mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-20 21:42:05 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Comma Device
|
e504c29f69 |
+19
@@ -0,0 +1,19 @@
|
||||
---
|
||||
Checks: '
|
||||
bugprone-*,
|
||||
-bugprone-integer-division,
|
||||
-bugprone-narrowing-conversions,
|
||||
performance-*,
|
||||
clang-analyzer-*,
|
||||
misc-*,
|
||||
-misc-unused-parameters,
|
||||
modernize-*,
|
||||
-modernize-avoid-c-arrays,
|
||||
-modernize-deprecated-headers,
|
||||
-modernize-use-auto,
|
||||
-modernize-use-using,
|
||||
-modernize-use-nullptr,
|
||||
-modernize-use-trailing-return-type,
|
||||
'
|
||||
CheckOptions:
|
||||
...
|
||||
@@ -13,6 +13,27 @@
|
||||
*.o-*
|
||||
*.os
|
||||
*.os-*
|
||||
*.so
|
||||
*.a
|
||||
|
||||
venv/
|
||||
.venv/
|
||||
|
||||
notebooks
|
||||
phone
|
||||
massivemap
|
||||
neos
|
||||
installer
|
||||
chffr/app2
|
||||
chffr/backend/env
|
||||
selfdrive/nav
|
||||
selfdrive/baseui
|
||||
selfdrive/test/simulator2
|
||||
**/cache_data
|
||||
xx/plus
|
||||
xx/community
|
||||
xx/projects
|
||||
!xx/projects/eon_testing_master
|
||||
!xx/projects/map3d
|
||||
xx/ops
|
||||
xx/junk
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
CI / testing:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
|
||||
- any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
|
||||
|
||||
car:
|
||||
- changed-files:
|
||||
@@ -12,7 +12,7 @@ simulation:
|
||||
|
||||
ui:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
|
||||
- any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
|
||||
|
||||
tools:
|
||||
- changed-files:
|
||||
|
||||
+35
-22
@@ -10,16 +10,15 @@ venv/
|
||||
.overlay_init
|
||||
.overlay_consistent
|
||||
.sconsign.dblite
|
||||
model2.png
|
||||
a.out
|
||||
.hypothesis
|
||||
.cache/
|
||||
bin/
|
||||
|
||||
*.mp4
|
||||
/docs_site/
|
||||
|
||||
*.dylib
|
||||
*.DSYM
|
||||
*.d
|
||||
*.pem
|
||||
*.pyc
|
||||
*.pyo
|
||||
.*.swp
|
||||
@@ -36,56 +35,70 @@ bin/
|
||||
*.class
|
||||
*.pyxbldc
|
||||
*.vcd
|
||||
*.mo
|
||||
*.qm
|
||||
*_pyx.cpp
|
||||
*.stats
|
||||
*.pkl
|
||||
*.pkl*
|
||||
config.json
|
||||
clcache
|
||||
compile_commands.json
|
||||
compare_runtime*.html
|
||||
|
||||
# build artifacts
|
||||
persist
|
||||
selfdrive/pandad/pandad
|
||||
cereal/services.h
|
||||
cereal/gen
|
||||
cereal/messaging/bridge
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
system/proclogd/proclogd
|
||||
selfdrive/ui/translations/tmp
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/car/tests/cars_dump
|
||||
system/camerad/camerad
|
||||
system/camerad/test/ae_gray_test
|
||||
|
||||
notebooks
|
||||
hyperthneed
|
||||
provisioning
|
||||
|
||||
.coverage*
|
||||
coverage.xml
|
||||
htmlcov
|
||||
pandaextra
|
||||
|
||||
.mypy_cache/
|
||||
flycheck_*
|
||||
|
||||
cppcheck_report.txt
|
||||
comma*.sh
|
||||
|
||||
selfdrive/modeld/thneed/compile
|
||||
selfdrive/modeld/models/*.thneed
|
||||
selfdrive/modeld/models/*.pkl
|
||||
|
||||
# openpilot log files
|
||||
*.bz2
|
||||
*.zst
|
||||
*.rlog
|
||||
|
||||
build/
|
||||
|
||||
!**/.gitkeep
|
||||
|
||||
poetry.toml
|
||||
Pipfile
|
||||
|
||||
### VisualStudioCode ###
|
||||
*.vsix
|
||||
.history
|
||||
.ionide
|
||||
.vscode/*
|
||||
.history/
|
||||
!.vscode/settings.json
|
||||
!.vscode/tasks.json
|
||||
!.vscode/launch.json
|
||||
!.vscode/extensions.json
|
||||
!.vscode/*.code-snippets
|
||||
|
||||
# agents
|
||||
.claude/
|
||||
.context/
|
||||
PLAN.md
|
||||
TASK.md
|
||||
# Local History for Visual Studio Code
|
||||
.history/
|
||||
|
||||
# rick - keep panda_tici standalone
|
||||
panda_tici/
|
||||
# Built Visual Studio Code Extensions
|
||||
*.vsix
|
||||
|
||||
### VisualStudioCode Patch ###
|
||||
# Ignore all local history of files
|
||||
.history
|
||||
.ionide
|
||||
|
||||
Vendored
+1
-40
@@ -23,11 +23,6 @@
|
||||
"id": "args",
|
||||
"description": "Arguments to pass to the process",
|
||||
"type": "promptString"
|
||||
},
|
||||
{
|
||||
"id": "replayArg",
|
||||
"type": "promptString",
|
||||
"description": "Enter route or segment to replay."
|
||||
}
|
||||
],
|
||||
"configurations": [
|
||||
@@ -45,41 +40,7 @@
|
||||
"type": "cppdbg",
|
||||
"request": "launch",
|
||||
"program": "${workspaceFolder}/${input:cpp_process}",
|
||||
"cwd": "${workspaceFolder}"
|
||||
},
|
||||
{
|
||||
"name": "Attach LLDB to Replay drive",
|
||||
"type": "lldb",
|
||||
"request": "attach",
|
||||
"pid": "${command:pickMyProcess}",
|
||||
"initCommands": [
|
||||
"script import time; time.sleep(3)"
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "Replay drive",
|
||||
"type": "debugpy",
|
||||
"request": "launch",
|
||||
"program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
|
||||
"args": [
|
||||
"${input:replayArg}"
|
||||
],
|
||||
"console": "integratedTerminal",
|
||||
"justMyCode": false,
|
||||
"env": {
|
||||
"PYTHONPATH": "${workspaceFolder}"
|
||||
},
|
||||
"subProcess": true,
|
||||
"stopOnEntry": false
|
||||
}
|
||||
],
|
||||
"compounds": [
|
||||
{
|
||||
"name": "Replay drive + Safety LLDB",
|
||||
"configurations": [
|
||||
"Replay drive",
|
||||
"Attach LLDB to Replay drive"
|
||||
]
|
||||
"cwd": "${workspaceFolder}",
|
||||
}
|
||||
]
|
||||
}
|
||||
Vendored
+1
@@ -15,6 +15,7 @@
|
||||
"**/.venv": true,
|
||||
"**/__pycache__": true,
|
||||
"msgq_repo/": true,
|
||||
"opendbc/": true,
|
||||
"rednose/": true,
|
||||
"rednose_repo/": true,
|
||||
"openpilot/": true,
|
||||
|
||||
-140
@@ -1,140 +0,0 @@
|
||||
# ALKA (Always-on Lane Keeping Assist) Design v3
|
||||
|
||||
## Overview
|
||||
|
||||
ALKA enables lateral control (steering) when ACC Main is ON, without requiring cruise to be engaged. This allows lane keeping assist to function independently of longitudinal control.
|
||||
|
||||
**Simplified Behavior (v3):**
|
||||
- All brands use direct tracking: `lkas_on = acc_main_on`
|
||||
- No button/toggle tracking (removed TJA, LKAS button, LKAS HUD)
|
||||
- ACC Main ON = ALKA enabled, ACC Main OFF = ALKA disabled
|
||||
|
||||
---
|
||||
|
||||
## Per-Brand Summary
|
||||
|
||||
| Brand | Status | ACC Main Source | Notes |
|
||||
|-------|--------|-----------------|-------|
|
||||
| Body | Disabled | - | No steering capability |
|
||||
| Chrysler | Disabled | - | Needs special handling |
|
||||
| Ford | Enabled | EngBrakeData (0x165) CcStat | |
|
||||
| GM | Disabled | - | No ACC Main signal |
|
||||
| Honda Nidec | Enabled | SCM_FEEDBACK (0x326) MAIN_ON | |
|
||||
| Honda Bosch | Enabled | SCM_FEEDBACK (0x326) MAIN_ON | |
|
||||
| Hyundai | Enabled | SCC11 (0x420) bit 0 | |
|
||||
| Hyundai CAN-FD | Enabled | SCC_CONTROL (0x1A0) bit 66 | |
|
||||
| Hyundai Legacy | Enabled | SCC11 (0x420) bit 0 | |
|
||||
| Mazda | Enabled | CRZ_CTRL (0x21C) bit 17 | |
|
||||
| Nissan | Enabled | CRUISE_THROTTLE (0x239) bit 17 | |
|
||||
| PSA | Disabled | - | Not implemented |
|
||||
| Rivian | Disabled | - | Different architecture |
|
||||
| Subaru | Enabled | CruiseControl (0x240) bit 40 | |
|
||||
| Subaru Preglobal | Enabled | CruiseControl (0x144) bit 48 | |
|
||||
| Tesla | Disabled | - | Different architecture |
|
||||
| Toyota | Enabled | PCM_CRUISE_2 (0x1D3) bit 15 | |
|
||||
| Toyota (UNSUPPORTED_DSU) | Enabled | DSU_CRUISE (0x365) bit 0 | |
|
||||
| VW MQB | Enabled | TSK_06 TSK_Status (>=2) | |
|
||||
| VW PQ | Enabled | Motor_5 (0x480) bit 50 (long) | |
|
||||
|
||||
---
|
||||
|
||||
## Permission Model
|
||||
|
||||
Lateral control requires checks at both layers. Normal path uses `controls_allowed`, ALKA path uses additional checks.
|
||||
|
||||
| Check | Panda | openpilot | Notes |
|
||||
|-------|:-----:|:---------:|-------|
|
||||
| **Normal Path** |
|
||||
| `controls_allowed` (cruise engaged) | ✓ | ✓ | Either this OR ALKA path |
|
||||
| **ALKA Path** |
|
||||
| `alka_allowed` (brand supports) | ✓ | ✓ | Set per brand in safety init |
|
||||
| `ALT_EXP_ALKA` (user enabled) | ✓ | ✓ | alternativeExperience flag |
|
||||
| `lkas_on` (ACC Main ON) | ✓ | ✓ | Tracked via CAN messages |
|
||||
| `vehicle_moving` / `!standstill` | ✓ | ✓ | |
|
||||
| **openpilot Additional** |
|
||||
| `gear_ok` (not P/N/R) | ✗ | ✓ | Python layer only |
|
||||
| `calibrated` | ✗ | ✓ | Python layer only |
|
||||
| `seatbelt latched` | ✗ | ✓ | Python layer only |
|
||||
| `doors closed` | ✗ | ✓ | Python layer only |
|
||||
| `!steerFaultTemporary` | ✗ | ✓ | Python layer only |
|
||||
| `!steerFaultPermanent` | ✗ | ✓ | Python layer only |
|
||||
|
||||
---
|
||||
|
||||
## Data Flow
|
||||
|
||||
```
|
||||
┌─────────────────────────────────────────────────────────────────────┐
|
||||
│ CAN Bus │
|
||||
└─────────────────────────────────────────────────────────────────────┘
|
||||
│ │
|
||||
▼ ▼
|
||||
┌─────────────────────────────────┐ ┌─────────────────────────────────┐
|
||||
│ Safety Layer (panda C code) │ │ Python Layer │
|
||||
│ │ │ │
|
||||
│ rx_hook: │ │ carstate.py: │
|
||||
│ - Parse ACC Main signal │ │ - Parse cruiseState.available │
|
||||
│ - Set lkas_on = acc_main_on │ │ - Set self.lkas_on │
|
||||
│ │ │ │
|
||||
│ lat_control_allowed(): │ └─────────────┬───────────────────┘
|
||||
│ - Check lkas_on + other flags │ │
|
||||
│ - Gate steering commands │ ▼
|
||||
└─────────────────────────────────┘ ┌─────────────────────────────────┐
|
||||
│ card.py: │
|
||||
│ - Publish carStateExt.lkasOn │
|
||||
└─────────────┬───────────────────┘
|
||||
│
|
||||
▼
|
||||
┌─────────────────────────────────┐
|
||||
│ controlsd.py: │
|
||||
│ - Read carStateExt.lkasOn │
|
||||
│ - Check ALKA conditions │
|
||||
│ - Set CC.latActive │
|
||||
└─────────────────────────────────┘
|
||||
```
|
||||
|
||||
### Key Files
|
||||
|
||||
| File | Purpose |
|
||||
|------|---------|
|
||||
| `custom.capnp` | Defines `CarStateExt` struct with `lkasOn` field |
|
||||
| `log.capnp` | Includes `carStateExt` in event union |
|
||||
| `interfaces.py` | Defines `self.lkas_on = False` default in `CarStateBase` |
|
||||
| `carstate.py` (per brand) | Tracks `lkas_on` based on ACC Main |
|
||||
| `card.py` | Publishes `carStateExt.lkasOn` from `CI.CS.lkas_on` |
|
||||
| `controlsd.py` | Reads `carStateExt.lkasOn` to determine `alka_active` |
|
||||
|
||||
---
|
||||
|
||||
## ACC Main Tracking
|
||||
|
||||
All brands use simple direct tracking:
|
||||
|
||||
```c
|
||||
// Panda (C code)
|
||||
if (alka_allowed && (alternative_experience & ALT_EXP_ALKA)) {
|
||||
lkas_on = acc_main_on; // or GET_BIT(msg, bit_position)
|
||||
}
|
||||
```
|
||||
|
||||
```python
|
||||
# Python carstate.py
|
||||
self.lkas_on = ret.cruiseState.available
|
||||
```
|
||||
|
||||
This guard ensures:
|
||||
1. Brand supports ALKA (`alka_allowed`)
|
||||
2. User enabled ALKA (`ALT_EXP_ALKA`)
|
||||
|
||||
Without both conditions, no ACC Main tracking occurs, and ALKA remains disabled.
|
||||
|
||||
---
|
||||
|
||||
## Testing
|
||||
|
||||
Safety tests verify:
|
||||
- `alka_allowed` flag set correctly per brand
|
||||
- ACC Main tracking updates `lkas_on` directly
|
||||
- `lat_control_allowed()` returns true only when all conditions met
|
||||
- Steering TX blocked when ALKA conditions not met
|
||||
- Bus routing variants (camera_scc, unsupported_dsu)
|
||||
+27
-41
@@ -1,33 +1,29 @@
|
||||
```mermaid
|
||||
flowchart TD
|
||||
B000["devel-staging"] ---> CORE["core"]
|
||||
B000["upstream-tracking"] ---> CORE["core"]
|
||||
CORE ---> CORE_001["core-feat/params"]
|
||||
CORE_001 ---> CORE_002["core-feat/panel"]
|
||||
CORE_002 ---> CORE_003["core-feat/safety-ext"]
|
||||
CORE_002 ---> CORE_003["core-feat/spin-box-ctrl"]
|
||||
CORE_003 ---> MIN["min"]
|
||||
MIN ---> MIN_001["min-feat/ui/display-mode"]
|
||||
MIN ---> MIN_002["min-feat/dev/model-selector"]
|
||||
MIN ---> MIN_003["min-feat/lat/lca"]
|
||||
MIN ---> MIN_004["min-feat/dev/on-off-road"]
|
||||
MIN ---> MIN_005["min-feat/ui/hide-hud"]
|
||||
MIN ---> MIN_006["min-feat/lon/ext-radar"]
|
||||
MIN ---> MIN_007["min-feat/lat/road-edge-detection"]
|
||||
MIN ---> MIN_008["min-feat/ui/rainbow-path"]
|
||||
MIN ---> MIN_009["min-feat/lon/acm"]
|
||||
MIN ---> MIN_010["min-feat/lon/aem"]
|
||||
MIN ---> MIN_011["min-feat/lon/dtsc"]
|
||||
MIN ---> MIN_012["min-feat/lon/apm"]
|
||||
MIN ---> MIN_013["min-feat/lon/dasr"]
|
||||
MIN ---> MIN_014["min-feat/dev/alert-mode"]
|
||||
MIN ---> MIN_001["min-feat/dev/o3"]
|
||||
MIN ---> MIN_002["min-feat/lat/alka"]
|
||||
MIN ---> MIN_003["min-feat/ui/display-mode"]
|
||||
MIN ---> MIN_004["min-feat/dev/model-selector"]
|
||||
MIN ---> MIN_005["min-feat/lat/lca"]
|
||||
MIN ---> MIN_006["min-feat/dev/on-off-road"]
|
||||
MIN ---> MIN_007["min-feat/ui/hide-hud"]
|
||||
MIN ---> MIN_008["min-feat/lon/ext-radar"]
|
||||
MIN ---> MIN_009["min-feat/lat/road-edge-detection"]
|
||||
MIN ---> MIN_010["min-feat/ui/rainbow-path"]
|
||||
MIN ---> MIN_011["min-feat/lon/acm"]
|
||||
MIN ---> MIN_012["min-feat/lon/aem"]
|
||||
MIN ---> MIN_013["min-feat/dev/alert-mode"]
|
||||
MIN ---> MIN_014["min-feat/lon/no-gas-gating"]
|
||||
MIN ---> MIN_015["min-feat/dev/auto-shutdown"]
|
||||
MIN ---> MIN_016["min-feat/ui/lead-stats"]
|
||||
MIN ---> MIN_016["min-feat/ui/radar-tracks"]
|
||||
MIN ---> MIN_017["min-feat/ui/border-indicator"]
|
||||
MIN ---> MIN_018["min-feat/dev/delay-loggerd"]
|
||||
MIN ---> MIN_019["min-feat/dev/disable-connect"]
|
||||
MIN ---> MIN_020["min-feat/dev/tether-on-boot"]
|
||||
MIN ---> MIN_021["min-feat/ui/torque-bar"]
|
||||
MIN ---> MIN_022["min-feat/ui/mici-ui-mode"]
|
||||
MIN ---> MIN_023["min-feat/lat/lat-offset"]
|
||||
MIN ---> MIN_018["min-feat/dev/fileserv"]
|
||||
MIN ---> MIN_019["min-feat/dev/delay-loggerd"]
|
||||
MIN_001 ---> FULL["full"]
|
||||
MIN_002 ---> FULL
|
||||
MIN_003 ---> FULL
|
||||
@@ -47,24 +43,18 @@ flowchart TD
|
||||
MIN_017 ---> FULL
|
||||
MIN_018 ---> FULL
|
||||
MIN_019 ---> FULL
|
||||
MIN_020 ---> FULL
|
||||
MIN_021 ---> FULL
|
||||
FULL ---> TOYOTA_001[brand/toyota/safety-common]
|
||||
FULL ---> TOYOTA_002[brand/toyota/door-auto-lock-unlock]
|
||||
FULL ---> TOYOTA_003[brand/toyota/tss1-sng]
|
||||
FULL ---> TOYOTA_001[brand/toyota/door-auto-lock-unlock]
|
||||
FULL ---> TOYOTA_002[brand/toyota/tss1-sng]
|
||||
FULL ---> TOYOTA_003[brand/toyota/long-filter-common]
|
||||
FULL ---> TOYOTA_004[brand/toyota/radar-filter]
|
||||
FULL ---> TOYOTA_005[brand/toyota/sdsu]
|
||||
FULL ---> TOYOTA_006[brand/toyota/dsu-bypass]
|
||||
FULL ---> TOYOTA_007[brand/toyota/zss]
|
||||
FULL ---> TOYOTA_008[brand/toyota/stock-lon]
|
||||
FULL ---> TOYOTA_006[brand/toyota/zss]
|
||||
FULL ---> TOYOTA_007[brand/toyota/stock-lon]
|
||||
FULL ---> VAG_001[brand/vag/a0-sng]
|
||||
FULL ---> VAG_002[brand/vag/pq-steering-patch]
|
||||
FULL ---> VAG_003[brand/vag/pq-no-dashcam]
|
||||
FULL ---> VAG_004[brand/vag/avoid-eps-lockout]
|
||||
FULL ---> HKG_001[brand/hkg/smdps]
|
||||
FULL ---> HONDA_001[brand/honda/eps-mod]
|
||||
FULL ---> HONDA_002[brand/honda/nidec-stock-long]
|
||||
FULL ---> SUBARU_001[brand/subaru/torque-3071]
|
||||
TOYOTA_001 ---> TOYOTA[pre-toyota]
|
||||
TOYOTA_002 ---> TOYOTA
|
||||
TOYOTA_003 ---> TOYOTA
|
||||
@@ -72,20 +62,16 @@ flowchart TD
|
||||
TOYOTA_005 ---> TOYOTA
|
||||
TOYOTA_006 ---> TOYOTA
|
||||
TOYOTA_007 ---> TOYOTA
|
||||
TOYOTA_008 ---> TOYOTA
|
||||
VAG_001 ---> VAG[pre-vag]
|
||||
VAG_002 ---> VAG
|
||||
VAG_003 ---> VAG
|
||||
VAG_004 ---> VAG
|
||||
HKG_001 ---> HKG[pre-hkg]
|
||||
HONDA_001 ---> HONDA[pre-honda]
|
||||
SUBARU_001 ---> SUBARU[pre-subaru]
|
||||
TOYOTA ---> PRE[pre]
|
||||
VAG ---> PRE
|
||||
HKG ---> PRE
|
||||
HONDA ---> PRE
|
||||
SUBARU ---> PRE
|
||||
PRE ---> PRE_PATCH[pre-patch]
|
||||
PRE_PATCH ---> PREBUILD[pre-build]
|
||||
PREBUILD ---> VERSION[x.x.x]
|
||||
PRE_PATCH ---> PRE_001[pre-build]
|
||||
PRE_001 ---> PRERELEASE[pre-release]
|
||||
PRERELEASE ---> RELEASE[x.x.x]
|
||||
```
|
||||
|
||||
+5
-391
@@ -1,393 +1,8 @@
|
||||
dragonpilot 0.11.0 r1 (2026-06-09)
|
||||
dragonpilot 0.9.9 r2 (2025-07-02)
|
||||
=======================
|
||||
* ✅ openpilot 0.11.0 (devel-staging) (2026-03-11)
|
||||
* ✅ DEV: opview (https://github.com/efinilan/opview) (2026-02-05)
|
||||
* ✅ DEV/Dashy: v3 (2026-05-20)
|
||||
* ✅ UI: Torque Bar from MICI UI (2025-11-26)
|
||||
* ✅ UI: Extend screen timeout (2025-11-04)
|
||||
* ✅ UI: Display Lead & Radar Stats (2025-10-30)
|
||||
* ✅ UI: Border Indicators (2025-05-27)
|
||||
* ✅ UI: Rainbow Path (2025-04-02)
|
||||
* ✅ UI: Speed Based HUD (2025-04-01)
|
||||
* ✅ UI: Display Mode (2025-03-14)
|
||||
* ✅ LAT: Position Offset (2025-12-31)
|
||||
* ✅ LAT: Auto Lane Change (2025-04-14)
|
||||
* ✅ LAT: Road Edge Detection (2025-04-01)
|
||||
* ✅ LAT: LCA Speed Changer (2025-03-21)
|
||||
* ✅ LAT: ALKA (2025-03-14)
|
||||
* ✅ LON: Adaptive Personality Mode (APM) (2026-02-08)
|
||||
* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
|
||||
* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
|
||||
* ✅ LON: Ext Radar Support (2025-03-31)
|
||||
* ✅ MISC: Better looking fonts (https://github.com/efinilan/opfonts) (2026-02-11)
|
||||
* ✅ MISC: C3 nVMe Support, credit: @AlexandreSato (2026-01-22)
|
||||
* ✅ MISC: Branch Selector (2025-11-14)
|
||||
* ✅ MISC: Tether on boot (2025-11-04)
|
||||
* ✅ MISC: Disable Comma Connect (2025-09-22)
|
||||
* ✅ MISC: C3/C3X/O3 series Support (2025-09-15)
|
||||
* ✅ MISC: Delay Starting Loggerd (2025-06-30)
|
||||
* ✅ MISC: Auto Shutdown (2025-04-28)
|
||||
* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
|
||||
* ✅ MISC: Audible Alert Mode (2025-04-17)
|
||||
* ✅ MISC: Error Logs Btn (2025-04-08)
|
||||
* ✅ MISC: Reset Conf Btn (2025-04-08)
|
||||
* ✅ MISC: Model Selector (2025-03-14)
|
||||
* ✅ Toyota: DSU Bypass Support by @cydia2020 (2025-09-09)
|
||||
* ✅ Toyota: Stock Lon Mode (2025-04-01)
|
||||
* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
|
||||
* ✅ Toyota: Radar Filter (2025-03-14)
|
||||
* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
|
||||
* ✅ Toyota: SDSU Support (2025-03-14)
|
||||
* ✅ Toyota: ZSS Support (2025-03-14)
|
||||
* ✅ Honda: EPS Mod Support (2025-09-09)
|
||||
* ✅ 🚧 Honda: Nidec Stock Long (2026-02-20)
|
||||
* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
|
||||
* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
|
||||
* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
|
||||
* ✅ HKG: SMDPS Support (2025-04-17)
|
||||
* ✅ 🚧 Subaru: Increase torque limits for early Impreza/Crosstek by @ClockeNessMnstr (2025-09-25)
|
||||
* ~~❌ LON: Dynamic Accel Slew Rate (DASR), credit: @herizon1054 (2026-02-05)~~
|
||||
* ~~❌ 🚧 LON: Dynamic Turn Speed Control (DTSC) (2025-11-04)~~
|
||||
* ~~❌ UI: MICI UI Mode (2025-11-26)~~
|
||||
* ~~❌ VAG: PQ Steering Patch (2025-04-02)~~
|
||||
|
||||
dragonpilot 0.10.3 r2 (2026-02-24)
|
||||
=======================
|
||||
* ✅ openpilot 0.10.3 (devel-staging) (2025-11-19)
|
||||
* ✨ Various Bugfixes / Improvements (2026-02-27)
|
||||
* ✨ LAT: Position Offset (2025-12-31)
|
||||
* ✨ LON: Adaptive Personality Mode (APM) (2026-02-08)
|
||||
* ✨ LON: Dynamic Accel Slew Rate (DASR), credit: @herizon1054 (2026-02-05)
|
||||
* ✨ DEV: opview (https://github.com/efinilan/opview) (2026-02-05)
|
||||
* ✨ DEV/Dashy: v2 (2026-02-10)
|
||||
* ✨ MISC: C3 nVMe Support, credit: @AlexandreSato (2026-01-22)
|
||||
* ✨ MISC: Better looking fonts (https://github.com/efinilan/opfonts) (2026-02-11)
|
||||
* ✨ 🚧 Honda: Nidec Stock Long (2026-02-20)
|
||||
* ✅ UI: MICI UI Mode (2025-11-26)
|
||||
* ✅ UI: Torque Bar from MICI UI (2025-11-26)
|
||||
* ✅ UI: Extend screen timeout (2025-11-04)
|
||||
* ✅ UI: Display Lead & Radar Stats (2025-10-30)
|
||||
* ✅ UI: Border Indicators (2025-05-27)
|
||||
* ✅ UI: Rainbow Path (2025-04-02)
|
||||
* ✅ UI: Speed Based HUD (2025-04-01)
|
||||
* ✅ UI: Display Mode (2025-03-14)
|
||||
* ✅ LAT: Auto Lane Change (2025-04-14)
|
||||
* ✅ LAT: Road Edge Detection (2025-04-01)
|
||||
* ✅ LAT: LCA Speed Changer (2025-03-21)
|
||||
* ✅ LAT: ALKA (2025-03-14)
|
||||
* ✅ 🚧 LON: Dynamic Turn Speed Control (DTSC) (2025-11-04)
|
||||
* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
|
||||
* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
|
||||
* ✅ LON: Ext Radar Support (2025-03-31)
|
||||
* ✅ MISC: Branch Selector (2025-11-14)
|
||||
* ✅ MISC: Tether on boot (2025-11-04)
|
||||
* ✅ MISC: Disable Comma Connect (2025-09-22)
|
||||
* ✅ MISC: C3/C3X/O3 series Support (2025-09-15)
|
||||
* ✅ MISC: Delay Starting Loggerd (2025-06-30)
|
||||
* ✅ MISC: Auto Shutdown (2025-04-28)
|
||||
* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
|
||||
* ✅ MISC: Audible Alert Mode (2025-04-17)
|
||||
* ✅ MISC: Error Logs Btn (2025-04-08)
|
||||
* ✅ MISC: Reset Conf Btn (2025-04-08)
|
||||
* ✅ MISC: Model Selector (2025-03-14)
|
||||
* ✅ Toyota: DSU Bypass Support by @cydia2020 (2025-09-09)
|
||||
* ✅ Toyota: Stock Lon Mode (2025-04-01)
|
||||
* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
|
||||
* ✅ Toyota: Radar Filter (2025-03-14)
|
||||
* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
|
||||
* ✅ Toyota: SDSU Support (2025-03-14)
|
||||
* ✅ Toyota: ZSS Support (2025-03-14)
|
||||
* ✅ Honda: EPS Mod Support (2025-09-09)
|
||||
* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
|
||||
* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
|
||||
* ✅ VAG: PQ Steering Patch (2025-04-02)
|
||||
* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
|
||||
* ✅ HKG: SMDPS Support (2025-04-17)
|
||||
* ✅ 🚧 Subaru: Increase torque limits for early Impreza/Crosstek by @ClockeNessMnstr (2025-09-25)
|
||||
|
||||
dragonpilot 0.10.3 r1 (2025-12-26)
|
||||
=======================
|
||||
* ✅ openpilot 0.10.3 (devel-staging) (2025-11-19)
|
||||
* ✨ LAT/ALKA: ALKA MICI UI (2025-12-10)
|
||||
* ✨ LAT/ALKA panda safety check (2025-12-14)
|
||||
* ✨ LAT/ALKA checks seatbelt status (2025-12-01)
|
||||
* ✨ DEV/dashy: add dp settings (2025-12-01)
|
||||
* ✨ UI/Lead Stats: Add Lead Speed (2025-12-01)
|
||||
* ✨ Toyota/LAT: new safety check method (2025-12-14)
|
||||
* ✅ UI: MICI UI Mode (2025-11-26)
|
||||
* ✅ UI: Torque Bar from MICI UI (2025-11-26)
|
||||
* ✅ UI: Extend screen timeout (2025-11-04)
|
||||
* ✅ UI: Display Lead & Radar Stats (2025-10-30)
|
||||
* ✅ UI: Border Indicators (2025-05-27)
|
||||
* ✅ UI: Rainbow Path (2025-04-02)
|
||||
* ✅ UI: Speed Based HUD (2025-04-01)
|
||||
* ✅ UI: Display Mode (2025-03-14)
|
||||
* ✅ LAT: Auto Lane Change (2025-04-14)
|
||||
* ✅ LAT: Road Edge Detection (2025-04-01)
|
||||
* ✅ LAT: LCA Speed Changer (2025-03-21)
|
||||
* ✅ LAT: ALKA (2025-03-14)
|
||||
* ✅ 🚧 LON: Dynamic Turn Speed Control (DTSC) (2025-11-04)
|
||||
* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
|
||||
* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
|
||||
* ✅ LON: Ext Radar Support (2025-03-31)
|
||||
* ✅ MISC: Branch Selector (2025-11-14)
|
||||
* ✅ MISC: Tether on boot (2025-11-04)
|
||||
* ✅ MISC: Disable Comma Connect (2025-09-22)
|
||||
* ✅ MISC: C3/C3X/O3 series Support (2025-09-15)
|
||||
* ✅ MISC: Delay Starting Loggerd (2025-06-30)
|
||||
* ✅ MISC: Auto Shutdown (2025-04-28)
|
||||
* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
|
||||
* ✅ MISC: Audible Alert Mode (2025-04-17)
|
||||
* ✅ MISC: Error Logs Btn (2025-04-08)
|
||||
* ✅ MISC: Reset Conf Btn (2025-04-08)
|
||||
* ✅ MISC: Model Selector (2025-03-14)
|
||||
* ✅ Toyota: DSU Bypass Support by @cydia2020 (2025-09-09)
|
||||
* ✅ Toyota: Stock Lon Mode (2025-04-01)
|
||||
* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
|
||||
* ✅ Toyota: Radar Filter (2025-03-14)
|
||||
* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
|
||||
* ✅ Toyota: SDSU Support (2025-03-14)
|
||||
* ✅ Toyota: ZSS Support (2025-03-14)
|
||||
* ✅ Honda: EPS Mod Support (2025-09-09)
|
||||
* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
|
||||
* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
|
||||
* ✅ VAG: PQ Steering Patch (2025-04-02)
|
||||
* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
|
||||
* ✅ HKG: SMDPS Support (2025-04-17)
|
||||
* ✅ 🚧 Subaru: Increase torque limits for early Impreza/Crosstek by @ClockeNessMnstr (2025-09-25)
|
||||
|
||||
dragonpilot 0.10.2 r1 (2025-11-30)
|
||||
=======================
|
||||
* ✅ openpilot 0.10.2 (devel-staging) (2025-11-20)
|
||||
* ✨ 🚧 UI: MICI UI Mode (2025-11-26)
|
||||
* ✨ UI: Torque Bar from MICI UI (2025-11-26)
|
||||
* ✅ UI: Extend screen timeout (2025-11-04)
|
||||
* ✅ UI: Display Lead & Radar Stats (2025-10-30)
|
||||
* ✅ UI: Border Indicators (2025-05-27)
|
||||
* ✅ UI: Rainbow Path (2025-04-02)
|
||||
* ✅ UI: Speed Based HUD (2025-04-01)
