.TestCase): - that translation is not empty - that translation format arguments are consistent """ - for name, file in self.translation_files.items(): - with self.subTest(name=name, file=file): - tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")) + tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")) - for context in tr_xml.getroot(): - for message in context.iterfind("message"): - translation = message.find("translation") - source_text = message.find("source").text + for context in tr_xml.getroot(): + for message in context.iterfind("message"): + translation = message.find("translation") + source_text = message.find("source").text - # Do not test unfinished translations - if translation.get("type") == "unfinished": - continue + # Do not test unfinished translations + if translation.get("type") == "unfinished": + continue - if message.get("numerus") == "yes": - numerusform = [t.text for t in translation.findall("numerusform")] + if message.get("numerus") == "yes": + numerusform = [t.text for t in translation.findall("numerusform")] - for nf in numerusform: - self.assertIsNotNone(nf, f"Ensure all plural translation forms are completed: {source_text}") - self.assertIn("%n", nf, "Ensure numerus argument (%n) exists in translation.") - self.assertIsNone(FORMAT_ARG.search(nf), "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform)) + for nf in numerusform: + self.assertIsNotNone(nf, f"Ensure all plural translation forms are completed: {source_text}") + self.assertIn("%n", nf, "Ensure numerus argument (%n) exists in translation.") + self.assertIsNone(FORMAT_ARG.search(nf), "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform)) - else: - self.assertIsNotNone(translation.text, f"Ensure translation is completed: {source_text}") + else: + self.assertIsNotNone(translation.text, f"Ensure translation is completed: {source_text}") - source_args = FORMAT_ARG.findall(source_text) - translation_args = FORMAT_ARG.findall(translation.text) - self.assertEqual(sorted(source_args), sorted(translation_args), - f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`") + source_args = FORMAT_ARG.findall(source_text) + translation_args = FORMAT_ARG.findall(translation.text) + self.assertEqual(sorted(source_args), sorted(translation_args), + f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`") def test_no_locations(self): - for name, file in self.translation_files.items(): - with self.subTest(name=name, file=file): - for line in self._read_translation_file(TRANSLATIONS_DIR, file).splitlines(): - self.assertFalse(line.strip().startswith(LOCATION_TAG), - f"Line contains location tag: {line.strip()}, remove all line numbers.") + for line in self._read_translation_file(TRANSLATIONS_DIR, self.file).splitlines(): + self.assertFalse(line.strip().startswith(LOCATION_TAG), + f"Line contains location tag: {line.strip()}, remove all line numbers.") def test_entities_error(self): - for name, file in self.translation_files.items(): - with self.subTest(name=name, file=file): - cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file) - matches = re.findall(r'@(\w+);', cur_translations) - self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'") + cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) + matches = re.findall(r'@(\w+);', cur_translations) + self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'") + + def test_bad_language(self): + IGNORED_WORDS = {'pédale'} + + match = re.search(r'_([a-zA-Z]{2,3})', self.file) + assert match, f"{self.name} - could not parse language" + + response = requests.get(f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}") + response.raise_for_status() + + banned_words = {line.strip() for line in response.text.splitlines()} + + for context in ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")).getroot(): + for message in context.iterfind("message"): + translation = message.find("translation") + if translation.get("type") == "unfinished": + continue + + translation_text = " ".join([t.text for t in translation.findall("numerusform")]) if message.get("numerus") == "yes" else translation.text + + if not translation_text: + continue + + words = set(translation_text.translate(str.maketrans('', '', string.punctuation + '%n')).lower().split()) + bad_words_found = words & (banned_words - IGNORED_WORDS) + assert not bad_words_found, f"Bad language found in {self.name}: '{translation_text}'. Bad word(s): {', '.join(bad_words_found)}" if __name__ == "__main__": diff --git a/selfdrive/ui/translations/main_ar.qm b/selfdrive/ui/translations/main_ar.qm index f1af6e674..2cb1352aa 100644 Binary files a/selfdrive/ui/translations/main_ar.qm and b/selfdrive/ui/translations/main_ar.qm differ diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index ba83981b1..166668fa8 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -85,6 +85,26 @@ Prevent large data uploads when on a metered connection منع تحميل البيانات الكبيرة عندما يكون الاتصال محدوداً + + Hidden Network + شبكة مخفية + + + CONNECT + الاتصال + + + Enter SSID + أدخل SSID + + + Enter password + أدخل كلمة المرور + + + for "%1" + من أجل "%1" + AnnotatedCameraWidget @@ -110,19 +130,19 @@ km - كم + كم m - م + م mi - ميل + ميل ft - قدم + قدم @@ -158,10 +178,6 @@ Reboot required. - - Enable Lane Priority Mode - - Road Edge Detection @@ -420,10 +436,6 @@ Reboot Required. Reboot Required. - - When enabled, openpilot will use lane lines for lateral control, fallback to laneless mode automatically when lane lines probabilities are low. - - Lane Change Assist Activate Speed @@ -438,19 +450,6 @@ Off = Disable lane change assistance. kph - - Only When Drive Above - - - - All Speed - Use Lane Line when available. -*Number* - Use Lane Line when available and drive speed is above the *number*. - - - - All Speed - - Enable krkeegan Tune (SNG Boost) @@ -494,6 +493,14 @@ Credit to FrogaAi: https://github.com/FrogAi/FrogPilot/ When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen. + + Display Tesla-style Rainbow Path + + + + When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed. + + Disable OnRoad Upload @@ -512,6 +519,48 @@ Reboot required. Reboot required. + + Enable Cruise Speed Override + + + + When enabled, openpilot will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h). +Reboot Required. + + + + Override Speed When Below + + + + Override feature will be enabled when set cruise speed is lower than this value. +1 km/h = 0.62 mph. + + + + Reset dragonpilot settings + + + + RESET + إعادة الضبط + + + Are you sure you want to reset all dp settings? + + + + Reset + إعادة الضبط + + + Enable Auto Lane Change + + + + When enabled, openpilot automatically lane change when possible(WARNING: USE IT AT YOUR OWN RISK!!!!). + + DeclinePage @@ -966,6 +1015,10 @@ Reboot required. comma prime comma prime + + ✓ ENABLED + + QObject @@ -977,10 +1030,6 @@ Reboot required. Exit إغلاق - - dashcam - dashcam - openpilot openpilot @@ -1067,14 +1116,14 @@ This may take up to a minute. يتم إعادة ضبط الجهاز... قد يستغرق الأمر حوالي الدقيقة. - - Press confirm to erase all content and settings. Press cancel to resume boot. - اضغط على تأكيد لمسح جميع المحتويات والإعدادات. اضغط على إلغاء لمتابعة التشغيل. - Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. غير قادر على تحميل جزء البيانات. قد يكون الجزء تالفاً. اضغط على تأكيد لمسح جهازك وإعادة ضبطه. + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/translations/main_de.qm b/selfdrive/ui/translations/main_de.qm index 1c1c77ba3..69e4a514b 100644 Binary files a/selfdrive/ui/translations/main_de.qm and b/selfdrive/ui/translations/main_de.qm differ diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 1fb6ae128..29350f332 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -85,6 +85,26 @@ Prevent large data uploads when on a metered connection Hochladen großer Dateien über getaktete Verbindungen unterbinden + + Hidden Network + + + + CONNECT + CONNECT + + + Enter SSID + SSID eingeben + + + Enter password + Passwort eingeben + + + for "%1" + für "%1" + AnnotatedCameraWidget @@ -110,19 +130,19 @@ km - km + km m - m + m mi - mi + mi ft - fuß + fuß @@ -158,10 +178,6 @@ Reboot required. - - Enable Lane Priority Mode - - Ctrl - Longitudinal @@ -420,10 +436,6 @@ Reboot Required. Reboot Required. - - When enabled, openpilot will use lane lines for lateral control, fallback to laneless mode automatically when lane lines probabilities are low. - - Lane Change Assist Activate Speed @@ -438,19 +450,6 @@ Off = Disable lane change assistance. kph - - Only When Drive Above - - - - All Speed - Use Lane Line when available. -*Number* - Use Lane Line when available and drive speed is above the *number*. - - - - All Speed - - Enable krkeegan Tune (SNG Boost) @@ -494,6 +493,14 @@ Credit to FrogaAi: https://github.com/FrogAi/FrogPilot/ When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen. + + Display Tesla-style Rainbow Path + + + + When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed. + + Disable OnRoad Upload @@ -512,6 +519,48 @@ Reboot required. Reboot required. + + Enable Cruise Speed Override + + + + When enabled, openpilot will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h). +Reboot Required. + + + + Override Speed When Below + + + + Override feature will be enabled when set cruise speed is lower than this value. +1 km/h = 0.62 mph. + + + + Reset dragonpilot settings + + + + RESET + RESET + + + Are you sure you want to reset all dp settings? + + + + Reset + Zurücksetzen + + + Enable Auto Lane Change + + + + When enabled, openpilot automatically lane change when possible(WARNING: USE IT AT YOUR OWN RISK!!!!). + + DeclinePage @@ -961,6 +1010,10 @@ Reboot required. comma prime comma prime + + ✓ ENABLED + + QObject @@ -972,10 +1025,6 @@ Reboot required. Exit Verlassen - - dashcam - dashcam - openpilot openpilot @@ -1049,12 +1098,12 @@ Reboot required. - Press confirm to erase all content and settings. Press cancel to resume boot. + Resetting device... +This may take up to a minute. - Resetting device... -This may take up to a minute. + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. diff --git a/selfdrive/ui/translations/main_fr.qm b/selfdrive/ui/translations/main_fr.qm index 5f2fe97f6..0f02ee2e2 100644 Binary files a/selfdrive/ui/translations/main_fr.qm and b/selfdrive/ui/translations/main_fr.qm differ diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 06d615cb8..be6f27175 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -85,6 +85,26 @@ Prevent large data uploads when on a metered connection Éviter les transferts de données importants sur une connexion limitée + + Hidden Network + Réseau Caché + + + CONNECT + CONNECTER + + + Enter SSID + Entrer le SSID + + + Enter password + Entrer le mot de passe + + + for "%1" + pour "%1" + AnnotatedCameraWidget @@ -110,19 +130,19 @@ km - km + km m - m + m mi - mi + mi ft - ft + ft @@ -158,10 +178,6 @@ Reboot required. - - Enable Lane Priority Mode - - Road Edge Detection @@ -420,10 +436,6 @@ Reboot Required. Reboot Required. - - When enabled, openpilot will use lane lines for lateral control, fallback to laneless mode automatically when lane lines probabilities are low. - - Lane Change Assist Activate Speed @@ -438,19 +450,6 @@ Off = Disable lane change assistance. kph - - Only When Drive Above - - - - All Speed - Use Lane Line when available. -*Number* - Use Lane Line when available and drive speed is above the *number*. - - - - All Speed - - Enable krkeegan Tune (SNG Boost) @@ -494,6 +493,14 @@ Credit to FrogaAi: https://github.com/FrogAi/FrogPilot/ When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen. + + Display Tesla-style Rainbow Path + + + + When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed. + + Disable OnRoad Upload @@ -512,6 +519,48 @@ Reboot required. Reboot required. + + Enable Cruise Speed Override + + + + When enabled, openpilot will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h). +Reboot Required. + + + + Override Speed When Below + + + + Override feature will be enabled when set cruise speed is lower than this value. +1 km/h = 0.62 mph. + + + + Reset dragonpilot settings + + + + RESET + RÉINITIALISER + + + Are you sure you want to reset all dp settings? + + + + Reset + Réinitialiser + + + Enable Auto Lane Change + + + + When enabled, openpilot automatically lane change when possible(WARNING: USE IT AT YOUR OWN RISK!!!!). + + DeclinePage @@ -962,6 +1011,10 @@ Reboot required. comma prime comma prime + + ✓ ENABLED + + QObject @@ -973,10 +1026,6 @@ Reboot required. Exit Quitter - - dashcam - dashcam - openpilot openpilot @@ -1039,10 +1088,6 @@ Cela peut prendre jusqu'à une minute. System Reset Réinitialisation du système - - Press confirm to erase all content and settings. Press cancel to resume boot. - Appuyez sur confirmer pour effacer tout le contenu et les paramètres. Appuyez sur annuler pour reprendre le démarrage. - Cancel Annuler @@ -1059,6 +1104,10 @@ Cela peut prendre jusqu'à une minute. Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. Impossible de monter la partition data. La partition peut être corrompue. Appuyez sur confirmer pour effacer et réinitialiser votre appareil. + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/translations/main_ja.qm b/selfdrive/ui/translations/main_ja.qm index b8f041db4..69be12192 100644 Binary files a/selfdrive/ui/translations/main_ja.qm and b/selfdrive/ui/translations/main_ja.qm differ diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 45a918178..6f29c202c 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -85,6 +85,26 @@ Prevent large data uploads when on a metered connection 大量のデータのアップロードを防止します。 + + Hidden Network + + + + CONNECT + 接続 + + + Enter SSID + SSID を入力 + + + Enter password + パスワードを入力 + + + for "%1" + ﾈｯﾄﾜｰｸ名：%1 + AnnotatedCameraWidget @@ -110,19 +130,19 @@ km - ｷﾛﾒｰﾄﾙ + ｷﾛﾒｰﾄﾙ m - ﾒｰﾄﾙ + ﾒｰﾄﾙ mi - ﾏｲﾙ + ﾏｲﾙ ft - ﾌｨｰﾄ + ﾌｨｰﾄ @@ -158,10 +178,6 @@ Reboot required. - - Enable Lane Priority Mode - - Ctrl - Longitudinal @@ -420,10 +436,6 @@ Reboot Required. Reboot Required. - - When enabled, openpilot will use lane lines for lateral control, fallback to laneless mode automatically when lane lines probabilities are low. - - Lane Change Assist Activate Speed @@ -438,19 +450,6 @@ Off = Disable lane change assistance. kph - - Only When Drive Above - - - - All Speed - Use Lane Line when available. -*Number* - Use Lane Line when available and drive speed is above the *number*. - - - - All Speed - - Enable krkeegan Tune (SNG Boost) @@ -494,6 +493,14 @@ Credit to FrogaAi: https://github.com/FrogAi/FrogPilot/ When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen. + + Display Tesla-style Rainbow Path + + + + When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed. + + Disable OnRoad Upload @@ -512,6 +519,48 @@ Reboot required. Reboot required. + + Enable Cruise Speed Override + + + + When enabled, openpilot will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h). +Reboot Required. + + + + Override Speed When Below + + + + Override feature will be enabled when set cruise speed is lower than this value. +1 km/h = 0.62 mph. + + + + Reset dragonpilot settings + + + + RESET + ﾘｾｯﾄ + + + Are you sure you want to reset all dp settings? + + + + Reset + リセット + + + Enable Auto Lane Change + + + + When enabled, openpilot automatically lane change when possible(WARNING: USE IT AT YOUR OWN RISK!!!!). + + DeclinePage @@ -960,6 +1009,10 @@ Reboot required. comma prime comma prime + + ✓ ENABLED + + QObject @@ -971,10 +1024,6 @@ Reboot required. Exit 閉じる - - dashcam - ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ - openpilot openpilot @@ -1045,12 +1094,12 @@ Reboot required. - Press confirm to erase all content and settings. Press cancel to resume boot. + Resetting device... +This may take up to a minute. - Resetting device... -This may take up to a minute. + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm index 4fe359312..cdf17dc36 100644 Binary files a/selfdrive/ui/translations/main_ko.qm and b/selfdrive/ui/translations/main_ko.qm differ diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index aa5d580af..384bb2618 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -85,6 +85,26 @@ Prevent large data uploads when on a metered connection 데이터 요금제 연결 시 대용량 데이터 업로드를 방지합니다 + + Hidden Network + 숨겨진 네트워크 + + + CONNECT + 연결됨 + + + Enter SSID + SSID 입력 + + + Enter password + 비밀번호를 입력하세요 + + + for "%1" + "%1"에 접속하려면 비밀번호가 필요합니다 + AnnotatedCameraWidget @@ -110,19 +130,19 @@ km - km + km m - m + m mi - mi + mi ft - ft + ft @@ -158,10 +178,6 @@ Reboot required. - - Enable Lane Priority Mode - - Ctrl - Longitudinal @@ -420,10 +436,6 @@ Reboot Required. Reboot Required. - - When enabled, openpilot will use lane lines for lateral control, fallback to laneless mode automatically when lane lines probabilities are low. - - Lane Change Assist Activate Speed @@ -438,19 +450,6 @@ Off = Disable lane change assistance. kph - - Only When Drive Above - - - - All Speed - Use Lane Line when available. -*Number* - Use Lane Line when available and drive speed is above the *number*. - - - - All Speed - - Enable krkeegan Tune (SNG Boost) @@ -494,6 +493,14 @@ Credit to FrogaAi: https://github.com/FrogAi/FrogPilot/ When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen. + + Display Tesla-style Rainbow Path + + + + When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed. + + Disable OnRoad Upload @@ -512,6 +519,48 @@ Reboot required. Reboot required. + + Enable Cruise Speed Override + + + + When enabled, openpilot will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h). +Reboot Required. + + + + Override Speed When Below + + + + Override feature will be enabled when set cruise speed is lower than this value. +1 km/h = 0.62 mph. + + + + Reset dragonpilot settings + + + + RESET + 초기화 + + + Are you sure you want to reset all dp settings? + + + + Reset + 초기화 + + + Enable Auto Lane Change + + + + When enabled, openpilot automatically lane change when possible(WARNING: USE IT AT YOUR OWN RISK!!!!). + + DeclinePage @@ -961,6 +1010,10 @@ Reboot required. comma prime comma prime + + ✓ ENABLED + + QObject @@ -972,10 +1025,6 @@ Reboot required. Exit 종료 - - dashcam - 블랙박스 - openpilot openpilot @@ -1045,16 +1094,16 @@ Reboot required. Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. 데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 모든 설정을 삭제하고 장치를 초기화하려면 확인을 누르세요. - - Press confirm to erase all content and settings. Press cancel to resume boot. - 모든 콘텐츠와 설정을 삭제하려면 확인을 누르세요. 계속 부팅하려면 취소를 누르세요. - Resetting device... This may take up to a minute. 장치를 초기화하는 중... 최대 1분이 소요될 수 있습니다. + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/translations/main_pt-BR.qm b/selfdrive/ui/translations/main_pt-BR.qm index 1aa488143..cccea7bfa 100644 Binary files a/selfdrive/ui/translations/main_pt-BR.qm and b/selfdrive/ui/translations/main_pt-BR.qm differ diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index f029289d6..045fd7b57 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -85,6 +85,26 @@ Prevent large data uploads when on a metered connection Evite grandes uploads de dados quando estiver em uma conexão limitada + + Hidden Network + Rede Oculta + + + CONNECT + CONECTE + + + Enter SSID + Digite o SSID + + + Enter password + Insira a senha + + + for "%1" + para "%1" + AnnotatedCameraWidget @@ -110,19 +130,19 @@ km - km + km m - m + m mi - milha + milha ft - pés + pés @@ -158,10 +178,6 @@ Reboot required. - - Enable Lane Priority Mode - - Ctrl - Longitudinal @@ -420,10 +436,6 @@ Reboot Required. Reboot Required. - - When enabled, openpilot will use lane lines for lateral control, fallback to laneless mode automatically when lane lines probabilities are low. - - Lane Change Assist Activate Speed @@ -438,19 +450,6 @@ Off = Disable lane change assistance. kph - - Only When Drive Above - - - - All Speed - Use Lane Line when available. -*Number* - Use Lane Line when available and drive speed is above the *number*. - - - - All Speed - - Enable krkeegan Tune (SNG Boost) @@ -494,6 +493,14 @@ Credit to FrogaAi: https://github.com/FrogAi/FrogPilot/ When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen. + + Display Tesla-style Rainbow Path + + + + When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed. + + Disable OnRoad Upload @@ -512,6 +519,48 @@ Reboot required. Reboot required. + + Enable Cruise Speed Override + + + + When enabled, openpilot will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h). +Reboot Required. + + + + Override Speed When Below + + + + Override feature will be enabled when set cruise speed is lower than this value. +1 km/h = 0.62 mph. + + + + Reset dragonpilot settings + + + + RESET + RESET + + + Are you sure you want to reset all dp settings? + + + + Reset + Resetar + + + Enable Auto Lane Change + + + + When enabled, openpilot automatically lane change when possible(WARNING: USE IT AT YOUR OWN RISK!!!!). + + DeclinePage @@ -962,6 +1011,10 @@ Reboot required. comma prime comma prime + + ✓ ENABLED + + QObject @@ -973,10 +1026,6 @@ Reboot required. Exit Sair - - dashcam - dashcam - openpilot openpilot @@ -1049,16 +1098,16 @@ Reboot required. 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. + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + Reinicialização do sistema acionada. Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancel para retomar a inicialização. + SettingsWindow diff --git a/selfdrive/ui/translations/main_th.qm b/selfdrive/ui/translations/main_th.qm index 65c8e67ed..6595257c3 100644 Binary files a/selfdrive/ui/translations/main_th.qm and b/selfdrive/ui/translations/main_th.qm differ diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 134cba417..b37814f18 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -85,6 +85,26 @@ Prevent large data uploads when on a metered connection ปิดการอัพโหลดข้อมูลขนาดใหญ่เมื่อเชื่อมต่อผ่านเซลลูล่าร์ + + Hidden Network + + + + CONNECT + เชื่อมต่อ + + + Enter SSID + ป้อนค่า SSID + + + Enter password + ใส่รหัสผ่าน + + + for "%1" + สำหรับ "%1" + AnnotatedCameraWidget @@ -110,19 +130,19 @@ km - กม. + กม. m - ม. + ม. mi - ไมล์ + ไมล์ ft - ฟุต + ฟุต @@ -158,10 +178,6 @@ Reboot required. - - Enable Lane Priority Mode - - Road Edge Detection @@ -420,10 +436,6 @@ Reboot Required. Reboot Required. - - When enabled, openpilot will use lane lines for lateral control, fallback to laneless mode automatically when lane lines probabilities are low. - - Lane Change Assist Activate Speed @@ -438,19 +450,6 @@ Off = Disable lane change assistance. kph - - Only When Drive Above - - - - All Speed - Use Lane Line when available. -*Number* - Use Lane Line when available and drive speed is above the *number*. - - - - All Speed - - Enable krkeegan Tune (SNG Boost) @@ -494,6 +493,14 @@ Credit to FrogaAi: https://github.com/FrogAi/FrogPilot/ When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen. + + Display Tesla-style Rainbow Path + + + + When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed. + + Disable OnRoad Upload @@ -512,6 +519,48 @@ Reboot required. Reboot required. + + Enable Cruise Speed Override + + + + When enabled, openpilot will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h). +Reboot Required. + + + + Override Speed When Below + + + + Override feature will be enabled when set cruise speed is lower than this value. +1 km/h = 0.62 mph. + + + + Reset dragonpilot settings + + + + RESET + รีเซ็ต + + + Are you sure you want to reset all dp settings? + + + + Reset + รีเซ็ต + + + Enable Auto Lane Change + + + + When enabled, openpilot automatically lane change when possible(WARNING: USE IT AT YOUR OWN RISK!!!!). + + DeclinePage @@ -961,6 +1010,10 @@ Reboot required. comma prime comma prime + + ✓ ENABLED + + QObject @@ -972,10 +1025,6 @@ Reboot required. Exit ปิด - - dashcam - กล้องติดรถยนต์ - openpilot openpilot @@ -1047,14 +1096,14 @@ This may take up to a minute. กำลังรีเซ็ตอุปกรณ์... อาจใช้เวลาถึงหนึ่งนาที - - Press confirm to erase all content and settings. Press cancel to resume boot. - กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตต่อ - Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. ไม่สามารถเมานต์พาร์ติชั่นข้อมูลได้ พาร์ติชั่นอาจเสียหาย กดยืนยันเพื่อลบและรีเซ็ตอุปกรณ์ของคุณ + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/translations/main_tr.qm b/selfdrive/ui/translations/main_tr.qm index 49d154acb..f6e74d0ef 100644 Binary files a/selfdrive/ui/translations/main_tr.qm and b/selfdrive/ui/translations/main_tr.qm differ diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 77c8ca3b8..5cafe09c6 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -85,6 +85,26 @@ Prevent large data uploads when on a metered connection + + Hidden Network + + + + CONNECT + BAĞLANTI + + + Enter SSID + APN Gir + + + Enter password + Parolayı girin + + + for "%1" + için "%1" + AnnotatedCameraWidget @@ -110,19 +130,19 @@ km - km + km m - m + m mi - mil + mil ft - ft + ft @@ -158,10 +178,6 @@ Reboot required. - - Enable Lane Priority Mode - - Road Edge Detection @@ -420,10 +436,6 @@ Reboot Required. Reboot Required. - - When enabled, openpilot will use lane lines for lateral control, fallback to laneless mode automatically when lane lines probabilities are low. - - Lane Change Assist Activate Speed @@ -438,19 +450,6 @@ Off = Disable lane change assistance. kph - - Only When Drive Above - - - - All Speed - Use Lane Line when available. -*Number* - Use Lane Line when available and drive speed is above the *number*. - - - - All Speed - - Enable krkeegan Tune (SNG Boost) @@ -494,6 +493,14 @@ Credit to FrogaAi: https://github.com/FrogAi/FrogPilot/ When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen. + + Display Tesla-style Rainbow Path + + + + When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed. + + Disable OnRoad Upload @@ -512,6 +519,48 @@ Reboot required. Reboot required. + + Enable Cruise Speed Override + + + + When enabled, openpilot will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h). +Reboot Required. + + + + Override Speed When Below + + + + Override feature will be enabled when set cruise speed is lower than this value. +1 km/h = 0.62 mph. + + + + Reset dragonpilot settings + + + + RESET + SIFIRLA + + + Are you sure you want to reset all dp settings? + + + + Reset + + + + Enable Auto Lane Change + + + + When enabled, openpilot automatically lane change when possible(WARNING: USE IT AT YOUR OWN RISK!!!!). + + DeclinePage @@ -960,6 +1009,10 @@ Reboot required. comma prime comma prime + + ✓ ENABLED + + QObject @@ -971,10 +1024,6 @@ Reboot required. Exit Çık - - dashcam - araç yol kamerası - openpilot openpilot @@ -1046,11 +1095,11 @@ This may take up to a minute. - Press confirm to erase all content and settings. Press cancel to resume boot. + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm index aeeafc8f6..49d2af22e 100644 Binary files a/selfdrive/ui/translations/main_zh-CHS.qm and b/selfdrive/ui/translations/main_zh-CHS.qm differ diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 5eb16a0f3..671b7ed34 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -85,6 +85,26 @@ Prevent large data uploads when on a metered connection 当使用按流量计费的连接时，避免上传大流量数据 + + Hidden Network + + + + CONNECT + CONNECT + + + Enter SSID + 输入SSID + + + Enter password + 输入密码 + + + for "%1" + 网络名称："%1" + AnnotatedCameraWidget @@ -110,19 +130,19 @@ km - km + km m - m + m mi - mi + mi ft - ft + ft @@ -158,10 +178,6 @@ Reboot required. - - Enable Lane Priority Mode - - Ctrl - Longitudinal @@ -420,10 +436,6 @@ Reboot Required. Reboot Required. - - When enabled, openpilot will use lane lines for lateral control, fallback to laneless mode automatically when lane lines probabilities are low. - - Lane Change Assist Activate Speed @@ -438,19 +450,6 @@ Off = Disable lane change assistance. kph - - Only When Drive Above - - - - All Speed - Use Lane Line when available. -*Number* - Use Lane Line when available and drive speed is above the *number*. - - - - All Speed - - Enable krkeegan Tune (SNG Boost) @@ -494,6 +493,14 @@ Credit to FrogaAi: https://github.com/FrogAi/FrogPilot/ When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen. + + Display Tesla-style Rainbow Path + + + + When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed. + + Disable OnRoad Upload @@ -512,6 +519,48 @@ Reboot required. Reboot required. + + Enable Cruise Speed Override + + + + When enabled, openpilot will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h). +Reboot Required. + + + + Override Speed When Below + + + + Override feature will be enabled when set cruise speed is lower than this value. +1 km/h = 0.62 mph. + + + + Reset dragonpilot settings + + + + RESET + 重置 + + + Are you sure you want to reset all dp settings? + + + + Reset + 重置 + + + Enable Auto Lane Change + + + + When enabled, openpilot automatically lane change when possible(WARNING: USE IT AT YOUR OWN RISK!!!!). + + DeclinePage @@ -961,6 +1010,10 @@ Reboot required. comma prime comma prime + + ✓ ENABLED + + QObject @@ -972,10 +1025,6 @@ Reboot required. Exit 退出 - - dashcam - 行车记录仪 - openpilot openpilot @@ -1045,16 +1094,16 @@ Reboot required. Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. 无法挂载数据分区。分区可能已经损坏。请确认是否要删除并重新设置。 - - Press confirm to erase all content and settings. Press cancel to resume boot. - 按下确认以删除所有内容及设置。按下取消来继续开机。 - Resetting device... This may take up to a minute. 设备重置中… 这可能需要一分钟的时间。 + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm index 371a3ecd6..2745a3a93 100644 Binary files a/selfdrive/ui/translations/main_zh-CHT.qm and b/selfdrive/ui/translations/main_zh-CHT.qm differ diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 583343366..e94565196 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -20,19 +20,19 @@ AccelButton OP - + 預設 ECO - 節能 + 節能 NOR - 一般 + 一般 SPT - 運動 + 運動 @@ -85,6 +85,26 @@ Prevent large data uploads when on a metered connection 防止使用行動網路上傳大量的數據 + + Hidden Network + + + + CONNECT + 雲端服務 + + + Enter SSID + 輸入 SSID + + + Enter password + 輸入密碼 + + + for "%1" + 給 "%1" + AnnotatedCameraWidget @@ -110,19 +130,19 @@ km - km + km m - m + m mi - mi + mi ft - ft + ft @@ -156,11 +176,12 @@ When enabled, openpilot lateral Control will be always on when ACC MAIN is ON. Reboot required. - + 啟用後，當 ACC 開關開啟時，openpilot 橫向控制將始終開啟。 +需要重新啟動。 Enable Lane Priority Mode - 啟用線道優先模式 + 啟用線道優先模式 Ctrl - Longitudinal @@ -178,7 +199,9 @@ Reboot required. When enabled, openpilot will disable device temperature check. **NOTED** An overheated device may result in random shutdowns or lag. Reboot required. - + 啟用後，openpilot 將停用溫度檢查。 +**注意** 過熱的設備可能會導致隨機關機或延遲。 +需要重新啟動。 Enable Auto Shutdown @@ -187,7 +210,8 @@ Reboot required. When enabled, openpilot will shutdown the device automatically. Reboot required. - + 啟用後，openpilot 將自動關閉裝置。 +需要重新啟動。 Miscellaneous @@ -201,7 +225,9 @@ Reboot required. When enabled, you will be able to access log data using browser through port 9000. Needs to be in the same network. (e.g. LAN) Reboot required. - + 啟用後，您將能夠使用瀏覽器透過連接埠 9000 存取日誌資料。 +需要在同一個網路中。 (例如區域網路) +需要重新啟動。 Standard @@ -213,11 +239,11 @@ Reboot required. MAIN - + MAIN OP - + OP Off @@ -233,28 +259,33 @@ MAIN - When ACC MAIN is on, the display will be off (excl. warning). OP - When OP is enabled, the display will be off (excl. warning). Off - the display will be off completely (incl. warning). Reboot required. - + 上路 - 駕駛時，螢幕將關閉 (警告除外)。 +MAIN - 當 ACC 開關開啟時，螢幕將關閉 (警告除外)。 +OP - 啟用 OP 時，螢幕將關閉 (警告除外)。 +關閉 - 螢幕將完全關閉 (包括警告)。 +需要重新啟動。 Warning - + 警告 Audible Alert Mode - + 聲音警報模式 Warning - Only emits sound when there is a warning. Off - Does not emit any sound at all. - + 警告 - 僅在出現警告時發出聲音。 +關閉 - 完全不發出任何聲音。 Auto Shutdown In - + 自動關機於 Adjust your shutdown waiting period. - + 調整關機等待時間。 mins @@ -276,7 +307,9 @@ Off - Does not emit any sound at all. When enabled, openpilot will stop sending standstill signal when the car is fully stopped. ONLY WORK ON SOME VEHICLES. Reboot Required. - + 啟用後，當汽車完全停止時，openpilot 將停止發送停止訊號。 +僅適用於某些車輛。 +需要重新啟動。 Enable Enhanced BSM @@ -287,7 +320,10 @@ Reboot Required. Tested on Prius TSS2 and RAV4 TSS1. ONLY WORK ON SOME VEHICLES. Reboot Required. - + 啟用後，openpilot 將使用偵錯 CAN 訊息來接收未過濾的 BSM 訊號，從而允許偵測更多物件。 +在 Prius TSS2 和 RAV4 TSS1 上進行了測試。 +僅適用於某些車輛。 +需要重新啟動。 Enable Door Auto Locking @@ -296,7 +332,8 @@ Reboot Required. When enabled, openpilot will attempt to lock the doors when drive above 10 km/h (6.2 mph). Reboot Required. - + 啟用後，當行駛速度超過 10 公里/小時 (6.2 英里/小時) 時，openpilot 將嘗試鎖上車門。 +需要重新啟動。 Enable Door Auto Unlocking @@ -305,7 +342,8 @@ Reboot Required. When enabled, openpilot will attempt to unlock the doors when shift to gear P. Reboot Required. - + 啟用後，openpilot 將在 P 檔時嘗試解鎖車門。 +需要重新啟動。 Road Edge Detection @@ -314,18 +352,22 @@ Reboot Required. When enabled, openpilot will block lane change if road edge is detected. Reboot required. - + 啟用後，如果偵測到道路邊緣，openpilot 將停止變換車道。 +需要重新啟動。 Enable TACO Tune - + 啟用 TACO 優化 When enabled, openpilot will use slow down for turns from taco2 branch. See https://github.com/commaai/openpilot/commit/7b97ddb3aacb222bfaf0b978c49cb5b756903ef7 for more information. This is tune for KIA EV6 and may not work on your vehicle. Reboot required. - + 啟用後，openpilot 將使用 taco2 分支模式，在轉彎時減速。 +有關更多信息，請參閱 https://github.com/commaai/openpilot/commit/7b97ddb3aacb222bfaf0b978c49cb5b756903ef7。 +這是針對 KIA EV6 的調整，可能不適用於您的車輛。 +需要重新啟動。 Enable Dynamic Following @@ -333,7 +375,7 @@ Reboot required. When enabled, openpilot will dynamically adjust following distance based on your "Driving Personality" setting. - + 啟用後，openpilot 將根據您的設定動態調整跟車距離。 Enable Dynamic End-to-End Longitudinal Control @@ -342,7 +384,8 @@ Reboot required. When enabled, openpilot will dynamically change between End-to-End or ACC mode. Your vehicle must support openpilot longitudinal control. - + 啟用後，openpilot 將在 e2e 或 ACC 模式之間動態切換。 +您的車輛必須支援 openpilot 縱向控制。 Enable Turn Speed Control - Vision @@ -350,7 +393,7 @@ Your vehicle must support openpilot longitudinal control. When enabled, openpilot will use path predictions from camera vision to estimate the appropriate speed to drive through turns ahead. - + 啟用後，openpilot 將使用攝影機視覺的路徑預測來估計通過前方轉彎的適當速度。 ECO @@ -366,14 +409,17 @@ Your vehicle must support openpilot longitudinal control. Acceleration Profile - + 自訂加速模式 OP - Stock tune. ECO - Eco tune. NOR - Normal tune. SPT - Sport tune. - + OP - 預設模式。 +ECO - 節能模式。 +NOR - 一般模式。 +SPT - 運動模式。 *α* Enable Otisserv @@ -381,7 +427,7 @@ SPT - Sport tune. When enabled, you will be able to access some features remotely through dragonpilot.org. - + 啟用後，您將能夠透過 dragonpilot.org 遠端存取某些功能。 *α* Enable NOO Voice Guidance @@ -389,17 +435,19 @@ SPT - Sport tune. When enabled and NOO is active, dragonpilot will audibly instruct the driver when and where to turn. - + 啟用且 NOO 處於活動狀態時，dragonpilot 將透過語音提示駕駛員何時何地轉彎。 Enable Enhanced longitudinal Tune - + 啟用增強縱向調教 - When enabled, TSS2 car will use special tune which will result in smoother and natural breaking. Works best with accel dynamic follow + accel profile. + When enabled, TSS2 car will use special tune which will result in smoother and natural breaking. Works best with accel dynamic follow + accel profile. ONLY FOR TSS2. Reboot Required. - + 啟用後，TSS2汽車將使用特殊調教，這將導致更平滑和自然的煞車。 與 [動態調整車距] 及 [自訂加速模式] 配合使用效果最佳。 +僅適用於 TSS2。 +需要重新啟動。 Enable Zorro-Steering-Sensor (ZSS) Support @@ -409,7 +457,9 @@ Reboot Required. When enabled, openpilot will use sensor outputs from ZSS for more accurate steering control. DO NOT ENABLE unless you have ZSS installed. Reboot Required. - + 啟用後，openpilot 將使用 ZSS 的感測器輸出來實現更準確的轉向控制。 +除非安裝了 ZSS，否則請勿啟用。 +需要重新啟動。 Enable Stock Longitudinal Control @@ -418,84 +468,136 @@ Reboot Required. When enabled, openpilot will not handle longitudinal control. Reboot Required. - - - - When enabled, openpilot will use lane lines for lateral control, fallback to laneless mode automatically when lane lines probabilities are low. - + 啟用後，openpilot 將不處理縱向控制。 +需要重新啟動。 Lane Change Assist Activate Speed - + 變換車道輔助啟動速度 Adjust the lane change assist activate speed. Off = Disable lane change assistance. 1 mph = 1.6 kph - + 調整變換車道輔助啟動速度。 +關閉 = 停用變換車道輔助。 +1 mph = 1.6 kph kph - - - - Only When Drive Above - - - - All Speed - Use Lane Line when available. -*Number* - Use Lane Line when available and drive speed is above the *number*. - - - - All Speed - + kph Enable krkeegan Tune (SNG Boost) - + 啟用 krkeegan 調教(SNG Boost) When enabled, it will apply an offset to get_stopped_equivalence_factor in longitudinal MPC resulting in an early demand for acceleration. Activate only when speed belows 27 km/h. Credit to krkeegen: https://github.com/krkeegan/ - + 啟用後，它將對縱向 MPC 中的 get_stopped_equivalence_factor 應用偏移量，從而導致早期的加速需求。 +僅當速度低於 27 公里/小時時啟動。 +感謝 krkeegen：https://github.com/krkeegan/ Enable Smooth Braking + 啟用平穩煞車 + + + When enabled, Smoother Braking Behind Lead More natural braking behavior when coming up to a slower vehicle. +Credit to FrogaAi: https://github.com/FrogAi/FrogPilot/ + 啟用後，後部煞車更平穩，在接近速度較慢的車輛時煞車行為更自然。 +感謝 FrogaAi：https://github.com/FrogAi/FrogPilot/ + + + On-Screen Personality Button + 車距按鈕 + + + When enabled, openpilot will display an on-screen personality button. + 啟用後，openpilot 將在螢幕上顯示車距按鈕。 + + + On-Screen Accel Button + 加速模式按鈕 + + + When enabled, openpilot will display an on-screen accel profile button. + 啟用後，openpilot 將在螢幕上顯示加速模式按鈕。 + + + Display Flight Panel + 顯示飛行面板 + + + When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen. + 啟用後，openpilot 將在駕駛畫面上顯示俯仰角、高度、指南針等資訊。 + + + Disable OnRoad Upload + 停用駕駛時上傳 + + + When enabled, openpilot will not upload driving log/videos to comma connect when driving. +Reboot required. + 啟用後，openpilot 在駕駛時不會將駕駛日誌/影片上傳到 comma connect。 +需要重新啟動。 + + + Display Full Screen Navigation + 顯示全螢幕導航 + + + When enabled, openpilot will display navigation in full screen. +Reboot required. + 啟用後，openpilot 將顯示全螢幕導航。 +需要重新啟動。 + + + Enable Cruise Speed Override + + When enabled, openpilot will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h). +Reboot Required. + + + + Override Speed When Below + + + + Override feature will be enabled when set cruise speed is lower than this value. +1 km/h = 0.62 mph. + + + + Reset dragonpilot settings + + + + RESET + 重設 + + + Are you sure you want to reset all dp settings? + + + + Reset + 重設 + When enabled, Smoother Braking Behind Lead More natural braking behavior when coming up to a slower vehicle. Credit to FrogaAi: https://github.com/FrogAi/FrogPilot/ - On-Screen Personality Button + Display Tesla-style Rainbow Path - When enabled, openpilot will display an on-screen personality button. - - - - On-Screen Accel Button - - - - When enabled, openpilot will display an on-screen accel profile button. - - - - Display Flight Panel - - - - When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen. - - - - Disable OnRoad Upload + When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed. @@ -504,12 +606,17 @@ Reboot required. - Display Full Screen Navigation + When enabled, TSS2 car will use special tune which will result in smoother and natural breaking. Works best with accel dynamic follow + accel profile. +ONLY FOR TSS2. +Reboot Required. - When enabled, openpilot will display navigation in full screen. -Reboot required. + Enable Auto Lane Change + + + + When enabled, openpilot automatically lane change when possible(WARNING: USE IT AT YOUR OWN RISK!!!!). @@ -691,7 +798,7 @@ Reboot required. Error displaying tmux output. - + 顯示 tmux 輸出時發生錯誤。 @@ -909,15 +1016,15 @@ Reboot required. PersonalityButton Aggressive - 積極 + 積極 Standard - 標準 + 標準 Relaxed - 舒適 + 舒適 @@ -961,6 +1068,10 @@ Reboot required. comma prime comma 高級會員 + + ✓ ENABLED + + QObject @@ -974,7 +1085,7 @@ Reboot required. dashcam - 行車記錄器 + 行車記錄器 openpilot @@ -1047,7 +1158,7 @@ Reboot required. Press confirm to erase all content and settings. Press cancel to resume boot. - 按下確認以刪除所有內容及設定。按下取消來繼續開機。 + 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... @@ -1055,6 +1166,10 @@ This may take up to a minute. 設備重設中… 這可能需要一分鐘的時間。 + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 2b6333552..2ea2ef4ac 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 004c6425d..e988a13b7 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -9,6 +9,7 @@ UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui") TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations") LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json") TRANSLATIONS_INCLUDE_FILE = os.path.join(TRANSLATIONS_DIR, "alerts_generated.h") +PLURAL_ONLY = ["main_en"] # base language, only create entries for strings with plural forms def generate_translations_include(): @@ -22,21 +23,20 @@ def generate_translations_include(): with open(TRANSLATIONS_INCLUDE_FILE, "w") as f: f.write(content) -def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLATIONS_DIR): + +def update_translations(vanish: bool = False, translation_files: None | list[str] = None, translations_dir: str = TRANSLATIONS_DIR): generate_translations_include() - if plural_only is None: - plural_only = [] + if translation_files is None: + with open(LANGUAGES_FILE, "r") as f: + translation_files = json.load(f).values() - with open(LANGUAGES_FILE, "r") as f: - translation_files = json.load(f) - - for file in translation_files.values(): + for file in translation_files: tr_file = os.path.join(translations_dir, f"{file}.ts") args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file} -I {BASEDIR}" if vanish: args += " -no-obsolete" - if file in plural_only: + if file in PLURAL_ONLY: args += " -pluralonly" ret = os.system(args) assert ret == 0 @@ -46,8 +46,6 @@ if __name__ == "__main__": parser = argparse.ArgumentParser(description="Update translation files for UI", formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found") - parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"], - help="Translation codes to only create plural translations for (ie. the base language)") args = parser.parse_args() - update_translations(args.vanish, args.plural_only) + update_translations(args.vanish) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 49bd8239a..b410555f4 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -35,26 +35,42 @@ OVERLAY_INIT = Path(os.path.join(BASEDIR, ".overlay_init")) DAYS_NO_CONNECTIVITY_MAX = 14 # do not allow to engage after this many days DAYS_NO_CONNECTIVITY_PROMPT = 10 # send an offroad prompt after this many days +class UserRequest: + NONE = 0 + CHECK = 1 + FETCH = 2 + class WaitTimeHelper: def __init__(self): self.ready_event = threading.Event() - self.only_check_for_update = False + self.user_request = UserRequest.NONE signal.signal(signal.SIGHUP, self.update_now) signal.signal(signal.SIGUSR1, self.check_now) def update_now(self, signum: int, frame) -> None: cloudlog.info("caught SIGHUP, attempting to downloading update") - self.only_check_for_update = False + self.user_request = UserRequest.FETCH self.ready_event.set() def check_now(self, signum: int, frame) -> None: cloudlog.info("caught SIGUSR1, checking for updates") - self.only_check_for_update = True + self.user_request = UserRequest.CHECK self.ready_event.set() def sleep(self, t: float) -> None: self.ready_event.wait(timeout=t) +def write_time_to_param(params, param) -> None: + t = datetime.datetime.utcnow() + params.put(param, t.isoformat().encode('utf8')) + +def read_time_from_param(params, param) -> Optional[datetime.datetime]: + t = params.get(param, encoding='utf8') + try: + return datetime.datetime.fromisoformat(t) + except (TypeError, ValueError): + pass + return None def run(cmd: List[str], cwd: Optional[str] = None) -> str: return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8') @@ -230,7 +246,6 @@ class Updater: b: Union[str, None] = self.params.get("UpdaterTargetBranch", encoding='utf-8') if b is None: b = self.get_branch(BASEDIR) - self.params.put("UpdaterTargetBranch", b) return b @property @@ -245,7 +260,7 @@ class Updater: @property def update_available(self) -> bool: - if os.path.isdir(OVERLAY_MERGED): + if os.path.isdir(OVERLAY_MERGED) and len(self.branches) > 0: hash_mismatch = self.get_commit_hash(OVERLAY_MERGED) != self.branches[self.target_branch] branch_mismatch = self.get_branch(OVERLAY_MERGED) != self.target_branch return hash_mismatch or branch_mismatch @@ -259,20 +274,19 @@ class Updater: def set_params(self, update_success: bool, failed_count: int, exception: Optional[str]) -> None: self.params.put("UpdateFailedCount", str(failed_count)) + self.params.put("UpdaterTargetBranch", self.target_branch) self.params.put_bool("UpdaterFetchAvailable", self.update_available) - self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) + if len(self.branches): + self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) last_update = datetime.datetime.utcnow() if update_success: - t = last_update.isoformat() - self.params.put("LastUpdateTime", t.encode('utf8')) + write_time_to_param(self.params, "LastUpdateTime") else: - try: - t = self.params.get("LastUpdateTime", encoding='utf8') - last_update = datetime.datetime.fromisoformat(t) - except (TypeError, ValueError): - pass + t = read_time_from_param(self.params, "LastUpdateTime") + if t is not None: + last_update = t if exception is None: self.params.remove("LastUpdateException") @@ -328,7 +342,7 @@ class Updater: def check_for_update(self) -> None: cloudlog.info("checking for updates") - excluded_branches = ('release2', 'release2-staging', 'dashcam', 'dashcam-staging') + excluded_branches = ('release2', 'release2-staging') try: run(["git", "ls-remote", "origin", "HEAD"], OVERLAY_MERGED) @@ -399,91 +413,96 @@ def main() -> None: cloudlog.warning("updates are disabled by the DisableUpdates param") exit(0) - ov_lock_fd = open(LOCK_FILE, 'w') - try: - fcntl.flock(ov_lock_fd, fcntl.LOCK_EX | fcntl.LOCK_NB) - except OSError as e: - raise RuntimeError("couldn't get overlay lock; is another instance running?") from e - - # Set low io priority - proc = psutil.Process() - if psutil.LINUX: - proc.ionice(psutil.IOPRIO_CLASS_BE, value=7) - - # Check if we just performed an update - if Path(os.path.join(STAGING_ROOT, "old_openpilot")).is_dir(): - cloudlog.event("update installed") - - if not params.get("InstallDate"): - 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 - - # invalidate old finalized update - set_consistent_flag(False) - - # wait a bit before first cycle - wait_helper.sleep(60) - - # Run the update loop - while True: - wait_helper.ready_event.clear() - - # Attempt an update - exception = None + with open(LOCK_FILE, 'w') as ov_lock_fd: try: - # TODO: reuse overlay from previous updated instance if it looks clean - init_overlay() + fcntl.flock(ov_lock_fd, fcntl.LOCK_EX | fcntl.LOCK_NB) + except OSError as e: + raise RuntimeError("couldn't get overlay lock; is another instance running?") from e - # ensure we have some params written soon after startup - updater.set_params(False, update_failed_count, exception) + # Set low io priority + proc = psutil.Process() + if psutil.LINUX: + proc.ionice(psutil.IOPRIO_CLASS_BE, value=7) - if not system_time_valid(): - wait_helper.sleep(60) - continue + # Check if we just performed an update + if Path(os.path.join(STAGING_ROOT, "old_openpilot")).is_dir(): + cloudlog.event("update installed") - update_failed_count += 1 + if not params.get("InstallDate"): + t = datetime.datetime.utcnow().isoformat() + params.put("InstallDate", t.encode('utf8')) - # check for update - params.put("UpdaterState", "checking...") - updater.check_for_update() + updater = Updater() + update_failed_count = 0 # TODO: Load from param? + wait_helper = WaitTimeHelper() - # download update - if wait_helper.only_check_for_update: - cloudlog.info("skipping fetch this cycle") - else: - updater.fetch_update() - update_failed_count = 0 - except subprocess.CalledProcessError as e: - cloudlog.event( - "update process failed", - cmd=e.cmd, - output=e.output, - returncode=e.returncode - ) - exception = f"command failed: {e.cmd}\n{e.output}" - OVERLAY_INIT.unlink(missing_ok=True) - except Exception as e: - cloudlog.exception("uncaught updated exception, shouldn't happen") - exception = str(e) - OVERLAY_INIT.unlink(missing_ok=True) + # invalidate old finalized update + set_consistent_flag(False) - try: - params.put("UpdaterState", "idle") - update_successful = (update_failed_count == 0) - updater.set_params(update_successful, update_failed_count, exception) - except Exception: - cloudlog.exception("uncaught updated exception while setting params, shouldn't happen") + # set initial state + params.put("UpdaterState", "idle") - # infrequent attempts if we successfully updated recently - wait_helper.only_check_for_update = False - wait_helper.sleep(5*60 if update_failed_count > 0 else 1.5*60*60) + # Run the update loop + first_run = True + while True: + wait_helper.ready_event.clear() + + # Attempt an update + exception = None + try: + # TODO: reuse overlay from previous updated instance if it looks clean + init_overlay() + + # ensure we have some params written soon after startup + updater.set_params(False, update_failed_count, exception) + + if not system_time_valid() or first_run: + first_run = False + wait_helper.sleep(60) + continue + + update_failed_count += 1 + + # check for update + params.put("UpdaterState", "checking...") + updater.check_for_update() + + # download update + last_fetch = read_time_from_param(params, "UpdaterLastFetchTime") + timed_out = last_fetch is None or (datetime.datetime.utcnow() - last_fetch > datetime.timedelta(days=3)) + user_requested_fetch = wait_helper.user_request == UserRequest.FETCH + if params.get_bool("NetworkMetered") and not timed_out and not user_requested_fetch: + cloudlog.info("skipping fetch, connection metered") + elif wait_helper.user_request == UserRequest.CHECK: + cloudlog.info("skipping fetch, only checking") + else: + updater.fetch_update() + write_time_to_param(params, "UpdaterLastFetchTime") + update_failed_count = 0 + except subprocess.CalledProcessError as e: + cloudlog.event( + "update process failed", + cmd=e.cmd, + output=e.output, + returncode=e.returncode + ) + exception = f"command failed: {e.cmd}\n{e.output}" + OVERLAY_INIT.unlink(missing_ok=True) + except Exception as e: + cloudlog.exception("uncaught updated exception, shouldn't happen") + exception = str(e) + OVERLAY_INIT.unlink(missing_ok=True) + + try: + params.put("UpdaterState", "idle") + update_successful = (update_failed_count == 0) + updater.set_params(update_successful, update_failed_count, exception) + except Exception: + cloudlog.exception("uncaught updated exception while setting params, shouldn't happen") + + # infrequent attempts if we successfully updated recently + wait_helper.user_request = UserRequest.NONE + wait_helper.sleep(5*60 if update_failed_count > 0 else 1.5*60*60) if __name__ == "__main__": diff --git a/system/camerad/camerad b/system/camerad/camerad index 2d73e81ce..ef940e33f 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 9ebe01840..f98691ef0 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -1,18 +1,12 @@ #pragma once -#include -#include +#include #include #include #include "cereal/messaging/messaging.h" -#include "cereal/visionipc/visionbuf.h" -#include "cereal/visionipc/visionipc.h" #include "cereal/visionipc/visionipc_server.h" -#include "common/mat.h" #include "common/queue.h" -#include "common/swaglog.h" -#include "system/hardware/hw.h" const int YUV_BUFFER_COUNT = 20; @@ -32,6 +26,7 @@ const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL; typedef struct FrameMetadata { uint32_t frame_id; + uint32_t request_id; // Timestamps uint64_t timestamp_sof; @@ -67,7 +62,7 @@ public: VisionBuf *cur_camera_buf; std::unique_ptr camera_bufs; std::unique_ptr camera_bufs_metadata; - int rgb_width, rgb_height, rgb_stride; + int rgb_width, rgb_height; CameraBuf() = default; ~CameraBuf(); diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index d61c087f7..47ca578b9 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -1,11 +1,8 @@ #pragma once -#include #include #include -#include - #include "system/camerad/cameras/camera_common.h" #include "system/camerad/cameras/camera_util.h" #include "system/camerad/sensors/sensor.h" diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h new file mode 100644 index 000000000..ad91a0295 --- /dev/null +++ b/system/camerad/sensors/os04c10_registers.h @@ -0,0 +1,298 @@ +#pragma once + +const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}}; +const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}}; + +const struct i2c_random_wr_payload init_array_os04c10[] = { + // OS04C10_AA_00_02_17_wAO_1920x1080_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz + {0x0103, 0x01}, + {0x0301, 0x84}, + {0x0303, 0x01}, + {0x0305, 0x5b}, + {0x0306, 0x01}, + {0x0307, 0x17}, + {0x0323, 0x04}, + {0x0324, 0x01}, + {0x0325, 0x62}, + {0x3012, 0x06}, + {0x3013, 0x02}, + {0x3016, 0x72}, + {0x3021, 0x03}, + {0x3106, 0x21}, + {0x3107, 0xa1}, + {0x3500, 0x00}, + {0x3501, 0x00}, + {0x3502, 0x40}, + {0x3503, 0x88}, + {0x3508, 0x07}, + {0x3509, 0xc0}, + {0x350a, 0x04}, + {0x350b, 0x00}, + {0x350c, 0x07}, + {0x350d, 0xc0}, + {0x350e, 0x04}, + {0x350f, 0x00}, + {0x3510, 0x00}, + {0x3511, 0x00}, + {0x3512, 0x20}, + {0x3624, 0x00}, + {0x3625, 0x4c}, + {0x3660, 0x00}, + {0x3666, 0xa5}, + {0x3667, 0xa5}, + {0x366a, 0x64}, + {0x3673, 0x0d}, + {0x3672, 0x0d}, + {0x3671, 0x0d}, + {0x3670, 0x0d}, + {0x3685, 0x00}, + {0x3694, 0x0d}, + {0x3693, 0x0d}, + {0x3692, 0x0d}, + {0x3691, 0x0d}, + {0x3696, 0x4c}, + {0x3697, 0x4c}, + {0x3698, 0x40}, + {0x3699, 0x80}, + {0x369a, 0x18}, + {0x369b, 0x1f}, + {0x369c, 0x14}, + {0x369d, 0x80}, + {0x369e, 0x40}, + {0x369f, 0x21}, + {0x36a0, 0x12}, + {0x36a1, 0x5d}, + {0x36a2, 0x66}, + {0x370a, 0x00}, + {0x370e, 0x0c}, + {0x3710, 0x00}, + {0x3713, 0x00}, + {0x3725, 0x02}, + {0x372a, 0x03}, + {0x3738, 0xce}, + {0x3748, 0x00}, + {0x374a, 0x00}, + {0x374c, 0x00}, + {0x374e, 0x00}, + {0x3756, 0x00}, + {0x3757, 0x0e}, + {0x3767, 0x00}, + {0x3771, 0x00}, + {0x377b, 0x20}, + {0x377c, 0x00}, + {0x377d, 0x0c}, + {0x3781, 0x03}, + {0x3782, 0x00}, + {0x3789, 0x14}, + {0x3795, 0x02}, + {0x379c, 0x00}, + {0x379d, 0x00}, + {0x37b8, 0x04}, + {0x37ba, 0x03}, + {0x37bb, 0x00}, + {0x37bc, 0x04}, + {0x37be, 0x08}, + {0x37c4, 0x11}, + {0x37c5, 0x80}, + {0x37c6, 0x14}, + {0x37c7, 0x08}, + {0x37da, 0x11}, + {0x381f, 