|
||||
* ✅ UI: Display Mode (2025-03-14)
|
||||
* ✅ LAT: Auto Lane Change (2025-04-14)
|
||||
* ✅ LAT: Road Edge Detection (2025-04-01)
|
||||
* ✅ LAT: LCA Speed Changer (2025-03-21)
|
||||
* ✅ LAT: ALKA (2025-03-14)
|
||||
* ✅ 🚧 LON: Dynamic Turn Speed Control (DTSC) (2025-11-04)
|
||||
* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
|
||||
* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
|
||||
* ✅ LON: Ext Radar Support (2025-03-31)
|
||||
* ✅ MISC: Branch Selector (2025-11-14)
|
||||
* ✅ MISC: Tether on boot (2025-11-04)
|
||||
* ✅ MISC: Disable Comma Connect (2025-09-22)
|
||||
* ✅ MISC: C3/C3X/O3 series Support (2025-09-15)
|
||||
* ✅ MISC: Delay Starting Loggerd (2025-06-30)
|
||||
* ✅ MISC: Auto Shutdown (2025-04-28)
|
||||
* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
|
||||
* ✅ MISC: Audible Alert Mode (2025-04-17)
|
||||
* ✅ MISC: Error Logs Btn (2025-04-08)
|
||||
* ✅ MISC: Reset Conf Btn (2025-04-08)
|
||||
* ✅ MISC: Model Selector (2025-03-14)
|
||||
* ✅ Toyota: DSU Bypass Support by @cydia2020 (2025-09-09)
|
||||
* ✅ Toyota: Stock Lon Mode (2025-04-01)
|
||||
* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
|
||||
* ✅ Toyota: Radar Filter (2025-03-14)
|
||||
* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
|
||||
* ✅ Toyota: SDSU Support (2025-03-14)
|
||||
* ✅ Toyota: ZSS Support (2025-03-14)
|
||||
* ✅ Honda: EPS Mod Support (2025-09-09)
|
||||
* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
|
||||
* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
|
||||
* ✅ VAG: PQ Steering Patch (2025-04-02)
|
||||
* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
|
||||
* ✅ HKG: SMDPS Support (2025-04-17)
|
||||
* ✅ 🚧 Subaru: Increase torque limits for early Impreza/Crosstek by @ClockeNessMnstr (2025-09-25)
|
||||
|
||||
dragonpilot 0.10.1 r3 (2025-11-25)
|
||||
=======================
|
||||
* ✅ openpilot 0.10.1 (devel-staging) (2025-10-24)
|
||||
* ✨ Various Bugfixes / Improvements (2025-11-25)
|
||||
* ✨ UI: Back to Display Mode v1 (std., main+, main-, op+, op-) (2025-11-25)
|
||||
* ✅ UI: Extend screen timeout (2025-11-04)
|
||||
* ✅ UI: Display Lead & Radar Stats (2025-10-30)
|
||||
* ✅ UI: Border Indicators (2025-05-27)
|
||||
* ✅ UI: Rainbow Path (2025-04-02)
|
||||
* ✅ UI: Speed Based HUD (2025-04-01)
|
||||
* ✅ UI: Display Mode (2025-03-14)
|
||||
* ✅ LAT: Auto Lane Change (2025-04-14)
|
||||
* ✅ LAT: Road Edge Detection (2025-04-01)
|
||||
* ✅ LAT: LCA Speed Changer (2025-03-21)
|
||||
* ✅ LAT: ALKA (2025-03-14)
|
||||
* ✅ 🚧 LON: Dynamic Turn Speed Control (DTSC) (2025-11-04)
|
||||
* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
|
||||
* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
|
||||
* ✅ LON: Ext Radar Support (2025-03-31)
|
||||
* ✅ MISC: Branch Selector (2025-11-14)
|
||||
* ✅ MISC: Tether on boot (2025-11-04)
|
||||
* ✅ MISC: Disable Comma Connect (2025-09-22)
|
||||
* ✅ MISC: C3/C3X/O3 series Support (2025-09-15)
|
||||
* ✅ MISC: Delay Starting Loggerd (2025-06-30)
|
||||
* ✅ MISC: Auto Shutdown (2025-04-28)
|
||||
* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
|
||||
* ✅ MISC: Audible Alert Mode (2025-04-17)
|
||||
* ✅ MISC: Error Logs Btn (2025-04-08)
|
||||
* ✅ MISC: Reset Conf Btn (2025-04-08)
|
||||
* ✅ MISC: Model Selector (2025-03-14)
|
||||
* ✅ Toyota: DSU Bypass Support by @cydia2020 (2025-09-09)
|
||||
* ✅ Toyota: Stock Lon Mode (2025-04-01)
|
||||
* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
|
||||
* ✅ Toyota: Radar Filter (2025-03-14)
|
||||
* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
|
||||
* ✅ Toyota: SDSU Support (2025-03-14)
|
||||
* ✅ Toyota: ZSS Support (2025-03-14)
|
||||
* ✅ Honda: EPS Mod Support (2025-09-09)
|
||||
* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
|
||||
* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
|
||||
* ✅ VAG: PQ Steering Patch (2025-04-02)
|
||||
* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
|
||||
* ✅ HKG: SMDPS Support (2025-04-17)
|
||||
* ✅ 🚧 Subaru: Increase torque limits for early Impreza/Crosstek by @ClockeNessMnstr (2025-09-25)
|
||||
* ❌ ~~🚧 AGNOS 14.7 (2025-11-11)~~
|
||||
* ❌ ~~LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)~~
|
||||
* ❌ ~~MISC: FileServ (port 5000) (2025-05-28)~~
|
||||
|
||||
dragonpilot 0.10.1 r2 (2025-11-16)
|
||||
=======================
|
||||
* ✅ openpilot 0.10.1 (devel-staging) (2025-10-24)
|
||||
* ✨ Various Bugfixes / Improvements (2025-11-14)
|
||||
* ✨ UI: Display Mode v2 - (std., op+, op- ONLY) (2025-11-14)
|
||||
* ✨ MISC: Branch Selector (2025-11-14)
|
||||
* ✅ UI: Extend screen timeout (2025-11-04)
|
||||
* ✅ UI: Display Lead & Radar Stats (2025-10-30)
|
||||
* ✅ UI: Border Indicators (2025-05-27)
|
||||
* ✅ UI: Rainbow Path (2025-04-02)
|
||||
* ✅ UI: Speed Based HUD (2025-04-01)
|
||||
* ✅ UI: Display Mode (2025-03-14)
|
||||
* ✅ LAT: Auto Lane Change (2025-04-14)
|
||||
* ✅ LAT: Road Edge Detection (2025-04-01)
|
||||
* ✅ LAT: LCA Speed Changer (2025-03-21)
|
||||
* ✅ LAT: ALKA (2025-03-14)
|
||||
* ✅ 🚧 LON: Dynamic Turn Speed Control (DTSC) (2025-11-04)
|
||||
* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
|
||||
* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
|
||||
* ✅ LON: Ext Radar Support (2025-03-31)
|
||||
* ✅ MISC: Tether on boot (2025-11-04)
|
||||
* ✅ MISC: Disable Comma Connect (2025-09-22)
|
||||
* ✅ MISC: C3/C3X/O3 series Support (2025-09-15)
|
||||
* ✅ MISC: Delay Starting Loggerd (2025-06-30)
|
||||
* ✅ MISC: Auto Shutdown (2025-04-28)
|
||||
* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
|
||||
* ✅ MISC: Audible Alert Mode (2025-04-17)
|
||||
* ✅ MISC: Error Logs Btn (2025-04-08)
|
||||
* ✅ MISC: Reset Conf Btn (2025-04-08)
|
||||
* ✅ MISC: Model Selector (2025-03-14)
|
||||
* ✅ Toyota: DSU Bypass Support by @cydia2020 (2025-09-09)
|
||||
* ✅ Toyota: Stock Lon Mode (2025-04-01)
|
||||
* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
|
||||
* ✅ Toyota: Radar Filter (2025-03-14)
|
||||
* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
|
||||
* ✅ Toyota: SDSU Support (2025-03-14)
|
||||
* ✅ Toyota: ZSS Support (2025-03-14)
|
||||
* ✅ Honda: EPS Mod Support (2025-09-09)
|
||||
* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
|
||||
* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
|
||||
* ✅ VAG: PQ Steering Patch (2025-04-02)
|
||||
* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
|
||||
* ✅ HKG: SMDPS Support (2025-04-17)
|
||||
* ✅ 🚧 Subaru: Increase torque limits for early Impreza/Crosstek by @ClockeNessMnstr (2025-09-25)
|
||||
* ❌ ~~🚧 AGNOS 14.7 (2025-11-11)~~
|
||||
* ❌ ~~LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)~~
|
||||
* ❌ ~~MISC: FileServ (port 5000) (2025-05-28)~~
|
||||
|
||||
dragonpilot 0.10.1 r1 (2025-11-11)
|
||||
=======================
|
||||
* ✨ openpilot 0.10.1 (devel-staging) (2025-10-24)
|
||||
* ✨ 🚧 AGNOS 14.7 (2025-11-11)
|
||||
* ✨ UI: Extend screen timeout (2025-11-04)
|
||||
* ✨ UI: Display Lead & Radar Stats (2025-10-30)
|
||||
* ✨ 🚧 LON/AEM: Refactored w/ New Logic (2025-11-10)
|
||||
* ✨ 🚧 LON: Dynamic Turn Speed Control (DTSC) (2025-11-04)
|
||||
* ✨ 🚧 LON/ACM: Refactored w/ New Logic (2025-09-19)
|
||||
* ✨ MISC: Tether on boot (2025-11-04)
|
||||
* ✨ MISC: Disable Comma Connect (2025-09-22)
|
||||
* ✨ MISC: C3/C3X/O3 series Support (2025-09-15)
|
||||
* ✨ Toyota: sDSU jerk fix by @sunnyhaibin (2025-09-30)
|
||||
* ✨ 🚧 Subaru: Increase torque limits for early Impreza/Crosstek by @ClockeNessMnstr (2025-09-25)
|
||||
* ✅ UI: Border Indicators (2025-05-27)
|
||||
* ✅ UI: Rainbow Path (2025-04-02)
|
||||
* ✅ UI: Speed Based HUD (2025-04-01)
|
||||
* ✅ UI: Display Mode (2025-03-14)
|
||||
* ✅ LAT: Auto Lane Change (2025-04-14)
|
||||
* ✅ LAT: Road Edge Detection (2025-04-01)
|
||||
* ✅ LAT: LCA Speed Changer (2025-03-21)
|
||||
* ✅ LAT: ALKA (2025-03-14)
|
||||
* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
|
||||
* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
|
||||
* ✅ LON: Ext Radar Support (2025-03-31)
|
||||
* ✅ MISC: Delay Starting Loggerd (2025-06-30)
|
||||
* ✅ MISC: Auto Shutdown (2025-04-28)
|
||||
* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
|
||||
* ✅ MISC: Audible Alert Mode (2025-04-17)
|
||||
* ✅ MISC: Error Logs Btn (2025-04-08)
|
||||
* ✅ MISC: Reset Conf Btn (2025-04-08)
|
||||
* ✅ MISC: Model Selector (2025-03-14)
|
||||
* ✅ Toyota: DSU Bypass Support by @cydia2020 (2025-09-09)
|
||||
* ✅ Toyota: Stock Lon Mode (2025-04-01)
|
||||
* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
|
||||
* ✅ Toyota: Radar Filter (2025-03-14)
|
||||
* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
|
||||
* ✅ Toyota: SDSU Support (2025-03-14)
|
||||
* ✅ Toyota: ZSS Support (2025-03-14)
|
||||
* ✅ Honda: EPS Mod Support (2025-09-09)
|
||||
* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
|
||||
* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
|
||||
* ✅ VAG: PQ Steering Patch (2025-04-02)
|
||||
* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
|
||||
* ✅ HKG: SMDPS Support (2025-04-17)
|
||||
* ❌ ~~LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)~~
|
||||
* ❌ ~~MISC: FileServ (port 5000) (2025-05-28)~~
|
||||
|
||||
|
||||
dragonpilot 0.10.0 r2 (2025-09-15)
|
||||
=======================
|
||||
* ✅ openpilot 0.10.0 (devel-staging) (2025-08-06)
|
||||
* ✨ 🚧 Toyota: DSU Bypass Support by @cydia2020 (Disabled, Code Change Requred) (2025-09-09)
|
||||
* ✨ Honda: EPS Mod Support (2025-09-09)
|
||||
* ✅ UI: Border Indicators (2025-05-27)
|
||||
* ✅ UI: Display Radar Tracks (2025-05-14)
|
||||
* ✅ UI: Rainbow Path (2025-04-02)
|
||||
* ✅ UI: Speed Based HUD (2025-04-01)
|
||||
* ✅ UI: Display Mode (2025-03-14)
|
||||
* ✅ LAT: Auto Lane Change (2025-04-14)
|
||||
* ✅ LAT: Road Edge Detection (2025-04-01)
|
||||
* ✅ LAT: LCA Speed Changer (2025-03-21)
|
||||
* ✅ LAT: ALKA (2025-03-14)
|
||||
* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
|
||||
* ❌ ~~LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)~~
|
||||
* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
|
||||
* ✅ LON: Ext Radar Support (2025-03-31)
|
||||
* ❌ ~~MISC: FileServ (port 5000) (2025-05-28)~~
|
||||
* ✅ MISC: Delay Starting Loggerd (2025-06-30)
|
||||
* ✅ MISC: Auto Shutdown (2025-04-28)
|
||||
* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
|
||||
* ✅ MISC: Audible Alert Mode (2025-04-17)
|
||||
* ✅ MISC: Error Logs Btn (2025-04-08)
|
||||
* ✅ MISC: Reset Conf Btn (2025-04-08)
|
||||
* ✅ MISC: Model Selector (2025-03-14)
|
||||
* ✅ Toyota: Stock Lon Mode (2025-04-01)
|
||||
* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
|
||||
* ✅ Toyota: Radar Filter (2025-03-14)
|
||||
* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
|
||||
* ✅ Toyota: SDSU Support (2025-03-14)
|
||||
* ✅ Toyota: ZSS Support (2025-03-14)
|
||||
* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
|
||||
* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
|
||||
* ✅ VAG: PQ Steering Patch (2025-04-02)
|
||||
* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
|
||||
* ✅ HKG: SMDPS Support (2025-04-17)
|
||||
|
||||
dragonpilot 0.10.0 r1 (2025-09-05)
|
||||
=======================
|
||||
* ✨ openpilot 0.10.0 (devel-staging) (2025-08-06)
|
||||
* ✨ openpilot 0.9.9 (2025-06-18)
|
||||
* ✨ MISC: Delay Starting Loggerd (2025-06-30)
|
||||
* 🔄 MISC: FileServ - Quick Access QR Code (2025-06-18)
|
||||
* 🔄 LON: Ext Radar Support - Better filters (2025-06-30)
|
||||
* ✅ UI: Border Indicators (2025-05-27)
|
||||
* ✅ UI: Display Radar Tracks (2025-05-14)
|
||||
@@ -399,11 +14,10 @@ dragonpilot 0.10.0 r1 (2025-09-05)
|
||||
* ✅ LAT: LCA Speed Changer (2025-03-21)
|
||||
* ✅ LAT: ALKA (2025-03-14)
|
||||
* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
|
||||
* ❌ ~~LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)~~
|
||||
* ✅ LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)
|
||||
* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
|
||||
* ✅ LON: Ext Radar Support (2025-03-31)
|
||||
* ❌ ~~MISC: FileServ - Quick Access QR Code (2025-06-18)~~
|
||||
* ❌ ~~MISC: FileServ (port 5000) (2025-05-28)~~
|
||||
* ✅ MISC: FileServ (port 5000) (2025-05-28)
|
||||
* ✅ MISC: Auto Shutdown (2025-04-28)
|
||||
* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
|
||||
* ✅ MISC: Audible Alert Mode (2025-04-17)
|
||||
|
||||
+5
-30
@@ -1,38 +1,13 @@
|
||||
FROM ubuntu:24.04
|
||||
FROM ghcr.io/commaai/openpilot-base:latest
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && \
|
||||
apt-get install -y --no-install-recommends sudo tzdata locales && \
|
||||
rm -rf /var/lib/apt/lists/*
|
||||
ENV OPENPILOT_PATH=/home/batman/openpilot
|
||||
ENV PYTHONPATH=${OPENPILOT_PATH}:${PYTHONPATH}
|
||||
|
||||
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
|
||||
ENV LANG=en_US.UTF-8
|
||||
ENV LANGUAGE=en_US:en
|
||||
ENV LC_ALL=en_US.UTF-8
|
||||
|
||||
ENV NVIDIA_VISIBLE_DEVICES=all
|
||||
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
|
||||
|
||||
ARG USER=batman
|
||||
ARG USER_UID=1001
|
||||
RUN useradd -m -s /bin/bash -u $USER_UID $USER
|
||||
RUN usermod -aG sudo $USER
|
||||
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
|
||||
USER $USER
|
||||
|
||||
ENV OPENPILOT_PATH=/home/$USER/openpilot
|
||||
RUN mkdir -p ${OPENPILOT_PATH}
|
||||
WORKDIR ${OPENPILOT_PATH}
|
||||
|
||||
COPY --chown=$USER . ${OPENPILOT_PATH}/
|
||||
COPY . ${OPENPILOT_PATH}/
|
||||
|
||||
ENV UV_BIN="/home/$USER/.local/bin/"
|
||||
ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
|
||||
ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
|
||||
RUN tools/setup_dependencies.sh && \
|
||||
sudo rm -rf /var/lib/apt/lists/*
|
||||
|
||||
USER root
|
||||
RUN git config --global --add safe.directory '*'
|
||||
RUN scons --cache-readonly -j$(nproc)
|
||||
|
||||
@@ -0,0 +1,81 @@
|
||||
FROM ubuntu:24.04
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && \
|
||||
apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
|
||||
rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
|
||||
ENV LANG=en_US.UTF-8
|
||||
ENV LANGUAGE=en_US:en
|
||||
ENV LC_ALL=en_US.UTF-8
|
||||
|
||||
COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
|
||||
RUN /tmp/tools/install_ubuntu_dependencies.sh && \
|
||||
rm -rf /var/lib/apt/lists/* /tmp/* && \
|
||||
cd /usr/lib/gcc/arm-none-eabi/* && \
|
||||
rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
|
||||
|
||||
# Add OpenCL
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
apt-utils \
|
||||
alien \
|
||||
unzip \
|
||||
tar \
|
||||
curl \
|
||||
xz-utils \
|
||||
dbus \
|
||||
gcc-arm-none-eabi \
|
||||
tmux \
|
||||
vim \
|
||||
libx11-6 \
|
||||
wget \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN mkdir -p /tmp/opencl-driver-intel && \
|
||||
cd /tmp/opencl-driver-intel && \
|
||||
wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
mkdir -p /etc/OpenCL/vendors && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
|
||||
cd /opt/intel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
mkdir -p /etc/ld.so.conf.d && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
cd / && \
|
||||
rm -rf /tmp/opencl-driver-intel
|
||||
|
||||
ENV NVIDIA_VISIBLE_DEVICES=all
|
||||
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
|
||||
ENV QTWEBENGINE_DISABLE_SANDBOX=1
|
||||
|
||||
RUN dbus-uuidgen > /etc/machine-id
|
||||
|
||||
ARG USER=batman
|
||||
ARG USER_UID=1001
|
||||
RUN useradd -m -s /bin/bash -u $USER_UID $USER
|
||||
RUN usermod -aG sudo $USER
|
||||
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
|
||||
USER $USER
|
||||
|
||||
COPY --chown=$USER pyproject.toml uv.lock /home/$USER
|
||||
COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
|
||||
|
||||
ENV VIRTUAL_ENV=/home/$USER/.venv
|
||||
ENV PATH="$VIRTUAL_ENV/bin:$PATH"
|
||||
RUN cd /home/$USER && \
|
||||
tools/install_python_dependencies.sh && \
|
||||
rm -rf tools/ pyproject.toml uv.lock .cache
|
||||
|
||||
USER root
|
||||
RUN sudo git config --global --add safe.directory /tmp/openpilot
|
||||
Vendored
-260
@@ -1,260 +0,0 @@
|
||||
def retryWithDelay(int maxRetries, int delay, Closure body) {
|
||||
for (int i = 0; i < maxRetries; i++) {
|
||||
try {
|
||||
return body()
|
||||
} catch (Exception e) {
|
||||
sleep(delay)
|
||||
}
|
||||
}
|
||||
throw Exception("Failed after ${maxRetries} retries")
|
||||
}
|
||||
|
||||
def device(String ip, String step_label, String cmd) {
|
||||
withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
|
||||
def ssh_cmd = """
|
||||
ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
|
||||
|
||||
set -e
|
||||
|
||||
export TERM=xterm-256color
|
||||
|
||||
shopt -s huponexit # kill all child processes when the shell exits
|
||||
|
||||
export CI=1
|
||||
export PYTHONWARNINGS=error
|
||||
#export LOGPRINT=debug # this has gotten too spammy...
|
||||
export TEST_DIR=${env.TEST_DIR}
|
||||
export SOURCE_DIR=${env.SOURCE_DIR}
|
||||
export GIT_BRANCH=${env.GIT_BRANCH}
|
||||
export GIT_COMMIT=${env.GIT_COMMIT}
|
||||
export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
|
||||
export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
|
||||
export AZURE_TOKEN='${env.AZURE_TOKEN}'
|
||||
# only use 1 thread for tici tests since most require HIL
|
||||
export PYTEST_ADDOPTS="-n0 -s"
|
||||
|
||||
|
||||
export GIT_SSH_COMMAND="ssh -i /data/gitkey"
|
||||
|
||||
source ~/.bash_profile
|
||||
if [ -f /TICI ]; then
|
||||
source /etc/profile
|
||||
|
||||
rm -rf /tmp/tmp*
|
||||
rm -rf ~/.commacache
|
||||
rm -rf /dev/shm/*
|
||||
rm -rf /dev/tmp/tmp*
|
||||
|
||||
if ! systemctl is-active --quiet systemd-resolved; then
|
||||
echo "restarting resolved"
|
||||
sudo systemctl start systemd-resolved
|
||||
sleep 3
|
||||
fi
|
||||
|
||||
# restart aux USB
|
||||
if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
|
||||
echo "restarting aux usb"
|
||||
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
|
||||
sleep 0.5
|
||||
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
|
||||
fi
|
||||
fi
|
||||
if [ -f /data/openpilot/launch_env.sh ]; then
|
||||
source /data/openpilot/launch_env.sh
|
||||
fi
|
||||
|
||||
ln -snf ${env.TEST_DIR} /data/pythonpath
|
||||
|
||||
cd ${env.TEST_DIR} || true
|
||||
time ${cmd}
|
||||
END"""
|
||||
|
||||
sh script: ssh_cmd, label: step_label
|
||||
}
|
||||
}
|
||||
|
||||
def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
|
||||
stage(stageName) {
|
||||
if (currentBuild.result != null) {
|
||||
return
|
||||
}
|
||||
|
||||
if (isReplay()) {
|
||||
error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
|
||||
}
|
||||
|
||||
def extra = extra_env.collect { "export ${it}" }.join('\n');
|
||||
def branch = env.BRANCH_NAME ?: 'master';
|
||||
def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
|
||||
|
||||
lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
|
||||
docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
|
||||
timeout(time: 35, unit: 'MINUTES') {
|
||||
retry (3) {
|
||||
def date = sh(script: 'date', returnStdout: true).trim();
|
||||
device(device_ip, "set time", "date -s '" + date + "'")
|
||||
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
|
||||
}
|
||||
steps.each { item ->
|
||||
def name = item[0]
|
||||
def cmd = item[1]
|
||||
|
||||
def args = item[2]
|
||||
def diffPaths = args.diffPaths ?: []
|
||||
def cmdTimeout = args.timeout ?: 9999
|
||||
|
||||
if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
|
||||
println "Skipping ${name}: no changes in ${diffPaths}."
|
||||
return
|
||||
} else {
|
||||
timeout(time: cmdTimeout, unit: 'SECONDS') {
|
||||
device(device_ip, name, cmd)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def hasPathChanged(String gitDiff, List<String> paths) {
|
||||
for (path in paths) {
|
||||
if (gitDiff.contains(path)) {
|
||||
return true
|
||||
}
|
||||
}
|
||||
return false
|
||||
}
|
||||
|
||||
def isReplay() {
|
||||
def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
|
||||
return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
|
||||
}
|
||||
|
||||
def setupCredentials() {
|
||||
withCredentials([
|
||||
string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
|
||||
]) {
|
||||
env.AZURE_TOKEN = "${AZURE_TOKEN}"
|
||||
}
|
||||
|
||||
withCredentials([
|
||||
string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
|
||||
]) {
|
||||
env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
|
||||
}
|
||||
|
||||
withCredentials([
|
||||
string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
|
||||
]) {
|
||||
env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
|
||||
}
|
||||
}
|
||||
|
||||
def step(String name, String cmd, Map args = [:]) {
|
||||
return [name, cmd, args]
|
||||
}
|
||||
|
||||
node {
|
||||
env.CI = "1"
|
||||
env.PYTHONWARNINGS = "error"
|
||||
env.TEST_DIR = "/data/openpilot"
|
||||
env.SOURCE_DIR = "/data/openpilot_source/"
|
||||
setupCredentials()
|
||||
|
||||
env.GIT_BRANCH = checkout(scm).GIT_BRANCH
|
||||
env.GIT_COMMIT = checkout(scm).GIT_COMMIT
|
||||
|
||||
def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
|
||||
'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
|
||||
def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
|
||||
|
||||
if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
|
||||
properties([
|
||||
disableConcurrentBuilds(abortPrevious: true)
|
||||
])
|
||||
}
|
||||
|
||||
try {
|
||||
if (env.BRANCH_NAME == 'devel-staging') {
|
||||
deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
|
||||
step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
}
|
||||
|
||||
if (env.BRANCH_NAME == '__nightly') {
|
||||
parallel (
|
||||
'nightly': {
|
||||
deviceStage("build nightly", "tizi-needs-can", [], [
|
||||
step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
'nightly-dev': {
|
||||
deviceStage("build nightly-dev", "tizi-needs-can", [], [
|
||||
step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
)
|
||||
}
|
||||
|
||||
if (!env.BRANCH_NAME.matches(excludeRegex)) {
|
||||
parallel (
|
||||
'onroad tests': {
|
||||
deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("check dirty", "release/check-dirty.sh"),
|
||||
step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
|
||||
])
|
||||
},
|
||||
'HW + Unit Tests': {
|
||||
deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
|
||||
step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
|
||||
step("test manager", "pytest system/manager/test/test_manager.py"),
|
||||
])
|
||||
},
|
||||
'camerad OX03C10': {
|
||||
deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
|
||||
])
|
||||
},
|
||||
'camerad OS04C10': {
|
||||
deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
|
||||
])
|
||||
},
|
||||
'sensord': {
|
||||
deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
|
||||
])
|
||||
},
|
||||
'replay': {
|
||||
deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
|
||||
step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
|
||||
])
|
||||
},
|
||||
'tizi': {
|
||||
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
|
||||
step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
|
||||
step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
|
||||
])
|
||||
},
|
||||
|
||||
)
|
||||
}
|
||||
} catch (Exception e) {
|
||||
currentBuild.result = 'FAILED'
|
||||
throw e
|
||||
}
|
||||
}
|
||||
+9
-19
@@ -1,30 +1,20 @@
|
||||
Copyright (c) 2019, Rick Lan
|
||||
MIT Non-Commercial License
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, and/or sublicense,
|
||||
for non-commercial purposes only, subject to the following conditions:
|
||||
Copyright (c) 2019, dragonpilot
|
||||
|
||||
- The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
- Commercial use (e.g. use in a product, service, or activity intended to
|
||||
generate revenue) is prohibited without explicit written permission from
|
||||
the copyright holder.
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, for non-commercial purposes only, subject to the following conditions:
|
||||
|
||||
- The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
|
||||
- Commercial use (e.g., use in a product, service, or activity intended to generate revenue) is prohibited without explicit written permission from dragonpilot. Contact ricklan@gmail.com for inquiries.
|
||||
- Any project that uses the Software must visibly mention the following acknowledgment: "This project uses software from dragonpilot and is licensed under a custom license requiring permission for use."
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
|
||||
---
|
||||
Copyright (c) 2018, Comma.ai, Inc.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense,
|
||||
and/or sell copies of the Software, and to permit persons to whom the
|
||||
Software is furnished to do so, subject to the following conditions:
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
|
||||
@@ -1,74 +1,110 @@
|
||||
|
||||
<div align="center" style="text-align: center;">
|
||||
|
||||
[Read this in English](README_EN.md)
|
||||
<h1>openpilot</h1>
|
||||
|
||||
# **🐲 dragonpilot - 賦予您的愛車「龍」之魂**
|
||||
<p>
|
||||
<b>openpilot is an operating system for robotics.</b>
|
||||
<br>
|
||||
Currently, it upgrades the driver assistance system in 300+ supported cars.
|
||||
</p>
|
||||
|
||||
**我們與您一同翱翔於更智慧、更貼心的駕駛旅程。**
|
||||
<h3>
|
||||
<a href="https://docs.comma.ai">Docs</a>
|
||||
<span> · </span>
|
||||
<a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
|
||||
<span> · </span>
|
||||
<a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
|
||||
<span> · </span>
|
||||
<a href="https://discord.comma.ai">Community</a>
|
||||
<span> · </span>
|
||||
<a href="https://comma.ai/shop">Try it on a comma 3X</a>
|
||||
</h3>
|
||||
|
||||
## **👋 嘿, 朋友，歡迎您的到來！**
|
||||
Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
|
||||
|
||||
`dragonpilot` 誕生於 2019 年，由三位早期的 openpilot 華人玩家共同創立。初衷很簡單：為廣大的華人用戶、玩家們提供一個友善的交流環境、更簡便的設定協助，並加入更多適合在地使用的貼心功能。
|
||||
[](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml)
|
||||
[](https://codecov.io/gh/commaai/openpilot)
|
||||
[](LICENSE)
|
||||
[](https://x.com/comma_ai)
|
||||
[](https://discord.comma.ai)
|
||||
|
||||
我們深知在地化的重要性，特別是語言的親切感。因此，我們率先導入了完整的中文介面，讓 `dragonpilot` 迅速在華語地區累積了口碑，也讓華人的使用者數量在全球名列前茅。這份來自在地的支持，是我們持續前進的最大動力。
|
||||
</div>
|
||||
|
||||
我們以功能強大的 [openpilot](https://github.com/commaai/openpilot) 為基礎——這套據美國消費者報告評測優於市售車方案的開源輔助駕駛系統——融入了更多在地化的巧思與客製化的溫度，希望能打造出最符合您需求的駕駛夥伴。(您也可以參考我們 repo 中保留的 [openpilot 原始說明檔案](README_OPENPILOT.md))
|
||||
<table>
|
||||
<tr>
|
||||
<td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
|
||||
<td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
|
||||
<td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
取名 `dragonpilot`，是因為我們希望它能像神話中的「龍」一樣，既強大又充滿智慧，為您的行車安全保駕護航。龍，在我們華人文化中，更是吉祥與力量的象徵，也代表著我們的根源與驕傲。
|
||||
|
||||
## **✨ dragonpilot 的里程碑**
|
||||
Using openpilot in a car
|
||||
------
|
||||
|
||||
我們不僅保留了 openpilot 的核心優勢，更達成了許多從社群回饋中誕生的里程碑，這些是我們引以為傲的足跡：
|
||||
To use openpilot in a car, you need four things:
|
||||
1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
|
||||
2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
|
||||
3. **Supported Car:** Ensure that you have one of [the 275+ 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.
|
||||
|
||||
* **🚘 全時置中車道維持 (ALKA)**
|
||||
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.
|
||||
|
||||
這不只是一個功能，更是 `dragonpilot` 的哲學。我們最早於 [0.6.2 版本](https://github.com/dragonpilot-community/dragonpilot/blob/2861467183d62151024320447ba04d18fc3fe1e6/selfdrive/car/toyota/carstate.py#L199) 時便實現了這個功能，其開發歷程始於 2017 Lexus IS300h，接著擴展至 Toyota 全車系，並逐步延伸到其他支援的品牌。它能溫柔地輔助您，讓車輛始終穩定地保持在車道中央，提供一份額外的安心與從容。
|
||||
### Branches
|
||||
| branch | URL | description |
|
||||
|------------------|----------------------------------------|-------------------------------------------------------------------------------------|
|
||||
| `release3` | openpilot.comma.ai | This is openpilot's release branch. |
|
||||
| `release3-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
|
||||
| `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
|
||||
| `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
|
||||
| `secretgoodopenpilot` | installer.comma.ai/commaai/secretgoodopenpilot | This is a preview branch from the autonomy team where new driving models get merged earlier than master. |
|
||||
|
||||
* **🌐 率先導入多國語言介面**
|
||||
To start developing openpilot
|
||||
------
|
||||
|
||||
在官方 openpilot 還未支援前，我們便已將多國語言介面實現。`dragonpilot` 完整支援繁體中文、簡體中文與英文，讓操作毫無隔閡。
|
||||
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).
|
||||
|
||||
* **💻 唯一同時支援多硬體平台**
|
||||
* 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)
|
||||
|
||||
我們是唯一曾致力於讓專案同時兼容 EON、comma two、comma 3 與 Jetson 平台的社群分支，這份努力是為了服務最廣大的玩家社群。
|
||||
此外，在 comma.ai 團隊於 0.10.0 版本宣布停止支持 comma 3 後，我們仍是唯一一個完整同時支援 comma 3、comma 3X 以及 O3、O3L、O3XL（O3 系列為副廠硬體）的社群分支。
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
|
||||
|
||||
* **📜 曾榮獲官方認證第一大分支**
|
||||
Safety and Testing
|
||||
----
|
||||
|
||||
基於活躍的社群與功能創新，`dragonpilot` 曾一度成長為 comma ai 官方認證的第一大 openpilot 分支，這份榮耀屬於每一位參與者。
|
||||
* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
|
||||
* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
|
||||
* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
|
||||
* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
|
||||
|
||||
## **🧑💻 設計理念 - 少即是多 (Less is More)**
|
||||
<details>
|
||||
<summary>MIT Licensed</summary>
|
||||
|
||||
隨著 openpilot 的 AI 模型日益強大，許多過去需要手動微調的功能，現在都已能透過更先進的模型來實現。因此，我們現在的開發重心回歸到 **「最小化修改」(minimal changes)** 的核心原則上。
|
||||
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
|
||||
我們的目標是為您提供最純粹、最接近官方的 openpilot 駕駛感受，同時保留 `dragonpilot` 那些經過時間考驗、最受社群喜愛的經典功能。我們相信，在強大的 AI 基礎上，簡潔即是力量。
|
||||
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
|
||||
## **🛠️ 硬件的足跡 - 一路走來的夥伴們**
|
||||
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
</details>
|
||||
|
||||
從最早的 **EON**，到官方的 **comma two / three (C2/C3/C3X)**，再到社群中各式各樣充滿智慧的**副廠機 (如 C1.5, O2, O3, O3L, O3XL 等)**，甚至我們也曾探索過在 [**Jetson Xavier NX**](https://github.com/eFiniLan/xnxpilot) 上的可能性。
|
||||
<details>
|
||||
<summary>User Data and comma Account</summary>
|
||||
|
||||
目前最新版本主要支援： comma3 / 3X 以及 O3 / O3L / O3XL 等社群硬體。
|
||||
針對 EON / C1.5 / C2 等舊款硬體，最後支援的版本位於 [d2 分支](https://github.com/dragonpilot-community/dragonpilot/tree/d2)。
|
||||
無論您手上是哪一款設備，都代表著您對開源駕駛輔助的一份熱情。
|
||||
By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
## **🫂 加入我們，成為「尋龍者」的一份子**
|
||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
||||
|
||||
`dragonpilot` 的成長，離不開每一位使用者的貢獻與回饋。我們是一個以**公開、透明**為原則的溫暖社群，希望在這裡能與所有對 openpilot / dragonpilot 有興趣的用戶分享、交流開發與使用上的經驗。
|
||||
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
|
||||
|
||||
[**歡迎加入我們的 Facebook 社團進行交流！**](https://www.facebook.com/groups/930190251238639)
|
||||
|
||||
## **❤️ 特別感謝**
|
||||
|
||||
`dragonpilot` 從創立至今，從未打算透過 Patreon 等平台進行任何形式的募資。我們的初衷是建立一個讓大家能一起學習、一起成長的社群。It's all about fun, not money.
|
||||
|
||||
然而，我們仍要對那些自發性支持本專案的朋友們，致上最誠摯的感謝。正是因為有您們的鼓勵，我們才有更大的動力持續前進。
|
||||
|
||||
[**我們的贊助者名單**](SPONSORS.md)
|
||||
|
||||
### **安全聲明**
|
||||
|
||||
`dragonpilot` 是一種駕駛**輔助**系統，並非全自動駕駛。它旨在減輕您的駕駛疲勞，提升行車安全，但駕駛人仍需時刻保持專注，並隨時準備接管車輛。請務必遵守您所在地區的交通法規。
|
||||
|
||||
**最後，再次感謝您的到來。**
|
||||
|
||||
**期待與您一同在智慧駕駛的道路上，乘「龍」而行！**
|
||||
By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
</details>
|
||||
|
||||
@@ -1,74 +0,0 @@
|
||||
|
||||
|
||||
[Read this in Chinese](README.md)
|
||||
|
||||
# **🐲 dragonpilot - Bringing the Spirit of the Dragon to Your Car**
|
||||
|
||||
**Join us on a smarter, more thoughtful driving journey.**
|
||||
|
||||
## **👋 Welcome, friend!**
|
||||
|
||||
`dragonpilot` was launched in 2019 by three early openpilot enthusiasts from the Chinese community. Our mission was simple: create a friendly space for users to share experiences, provide easier setup help, and add features tailored for local needs.
|
||||
|
||||
Localization has always been at the heart of what we do—starting with a fully Chinese interface. This made `dragonpilot` quickly popular in Chinese-speaking regions and helped our user base grow into one of the largest worldwide. That community support is what keeps us moving forward.
|
||||
|
||||
Built on top of the powerful [openpilot](https://github.com/commaai/openpilot)—an open-source driver assistance system rated by Consumer Reports as outperforming commercial offerings—we add localized refinements and user-focused features to create a driving companion that truly fits your needs. (You can also see the [original openpilot README](README_OPENPILOT.md) preserved in our repo.)
|
||||
|
||||
The name `dragonpilot` reflects our vision: like the dragon of mythology, it is strong and wise, guarding your safety on the road. In Chinese culture, the dragon is also a symbol of luck and strength, representing our roots and pride.
|
||||
|
||||
## **✨ Milestones**
|
||||
|
||||
Beyond carrying forward openpilot's core strengths, we've reached several milestones inspired by community feedback:
|
||||
|
||||
* **🚘 Always Lane Keep Assist (ALKA)**
|
||||
|
||||
More than a feature—it's part of the `dragonpilot` philosophy. Introduced as early as [version 0.6.2](https://github.com/dragonpilot-community/dragonpilot/blob/2861467183d62151024320447ba04d18fc3fe1e6/selfdrive/car/toyota/carstate.py#L199), first tested on a 2017 Lexus IS300h, then expanded to Toyota's lineup and beyond. ALKA helps keep your vehicle steadily centered, giving you extra confidence on the road.
|
||||
|
||||
* **🌐 First to add multilingual support**
|
||||
|
||||
Before openpilot officially supported it, we had already introduced multiple languages. `dragonpilot` fully supports Traditional Chinese, Simplified Chinese, and English.
|
||||
|
||||
* **💻 Only community fork to support multiple hardware platforms at once**
|
||||
|
||||
We uniquely worked to make the project run on EON, comma two, comma 3, and Jetson—serving the widest range of users possible.
|
||||
Additionally, after the comma.ai team deprecated the comma 3 in version 0.10.0, we remain the only community fork to offer full, simultaneous support for the comma 3, comma 3X, and the O3, O3L, and O3XL (the O3 series being third-party hardware).
|
||||
|
||||
* **📜 Once recognized as the #1 openpilot fork**
|
||||
|
||||
Thanks to an active community and continuous innovation, `dragonpilot` was once the largest openpilot fork officially recognized by comma ai. This honor belongs to everyone who contributed.
|
||||
|
||||
## **🧑💻 Design Philosophy - Less is More**
|
||||
|
||||
As openpilot's AI grows stronger, many features that once required manual tuning are now handled by advanced models. That's why our focus has returned to **“minimal changes.”**
|
||||
|
||||
We aim to give you the purest, most official-like openpilot driving experience—while preserving `dragonpilot`'s classic, community-loved features. With a solid AI foundation, simplicity is strength.
|
||||
|
||||
## **🛠️ Hardware Journey**
|
||||
|
||||
From the early **EON**, to official devices like **comma two / three (C2/C3/C3X)**, to creative community builds (**C1.5, O2, O3, O3L, O3XL, etc.**), and even experiments with [**Jetson Xavier NX**](https://github.com/eFiniLan/xnxpilot).
|
||||
|
||||
Currently, the latest versions support: **comma3 / 3X** and community hardware like **O3 / O3L / O3XL**.
|
||||
Older devices such as **EON / C1.5 / C2** are supported in the [d2 branch](https://github.com/dragonpilot-community/dragonpilot/tree/d2).
|
||||
Whatever device you're on, it represents your passion for open-source driver assistance.
|
||||
|
||||
## **🫂 Join Us – Become a “Dragon Seeker”**
|
||||
|
||||
`dragonpilot` thrives thanks to every user's contributions and feedback. We're an open, transparent, and welcoming community where enthusiasts can share experiences with openpilot and `dragonpilot`.
|
||||
|
||||
[**Join our Facebook group here!**](https://www.facebook.com/groups/930190251238639)
|
||||
|
||||
## **❤️ Special Thanks**
|
||||
|
||||
Since day one, `dragonpilot` has never asked for funding through Patreon or similar platforms. Our vision is a community where everyone learns and grows together. It's about fun, not money.
|
||||
|
||||
That said, we're deeply grateful to those who voluntarily supported the project. Your encouragement keeps us motivated to keep building.
|
||||
|
||||
[**See our sponsors**](SPONSORS.md)
|
||||
|
||||
### **Safety Notice**
|
||||
|
||||
`dragonpilot` is a driver **assistance** system, not full self-driving. It reduces fatigue and improves safety, but you must remain alert and ready to take control at all times. Always follow your local traffic laws.
|
||||
|
||||
**Thanks again for being here.**
|
||||
|
||||
**We look forward to riding the “dragon” with you on the road to smarter driving!**
|
||||
@@ -1,111 +0,0 @@
|
||||
<div align="center" style="text-align: center;">
|
||||
|
||||
<h1>openpilot</h1>
|
||||
|
||||
<p>
|
||||
<b>openpilot is an operating system for robotics.</b>
|
||||
<br>
|
||||
Currently, it upgrades the driver assistance system in 300+ supported cars.
|
||||
</p>
|
||||
|
||||
<h3>
|
||||
<a href="https://docs.comma.ai">Docs</a>
|
||||
<span> · </span>
|
||||
<a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
|
||||
<span> · </span>
|
||||
<a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
|
||||
<span> · </span>
|
||||
<a href="https://discord.comma.ai">Community</a>
|
||||
<span> · </span>
|
||||
<a href="https://comma.ai/shop">Try it on a comma 3X</a>
|
||||
</h3>
|
||||
|
||||
Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
|
||||
|
||||
[](https://github.com/commaai/openpilot/actions/workflows/tests.yaml)
|
||||
[](LICENSE)
|
||||
[](https://x.com/comma_ai)
|
||||
[](https://discord.comma.ai)
|
||||
|
||||
</div>
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
<td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
|
||||
<td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
|
||||
<td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
|
||||
Using openpilot in a car
|
||||
------
|
||||
|
||||
To use openpilot in a car, you need four things:
|
||||
1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
|
||||
2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
|
||||
3. **Supported Car:** Ensure that you have one of [the 275+ 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 3X to your car.
|
||||
|
||||
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.
|
||||
|
||||
|
||||
### Branches
|
||||
|
||||
Running `master` and other branches directly is supported, but it's recommended to run one of the following prebuilt branches:
|
||||
|
||||
| comma four branch | comma 3X branch | URL | description |
|
||||
|------------------------|------------------------|----------------------------------------|-------------------------------------------------------------------------------------|
|
||||
| `release-mici` | `release-tizi` | openpilot.comma.ai | This is openpilot's release branch. |
|
||||
| `release-mici-staging` | `release-tizi-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
|
||||
| `nightly` | `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
|
||||
| `nightly-dev` | `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
|
||||
|
||||
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/)
|
||||
* 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](https://comma.ai/bounties) for external contributors.
|
||||
|
||||
Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
|
||||
* openpilot has software-in-the-loop [tests](.github/workflows/tests.yaml) that run on every commit.
|
||||
* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
|
||||
* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
|
||||
|
||||
<details>
|
||||
<summary>MIT Licensed</summary>
|
||||
|
||||
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
|
||||
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
|
||||
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
</details>
|
||||
|
||||
<details>
|
||||
<summary>User Data and comma Account</summary>
|
||||
|
||||
By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
||||
|
||||
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
|
||||
|
||||
By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
</details>
|
||||
+1
-52
@@ -1,61 +1,10 @@
|
||||
Version 0.11.0 (2026-03-17)
|
||||
========================
|
||||
* New driving model #36798
|
||||
* Fully trained using a learned simulator
|
||||
* Improved longitudinal performance in Experimental mode
|
||||
* Reduce comma four standby power usage by 77% to 52 mW
|
||||
* Kia K7 2017 support thanks to royjr!
|
||||
* Lexus LS 2018 support thanks to Hacheoy!
|
||||
|
||||
Version 0.10.3 (2025-12-17)
|
||||
========================
|
||||
* New driving model #36249
|
||||
* New temporal policy architecture
|
||||
* New on-policy training physics noise model
|
||||
* New driver monitoring model #36409
|
||||
* Trained on a new dataset, including comma four data
|
||||
* Improved inter-process communication memory efficiency
|
||||
|
||||
Version 0.10.2 (2025-11-19)
|
||||
========================
|
||||
* comma four support
|
||||
|
||||
Version 0.10.1 (2025-09-08)
|
||||
========================
|
||||
* New driving model #36276
|
||||
* World Model: removed global localization inputs
|
||||
* World Model: 2x the number of parameters
|
||||
* World Model: trained on 4x the number of segments
|
||||
* VAE Compression Model: new architecture and training objective
|
||||
* Driving Vision Model: trained on 4x the number of segments
|
||||
* New Driver Monitoring model #36198
|
||||
* Acura TLX 2021 support thanks to MVL!
|
||||
* Honda City 2023 support thanks to vanillagorillaa and drFritz!
|
||||
* Honda N-Box 2018 support thanks to miettal!
|
||||
* Honda Odyssey 2021-25 support thanks to csouers and MVL!
|
||||
* Honda Passport 2026 support thanks to vanillagorillaa and MVL!
|
||||
|
||||
Version 0.10.0 (2025-08-05)
|
||||
========================
|
||||
* New driving model
|
||||
* New training architecture
|
||||
* Described in our CVPR paper: "Learning to Drive from a World Model"
|
||||
* Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
|
||||
* Action from lateral MPC as training objective replaced by E2E planning from World Model
|
||||
* Low-speed lead car ground-truth fixes
|
||||
* Enable live-learned steering actuation delay
|
||||
* Opt-in audio recording for dashcam video
|
||||
* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
|
||||
* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
|
||||
* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
|
||||
* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
|
||||
|
||||
Version 0.9.9 (2025-05-23)
|
||||
========================
|
||||
* New driving model
|
||||
* New training architecture using parts from MLSIM
|
||||
* Steering actuation delay is now learned online
|
||||
* Ford Escape 2023-24 support thanks to incognitojam!
|
||||
* Ford Expedition 2022-24 support thanks to alan-polk!
|
||||
* Ford Kuga 2024 support thanks to incognitojam!
|
||||
* Hyundai Nexo 2021 support thanks to sunnyhaibin!
|
||||
* Tesla Model 3 and Y support thanks to lukasloetkolben!
|
||||
|
||||
+250
-119
@@ -3,91 +3,205 @@ import subprocess
|
||||
import sys
|
||||
import sysconfig
|
||||
import platform
|
||||
import shlex
|
||||
import importlib
|
||||
import numpy as np
|
||||
|
||||
import SCons.Errors
|
||||
|
||||
SCons.Warnings.warningAsException(True)
|
||||
|
||||
# pending upstream fix - https://github.com/SCons/scons/issues/4461
|
||||
#SetOption('warn', 'all')
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
AGNOS = TICI
|
||||
|
||||
Decider('MD5-timestamp')
|
||||
|
||||
SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
|
||||
SetOption('num_jobs', int(os.cpu_count()/2))
|
||||
|
||||
AddOption('--kaitai',
|
||||
action='store_true',
|
||||
help='Regenerate kaitai struct parsers')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
AddOption('--ubsan',
|
||||
action='store_true',
|
||||
help='turn on UBSan')
|
||||
|
||||
AddOption('--coverage',
|
||||
action='store_true',
|
||||
help='build with test coverage options')
|
||||
|
||||
AddOption('--clazy',
|
||||
action='store_true',
|
||||
help='build with clazy')
|
||||
|
||||
AddOption('--compile_db',
|
||||
action='store_true',
|
||||
help='build clang compilation database')
|
||||
|
||||
AddOption('--ccflags',
|
||||
action='store',
|
||||
type='string',
|
||||
default='',
|
||||
help='pass arbitrary flags over the command line')
|
||||
|
||||
AddOption('--external-sconscript',
|
||||
action='store',
|
||||
metavar='FILE',
|
||||
dest='external_sconscript',
|
||||
help='add an external SConscript to the build')
|
||||
|
||||
AddOption('--mutation',
|
||||
action='store_true',
|
||||
help='generate mutation-ready code')
|
||||
|
||||
AddOption('--asan', action='store_true', help='turn on ASAN')
|
||||
AddOption('--ubsan', action='store_true', help='turn on UBSan')
|
||||
AddOption('--mutation', action='store_true', help='generate mutation-ready code')
|
||||
AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
|
||||
AddOption('--verbose', action='store_true', default=False, help='show full build commands')
|
||||
AddOption('--minimal',
|
||||
action='store_false',
|
||||
dest='extras',
|
||||
default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
|
||||
default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
|
||||
help='the minimum build to run openpilot. no tests, tools, etc.')
|
||||
|
||||
# Detect platform
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
## Architecture name breakdown (arch)
|
||||
## - larch64: linux tici aarch64
|
||||
## - aarch64: linux pc aarch64
|
||||
## - x86_64: linux pc x64
|
||||
## - Darwin: mac x64 or arm64
|
||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
elif arch == "aarch64" and os.path.isfile('/TICI'):
|
||||
brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
|
||||
elif arch == "aarch64" and AGNOS:
|
||||
arch = "larch64"
|
||||
assert arch in [
|
||||
"larch64", # linux tici arm64
|
||||
"aarch64", # linux pc arm64
|
||||
"x86_64", # linux pc x64
|
||||
"Darwin", # macOS arm64 (x86 not supported)
|
||||
]
|
||||
assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
|
||||
|
||||
pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
|
||||
pkgs = [importlib.import_module(name) for name in pkg_names]
|
||||
py_include = importlib.import_module('python3_dev').INCLUDE_DIR
|
||||
lenv = {
|
||||
"PATH": os.environ['PATH'],
|
||||
"LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
|
||||
"PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
|
||||
|
||||
"ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
|
||||
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
|
||||
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
|
||||
}
|
||||
|
||||
rpath = lenv["LD_LIBRARY_PATH"].copy()
|
||||
|
||||
if arch == "larch64":
|
||||
cpppath = [
|
||||
"#third_party/opencl/include",
|
||||
]
|
||||
|
||||
libpath = [
|
||||
"/usr/local/lib",
|
||||
"/system/vendor/lib64",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
]
|
||||
|
||||
libpath += [
|
||||
"#third_party/libyuv/larch64/lib",
|
||||
"/usr/lib/aarch64-linux-gnu"
|
||||
]
|
||||
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
rpath += ["/usr/local/lib"]
|
||||
else:
|
||||
cflags = []
|
||||
cxxflags = []
|
||||
cpppath = []
|
||||
rpath += []
|
||||
|
||||
# MacOS
|
||||
if arch == "Darwin":
|
||||
libpath = [
|
||||
f"#third_party/libyuv/{arch}/lib",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
f"{brew_prefix}/lib",
|
||||
f"{brew_prefix}/opt/openssl@3.0/lib",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
]
|
||||
|
||||
cflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cpppath += [
|
||||
f"{brew_prefix}/include",
|
||||
f"{brew_prefix}/opt/openssl@3.0/include",
|
||||
]
|
||||
lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
|
||||
# Linux
|
||||
else:
|
||||
libpath = [
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
f"#third_party/libyuv/{arch}/lib",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
if GetOption('asan'):
|
||||
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags = ["-fsanitize=address"]
|
||||
elif GetOption('ubsan'):
|
||||
ccflags = ["-fsanitize=undefined"]
|
||||
ldflags = ["-fsanitize=undefined"]
|
||||
else:
|
||||
ccflags = []
|
||||
ldflags = []
|
||||
|
||||
# no --as-needed on mac linker
|
||||
if arch != "Darwin":
|
||||
ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
|
||||
|
||||
ccflags_option = GetOption('ccflags')
|
||||
if ccflags_option:
|
||||
ccflags += ccflags_option.split(' ')
|
||||
|
||||
env = Environment(
|
||||
ENV={
|
||||
"PATH": os.environ['PATH'],
|
||||
"PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
|
||||
"ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
|
||||
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
|
||||
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
|
||||
},
|
||||
ENV=lenv,
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
|
||||
"-Wshadow",
|
||||
"-Wno-unknown-warning-option",
|
||||
"-Wno-inconsistent-missing-override",
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
"-Wno-vla-cxx-extension",
|
||||
],
|
||||
CFLAGS=["-std=gnu11"],
|
||||
CXXFLAGS=["-std=c++1z"],
|
||||
CPPPATH=[
|
||||
] + cflags + ccflags,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
"#",
|
||||
"#msgq",
|
||||
"#third_party",
|
||||
"#third_party/json11",
|
||||
"#third_party/linux/include",
|
||||
"#third_party/acados/include",
|
||||
"#third_party/acados/include/blasfeo/include",
|
||||
"#third_party/acados/include/hpipm/include",
|
||||
"#third_party/catch2/include",
|
||||
[x.INCLUDE_DIR for x in pkgs],
|
||||
"#third_party/libyuv/include",
|
||||
"#third_party/json11",
|
||||
"#third_party/linux/include",
|
||||
"#third_party",
|
||||
"#msgq",
|
||||
],
|
||||
LIBPATH=[
|
||||
"#common",
|
||||
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
LINKFLAGS=ldflags,
|
||||
|
||||
RPATH=rpath,
|
||||
|
||||
CFLAGS=["-std=gnu11"] + cflags,
|
||||
CXXFLAGS=["-std=c++1z"] + cxxflags,
|
||||
LIBPATH=libpath + [
|
||||
"#msgq_repo",
|
||||
"#third_party",
|
||||
"#selfdrive/pandad_tici" if "TICI_DOS" in os.environ else "#selfdrive/pandad",
|
||||
"#selfdrive/pandad",
|
||||
"#common",
|
||||
"#rednose/helpers",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
[x.LIB_DIR for x in pkgs],
|
||||
],
|
||||
RPATH=[],
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
COMPILATIONDB_USE_ABSPATH=True,
|
||||
REDNOSE_ROOT="#",
|
||||
@@ -95,107 +209,116 @@ env = Environment(
|
||||
toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
|
||||
)
|
||||
|
||||
# Arch-specific flags and paths
|
||||
if arch == "larch64":
|
||||
env["CC"] = "clang"
|
||||
env["CXX"] = "clang++"
|
||||
env.Append(LIBPATH=[
|
||||
"/usr/local/lib",
|
||||
"/system/vendor/lib64",
|
||||
"/usr/lib/aarch64-linux-gnu",
|
||||
])
|
||||
arch_flags = ["-D__TICI__", "-mcpu=cortex-a57"]
|
||||
env.Append(CCFLAGS=arch_flags)
|
||||
env.Append(CXXFLAGS=arch_flags)
|
||||
elif arch == "Darwin":
|
||||
env.Append(LIBPATH=[
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
])
|
||||
env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
|
||||
env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
|
||||
else:
|
||||
env.Append(LIBPATH=[
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
])
|
||||
if arch == "Darwin":
|
||||
# RPATH is not supported on macOS, instead use the linker flags
|
||||
darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
|
||||
env["LINKFLAGS"] += darwin_rpath_link_flags
|
||||
|
||||
# Sanitizers and extra CCFLAGS from CLI
|
||||
if GetOption('asan'):
|
||||
env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
|
||||
env.Append(LINKFLAGS=["-fsanitize=address"])
|
||||
elif GetOption('ubsan'):
|
||||
env.Append(CCFLAGS=["-fsanitize=undefined"])
|
||||
env.Append(LINKFLAGS=["-fsanitize=undefined"])
|
||||
if GetOption('compile_db'):
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
|
||||
_extra_cc = shlex.split(GetOption('ccflags') or '')
|
||||
if _extra_cc:
|
||||
env.Append(CCFLAGS=_extra_cc)
|
||||
# Setup cache dir
|
||||
cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
|
||||
CacheDir(cache_dir)
|
||||
Clean(["."], cache_dir)
|
||||
|
||||
# no --as-needed on mac linker
|
||||
if arch != "Darwin":
|
||||
env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
|
||||
|
||||
# Shorter build output: show brief descriptions instead of full commands.
|
||||
# Full command lines are still printed on failure by scons.
|
||||
if not GetOption('verbose'):
|
||||
for action, short in (
|
||||
("CC", "CC"),
|
||||
("CXX", "CXX"),
|
||||
("LINK", "LINK"),
|
||||
("SHCC", "CC"),
|
||||
("SHCXX", "CXX"),
|
||||
("SHLINK", "LINK"),
|
||||
("AR", "AR"),
|
||||
("RANLIB", "RANLIB"),
|
||||
("AS", "AS"),
|
||||
):
|
||||
env[f"{action}COMSTR"] = f" [{short}] $TARGET"
|
||||
|
||||
# progress output
|
||||
node_interval = 5
|
||||
node_count = 0
|
||||
def progress_function(node):
|
||||
global node_count
|
||||
node_count += node_interval
|
||||
sys.stderr.write("progress: %d\n" % node_count)
|
||||
|
||||
if os.environ.get('SCONS_PROGRESS'):
|
||||
Progress(progress_function, interval=node_interval)
|
||||
|
||||
# ********** Cython build environment **********
|
||||
# Cython build environment
|
||||
py_include = sysconfig.get_paths()['include']
|
||||
envCython = env.Clone()
|
||||
envCython["CPPPATH"] += [py_include, np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
envCython["CCFLAGS"].remove("-Werror")
|
||||
|
||||
envCython["LIBS"] = []
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
np_version = SCons.Script.Value(np.__version__)
|
||||
Export('envCython', 'np_version')
|
||||
|
||||
Export('env', 'arch')
|
||||
# Qt build environment
|
||||
qt_env = env.Clone()
|
||||
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
|
||||
|
||||
# Setup cache dir
|
||||
cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
|
||||
CacheDir(cache_dir)
|
||||
Clean(["."], cache_dir)
|
||||
qt_libs = []
|
||||
if arch == "Darwin":
|
||||
qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
|
||||
qt_dirs = [
|
||||
os.path.join(qt_env['QTDIR'], "include"),
|
||||
]
|
||||
qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
|
||||
qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
|
||||
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
|
||||
qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
|
||||
else:
|
||||
qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
|
||||
qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
|
||||
|
||||
# dragonpilot settings generation — runs every scons invocation, idempotent.
|
||||
# Writes common/params_keys.h in place; we don't declare a target so scons
|
||||
# treats it purely as a pre-build side effect.
|
||||
if env.Execute('./generate_settings.py') != 0:
|
||||
Exit('generate_settings.py failed')
|
||||
qt_env['QTDIR'] = qt_install_prefix
|
||||
qt_dirs = [
|
||||
f"{qt_install_headers}",
|
||||
]
|
||||
|
||||
# ********** start building stuff **********
|
||||
qt_gui_path = os.path.join(qt_install_headers, "QtGui")
|
||||
qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
|
||||
qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
|
||||
qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
|
||||
|
||||
qt_libs = [f"Qt5{m}" for m in qt_modules]
|
||||
if arch == "larch64":
|
||||
qt_libs += ["GLESv2", "wayland-client"]
|
||||
qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
|
||||
elif arch != "Darwin":
|
||||
qt_libs += ["GL"]
|
||||
qt_env['QT3DIR'] = qt_env['QTDIR']
|
||||
qt_env.Tool('qt3')
|
||||
|
||||
qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
|
||||
qt_flags = [
|
||||
"-D_REENTRANT",
|
||||
"-DQT_NO_DEBUG",
|
||||
"-DQT_WIDGETS_LIB",
|
||||
"-DQT_GUI_LIB",
|
||||
"-DQT_CORE_LIB",
|
||||
"-DQT_MESSAGELOGCONTEXT",
|
||||
]
|
||||
qt_env['CXXFLAGS'] += qt_flags
|
||||
qt_env['LIBPATH'] += ['#selfdrive/ui', ]
|
||||
qt_env['LIBS'] = qt_libs
|
||||
|
||||
if GetOption("clazy"):
|
||||
checks = [
|
||||
"level0",
|
||||
"level1",
|
||||
"no-range-loop",
|
||||
"no-non-pod-global-static",
|
||||
]
|
||||
qt_env['CXX'] = 'clazy'
|
||||
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
|
||||
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
|
||||
|
||||
Export('env', 'qt_env', 'arch', 'real_arch')
|
||||
|
||||
# Build common module
|
||||
SConscript(['common/SConscript'])
|
||||
Import('_common')
|
||||
Import('_common', '_gpucommon')
|
||||
|
||||
common = [_common, 'json11', 'zmq']
|
||||
Export('common')
|
||||
gpucommon = [_gpucommon]
|
||||
|
||||
Export('common', 'gpucommon')
|
||||
|
||||
# Build messaging (cereal + msgq + socketmaster + their dependencies)
|
||||
# Enable swaglog include in submodules
|
||||
@@ -213,15 +336,20 @@ Export('messaging')
|
||||
|
||||
# Build other submodules
|
||||
SConscript(['panda/SConscript'])
|
||||
SConscript(['panda_tici/SConscript'])
|
||||
|
||||
# Build rednose library
|
||||
SConscript(['rednose/SConscript'])
|
||||
|
||||
# Build system services
|
||||
SConscript([
|
||||
'system/ubloxd/SConscript',
|
||||
'system/loggerd/SConscript',
|
||||
])
|
||||
if arch != "Darwin":
|
||||
SConscript([
|
||||
'system/logcatd/SConscript',
|
||||
'system/proclogd/SConscript',
|
||||
])
|
||||
|
||||
if arch == "larch64":
|
||||
SConscript(['system/camerad/SConscript'])
|
||||
@@ -231,8 +359,11 @@ SConscript(['third_party/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/SConscript'])
|
||||
|
||||
if Dir('#tools/cabana/').exists() and arch != "larch64":
|
||||
SConscript(['tools/cabana/SConscript'])
|
||||
if Dir('#tools/cabana/').exists() and GetOption('extras'):
|
||||
SConscript(['tools/replay/SConscript'])
|
||||
if arch != "larch64":
|
||||
SConscript(['tools/cabana/SConscript'])
|
||||
|
||||
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
external_sconscript = GetOption('external_sconscript')
|
||||
if external_sconscript:
|
||||
SConscript([external_sconscript])
|
||||
|
||||
-26
@@ -1,26 +0,0 @@
|
||||
# Sponsors 贊助者
|
||||
|
||||
我們誠摯感謝以下贊助者提供的硬體資源，讓專案能夠在多種平台上進行測試與驗證。
|
||||
|
||||
We sincerely thank the following sponsors for providing hardware resources, which enable the project to be tested and validated across multiple platforms.