0x08}, + {0x3829, 0x03}, + {0x3881, 0x00}, + {0x3888, 0x04}, + {0x388b, 0x00}, + {0x3c80, 0x10}, + {0x3c86, 0x00}, + {0x3c8c, 0x20}, + {0x3c9f, 0x01}, + {0x3d85, 0x1b}, + {0x3d8c, 0x71}, + {0x3d8d, 0xe2}, + {0x3f00, 0x0b}, + {0x3f06, 0x04}, + {0x400a, 0x01}, + {0x400b, 0x50}, + {0x400e, 0x08}, + {0x4043, 0x7e}, + {0x4045, 0x7e}, + {0x4047, 0x7e}, + {0x4049, 0x7e}, + {0x4090, 0x14}, + {0x40b0, 0x00}, + {0x40b1, 0x00}, + {0x40b2, 0x00}, + {0x40b3, 0x00}, + {0x40b4, 0x00}, + {0x40b5, 0x00}, + {0x40b7, 0x00}, + {0x40b8, 0x00}, + {0x40b9, 0x00}, + {0x40ba, 0x00}, + {0x4301, 0x00}, + {0x4303, 0x00}, + {0x4502, 0x04}, + {0x4503, 0x00}, + {0x4504, 0x06}, + {0x4506, 0x00}, + {0x4507, 0x64}, + {0x4803, 0x00}, + {0x480c, 0x32}, + {0x480e, 0x00}, + {0x4813, 0x00}, + {0x4819, 0x70}, + {0x481f, 0x30}, + {0x4823, 0x3f}, + {0x4825, 0x30}, + {0x4833, 0x10}, + {0x484b, 0x07}, + {0x488b, 0x00}, + {0x4d00, 0x04}, + {0x4d01, 0xad}, + {0x4d02, 0xbc}, + {0x4d03, 0xa1}, + {0x4d04, 0x1f}, + {0x4d05, 0x4c}, + {0x4d0b, 0x01}, + {0x4e00, 0x2a}, + {0x4e0d, 0x00}, + {0x5001, 0x09}, + {0x5004, 0x00}, + {0x5080, 0x04}, + {0x5036, 0x00}, + {0x5180, 0x70}, + {0x5181, 0x10}, + {0x520a, 0x03}, + {0x520b, 0x06}, + {0x520c, 0x0c}, + {0x580b, 0x0f}, + {0x580d, 0x00}, + {0x580f, 0x00}, + {0x5820, 0x00}, + {0x5821, 0x00}, + {0x301c, 0xf8}, + {0x301e, 0xb4}, + {0x301f, 0xd0}, + {0x3022, 0x01}, + {0x3109, 0xe7}, + {0x3600, 0x00}, + {0x3610, 0x65}, + {0x3611, 0x85}, + {0x3613, 0x3a}, + {0x3615, 0x60}, + {0x3621, 0x90}, + {0x3620, 0x0c}, + {0x3629, 0x00}, + {0x3661, 0x04}, + {0x3664, 0x70}, + {0x3665, 0x00}, + {0x3681, 0xa6}, + {0x3682, 0x53}, + {0x3683, 0x2a}, + {0x3684, 0x15}, + {0x3700, 0x2a}, + {0x3701, 0x12}, + {0x3703, 0x28}, + {0x3704, 0x0e}, + {0x3706, 0x4a}, + {0x3709, 0x4a}, + {0x370b, 0xa2}, + {0x370c, 0x01}, + {0x370f, 0x04}, + {0x3714, 0x24}, + {0x3716, 0x04}, + {0x3719, 0x11}, + {0x371a, 0x1e}, + {0x3720, 0x00}, + {0x3724, 0x13}, + {0x373f, 0xb0}, + {0x3741, 0x4a}, + {0x3743, 0x4a}, + {0x3745, 0x4a}, + {0x3747, 0x4a}, + {0x3749, 0xa2}, + {0x374b, 0xa2}, + {0x374d, 0xa2}, + {0x374f, 0xa2}, + {0x3755, 0x10}, + {0x376c, 0x00}, + {0x378d, 0x30}, + {0x3790, 0x4a}, + {0x3791, 0xa2}, + {0x3798, 0x40}, + {0x379e, 0x00}, + {0x379f, 0x04}, + {0x37a1, 0x10}, + {0x37a2, 0x1e}, + {0x37a8, 0x10}, + {0x37a9, 0x1e}, + {0x37ac, 0xa0}, + {0x37b9, 0x01}, + {0x37bd, 0x01}, + {0x37bf, 0x26}, + {0x37c0, 0x11}, + {0x37c2, 0x04}, + {0x37cd, 0x19}, + {0x37e0, 0x08}, + {0x37e6, 0x04}, + {0x37e5, 0x02}, + {0x37e1, 0x0c}, + {0x3737, 0x04}, + {0x37d8, 0x02}, + {0x37e2, 0x10}, + {0x3739, 0x10}, + {0x3662, 0x10}, + {0x37e4, 0x20}, + {0x37e3, 0x08}, + {0x37d9, 0x08}, + {0x4040, 0x00}, + {0x4041, 0x07}, + {0x4008, 0x02}, + {0x4009, 0x0d}, + {0x3800, 0x01}, + {0x3801, 0x80}, + {0x3802, 0x00}, + {0x3803, 0xdc}, + {0x3804, 0x09}, + {0x3805, 0x0f}, + {0x3806, 0x05}, + {0x3807, 0x23}, + {0x3808, 0x07}, + {0x3809, 0x80}, + {0x380a, 0x04}, + {0x380b, 0x38}, + {0x380c, 0x04}, + {0x380d, 0x2e}, + {0x380e, 0x12}, + {0x380f, 0x70}, + {0x3811, 0x08}, + {0x3813, 0x08}, + {0x3814, 0x01}, + {0x3815, 0x01}, + {0x3816, 0x01}, + {0x3817, 0x01}, + {0x3820, 0xB0}, + {0x3821, 0x00}, + {0x3880, 0x25}, + {0x3882, 0x20}, + {0x3c91, 0x0b}, + {0x3c94, 0x45}, + {0x3cad, 0x00}, + {0x3cae, 0x00}, + {0x4000, 0xf3}, + {0x4001, 0x60}, + {0x4003, 0x40}, + {0x4300, 0xff}, + {0x4302, 0x0f}, + {0x4305, 0x83}, + {0x4505, 0x84}, + {0x4809, 0x1e}, + {0x480a, 0x04}, + {0x4837, 0x15}, + {0x4c00, 0x08}, + {0x4c01, 0x08}, + {0x4c04, 0x00}, + {0x4c05, 0x00}, + {0x5000, 0xf9}, + {0x3c8c, 0x10}, +}; diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index 06d3a43a2..4e2194d91 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -9,12 +9,14 @@ #include "system/camerad/cameras/camera_common.h" #include "system/camerad/sensors/ar0231_registers.h" #include "system/camerad/sensors/ox03c10_registers.h" +#include "system/camerad/sensors/os04c10_registers.h" #define ANALOG_GAIN_MAX_CNT 55 const size_t FRAME_WIDTH = 1928; const size_t FRAME_HEIGHT = 1208; const size_t FRAME_STRIDE = 2896; // for 12 bit output. 1928 * 12 / 8 + 4 (alignment) + class SensorInfo { public: SensorInfo() = default; @@ -56,8 +58,10 @@ public: uint32_t probe_expected_data; std::vector start_reg_array; std::vector init_reg_array; - uint32_t in_port_info_dt; - uint32_t power_config_val_low; + + uint32_t mipi_format; + uint32_t mclk_frequency; + uint32_t frame_data_type; }; class AR0231 : public SensorInfo { @@ -79,3 +83,11 @@ public: float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; int getSlaveAddress(int port) const override; }; + +class OS04C10 : public SensorInfo { +public: + OS04C10(); + std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; + float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; + int getSlaveAddress(int port) const override; +}; diff --git a/system/hardware/base.py b/system/hardware/base.py index 0b6ca44c3..9c7a61833 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -23,6 +23,9 @@ class HardwareBase(ABC): except Exception: return default + def booted(self) -> bool: + return True + @abstractmethod def reboot(self, reason=None): pass @@ -51,10 +54,6 @@ class HardwareBase(ABC): def get_serial(self): pass - @abstractmethod - def get_subscriber_info(self): - pass - @abstractmethod def get_network_info(self): pass diff --git a/system/hardware/hw.h b/system/hardware/hw.h index 2f6ccfffd..394807ccb 100644 --- a/system/hardware/hw.h +++ b/system/hardware/hw.h @@ -30,13 +30,13 @@ namespace Path { } inline std::string params() { - return Hardware::PC() ? util::getenv("PARAMS_ROOT", Path::comma_home() + "/params") : "/data/params"; + return util::getenv("PARAMS_ROOT", Hardware::PC() ? (Path::comma_home() + "/params") : "/data/params"); } inline std::string rsa_file() { return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa" : "/persist/comma/id_rsa"; } - + inline std::string swaglog_ipc() { return "ipc:///tmp/logmessage" + Path::openpilot_prefix(); } diff --git a/system/hardware/hw.py b/system/hardware/hw.py index a8967520e..694299d72 100644 --- a/system/hardware/hw.py +++ b/system/hardware/hw.py @@ -3,6 +3,8 @@ from pathlib import Path from openpilot.system.hardware import PC +DEFAULT_DOWNLOAD_CACHE_ROOT = "/tmp/comma_download_cache" + class Paths: @staticmethod def comma_home() -> str: @@ -31,8 +33,8 @@ class Paths: @staticmethod def download_cache_root() -> str: if os.environ.get('COMMA_CACHE', False): - return os.environ['COMMA_CACHE'] - return "/tmp/comma_download_cache" + os.environ.get("OPENPILOT_PREFIX", "") + "/" + return os.environ['COMMA_CACHE'] + "/" + return DEFAULT_DOWNLOAD_CACHE_ROOT + os.environ.get("OPENPILOT_PREFIX", "") + "/" @staticmethod def persist_root() -> str: diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 27c05f590..4c2c104f9 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -29,9 +29,6 @@ class Pc(HardwareBase): def get_serial(self): return "cccccccc" - def get_subscriber_info(self): - return "" - def get_network_info(self): return None diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 080fa2cf8..b4408d214 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,9 +1,9 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-fd30f580375279ff4605034ec13711890a2b227205571a087cdc5226a2710275.img.xz", - "hash": "fd30f580375279ff4605034ec13711890a2b227205571a087cdc5226a2710275", - "hash_raw": "fd30f580375279ff4605034ec13711890a2b227205571a087cdc5226a2710275", + "url": "https://commadist.azureedge.net/agnosupdate/boot-f0de74e139b8b99224738d4e72a5b1831758f20b09ff6bb28f3aaaae1c4c1ebe.img.xz", + "hash": "f0de74e139b8b99224738d4e72a5b1831758f20b09ff6bb28f3aaaae1c4c1ebe", + "hash_raw": "f0de74e139b8b99224738d4e72a5b1831758f20b09ff6bb28f3aaaae1c4c1ebe", "size": 15636480, "sparse": false, "full_check": true, @@ -11,9 +11,9 @@ }, { "name": "abl", - "url": "https://commadist.azureedge.net/agnosupdate/abl-bb234733816781b3d09266f91f741436e9bf17e1a7caf468cf7d09ee788cef4a.img.xz", - "hash": "bb234733816781b3d09266f91f741436e9bf17e1a7caf468cf7d09ee788cef4a", - "hash_raw": "bb234733816781b3d09266f91f741436e9bf17e1a7caf468cf7d09ee788cef4a", + "url": "https://commadist.azureedge.net/agnosupdate/abl-eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39.img.xz", + "hash": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39", + "hash_raw": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39", "size": 274432, "sparse": false, "full_check": true, @@ -61,16 +61,17 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98.img.xz", - "hash": "3b6cdf9bd881a5e90b21dd02c6faa923b415e32ecae9bfdc96753d4208fb82fe", - "hash_raw": "e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98", + "url": "https://commadist.azureedge.net/agnosupdate/system-3bfb0f3a6bf677bdc8a6227f49ce3258025e1886dc81533e3fbacb356b5601db.img.xz", + "hash": "10ac02f18c5f1cde5a888a3411d3701b929c3488753467e77aad6085db058eb9", + "hash_raw": "3bfb0f3a6bf677bdc8a6227f49ce3258025e1886dc81533e3fbacb356b5601db", "size": 10737418240, "sparse": true, "full_check": false, "has_ab": true, "alt": { - "hash": "2fb81e58f4bc6c4e5e71c8e7ac7553f85082c430627d7a5cc54a6bbc82862500", - "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98.img.xz" + "hash": "a7db41b93b587f8f9c3f83a3313f186445c4bdf07283cd6a5421dfbc0286c9db", + "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-3bfb0f3a6bf677bdc8a6227f49ce3258025e1886dc81533e3fbacb356b5601db.img.xz", + "size": 4548131508 } } ] \ No newline at end of file diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index f895bbc50..f60642202 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -74,6 +74,11 @@ def sudo_write(val, path): # fallback for debugfs files os.system(f"sudo su -c 'echo {val} > {path}'") +def sudo_read(path: str) -> str: + try: + return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8') + except Exception: + return "" def affine_irq(val, action): irqs = get_irqs_for_action(action) @@ -201,9 +206,6 @@ class Tici(HardwareBase): 'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED, } - def get_subscriber_info(self): - return "" - def get_imei(self, slot): if slot != 0: return "" @@ -332,10 +334,6 @@ class Tici(HardwareBase): pass return ret - def get_usb_present(self): - # Not sure if relevant on tici, but the file exists - return self.read_param_file("/sys/class/power_supply/usb/present", lambda x: bool(int(x)), False) - def get_current_power_draw(self): return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6) @@ -459,24 +457,37 @@ class Tici(HardwareBase): def configure_modem(self): sim_id = self.get_sim_info().get('sim_id', '') - # configure modem as data-centric - cmds = [ - 'AT+QNVW=5280,0,"0102000000000000"', - 'AT+QNVFW="/nv/item_files/ims/IMS_enable",00', - 'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01', - ] modem = self.get_modem() + try: + manufacturer = str(modem.Get(MM_MODEM, 'Manufacturer', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)) + except Exception: + manufacturer = None + + cmds = [] + if manufacturer == 'Cavli Inc.': + cmds += [ + # use sim slot + 'AT^SIMSWAP=1', + + # configure ECM mode + 'AT$QCPCFG=usbNet,1' + ] + else: + cmds += [ + # configure modem as data-centric + 'AT+QNVW=5280,0,"0102000000000000"', + 'AT+QNVFW="/nv/item_files/ims/IMS_enable",00', + 'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01', + ] + + # clear out old blue prime initial APN + os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="') for cmd in cmds: try: modem.Command(cmd, math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT) except Exception: pass - # blue prime - blue_prime = sim_id.startswith('8901410') - initial_apn = "Broadband" if blue_prime else "" - os.system(f'mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn={initial_apn}"') - # eSIM prime if sim_id.startswith('8985235'): dest = "/etc/NetworkManager/system-connections/esim.nmconnection" @@ -554,6 +565,12 @@ class Tici(HardwareBase): time.sleep(0.5) gpio_set(GPIO.STM_BOOT0, 0) + def booted(self): + # this normally boots within 8s, but on rare occasions takes 30+s + encoder_state = sudo_read("/sys/kernel/debug/msm_vidc/core0/info") + if "Core state: 0" in encoder_state and (time.monotonic() < 60*2): + return False + return True if __name__ == "__main__": t = Tici() diff --git a/system/logcatd/logcatd b/system/logcatd/logcatd index 1d4756f05..7f9549803 100755 Binary files a/system/logcatd/logcatd and b/system/logcatd/logcatd differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 9644ed94a..b82824c1c 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index 9c23928cc..7c203f919 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -22,10 +22,11 @@ public: virtual void encoder_open(const char* path) = 0; virtual void encoder_close() = 0; - static void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat); + void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat); protected: int in_width, in_height; + int out_width, out_height; const EncoderInfo encoder_info; private: diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 2f2c29ace..80311084e 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h index 76a12b9e8..dd3bee150 100644 --- a/system/loggerd/logger.h +++ b/system/loggerd/logger.h @@ -53,3 +53,4 @@ protected: kj::Array logger_build_init_data(); std::string logger_get_route_name(); +std::string logger_get_identifier(std::string key); diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index c1561e81d..5d4be65fd 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index cfc06c28d..ea288f486 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -35,8 +35,8 @@ public: const char *publish_name; const char *filename = NULL; bool record = true; - int frame_width = 1928; - int frame_height = 1208; + int frame_width = -1; + int frame_height = -1; int fps = MAIN_FPS; int bitrate = MAIN_BITRATE; cereal::EncodeIndex::Type encode_type = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 914c9e807..105e830a4 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -8,15 +8,14 @@ import requests import threading import time import traceback -from pathlib import Path -from typing import BinaryIO, Iterator, List, Optional, Tuple, Union +import datetime +from typing import BinaryIO, Iterator, List, Optional, Tuple from cereal import log import cereal.messaging as messaging from openpilot.common.api import Api from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity -from openpilot.system.hardware import TICI from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import getxattr, setxattr from openpilot.common.swaglog import cloudlog @@ -43,23 +42,24 @@ class FakeResponse: self.request = FakeRequest() -UploadResponse = Union[requests.Response, FakeResponse] - def get_directory_sort(d: str) -> List[str]: return [s.rjust(10, '0') for s in d.rsplit('--', 1)] def listdir_by_creation(d: str) -> List[str]: + if not os.path.isdir(d): + return [] + try: - paths = os.listdir(d) + paths = [f for f in os.listdir(d) if os.path.isdir(os.path.join(d, f))] paths = sorted(paths, key=get_directory_sort) return paths except OSError: cloudlog.exception("listdir_by_creation failed") - return list() + return [] def clear_locks(root: str) -> None: - for logname in os.listdir(root): - path = os.path.join(root, logname) + for logdir in os.listdir(root): + path = os.path.join(root, logdir) try: for fname in os.listdir(path): if fname.endswith(".lock"): @@ -74,34 +74,20 @@ class Uploader: self.api = Api(dongle_id) self.root = root - self.last_resp: Optional[UploadResponse] = None - self.last_exc: Optional[Tuple[Exception, str]] = None - - self.immediate_size = 0 - self.immediate_count = 0 + self.params = Params() # stats for last successfully uploaded file - self.last_time = 0.0 - self.last_speed = 0.0 self.last_filename = "" self.immediate_folders = ["crash/", "boot/"] self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1} - def get_upload_sort(self, name: str) -> int: - if name in self.immediate_priority: - return self.immediate_priority[name] - return 1000 + def list_upload_files(self, metered: bool) -> Iterator[Tuple[str, str, str]]: + r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8") + requested_routes = [] if r is None else r.split(",") - def list_upload_files(self) -> Iterator[Tuple[str, str, str]]: - if not os.path.isdir(self.root): - return - - self.immediate_size = 0 - self.immediate_count = 0 - - for logname in listdir_by_creation(self.root): - path = os.path.join(self.root, logname) + for logdir in listdir_by_creation(self.root): + path = os.path.join(self.root, logdir) try: names = os.listdir(path) except OSError: @@ -110,29 +96,33 @@ class Uploader: if any(name.endswith(".lock") for name in names): continue - for name in sorted(names, key=self.get_upload_sort): - key = os.path.join(logname, name) + for name in sorted(names, key=lambda n: self.immediate_priority.get(n, 1000)): + key = os.path.join(logdir, name) fn = os.path.join(path, name) # skip files already uploaded try: + ctime = os.path.getctime(fn) is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE except OSError: - cloudlog.event("uploader_getxattr_failed", exc=self.last_exc, key=key, fn=fn) - is_uploaded = True # deleter could have deleted + cloudlog.event("uploader_getxattr_failed", key=key, fn=fn) + # deleter could have deleted, so skip + continue if is_uploaded: continue - try: - if name in self.immediate_priority: - self.immediate_count += 1 - self.immediate_size += os.path.getsize(fn) - except OSError: - pass + # limit uploading on metered connections + if metered: + dt = datetime.timedelta(hours=12) + if logdir in self.immediate_folders and (datetime.datetime.now() - datetime.datetime.fromtimestamp(ctime)) < dt: + continue + + if name == "qcamera.ts" and not any(logdir.startswith(r.split('|')[-1]) for r in requested_routes): + continue yield name, key, fn - def next_file_to_upload(self) -> Optional[Tuple[str, str, str]]: - upload_files = list(self.list_upload_files()) + def next_file_to_upload(self, metered: bool) -> Optional[Tuple[str, str, str]]: + upload_files = list(self.list_upload_files(metered)) for name, key, fn in upload_files: if any(f in fn for f in self.immediate_folders): @@ -144,45 +134,28 @@ class Uploader: return None - def do_upload(self, key: str, fn: str) -> None: - try: - url_resp = self.api.get("v1.4/" + self.dongle_id + "/upload_url/", timeout=10, path=key, access_token=self.api.get_token()) - if url_resp.status_code == 412: - self.last_resp = url_resp - return + def do_upload(self, key: str, fn: str): + url_resp = self.api.get("v1.4/" + self.dongle_id + "/upload_url/", timeout=10, path=key, access_token=self.api.get_token()) + if url_resp.status_code == 412: + return url_resp - url_resp_json = json.loads(url_resp.text) - url = url_resp_json['url'] - headers = url_resp_json['headers'] - cloudlog.debug("upload_url v1.4 %s %s", url, str(headers)) + url_resp_json = json.loads(url_resp.text) + url = url_resp_json['url'] + headers = url_resp_json['headers'] + cloudlog.debug("upload_url v1.4 %s %s", url, str(headers)) - if fake_upload: - cloudlog.debug(f"*** WARNING, THIS IS A FAKE UPLOAD TO {url} ***") - self.last_resp = FakeResponse() + if fake_upload: + return FakeResponse() + + with open(fn, "rb") as f: + data: BinaryIO + if key.endswith('.bz2') and not fn.endswith('.bz2'): + compressed = bz2.compress(f.read()) + data = io.BytesIO(compressed) else: - with open(fn, "rb") as f: - data: BinaryIO - if key.endswith('.bz2') and not fn.endswith('.bz2'): - compressed = bz2.compress(f.read()) - data = io.BytesIO(compressed) - else: - data = f + data = f - self.last_resp = requests.put(url, data=data, headers=headers, timeout=10) - except Exception as e: - self.last_exc = (e, traceback.format_exc()) - raise - - def normal_upload(self, key: str, fn: str) -> Optional[UploadResponse]: - self.last_resp = None - self.last_exc = None - - try: - self.do_upload(key, fn) - except Exception: - pass - - return self.last_resp + return requests.put(url, data=data, headers=headers, timeout=10) def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool: try: @@ -201,44 +174,57 @@ class Uploader: success = True else: start_time = time.monotonic() - stat = self.normal_upload(key, fn) + + stat = None + last_exc = None + try: + stat = self.do_upload(key, fn) + except Exception as e: + last_exc = (e, traceback.format_exc()) + if stat is not None and stat.status_code in (200, 201, 401, 403, 412): self.last_filename = fn - self.last_time = time.monotonic() - start_time + dt = time.monotonic() - start_time if stat.status_code == 412: - self.last_speed = 0 cloudlog.event("upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) else: content_length = int(stat.request.headers.get("Content-Length", 0)) - self.last_speed = (content_length / 1e6) / self.last_time + speed = (content_length / 1e6) / dt cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length, - network_type=network_type, metered=metered, speed=self.last_speed) + network_type=network_type, metered=metered, speed=speed) success = True else: success = False - cloudlog.event("upload_failed", stat=stat, exc=self.last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) + cloudlog.event("upload_failed", stat=stat, exc=last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) if success: # tag file as uploaded try: setxattr(fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE) except OSError: - cloudlog.event("uploader_setxattr_failed", exc=self.last_exc, key=key, fn=fn, sz=sz) + cloudlog.event("uploader_setxattr_failed", exc=last_exc, key=key, fn=fn, sz=sz) return success - def get_msg(self): - msg = messaging.new_message("uploaderState", valid=True) - us = msg.uploaderState - us.immediateQueueSize = int(self.immediate_size / 1e6) - us.immediateQueueCount = self.immediate_count - us.lastTime = self.last_time - us.lastSpeed = self.last_speed - us.lastFilename = self.last_filename - return msg + + def step(self, network_type: int, metered: bool) -> bool: + d = self.next_file_to_upload(metered) + if d is None: + return True + + name, key, fn = d + + # qlogs and bootlogs need to be compressed before uploading + if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')): + key += ".bz2" + + return self.upload(name, key, fn, network_type, metered) -def uploader_fn(exit_event: threading.Event) -> None: +def main(exit_event: Optional[threading.Event] = None) -> None: + if exit_event is None: + exit_event = threading.Event() + try: set_core_affinity([0, 1, 2, 3]) except Exception: @@ -253,11 +239,7 @@ def uploader_fn(exit_event: threading.Event) -> None: cloudlog.info("uploader missing dongle_id") raise Exception("uploader can't start without dongle id") - if TICI and not Path("/data/media").is_mount(): - cloudlog.warning("NVME not mounted") - sm = messaging.SubMaster(['deviceState']) - pm = messaging.PubMaster(['uploaderState']) uploader = Uploader(dongle_id, Paths.log_root()) backoff = 0.1 @@ -270,31 +252,13 @@ def uploader_fn(exit_event: threading.Event) -> None: time.sleep(60 if offroad else 5) continue - d = uploader.next_file_to_upload() - if d is None: # Nothing to upload - if allow_sleep: - time.sleep(60 if offroad else 5) - continue - - name, key, fn = d - - # qlogs and bootlogs need to be compressed before uploading - if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')): - key += ".bz2" - - success = uploader.upload(name, key, fn, sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered) + success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered) if success: backoff = 0.1 elif allow_sleep: cloudlog.info("upload backoff %r", backoff) - time.sleep(backoff + random.uniform(0, backoff)) backoff = min(backoff*2, 120) - - pm.send("uploaderState", uploader.get_msg()) - - -def main() -> None: - uploader_fn(threading.Event()) + time.sleep(backoff + random.uniform(0, backoff)) if __name__ == "__main__": diff --git a/system/proclogd/proclogd b/system/proclogd/proclogd index f0c7bffd0..4634df58a 100755 Binary files a/system/proclogd/proclogd and b/system/proclogd/proclogd differ diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py index 0105d4074..3f7235023 100755 --- a/system/qcomgpsd/qcomgpsd.py +++ b/system/qcomgpsd/qcomgpsd.py @@ -5,7 +5,7 @@ import signal import itertools import math import time -import pycurl +import requests import shutil import subprocess import datetime @@ -102,27 +102,18 @@ def gps_enabled() -> bool: def download_assistance(): try: - c = pycurl.Curl() - c.setopt(pycurl.URL, ASSISTANCE_URL) - c.setopt(pycurl.NOBODY, 1) - c.setopt(pycurl.CONNECTTIMEOUT, 2) - c.perform() - bytes_n = c.getinfo(pycurl.CONTENT_LENGTH_DOWNLOAD) - c.close() - if bytes_n > 1e5: - cloudlog.error("Qcom assistance data larger than expected") - return + response = requests.get(ASSISTANCE_URL, timeout=5, stream=True) with open(ASSIST_DATA_FILE_DOWNLOAD, 'wb') as fp: - c = pycurl.Curl() - c.setopt(pycurl.URL, ASSISTANCE_URL) - c.setopt(pycurl.CONNECTTIMEOUT, 5) + for chunk in response.iter_content(chunk_size=8192): + fp.write(chunk) + if fp.tell() > 1e5: + cloudlog.error("Qcom assistance data larger than expected") + return - c.setopt(pycurl.WRITEDATA, fp) - c.perform() - c.close() - os.rename(ASSIST_DATA_FILE_DOWNLOAD, ASSIST_DATA_FILE) - except pycurl.error: + os.rename(ASSIST_DATA_FILE_DOWNLOAD, ASSIST_DATA_FILE) + + except requests.exceptions.RequestException: cloudlog.exception("Failed to download assistance file") return diff --git a/system/sensord/sensord b/system/sensord/sensord index 163269aea..49753d95f 100755 Binary files a/system/sensord/sensord and b/system/sensord/sensord differ diff --git a/system/timed.py b/system/timed.py new file mode 100755 index 000000000..21fb47b68 --- /dev/null +++ b/system/timed.py @@ -0,0 +1,94 @@ +#!/usr/bin/env python3 +import datetime +import os +import subprocess +import time +from typing import NoReturn + +from timezonefinder import TimezoneFinder + +import cereal.messaging as messaging +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog +from openpilot.system.hardware import AGNOS + + +def set_timezone(timezone): + valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n') + if timezone not in valid_timezones: + cloudlog.error(f"Timezone not supported {timezone}") + return + + cloudlog.debug(f"Setting timezone to {timezone}") + try: + if AGNOS: + tzpath = os.path.join("/usr/share/zoneinfo/", timezone) + subprocess.check_call(f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \ + mv /data/etc/tmptime /data/etc/localtime"', shell=True) + subprocess.check_call(f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"', shell=True) + else: + subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True) + except subprocess.CalledProcessError: + cloudlog.exception(f"Error setting timezone to {timezone}") + + +def set_time(new_time): + diff = datetime.datetime.now() - new_time + if diff < datetime.timedelta(seconds=10): + cloudlog.debug(f"Time diff too small: {diff}") + return + + cloudlog.debug(f"Setting time to {new_time}") + try: + subprocess.run(f"TZ=UTC date -s '{new_time}'", shell=True, check=True) + except subprocess.CalledProcessError: + cloudlog.exception("timed.failed_setting_time") + + +def main() -> NoReturn: + """ + timed has two responsibilities: + - getting the current time + - getting the current timezone + + GPS directly gives time, and timezone is looked up from GPS position. + AGNOS will also use NTP to update the time. + """ + + params = Params() + tf = TimezoneFinder() + + # Restore timezone from param + tz = params.get("Timezone", encoding='utf8') + tf = TimezoneFinder() + if tz is not None: + cloudlog.debug("Restoring timezone from param") + set_timezone(tz) + + sm = messaging.SubMaster(['liveLocationKalman']) + while True: + sm.update(1000) + + llk = sm['liveLocationKalman'] + if not llk.gpsOK or (time.monotonic() - sm.logMonoTime['liveLocationKalman']/1e9) > 0.2: + continue + + # set time + # TODO: account for unixTimesatmpMillis being a (usually short) time in the past + gps_time = datetime.datetime.fromtimestamp(llk.unixTimestampMillis / 1000.) + set_time(gps_time) + + # set timezone + pos = llk.positionGeodetic.value + if len(pos) == 3: + gps_timezone = tf.timezone_at(lat=pos[0], lng=pos[1]) + if gps_timezone is None: + cloudlog.critical(f"No timezone found based on {pos=}") + else: + set_timezone(gps_timezone) + params.put_nonblocking("Timezone", gps_timezone) + + time.sleep(10) + +if __name__ == "__main__": + main() diff --git a/system/timezoned.py b/system/timezoned.py deleted file mode 100755 index 546405c9a..000000000 --- a/system/timezoned.py +++ /dev/null @@ -1,92 +0,0 @@ -#!/usr/bin/env python3 -import json -import os -import time -import subprocess -from typing import NoReturn - -import requests -from timezonefinder import TimezoneFinder - -from openpilot.common.params import Params -from openpilot.system.hardware import AGNOS -from openpilot.common.swaglog import cloudlog -from openpilot.system.version import get_version - -REQUEST_HEADERS = {'User-Agent': "openpilot-" + get_version()} - - -def set_timezone(valid_timezones, timezone): - if timezone not in valid_timezones: - cloudlog.error(f"Timezone not supported {timezone}") - return - - cloudlog.info(f"Setting timezone to {timezone}") - try: - if AGNOS: - tzpath = os.path.join("/usr/share/zoneinfo/", timezone) - subprocess.check_call(f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \ - mv /data/etc/tmptime /data/etc/localtime"', shell=True) - subprocess.check_call(f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"', shell=True) - else: - subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True) - except subprocess.CalledProcessError: - cloudlog.exception(f"Error setting timezone to {timezone}") - - -def main() -> NoReturn: - params = Params() - tf = TimezoneFinder() - - # Get allowed timezones - valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n') - - while True: - time.sleep(60) - - is_onroad = not params.get_bool("IsOffroad") - if is_onroad: - continue - - # Set based on param - timezone = params.get("Timezone", encoding='utf8') - if timezone is not None: - cloudlog.debug("Setting timezone based on param") - set_timezone(valid_timezones, timezone) - continue - - location = params.get("LastGPSPosition", encoding='utf8') - - # Find timezone based on IP geolocation if no gps location is available - if location is None: - cloudlog.debug("Setting timezone based on IP lookup") - try: - r = requests.get("https://ipapi.co/timezone", headers=REQUEST_HEADERS, timeout=10) - if r.status_code == 200: - set_timezone(valid_timezones, r.text) - else: - cloudlog.error(f"Unexpected status code from api {r.status_code}") - - time.sleep(3600) # Don't make too many API requests - except requests.exceptions.RequestException: - cloudlog.exception("Error getting timezone based on IP") - continue - - # Find timezone by reverse geocoding the last known gps location - else: - cloudlog.debug("Setting timezone based on GPS location") - try: - location = json.loads(location) - except Exception: - cloudlog.exception("Error parsing location") - continue - - timezone = tf.timezone_at(lng=location['longitude'], lat=location['latitude']) - if timezone is None: - cloudlog.error(f"No timezone found based on location, {location}") - continue - set_timezone(valid_timezones, timezone) - - -if __name__ == "__main__": - main() diff --git a/system/ubloxd/ubloxd b/system/ubloxd/ubloxd index 8b3885955..bd43d667d 100755 Binary files a/system/ubloxd/ubloxd and b/system/ubloxd/ubloxd differ diff --git a/system/version.py b/system/version.py index f9fd2bc84..980a4fcc7 100755 --- a/system/version.py +++ b/system/version.py @@ -1,20 +1,20 @@ #!/usr/bin/env python3 import os import subprocess -from typing import List, Optional +from typing import List, Optional, Callable, TypeVar from functools import lru_cache from openpilot.common.basedir import BASEDIR from openpilot.common.swaglog import cloudlog -RELEASE_BRANCHES = ['release3-staging', 'dashcam3-staging', 'release3', 'dashcam3', 'nightly'] +RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging'] training_version: bytes = b"0.2.0" terms_version: bytes = b"2" - -def cache(user_function, /): +_RT = TypeVar("_RT") +def cache(user_function: Callable[..., _RT], /) -> Callable[..., _RT]: return lru_cache(maxsize=None)(user_function) @@ -30,41 +30,37 @@ def run_cmd_default(cmd: List[str], default: Optional[str] = None) -> Optional[s @cache -def get_commit(branch: str = "HEAD", default: Optional[str] = None) -> Optional[str]: - return run_cmd_default(["git", "rev-parse", branch], default=default) +def get_commit(branch: str = "HEAD") -> str: + return run_cmd_default(["git", "rev-parse", branch]) or "" @cache -def get_short_branch(default: Optional[str] = None) -> Optional[str]: - return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], default=default) +def get_short_branch() -> str: + return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"]) or "" @cache -def get_branch(default: Optional[str] = None) -> Optional[str]: - return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], default=default) +def get_branch() -> str: + return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"]) or "" @cache -def get_origin(default: Optional[str] = None) -> Optional[str]: +def get_origin() -> str: try: local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"]) tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"]) return run_cmd(["git", "config", "remote." + tracking_remote + ".url"]) except subprocess.CalledProcessError: # Not on a branch, fallback - return run_cmd_default(["git", "config", "--get", "remote.origin.url"], default=default) + return run_cmd_default(["git", "config", "--get", "remote.origin.url"]) or "" @cache -def get_normalized_origin(default: Optional[str] = None) -> Optional[str]: - origin: Optional[str] = get_origin() - - if origin is None: - return default - - return origin.replace("git@", "", 1) \ - .replace(".git", "", 1) \ - .replace("https://", "", 1) \ - .replace(":", "/", 1) +def get_normalized_origin() -> str: + return get_origin() \ + .replace("git@", "", 1) \ + .replace(".git", "", 1) \ + .replace("https://", "", 1) \ + .replace(":", "/", 1) @cache @@ -75,7 +71,7 @@ def get_version() -> str: @cache def get_short_version() -> str: - return get_version().split('-')[0] # type: ignore + return get_version().split('-')[0] @cache def is_prebuilt() -> bool: @@ -86,12 +82,7 @@ def is_prebuilt() -> bool: def is_comma_remote() -> bool: # note to fork maintainers, this is used for release metrics. please do not # touch this to get rid of the orange startup alert. there's better ways to do that - origin: Optional[str] = get_origin() - if origin is None: - return False - - return origin.startswith(('git@github.com:commaai', 'https://github.com/commaai')) - + return get_normalized_origin() == "github.com/commaai/openpilot" @cache def is_tested_branch() -> bool: @@ -105,7 +96,7 @@ def is_release_branch() -> bool: def is_dirty() -> bool: origin = get_origin() branch = get_branch() - if (origin is None) or (branch is None): + if not origin or not branch: return True dirty = False diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py index 1ecb6dbd7..314f81283 100644 --- a/system/webrtc/device/video.py +++ b/system/webrtc/device/video.py @@ -5,7 +5,6 @@ import av from teleoprtc.tracks import TiciVideoStreamTrack from cereal import messaging -from openpilot.tools.lib.framereader import FrameReader from openpilot.common.realtime import DT_MDL, DT_DMON @@ -43,27 +42,3 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack): def codec_preference(self) -> Optional[str]: return "H264" - - -class FrameReaderVideoStreamTrack(TiciVideoStreamTrack): - def __init__(self, input_file: str, dt: float = DT_MDL, camera_type: str = "driver"): - super().