|
||||
|
||||
---
|
||||
|
||||
## 贊助者列表 Sponsors
|
||||
|
||||
| 贊助者 Sponsor | 設備 Deices | 備註 Notes |
|
||||
| -------------- | ----------- | ---------- |
|
||||
| BlueGood | <ul><li>Radar Filter x 2</li><li>sDSU x1</li></ul> | - |
|
||||
| Chia Chun Lee | <ul><li>C3 Quick Mount x1</li></ul> | - |
|
||||
| CloudJ | <ul><li>C3X x1</li></ul> | - |
|
||||
| FareWay | <ul><li>EON Quick Mount x1</li><li>C2/C3 Quick Mount x1</li></ul> | Special thanks for fixing my good old EON |
|
||||
| Fred Wang | <ul><li>Oneplus 3t x1</li></ul> | - |
|
||||
| Saber Huang | <ul><li>O3L x1</li></ul> | - |
|
||||
| [馬威 Mr. One](https://shop61532546.taobao.com/) | <ul><li>O3 x 1</li><li>O3 (Dev) x1</li><li>O3XL x1</li><li>Red Panda x1</li><li>Panda Jungle v1 x1</li></ul> | - |
|
||||
| 門文梁 | <ul><li>C1.5 x1</li></ul> | - |
|
||||
|
||||
---
|
||||
|
||||
🙏 沒有你們的支持，我們無法讓專案在這麼多硬體平台上持續成長與驗證。
|
||||
|
||||
Without your support, this project could not continue to grow and be validated across so many hardware platforms.
|
||||
+1
-1
@@ -13,7 +13,7 @@ cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
|
||||
|
||||
# Build messaging
|
||||
services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
|
||||
|
||||
socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
|
||||
|
||||
|
||||
+6
-11
@@ -10,24 +10,19 @@ $Cxx.namespace("cereal");
|
||||
# DO rename the structs
|
||||
# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
|
||||
|
||||
struct ControlsStateExt @0x81c2f05a394cf4af {
|
||||
struct DpControlsState @0x81c2f05a394cf4af {
|
||||
alkaActive @0 :Bool;
|
||||
}
|
||||
|
||||
struct CarStateExt @0xaedffd8f31e7b55d {
|
||||
# dp - ALKA: lkasOn state from carstate (mirrors panda's lkas_on)
|
||||
lkasOn @0 :Bool;
|
||||
}
|
||||
|
||||
struct ModelExt @0xf35cc4560bbf6ec2 {
|
||||
struct ModelExt @0xaedffd8f31e7b55d {
|
||||
leftEdgeDetected @0 :Bool;
|
||||
rightEdgeDetected @1 :Bool;
|
||||
}
|
||||
|
||||
struct DashyState @0xda96579883444c35 {
|
||||
# Pre-serialized JSON bytes for dashy UI
|
||||
# Aggregates all topics needed by dashy into single message
|
||||
json @0 :Data;
|
||||
struct CustomReserved2 @0xf35cc4560bbf6ec2 {
|
||||
}
|
||||
|
||||
struct CustomReserved3 @0xda96579883444c35 {
|
||||
}
|
||||
|
||||
struct CustomReserved4 @0x80ae746ee2596b11 {
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,832 @@
|
||||
// Generated by Cap'n Proto compiler, DO NOT EDIT
|
||||
// source: custom.capnp
|
||||
|
||||
#include "custom.capnp.h"
|
||||
|
||||
namespace capnp {
|
||||
namespace schemas {
|
||||
static const ::capnp::_::AlignedData<34> b_81c2f05a394cf4af = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
175, 244, 76, 57, 90, 240, 194, 129,
|
||||
13, 0, 0, 0, 1, 0, 1, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
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,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 68, 112, 67,
|
||||
111, 110, 116, 114, 111, 108, 115, 83,
|
||||
116, 97, 116, 101, 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, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 0, 0, 0, 3, 0, 1, 0,
|
||||
24, 0, 0, 0, 2, 0, 1, 0,
|
||||
97, 108, 107, 97, 65, 99, 116, 105,
|
||||
118, 101, 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,
|
||||
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, }
|
||||
};
|
||||
::capnp::word const* const bp_81c2f05a394cf4af = b_81c2f05a394cf4af.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_81c2f05a394cf4af[] = {0};
|
||||
static const uint16_t i_81c2f05a394cf4af[] = {0};
|
||||
const ::capnp::_::RawSchema s_81c2f05a394cf4af = {
|
||||
0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 34, nullptr, m_81c2f05a394cf4af,
|
||||
0, 1, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<51> b_aedffd8f31e7b55d = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
93, 181, 231, 49, 143, 253, 223, 174,
|
||||
13, 0, 0, 0, 1, 0, 1, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 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, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 0, 0, 0, 119, 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, 77, 111, 100,
|
||||
101, 108, 69, 120, 116, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
8, 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,
|
||||
41, 0, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
44, 0, 0, 0, 3, 0, 1, 0,
|
||||
56, 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,
|
||||
53, 0, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
56, 0, 0, 0, 3, 0, 1, 0,
|
||||
68, 0, 0, 0, 2, 0, 1, 0,
|
||||
108, 101, 102, 116, 69, 100, 103, 101,
|
||||
68, 101, 116, 101, 99, 116, 101, 100,
|
||||
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,
|
||||
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,
|
||||
114, 105, 103, 104, 116, 69, 100, 103,
|
||||
101, 68, 101, 116, 101, 99, 116, 101,
|
||||
100, 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,
|
||||
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, }
|
||||
};
|
||||
::capnp::word const* const bp_aedffd8f31e7b55d = b_aedffd8f31e7b55d.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_aedffd8f31e7b55d[] = {0, 1};
|
||||
static const uint16_t i_aedffd8f31e7b55d[] = {0, 1};
|
||||
const ::capnp::_::RawSchema s_aedffd8f31e7b55d = {
|
||||
0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 51, nullptr, m_aedffd8f31e7b55d,
|
||||
0, 2, i_aedffd8f31e7b55d, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_f35cc4560bbf6ec2 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
194, 110, 191, 11, 86, 196, 92, 243,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 50, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
|
||||
0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_da96579883444c35 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
53, 76, 68, 131, 152, 87, 150, 218,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 51, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_da96579883444c35 = b_da96579883444c35.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_da96579883444c35 = {
|
||||
0xda96579883444c35, b_da96579883444c35.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_da96579883444c35, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> 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,
|
||||
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,
|
||||
0, 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, 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, }
|
||||
};
|
||||
::capnp::word const* const bp_80ae746ee2596b11 = b_80ae746ee2596b11.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_80ae746ee2596b11 = {
|
||||
0x80ae746ee2596b11, b_80ae746ee2596b11.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_80ae746ee2596b11, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_a5cd762cd951a455 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
85, 164, 81, 217, 44, 118, 205, 165,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 53, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_a5cd762cd951a455 = b_a5cd762cd951a455.words;
|
||||
#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 }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_f98d843bfd7004a3 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
163, 4, 112, 253, 59, 132, 141, 249,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 54, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_f98d843bfd7004a3 = b_f98d843bfd7004a3.words;
|
||||
#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 }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_b86e6369214c01c8 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
200, 1, 76, 33, 105, 99, 110, 184,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 55, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_b86e6369214c01c8 = b_b86e6369214c01c8.words;
|
||||
#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 }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_f416ec09499d9d19 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
25, 157, 157, 73, 9, 236, 22, 244,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 56, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_f416ec09499d9d19 = b_f416ec09499d9d19.words;
|
||||
#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 }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_a1680744031fdb2d = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
45, 219, 31, 3, 68, 7, 104, 161,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 57, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_a1680744031fdb2d = b_a1680744031fdb2d.words;
|
||||
#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 }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_cb9fd56c7057593a = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
58, 89, 87, 112, 108, 213, 159, 203,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 48, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_cb9fd56c7057593a = b_cb9fd56c7057593a.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_cb9fd56c7057593a = {
|
||||
0xcb9fd56c7057593a, b_cb9fd56c7057593a.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_cb9fd56c7057593a, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_c2243c65e0340384 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
132, 3, 52, 224, 101, 60, 36, 194,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 49, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_c2243c65e0340384 = b_c2243c65e0340384.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_c2243c65e0340384 = {
|
||||
0xc2243c65e0340384, b_c2243c65e0340384.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_c2243c65e0340384, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_9ccdc8676701b412 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
18, 180, 1, 103, 103, 200, 205, 156,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_9ccdc8676701b412 = b_9ccdc8676701b412.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_9ccdc8676701b412 = {
|
||||
0x9ccdc8676701b412, b_9ccdc8676701b412.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_9ccdc8676701b412, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_cd96dafb67a082d0 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
208, 130, 160, 103, 251, 218, 150, 205,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 51, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_cd96dafb67a082d0 = b_cd96dafb67a082d0.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_cd96dafb67a082d0 = {
|
||||
0xcd96dafb67a082d0, b_cd96dafb67a082d0.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_cd96dafb67a082d0, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_b057204d7deadf3f = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
63, 223, 234, 125, 77, 32, 87, 176,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 52, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_b057204d7deadf3f = b_b057204d7deadf3f.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_b057204d7deadf3f = {
|
||||
0xb057204d7deadf3f, b_b057204d7deadf3f.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_b057204d7deadf3f, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_bd443b539493bc68 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
104, 188, 147, 148, 83, 59, 68, 189,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 53, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_bd443b539493bc68 = b_bd443b539493bc68.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_bd443b539493bc68 = {
|
||||
0xbd443b539493bc68, b_bd443b539493bc68.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_bd443b539493bc68, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_fc6241ed8877b611 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
17, 182, 119, 136, 237, 65, 98, 252,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 54, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_fc6241ed8877b611 = b_fc6241ed8877b611.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_fc6241ed8877b611 = {
|
||||
0xfc6241ed8877b611, b_fc6241ed8877b611.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_fc6241ed8877b611, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_a30662f84033036c = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
108, 3, 51, 64, 248, 98, 6, 163,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 55, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_a30662f84033036c = b_a30662f84033036c.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_a30662f84033036c = {
|
||||
0xa30662f84033036c, b_a30662f84033036c.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_a30662f84033036c, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_c86a3d38d13eb3ef = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
239, 179, 62, 209, 56, 61, 106, 200,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 56, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_c86a3d38d13eb3ef = b_c86a3d38d13eb3ef.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_c86a3d38d13eb3ef = {
|
||||
0xc86a3d38d13eb3ef, b_c86a3d38d13eb3ef.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_c86a3d38d13eb3ef, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_a4f1eb3323f5f582 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
130, 245, 245, 35, 51, 235, 241, 164,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 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,
|
||||
0, 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, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 57, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_a4f1eb3323f5f582 = b_a4f1eb3323f5f582.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_a4f1eb3323f5f582 = {
|
||||
0xa4f1eb3323f5f582, b_a4f1eb3323f5f582.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_a4f1eb3323f5f582, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
} // namespace schemas
|
||||
} // namespace capnp
|
||||
|
||||
// =======================================================================================
|
||||
|
||||
namespace cereal {
|
||||
|
||||
// DpControlsState
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t DpControlsState::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t DpControlsState::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind DpControlsState::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* DpControlsState::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// ModelExt
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t ModelExt::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t ModelExt::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind ModelExt::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* ModelExt::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved2
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved2::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved2::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved2::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved2::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved3
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved3::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved3::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved3::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved3::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved4
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved4::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved4::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved4::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved4::_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
|
||||
|
||||
// CustomReserved10
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved10::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved10::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved10::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved10::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved11
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved11::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved11::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved11::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved11::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved12
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved12::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved12::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved12::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved12::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved13
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved13::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved13::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved13::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved13::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved14
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved14::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved14::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved14::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved14::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved15
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved15::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved15::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved15::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved15::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved16
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved16::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved16::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved16::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved16::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved17
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved17::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved17::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved17::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved17::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved18
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved18::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved18::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved18::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved18::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved19
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved19::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved19::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved19::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved19::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
|
||||
} // namespace
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
+24
-58
@@ -87,7 +87,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
|
||||
laneChange @50;
|
||||
lowMemory @51;
|
||||
stockAeb @52;
|
||||
stockLkas @98;
|
||||
ldw @53;
|
||||
carUnrecognized @54;
|
||||
invalidLkasSetting @55;
|
||||
@@ -128,9 +127,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
|
||||
espActive @90;
|
||||
personalityChanged @91;
|
||||
aeb @92;
|
||||
userBookmark @95;
|
||||
excessiveActuation @96;
|
||||
audioFeedback @97;
|
||||
userFlag @95;
|
||||
|
||||
soundsUnavailableDEPRECATED @47;
|
||||
}
|
||||
@@ -495,12 +492,12 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
gpuTempC @27 :List(Float32);
|
||||
dspTempC @49 :Float32;
|
||||
memoryTempC @28 :Float32;
|
||||
nvmeTempC @35 :List(Float32);
|
||||
modemTempC @36 :List(Float32);
|
||||
pmicTempC @39 :List(Float32);
|
||||
intakeTempC @46 :Float32;
|
||||
exhaustTempC @47 :Float32;
|
||||
gnssTempC @48 :Float32;
|
||||
bottomSocTempC @50 :Float32;
|
||||
caseTempC @48 :Float32;
|
||||
maxTempC @44 :Float32; # max of other temps, used to control fan
|
||||
thermalZones @38 :List(ThermalZone);
|
||||
thermalStatus @14 :ThermalStatus;
|
||||
@@ -571,7 +568,6 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
chargingDisabledDEPRECATED @18 :Bool;
|
||||
usbOnlineDEPRECATED @12 :Bool;
|
||||
ambientTempCDEPRECATED @30 :Float32;
|
||||
nvmeTempCDEPRECATED @35 :List(Float32);
|
||||
}
|
||||
|
||||
struct PandaState @0xa7649e2575e4591e {
|
||||
@@ -587,13 +583,13 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
heartbeatLost @22 :Bool;
|
||||
interruptLoad @25 :Float32;
|
||||
fanPower @28 :UInt8;
|
||||
fanStallCount @34 :UInt8;
|
||||
|
||||
spiErrorCount @33 :UInt16;
|
||||
spiChecksumErrorCount @33 :UInt16;
|
||||
|
||||
harnessStatus @21 :HarnessStatus;
|
||||
sbu1Voltage @35 :Float32;
|
||||
sbu2Voltage @36 :Float32;
|
||||
soundOutputLevel @37 :UInt16;
|
||||
|
||||
# can health
|
||||
canState0 @29 :PandaCanState;
|
||||
@@ -716,7 +712,6 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
|
||||
safetyParamDEPRECATED @20 :Int16;
|
||||
safetyParam2DEPRECATED @26 :UInt32;
|
||||
fanStallCountDEPRECATED @34 :UInt8;
|
||||
}
|
||||
|
||||
struct PeripheralState {
|
||||
@@ -921,8 +916,6 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
saturated @7 :Bool;
|
||||
actualLateralAccel @9 :Float32;
|
||||
desiredLateralAccel @10 :Float32;
|
||||
desiredLateralJerk @11 :Float32;
|
||||
version @12 :Int32;
|
||||
}
|
||||
|
||||
struct LateralLQRState {
|
||||
@@ -1090,7 +1083,7 @@ struct ModelDataV2 {
|
||||
confidence @23: ConfidenceClass;
|
||||
|
||||
# Model perceived motion
|
||||
temporalPoseDEPRECATED @21 :Pose;
|
||||
temporalPose @21 :Pose;
|
||||
|
||||
# e2e lateral planner
|
||||
action @26: Action;
|
||||
@@ -1480,11 +1473,6 @@ struct ProcLog {
|
||||
|
||||
cmdline @15 :List(Text);
|
||||
exe @16 :Text;
|
||||
|
||||
# from /proc/<pid>/smaps_rollup (proportional/private memory)
|
||||
memPss @17 :UInt64; # Pss — shared pages split by mapper count
|
||||
memPssAnon @18 :UInt64; # Pss_Anon — private anonymous (heap, stack)
|
||||
memPssShmem @19 :UInt64; # Pss_Shmem — proportional MSGQ/tmpfs share
|
||||
}
|
||||
|
||||
struct CPUTimes {
|
||||
@@ -2156,10 +2144,13 @@ struct Joystick {
|
||||
struct DriverStateV2 {
|
||||
frameId @0 :UInt32;
|
||||
modelExecutionTime @1 :Float32;
|
||||
dspExecutionTimeDEPRECATED @2 :Float32;
|
||||
gpuExecutionTime @8 :Float32;
|
||||
rawPredictions @3 :Data;
|
||||
|
||||
poorVisionProb @4 :Float32;
|
||||
wheelOnRightProb @5 :Float32;
|
||||
|
||||
leftDriverData @6 :DriverData;
|
||||
rightDriverData @7 :DriverData;
|
||||
|
||||
@@ -2174,14 +2165,10 @@ struct DriverStateV2 {
|
||||
leftBlinkProb @7 :Float32;
|
||||
rightBlinkProb @8 :Float32;
|
||||
sunglassesProb @9 :Float32;
|
||||
phoneProb @13 :Float32;
|
||||
notReadyProbDEPRECATED @12 :List(Float32);
|
||||
occludedProbDEPRECATED @10 :Float32;
|
||||
readyProbDEPRECATED @11 :List(Float32);
|
||||
occludedProb @10 :Float32;
|
||||
readyProb @11 :List(Float32);
|
||||
notReadyProb @12 :List(Float32);
|
||||
}
|
||||
|
||||
dspExecutionTimeDEPRECATED @2 :Float32;
|
||||
poorVisionProbDEPRECATED @4 :Float32;
|
||||
}
|
||||
|
||||
struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
|
||||
@@ -2233,9 +2220,6 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
|
||||
hiStdCount @14 :UInt32;
|
||||
isActiveMode @16 :Bool;
|
||||
isRHD @4 :Bool;
|
||||
uncertainCount @19 :UInt32;
|
||||
phoneProbOffset @20 :Float32;
|
||||
phoneProbValidCount @21 :UInt32;
|
||||
|
||||
isPreviewDEPRECATED @15 :Bool;
|
||||
rhdCheckedDEPRECATED @5 :Bool;
|
||||
@@ -2297,7 +2281,6 @@ struct LiveTorqueParametersData {
|
||||
points @10 :List(List(Float32));
|
||||
version @11 :Int32;
|
||||
useParams @12 :Bool;
|
||||
calPerc @13 :Int8;
|
||||
}
|
||||
|
||||
struct LiveDelayData {
|
||||
@@ -2308,7 +2291,6 @@ struct LiveDelayData {
|
||||
lateralDelayEstimate @3 :Float32;
|
||||
lateralDelayEstimateStd @5 :Float32;
|
||||
points @4 :List(Float32);
|
||||
calPerc @6 :Int8;
|
||||
|
||||
enum Status {
|
||||
unestimated @0;
|
||||
@@ -2483,27 +2465,16 @@ struct DebugAlert {
|
||||
alertText2 @1 :Text;
|
||||
}
|
||||
|
||||
struct UserBookmark @0xfe346a9de48d9b50 {
|
||||
struct UserFlag {
|
||||
}
|
||||
|
||||
struct SoundPressure @0xdc24138990726023 {
|
||||
struct Microphone {
|
||||
soundPressure @0 :Float32;
|
||||
|
||||
# uncalibrated, A-weighted
|
||||
soundPressureWeighted @3 :Float32;
|
||||
soundPressureWeightedDb @1 :Float32;
|
||||
|
||||
filteredSoundPressureWeightedDbDEPRECATED @2 :Float32;
|
||||
}
|
||||
|
||||
struct AudioData {
|
||||
data @0 :Data;
|
||||
sampleRate @1 :UInt32;
|
||||
}
|
||||
|
||||
struct AudioFeedback {
|
||||
audio @0 :AudioData;
|
||||
blockNum @1 :UInt16;
|
||||
filteredSoundPressureWeightedDb @2 :Float32;
|
||||
}
|
||||
|
||||
struct Touch {
|
||||
@@ -2532,10 +2503,13 @@ struct Event {
|
||||
controlsState @7 :ControlsState;
|
||||
selfdriveState @130 :SelfdriveState;
|
||||
gyroscope @99 :SensorEventData;
|
||||
gyroscope2 @100 :SensorEventData;
|
||||
accelerometer @98 :SensorEventData;
|
||||
accelerometer2 @101 :SensorEventData;
|
||||
magnetometer @95 :SensorEventData;
|
||||
lightSensor @96 :SensorEventData;
|
||||
temperatureSensor @97 :SensorEventData;
|
||||
temperatureSensor2 @123 :SensorEventData;
|
||||
pandaStates @81 :List(PandaState);
|
||||
peripheralState @80 :PeripheralState;
|
||||
radarState @13 :RadarState;
|
||||
@@ -2580,8 +2554,7 @@ struct Event {
|
||||
livestreamDriverEncodeIdx @119 :EncodeIndex;
|
||||
|
||||
# microphone data
|
||||
soundPressure @103 :SoundPressure;
|
||||
rawAudioData @147 :AudioData;
|
||||
microphone @103 :Microphone;
|
||||
|
||||
# systems stuff
|
||||
androidLog @20 :AndroidLogEntry;
|
||||
@@ -2603,13 +2576,9 @@ struct Event {
|
||||
mapRenderState @105: MapRenderState;
|
||||
|
||||
# UI services
|
||||
userFlag @93 :UserFlag;
|
||||
uiDebug @102 :UIDebug;
|
||||
|
||||
# driving feedback
|
||||
userBookmark @93 :UserBookmark;
|
||||
bookmarkButton @148 :UserBookmark;
|
||||
audioFeedback @149 :AudioFeedback;
|
||||
|
||||
# *********** debug ***********
|
||||
testJoystick @52 :Joystick;
|
||||
roadEncodeData @86 :EncodeData;
|
||||
@@ -2633,10 +2602,10 @@ struct Event {
|
||||
# DO change the name of the field and struct
|
||||
# DON'T change the ID (e.g. @107)
|
||||
# DON'T change which struct it points to
|
||||
controlsStateExt @107 :Custom.ControlsStateExt;
|
||||
carStateExt @108 :Custom.CarStateExt;
|
||||
modelExt @109 :Custom.ModelExt;
|
||||
dashyState @110 :Custom.DashyState;
|
||||
dpControlsState @107 :Custom.DpControlsState;
|
||||
modelExt @108 :Custom.ModelExt;
|
||||
customReserved2 @109 :Custom.CustomReserved2;
|
||||
customReserved3 @110 :Custom.CustomReserved3;
|
||||
customReserved4 @111 :Custom.CustomReserved4;
|
||||
customReserved5 @112 :Custom.CustomReserved5;
|
||||
customReserved6 @113 :Custom.CustomReserved6;
|
||||
@@ -2698,8 +2667,5 @@ struct Event {
|
||||
liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
|
||||
liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
|
||||
onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
|
||||
gyroscope2DEPRECATED @100 :SensorEventData;
|
||||
accelerometer2DEPRECATED @101 :SensorEventData;
|
||||
temperatureSensor2DEPRECATED @123 :SensorEventData;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
# must be built with scons
|
||||
from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \
|
||||
Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
|
||||
set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
|
||||
from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
|
||||
set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
|
||||
from msgq.ipc_pyx import MultiplePublishersError, IpcError
|
||||
from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
|
||||
import msgq
|
||||
|
||||
import os
|
||||
import capnp
|
||||
import time
|
||||
@@ -11,25 +13,11 @@ from typing import Optional, List, Union, Dict
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.common.utils import MovingAverage
|
||||
from openpilot.common.util import MovingAverage
|
||||
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
|
||||
|
||||
def pub_sock(endpoint: str) -> PubSocket:
|
||||
service = SERVICE_LIST.get(endpoint)
|
||||
segment_size = service.queue_size if service else 0
|
||||
return msgq.pub_sock(endpoint, segment_size)
|
||||
|
||||
|
||||
def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
|
||||
conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
|
||||
service = SERVICE_LIST.get(endpoint)
|
||||
segment_size = service.queue_size if service else 0
|
||||
return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
|
||||
timeout=timeout, segment_size=segment_size)
|
||||
|
||||
|
||||
def reset_context():
|
||||
msgq.context = Context()
|
||||
|
||||
|
||||
Executable
BIN
Binary file not shown.
@@ -1,72 +0,0 @@
|
||||
#include <cassert>
|
||||
|
||||
#include "cereal/messaging/msgq_to_zmq.h"
|
||||
#include "cereal/services.h"
|
||||
#include "common/util.h"
|
||||
|
||||
ExitHandler do_exit;
|
||||
|
||||
static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
|
||||
std::vector<std::string> service_list;
|
||||
for (const auto& it : services) {
|
||||
std::string name = it.second.name;
|
||||
bool in_whitelist = whitelist_str.find(name) != std::string::npos;
|
||||
if (zmq_to_msgq && !in_whitelist) {
|
||||
continue;
|
||||
}
|
||||
service_list.push_back(name);
|
||||
}
|
||||
return service_list;
|
||||
}
|
||||
|
||||
void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
MsgqToZmq bridge;
|
||||
bridge.run(endpoints, ip);
|
||||
}
|
||||
|
||||
void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
auto poller = std::make_unique<BridgeZmqPoller>();
|
||||
auto pub_context = std::make_unique<Context>();
|
||||
auto sub_context = std::make_unique<BridgeZmqContext>();
|
||||
std::map<BridgeZmqSubSocket *, PubSocket *> sub2pub;
|
||||
|
||||
for (auto endpoint : endpoints) {
|
||||
auto pub_sock = new PubSocket();
|
||||
auto sub_sock = new BridgeZmqSubSocket();
|
||||
size_t queue_size = services.at(endpoint).queue_size;
|
||||
pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
|
||||
sub_sock->connect(sub_context.get(), endpoint, ip, false);
|
||||
|
||||
poller->registerSocket(sub_sock);
|
||||
sub2pub[sub_sock] = pub_sock;
|
||||
}
|
||||
|
||||
while (!do_exit) {
|
||||
for (auto sub_sock : poller->poll(100)) {
|
||||
std::unique_ptr<Message> msg(sub_sock->receive(true));
|
||||
if (msg) {
|
||||
sub2pub[sub_sock]->sendMessage(msg.get());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Clean up allocated sockets
|
||||
for (auto &[sub_sock, pub_sock] : sub2pub) {
|
||||
delete sub_sock;
|
||||
delete pub_sock;
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char **argv) {
|
||||
bool is_zmq_to_msgq = argc > 2;
|
||||
std::string ip = is_zmq_to_msgq ? argv[1] : "127.0.0.1";
|
||||
std::string whitelist_str = is_zmq_to_msgq ? std::string(argv[2]) : "";
|
||||
std::vector<std::string> endpoints = get_services(whitelist_str, is_zmq_to_msgq);
|
||||
|
||||
if (is_zmq_to_msgq) {
|
||||
zmq_to_msgq(endpoints, ip);
|
||||
} else {
|
||||
msgq_to_zmq(endpoints, ip);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
@@ -1,170 +0,0 @@
|
||||
#include "cereal/messaging/bridge_zmq.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <cstring>
|
||||
#include <unistd.h>
|
||||
|
||||
static size_t fnv1a_hash(const std::string &str) {
|
||||
const size_t fnv_prime = 0x100000001b3;
|
||||
size_t hash_value = 0xcbf29ce484222325;
|
||||
for (char c : str) {
|
||||
hash_value ^= (unsigned char)c;
|
||||
hash_value *= fnv_prime;
|
||||
}
|
||||
return hash_value;
|
||||
}
|
||||
|
||||
// FIXME: This is a hack to get the port number from the socket name, might have collisions.
|
||||
static int get_port(std::string endpoint) {
|
||||
size_t hash_value = fnv1a_hash(endpoint);
|
||||
int start_port = 8023;
|
||||
int max_port = 65535;
|
||||
return start_port + (hash_value % (max_port - start_port));
|
||||
}
|
||||
|
||||
BridgeZmqContext::BridgeZmqContext() {
|
||||
context = zmq_ctx_new();
|
||||
}
|
||||
|
||||
BridgeZmqContext::~BridgeZmqContext() {
|
||||
if (context != nullptr) {
|
||||
zmq_ctx_term(context);
|
||||
}
|
||||
}
|
||||
|
||||
void BridgeZmqMessage::init(size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
}
|
||||
|
||||
void BridgeZmqMessage::init(char *d, size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
memcpy(data, d, size);
|
||||
}
|
||||
|
||||
void BridgeZmqMessage::close() {
|
||||
if (size > 0) {
|
||||
delete[] data;
|
||||
}
|
||||
data = nullptr;
|
||||
size = 0;
|
||||
}
|
||||
|
||||
BridgeZmqMessage::~BridgeZmqMessage() {
|
||||
close();
|
||||
}
|
||||
|
||||
int BridgeZmqSubSocket::connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint) {
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
|
||||
if (sock == nullptr) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
|
||||
|
||||
if (conflate) {
|
||||
int arg = 1;
|
||||
zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
|
||||
}
|
||||
|
||||
int reconnect_ivl = 500;
|
||||
zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
|
||||
|
||||
full_endpoint = "tcp://" + address + ":";
|
||||
if (check_endpoint) {
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
return zmq_connect(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
void BridgeZmqSubSocket::setTimeout(int timeout) {
|
||||
zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
|
||||
}
|
||||
|
||||
Message *BridgeZmqSubSocket::receive(bool non_blocking) {
|
||||
zmq_msg_t msg;
|
||||
assert(zmq_msg_init(&msg) == 0);
|
||||
|
||||
int flags = non_blocking ? ZMQ_DONTWAIT : 0;
|
||||
int rc = zmq_msg_recv(&msg, sock, flags);
|
||||
|
||||
Message *ret = nullptr;
|
||||
if (rc >= 0) {
|
||||
ret = new BridgeZmqMessage;
|
||||
ret->init((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
|
||||
}
|
||||
|
||||
zmq_msg_close(&msg);
|
||||
return ret;
|
||||
}
|
||||
|
||||
BridgeZmqSubSocket::~BridgeZmqSubSocket() {
|
||||
if (sock != nullptr) {
|
||||
zmq_close(sock);
|
||||
}
|
||||
}
|
||||
|
||||
int BridgeZmqPubSocket::connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint) {
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
|
||||
if (sock == nullptr) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
full_endpoint = "tcp://*:";
|
||||
if (check_endpoint) {
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
// ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same.