__init__(camera_type, dt) - - frame_reader = FrameReader(input_file) - self._frames = [frame_reader.get(i, pix_fmt="rgb24") for i in range(frame_reader.frame_count)] - self._frame_count = len(self.frames) - self._frame_index = 0 - self._pts = 0 - - async def recv(self): - self.log_debug("track sending frame %s", self._pts) - img = self._frames[self._frame_index] - - new_frame = av.VideoFrame.from_ndarray(img, format="rgb24") - new_frame.pts = self._pts - new_frame.time_base = self._time_base - - self._frame_index = (self._frame_index + 1) % self._frame_count - self._pts = await self.next_pts(self._pts) - - return new_frame diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py index 12f932853..cc26d50da 100755 --- a/system/webrtc/webrtcd.py +++ b/system/webrtc/webrtcd.py @@ -6,34 +6,27 @@ import json import uuid import logging from dataclasses import dataclass, field -from typing import Any, List, Optional, Union +from typing import Any, List, Optional, Union, TYPE_CHECKING # aiortc and its dependencies have lots of internal warnings :( import warnings warnings.filterwarnings("ignore", category=DeprecationWarning) -import aiortc -from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack -from aiortc.contrib.media import MediaBlackhole -from aiortc.exceptions import InvalidStateError -from aiohttp import web import capnp -from teleoprtc import WebRTCAnswerBuilder -from teleoprtc.info import parse_info_from_offer +from aiohttp import web +if TYPE_CHECKING: + from aiortc.rtcdatachannel import RTCDataChannel -from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack -from openpilot.system.webrtc.device.audio import AudioInputStreamTrack, AudioOutputSpeaker from openpilot.system.webrtc.schema import generate_field - from cereal import messaging, log class CerealOutgoingMessageProxy: def __init__(self, sm: messaging.SubMaster): self.sm = sm - self.channels: List[aiortc.RTCDataChannel] = [] + self.channels: List['RTCDataChannel'] = [] - def add_channel(self, channel: aiortc.RTCDataChannel): + def add_channel(self, channel: 'RTCDataChannel'): self.channels.append(channel) def to_json(self, msg_content: Any): @@ -96,6 +89,8 @@ class CerealProxyRunner: self.task = None async def run(self): + from aiortc.exceptions import InvalidStateError + while True: try: self.proxy.update() @@ -109,6 +104,13 @@ class CerealProxyRunner: class StreamSession: def __init__(self, sdp: str, cameras: List[str], incoming_services: List[str], outgoing_services: List[str], debug_mode: bool = False): + from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack + from aiortc.contrib.media import MediaBlackhole + from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack + from openpilot.system.webrtc.device.audio import AudioInputStreamTrack, AudioOutputSpeaker + from teleoprtc import WebRTCAnswerBuilder + from teleoprtc.info import parse_info_from_offer + config = parse_info_from_offer(sdp) builder = WebRTCAnswerBuilder(sdp) @@ -192,7 +194,7 @@ class StreamRequestBody: bridge_services_out: List[str] = field(default_factory=list) -async def get_stream(request: web.Request): +async def get_stream(request: 'web.Request'): stream_dict, debug_mode = request.app['streams'], request.app['debug'] raw_body = await request.json() body = StreamRequestBody(**raw_body) @@ -206,7 +208,7 @@ async def get_stream(request: web.Request): return web.json_response({"sdp": answer.sdp, "type": answer.type}) -async def get_schema(request: web.Request): +async def get_schema(request: 'web.Request'): services = request.query["services"].split(",") services 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a/third_party/mapbox-gl-native-qt/include/QMapboxGL b/third_party/mapbox-gl-native-qt/include/QMapboxGL deleted file mode 100644 index 15b55a9ab..000000000 --- a/third_party/mapbox-gl-native-qt/include/QMapboxGL +++ /dev/null @@ -1 +0,0 @@ -#include "qmapboxgl.hpp" diff --git a/third_party/mapbox-gl-native-qt/include/qmapbox.hpp b/third_party/mapbox-gl-native-qt/include/qmapbox.hpp deleted file mode 100644 index 3acc9d55e..000000000 --- a/third_party/mapbox-gl-native-qt/include/qmapbox.hpp +++ /dev/null @@ -1,147 +0,0 @@ -#ifndef QMAPBOX_H -#define QMAPBOX_H - -#include -#include -#include -#include -#include - -// This header follows the Qt coding style: https://wiki.qt.io/Qt_Coding_Style - -#if !defined(QT_MAPBOXGL_STATIC) -# if defined(QT_BUILD_MAPBOXGL_LIB) -# define Q_MAPBOXGL_EXPORT Q_DECL_EXPORT -# else -# define Q_MAPBOXGL_EXPORT Q_DECL_IMPORT -# endif -#else -# define Q_MAPBOXGL_EXPORT -#endif - -namespace QMapbox { - -typedef QPair Coordinate; -typedef QPair CoordinateZoom; -typedef QPair ProjectedMeters; - -typedef QVector Coordinates; -typedef QVector CoordinatesCollection; - -typedef QVector CoordinatesCollections; - -struct Q_MAPBOXGL_EXPORT Feature { - enum Type { - PointType = 1, - LineStringType, - PolygonType - }; - - /*! Class constructor. */ - Feature(Type type_ = PointType, const CoordinatesCollections& geometry_ = CoordinatesCollections(), - const QVariantMap& properties_ = QVariantMap(), const QVariant& id_ = QVariant()) - : type(type_), geometry(geometry_), properties(properties_), id(id_) {} - - Type type; - CoordinatesCollections geometry; - QVariantMap properties; - QVariant id; -}; - -struct Q_MAPBOXGL_EXPORT ShapeAnnotationGeometry { - enum Type { - LineStringType = 1, - PolygonType, - MultiLineStringType, - MultiPolygonType - }; - - /*! Class constructor. */ - ShapeAnnotationGeometry(Type type_ = LineStringType, const CoordinatesCollections& geometry_ = CoordinatesCollections()) - : type(type_), geometry(geometry_) {} - - Type type; - CoordinatesCollections geometry; -}; - -struct Q_MAPBOXGL_EXPORT SymbolAnnotation { - Coordinate geometry; - QString icon; -}; - -struct Q_MAPBOXGL_EXPORT LineAnnotation { - /*! Class constructor. */ - LineAnnotation(const ShapeAnnotationGeometry& geometry_ = ShapeAnnotationGeometry(), float opacity_ = 1.0f, - float width_ = 1.0f, const QColor& color_ = Qt::black) - : geometry(geometry_), opacity(opacity_), width(width_), color(color_) {} - - ShapeAnnotationGeometry geometry; - float opacity; - float width; - QColor color; -}; - -struct Q_MAPBOXGL_EXPORT FillAnnotation { - /*! Class constructor. */ - FillAnnotation(const ShapeAnnotationGeometry& geometry_ = ShapeAnnotationGeometry(), float opacity_ = 1.0f, - const QColor& color_ = Qt::black, const QVariant& outlineColor_ = QVariant()) - : geometry(geometry_), opacity(opacity_), color(color_), outlineColor(outlineColor_) {} - - ShapeAnnotationGeometry geometry; - float opacity; - QColor color; - QVariant outlineColor; -}; - -typedef QVariant Annotation; -typedef quint32 AnnotationID; -typedef QVector AnnotationIDs; - -enum NetworkMode { - Online, // Default - Offline, -}; - -Q_MAPBOXGL_EXPORT QVector >& defaultStyles(); - -Q_MAPBOXGL_EXPORT NetworkMode networkMode(); -Q_MAPBOXGL_EXPORT void setNetworkMode(NetworkMode); - -// This struct is a 1:1 copy of mbgl::CustomLayerRenderParameters. -struct Q_MAPBOXGL_EXPORT CustomLayerRenderParameters { - double width; - double height; - double latitude; - double longitude; - double zoom; - double bearing; - double pitch; - double fieldOfView; -}; - -class Q_MAPBOXGL_EXPORT CustomLayerHostInterface { -public: - virtual ~CustomLayerHostInterface() = default; - virtual void initialize() = 0; - virtual void render(const CustomLayerRenderParameters&) = 0; - virtual void deinitialize() = 0; -}; - -Q_MAPBOXGL_EXPORT double metersPerPixelAtLatitude(double latitude, double zoom); -Q_MAPBOXGL_EXPORT ProjectedMeters projectedMetersForCoordinate(const Coordinate &); -Q_MAPBOXGL_EXPORT Coordinate coordinateForProjectedMeters(const ProjectedMeters &); - -} // namespace QMapbox - -Q_DECLARE_METATYPE(QMapbox::Coordinate); -Q_DECLARE_METATYPE(QMapbox::Coordinates); -Q_DECLARE_METATYPE(QMapbox::CoordinatesCollection); -Q_DECLARE_METATYPE(QMapbox::CoordinatesCollections); -Q_DECLARE_METATYPE(QMapbox::Feature); - -Q_DECLARE_METATYPE(QMapbox::SymbolAnnotation); -Q_DECLARE_METATYPE(QMapbox::ShapeAnnotationGeometry); -Q_DECLARE_METATYPE(QMapbox::LineAnnotation); -Q_DECLARE_METATYPE(QMapbox::FillAnnotation); - -#endif // QMAPBOX_H diff --git a/third_party/mapbox-gl-native-qt/include/qmapboxgl.hpp b/third_party/mapbox-gl-native-qt/include/qmapboxgl.hpp deleted file mode 100644 index 337991aa1..000000000 --- a/third_party/mapbox-gl-native-qt/include/qmapboxgl.hpp +++ /dev/null @@ -1,277 +0,0 @@ -#ifndef QMAPBOXGL_H -#define QMAPBOXGL_H - -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -class QMapboxGLPrivate; - -// This header follows the Qt coding style: https://wiki.qt.io/Qt_Coding_Style - -class Q_MAPBOXGL_EXPORT QMapboxGLSettings -{ -public: - QMapboxGLSettings(); - - enum GLContextMode { - UniqueGLContext = 0, - SharedGLContext - }; - - enum MapMode { - Continuous = 0, - Static - }; - - enum ConstrainMode { - NoConstrain = 0, - ConstrainHeightOnly, - ConstrainWidthAndHeight - }; - - enum ViewportMode { - DefaultViewport = 0, - FlippedYViewport - }; - - GLContextMode contextMode() const; - void setContextMode(GLContextMode); - - MapMode mapMode() const; - void setMapMode(MapMode); - - ConstrainMode constrainMode() const; - void setConstrainMode(ConstrainMode); - - ViewportMode viewportMode() const; - void setViewportMode(ViewportMode); - - unsigned cacheDatabaseMaximumSize() const; - void setCacheDatabaseMaximumSize(unsigned); - - QString cacheDatabasePath() const; - void setCacheDatabasePath(const QString &); - - QString assetPath() const; - void setAssetPath(const QString &); - - QString accessToken() const; - void setAccessToken(const QString &); - - QString apiBaseUrl() const; - void setApiBaseUrl(const QString &); - - QString localFontFamily() const; - void setLocalFontFamily(const QString &); - - std::function resourceTransform() const; - void setResourceTransform(const std::function &); - -private: - GLContextMode m_contextMode; - MapMode m_mapMode; - ConstrainMode m_constrainMode; - ViewportMode m_viewportMode; - - unsigned m_cacheMaximumSize; - QString m_cacheDatabasePath; - QString m_assetPath; - QString m_accessToken; - QString m_apiBaseUrl; - QString m_localFontFamily; - std::function m_resourceTransform; -}; - -struct Q_MAPBOXGL_EXPORT QMapboxGLCameraOptions { - QVariant center; // Coordinate - QVariant anchor; // QPointF - QVariant zoom; // double - QVariant bearing; // double - QVariant pitch; // double -}; - -class Q_MAPBOXGL_EXPORT QMapboxGL : public QObject -{ - Q_OBJECT - Q_PROPERTY(double latitude READ latitude WRITE setLatitude) - Q_PROPERTY(double longitude READ longitude WRITE setLongitude) - Q_PROPERTY(double zoom READ zoom WRITE setZoom) - Q_PROPERTY(double bearing READ bearing WRITE setBearing) - Q_PROPERTY(double pitch READ pitch WRITE setPitch) - Q_PROPERTY(QString styleJson READ styleJson WRITE setStyleJson) - Q_PROPERTY(QString styleUrl READ styleUrl WRITE setStyleUrl) - Q_PROPERTY(double scale READ scale WRITE setScale) - Q_PROPERTY(QMapbox::Coordinate coordinate READ coordinate WRITE setCoordinate) - Q_PROPERTY(QMargins margins READ margins WRITE setMargins) - -public: - enum MapChange { - MapChangeRegionWillChange = 0, - MapChangeRegionWillChangeAnimated, - MapChangeRegionIsChanging, - MapChangeRegionDidChange, - MapChangeRegionDidChangeAnimated, - MapChangeWillStartLoadingMap, - MapChangeDidFinishLoadingMap, - MapChangeDidFailLoadingMap, - MapChangeWillStartRenderingFrame, - MapChangeDidFinishRenderingFrame, - MapChangeDidFinishRenderingFrameFullyRendered, - MapChangeWillStartRenderingMap, - MapChangeDidFinishRenderingMap, - MapChangeDidFinishRenderingMapFullyRendered, - MapChangeDidFinishLoadingStyle, - MapChangeSourceDidChange - }; - - enum MapLoadingFailure { - StyleParseFailure, - StyleLoadFailure, - NotFoundFailure, - UnknownFailure - }; - - // Determines the orientation of the map. - enum NorthOrientation { - NorthUpwards, // Default - NorthRightwards, - NorthDownwards, - NorthLeftwards, - }; - - QMapboxGL(QObject* parent = 0, - const QMapboxGLSettings& = QMapboxGLSettings(), - const QSize& size = QSize(), - qreal pixelRatio = 1); - virtual ~QMapboxGL(); - - QString styleJson() const; - QString styleUrl() const; - - void setStyleJson(const QString &); - void setStyleUrl(const QString &); - - double latitude() const; - void setLatitude(double latitude); - - double longitude() const; - void setLongitude(double longitude); - - double scale() const; - void setScale(double scale, const QPointF ¢er = QPointF()); - - double zoom() const; - void setZoom(double zoom); - - double minimumZoom() const; - double maximumZoom() const; - - double bearing() const; - void setBearing(double degrees); - void setBearing(double degrees, const QPointF ¢er); - - double pitch() const; - void setPitch(double pitch); - void pitchBy(double pitch); - - NorthOrientation northOrientation() const; - void setNorthOrientation(NorthOrientation); - - QMapbox::Coordinate coordinate() const; - void setCoordinate(const QMapbox::Coordinate &); - void setCoordinateZoom(const QMapbox::Coordinate &, double zoom); - - void jumpTo(const QMapboxGLCameraOptions&); - - void setGestureInProgress(bool inProgress); - - void setTransitionOptions(qint64 duration, qint64 delay = 0); - - void addAnnotationIcon(const QString &name, const QImage &sprite); - - QMapbox::AnnotationID addAnnotation(const QMapbox::Annotation &); - void updateAnnotation(QMapbox::AnnotationID, const QMapbox::Annotation &); - void removeAnnotation(QMapbox::AnnotationID); - - bool setLayoutProperty(const QString &layer, const QString &property, const QVariant &value); - bool setPaintProperty(const QString &layer, const QString &property, const QVariant &value); - - bool isFullyLoaded() const; - - void moveBy(const QPointF &offset); - void scaleBy(double scale, const QPointF ¢er = QPointF()); - void rotateBy(const QPointF &first, const QPointF &second); - - void resize(const QSize &size); - - double metersPerPixelAtLatitude(double latitude, double zoom) const; - QMapbox::ProjectedMeters projectedMetersForCoordinate(const QMapbox::Coordinate &) const; - QMapbox::Coordinate coordinateForProjectedMeters(const QMapbox::ProjectedMeters &) const; - QPointF pixelForCoordinate(const QMapbox::Coordinate &) const; - QMapbox::Coordinate coordinateForPixel(const QPointF &) const; - - QMapbox::CoordinateZoom coordinateZoomForBounds(const QMapbox::Coordinate &sw, QMapbox::Coordinate &ne) const; - QMapbox::CoordinateZoom coordinateZoomForBounds(const QMapbox::Coordinate &sw, QMapbox::Coordinate &ne, double bearing, double pitch); - - void setMargins(const QMargins &margins); - QMargins margins() const; - - void addSource(const QString &sourceID, const QVariantMap& params); - bool sourceExists(const QString &sourceID); - void updateSource(const QString &sourceID, const QVariantMap& params); - void removeSource(const QString &sourceID); - - void addImage(const QString &name, const QImage &sprite); - void removeImage(const QString &name); - - void addCustomLayer(const QString &id, - QScopedPointer& host, - const QString& before = QString()); - void addLayer(const QVariantMap ¶ms, const QString& before = QString()); - bool layerExists(const QString &id); - void removeLayer(const QString &id); - - QVector layerIds() const; - - void setFilter(const QString &layer, const QVariant &filter); - QVariant getFilter(const QString &layer) const; - // When rendering on a different thread, - // should be called on the render thread. - void createRenderer(); - void destroyRenderer(); - void setFramebufferObject(quint32 fbo, const QSize &size); - -public slots: - void render(); - void connectionEstablished(); - - // Commit changes, load all the resources - // and renders the map when completed. - void startStaticRender(); - -signals: - void needsRendering(); - void mapChanged(QMapboxGL::MapChange); - void mapLoadingFailed(QMapboxGL::MapLoadingFailure, const QString &reason); - void copyrightsChanged(const QString ©rightsHtml); - - void staticRenderFinished(const QString &error); - -private: - Q_DISABLE_COPY(QMapboxGL) - - QMapboxGLPrivate *d_ptr; -}; - -Q_DECLARE_METATYPE(QMapboxGL::MapChange); -Q_DECLARE_METATYPE(QMapboxGL::MapLoadingFailure); - -#endif // QMAPBOXGL_H diff --git a/third_party/maplibre-native-qt/aarch64 b/third_party/maplibre-native-qt/aarch64 new file mode 120000 index 000000000..062c65e8d --- /dev/null +++ b/third_party/maplibre-native-qt/aarch64 @@ -0,0 +1 @@ +larch64/ \ No newline at end of file diff --git a/third_party/maplibre-native-qt/build.sh b/third_party/maplibre-native-qt/build.sh new file mode 100755 index 000000000..c64f0fc64 --- /dev/null +++ b/third_party/maplibre-native-qt/build.sh @@ -0,0 +1,38 @@ +#!/usr/bin/env bash +set -e + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" + +ARCHNAME="x86_64" +MAPLIBRE_FLAGS="-DMLN_QT_WITH_LOCATION=OFF" +if [ -f /AGNOS ]; then + ARCHNAME="larch64" + #MAPLIBRE_FLAGS="$MAPLIBRE_FLAGS -DCMAKE_SYSTEM_NAME=Android -DANDROID_ABI=arm64-v8a" +fi + +cd $DIR +if [ ! -d maplibre ]; then + git clone git@github.com:maplibre/maplibre-native-qt.git $DIR/maplibre +fi + +cd maplibre +git fetch --all +git checkout 3726266e127c1f94ad64837c9dbe03d238255816 +git submodule update --depth=1 --recursive --init + +# build +mkdir -p build +cd build +set -x +cmake $MAPLIBRE_FLAGS $DIR/maplibre +make -j$(nproc) || make -j2 || make -j1 + +INSTALL_DIR="$DIR/$ARCHNAME" +rm -rf $INSTALL_DIR +mkdir -p $INSTALL_DIR + +rm -rf $INSTALL_DIR/lib $DIR/include +mkdir -p $INSTALL_DIR/lib $INSTALL_DIR/include $DIR/include +cp -r $DIR/maplibre/build/src/core/*.so* $INSTALL_DIR/lib +cp -r $DIR/maplibre/build/src/core/include/* $INSTALL_DIR/include +cp -r $DIR/maplibre/src/**/*.hpp $DIR/include diff --git a/third_party/maplibre-native-qt/include/conversion_p.hpp b/third_party/maplibre-native-qt/include/conversion_p.hpp new file mode 100644 index 000000000..38b03d498 --- /dev/null +++ b/third_party/maplibre-native-qt/include/conversion_p.hpp @@ -0,0 +1,241 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2018 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "geojson_p.hpp" +#include "types.hpp" + +#include +#include + +#include +#include + +#include + +namespace mbgl::style::conversion { + +std::string convertColor(const QColor &color); + +template <> +class ConversionTraits { +public: + static bool isUndefined(const QVariant &value) { return value.isNull() || !value.isValid(); } + + static bool isArray(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + return QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::QVariantList)); +#else + return value.canConvert(QVariant::List); +#endif + } + + static std::size_t arrayLength(const QVariant &value) { return value.toList().size(); } + + static QVariant arrayMember(const QVariant &value, std::size_t i) { return value.toList()[static_cast(i)]; } + + static bool isObject(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + return QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::QVariantMap)) || + value.typeId() == QMetaType::QByteArray +#else + return value.canConvert(QVariant::Map) || value.type() == QVariant::ByteArray +#endif + || QString(value.typeName()) == QStringLiteral("QMapLibre::Feature") || + value.userType() == qMetaTypeId>() || + value.userType() == qMetaTypeId>() || + value.userType() == qMetaTypeId>(); + } + + static std::optional objectMember(const QVariant &value, const char *key) { + auto map = value.toMap(); + auto iter = map.constFind(key); + + if (iter != map.constEnd()) { + return iter.value(); + } + + return {}; + } + + template + static std::optional eachMember(const QVariant &value, Fn &&fn) { + auto map = value.toMap(); + auto iter = map.constBegin(); + + while (iter != map.constEnd()) { + std::optional result = fn(iter.key().toStdString(), QVariant(iter.value())); + if (result) { + return result; + } + + ++iter; + } + + return {}; + } + + static std::optional toBool(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() == QMetaType::Bool) { +#else + if (value.type() == QVariant::Bool) { +#endif + return value.toBool(); + } + + return {}; + } + + static std::optional toNumber(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() == QMetaType::Int || value.typeId() == QMetaType::Double || + value.typeId() == QMetaType::Long || value.typeId() == QMetaType::LongLong || + value.typeId() == QMetaType::ULong || value.typeId() == QMetaType::ULongLong) { +#else + if (value.type() == QVariant::Int || value.type() == QVariant::Double || value.type() == QVariant::LongLong || + value.type() == QVariant::ULongLong) { +#endif + return value.toFloat(); + } + + return {}; + } + + static std::optional toDouble(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() == QMetaType::Int || value.typeId() == QMetaType::Double || + value.typeId() == QMetaType::Long || value.typeId() == QMetaType::LongLong || + value.typeId() == QMetaType::ULong || value.typeId() == QMetaType::ULongLong) { +#else + if (value.type() == QVariant::Int || value.type() == QVariant::Double || value.type() == QVariant::LongLong || + value.type() == QVariant::ULongLong) { +#endif + return value.toDouble(); + } + + return {}; + } + + static std::optional toString(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() == QMetaType::QString) { + return value.toString().toStdString(); + } + + if (value.typeId() == QMetaType::QColor) { + return convertColor(value.value()); + } +#else + if (value.type() == QVariant::String) { + return value.toString().toStdString(); + } + + if (value.type() == QVariant::Color) { + return convertColor(value.value()); + } +#endif + return {}; + } + + static std::optional toValue(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() == QMetaType::Bool) { + return {value.toBool()}; + } + + if (value.typeId() == QMetaType::QString) { + return {value.toString().toStdString()}; + } + + if (value.typeId() == QMetaType::QColor) { + return {convertColor(value.value())}; + } + + if (value.typeId() == QMetaType::Int) { + return {static_cast(value.toInt())}; + } + + if (QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::Double))) { + return {value.toDouble()}; + } +#else + if (value.type() == QVariant::Bool) { + return {value.toBool()}; + } + + if (value.type() == QVariant::String) { + return {value.toString().toStdString()}; + } + + if (value.type() == QVariant::Color) { + return {convertColor(value.value())}; + } + + if (value.type() == QVariant::Int) { + return {static_cast(value.toInt())}; + } + + if (value.canConvert(QVariant::Double)) { + return {value.toDouble()}; + } +#endif + return {}; + } + + static std::optional toGeoJSON(const QVariant &value, Error &error) { + if (value.typeName() == QStringLiteral("QMapLibre::Feature")) { + return GeoJSON{QMapLibre::GeoJSON::asFeature(value.value())}; + } + + if (value.userType() == qMetaTypeId>()) { + return featureCollectionToGeoJSON(value.value>()); + } + + if (value.userType() == qMetaTypeId>()) { + return featureCollectionToGeoJSON(value.value>()); + } + + if (value.userType() == qMetaTypeId>()) { + return featureCollectionToGeoJSON(value.value>()); + } + +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() != QMetaType::QByteArray) { +#else + if (value.type() != QVariant::ByteArray) { +#endif + error = {"JSON data must be in QByteArray"}; + return {}; + } + + const QByteArray data = value.toByteArray(); + return parseGeoJSON(std::string(data.constData(), data.size()), error); + } + +private: + template + static GeoJSON featureCollectionToGeoJSON(const T &features) { + mapbox::feature::feature_collection collection; + collection.reserve(static_cast(features.size())); + for (const auto &feature : features) { + collection.push_back(QMapLibre::GeoJSON::asFeature(feature)); + } + return GeoJSON{std::move(collection)}; + } +}; + +template +std::optional convert(const QVariant &value, Error &error, Args &&...args) { + return convert(Convertible(value), error, std::forward(args)...); +} + +inline std::string convertColor(const QColor &color) { + return QString::asprintf("rgba(%d,%d,%d,%lf)", color.red(), color.green(), color.blue(), color.alphaF()) + .toStdString(); +} + +} // namespace mbgl::style::conversion diff --git a/third_party/maplibre-native-qt/include/export_core.hpp b/third_party/maplibre-native-qt/include/export_core.hpp new file mode 100644 index 000000000..bd5ad495d --- /dev/null +++ b/third_party/maplibre-native-qt/include/export_core.hpp @@ -0,0 +1,20 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_CORE_EXPORT_H +#define QMAPLIBRE_CORE_EXPORT_H + +#include + +#if !defined(QT_MAPLIBRE_STATIC) +#if defined(QT_BUILD_MAPLIBRE_CORE_LIB) +#define Q_MAPLIBRE_CORE_EXPORT Q_DECL_EXPORT +#else +#define Q_MAPLIBRE_CORE_EXPORT Q_DECL_IMPORT +#endif +#else +#define Q_MAPLIBRE_CORE_EXPORT +#endif + +#endif // QMAPLIBRE_CORE_EXPORT_H diff --git a/third_party/maplibre-native-qt/include/export_location.hpp b/third_party/maplibre-native-qt/include/export_location.hpp new file mode 100644 index 000000000..a98634688 --- /dev/null +++ b/third_party/maplibre-native-qt/include/export_location.hpp @@ -0,0 +1,20 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_LOCATION_EXPORT_H +#define QMAPLIBRE_LOCATION_EXPORT_H + +#include + +#if !defined(QT_MAPLIBRE_STATIC) +#if defined(QT_BUILD_MAPLIBRE_LOCATION_LIB) +#define Q_MAPLIBRE_LOCATION_EXPORT Q_DECL_EXPORT +#else +#define Q_MAPLIBRE_LOCATION_EXPORT Q_DECL_IMPORT +#endif +#else +#define Q_MAPLIBRE_LOCATION_EXPORT +#endif + +#endif // QMAPLIBRE_LOCATION_EXPORT_H diff --git a/third_party/maplibre-native-qt/include/export_widgets.hpp b/third_party/maplibre-native-qt/include/export_widgets.hpp new file mode 100644 index 000000000..11bc28819 --- /dev/null +++ b/third_party/maplibre-native-qt/include/export_widgets.hpp @@ -0,0 +1,20 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_WIDGETS_EXPORT_H +#define QMAPLIBRE_WIDGETS_EXPORT_H + +#include + +#if !defined(QT_MAPLIBRE_STATIC) +#if defined(QT_BUILD_MAPLIBRE_WIDGETS_LIB) +#define Q_MAPLIBRE_WIDGETS_EXPORT Q_DECL_EXPORT +#else +#define Q_MAPLIBRE_WIDGETS_EXPORT Q_DECL_IMPORT +#endif +#else +#define Q_MAPLIBRE_WIDGETS_EXPORT +#endif + +#endif // QMAPLIBRE_WIDGETS_EXPORT_H diff --git a/third_party/maplibre-native-qt/include/geojson_p.hpp b/third_party/maplibre-native-qt/include/geojson_p.hpp new file mode 100644 index 000000000..8387f70c4 --- /dev/null +++ b/third_party/maplibre-native-qt/include/geojson_p.hpp @@ -0,0 +1,30 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "types.hpp" + +#include +#include +#include + +#include + +#include + +namespace QMapLibre::GeoJSON { + +mbgl::Point asPoint(const Coordinate &coordinate); +mbgl::MultiPoint asMultiPoint(const Coordinates &multiPoint); +mbgl::LineString asLineString(const Coordinates &lineString); +mbgl::MultiLineString asMultiLineString(const CoordinatesCollection &multiLineString); +mbgl::Polygon asPolygon(const CoordinatesCollection &polygon); +mbgl::MultiPolygon asMultiPolygon(const CoordinatesCollections &multiPolygon); +mbgl::Value asPropertyValue(const QVariant &value); +mbgl::FeatureIdentifier asFeatureIdentifier(const QVariant &id); +mbgl::GeoJSONFeature asFeature(const Feature &feature); + +} // namespace QMapLibre::GeoJSON diff --git a/third_party/maplibre-native-qt/include/gl_widget.hpp b/third_party/maplibre-native-qt/include/gl_widget.hpp new file mode 100644 index 000000000..b2630daea --- /dev/null +++ b/third_party/maplibre-native-qt/include/gl_widget.hpp @@ -0,0 +1,56 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_GL_WIDGET_H +#define QMAPLIBRE_GL_WIDGET_H + +#include + +#include +#include + +#include + +#include + +QT_BEGIN_NAMESPACE + +class QKeyEvent; +class QMouseEvent; +class QWheelEvent; + +QT_END_NAMESPACE + +namespace QMapLibre { + +class GLWidgetPrivate; + +class Q_MAPLIBRE_WIDGETS_EXPORT GLWidget : public QOpenGLWidget { + Q_OBJECT + +public: + explicit GLWidget(const Settings &); + ~GLWidget() override; + + Map *map(); + +protected: + // QWidget implementation. + void mousePressEvent(QMouseEvent *event) override; + void mouseMoveEvent(QMouseEvent *event) override; + void wheelEvent(QWheelEvent *event) override; + + // Q{,Open}GLWidget implementation. + void initializeGL() override; + void paintGL() override; + +private: + Q_DISABLE_COPY(GLWidget) + + std::unique_ptr d_ptr; +}; + +} // namespace QMapLibre + +#endif // QMAPLIBRE_GL_WIDGET_H diff --git a/third_party/maplibre-native-qt/include/gl_widget_p.hpp b/third_party/maplibre-native-qt/include/gl_widget_p.hpp new file mode 100644 index 000000000..c97781fd2 --- /dev/null +++ b/third_party/maplibre-native-qt/include/gl_widget_p.hpp @@ -0,0 +1,42 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include +#include + +#include + +QT_BEGIN_NAMESPACE + +class QKeyEvent; +class QMouseEvent; +class QWheelEvent; + +QT_END_NAMESPACE + +namespace QMapLibre { + +class GLWidgetPrivate : public QObject { + Q_OBJECT + +public: + explicit GLWidgetPrivate(QObject *parent, Settings settings); + ~GLWidgetPrivate() override; + + void handleMousePressEvent(QMouseEvent *event); + void handleMouseMoveEvent(QMouseEvent *event); + void handleWheelEvent(QWheelEvent *event) const; + + std::unique_ptr m_map{}; + Settings m_settings; + +private: + Q_DISABLE_COPY(GLWidgetPrivate); + + QPointF m_lastPos; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/map.hpp b/third_party/maplibre-native-qt/include/map.hpp new file mode 100644 index 000000000..cd5699618 --- /dev/null +++ b/third_party/maplibre-native-qt/include/map.hpp @@ -0,0 +1,205 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_MAP_H +#define QMAPLIBRE_MAP_H + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace QMapLibre { + +class MapPrivate; + +class Q_MAPLIBRE_CORE_EXPORT Map : public QObject { + Q_OBJECT + Q_PROPERTY(double latitude READ latitude WRITE setLatitude) + Q_PROPERTY(double longitude READ longitude WRITE setLongitude) + Q_PROPERTY(double zoom READ zoom WRITE setZoom) + Q_PROPERTY(double bearing READ bearing WRITE setBearing) + Q_PROPERTY(double pitch READ pitch WRITE setPitch) + Q_PROPERTY(QString styleJson READ styleJson WRITE setStyleJson) + Q_PROPERTY(QString styleUrl READ styleUrl WRITE setStyleUrl) + Q_PROPERTY(double scale READ scale WRITE setScale) + Q_PROPERTY(QMapLibre::Coordinate coordinate READ coordinate WRITE setCoordinate) + Q_PROPERTY(QMargins margins READ margins WRITE setMargins) + +public: + enum MapChange { + MapChangeRegionWillChange = 0, + MapChangeRegionWillChangeAnimated, + MapChangeRegionIsChanging, + MapChangeRegionDidChange, + MapChangeRegionDidChangeAnimated, + MapChangeWillStartLoadingMap, + MapChangeDidFinishLoadingMap, + MapChangeDidFailLoadingMap, + MapChangeWillStartRenderingFrame, + MapChangeDidFinishRenderingFrame, + MapChangeDidFinishRenderingFrameFullyRendered, + MapChangeWillStartRenderingMap, + MapChangeDidFinishRenderingMap, + MapChangeDidFinishRenderingMapFullyRendered, + MapChangeDidFinishLoadingStyle, + MapChangeSourceDidChange + }; + + enum MapLoadingFailure { + StyleParseFailure, + StyleLoadFailure, + NotFoundFailure, + UnknownFailure + }; + + // Determines the orientation of the map. + enum NorthOrientation { + NorthUpwards, // Default + NorthRightwards, + NorthDownwards, + NorthLeftwards, + }; + + explicit Map(QObject *parent = nullptr, + const Settings &settings = Settings(), + const QSize &size = QSize(), + qreal pixelRatio = 1); + ~Map() override; + + [[nodiscard]] QString styleJson() const; + [[nodiscard]] QString styleUrl() const; + + void setStyleJson(const QString &); + void setStyleUrl(const QString &); + + [[nodiscard]] double latitude() const; + void setLatitude(double latitude); + + [[nodiscard]] double longitude() const; + void setLongitude(double longitude); + + [[nodiscard]] double scale() const; + void setScale(double scale, const QPointF ¢er = QPointF()); + + [[nodiscard]] double zoom() const; + void setZoom(double zoom); + + [[nodiscard]] double minimumZoom() const; + [[nodiscard]] double maximumZoom() const; + + [[nodiscard]] double bearing() const; + void setBearing(double degrees); + void setBearing(double degrees, const QPointF ¢er); + + [[nodiscard]] double pitch() const; + void setPitch(double pitch); + void pitchBy(double pitch); + + [[nodiscard]] NorthOrientation northOrientation() const; + void setNorthOrientation(NorthOrientation); + + [[nodiscard]] Coordinate coordinate() const; + void setCoordinate(const Coordinate &coordinate); + void setCoordinateZoom(const Coordinate &coordinate, double zoom); + + void jumpTo(const CameraOptions &); + + void setGestureInProgress(bool inProgress); + + void setTransitionOptions(qint64 duration, qint64 delay = 0); + + void addAnnotationIcon(const QString &name, const QImage &sprite); + + AnnotationID addAnnotation(const Annotation &annotation); + void updateAnnotation(AnnotationID id, const Annotation &annotation); + void removeAnnotation(AnnotationID id); + + bool setLayoutProperty(const QString &layerId, const QString &propertyName, const QVariant &value); + bool setPaintProperty(const QString &layerId, const QString &propertyName, const QVariant &value); + + [[nodiscard]] bool isFullyLoaded() const; + + void moveBy(const QPointF &offset); + void scaleBy(double scale, const QPointF ¢er = QPointF()); + void rotateBy(const QPointF &first, const QPointF &second); + + void resize(const QSize &size); + + [[nodiscard]] QPointF pixelForCoordinate(const Coordinate &coordinate) const; + [[nodiscard]] Coordinate coordinateForPixel(const QPointF &pixel) const; + + [[nodiscard]] CoordinateZoom coordinateZoomForBounds(const Coordinate &sw, const Coordinate &ne) const; + [[nodiscard]] CoordinateZoom coordinateZoomForBounds(const Coordinate &sw, + const Coordinate &ne, + double bearing, + double pitch); + + void setMargins(const QMargins &margins); + [[nodiscard]] QMargins margins() const; + + void addSource(const QString &id, const QVariantMap ¶ms); + bool sourceExists(const QString &id); + void updateSource(const QString &id, const QVariantMap ¶ms); + void removeSource(const QString &id); + + void addImage(const QString &id, const QImage &sprite); + void removeImage(const QString &id); + + void addCustomLayer(const QString &id, + std::unique_ptr host, + const QString &before = QString()); + void addLayer(const QString &id, const QVariantMap ¶ms, const QString &before = QString()); + bool layerExists(const QString &id); + void removeLayer(const QString &id); + + [[nodiscard]] QVector layerIds() const; + + void setFilter(const QString &layerId, const QVariant &filter); + [[nodiscard]] QVariant getFilter(const QString &layerId) const; + // When rendering on a different thread, + // should be called on the render thread. + void createRenderer(); + void destroyRenderer(); + void setFramebufferObject(quint32 fbo, const QSize &size); + +public slots: + void render(); + void setConnectionEstablished(); + + // Commit changes, load all the resources + // and renders the map when completed. + void startStaticRender(); + +signals: + void needsRendering(); + void mapChanged(Map::MapChange); + void mapLoadingFailed(Map::MapLoadingFailure, const QString &reason); + void copyrightsChanged(const QString ©rightsHtml); + + void staticRenderFinished(const QString &error); + +private: + Q_DISABLE_COPY(Map) + + std::unique_ptr d_ptr; +}; + +} // namespace QMapLibre + +Q_DECLARE_METATYPE(QMapLibre::Map::MapChange); +Q_DECLARE_METATYPE(QMapLibre::Map::MapLoadingFailure); + +#endif // QMAPLIBRE_MAP_H diff --git a/third_party/maplibre-native-qt/include/map_observer_p.hpp b/third_party/maplibre-native-qt/include/map_observer_p.hpp new file mode 100644 index 000000000..e68c72b17 --- /dev/null +++ b/third_party/maplibre-native-qt/include/map_observer_p.hpp @@ -0,0 +1,54 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "map.hpp" + +#include +#include + +#include + +#include +#include + +namespace QMapLibre { + +class MapPrivate; + +class MapObserver : public QObject, public mbgl::MapObserver { + Q_OBJECT + +public: + explicit MapObserver(MapPrivate *ptr); + ~MapObserver() override; + + // mbgl::MapObserver implementation. + void onCameraWillChange(mbgl::MapObserver::CameraChangeMode mode) final; + void onCameraIsChanging() final; + void onCameraDidChange(mbgl::MapObserver::CameraChangeMode mode) final; + void onWillStartLoadingMap() final; + void onDidFinishLoadingMap() final; + void onDidFailLoadingMap(mbgl::MapLoadError error, const std::string &what) final; + void onWillStartRenderingFrame() final; + void onDidFinishRenderingFrame(mbgl::MapObserver::RenderFrameStatus