|
||||
pid = getpid();
|
||||
|
||||
return zmq_bind(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
int BridgeZmqPubSocket::sendMessage(Message *message) {
|
||||
assert(pid == getpid());
|
||||
return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
int BridgeZmqPubSocket::send(char *data, size_t size) {
|
||||
assert(pid == getpid());
|
||||
return zmq_send(sock, data, size, ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
BridgeZmqPubSocket::~BridgeZmqPubSocket() {
|
||||
if (sock != nullptr) {
|
||||
zmq_close(sock);
|
||||
}
|
||||
}
|
||||
|
||||
void BridgeZmqPoller::registerSocket(BridgeZmqSubSocket *socket) {
|
||||
assert(num_polls + 1 < (sizeof(polls) / sizeof(polls[0])));
|
||||
polls[num_polls].socket = socket->getRawSocket();
|
||||
polls[num_polls].events = ZMQ_POLLIN;
|
||||
|
||||
sockets.push_back(socket);
|
||||
num_polls++;
|
||||
}
|
||||
|
||||
std::vector<BridgeZmqSubSocket *> BridgeZmqPoller::poll(int timeout) {
|
||||
std::vector<BridgeZmqSubSocket *> ret;
|
||||
|
||||
int rc = zmq_poll(polls, num_polls, timeout);
|
||||
if (rc < 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < num_polls; i++) {
|
||||
if (polls[i].revents) {
|
||||
ret.push_back(sockets[i]);
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
@@ -1,72 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstddef>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include <zmq.h>
|
||||
|
||||
#include "msgq/ipc.h"
|
||||
|
||||
class BridgeZmqContext {
|
||||
public:
|
||||
BridgeZmqContext();
|
||||
void *getRawContext() { return context; }
|
||||
~BridgeZmqContext();
|
||||
|
||||
private:
|
||||
void *context = nullptr;
|
||||
};
|
||||
|
||||
class BridgeZmqMessage : public Message {
|
||||
public:
|
||||
void init(size_t size);
|
||||
void init(char *data, size_t size);
|
||||
void close();
|
||||
size_t getSize() { return size; }
|
||||
char *getData() { return data; }
|
||||
~BridgeZmqMessage();
|
||||
|
||||
private:
|
||||
char *data = nullptr;
|
||||
size_t size = 0;
|
||||
};
|
||||
|
||||
class BridgeZmqSubSocket {
|
||||
public:
|
||||
int connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true);
|
||||
void setTimeout(int timeout);
|
||||
Message *receive(bool non_blocking = false);
|
||||
void *getRawSocket() { return sock; }
|
||||
~BridgeZmqSubSocket();
|
||||
|
||||
private:
|
||||
void *sock = nullptr;
|
||||
std::string full_endpoint;
|
||||
};
|
||||
|
||||
class BridgeZmqPubSocket {
|
||||
public:
|
||||
int connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint = true);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
void *getRawSocket() { return sock; }
|
||||
~BridgeZmqPubSocket();
|
||||
|
||||
private:
|
||||
void *sock = nullptr;
|
||||
std::string full_endpoint;
|
||||
int pid = -1;
|
||||
};
|
||||
|
||||
class BridgeZmqPoller {
|
||||
public:
|
||||
void registerSocket(BridgeZmqSubSocket *socket);
|
||||
std::vector<BridgeZmqSubSocket *> poll(int timeout);
|
||||
|
||||
private:
|
||||
static constexpr size_t MAX_BRIDGE_ZMQ_POLLERS = 128;
|
||||
std::vector<BridgeZmqSubSocket *> sockets;
|
||||
zmq_pollitem_t polls[MAX_BRIDGE_ZMQ_POLLERS] = {};
|
||||
size_t num_polls = 0;
|
||||
};
|
||||
@@ -1,146 +0,0 @@
|
||||
#include "cereal/messaging/msgq_to_zmq.h"
|
||||
|
||||
#include <cassert>
|
||||
|
||||
#include "cereal/services.h"
|
||||
#include "common/util.h"
|
||||
|
||||
extern ExitHandler do_exit;
|
||||
|
||||
// Max messages to process per socket per poll
|
||||
constexpr int MAX_MESSAGES_PER_SOCKET = 50;
|
||||
|
||||
static std::string recv_zmq_msg(void *sock) {
|
||||
zmq_msg_t msg;
|
||||
zmq_msg_init(&msg);
|
||||
std::string ret;
|
||||
if (zmq_msg_recv(&msg, sock, 0) > 0) {
|
||||
ret.assign((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
|
||||
}
|
||||
zmq_msg_close(&msg);
|
||||
return ret;
|
||||
}
|
||||
|
||||
void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
zmq_context = std::make_unique<BridgeZmqContext>();
|
||||
msgq_context = std::make_unique<Context>();
|
||||
|
||||
// Create ZMQPubSockets for each endpoint
|
||||
for (const auto &endpoint : endpoints) {
|
||||
auto &socket_pair = socket_pairs.emplace_back();
|
||||
socket_pair.endpoint = endpoint;
|
||||
socket_pair.pub_sock = std::make_unique<BridgeZmqPubSocket>();
|
||||
int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
|
||||
if (ret != 0) {
|
||||
printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// Start ZMQ monitoring thread to monitor socket events
|
||||
std::thread thread(&MsgqToZmq::zmqMonitorThread, this);
|
||||
|
||||
// Main loop for processing messages
|
||||
while (!do_exit) {
|
||||
{
|
||||
std::unique_lock lk(mutex);
|
||||
cv.wait(lk, [this]() { return do_exit || !sub2pub.empty(); });
|
||||
if (do_exit) break;
|
||||
|
||||
for (auto sub_sock : msgq_poller->poll(100)) {
|
||||
// Process messages for each socket
|
||||
BridgeZmqPubSocket *pub_sock = sub2pub.at(sub_sock);
|
||||
for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
|
||||
auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
|
||||
if (!msg) break;
|
||||
|
||||
while (pub_sock->sendMessage(msg.get()) == -1) {
|
||||
if (errno != EINTR) break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
util::sleep_for(1); // Give zmqMonitorThread a chance to acquire the mutex
|
||||
}
|
||||
|
||||
thread.join();
|
||||
}
|
||||
|
||||
void MsgqToZmq::zmqMonitorThread() {
|
||||
std::vector<zmq_pollitem_t> pollitems;
|
||||
|
||||
// Set up ZMQ monitor for each pub socket
|
||||
for (int i = 0; i < socket_pairs.size(); ++i) {
|
||||
std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
|
||||
|
||||
void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
|
||||
zmq_connect(monitor_socket, addr.c_str());
|
||||
pollitems.emplace_back(zmq_pollitem_t{.socket = monitor_socket, .events = ZMQ_POLLIN});
|
||||
}
|
||||
|
||||
while (!do_exit) {
|
||||
int ret = zmq_poll(pollitems.data(), pollitems.size(), 1000);
|
||||
if (ret < 0) {
|
||||
if (errno == EINTR) {
|
||||
// Due to frequent EINTR signals from msgq, introduce a brief delay (200 ms)
|
||||
// to reduce CPU usage during retry attempts.
|
||||
util::sleep_for(200);
|
||||
}
|
||||
continue;
|
||||
}
|
||||
|
||||
for (int i = 0; i < pollitems.size(); ++i) {
|
||||
if (pollitems[i].revents & ZMQ_POLLIN) {
|
||||
// First frame in message contains event number and value
|
||||
std::string frame = recv_zmq_msg(pollitems[i].socket);
|
||||
if (frame.empty()) continue;
|
||||
|
||||
uint16_t event_type = *(uint16_t *)(frame.data());
|
||||
|
||||
// Second frame in message contains event address
|
||||
frame = recv_zmq_msg(pollitems[i].socket);
|
||||
if (frame.empty()) continue;
|
||||
|
||||
std::unique_lock lk(mutex);
|
||||
auto &pair = socket_pairs[i];
|
||||
if (event_type & ZMQ_EVENT_ACCEPTED) {
|
||||
printf("socket [%s] connected\n", pair.endpoint.c_str());
|
||||
if (++pair.connected_clients == 1) {
|
||||
// Create new MSGQ subscriber socket and map to ZMQ publisher
|
||||
pair.sub_sock = std::make_unique<MSGQSubSocket>();
|
||||
size_t queue_size = services.at(pair.endpoint).queue_size;
|
||||
pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size);
|
||||
sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
|
||||
registerSockets();
|
||||
}
|
||||
} else if (event_type & ZMQ_EVENT_DISCONNECTED) {
|
||||
printf("socket [%s] disconnected\n", pair.endpoint.c_str());
|
||||
if (pair.connected_clients == 0 || --pair.connected_clients == 0) {
|
||||
// Remove MSGQ subscriber socket from mapping and reset it
|
||||
sub2pub.erase(pair.sub_sock.get());
|
||||
pair.sub_sock.reset(nullptr);
|
||||
registerSockets();
|
||||
}
|
||||
}
|
||||
cv.notify_one();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Clean up monitor sockets
|
||||
for (int i = 0; i < pollitems.size(); ++i) {
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), nullptr, 0);
|
||||
zmq_close(pollitems[i].socket);
|
||||
}
|
||||
cv.notify_one();
|
||||
}
|
||||
|
||||
void MsgqToZmq::registerSockets() {
|
||||
msgq_poller = std::make_unique<MSGQPoller>();
|
||||
for (const auto &socket_pair : socket_pairs) {
|
||||
if (socket_pair.sub_sock) {
|
||||
msgq_poller->registerSocket(socket_pair.sub_sock.get());
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -7,8 +7,9 @@
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#define private public
|
||||
#include "msgq/impl_msgq.h"
|
||||
#include "cereal/messaging/bridge_zmq.h"
|
||||
#include "msgq/impl_zmq.h"
|
||||
|
||||
class MsgqToZmq {
|
||||
public:
|
||||
@@ -21,16 +22,16 @@ protected:
|
||||
|
||||
struct SocketPair {
|
||||
std::string endpoint;
|
||||
std::unique_ptr<BridgeZmqPubSocket> pub_sock;
|
||||
std::unique_ptr<ZMQPubSocket> pub_sock;
|
||||
std::unique_ptr<MSGQSubSocket> sub_sock;
|
||||
int connected_clients = 0;
|
||||
};
|
||||
|
||||
std::unique_ptr<Context> msgq_context;
|
||||
std::unique_ptr<BridgeZmqContext> zmq_context;
|
||||
std::unique_ptr<MSGQContext> msgq_context;
|
||||
std::unique_ptr<ZMQContext> zmq_context;
|
||||
std::mutex mutex;
|
||||
std::condition_variable cv;
|
||||
std::unique_ptr<MSGQPoller> msgq_poller;
|
||||
std::map<SubSocket *, BridgeZmqPubSocket *> sub2pub;
|
||||
std::map<SubSocket *, ZMQPubSocket *> sub2pub;
|
||||
std::vector<SocketPair> socket_pairs;
|
||||
};
|
||||
|
||||
@@ -1,204 +0,0 @@
|
||||
#include <assert.h>
|
||||
#include <stdlib.h>
|
||||
#include <string>
|
||||
#include <mutex>
|
||||
|
||||
#include "cereal/services.h"
|
||||
#include "cereal/messaging/messaging.h"
|
||||
|
||||
const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
|
||||
|
||||
static inline bool inList(const std::vector<const char *> &list, const char *value) {
|
||||
for (auto &v : list) {
|
||||
if (strcmp(value, v) == 0) return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
class MessageContext {
|
||||
public:
|
||||
MessageContext() : ctx_(nullptr) {}
|
||||
~MessageContext() { delete ctx_; }
|
||||
inline Context *context() {
|
||||
std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
|
||||
return ctx_;
|
||||
}
|
||||
private:
|
||||
Context *ctx_;
|
||||
std::once_flag init_flag;
|
||||
};
|
||||
|
||||
MessageContext message_context;
|
||||
|
||||
struct SubMaster::SubMessage {
|
||||
std::string name;
|
||||
SubSocket *socket = nullptr;
|
||||
float freq = 0.0f;
|
||||
bool updated = false, alive = false, valid = false, ignore_alive;
|
||||
uint64_t rcv_time = 0, rcv_frame = 0;
|
||||
void *allocated_msg_reader = nullptr;
|
||||
bool is_polled = false;
|
||||
capnp::FlatArrayMessageReader *msg_reader = nullptr;
|
||||
AlignedBuffer aligned_buf;
|
||||
cereal::Event::Reader event;
|
||||
};
|
||||
|
||||
SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll,
|
||||
const char *address, const std::vector<const char *> &ignore_alive) {
|
||||
poller_ = Poller::create();
|
||||
for (auto name : service_list) {
|
||||
assert(services.count(std::string(name)) > 0);
|
||||
|
||||
service serv = services.at(std::string(name));
|
||||
SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size);
|
||||
assert(socket != 0);
|
||||
bool is_polled = inList(poll, name) || poll.empty();
|
||||
if (is_polled) poller_->registerSocket(socket);
|
||||
SubMessage *m = new SubMessage{
|
||||
.name = name,
|
||||
.socket = socket,
|
||||
.freq = serv.frequency,
|
||||
.ignore_alive = inList(ignore_alive, name),
|
||||
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
|
||||
.is_polled = is_polled};
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
|
||||
messages_[socket] = m;
|
||||
services_[name] = m;
|
||||
}
|
||||
}
|
||||
|
||||
void SubMaster::update(int timeout) {
|
||||
for (auto &kv : messages_) kv.second->updated = false;
|
||||
|
||||
auto sockets = poller_->poll(timeout);
|
||||
|
||||
// add non-polled sockets for non-blocking receive
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
SubSocket *s = kv.first;
|
||||
if (!m->is_polled) sockets.push_back(s);
|
||||
}
|
||||
|
||||
uint64_t current_time = nanos_since_boot();
|
||||
|
||||
std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
|
||||
|
||||
for (auto s : sockets) {
|
||||
Message *msg = s->receive(true);
|
||||
if (msg == nullptr) continue;
|
||||
|
||||
SubMessage *m = messages_.at(s);
|
||||
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
capnp::ReaderOptions options;
|
||||
options.traversalLimitInWords = kj::maxValue; // Don't limit
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
|
||||
delete msg;
|
||||
messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
|
||||
}
|
||||
|
||||
update_msgs(current_time, messages);
|
||||
}
|
||||
|
||||
void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
|
||||
if (++frame == UINT64_MAX) frame = 1;
|
||||
|
||||
for (auto &kv : messages) {
|
||||
auto m_find = services_.find(kv.first);
|
||||
if (m_find == services_.end()){
|
||||
continue;
|
||||
}
|
||||
SubMessage *m = m_find->second;
|
||||
m->event = kv.second;
|
||||
m->updated = true;
|
||||
m->rcv_time = current_time;
|
||||
m->rcv_frame = frame;
|
||||
m->valid = m->event.getValid();
|
||||
if (SIMULATION) m->alive = true;
|
||||
}
|
||||
|
||||
if (!SIMULATION) {
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
|
||||
int found = 0;
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
|
||||
found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
|
||||
}
|
||||
}
|
||||
return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
|
||||
}
|
||||
|
||||
void SubMaster::drain() {
|
||||
while (true) {
|
||||
auto polls = poller_->poll(0);
|
||||
if (polls.size() == 0)
|
||||
break;
|
||||
|
||||
for (auto sock : polls) {
|
||||
Message *msg = sock->receive(true);
|
||||
delete msg;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool SubMaster::updated(const char *name) const {
|
||||
return services_.at(name)->updated;
|
||||
}
|
||||
|
||||
bool SubMaster::alive(const char *name) const {
|
||||
return services_.at(name)->alive;
|
||||
}
|
||||
|
||||
bool SubMaster::valid(const char *name) const {
|
||||
return services_.at(name)->valid;
|
||||
}
|
||||
|
||||
uint64_t SubMaster::rcv_frame(const char *name) const {
|
||||
return services_.at(name)->rcv_frame;
|
||||
}
|
||||
|
||||
uint64_t SubMaster::rcv_time(const char *name) const {
|
||||
return services_.at(name)->rcv_time;
|
||||
}
|
||||
|
||||
cereal::Event::Reader &SubMaster::operator[](const char *name) const {
|
||||
return services_.at(name)->event;
|
||||
}
|
||||
|
||||
SubMaster::~SubMaster() {
|
||||
delete poller_;
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
free(m->allocated_msg_reader);
|
||||
delete m->socket;
|
||||
delete m;
|
||||
}
|
||||
}
|
||||
|
||||
PubMaster::PubMaster(const std::vector<const char *> &service_list) {
|
||||
for (auto name : service_list) {
|
||||
assert(services.count(name) > 0);
|
||||
service serv = services.at(std::string(name));
|
||||
PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size);
|
||||
assert(socket);
|
||||
sockets_[name] = socket;
|
||||
}
|
||||
}
|
||||
|
||||
int PubMaster::send(const char *name, MessageBuilder &msg) {
|
||||
auto bytes = msg.toBytes();
|
||||
return send(name, bytes.begin(), bytes.size());
|
||||
}
|
||||
|
||||
PubMaster::~PubMaster() {
|
||||
for (auto s : sockets_) delete s.second;
|
||||
}
|
||||
@@ -1,185 +0,0 @@
|
||||
import os
|
||||
import capnp
|
||||
import multiprocessing
|
||||
import numbers
|
||||
import random
|
||||
import threading
|
||||
import time
|
||||
from openpilot.common.parameterized import parameterized
|
||||
import pytest
|
||||
|
||||
from cereal import log, car
|
||||
import cereal.messaging as messaging
|
||||
from cereal.services import SERVICE_LIST
|
||||
|
||||
events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]
|
||||
|
||||
def random_sock():
|
||||
return random.choice(events)
|
||||
|
||||
def random_socks(num_socks=10):
|
||||
return list({random_sock() for _ in range(num_socks)})
|
||||
|
||||
def random_bytes(length=1000):
|
||||
return bytes([random.randrange(0xFF) for _ in range(length)])
|
||||
|
||||
def zmq_sleep(t=1):
|
||||
if "ZMQ" in os.environ:
|
||||
time.sleep(t)
|
||||
|
||||
|
||||
# TODO: this should take any capnp struct and returrn a msg with random populated data
|
||||
def random_carstate():
|
||||
fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
|
||||
msg = messaging.new_message("carState")
|
||||
cs = msg.carState
|
||||
for f in fields:
|
||||
setattr(cs, f, random.random() * 10)
|
||||
return msg
|
||||
|
||||
# TODO: this should compare any capnp structs
|
||||
def assert_carstate(cs1, cs2):
|
||||
for f in car.CarState.schema.non_union_fields:
|
||||
# TODO: check all types
|
||||
val1, val2 = getattr(cs1, f), getattr(cs2, f)
|
||||
if isinstance(val1, numbers.Number):
|
||||
assert val1 == val2, f"{f}: sent '{val1}' vs recvd '{val2}'"
|
||||
|
||||
def delayed_send(delay, sock, dat):
|
||||
def send_func():
|
||||
sock.send(dat)
|
||||
threading.Timer(delay, send_func).start()
|
||||
|
||||
|
||||
class TestMessaging:
|
||||
def setUp(self):
|
||||
# TODO: ZMQ tests are too slow; all sleeps will need to be
|
||||
# replaced with logic to block on the necessary condition
|
||||
if "ZMQ" in os.environ:
|
||||
pytest.skip()
|
||||
|
||||
# ZMQ pub socket takes too long to die
|
||||
# sleep to prevent multiple publishers error between tests
|
||||
zmq_sleep()
|
||||
|
||||
@parameterized.expand(events)
|
||||
def test_new_message(self, evt):
|
||||
try:
|
||||
msg = messaging.new_message(evt)
|
||||
except capnp.lib.capnp.KjException:
|
||||
msg = messaging.new_message(evt, random.randrange(200))
|
||||
assert (time.monotonic() - msg.logMonoTime) < 0.1
|
||||
assert not msg.valid
|
||||
assert evt == msg.which()
|
||||
|
||||
@parameterized.expand(events)
|
||||
def test_pub_sock(self, evt):
|
||||
messaging.pub_sock(evt)
|
||||
|
||||
@parameterized.expand(events)
|
||||
def test_sub_sock(self, evt):
|
||||
messaging.sub_sock(evt)
|
||||
|
||||
@parameterized.expand([
|
||||
(messaging.drain_sock, capnp._DynamicStructReader),
|
||||
(messaging.drain_sock_raw, bytes),
|
||||
])
|
||||
def test_drain_sock(self, func, expected_type):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=1000)
|
||||
zmq_sleep()
|
||||
|
||||
# no wait and no msgs in queue
|
||||
msgs = func(sub_sock)
|
||||
assert isinstance(msgs, list)
|
||||
assert len(msgs) == 0
|
||||
|
||||
# no wait but msgs are queued up
|
||||
num_msgs = random.randrange(3, 10)
|
||||
for _ in range(num_msgs):
|
||||
pub_sock.send(messaging.new_message(sock).to_bytes())
|
||||
time.sleep(0.1)
|
||||
msgs = func(sub_sock)
|
||||
assert isinstance(msgs, list)
|
||||
assert all(isinstance(msg, expected_type) for msg in msgs)
|
||||
assert len(msgs) == num_msgs
|
||||
|
||||
def test_recv_sock(self):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=100)
|
||||
zmq_sleep()
|
||||
|
||||
# no wait and no msg in queue, socket should timeout
|
||||
recvd = messaging.recv_sock(sub_sock)
|
||||
assert recvd is None
|
||||
|
||||
# no wait and one msg in queue
|
||||
msg = random_carstate()
|
||||
pub_sock.send(msg.to_bytes())
|
||||
time.sleep(0.01)
|
||||
recvd = messaging.recv_sock(sub_sock)
|
||||
assert isinstance(recvd, capnp._DynamicStructReader)
|
||||
# https://github.com/python/mypy/issues/13038
|
||||
assert_carstate(msg.carState, recvd.carState)
|
||||
|
||||
def test_recv_one(self):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=1000)
|
||||
zmq_sleep()
|
||||
|
||||
# no msg in queue, socket should timeout
|
||||
recvd = messaging.recv_one(sub_sock)
|
||||
assert recvd is None
|
||||
|
||||
# one msg in queue
|
||||
msg = random_carstate()
|
||||
pub_sock.send(msg.to_bytes())
|
||||
recvd = messaging.recv_one(sub_sock)
|
||||
assert isinstance(recvd, capnp._DynamicStructReader)
|
||||
assert_carstate(msg.carState, recvd.carState)
|
||||
|
||||
@pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
|
||||
def test_recv_one_or_none(self):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock)
|
||||
zmq_sleep()
|
||||
|
||||
# no msg in queue, socket shouldn't block
|
||||
recvd = messaging.recv_one_or_none(sub_sock)
|
||||
assert recvd is None
|
||||
|
||||
# one msg in queue
|
||||
msg = random_carstate()
|
||||
pub_sock.send(msg.to_bytes())
|
||||
recvd = messaging.recv_one_or_none(sub_sock)
|
||||
assert isinstance(recvd, capnp._DynamicStructReader)
|
||||
assert_carstate(msg.carState, recvd.carState)
|
||||
|
||||
def test_recv_one_retry(self):
|
||||
sock = "carState"
|
||||
sock_timeout = 0.1
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
|
||||
zmq_sleep()
|
||||
|
||||
# this test doesn't work with ZMQ since multiprocessing interrupts it
|
||||
if "ZMQ" not in os.environ:
|
||||
# wait 5 socket timeouts and make sure it's still retrying
|
||||
p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
|
||||
p.start()
|
||||
time.sleep(sock_timeout*5)
|
||||
assert p.is_alive()
|
||||
p.terminate()
|
||||
|
||||
# wait 5 socket timeouts before sending
|
||||
msg = random_carstate()
|
||||
start_time = time.monotonic()
|
||||
delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
|
||||
recvd = messaging.recv_one_retry(sub_sock)
|
||||
assert (time.monotonic() - start_time) >= sock_timeout*5
|
||||
assert isinstance(recvd, capnp._DynamicStructReader)
|
||||
assert_carstate(msg.carState, recvd.carState)
|
||||
@@ -1,160 +0,0 @@
|
||||
import random
|
||||
import time
|
||||
from typing import Sized, cast
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
|
||||
random_bytes, random_carstate, assert_carstate, \
|
||||
zmq_sleep
|
||||
from cereal.services import SERVICE_LIST
|
||||
|
||||
|
||||
class TestSubMaster:
|
||||
|
||||
def setup_method(self):
|
||||
# ZMQ pub socket takes too long to die
|
||||
# sleep to prevent multiple publishers error between tests
|
||||
zmq_sleep(3)
|
||||
|
||||
def test_init(self):
|
||||
sm = messaging.SubMaster(events)
|
||||
for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
|
||||
sm.sock, sm.data, sm.logMonoTime, sm.valid]:
|
||||
assert len(cast(Sized, p)) == len(events)
|
||||
|
||||
def test_init_state(self):
|
||||
socks = random_socks()
|
||||
sm = messaging.SubMaster(socks)
|
||||
assert sm.frame == -1
|
||||
assert not any(sm.updated.values())
|
||||
assert not any(sm.seen.values())
|
||||
on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in sm.services}
|
||||
assert all(sm.alive[s] == sm.valid[s] == sm.freq_ok[s] == on_demand[s] for s in sm.services)
|
||||
assert all(t == 0. for t in sm.recv_time.values())
|
||||
assert all(f == 0 for f in sm.recv_frame.values())
|
||||
assert all(t == 0 for t in sm.logMonoTime.values())
|
||||
|
||||
for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
|
||||
sm.sock, sm.data, sm.logMonoTime, sm.valid]:
|
||||
assert len(cast(Sized, p)) == len(socks)
|
||||
|
||||
def test_getitem(self):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sm = messaging.SubMaster([sock,])
|
||||
zmq_sleep()
|
||||
|
||||
msg = random_carstate()
|
||||
pub_sock.send(msg.to_bytes())
|
||||
sm.update(1000)
|
||||
assert_carstate(msg.carState, sm[sock])
|
||||
|
||||
# TODO: break this test up to individually test SubMaster.update and SubMaster.update_msgs
|
||||
def test_update(self):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sm = messaging.SubMaster([sock,])
|
||||
zmq_sleep()
|
||||
|
||||
for i in range(10):
|
||||
msg = messaging.new_message(sock)
|
||||
pub_sock.send(msg.to_bytes())
|
||||
sm.update(1000)
|
||||
assert sm.frame == i
|
||||
assert all(sm.updated.values())
|
||||
|
||||
def test_update_timeout(self):
|
||||
sock = random_sock()
|
||||
sm = messaging.SubMaster([sock,])
|
||||
timeout = random.randrange(1000, 3000)
|
||||
start_time = time.monotonic()
|
||||
sm.update(timeout)
|
||||
t = time.monotonic() - start_time
|
||||
assert t >= timeout/1000.
|
||||
assert t < 3
|
||||
assert not any(sm.updated.values())
|
||||
|
||||
def test_avg_frequency_checks(self):
|
||||
for poll in (True, False):
|
||||
sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "liveCalibration"],
|
||||
poll=("modelV2" if poll else None),
|
||||
frequency=(20. if not poll else None))
|
||||
|
||||
checks = {
|
||||
"carState": (20, 20),
|
||||
"modelV2": (20, 20 if poll else 10),
|
||||
"cameraOdometry": (20, 10),
|
||||
"liveCalibration": (4, 4),
|
||||
"carParams": (None, None),
|
||||
"userBookmark": (None, None),
|
||||
}
|
||||
|
||||
for service, (max_freq, min_freq) in checks.items():
|
||||
if max_freq is not None:
|
||||
assert sm._check_avg_freq(service)
|
||||
assert sm.freq_tracker[service].max_freq == max_freq*1.2
|
||||
assert sm.freq_tracker[service].min_freq == min_freq*0.8
|
||||
else:
|
||||
assert not sm._check_avg_freq(service)
|
||||
|
||||
def test_alive(self):
|
||||
pass
|
||||
|
||||
def test_ignore_alive(self):
|
||||
pass
|
||||
|
||||
def test_valid(self):
|
||||
pass
|
||||
|
||||
# SubMaster should always conflate
|
||||
def test_conflate(self):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sm = messaging.SubMaster([sock,])
|
||||
|
||||
n = 10
|
||||
for i in range(n+1):
|
||||
msg = messaging.new_message(sock)
|
||||
msg.carState.vEgo = i
|
||||
pub_sock.send(msg.to_bytes())
|
||||
time.sleep(0.01)
|
||||
sm.update(1000)
|
||||
assert sm[sock].vEgo == n
|
||||
|
||||
|
||||
class TestPubMaster:
|
||||
|
||||
def setup_method(self):
|
||||
# ZMQ pub socket takes too long to die
|
||||
# sleep to prevent multiple publishers error between tests
|
||||
zmq_sleep(3)
|
||||
|
||||
def test_init(self):
|
||||
messaging.PubMaster(events)
|
||||
|
||||
def test_send(self):
|
||||
socks = random_socks()
|
||||
pm = messaging.PubMaster(socks)
|
||||
sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
|
||||
zmq_sleep()
|
||||
|
||||
# PubMaster accepts either a capnp msg builder or bytes
|
||||
for capnp in [True, False]:
|
||||
for i in range(100):
|
||||
sock = socks[i % len(socks)]
|
||||
|
||||
if capnp:
|
||||
try:
|
||||
msg = messaging.new_message(sock)
|
||||
except Exception:
|
||||
msg = messaging.new_message(sock, random.randrange(50))
|
||||
else:
|
||||
msg = random_bytes()
|
||||
|
||||
pm.send(sock, msg)
|
||||
recvd = sub_socks[sock].receive()
|
||||
|
||||
if capnp:
|
||||
msg.clear_write_flag()
|
||||
msg = msg.to_bytes()
|
||||
assert msg == recvd, i
|
||||
@@ -1,21 +0,0 @@
|
||||
import os
|
||||
import tempfile
|
||||
from typing import Dict
|
||||
from openpilot.common.parameterized import parameterized
|
||||
|
||||
import cereal.services as services
|
||||
from cereal.services import SERVICE_LIST
|
||||
|
||||
|
||||
class TestServices:
|
||||
|
||||
@parameterized.expand(SERVICE_LIST.keys())
|
||||
def test_services(self, s):
|
||||
service = SERVICE_LIST[s]
|
||||
assert service.frequency <= 104
|
||||
assert service.decimation != 0
|
||||
|
||||
def test_generated_header(self):
|
||||
with tempfile.NamedTemporaryFile(suffix=".h") as f:
|
||||
ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
|
||||
assert ret == 0, "generated services header is not valid C"
|
||||
@@ -0,0 +1,90 @@
|
||||
/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */
|
||||
#ifndef __SERVICES_H
|
||||
#define __SERVICES_H
|
||||
#include <map>
|
||||
#include <string>
|
||||
struct service { std::string name; bool should_log; int frequency; int decimation; };
|
||||
static std::map<std::string, service> services = {
|
||||
{ "gyroscope", {"gyroscope", true, 104, 104}},
|
||||
{ "gyroscope2", {"gyroscope2", true, 100, 100}},
|
||||
{ "accelerometer", {"accelerometer", true, 104, 104}},
|
||||
{ "accelerometer2", {"accelerometer2", true, 100, 100}},
|
||||
{ "magnetometer", {"magnetometer", true, 25, -1}},
|
||||
{ "lightSensor", {"lightSensor", true, 100, 100}},
|
||||
{ "temperatureSensor", {"temperatureSensor", true, 2, 200}},
|
||||
{ "temperatureSensor2", {"temperatureSensor2", true, 2, 200}},
|
||||
{ "gpsNMEA", {"gpsNMEA", true, 9, -1}},
|
||||
{ "deviceState", {"deviceState", true, 2, 1}},
|
||||
{ "touch", {"touch", true, 20, 1}},
|
||||
{ "can", {"can", true, 100, 2053}},
|
||||
{ "controlsState", {"controlsState", true, 100, 10}},
|
||||
{ "selfdriveState", {"selfdriveState", true, 100, 10}},
|
||||
{ "pandaStates", {"pandaStates", true, 10, 1}},
|
||||
{ "peripheralState", {"peripheralState", true, 2, 1}},
|
||||
{ "radarState", {"radarState", true, 20, 5}},
|
||||
{ "roadEncodeIdx", {"roadEncodeIdx", false, 20, 1}},
|
||||
{ "liveTracks", {"liveTracks", true, 20, -1}},
|
||||
{ "sendcan", {"sendcan", true, 100, 139}},
|
||||
{ "logMessage", {"logMessage", true, 0, -1}},
|
||||
{ "errorLogMessage", {"errorLogMessage", true, 0, 1}},
|
||||
{ "liveCalibration", {"liveCalibration", true, 4, 4}},
|
||||
{ "liveTorqueParameters", {"liveTorqueParameters", true, 4, 1}},
|
||||
{ "liveDelay", {"liveDelay", true, 4, 1}},
|
||||
{ "androidLog", {"androidLog", true, 0, -1}},
|
||||
{ "carState", {"carState", true, 100, 10}},
|
||||
{ "carControl", {"carControl", true, 100, 10}},
|
||||
{ "carOutput", {"carOutput", true, 100, 10}},
|
||||
{ "longitudinalPlan", {"longitudinalPlan", true, 20, 10}},
|
||||
{ "driverAssistance", {"driverAssistance", true, 20, 20}},
|
||||
{ "procLog", {"procLog", true, 0, 15}},
|
||||
{ "gpsLocationExternal", {"gpsLocationExternal", true, 10, 10}},
|
||||
{ "gpsLocation", {"gpsLocation", true, 1, 1}},
|
||||
{ "ubloxGnss", {"ubloxGnss", true, 10, -1}},
|
||||
{ "qcomGnss", {"qcomGnss", true, 2, -1}},
|
||||
{ "gnssMeasurements", {"gnssMeasurements", true, 10, 10}},
|
||||
{ "clocks", {"clocks", true, 0, 1}},
|
||||
{ "ubloxRaw", {"ubloxRaw", true, 20, -1}},
|
||||
{ "livePose", {"livePose", true, 20, 4}},
|
||||
{ "liveParameters", {"liveParameters", true, 20, 5}},
|
||||
{ "cameraOdometry", {"cameraOdometry", true, 20, 10}},
|
||||
{ "thumbnail", {"thumbnail", true, 0, 1}},
|
||||
{ "onroadEvents", {"onroadEvents", true, 1, 1}},
|
||||
{ "carParams", {"carParams", true, 0, 1}},
|
||||
{ "roadCameraState", {"roadCameraState", true, 20, 20}},
|
||||
{ "driverCameraState", {"driverCameraState", true, 20, 20}},
|
||||
{ "driverEncodeIdx", {"driverEncodeIdx", false, 20, 1}},
|
||||
{ "driverStateV2", {"driverStateV2", true, 20, 10}},
|
||||
{ "driverMonitoringState", {"driverMonitoringState", true, 20, 10}},
|
||||
{ "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20, 1}},
|
||||
{ "wideRoadCameraState", {"wideRoadCameraState", true, 20, 20}},
|
||||
{ "drivingModelData", {"drivingModelData", true, 20, 10}},
|
||||
{ "modelV2", {"modelV2", true, 20, -1}},
|
||||
{ "managerState", {"managerState", true, 2, 1}},
|
||||
{ "uploaderState", {"uploaderState", true, 0, 1}},
|
||||
{ "navInstruction", {"navInstruction", true, 1, 10}},
|
||||
{ "navRoute", {"navRoute", true, 0, -1}},
|
||||
{ "navThumbnail", {"navThumbnail", true, 0, -1}},
|
||||
{ "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20, -1}},
|
||||
{ "userFlag", {"userFlag", true, 0, 1}},
|
||||
{ "microphone", {"microphone", true, 10, 10}},
|
||||
{ "uiDebug", {"uiDebug", true, 0, 1}},
|
||||
{ "testJoystick", {"testJoystick", true, 0, -1}},
|
||||
{ "alertDebug", {"alertDebug", true, 20, 5}},
|
||||
{ "roadEncodeData", {"roadEncodeData", false, 20, -1}},
|
||||
{ "driverEncodeData", {"driverEncodeData", false, 20, -1}},
|
||||
{ "wideRoadEncodeData", {"wideRoadEncodeData", false, 20, -1}},
|
||||
{ "qRoadEncodeData", {"qRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20, -1}},
|
||||
{ "customReservedRawData0", {"customReservedRawData0", true, 0, -1}},
|
||||
{ "customReservedRawData1", {"customReservedRawData1", true, 0, -1}},
|
||||
{ "customReservedRawData2", {"customReservedRawData2", true, 0, -1}},
|
||||
{ "dpControlsState", {"dpControlsState", false, 100, 10}},
|
||||
{ "modelExt", {"modelExt", true, 20, -1}},
|
||||
};
|
||||
#endif
|
||||
|
||||
+22
-34
@@ -1,44 +1,37 @@
|
||||
#!/usr/bin/env python3
|
||||
from enum import IntEnum
|
||||
from typing import Optional
|
||||
|
||||
|
||||
# TODO: this should be automatically determined using the capnp schema
|
||||
class QueueSize(IntEnum):
|
||||
BIG = 10 * 1024 * 1024 # 10MB - video frames, large AI outputs
|
||||
MEDIUM = 2 * 1024 * 1024 # 2MB - high freq (CAN), livestream
|
||||
SMALL = 250 * 1024 # 250KB - most services
|
||||
|
||||
|
||||
class Service:
|
||||
def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
|
||||
queue_size: QueueSize = QueueSize.SMALL):
|
||||
def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
|
||||
self.should_log = should_log
|
||||
self.frequency = frequency
|
||||
self.decimation = decimation
|
||||
self.queue_size = queue_size
|
||||
|
||||
|
||||
_services: dict[str, tuple] = {
|
||||
# service: (should_log, frequency, qlog decimation (optional))
|
||||
# note: the "EncodeIdx" packets will still be in the log
|
||||
"gyroscope": (True, 104., 104),
|
||||
"gyroscope2": (True, 100., 100),
|
||||
"accelerometer": (True, 104., 104),
|
||||
"accelerometer2": (True, 100., 100),
|
||||
"magnetometer": (True, 25.),
|
||||
"lightSensor": (True, 100., 100),
|
||||
"temperatureSensor": (True, 2., 200),
|
||||
"temperatureSensor2": (True, 2., 200),
|
||||
"gpsNMEA": (True, 9.),
|
||||
"deviceState": (True, 2., 1),
|
||||
"touch": (True, 20., 1),
|
||||
"can": (True, 100., 2053, QueueSize.BIG), # decimation gives ~3 msgs in a full segment
|
||||
"controlsState": (True, 100., 10, QueueSize.MEDIUM),
|
||||
"can": (True, 100., 2053), # decimation gives ~3 msgs in a full segment
|
||||
"controlsState": (True, 100., 10),
|
||||
"selfdriveState": (True, 100., 10),
|
||||
"pandaStates": (True, 10., 1),
|
||||
"peripheralState": (True, 2., 1),
|
||||
"radarState": (True, 20., 5),
|
||||
"roadEncodeIdx": (False, 20., 1),
|
||||
"liveTracks": (True, 20.),
|
||||
"sendcan": (True, 100., 139, QueueSize.MEDIUM),
|
||||
"sendcan": (True, 100., 139),
|
||||
"logMessage": (True, 0.),
|
||||
"errorLogMessage": (True, 0., 1),
|
||||
"liveCalibration": (True, 4., 4),
|
||||
@@ -50,7 +43,7 @@ _services: dict[str, tuple] = {
|
||||
"carOutput": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 10),
|
||||
"driverAssistance": (True, 20., 20),
|
||||
"procLog": (True, 0.5, 15, QueueSize.BIG),
|
||||
"procLog": (True, 0.5, 15),
|
||||
"gpsLocationExternal": (True, 10., 10),
|
||||
"gpsLocation": (True, 1., 1),
|
||||
"ubloxGnss": (True, 10.),
|
||||
@@ -72,40 +65,35 @@ _services: dict[str, tuple] = {
|
||||
"wideRoadEncodeIdx": (False, 20., 1),
|
||||
"wideRoadCameraState": (True, 20., 20),
|
||||
"drivingModelData": (True, 20., 10),
|
||||
"modelV2": (True, 20., None, QueueSize.BIG),
|
||||
"modelV2": (True, 20.),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
"navInstruction": (True, 1., 10),
|
||||
"navRoute": (True, 0.),
|
||||
"navThumbnail": (True, 0.),
|
||||
"qRoadEncodeIdx": (False, 20.),
|
||||
"userBookmark": (True, 0., 1),
|
||||
"soundPressure": (True, 10., 10),
|
||||
"rawAudioData": (False, 20.),
|
||||
"bookmarkButton": (True, 0., 1),
|
||||
"audioFeedback": (True, 0., 1),
|
||||
"roadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"driverEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"qRoadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"userFlag": (True, 0., 1),
|
||||
"microphone": (True, 10., 10),
|
||||
|
||||
# debug
|
||||
"uiDebug": (True, 0., 1),
|
||||
"testJoystick": (True, 0.),
|
||||
"alertDebug": (True, 20., 5),
|
||||
"roadEncodeData": (False, 20.),
|
||||
"driverEncodeData": (False, 20.),
|
||||
"wideRoadEncodeData": (False, 20.),
|
||||
"qRoadEncodeData": (False, 20.),
|
||||
"livestreamWideRoadEncodeIdx": (False, 20.),
|
||||
"livestreamRoadEncodeIdx": (False, 20.),
|
||||
"livestreamDriverEncodeIdx": (False, 20.),
|
||||
"livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
|
||||
"livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
|
||||
"livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
|
||||
"livestreamWideRoadEncodeData": (False, 20.),
|
||||
"livestreamRoadEncodeData": (False, 20.),
|
||||
"livestreamDriverEncodeData": (False, 20.),
|
||||
"customReservedRawData0": (True, 0.),
|
||||
"customReservedRawData1": (True, 0.),
|
||||
"customReservedRawData2": (True, 0.),
|
||||
"controlsStateExt": (True, 100.),
|
||||
"carStateExt": (True, 100.),
|
||||
"dpControlsState": (False, 100., 10),
|
||||
"modelExt": (True, 20.),
|
||||
"dashyState": (True, 0.), # Aggregated dashy UI state (optional)
|
||||
}
|
||||
SERVICE_LIST = {name: Service(*vals) for
|
||||
idx, (name, vals) in enumerate(_services.items())}
|
||||
@@ -120,13 +108,13 @@ def build_header():
|
||||
h += "#include <map>\n"
|
||||
h += "#include <string>\n"
|
||||
|
||||
h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n"
|
||||
h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
|
||||
h += "static std::map<std::string, service> services = {\n"
|
||||
for k, v in SERVICE_LIST.items():
|
||||
should_log = "true" if v.should_log else "false"
|
||||
decimation = -1 if v.decimation is None else v.decimation
|
||||
h += ' { "%s", {"%s", %s, %f, %d, %d}},\n' % \
|
||||
(k, k, should_log, v.frequency, decimation, v.queue_size)
|
||||
h += ' { "%s", {"%s", %s, %d, %d}},\n' % \
|
||||
(k, k, should_log, v.frequency, decimation)
|
||||
h += "};\n"
|
||||
|
||||
h += "#endif\n"
|
||||
|
||||
+13
@@ -0,0 +1,13 @@
|
||||
comment: false
|
||||
coverage:
|
||||
status:
|
||||
project:
|
||||
default:
|
||||
informational: true
|
||||
patch: off
|
||||
|
||||
ignore:
|
||||
- "**/test_*.py"
|
||||
- "selfdrive/test/**"
|
||||
- "system/version.py" # codecov changes depending on if we are in a branch or not
|
||||
- "tools"
|
||||
@@ -0,0 +1 @@
|
||||
*.cpp
|
||||
+15
-3
@@ -4,11 +4,18 @@ common_libs = [
|
||||
'params.cc',
|
||||
'swaglog.cc',
|
||||
'util.cc',
|
||||
'ratekeeper.cc',
|
||||
'watchdog.cc',
|
||||
'ratekeeper.cc'
|
||||
]
|
||||
|
||||
_common = env.Library('common', common_libs, LIBS="json11")
|
||||
Export('_common')
|
||||
|
||||
files = [
|
||||
'clutil.cc',
|
||||
]
|
||||
|
||||
_gpucommon = env.Library('gpucommon', files)
|
||||
Export('_common', '_gpucommon')
|
||||
|
||||
if GetOption('extras'):
|
||||
env.Program('tests/test_common',
|
||||
@@ -18,6 +25,11 @@ if GetOption('extras'):
|
||||
# Cython bindings
|
||||
params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
|
||||
|
||||
common_python = [params_python]
|
||||
SConscript([
|
||||
'transformations/SConscript',
|
||||
])
|
||||
|
||||
Import('transformations_python')
|
||||
common_python = [params_python, transformations_python]
|
||||
|
||||
Export('common_python')
|
||||
|
||||
+6
-22
@@ -7,15 +7,11 @@ from openpilot.system.version import get_version
|
||||
|
||||
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
|
||||
|
||||
# name: jwt signature algorithm
|
||||
KEYS = {"id_rsa": "RS256",
|
||||
"id_ecdsa": "ES256"}
|
||||
|
||||
|
||||
class Api:
|
||||
def __init__(self, dongle_id):
|
||||
self.dongle_id = dongle_id
|
||||
self.jwt_algorithm, self.private_key, _ = get_key_pair()
|
||||
with open(Paths.persist_root()+'/comma/id_rsa') as f:
|
||||
self.private_key = f.read()
|
||||
|
||||
def get(self, *args, **kwargs):
|
||||
return self.request('GET', *args, **kwargs)
|
||||
@@ -26,7 +22,7 @@ class Api:
|
||||
def request(self, method, endpoint, timeout=None, access_token=None, **params):
|
||||
return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
|
||||
|
||||
def get_token(self, payload_extra=None, expiry_hours=1):
|
||||
def get_token(self, expiry_hours=1):
|
||||
now = datetime.now(UTC).replace(tzinfo=None)
|
||||
payload = {
|
||||
'identity': self.dongle_id,
|
||||
@@ -34,29 +30,17 @@ class Api:
|
||||
'iat': now,
|
||||
'exp': now + timedelta(hours=expiry_hours)
|
||||
}
|
||||
if payload_extra is not None:
|
||||
payload.update(payload_extra)
|
||||
token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
|
||||
token = jwt.encode(payload, self.private_key, algorithm='RS256')
|
||||
if isinstance(token, bytes):
|
||||
token = token.decode('utf8')
|
||||
return token
|
||||
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
headers = {}
|
||||
if access_token is not None:
|
||||
headers['Authorization'] = "JWT " + access_token
|
||||
|
||||
headers['User-Agent'] = "openpilot-" + get_version()
|
||||
|
||||
# TODO: add session to Api
|
||||
req = requests if session is None else session
|
||||
return req.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
||||
|
||||
|
||||
def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
|
||||
for key in KEYS:
|
||||
if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
|
||||
with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
|
||||
return KEYS[key], private.read(), public.read()
|
||||
return None, None, None
|
||||
return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
||||
|
||||
@@ -0,0 +1,28 @@
|
||||
#pragma once
|
||||
|
||||
#ifdef __APPLE__
|
||||
#include <OpenCL/cl.h>
|
||||
#else
|
||||
#include <CL/cl.h>
|
||||
#endif
|
||||
|
||||
#include <string>
|
||||
|
||||
#define CL_CHECK(_expr) \
|
||||
do { \
|
||||
assert(CL_SUCCESS == (_expr)); \
|
||||
} while (0)
|
||||
|
||||
#define CL_CHECK_ERR(_expr) \
|
||||
({ \
|
||||
cl_int err = CL_INVALID_VALUE; \
|
||||
__typeof__(_expr) _ret = _expr; \
|
||||
assert(_ret&& err == CL_SUCCESS); \
|
||||
_ret; \
|
||||
})
|
||||
|
||||
cl_device_id cl_get_device_id(cl_device_type device_type);
|
||||
cl_context cl_create_context(cl_device_id device_id);
|
||||
void cl_release_context(cl_context context);
|
||||
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
|
||||
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
|
||||
@@ -1,23 +0,0 @@
|
||||
import numpy as np
|
||||
|
||||
# conversions
|
||||
class CV:
|
||||
# Speed
|
||||
MPH_TO_KPH = 1.609344
|
||||
KPH_TO_MPH = 1. / MPH_TO_KPH
|
||||
MS_TO_KPH = 3.6
|
||||
KPH_TO_MS = 1. / MS_TO_KPH
|
||||
MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
|
||||
MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
|
||||
MS_TO_KNOTS = 1.9438
|
||||
KNOTS_TO_MS = 1. / MS_TO_KNOTS
|
||||
|
||||
# Angle
|
||||
DEG_TO_RAD = np.pi / 180.
|
||||
RAD_TO_DEG = 1. / DEG_TO_RAD
|
||||
|
||||
# Mass
|
||||
LB_TO_KG = 0.453592
|
||||
|
||||
|
||||
ACCELERATION_DUE_TO_GRAVITY = 9.81 # m/s^2
|
||||
@@ -0,0 +1,19 @@
|
||||
import numpy as np
|
||||
|
||||
class Conversions:
|
||||
# Speed
|
||||
MPH_TO_KPH = 1.609344
|
||||
KPH_TO_MPH = 1. / MPH_TO_KPH
|
||||
MS_TO_KPH = 3.6
|
||||
KPH_TO_MS = 1. / MS_TO_KPH
|
||||
MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
|
||||
MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
|
||||
MS_TO_KNOTS = 1.9438
|
||||
KNOTS_TO_MS = 1. / MS_TO_KNOTS
|
||||
|
||||
# Angle
|
||||
DEG_TO_RAD = np.pi / 180.
|
||||
RAD_TO_DEG = 1. / DEG_TO_RAD
|
||||
|
||||
# Mass
|
||||
LB_TO_KG = 0.453592
|
||||
@@ -0,0 +1,9 @@
|
||||
# remove all keys that end in DEPRECATED
|
||||
def strip_deprecated_keys(d):
|
||||
for k in list(d.keys()):
|
||||
if isinstance(k, str):
|
||||
if k.endswith('DEPRECATED'):
|
||||
d.pop(k)
|
||||
elif isinstance(d[k], dict):
|
||||
strip_deprecated_keys(d[k])
|
||||
return d
|
||||
@@ -1,37 +0,0 @@
|
||||
import math
|
||||
import os
|
||||
from pathlib import Path
|
||||
|
||||
CHUNK_SIZE = 45 * 1024 * 1024 # 45MB, under GitHub's 50MB limit
|
||||
|
||||
def get_chunk_name(name, idx, num_chunks):
|
||||
return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
|
||||
|
||||
def get_manifest_path(name):
|
||||
return f"{name}.chunkmanifest"
|
||||
|
||||
def get_chunk_paths(path, file_size):
|
||||
num_chunks = math.ceil(file_size / CHUNK_SIZE)
|
||||
return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
|
||||
|
||||
def chunk_file(path, targets):
|
||||
manifest_path, *chunk_paths = targets
|
||||
with open(path, 'rb') as f:
|
||||
data = f.read()
|
||||
actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
|
||||
assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
|
||||
for i, chunk_path in enumerate(chunk_paths):
|
||||
with open(chunk_path, 'wb') as f:
|
||||
f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
|
||||
Path(manifest_path).write_text(str(len(chunk_paths)))
|
||||
os.remove(path)
|
||||
|
||||
|
||||
def read_file_chunked(path):
|
||||
manifest_path = get_manifest_path(path)
|
||||
if os.path.isfile(manifest_path):
|
||||
num_chunks = int(Path(manifest_path).read_text().strip())
|
||||
return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
|
||||
if os.path.isfile(path):
|
||||
return Path(path).read_bytes()
|
||||
raise FileNotFoundError(path)
|
||||
@@ -0,0 +1,58 @@
|
||||
import io
|
||||
import os
|
||||
import tempfile
|
||||
import contextlib
|
||||
import zstandard as zstd
|
||||
|
||||
LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
|
||||
|
||||
|
||||
class CallbackReader:
|
||||
"""Wraps a file, but overrides the read method to also
|
||||
call a callback function with the number of bytes read so far."""
|
||||
def __init__(self, f, callback, *args):
|
||||
self.f = f
|
||||
self.callback = callback
|
||||
self.cb_args = args
|
||||
self.total_read = 0
|
||||
|
||||
def __getattr__(self, attr):
|
||||
return getattr(self.f, attr)
|
||||
|
||||
def read(self, *args, **kwargs):
|
||||
chunk = self.f.read(*args, **kwargs)
|
||||
self.total_read += len(chunk)
|
||||
self.callback(*self.cb_args, self.total_read)
|
||||
return chunk
|
||||
|
||||
|
||||
@contextlib.contextmanager
|
||||
def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: 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)
|
||||
|
||||
if not overwrite and os.path.exists(path):
|
||||
raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
|
||||
|
||||
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)
|
||||
|
||||
|
||||
def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
|
||||
if not should_compress:
|
||||
file_size = os.path.getsize(filepath)
|
||||
file_stream = open(filepath, "rb")
|
||||
return file_stream, file_size
|
||||
|
||||
# Compress the file on the fly
|
||||
compressed_stream = io.BytesIO()
|
||||
compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
|
||||
|
||||
with open(filepath, "rb") as f:
|
||||
compressor.copy_stream(f, compressed_stream)
|
||||
compressed_size = compressed_stream.tell()
|
||||
compressed_stream.seek(0)
|
||||
return compressed_stream, compressed_size
|
||||
@@ -15,20 +15,3 @@ class FirstOrderFilter:
|
||||
self.initialized = True
|
||||
self.x = x
|
||||
return self.x
|
||||
|
||||
|
||||
class BounceFilter(FirstOrderFilter):
|
||||
def __init__(self, x0, rc, dt, initialized=True, bounce=2):
|
||||
self.velocity = FirstOrderFilter(0.0, 0.15, dt)
|
||||
self.bounce = bounce
|
||||
super().__init__(x0, rc, dt, initialized)
|
||||
|
||||
def update(self, x):
|
||||
super().update(x)
|
||||
scale = self.dt / (1.0 / 60.0) # tuned at 60 fps
|
||||
self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
|
||||
self.velocity.update(0.0)
|
||||
if abs(self.velocity.x) < 1e-3:
|
||||
self.velocity.x = 0.0
|
||||
self.x += self.velocity.x
|
||||
return self.x
|
||||
|
||||
+7
-7
@@ -1,30 +1,30 @@
|
||||
from functools import cache
|
||||
import subprocess
|
||||
from openpilot.common.utils import run_cmd, run_cmd_default
|
||||
from openpilot.common.run import run_cmd, run_cmd_default
|
||||
|
||||
|
||||
@cache
|
||||
def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
|
||||
def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
|
||||
return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str:
|
||||
def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
|
||||
return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_short_branch(cwd: str | None = None) -> str:
|
||||
def get_short_branch(cwd: str = None) -> str:
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_branch(cwd: str | None = None) -> str:
|
||||
def get_branch(cwd: str = None) -> str:
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_origin(cwd: str | None = None) -> str:
|
||||
def get_origin(cwd: str = None) -> str:
|
||||
try:
|
||||
local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
|
||||
tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
|
||||
@@ -34,7 +34,7 @@ def get_origin(cwd: str | None = None) -> str:
|
||||
|
||||
|
||||
@cache
|
||||
def get_normalized_origin(cwd: str | None = None) -> str:
|
||||
def get_normalized_origin(cwd: str = None) -> str:
|
||||
return get_origin(cwd) \
|
||||
.replace("git@", "", 1) \
|
||||
.replace(".git", "", 1) \
|
||||
|
||||
@@ -1,81 +0,0 @@
|
||||
import os
|
||||
import fcntl
|
||||
import ctypes
|
||||
|
||||
# I2C constants from /usr/include/linux/i2c-dev.h
|
||||
I2C_SLAVE = 0x0703
|
||||
I2C_SLAVE_FORCE = 0x0706
|
||||
I2C_SMBUS = 0x0720
|
||||
|
||||
# SMBus transfer types
|
||||
I2C_SMBUS_READ = 1
|
||||
I2C_SMBUS_WRITE = 0
|
||||
I2C_SMBUS_BYTE_DATA = 2
|
||||
I2C_SMBUS_I2C_BLOCK_DATA = 8
|
||||
|
||||
I2C_SMBUS_BLOCK_MAX = 32
|
||||
|
||||
|
||||
class _I2cSmbusData(ctypes.Union):
|
||||
_fields_ = [
|
||||
("byte", ctypes.c_uint8),
|
||||
("word", ctypes.c_uint16),
|
||||
("block", ctypes.c_uint8 * (I2C_SMBUS_BLOCK_MAX + 2)),
|
||||
]
|
||||
|
||||
|
||||
class _I2cSmbusIoctlData(ctypes.Structure):
|
||||
_fields_ = [
|
||||
("read_write", ctypes.c_uint8),
|
||||
("command", ctypes.c_uint8),
|
||||
("size", ctypes.c_uint32),
|
||||
("data", ctypes.POINTER(_I2cSmbusData)),
|
||||
]
|
||||
|
||||
|
||||
class SMBus:
|
||||
def __init__(self, bus: int):
|
||||
self._fd = os.open(f'/dev/i2c-{bus}', os.O_RDWR)
|
||||
|
||||
def __enter__(self) -> 'SMBus':
|
||||
return self
|
||||
|
||||
def __exit__(self, *args) -> None:
|
||||
self.close()
|
||||
|
||||
def close(self) -> None:
|
||||
if hasattr(self, '_fd') and self._fd >= 0:
|
||||
os.close(self._fd)
|
||||
self._fd = -1
|
||||
|
||||
def _set_address(self, addr: int, force: bool = False) -> None:
|
||||
ioctl_arg = I2C_SLAVE_FORCE if force else I2C_SLAVE
|
||||
fcntl.ioctl(self._fd, ioctl_arg, addr)
|
||||
|
||||
def _smbus_access(self, read_write: int, command: int, size: int, data: _I2cSmbusData) -> None:
|
||||
ioctl_data = _I2cSmbusIoctlData(read_write, command, size, ctypes.pointer(data))
|
||||
fcntl.ioctl(self._fd, I2C_SMBUS, ioctl_data)
|
||||
|
||||
def read_byte_data(self, addr: int, register: int, force: bool = False) -> int:
|
||||
self._set_address(addr, force)
|
||||
data = _I2cSmbusData()
|
||||
self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_BYTE_DATA, data)
|
||||
return int(data.byte)
|
||||
|
||||
def write_byte_data(self, addr: int, register: int, value: int, force: bool = False) -> None:
|
||||
self._set_address(addr, force)
|
||||
data = _I2cSmbusData()
|
||||
data.byte = value & 0xFF
|
||||
self._smbus_access(I2C_SMBUS_WRITE, register, I2C_SMBUS_BYTE_DATA, data)
|
||||
|
||||
def read_i2c_block_data(self, addr: int, register: int, length: int, force: bool = False) -> list[int]:
|
||||
self._set_address(addr, force)
|
||||
if not (0 <= length <= I2C_SMBUS_BLOCK_MAX):
|
||||
raise ValueError(f"length must be 0..{I2C_SMBUS_BLOCK_MAX}")
|
||||
|
||||
data = _I2cSmbusData()
|
||||
data.block[0] = length
|
||||
self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_I2C_BLOCK_DATA, data)
|
||||
read_len = int(data.block[0]) or length
|
||||
read_len = min(read_len, length)
|
||||
return [int(b) for b in data.block[1 : read_len + 1]]
|
||||
@@ -0,0 +1,85 @@
|
||||
#pragma once
|
||||
|
||||
typedef struct vec3 {
|
||||
float v[3];
|
||||
} vec3;
|
||||
|
||||
typedef struct vec4 {
|
||||
float v[4];
|
||||
} vec4;
|
||||
|
||||
typedef struct mat3 {
|
||||
float v[3*3];
|
||||
} mat3;
|
||||
|
||||
typedef struct mat4 {
|
||||
float v[4*4];
|
||||
} mat4;
|
||||
|
||||
static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
|
||||
mat3 ret = {{0.0}};
|
||||
for (int r=0; r<3; r++) {
|
||||
for (int c=0; c<3; c++) {
|
||||
float v = 0.0;
|
||||
for (int k=0; k<3; k++) {
|
||||
v += a.v[r*3+k] * b.v[k*3+c];
|
||||
}
|
||||
ret.v[r*3+c] = v;
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
|
||||
vec3 ret = {{0.0}};
|
||||
for (int r=0; r<3; r++) {
|
||||
for (int c=0; c<3; c++) {
|
||||
ret.v[r] += a.v[r*3+c] * b.v[c];
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline mat4 matmul(const mat4 &a, const mat4 &b) {
|
||||
mat4 ret = {{0.0}};
|
||||
for (int r=0; r<4; r++) {
|
||||
for (int c=0; c<4; c++) {
|
||||
float v = 0.0;
|
||||
for (int k=0; k<4; k++) {
|
||||
v += a.v[r*4+k] * b.v[k*4+c];
|
||||
}
|
||||
ret.v[r*4+c] = v;
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
|
||||
vec4 ret = {{0.0}};
|
||||
for (int r=0; r<4; r++) {
|
||||
for (int c=0; c<4; c++) {
|
||||
ret.v[r] += a.v[r*4+c] * b.v[c];
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
// scales the input and output space of a transformation matrix
|
||||
// that assumes pixel-center origin.
|
||||
static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
|
||||
// in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
|
||||
|
||||
mat3 transform_out = {{
|
||||
1.0f/s, 0.0f, 0.5f,
|
||||
0.0f, 1.0f/s, 0.5f,
|
||||
0.0f, 0.0f, 1.0f,
|
||||
}};
|
||||
|
||||
mat3 transform_in = {{
|
||||
s, 0.0f, -0.5f*s,
|
||||
0.0f, s, -0.5f*s,
|
||||
0.0f, 0.0f, 1.0f,
|
||||
}};
|
||||
|
||||
return matmul3(transform_in, matmul3(in, transform_out));
|
||||
}
|
||||
@@ -1,47 +0,0 @@
|
||||
import sys
|
||||
import pytest
|
||||
import inspect
|
||||
|
||||
|
||||
class parameterized:
|
||||
@staticmethod
|
||||
def expand(cases):
|
||||
cases = list(cases)
|
||||
|
||||
if not cases:
|
||||
return lambda func: pytest.mark.skip("no parameterized cases")(func)
|
||||
|
||||
def decorator(func):
|
||||
params = [p for p in inspect.signature(func).parameters if p != 'self']
|
||||
normalized = [c if isinstance(c, tuple) else (c,) for c in cases]
|
||||
# Infer arg count from first case so extra params (e.g. from @given) are left untouched
|
||||
expand_params = params[: len(normalized[0])]
|
||||
if len(expand_params) == 1:
|
||||
return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func)
|
||||
return pytest.mark.parametrize(', '.join(expand_params), normalized)(func)
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def parameterized_class(attrs, input_list=None):
|
||||
if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)):
|
||||
params_list = attrs
|
||||
else:
|
||||
assert input_list is not None
|
||||
attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs)
|
||||
params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list]
|
||||
|
||||
def decorator(cls):
|
||||
globs = sys._getframe(1).f_globals
|
||||
for i, params in enumerate(params_list):
|
||||
name = f"{cls.__name__}_{i}"
|
||||
new_cls = type(name, (cls,), dict(params))
|
||||
new_cls.__module__ = cls.__module__
|
||||
new_cls.__test__ = True # override inherited False so pytest collects this subclass
|
||||
globs[name] = new_cls
|
||||
# Don't collect the un-parametrised base, but return it so outer decorators
|
||||
# (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO.
|
||||
cls.__test__ = False
|
||||
return cls
|
||||
|
||||
return decorator
|
||||
@@ -1,242 +0,0 @@
|
||||
#include "common/params.h"
|
||||
|
||||
#include <dirent.h>
|
||||
#include <sys/file.h>
|
||||
|
||||
#include <algorithm>
|
||||
#include <cassert>
|
||||
#include <csignal>
|
||||
#include <unordered_map>
|
||||
|
||||
#include "common/params_keys.h"
|
||||
#include "common/queue.h"
|
||||
#include "common/swaglog.h"
|
||||
#include "common/util.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
namespace {
|
||||
|
||||
volatile sig_atomic_t params_do_exit = 0;
|
||||
void params_sig_handler(int signal) {
|
||||
params_do_exit = 1;
|
||||
}
|
||||
|
||||
int fsync_dir(const std::string &path) {
|
||||
int result = -1;
|
||||
int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
|
||||
if (fd >= 0) {
|
||||
result = HANDLE_EINTR(fsync(fd));
|
||||
HANDLE_EINTR(close(fd));
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
bool create_params_path(const std::string ¶m_path, const std::string &key_path) {
|
||||
// Make sure params path exists
|
||||
if (!util::file_exists(param_path) && !util::create_directories(param_path, 0775)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// See if the symlink exists, otherwise create it
|
||||
if (!util::file_exists(key_path)) {
|
||||
// 1) Create temp folder
|
||||
// 2) Symlink it to temp link
|
||||
// 3) Move symlink to <params>/d
|
||||
|
||||
std::string tmp_path = param_path + "/.tmp_XXXXXX";
|
||||
// this should be OK since mkdtemp just replaces characters in place
|
||||
char *tmp_dir = mkdtemp((char *)tmp_path.c_str());
|
||||
if (tmp_dir == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
std::string link_path = std::string(tmp_dir) + ".link";
|
||||
if (symlink(tmp_dir, link_path.c_str()) != 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// don't return false if it has been created by other
|
||||
if (rename(link_path.c_str(), key_path.c_str()) != 0 && errno != EEXIST) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) {
|
||||
std::string params_path = path.empty() ? Path::params() : path;
|
||||
if (!create_params_path(params_path, params_path + prefix)) {
|
||||
throw std::runtime_error(util::string_format(
|
||||
"Failed to ensure params path, errno=%d, path=%s, param_prefix=%s",
|
||||
errno, params_path.c_str(), prefix.c_str()));
|
||||
}
|
||||
return params_path;
|
||||
}
|
||||
|
||||
class FileLock {
|
||||
public:
|
||||
FileLock(const std::string &fn) {
|
||||
fd_ = HANDLE_EINTR(open(fn.c_str(), O_CREAT, 0775));
|
||||
if (fd_ < 0 || HANDLE_EINTR(flock(fd_, LOCK_EX)) < 0) {
|
||||
LOGE("Failed to lock file %s, errno=%d", fn.c_str(), errno);
|
||||
}
|
||||
}
|
||||
~FileLock() { close(fd_); }
|
||||
|
||||
private:
|
||||
int fd_ = -1;
|
||||
};
|
||||
|
||||
} // namespace
|
||||
|
||||
|
||||
Params::Params(const std::string &path) {
|
||||
params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
|
||||
params_path = ensure_params_path(params_prefix, path);
|
||||
}
|
||||
|
||||
Params::~Params() {
|
||||
if (future.valid()) {
|
||||
future.wait();
|
||||
}
|
||||
assert(queue.empty());
|
||||
}
|
||||
|
||||
std::vector<std::string> Params::allKeys() const {
|
||||
std::vector<std::string> ret;
|
||||
for (auto &p : keys) {
|
||||
ret.push_back(p.first);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool Params::checkKey(const std::string &key) {
|
||||
return keys.find(key) != keys.end();
|
||||
}
|
||||
|
||||
ParamKeyFlag Params::getKeyFlag(const std::string &key) {
|
||||
return static_cast<ParamKeyFlag>(keys[key].flags);
|
||||
}
|
||||
|
||||
ParamKeyType Params::getKeyType(const std::string &key) {
|
||||
return keys[key].type;
|
||||
}
|
||||
|
||||
std::optional<std::string> Params::getKeyDefaultValue(const std::string &key) {
|
||||
return keys[key].default_value;
|
||||
}
|
||||
|
||||
int Params::put(const char* key, const char* value, size_t value_size) {
|
||||
// Information about safely and atomically writing a file: https://lwn.net/Articles/457667/
|
||||
// 1) Create temp file
|
||||
// 2) Write data to temp file
|
||||
// 3) fsync() the temp file
|
||||
// 4) rename the temp file to the real name
|
||||
// 5) fsync() the containing directory
|
||||
std::string tmp_path = params_path + "/.tmp_value_XXXXXX";
|
||||
int tmp_fd = mkstemp((char*)tmp_path.c_str());
|
||||
if (tmp_fd < 0) return -1;
|
||||
|
||||
int result = -1;
|
||||
do {
|
||||
// Write value to temp.