status) final; + void onWillStartRenderingMap() final; + void onDidFinishRenderingMap(mbgl::MapObserver::RenderMode mode) final; + void onDidFinishLoadingStyle() final; + void onSourceChanged(mbgl::style::Source &source) final; + +signals: + void mapChanged(Map::MapChange); + void mapLoadingFailed(Map::MapLoadingFailure, const QString &reason); + void copyrightsChanged(const QString ©rightsHtml); + +private: + Q_DISABLE_COPY(MapObserver) + + MapPrivate *d_ptrRef; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/map_p.hpp b/third_party/maplibre-native-qt/include/map_p.hpp new file mode 100644 index 000000000..9ca0c7e6f --- /dev/null +++ b/third_party/maplibre-native-qt/include/map_p.hpp @@ -0,0 +1,79 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "map.hpp" +#include "map_observer_p.hpp" +#include "map_renderer_p.hpp" + +#include +#include +#include +#include +#include + +#include +#include + +#include +#include + +namespace QMapLibre { + +class MapPrivate : public QObject, public mbgl::RendererFrontend { + Q_OBJECT + +public: + explicit MapPrivate(Map *map, const Settings &settings, const QSize &size, qreal pixelRatio); + ~MapPrivate() override; + + // mbgl::RendererFrontend implementation. + void reset() final {} + void setObserver(mbgl::RendererObserver &observer) final; + void update(std::shared_ptr parameters) final; + + // These need to be called on the same thread. + void createRenderer(); + void destroyRenderer(); + void render(); + void setFramebufferObject(quint32 fbo, const QSize &size); + + using PropertySetter = std::optional (mbgl::style::Layer::*)( + const std::string &, const mbgl::style::conversion::Convertible &); + [[nodiscard]] bool setProperty(const PropertySetter &setter, + const QString &layerId, + const QString &name, + const QVariant &value) const; + + mbgl::EdgeInsets margins; + std::unique_ptr mapObj{}; + +public slots: + void requestRendering(); + +signals: + void needsRendering(); + +private: + Q_DISABLE_COPY(MapPrivate) + + std::recursive_mutex m_mapRendererMutex; + std::shared_ptr m_rendererObserver{}; + std::shared_ptr m_updateParameters{}; + + std::unique_ptr m_mapObserver{}; + std::unique_ptr m_mapRenderer{}; + std::unique_ptr> m_resourceTransform{}; + + Settings::GLContextMode m_mode; + qreal m_pixelRatio; + + QString m_localFontFamily; + + std::atomic_flag m_renderQueued = ATOMIC_FLAG_INIT; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/map_renderer_p.hpp b/third_party/maplibre-native-qt/include/map_renderer_p.hpp new file mode 100644 index 000000000..b9a087c39 --- /dev/null +++ b/third_party/maplibre-native-qt/include/map_renderer_p.hpp @@ -0,0 +1,63 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "settings.hpp" + +#include "utils/renderer_backend.hpp" + +#include +#include +#include + +#include + +#include + +#include +#include + +namespace mbgl { +class Renderer; +class UpdateParameters; +} // namespace mbgl + +namespace QMapLibre { + +class RendererBackend; + +class MapRenderer : public QObject { + Q_OBJECT + +public: + MapRenderer(qreal pixelRatio, Settings::GLContextMode, const QString &localFontFamily); + ~MapRenderer() override; + + void render(); + void updateFramebuffer(quint32 fbo, const mbgl::Size &size); + void setObserver(mbgl::RendererObserver *observer); + + // Thread-safe, called by the Frontend + void updateParameters(std::shared_ptr parameters); + +signals: + void needsRendering(); + +private: + MBGL_STORE_THREAD(tid) + + Q_DISABLE_COPY(MapRenderer) + + std::mutex m_updateMutex; + std::shared_ptr m_updateParameters; + + RendererBackend m_backend; + std::unique_ptr m_renderer{}; + + bool m_forceScheduler{}; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/qgeomap.hpp b/third_party/maplibre-native-qt/include/qgeomap.hpp new file mode 100644 index 000000000..5eb018050 --- /dev/null +++ b/third_party/maplibre-native-qt/include/qgeomap.hpp @@ -0,0 +1,54 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2017 The Qt Company Ltd. +// Copyright (C) 2017 Mapbox, Inc. + +// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only + +#pragma once + +#include "export_location.hpp" + +#include +#include + +#include + +namespace QMapLibre { + +class QGeoMapMapLibrePrivate; + +class Q_MAPLIBRE_LOCATION_EXPORT QGeoMapMapLibre : public QGeoMap { + Q_OBJECT + Q_DECLARE_PRIVATE(QGeoMapMapLibre) + +public: + explicit QGeoMapMapLibre(QGeoMappingManagerEngine *engine, QObject *parent = nullptr); + ~QGeoMapMapLibre() override; + + [[nodiscard]] Capabilities capabilities() const override; + + void setSettings(const Settings &settings); + void setMapItemsBefore(const QString &mapItemsBefore); + + void addStyleParameter(StyleParameter *parameter); + void removeStyleParameter(StyleParameter *parameter); + void clearStyleParameters(); + +private Q_SLOTS: + // QMapLibre + void onMapChanged(Map::MapChange); + + // QDeclarativeGeoMapItemBase + void onMapItemPropertyChanged(); + void onMapItemSubPropertyChanged(); + void onMapItemUnsupportedPropertyChanged(); + void onMapItemGeometryChanged(); + + // StyleParameter + void onStyleParameterUpdated(StyleParameter *parameter); + +private: + QSGNode *updateSceneGraph(QSGNode *oldNode, QQuickWindow *window) override; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/qgeomap_p.hpp b/third_party/maplibre-native-qt/include/qgeomap_p.hpp new file mode 100644 index 000000000..ce415d9bc --- /dev/null +++ b/third_party/maplibre-native-qt/include/qgeomap_p.hpp @@ -0,0 +1,93 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2017 The Qt Company Ltd. +// Copyright (C) 2017 Mapbox, Inc. + +// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only + +#pragma once + +#include "qgeomap.hpp" + +#include +#include + +#include + +#include +#include +#include +#include +#include +#include + +namespace QMapLibre { + +class Map; +class StyleChange; + +class QGeoMapMapLibrePrivate : public QGeoMapPrivate { + Q_DECLARE_PUBLIC(QGeoMapMapLibre) + +public: + explicit QGeoMapMapLibrePrivate(QGeoMappingManagerEngine *engine); + ~QGeoMapMapLibrePrivate() override; + + QSGNode *updateSceneGraph(QSGNode *oldNode, QQuickWindow *window); + + QGeoMap::ItemTypes supportedMapItemTypes() const override; + void addMapItem(QDeclarativeGeoMapItemBase *item) override; + void removeMapItem(QDeclarativeGeoMapItemBase *item) override; + + void addStyleParameter(StyleParameter *parameter); + void removeStyleParameter(StyleParameter *parameter); + void clearStyleParameters(); + + /* Data members */ + enum SyncState : int { + NoSync = 0, + ViewportSync = 1 << 0, + CameraDataSync = 1 << 1, + MapTypeSync = 1 << 2, + VisibleAreaSync = 1 << 3 + }; + Q_DECLARE_FLAGS(SyncStates, SyncState); + + Settings m_settings; + QString m_mapItemsBefore; + + QList m_mapParameters; + + QTimer m_refresh; + bool m_shouldRefresh = true; + bool m_warned = false; + bool m_threadedRendering = false; + bool m_styleLoaded = false; + + SyncStates m_syncState = NoSync; + + std::vector> m_styleChanges; + +protected: + void changeViewportSize(const QSize &size) override; + void changeCameraData(const QGeoCameraData &data) override; +#if QT_VERSION >= QT_VERSION_CHECK(6, 5, 0) + void changeActiveMapType(const QGeoMapType &mapType) override; +#else + void changeActiveMapType(const QGeoMapType mapType) override; +#endif + + void setVisibleArea(const QRectF &visibleArea) override; + QRectF visibleArea() const override; + +private: + Q_DISABLE_COPY(QGeoMapMapLibrePrivate); + + void syncStyleChanges(Map *map); + void threadedRenderingHack(QQuickWindow *window, Map *map); + + QRectF m_visibleArea; +}; + +Q_DECLARE_OPERATORS_FOR_FLAGS(QGeoMapMapLibrePrivate::SyncStates) + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/qmaplibre.hpp b/third_party/maplibre-native-qt/include/qmaplibre.hpp new file mode 100644 index 000000000..a8dc445e2 --- /dev/null +++ b/third_party/maplibre-native-qt/include/qmaplibre.hpp @@ -0,0 +1,9 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#include "export_core.hpp" +#include "map.hpp" +#include "settings.hpp" +#include "types.hpp" +#include "utils.hpp" diff --git a/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp b/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp new file mode 100644 index 000000000..ebe9a8eea --- /dev/null +++ b/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp @@ -0,0 +1,6 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#include "export_widgets.hpp" +#include "gl_widget.hpp" diff --git a/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp b/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp new file mode 100644 index 000000000..67cb4b56c --- /dev/null +++ b/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp @@ -0,0 +1,31 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2017 The Qt Company Ltd. +// Copyright (C) 2017 Mapbox, Inc. + +// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only + +#pragma once + +#include "export_location.hpp" + +#include + +#include +#include + +namespace QMapLibre { + +class Q_MAPLIBRE_LOCATION_EXPORT QtMappingEngine : public QGeoMappingManagerEngine { + Q_OBJECT + +public: + QtMappingEngine(const QVariantMap ¶meters, QGeoServiceProvider::Error *error, QString *errorString); + + QGeoMap *createMap() override; + +private: + Settings m_settings; + QString m_mapItemsBefore; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/settings.hpp b/third_party/maplibre-native-qt/include/settings.hpp new file mode 100644 index 000000000..d6f88b871 --- /dev/null +++ b/third_party/maplibre-native-qt/include/settings.hpp @@ -0,0 +1,125 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_SETTINGS_H +#define QMAPLIBRE_SETTINGS_H + +#include +#include + +#include +#include + +#include +#include + +// TODO: this will be wrapped at some point +namespace mbgl { +class TileServerOptions; +} // namespace mbgl + +namespace QMapLibre { + +class SettingsPrivate; + +class Q_MAPLIBRE_CORE_EXPORT Settings { +public: + enum GLContextMode : bool { + UniqueGLContext, + SharedGLContext + }; + + enum MapMode { + Continuous = 0, + Static + }; + + enum ConstrainMode { + NoConstrain = 0, + ConstrainHeightOnly, + ConstrainWidthAndHeight + }; + + enum ViewportMode { + DefaultViewport = 0, + FlippedYViewport + }; + + enum ProviderTemplate { + NoProvider = 0, + MapLibreProvider, + MapTilerProvider, + MapboxProvider + }; + + using ResourceTransformFunction = std::function; + + explicit Settings(ProviderTemplate provider = NoProvider); + ~Settings(); + Settings(const Settings &s); + Settings(Settings &&s) noexcept; + Settings &operator=(const Settings &s); + Settings &operator=(Settings &&s) noexcept; + + [[nodiscard]] GLContextMode contextMode() const; + void setContextMode(GLContextMode); + + [[nodiscard]] MapMode mapMode() const; + void setMapMode(MapMode); + + [[nodiscard]] ConstrainMode constrainMode() const; + void setConstrainMode(ConstrainMode); + + [[nodiscard]] ViewportMode viewportMode() const; + void setViewportMode(ViewportMode); + + [[nodiscard]] unsigned cacheDatabaseMaximumSize() const; + void setCacheDatabaseMaximumSize(unsigned); + + [[nodiscard]] QString cacheDatabasePath() const; + void setCacheDatabasePath(const QString &path); + + [[nodiscard]] QString assetPath() const; + void setAssetPath(const QString &path); + + [[nodiscard]] QString apiKey() const; + void setApiKey(const QString &key); + + [[nodiscard]] QString apiBaseUrl() const; + void setApiBaseUrl(const QString &url); + + [[nodiscard]] QString localFontFamily() const; + void setLocalFontFamily(const QString &family); + + [[nodiscard]] QString clientName() const; + void setClientName(const QString &name); + + [[nodiscard]] QString clientVersion() const; + void setClientVersion(const QString &version); + + [[nodiscard]] ResourceTransformFunction resourceTransform() const; + void setResourceTransform(const ResourceTransformFunction &transform); + + void setProviderTemplate(ProviderTemplate providerTemplate); + void setStyles(const Styles &styles); + + [[nodiscard]] const Styles &styles() const; + [[nodiscard]] Styles providerStyles() const; + + [[nodiscard]] Coordinate defaultCoordinate() const; + void setDefaultCoordinate(const Coordinate &coordinate); + [[nodiscard]] double defaultZoom() const; + void setDefaultZoom(double zoom); + + [[nodiscard]] bool customTileServerOptions() const; + [[nodiscard]] const mbgl::TileServerOptions &tileServerOptions() const; + +private: + std::unique_ptr d_ptr; +}; + +} // namespace QMapLibre + +#endif // QMAPLIBRE_SETTINGS_H diff --git a/third_party/maplibre-native-qt/include/settings_p.hpp b/third_party/maplibre-native-qt/include/settings_p.hpp new file mode 100644 index 000000000..257bdfd5a --- /dev/null +++ b/third_party/maplibre-native-qt/include/settings_p.hpp @@ -0,0 +1,57 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "settings.hpp" +#include "types.hpp" + +#include + +#include +#include + +#include +#include + +namespace mbgl { +class TileServerOptions; +} // namespace mbgl + +namespace QMapLibre { + +class SettingsPrivate { +public: + SettingsPrivate(); + + void setProviderTemplate(Settings::ProviderTemplate providerTemplate); + void setProviderApiBaseUrl(const QString &url); + + Settings::GLContextMode m_contextMode{Settings::SharedGLContext}; + Settings::MapMode m_mapMode{Settings::Continuous}; + Settings::ConstrainMode m_constrainMode{Settings::ConstrainHeightOnly}; + Settings::ViewportMode m_viewportMode{Settings::DefaultViewport}; + Settings::ProviderTemplate m_providerTemplate{Settings::NoProvider}; + + unsigned m_cacheMaximumSize; + QString m_cacheDatabasePath; + QString m_assetPath; + QString m_apiKey; + QString m_localFontFamily; + QString m_clientName; + QString m_clientVersion; + + Coordinate m_defaultCoordinate{}; + double m_defaultZoom{}; + + Styles m_styles; + + std::function m_resourceTransform; + + bool m_customTileServerOptions{}; + mbgl::TileServerOptions m_tileServerOptions{}; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/style_change_utils_p.hpp b/third_party/maplibre-native-qt/include/style_change_utils_p.hpp new file mode 100644 index 000000000..991bb4077 --- /dev/null +++ b/third_party/maplibre-native-qt/include/style_change_utils_p.hpp @@ -0,0 +1,34 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2017 Mapbox, Inc. + +// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only + +#pragma once + +#include + +#include +#include +#include +#include +#include + +namespace QMapLibre::StyleChangeUtils { + +Feature featureFromMapRectangle(QDeclarativeRectangleMapItem *item); +Feature featureFromMapCircle(QDeclarativeCircleMapItem *item); +Feature featureFromMapPolygon(QDeclarativePolygonMapItem *item); +Feature featureFromMapPolyline(QDeclarativePolylineMapItem *item); +Feature featureFromMapItem(QDeclarativeGeoMapItemBase *item); + +QString featureId(QDeclarativeGeoMapItemBase *item); +std::vector featureLayoutPropertiesFromMapPolyline(QDeclarativePolylineMapItem *item); +std::vector featureLayoutPropertiesFromMapItem(QDeclarativeGeoMapItemBase *item); +std::vector featurePaintPropertiesFromMapRectangle(QDeclarativeRectangleMapItem *item); +std::vector featurePaingPropertiesFromMapCircle(QDeclarativeCircleMapItem *item); +std::vector featurePaintPropertiesFromMapPolygon(QDeclarativePolygonMapItem *item); +std::vector featurePaintPropertiesFromMapPolyline(QDeclarativePolylineMapItem *item); +std::vector featurePaintPropertiesFromMapItem(QDeclarativeGeoMapItemBase *item); +std::vector featurePropertiesFromMapItem(QDeclarativeGeoMapItemBase *item); + +} // namespace QMapLibre::StyleChangeUtils diff --git a/third_party/maplibre-native-qt/include/texture_node.hpp b/third_party/maplibre-native-qt/include/texture_node.hpp new file mode 100644 index 000000000..96f63b353 --- /dev/null +++ b/third_party/maplibre-native-qt/include/texture_node.hpp @@ -0,0 +1,42 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2017 The Qt Company Ltd. +// Copyright (C) 2017 Mapbox, Inc. + +// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only + +#pragma once + +#include +#include +#include +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) +#include +#else +#include +#endif + +#include + +namespace QMapLibre { + +class QGeoMapMapLibre; + +class TextureNode : public QSGSimpleTextureNode { +public: + TextureNode(const Settings &setting, const QSize &size, qreal pixelRatio, QGeoMapMapLibre *geoMap); + + [[nodiscard]] Map *map() const; + +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + void resize(const QSize &size, qreal pixelRatio, QQuickWindow *window); +#else + void resize(const QSize &size, qreal pixelRatio); +#endif + void render(QQuickWindow *); + +private: + std::unique_ptr m_map{}; + std::unique_ptr m_fbo{}; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/types.hpp b/third_party/maplibre-native-qt/include/types.hpp new file mode 100644 index 000000000..696fab1a8 --- /dev/null +++ b/third_party/maplibre-native-qt/include/types.hpp @@ -0,0 +1,206 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_TYPES_H +#define QMAPLIBRE_TYPES_H + +#include + +#include +#include +#include +#include +#include +#include + +namespace QMapLibre { + +using Coordinate = QPair; +using CoordinateZoom = QPair; +using ProjectedMeters = QPair; + +using Coordinates = QVector; +using CoordinatesCollection = QVector; + +using CoordinatesCollections = QVector; + +struct Q_MAPLIBRE_CORE_EXPORT Style { + enum Type { // Taken from Qt to be in sync with QtLocation + NoMap = 0, + StreetMap, + SatelliteMapDay, + SatelliteMapNight, + TerrainMap, + HybridMap, + TransitMap, + GrayStreetMap, + PedestrianMap, + CarNavigationMap, + CycleMap, + CustomMap = 100 + }; + +#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0) + explicit Style(QString url_, QString name_ = QString()) + : url(std::move(url_)), + name(std::move(name_)) {} +#else + explicit Style(QString url_ = QString(), QString name_ = QString()) + : url(std::move(url_)), + name(std::move(name_)) {} +#endif + + QString url; + QString name; + QString description; + bool night{}; + Type type{CustomMap}; +}; + +using Styles = QVector