|
||||
ssize_t bytes_written = HANDLE_EINTR(write(tmp_fd, value, value_size));
|
||||
if (bytes_written < 0 || (size_t)bytes_written != value_size) {
|
||||
result = -20;
|
||||
break;
|
||||
}
|
||||
|
||||
// fsync to force persist the changes.
|
||||
if ((result = HANDLE_EINTR(fsync(tmp_fd))) < 0) break;
|
||||
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
|
||||
// Move temp into place.
|
||||
if ((result = rename(tmp_path.c_str(), getParamPath(key).c_str())) < 0) break;
|
||||
|
||||
// fsync parent directory
|
||||
result = fsync_dir(getParamPath());
|
||||
} while (false);
|
||||
|
||||
close(tmp_fd);
|
||||
if (result != 0) {
|
||||
::unlink(tmp_path.c_str());
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
int Params::remove(const std::string &key) {
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
int result = unlink(getParamPath(key).c_str());
|
||||
if (result != 0) {
|
||||
return result;
|
||||
}
|
||||
return fsync_dir(getParamPath());
|
||||
}
|
||||
|
||||
std::string Params::get(const std::string &key, bool block) {
|
||||
if (!block) {
|
||||
return util::read_file(getParamPath(key));
|
||||
} else {
|
||||
// blocking read until successful
|
||||
params_do_exit = 0;
|
||||
void (*prev_handler_sigint)(int) = std::signal(SIGINT, params_sig_handler);
|
||||
void (*prev_handler_sigterm)(int) = std::signal(SIGTERM, params_sig_handler);
|
||||
|
||||
std::string value;
|
||||
while (!params_do_exit) {
|
||||
if (value = util::read_file(getParamPath(key)); !value.empty()) {
|
||||
break;
|
||||
}
|
||||
util::sleep_for(100); // 0.1 s
|
||||
}
|
||||
|
||||
std::signal(SIGINT, prev_handler_sigint);
|
||||
std::signal(SIGTERM, prev_handler_sigterm);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
std::map<std::string, std::string> Params::readAll() {
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
return util::read_files_in_dir(getParamPath());
|
||||
}
|
||||
|
||||
void Params::clearAll(ParamKeyFlag key_flag) {
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
|
||||
// 1) delete params of key_flag
|
||||
// 2) delete files that are not defined in the keys.
|
||||
if (DIR *d = opendir(getParamPath().c_str())) {
|
||||
struct dirent *de = NULL;
|
||||
while ((de = readdir(d))) {
|
||||
if (de->d_type != DT_DIR) {
|
||||
auto it = keys.find(de->d_name);
|
||||
if (it == keys.end() || (it->second.flags & key_flag)) {
|
||||
unlink(getParamPath(de->d_name).c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
closedir(d);
|
||||
}
|
||||
|
||||
fsync_dir(getParamPath());
|
||||
}
|
||||
|
||||
void Params::putNonBlocking(const std::string &key, const std::string &val) {
|
||||
queue.push(std::make_pair(key, val));
|
||||
// start thread on demand
|
||||
if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) {
|
||||
future = std::async(std::launch::async, &Params::asyncWriteThread, this);
|
||||
}
|
||||
}
|
||||
|
||||
void Params::asyncWriteThread() {
|
||||
// TODO: write the latest one if a key has multiple values in the queue.
|
||||
std::pair<std::string, std::string> p;
|
||||
while (queue.try_pop(p, 0)) {
|
||||
// Params::put is Thread-Safe
|
||||
put(p.first, p.second);
|
||||
}
|
||||
}
|
||||
+2
-22
@@ -2,7 +2,6 @@
|
||||
|
||||
#include <future>
|
||||
#include <map>
|
||||
#include <optional>
|
||||
#include <string>
|
||||
#include <tuple>
|
||||
#include <utility>
|
||||
@@ -10,33 +9,16 @@
|
||||
|
||||
#include "common/queue.h"
|
||||
|
||||
enum ParamKeyFlag {
|
||||
enum ParamKeyType {
|
||||
PERSISTENT = 0x02,
|
||||
CLEAR_ON_MANAGER_START = 0x04,
|
||||
CLEAR_ON_ONROAD_TRANSITION = 0x08,
|
||||
CLEAR_ON_OFFROAD_TRANSITION = 0x10,
|
||||
DONT_LOG = 0x20,
|
||||
DEVELOPMENT_ONLY = 0x40,
|
||||
CLEAR_ON_IGNITION_ON = 0x80,
|
||||
ALL = 0xFFFFFFFF
|
||||
};
|
||||
|
||||
enum ParamKeyType {
|
||||
STRING = 0, // must be utf-8 decodable
|
||||
BOOL = 1,
|
||||
INT = 2,
|
||||
FLOAT = 3,
|
||||
TIME = 4, // ISO 8601
|
||||
JSON = 5,
|
||||
BYTES = 6
|
||||
};
|
||||
|
||||
struct ParamKeyAttributes {
|
||||
uint32_t flags;
|
||||
ParamKeyType type;
|
||||
std::optional<std::string> default_value = std::nullopt;
|
||||
};
|
||||
|
||||
class Params {
|
||||
public:
|
||||
explicit Params(const std::string &path = {});
|
||||
@@ -47,16 +29,14 @@ public:
|
||||
|
||||
std::vector<std::string> allKeys() const;
|
||||
bool checkKey(const std::string &key);
|
||||
ParamKeyFlag getKeyFlag(const std::string &key);
|
||||
ParamKeyType getKeyType(const std::string &key);
|
||||
std::optional<std::string> getKeyDefaultValue(const std::string &key);
|
||||
inline std::string getParamPath(const std::string &key = {}) {
|
||||
return params_path + params_prefix + (key.empty() ? "" : "/" + key);
|
||||
}
|
||||
|
||||
// Delete a value
|
||||
int remove(const std::string &key);
|
||||
void clearAll(ParamKeyFlag flag);
|
||||
void clearAll(ParamKeyType type);
|
||||
|
||||
// helpers for reading values
|
||||
std::string get(const std::string &key, bool block = false);
|
||||
|
||||
+1
-2
@@ -1,6 +1,5 @@
|
||||
from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
|
||||
from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName
|
||||
assert Params
|
||||
assert ParamKeyFlag
|
||||
assert ParamKeyType
|
||||
assert UnknownKeyName
|
||||
|
||||
|
||||
+148
-159
@@ -3,163 +3,152 @@
|
||||
#include <string>
|
||||
#include <unordered_map>
|
||||
|
||||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
|
||||
inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
|
||||
{"AdbEnabled", {PERSISTENT, BOOL}},
|
||||
{"AlwaysOnDM", {PERSISTENT, BOOL}},
|
||||
{"ApiCache_Device", {PERSISTENT, STRING}},
|
||||
{"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
|
||||
{"AssistNowToken", {PERSISTENT, STRING}},
|
||||
{"AthenadPid", {PERSISTENT, INT}},
|
||||
{"AthenadUploadQueue", {PERSISTENT, JSON}},
|
||||
{"AthenadRecentlyViewedRoutes", {PERSISTENT, STRING}},
|
||||
{"BootCount", {PERSISTENT, INT}},
|
||||
{"CalibrationParams", {PERSISTENT, BYTES}},
|
||||
{"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"CameraDebugExpTime", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"CarBatteryCapacity", {PERSISTENT, INT}},
|
||||
{"CarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
|
||||
{"CarParamsCache", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"CarParamsPersistent", {PERSISTENT, BYTES}},
|
||||
{"CarParamsPrevRoute", {PERSISTENT, BYTES}},
|
||||
{"CompletedTrainingVersion", {PERSISTENT, STRING, "0"}},
|
||||
{"ControlsReady", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"CurrentBootlog", {PERSISTENT, STRING}},
|
||||
{"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"DisableLogging", {PERSISTENT, BOOL, "0"}},
|
||||
{"DisablePowerDown", {PERSISTENT, BOOL}},
|
||||
{"DisableUpdates", {PERSISTENT, BOOL}},
|
||||
{"DisengageOnAccelerator", {PERSISTENT, BOOL, "0"}},
|
||||
{"DongleId", {PERSISTENT, STRING}},
|
||||
{"DoReboot", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
|
||||
{"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY, BOOL}},
|
||||
{"ExperimentalMode", {PERSISTENT, BOOL}},
|
||||
{"ExperimentalModeConfirmed", {PERSISTENT, BOOL}},
|
||||
{"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"ForcePowerDown", {PERSISTENT, BOOL}},
|
||||
{"GitBranch", {PERSISTENT, STRING}},
|
||||
{"GitCommit", {PERSISTENT, STRING}},
|
||||
{"GitCommitDate", {PERSISTENT, STRING}},
|
||||
{"GitDiff", {PERSISTENT, STRING}},
|
||||
{"GithubSshKeys", {PERSISTENT, STRING}},
|
||||
{"GithubUsername", {PERSISTENT, STRING}},
|
||||
{"GitRemote", {PERSISTENT, STRING}},
|
||||
{"GsmApn", {PERSISTENT, STRING}},
|
||||
{"GsmMetered", {PERSISTENT, BOOL, "1"}},
|
||||
{"GsmRoaming", {PERSISTENT, BOOL}},
|
||||
{"HardwareSerial", {PERSISTENT, STRING}},
|
||||
{"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
|
||||
{"InstallDate", {PERSISTENT, TIME}},
|
||||
{"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsEngaged", {PERSISTENT, BOOL}},
|
||||
{"IsLdwEnabled", {PERSISTENT, BOOL}},
|
||||
{"IsMetric", {PERSISTENT, BOOL}},
|
||||
{"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsOnroad", {PERSISTENT, BOOL}},
|
||||
{"IsRhdDetected", {PERSISTENT, BOOL}},
|
||||
{"IsReleaseBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"LanguageSetting", {PERSISTENT, STRING, "en"}},
|
||||
{"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
|
||||
{"LastGPSPosition", {PERSISTENT, STRING}},
|
||||
{"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
|
||||
{"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
|
||||
{"LastUpdateTime", {PERSISTENT, TIME}},
|
||||
{"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"LiveDelay", {PERSISTENT, BYTES}},
|
||||
{"LiveParameters", {PERSISTENT, JSON}},
|
||||
{"LiveParametersV2", {PERSISTENT, BYTES}},
|
||||
{"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
|
||||
{"LocationFilterInitialState", {PERSISTENT, BYTES}},
|
||||
{"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
|
||||
{"NetworkMetered", {PERSISTENT, BOOL}},
|
||||
{"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
|
||||
{"Offroad_IsTakingSnapshot", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_DriverMonitoringUncertain", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"OpenpilotEnabledToggle", {PERSISTENT, BOOL, "1"}},
|
||||
{"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"PrimeType", {PERSISTENT, INT}},
|
||||
{"RecordAudio", {PERSISTENT, BOOL}},
|
||||
{"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}},
|
||||
{"RecordFront", {PERSISTENT, BOOL}},
|
||||
{"RecordFrontLock", {PERSISTENT, BOOL}}, // for the internal fleet
|
||||
{"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
|
||||
{"ShowDebugInfo", {PERSISTENT, BOOL}},
|
||||
{"RouteCount", {PERSISTENT, INT, "0"}},
|
||||
{"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"SshEnabled", {PERSISTENT, BOOL}},
|
||||
{"UbloxAvailable", {PERSISTENT, BOOL}},
|
||||
{"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"UpdateFailedCount", {CLEAR_ON_MANAGER_START, INT}},
|
||||
{"UpdaterAvailableBranches", {PERSISTENT, STRING}},
|
||||
{"UpdaterCurrentDescription", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"UpdaterCurrentReleaseNotes", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"UpdaterFetchAvailable", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"UpdaterNewDescription", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"UpdaterNewReleaseNotes", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"UpdaterState", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"UpdaterTargetBranch", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"UpdaterLastFetchTime", {PERSISTENT, TIME}},
|
||||
{"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"Version", {PERSISTENT, STRING}},
|
||||
{"dp_dev_last_log", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"dp_dev_reset_conf", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
|
||||
{"dp_dev_go_off_road", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
|
||||
{"dp_honda_nidec_stock_long", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_toyota_stock_lon", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_toyota_tss1_sng", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_vag_a0_sng", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_vag_avoid_eps_lockout", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_toyota_door_auto_lock_unlock", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_dev_audible_alert_mode", {PERSISTENT, INT, "0"}},
|
||||
{"dp_dev_auto_shutdown_in", {PERSISTENT, INT, "-5"}},
|
||||
{"dp_dev_dashy", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_dev_delay_loggerd", {PERSISTENT, INT, "0"}},
|
||||
{"dp_dev_disable_connect", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_dev_model_selected", {PERSISTENT, STRING}},
|
||||
{"dp_dev_model_list", {PERSISTENT, JSON}},
|
||||
{"dp_dev_is_rhd", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_dev_beep", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_dev_opview", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_dev_tethering", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_lat_alka", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_lat_offset_cm", {PERSISTENT, INT, "0"}},
|
||||
{"dp_lat_lca_speed", {PERSISTENT, INT, "20"}},
|
||||
{"dp_lat_lca_auto_sec", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"dp_lat_road_edge_detection", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_lon_acm", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_lon_aem", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_lon_apm", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_lon_ext_radar", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_ui_display_mode", {PERSISTENT, INT, "0"}},
|
||||
{"dp_ui_hide_hud_speed_kph", {PERSISTENT, INT, "0"}},
|
||||
{"dp_ui_lead", {PERSISTENT, INT, "0"}},
|
||||
{"dp_ui_rainbow", {PERSISTENT, BOOL, "0"}},
|
||||
inline static std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
|
||||
{"AdbEnabled", PERSISTENT},
|
||||
{"AlwaysOnDM", PERSISTENT},
|
||||
{"ApiCache_Device", PERSISTENT},
|
||||
{"ApiCache_FirehoseStats", PERSISTENT},
|
||||
{"AssistNowToken", PERSISTENT},
|
||||
{"AthenadPid", PERSISTENT},
|
||||
{"AthenadUploadQueue", PERSISTENT},
|
||||
{"AthenadRecentlyViewedRoutes", PERSISTENT},
|
||||
{"BootCount", PERSISTENT},
|
||||
{"CalibrationParams", PERSISTENT},
|
||||
{"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
|
||||
{"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
|
||||
{"CarBatteryCapacity", PERSISTENT},
|
||||
{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"CarParamsCache", CLEAR_ON_MANAGER_START},
|
||||
{"CarParamsPersistent", PERSISTENT},
|
||||
{"CarParamsPrevRoute", PERSISTENT},
|
||||
{"CompletedTrainingVersion", PERSISTENT},
|
||||
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"CurrentBootlog", PERSISTENT},
|
||||
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"DisableLogging", PERSISTENT},
|
||||
{"DisablePowerDown", PERSISTENT},
|
||||
{"DisableUpdates", PERSISTENT},
|
||||
{"DisengageOnAccelerator", PERSISTENT},
|
||||
{"DongleId", PERSISTENT},
|
||||
{"DoReboot", CLEAR_ON_MANAGER_START},
|
||||
{"DoShutdown", CLEAR_ON_MANAGER_START},
|
||||
{"DoUninstall", CLEAR_ON_MANAGER_START},
|
||||
{"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
|
||||
{"ExperimentalMode", PERSISTENT},
|
||||
{"ExperimentalModeConfirmed", PERSISTENT},
|
||||
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"ForcePowerDown", PERSISTENT},
|
||||
{"GitBranch", PERSISTENT},
|
||||
{"GitCommit", PERSISTENT},
|
||||
{"GitCommitDate", PERSISTENT},
|
||||
{"GitDiff", PERSISTENT},
|
||||
{"GithubSshKeys", PERSISTENT},
|
||||
{"GithubUsername", PERSISTENT},
|
||||
{"GitRemote", PERSISTENT},
|
||||
{"GsmApn", PERSISTENT},
|
||||
{"GsmMetered", PERSISTENT},
|
||||
{"GsmRoaming", PERSISTENT},
|
||||
{"HardwareSerial", PERSISTENT},
|
||||
{"HasAcceptedTerms", PERSISTENT},
|
||||
{"InstallDate", PERSISTENT},
|
||||
{"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
|
||||
{"IsEngaged", PERSISTENT},
|
||||
{"IsLdwEnabled", PERSISTENT},
|
||||
{"IsMetric", PERSISTENT},
|
||||
{"IsOffroad", CLEAR_ON_MANAGER_START},
|
||||
{"IsOnroad", PERSISTENT},
|
||||
{"IsRhdDetected", PERSISTENT},
|
||||
{"IsReleaseBranch", CLEAR_ON_MANAGER_START},
|
||||
{"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
|
||||
{"IsTestedBranch", CLEAR_ON_MANAGER_START},
|
||||
{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"LanguageSetting", PERSISTENT},
|
||||
{"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
|
||||
{"LastGPSPosition", PERSISTENT},
|
||||
{"LastManagerExitReason", CLEAR_ON_MANAGER_START},
|
||||
{"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
|
||||
{"LastUpdateException", CLEAR_ON_MANAGER_START},
|
||||
{"LastUpdateTime", PERSISTENT},
|
||||
{"LiveDelay", PERSISTENT},
|
||||
{"LiveParameters", PERSISTENT},
|
||||
{"LiveParametersV2", PERSISTENT},
|
||||
{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
|
||||
{"LocationFilterInitialState", PERSISTENT},
|
||||
{"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"LongitudinalPersonality", PERSISTENT},
|
||||
{"NetworkMetered", PERSISTENT},
|
||||
{"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
|
||||
{"OnroadCycleRequested", CLEAR_ON_MANAGER_START},
|
||||
{"OpenpilotEnabledToggle", PERSISTENT},
|
||||
{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"PandaSignatures", CLEAR_ON_MANAGER_START},
|
||||
{"PrimeType", PERSISTENT},
|
||||
{"RecordFront", PERSISTENT},
|
||||
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
|
||||
{"SecOCKey", PERSISTENT | DONT_LOG},
|
||||
{"RouteCount", PERSISTENT},
|
||||
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"SshEnabled", PERSISTENT},
|
||||
{"TermsVersion", PERSISTENT},
|
||||
{"TrainingVersion", PERSISTENT},
|
||||
{"UbloxAvailable", PERSISTENT},
|
||||
{"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"UpdateFailedCount", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterAvailableBranches", PERSISTENT},
|
||||
{"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterState", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterLastFetchTime", PERSISTENT},
|
||||
{"Version", PERSISTENT},
|
||||
{"dp_device_last_log", CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"dp_device_reset_conf", CLEAR_ON_MANAGER_START},
|
||||
{"dp_device_is_rhd", PERSISTENT},
|
||||
{"dp_device_monitoring_disabled", PERSISTENT},
|
||||
{"dp_device_beep", PERSISTENT},
|
||||
{"dp_lat_alka", PERSISTENT},
|
||||
{"dp_ui_display_mode", PERSISTENT},
|
||||
{"dp_device_model_selected", PERSISTENT},
|
||||
{"dp_device_model_list", PERSISTENT},
|
||||
{"dp_lat_lca_speed", PERSISTENT},
|
||||
{"dp_lat_lca_auto_sec", PERSISTENT},
|
||||
{"dp_device_go_off_road", CLEAR_ON_MANAGER_START},
|
||||
{"dp_ui_hide_hud_speed_kph", PERSISTENT},
|
||||
{"dp_lon_ext_radar", PERSISTENT},
|
||||
{"dp_lat_road_edge_detection", PERSISTENT},
|
||||
{"dp_ui_rainbow", PERSISTENT},
|
||||
{"dp_lon_acm", PERSISTENT},
|
||||
{"dp_lon_acm_downhill", PERSISTENT},
|
||||
{"dp_lon_aem", PERSISTENT},
|
||||
{"dp_device_audible_alert_mode", PERSISTENT},
|
||||
{"dp_lon_no_gas_gating", PERSISTENT},
|
||||
{"dp_device_auto_shutdown_in", PERSISTENT},
|
||||
{"dp_ui_radar_tracks", PERSISTENT},
|
||||
{"dp_device_ip", CLEAR_ON_MANAGER_START},
|
||||
{"dp_toyota_door_auto_lock_unlock", PERSISTENT},
|
||||
{"dp_toyota_tss1_sng", PERSISTENT},
|
||||
{"dp_toyota_stock_lon", PERSISTENT},
|
||||
{"dp_vag_a0_sng", PERSISTENT},
|
||||
{"dp_vag_pq_steering_patch", PERSISTENT},
|
||||
{"dp_vag_avoid_eps_lockout", PERSISTENT},
|
||||
{"dp_dev_delay_loggerd", PERSISTENT},
|
||||
};
|
||||
|
||||
+13272
File diff suppressed because it is too large
Load Diff
+10
-83
@@ -1,34 +1,18 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
import builtins
|
||||
import datetime
|
||||
import json
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libcpp.optional cimport optional
|
||||
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
cdef extern from "common/params.h":
|
||||
cpdef enum ParamKeyFlag:
|
||||
cpdef enum ParamKeyType:
|
||||
PERSISTENT
|
||||
CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_ONROAD_TRANSITION
|
||||
CLEAR_ON_OFFROAD_TRANSITION
|
||||
DEVELOPMENT_ONLY
|
||||
CLEAR_ON_IGNITION_ON
|
||||
ALL
|
||||
|
||||
cpdef enum ParamKeyType:
|
||||
STRING
|
||||
BOOL
|
||||
INT
|
||||
FLOAT
|
||||
TIME
|
||||
JSON
|
||||
BYTES
|
||||
|
||||
cdef cppclass c_Params "Params":
|
||||
c_Params(string) except + nogil
|
||||
string get(string, bool) nogil
|
||||
@@ -39,31 +23,10 @@ cdef extern from "common/params.h":
|
||||
void putBoolNonBlocking(string, bool) nogil
|
||||
int putBool(string, bool) nogil
|
||||
bool checkKey(string) nogil
|
||||
ParamKeyType getKeyType(string) nogil
|
||||
optional[string] getKeyDefaultValue(string) nogil
|
||||
string getParamPath(string) nogil
|
||||
void clearAll(ParamKeyFlag)
|
||||
void clearAll(ParamKeyType)
|
||||
vector[string] allKeys()
|
||||
|
||||
PYTHON_2_CPP = {
|
||||
(str, STRING): lambda v: v,
|
||||
(builtins.bool, BOOL): lambda v: "1" if v else "0",
|
||||
(int, INT): str,
|
||||
(float, FLOAT): str,
|
||||
(datetime.datetime, TIME): lambda v: v.isoformat(),
|
||||
(dict, JSON): json.dumps,
|
||||
(list, JSON): json.dumps,
|
||||
(bytes, BYTES): lambda v: v,
|
||||
}
|
||||
CPP_2_PYTHON = {
|
||||
STRING: lambda v: v.decode("utf-8"),
|
||||
BOOL: lambda v: v == b"1",
|
||||
INT: int,
|
||||
FLOAT: float,
|
||||
TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
|
||||
JSON: json.loads,
|
||||
BYTES: lambda v: v,
|
||||
}
|
||||
|
||||
def ensure_bytes(v):
|
||||
return v.encode() if isinstance(v, str) else v
|
||||
@@ -87,8 +50,8 @@ cdef class Params:
|
||||
def __dealloc__(self):
|
||||
del self.p
|
||||
|
||||
def clear_all(self, tx_flag=ParamKeyFlag.ALL):
|
||||
self.p.clearAll(tx_flag)
|
||||
def clear_all(self, tx_type=ParamKeyType.ALL):
|
||||
self.p.clearAll(tx_type)
|
||||
|
||||
def check_key(self, key):
|
||||
key = ensure_bytes(key)
|
||||
@@ -96,38 +59,21 @@ cdef class Params:
|
||||
raise UnknownKeyName(key)
|
||||
return key
|
||||
|
||||
def python2cpp(self, proposed_type, expected_type, value, key):
|
||||
cast = PYTHON_2_CPP.get((proposed_type, expected_type))
|
||||
if cast:
|
||||
return cast(value)
|
||||
raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
|
||||
|
||||
def _cpp2python(self, t, value, default, key):
|
||||
if value is None:
|
||||
return None
|
||||
try:
|
||||
return CPP_2_PYTHON[t](value)
|
||||
except (KeyError, TypeError, ValueError):
|
||||
cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
|
||||
return self._cpp2python(t, default, None, key)
|
||||
|
||||
def get(self, key, bool block=False, bool return_default=False):
|
||||
def get(self, key, bool block=False, encoding=None):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
cdef optional[string] default = self.p.getKeyDefaultValue(k)
|
||||
cdef string val
|
||||
with nogil:
|
||||
val = self.p.get(k, block)
|
||||
|
||||
default_val = (default.value() if default.has_value() else None) if return_default else None
|
||||
if val == b"":
|
||||
if block:
|
||||
# If we got no value while running in blocked mode
|
||||
# it means we got an interrupt while waiting
|
||||
raise KeyboardInterrupt
|
||||
else:
|
||||
return self._cpp2python(t, default_val, None, key)
|
||||
return self._cpp2python(t, val, default_val, key)
|
||||
return None
|
||||
|
||||
return val if encoding is None else val.decode(encoding)
|
||||
|
||||
def get_bool(self, key, bool block=False):
|
||||
cdef string k = self.check_key(key)
|
||||
@@ -136,11 +82,6 @@ cdef class Params:
|
||||
r = self.p.getBool(k, block)
|
||||
return r
|
||||
|
||||
def _put_cast(self, key, dat):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
@@ -149,7 +90,7 @@ cdef class Params:
|
||||
in general try to avoid writing params as much as possible.
|
||||
"""
|
||||
cdef string k = self.check_key(key)
|
||||
cdef string dat_bytes = self._put_cast(key, dat)
|
||||
cdef string dat_bytes = ensure_bytes(dat)
|
||||
with nogil:
|
||||
self.p.put(k, dat_bytes)
|
||||
|
||||
@@ -160,7 +101,7 @@ cdef class Params:
|
||||
|
||||
def put_nonblocking(self, key, dat):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef string dat_bytes = self._put_cast(key, dat)
|
||||
cdef string dat_bytes = ensure_bytes(dat)
|
||||
with nogil:
|
||||
self.p.putNonBlocking(k, dat_bytes)
|
||||
|
||||
@@ -178,19 +119,5 @@ cdef class Params:
|
||||
cdef string key_bytes = ensure_bytes(key)
|
||||
return self.p.getParamPath(key_bytes).decode("utf-8")
|
||||
|
||||
def get_type(self, key):
|
||||
return self.p.getKeyType(self.check_key(key))
|
||||
|
||||
def all_keys(self):
|
||||
return self.p.allKeys()
|
||||
|
||||
def get_default_value(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
cdef optional[string] default = self.p.getKeyDefaultValue(k)
|
||||
return self._cpp2python(t, default.value(), None, key) if default.has_value() else None
|
||||
|
||||
def cpp2python(self, key, value):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
return self._cpp2python(t, value, None, key)
|
||||
|
||||
Executable
BIN
Binary file not shown.
+34
-21
@@ -2,14 +2,23 @@ import numpy as np
|
||||
from numbers import Number
|
||||
|
||||
class PIDController:
|
||||
def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
|
||||
self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
|
||||
self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
|
||||
self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
|
||||
def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
|
||||
self._k_p = k_p
|
||||
self._k_i = k_i
|
||||
self._k_d = k_d
|
||||
self.k_f = k_f # feedforward gain
|
||||
if isinstance(self._k_p, Number):
|
||||
self._k_p = [[0], [self._k_p]]
|
||||
if isinstance(self._k_i, Number):
|
||||
self._k_i = [[0], [self._k_i]]
|
||||
if isinstance(self._k_d, Number):
|
||||
self._k_d = [[0], [self._k_d]]
|
||||
|
||||
self.set_limits(pos_limit, neg_limit)
|
||||
self.pos_limit = pos_limit
|
||||
self.neg_limit = neg_limit
|
||||
|
||||
self.i_dt = 1.0 / rate
|
||||
self.i_unwind_rate = 0.3 / rate
|
||||
self.i_rate = 1.0 / rate
|
||||
self.speed = 0.0
|
||||
|
||||
self.reset()
|
||||
@@ -26,6 +35,10 @@ class PIDController:
|
||||
def k_d(self):
|
||||
return np.interp(self.speed, self._k_d[0], self._k_d[1])
|
||||
|
||||
@property
|
||||
def error_integral(self):
|
||||
return self.i/self.k_i
|
||||
|
||||
def reset(self):
|
||||
self.p = 0.0
|
||||
self.i = 0.0
|
||||
@@ -33,25 +46,25 @@ class PIDController:
|
||||
self.f = 0.0
|
||||
self.control = 0
|
||||
|
||||
def set_limits(self, pos_limit, neg_limit):
|
||||
self.pos_limit = pos_limit
|
||||
self.neg_limit = neg_limit
|
||||
|
||||
def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
|
||||
def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
|
||||
self.speed = speed
|
||||
self.p = self.k_p * float(error)
|
||||
self.d = self.k_d * error_rate
|
||||
self.f = feedforward
|
||||
|
||||
if not freeze_integrator:
|
||||
i = self.i + self.k_i * self.i_dt * error
|
||||
self.p = float(error) * self.k_p
|
||||
self.f = feedforward * self.k_f
|
||||
self.d = error_rate * self.k_d
|
||||
|
||||
# Don't allow windup if already clipping
|
||||
test_control = self.p + i + self.d + self.f
|
||||
i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
|
||||
i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
|
||||
self.i = np.clip(i, i_lowerbound, i_upperbound)
|
||||
if override:
|
||||
self.i -= self.i_unwind_rate * float(np.sign(self.i))
|
||||
else:
|
||||
if not freeze_integrator:
|
||||
self.i = self.i + error * self.k_i * self.i_rate
|
||||
|
||||
# Clip i to prevent exceeding control limits
|
||||
control_no_i = self.p + self.d + self.f
|
||||
control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
|
||||
self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
|
||||
|
||||
control = self.p + self.i + self.d + self.f
|
||||
|
||||
self.control = np.clip(control, self.neg_limit, self.pos_limit)
|
||||
return self.control
|
||||
|
||||
+5
-9
@@ -13,11 +13,7 @@ public:
|
||||
if (prefix.empty()) {
|
||||
prefix = util::random_string(15);
|
||||
}
|
||||
#ifdef __APPLE__
|
||||
msgq_path = "/tmp/msgq_" + prefix;
|
||||
#else
|
||||
msgq_path = "/dev/shm/msgq_" + prefix;
|
||||
#endif
|
||||
msgq_path = Path::shm_path() + "/" + prefix;
|
||||
bool ret = util::create_directories(msgq_path, 0777);
|
||||
assert(ret);
|
||||
setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
|
||||
@@ -27,14 +23,14 @@ public:
|
||||
auto param_path = Params().getParamPath();
|
||||
if (util::file_exists(param_path)) {
|
||||
std::string real_path = util::readlink(param_path);
|
||||
util::check_system(util::string_format("rm %s -rf", real_path.c_str()));
|
||||
system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
|
||||
unlink(param_path.c_str());
|
||||
}
|
||||
if (getenv("COMMA_CACHE") == nullptr) {
|
||||
util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()));
|
||||
system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
|
||||
}
|
||||
util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
|
||||
util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
|
||||
system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
|
||||
system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
|
||||
unsetenv("OPENPILOT_PREFIX");
|
||||
}
|
||||
|
||||
|
||||
+7
-15
@@ -1,5 +1,4 @@
|
||||
import os
|
||||
import platform
|
||||
import shutil
|
||||
import uuid
|
||||
|
||||
@@ -10,20 +9,20 @@ from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
|
||||
|
||||
class OpenpilotPrefix:
|
||||
def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
|
||||
def __init__(self, prefix: 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])
|
||||
shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm"
|
||||
self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix)
|
||||
self.create_dirs_on_enter = create_dirs_on_enter
|
||||
self.msgq_path = os.path.join(Paths.shm_path(), 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)
|
||||
os.environ['OPENPILOT_PREFIX'] = self.prefix
|
||||
|
||||
if self.create_dirs_on_enter:
|
||||
self.create_dirs()
|
||||
try:
|
||||
os.mkdir(self.msgq_path)
|
||||
except FileExistsError:
|
||||
pass
|
||||
os.makedirs(Paths.log_root(), exist_ok=True)
|
||||
|
||||
if self.shared_download_cache:
|
||||
os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
|
||||
@@ -41,13 +40,6 @@ class OpenpilotPrefix:
|
||||
pass
|
||||
return False
|
||||
|
||||
def create_dirs(self):
|
||||
try:
|
||||
os.mkdir(self.msgq_path)
|
||||
except FileExistsError:
|
||||
pass
|
||||
os.makedirs(Paths.log_root(), exist_ok=True)
|
||||
|
||||
def clean_dirs(self):
|
||||
symlink_path = Params().get_param_path()
|
||||
if os.path.exists(symlink_path):
|
||||
|
||||
@@ -1,40 +0,0 @@
|
||||
#include "common/ratekeeper.h"
|
||||
|
||||
#include <algorithm>
|
||||
|
||||
#include "common/swaglog.h"
|
||||
#include "common/timing.h"
|
||||
#include "common/util.h"
|
||||
|
||||
RateKeeper::RateKeeper(const std::string &name_, float rate, float print_delay_threshold_)
|
||||
: name(name_),
|
||||
print_delay_threshold(std::max(0.f, print_delay_threshold_)) {
|
||||
interval = 1 / rate;
|
||||
last_monitor_time = seconds_since_boot();
|
||||
next_frame_time = last_monitor_time + interval;
|
||||
}
|
||||
|
||||
bool RateKeeper::keepTime() {
|
||||
bool lagged = monitorTime();
|
||||
if (remaining_ > 0) {
|
||||
util::sleep_for(remaining_ * 1000);
|
||||
}
|
||||
return lagged;
|
||||
}
|
||||
|
||||
bool RateKeeper::monitorTime() {
|
||||
++frame_;
|
||||
last_monitor_time = seconds_since_boot();
|
||||
remaining_ = next_frame_time - last_monitor_time;
|
||||
|
||||
bool lagged = remaining_ < 0;
|
||||
if (lagged) {
|
||||
if (print_delay_threshold > 0 && remaining_ < -print_delay_threshold) {
|
||||
LOGW("%s lagging by %.2f ms", name.c_str(), -remaining_ * 1000);
|
||||
}
|
||||
next_frame_time = last_monitor_time + interval;
|
||||
} else {
|
||||
next_frame_time += interval;
|
||||
}
|
||||
return lagged;
|
||||
}
|
||||
+1
-1
@@ -6,7 +6,7 @@ import time
|
||||
|
||||
from setproctitle import getproctitle
|
||||
|
||||
from openpilot.common.utils import MovingAverage
|
||||
from openpilot.common.util import MovingAverage
|
||||
from openpilot.system.hardware import PC
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,30 @@
|
||||
import time
|
||||
import functools
|
||||
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
|
||||
def retry(attempts=3, delay=1.0, ignore_failure=False):
|
||||
def decorator(func):
|
||||
@functools.wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
for _ in range(attempts):
|
||||
try:
|
||||
return func(*args, **kwargs)
|
||||
except Exception:
|
||||
cloudlog.exception(f"{func.__name__} failed, trying again")
|
||||
time.sleep(delay)
|
||||
|
||||
if ignore_failure:
|
||||
cloudlog.error(f"{func.__name__} failed after retry")
|
||||
else:
|
||||
raise Exception(f"{func.__name__} failed after retry")
|
||||
return wrapper
|
||||
return decorator
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
@retry(attempts=10)
|
||||
def abc():
|
||||
raise ValueError("abc failed :(")
|
||||
abc()
|
||||
@@ -0,0 +1,13 @@
|
||||
import subprocess
|
||||
|
||||
|
||||
def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
|
||||
return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
|
||||
|
||||
|
||||
def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
|
||||
try:
|
||||
return run_cmd(cmd, cwd=cwd, env=env)
|
||||
except subprocess.CalledProcessError:
|
||||
return default
|
||||
|
||||
@@ -1,52 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
|
||||
|
||||
class Spinner:
|
||||
def __init__(self):
|
||||
try:
|
||||
self.spinner_proc = subprocess.Popen(["./spinner.py"],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "system", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.spinner_proc = None
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, spinner_text: str):
|
||||
if self.spinner_proc is not None:
|
||||
self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
|
||||
try:
|
||||
self.spinner_proc.stdin.flush()
|
||||
except BrokenPipeError:
|
||||
pass
|
||||
|
||||
def update_progress(self, cur: float, total: float):
|
||||
self.update(str(round(100 * cur / total)))
|
||||
|
||||
def close(self):
|
||||
if self.spinner_proc is not None:
|
||||
self.spinner_proc.kill()
|
||||
try:
|
||||
self.spinner_proc.communicate(timeout=2.)
|
||||
except subprocess.TimeoutExpired:
|
||||
print("WARNING: failed to kill spinner")
|
||||
self.spinner_proc = None
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import time
|
||||
with Spinner() as s:
|
||||
s.update("Spinner text")
|
||||
time.sleep(5.0)
|
||||
print("gone")
|
||||
time.sleep(5.0)
|
||||
@@ -1,155 +0,0 @@
|
||||
#ifndef _GNU_SOURCE
|
||||
#define _GNU_SOURCE
|
||||
#endif
|
||||
|
||||
#include "common/swaglog.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <limits>
|
||||
#include <mutex>
|
||||
#include <string>
|
||||
|
||||
#include <zmq.h>
|
||||
#include <stdarg.h>
|
||||
#include "third_party/json11/json11.hpp"
|
||||
#include "common/version.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
class SwaglogState {
|
||||
public:
|
||||
SwaglogState() {
|
||||
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, Path::swaglog_ipc().c_str());
|
||||
|
||||
// workaround for https://github.com/dropbox/json11/issues/38
|
||||
setlocale(LC_NUMERIC, "C");
|
||||
|
||||
print_level = CLOUDLOG_WARNING;
|
||||
if (const char* print_lvl = getenv("LOGPRINT")) {
|
||||
if (strcmp(print_lvl, "debug") == 0) {
|
||||
print_level = CLOUDLOG_DEBUG;
|
||||
} else if (strcmp(print_lvl, "info") == 0) {
|
||||
print_level = CLOUDLOG_INFO;
|
||||
} else if (strcmp(print_lvl, "warning") == 0) {
|
||||
print_level = CLOUDLOG_WARNING;
|
||||
}
|
||||
}
|
||||
|
||||
ctx_j = json11::Json::object{};
|
||||
if (char* dongle_id = getenv("DONGLE_ID")) {
|
||||
ctx_j["dongle_id"] = dongle_id;
|
||||
}
|
||||
if (char* git_origin = getenv("GIT_ORIGIN")) {
|
||||
ctx_j["origin"] = git_origin;
|
||||
}
|
||||
if (char* git_branch = getenv("GIT_BRANCH")) {
|
||||
ctx_j["branch"] = git_branch;
|
||||
}
|
||||
if (char* git_commit = getenv("GIT_COMMIT")) {
|
||||
ctx_j["commit"] = git_commit;
|
||||
}
|
||||
if (char* daemon_name = getenv("MANAGER_DAEMON")) {
|
||||
ctx_j["daemon"] = daemon_name;
|
||||
}
|
||||
ctx_j["version"] = COMMA_VERSION;
|
||||
ctx_j["dirty"] = !getenv("CLEAN");
|
||||
ctx_j["device"] = Hardware::get_name();
|
||||
}
|
||||
|
||||
~SwaglogState() {
|
||||
zmq_close(sock);
|
||||
zmq_ctx_destroy(zctx);
|
||||
}
|
||||
|
||||
void log(int levelnum, const char* filename, int lineno, const char* func, const char* msg, const std::string& log_s) {
|
||||
std::lock_guard lk(lock);
|
||||
if (levelnum >= print_level) {
|
||||
printf("%s: %s\n", filename, msg);
|
||||
}
|
||||
zmq_send(sock, log_s.data(), log_s.length(), ZMQ_NOBLOCK);
|
||||
}
|
||||
|
||||
std::mutex lock;
|
||||
void* zctx = nullptr;
|
||||
void* sock = nullptr;
|
||||
int print_level;
|
||||
json11::Json::object ctx_j;
|
||||
};
|
||||
|
||||
bool LOG_TIMESTAMPS = getenv("LOG_TIMESTAMPS");
|
||||
uint32_t NO_FRAME_ID = std::numeric_limits<uint32_t>::max();
|
||||
|
||||
static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func,
|
||||
char* msg_buf, const json11::Json::object &msg_j={}) {
|
||||
static SwaglogState s;
|
||||
|
||||
json11::Json::object log_j = json11::Json::object {
|
||||
{"ctx", s.ctx_j},
|
||||
{"levelnum", levelnum},
|
||||
{"filename", filename},
|
||||
{"lineno", lineno},
|
||||
{"funcname", func},
|
||||
{"created", seconds_since_epoch()}
|
||||
};
|
||||
if (msg_j.empty()) {
|
||||
log_j["msg"] = msg_buf;
|
||||
} else {
|
||||
log_j["msg"] = msg_j;
|
||||
}
|
||||
|
||||
std::string log_s;
|
||||
log_s += (char)levelnum;
|
||||
((json11::Json)log_j).dump(log_s);
|
||||
s.log(levelnum, filename, lineno, func, msg_buf, log_s);
|
||||
|
||||
free(msg_buf);
|
||||
}
|
||||
|
||||
void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
|
||||
const char* fmt, ...) {
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
char* msg_buf = nullptr;
|
||||
int ret = vasprintf(&msg_buf, fmt, args);
|
||||
va_end(args);
|
||||
if (ret <= 0 || !msg_buf) return;
|
||||
cloudlog_common(levelnum, filename, lineno, func, msg_buf);
|
||||
}
|
||||
|
||||
void cloudlog_t_common(int levelnum, const char* filename, int lineno, const char* func,
|
||||
uint32_t frame_id, const char* fmt, va_list args) {
|
||||
if (!LOG_TIMESTAMPS) return;
|
||||
char* msg_buf = nullptr;
|
||||
int ret = vasprintf(&msg_buf, fmt, args);
|
||||
if (ret <= 0 || !msg_buf) return;
|
||||
json11::Json::object tspt_j = json11::Json::object{
|
||||
{"event", msg_buf},
|
||||
{"time", std::to_string(nanos_since_boot())}
|
||||
};
|
||||
if (frame_id < NO_FRAME_ID) {
|
||||
tspt_j["frame_id"] = std::to_string(frame_id);
|
||||
}
|
||||
tspt_j = json11::Json::object{{"timestamp", tspt_j}};
|
||||
cloudlog_common(levelnum, filename, lineno, func, msg_buf, tspt_j);
|
||||
}
|
||||
|
||||
|
||||
void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
|
||||
const char* fmt, ...) {
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
cloudlog_t_common(levelnum, filename, lineno, func, NO_FRAME_ID, fmt, args);
|
||||
va_end(args);
|
||||
}
|
||||
void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
|
||||
uint32_t frame_id, const char* fmt, ...) {
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
cloudlog_t_common(levelnum, filename, lineno, func, frame_id, fmt, args);
|
||||
va_end(args);
|
||||
}
|
||||
@@ -1 +0,0 @@
|
||||
test_common
|
||||
@@ -1,19 +0,0 @@
|
||||
import os
|
||||
from uuid import uuid4
|
||||
|
||||
from openpilot.common.utils import atomic_write
|
||||
|
||||
|
||||
class TestFileHelpers:
|
||||
def run_atomic_write_func(self, atomic_write_func):
|
||||
path = f"/tmp/tmp{uuid4()}"
|
||||
with atomic_write_func(path) as f:
|
||||
f.write("test")
|
||||
assert not os.path.exists(path)
|
||||
|
||||
with open(path) as f:
|
||||
assert f.read() == "test"
|
||||
os.remove(path)
|
||||
|
||||
def test_atomic_write(self):
|
||||
self.run_atomic_write_func(atomic_write)
|
||||
@@ -1,15 +0,0 @@
|
||||
import os
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.common.markdown import parse_markdown
|
||||
|
||||
|
||||
class TestMarkdown:
|
||||
def test_all_release_notes(self):
|
||||
with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
|
||||
release_notes = f.read().split("\n\n")
|
||||
assert len(release_notes) > 10
|
||||
|
||||
for rn in release_notes:
|
||||
md = parse_markdown(rn)
|
||||
assert len(md) > 0
|
||||
@@ -1,27 +0,0 @@
|
||||
#include "catch2/catch.hpp"
|
||||
#define private public
|
||||
#include "common/params.h"
|
||||
#include "common/util.h"
|
||||
|
||||
TEST_CASE("params_nonblocking_put") {
|
||||
char tmp_path[] = "/tmp/asyncWriter_XXXXXX";
|
||||
const std::string param_path = mkdtemp(tmp_path);
|
||||
auto param_names = {"CarParams", "IsMetric"};
|
||||
{
|
||||
Params params(param_path);
|
||||
for (const auto &name : param_names) {
|
||||
params.putNonBlocking(name, "1");
|
||||
// param is empty
|
||||
REQUIRE(params.get(name).empty());
|
||||
}
|
||||
|
||||
// check if thread is running
|
||||
REQUIRE(params.future.valid());
|
||||
REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout);
|
||||
}
|
||||
// check results
|
||||
Params p(param_path);
|
||||
for (const auto &name : param_names) {
|
||||
REQUIRE(p.get(name) == "1");
|
||||
}
|
||||
}
|
||||
@@ -1,141 +0,0 @@
|
||||
import pytest
|
||||
import datetime
|
||||
import os
|
||||
import threading
|
||||
import time
|
||||
import uuid
|
||||
|
||||
from openpilot.common.params import Params, ParamKeyFlag, UnknownKeyName
|
||||
|
||||
class TestParams:
|
||||
def setup_method(self):
|
||||
self.params = Params()
|
||||
|
||||
def test_params_put_and_get(self):
|
||||
self.params.put("DongleId", "cb38263377b873ee")
|
||||
assert self.params.get("DongleId") == "cb38263377b873ee"
|
||||
|
||||
def test_params_non_ascii(self):
|
||||
st = b"\xe1\x90\xff"
|
||||
self.params.put("CarParams", st)
|
||||
assert self.params.get("CarParams") == st
|
||||
|
||||
def test_params_get_cleared_manager_start(self):
|
||||
self.params.put("CarParams", b"test")
|
||||
self.params.put("DongleId", "cb38263377b873ee")
|
||||
assert self.params.get("CarParams") == b"test"
|
||||
|
||||
undefined_param = self.params.get_param_path(uuid.uuid4().hex)
|
||||
with open(undefined_param, "w") as f:
|
||||
f.write("test")
|
||||
assert os.path.isfile(undefined_param)
|
||||
|
||||
self.params.clear_all(ParamKeyFlag.CLEAR_ON_MANAGER_START)
|
||||
assert self.params.get("CarParams") is None
|
||||
assert self.params.get("DongleId") is not None
|
||||
assert not os.path.isfile(undefined_param)
|
||||
|
||||
def test_params_two_things(self):
|
||||
self.params.put("DongleId", "bob")
|
||||
self.params.put("AthenadPid", 123)
|
||||
assert self.params.get("DongleId") == "bob"
|
||||
assert self.params.get("AthenadPid") == 123
|
||||
|
||||
def test_params_get_block(self):
|
||||
def _delayed_writer():
|
||||
time.sleep(0.1)
|
||||
self.params.put("CarParams", b"test")
|
||||
threading.Thread(target=_delayed_writer).start()
|
||||
assert self.params.get("CarParams") is None
|
||||
assert self.params.get("CarParams", block=True) == b"test"
|
||||
|
||||
def test_params_unknown_key_fails(self):
|
||||
with pytest.raises(UnknownKeyName):
|
||||
self.params.get("swag")
|
||||
|
||||
with pytest.raises(UnknownKeyName):
|
||||
self.params.get_bool("swag")
|
||||
|
||||
with pytest.raises(UnknownKeyName):
|
||||
self.params.put("swag", "abc")
|
||||
|
||||
with pytest.raises(UnknownKeyName):
|
||||
self.params.put_bool("swag", True)
|
||||
|
||||
def test_remove_not_there(self):
|
||||
assert self.params.get("CarParams") is None
|
||||
self.params.remove("CarParams")
|
||||
assert self.params.get("CarParams") is None
|
||||
|
||||
def test_get_bool(self):
|
||||
self.params.remove("IsMetric")
|
||||
assert not self.params.get_bool("IsMetric")
|
||||
|
||||
self.params.put_bool("IsMetric", True)
|
||||
assert self.params.get_bool("IsMetric")
|
||||
|
||||
self.params.put_bool("IsMetric", False)
|
||||
assert not self.params.get_bool("IsMetric")
|
||||
|
||||
self.params.put("IsMetric", True)
|
||||
assert self.params.get_bool("IsMetric")
|
||||
|
||||
self.params.put("IsMetric", False)
|
||||
assert not self.params.get_bool("IsMetric")
|
||||
|
||||
def test_put_non_blocking_with_get_block(self):
|
||||
q = Params()
|
||||
def _delayed_writer():
|
||||
time.sleep(0.1)
|
||||
Params().put_nonblocking("CarParams", b"test")
|
||||
threading.Thread(target=_delayed_writer).start()
|
||||
assert q.get("CarParams") is None
|
||||
assert q.get("CarParams", True) == b"test"
|
||||
|
||||
def test_put_bool_non_blocking_with_get_block(self):
|
||||
q = Params()
|
||||
def _delayed_writer():
|
||||
time.sleep(0.1)
|
||||
Params().put_bool_nonblocking("CarParams", True)
|
||||
threading.Thread(target=_delayed_writer).start()
|
||||
assert q.get("CarParams") is None
|
||||
assert q.get("CarParams", True) == b"1"
|
||||
|
||||
def test_params_all_keys(self):
|
||||
keys = Params().all_keys()
|
||||
|
||||
# sanity checks
|
||||
assert len(keys) > 20
|
||||
assert len(keys) == len(set(keys))
|
||||
assert b"CarParams" in keys
|
||||
|
||||
def test_params_default_value(self):
|
||||
self.params.remove("LanguageSetting")
|
||||
self.params.remove("LongitudinalPersonality")
|
||||
self.params.remove("LiveParameters")
|
||||
|
||||
assert self.params.get("LanguageSetting") is None
|
||||
assert self.params.get("LanguageSetting", return_default=False) is None
|
||||
assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
|
||||
assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
|
||||
assert self.params.get("LiveParameters") is None
|
||||
assert self.params.get("LiveParameters", return_default=True) is None
|
||||
|
||||
def test_params_get_type(self):
|
||||
# json
|
||||
self.params.put("ApiCache_FirehoseStats", {"a": 0})
|
||||
assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
|
||||
|
||||
# int
|
||||
self.params.put("BootCount", 1441)
|
||||
assert self.params.get("BootCount") == 1441
|
||||
|
||||
# bool
|
||||
self.params.put("AdbEnabled", True)
|
||||
assert self.params.get("AdbEnabled")
|
||||
assert isinstance(self.params.get("AdbEnabled"), bool)
|
||||
|
||||
# time
|
||||
now = datetime.datetime.now(datetime.UTC)
|
||||
self.params.put("InstallDate", now)
|
||||
assert self.params.get("InstallDate") == now
|
||||
@@ -1,2 +0,0 @@
|
||||
#define CATCH_CONFIG_MAIN
|
||||
#include "catch2/catch.hpp"
|
||||
@@ -1,29 +0,0 @@
|
||||
from openpilot.common.simple_kalman import KF1D
|
||||
|
||||
|
||||
class TestSimpleKalman:
|
||||
def setup_method(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 = 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.set_x([[1.0], [1.0]])
|
||||
assert self.kf.x == [[1.0], [1.0]]
|
||||
|
||||
def test_update_returns_state(self):
|
||||
x = self.kf.update(100)
|
||||
assert x == [i[0] for i in self.kf.x]
|
||||
@@ -1,88 +0,0 @@
|
||||
#include <zmq.h>
|
||||
|
||||
#include <iostream>
|
||||
|
||||
#include "catch2/catch.hpp"
|
||||
#include "common/swaglog.h"
|
||||
#include "common/util.h"
|
||||
#include "common/version.h"
|
||||
#include "system/hardware/hw.h"
|
||||
#include "third_party/json11/json11.hpp"
|
||||
|
||||
std::string daemon_name = "testy";
|
||||
std::string dongle_id = "test_dongle_id";
|
||||
int LINE_NO = 0;
|
||||
|
||||
void log_thread(int thread_id, int msg_cnt) {
|
||||
for (int i = 0; i < msg_cnt; ++i) {
|
||||
LOGD("%d", thread_id);
|
||||
LINE_NO = __LINE__ - 1;
|
||||
usleep(1);
|
||||
}
|
||||
}
|
||||
|
||||
void recv_log(int thread_cnt, int thread_msg_cnt) {
|
||||
void *zctx = zmq_ctx_new();
|
||||
void *sock = zmq_socket(zctx, ZMQ_PULL);
|
||||
zmq_bind(sock, Path::swaglog_ipc().c_str());
|
||||
std::vector<int> thread_msgs(thread_cnt);
|
||||
int total_count = 0;
|
||||
|
||||
for (auto start = std::chrono::steady_clock::now(), now = start;
|
||||
now < start + std::chrono::seconds{1} && total_count < (thread_cnt * thread_msg_cnt);
|
||||
now = std::chrono::steady_clock::now()) {
|
||||
char buf[4096] = {};
|
||||
if (zmq_recv(sock, buf, sizeof(buf), ZMQ_DONTWAIT) <= 0) {
|
||||
if (errno == EAGAIN || errno == EINTR || errno == EFSM) continue;
|
||||
break;
|
||||
}
|
||||
|
||||
REQUIRE(buf[0] == CLOUDLOG_DEBUG);
|
||||
std::string err;
|
||||
auto msg = json11::Json::parse(buf + 1, err);
|
||||
REQUIRE(!msg.is_null());
|
||||
|
||||
REQUIRE(msg["levelnum"].int_value() == CLOUDLOG_DEBUG);
|
||||
REQUIRE_THAT(msg["filename"].string_value(), Catch::Contains("test_swaglog.cc"));
|
||||
REQUIRE(msg["funcname"].string_value() == "log_thread");
|
||||
REQUIRE(msg["lineno"].int_value() == LINE_NO);
|
||||
|
||||
auto ctx = msg["ctx"];
|
||||
|
||||
REQUIRE(ctx["daemon"].string_value() == daemon_name);
|
||||
REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
|
||||
REQUIRE(ctx["dirty"].bool_value() == true);
|
||||
|
||||
REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
|
||||
|
||||
std::string device = Hardware::get_name();
|
||||
REQUIRE(ctx["device"].string_value() == device);
|
||||
|
||||
int thread_id = atoi(msg["msg"].string_value().c_str());
|
||||
REQUIRE((thread_id >= 0 && thread_id < thread_cnt));
|
||||
thread_msgs[thread_id]++;
|
||||
total_count++;
|
||||
}
|
||||
for (int i = 0; i < thread_cnt; ++i) {
|
||||
INFO("thread :" << i);
|
||||
REQUIRE(thread_msgs[i] == thread_msg_cnt);
|
||||
}
|
||||
zmq_close(sock);
|
||||
zmq_ctx_destroy(zctx);
|
||||
}
|
||||
|
||||
TEST_CASE("swaglog") {
|
||||
setenv("MANAGER_DAEMON", daemon_name.c_str(), 1);
|
||||
setenv("DONGLE_ID", dongle_id.c_str(), 1);
|
||||
setenv("dirty", "1", 1);
|
||||
const int thread_cnt = 5;
|
||||
const int thread_msg_cnt = 100;
|
||||
|
||||
std::vector<std::thread> log_threads;
|
||||
for (int i = 0; i < thread_cnt; ++i) {
|
||||
log_threads.push_back(std::thread(log_thread, i, thread_msg_cnt));
|
||||
}
|
||||
for (auto &t : log_threads) t.join();
|
||||
|
||||
recv_log(thread_cnt, thread_msg_cnt);
|
||||
}
|
||||
@@ -1,147 +0,0 @@
|
||||
|
||||
#include <dirent.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/types.h>
|
||||
|
||||
#include <algorithm>
|
||||
#include <climits>
|
||||
#include <fstream>
|
||||
#include <random>
|
||||
#include <string>
|
||||
|
||||
#include "catch2/catch.hpp"
|
||||
#include "common/util.h"
|
||||
|
||||
std::string random_bytes(int size) {
|
||||
std::random_device rd;
|
||||
std::independent_bits_engine<std::default_random_engine, CHAR_BIT, unsigned char> rbe(rd());
|
||||
std::string bytes(size + 1, '\0');
|
||||
std::generate(bytes.begin(), bytes.end(), std::ref(rbe));
|
||||
return bytes;
|
||||
}
|
||||
|
||||
TEST_CASE("util::read_file") {
|
||||
SECTION("read /proc/version") {
|
||||
std::string ret = util::read_file("/proc/version");
|
||||
REQUIRE(ret.find("Linux version") != std::string::npos);
|
||||
}
|
||||
SECTION("read from sysfs") {
|
||||
std::string ret = util::read_file("/sys/power/wakeup_count");
|
||||
REQUIRE(!ret.empty());
|
||||
}
|
||||
SECTION("read file") {
|
||||
char filename[] = "/tmp/test_read_XXXXXX";
|
||||
int fd = mkstemp(filename);
|
||||
|
||||
REQUIRE(util::read_file(filename).empty());
|
||||
|
||||
std::string content = random_bytes(64 * 1024);
|
||||
REQUIRE(write(fd, content.c_str(), content.size()) == (ssize_t)content.size());
|
||||
std::string ret = util::read_file(filename);
|
||||
bool equal = (ret == content);
|
||||
REQUIRE(equal);
|
||||
close(fd);
|
||||
}
|
||||
SECTION("read directory") {
|
||||
REQUIRE(util::read_file(".").empty());
|
||||
}
|
||||
SECTION("read non-existent file") {
|
||||
std::string ret = util::read_file("does_not_exist");
|
||||
REQUIRE(ret.empty());
|
||||
}
|
||||
SECTION("read non-permission") {
|
||||
REQUIRE(util::read_file("/proc/kmsg").empty());
|
||||
}
|
||||
}
|
||||
|
||||
TEST_CASE("util::file_exists") {
|
||||
char filename[] = "/tmp/test_file_exists_XXXXXX";
|
||||
int fd = mkstemp(filename);
|
||||
REQUIRE(fd != -1);
|
||||
close(fd);
|
||||
|
||||
SECTION("existent file") {
|
||||
REQUIRE(util::file_exists(filename));
|
||||
REQUIRE(util::file_exists("/tmp"));
|
||||
}
|
||||
SECTION("nonexistent file") {
|
||||
std::string fn = filename;
|
||||
REQUIRE(!util::file_exists(fn + "/nonexistent"));
|
||||
}
|
||||
SECTION("file has no access permissions") {
|
||||
std::string fn = "/proc/kmsg";
|
||||
std::ifstream f(fn);
|
||||
REQUIRE(f.good() == false);
|
||||
REQUIRE(util::file_exists(fn));
|
||||
}
|
||||
::remove(filename);
|
||||
}
|
||||
|
||||
TEST_CASE("util::read_files_in_dir") {
|
||||
char tmp_path[] = "/tmp/test_XXXXXX";
|
||||
const std::string test_path = mkdtemp(tmp_path);
|
||||
const std::string files[] = {".test1", "'test2'", "test3"};
|
||||
for (auto fn : files) {
|
||||
std::ofstream{test_path + "/" + fn} << fn;
|
||||
}
|
||||
mkdir((test_path + "/dir").c_str(), 0777);
|
||||
|
||||
std::map<std::string, std::string> result = util::read_files_in_dir(test_path);
|
||||
REQUIRE(result.find("dir") == result.end());
|
||||
REQUIRE(result.size() == std::size(files));
|
||||
for (auto& [k, v] : result) {
|
||||
REQUIRE(k == v);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
TEST_CASE("util::safe_fwrite") {
|
||||
char filename[] = "/tmp/XXXXXX";
|
||||
int fd = mkstemp(filename);
|
||||
close(fd);
|
||||
std::string dat = random_bytes(1024 * 1024);
|
||||
|
||||
FILE *f = util::safe_fopen(filename, "wb");
|
||||
REQUIRE(f != nullptr);
|
||||
size_t size = util::safe_fwrite(dat.data(), 1, dat.size(), f);
|
||||
REQUIRE(size == dat.size());
|
||||
int ret = util::safe_fflush(f);
|
||||
REQUIRE(ret == 0);
|
||||
ret = fclose(f);
|
||||
REQUIRE(ret == 0);
|
||||
bool equal = (dat == util::read_file(filename));
|
||||
REQUIRE(equal);
|
||||
}
|
||||
|
||||
TEST_CASE("util::create_directories") {
|
||||
REQUIRE(system("rm /tmp/test_create_directories -rf") == 0);
|
||||
std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";
|
||||
|
||||
auto check_dir_permissions = [](const std::string &path, mode_t mode) -> bool {
|
||||
struct stat st = {};
|
||||
return stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
|
||||
};
|
||||
|
||||
SECTION("create_directories") {
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
REQUIRE(check_dir_permissions(dir, 0755));
|
||||
}
|
||||
SECTION("dir already exists") {
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
}
|
||||
SECTION("a file exists with the same name") {
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT, 0644);
|
||||
REQUIRE(f != -1);
|
||||
close(f);
|
||||
REQUIRE(util::create_directories(dir + "/file", 0755) == false);
|
||||
REQUIRE(util::create_directories(dir + "/file/1/2/3", 0755) == false);
|
||||
}
|
||||
SECTION("end with slashes") {
|
||||
REQUIRE(util::create_directories(dir + "/", 0755));
|
||||
}
|
||||
SECTION("empty") {
|
||||
REQUIRE(util::create_directories("", 0755) == false);
|
||||
}
|
||||
}
|
||||
@@ -1,63 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import time
|
||||
import subprocess
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
|
||||
|
||||
class TextWindow:
|
||||
def __init__(self, text):
|
||||
try:
|
||||
self.text_proc = subprocess.Popen(["./text.py", text],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "system", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.text_proc = None
|
||||
|
||||
def get_status(self):
|
||||
if self.text_proc is not None:
|
||||
self.text_proc.poll()
|
||||
return self.text_proc.returncode
|
||||
return None
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def close(self):
|
||||
if self.text_proc is not None:
|
||||
self.text_proc.terminate()
|
||||
self.text_proc = None
|
||||
|
||||
def wait_for_exit(self):
|
||||
if self.text_proc is not None:
|
||||
while True:
|
||||
if self.get_status() == 1:
|
||||
return
|
||||
time.sleep(0.1)
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
text = """Traceback (most recent call last):
|
||||
File "./controlsd.py", line 608, in <module>
|
||||
main()
|
||||
File "./controlsd.py", line 604, in main
|
||||
controlsd_thread(sm, pm, logcan)
|
||||
File "./controlsd.py", line 455, in controlsd_thread
|
||||
1/0
|
||||
ZeroDivisionError: division by zero"""
|
||||
print(text)
|
||||
|
||||
with TextWindow(text) as s:
|
||||
for _ in range(100):
|
||||
if s.get_status() == 1:
|
||||
print("Got exit button")
|
||||
break
|
||||
time.sleep(0.1)
|
||||
print("gone")
|
||||
@@ -0,0 +1,2 @@
|
||||
transformations
|
||||
transformations.cpp
|
||||
@@ -0,0 +1,5 @@
|
||||
Import('env', 'envCython')
|
||||
|
||||
transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
|
||||
transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
|
||||
Export('transformations', 'transformations_python')
|
||||
@@ -0,0 +1,43 @@
|
||||
#pragma once
|
||||
|
||||
#include <eigen3/Eigen/Dense>
|
||||
|
||||
#define DEG2RAD(x) ((x) * M_PI / 180.0)
|
||||
#define RAD2DEG(x) ((x) * 180.0 / M_PI)
|
||||
|
||||
struct ECEF {
|
||||
double x, y, z;
|
||||
Eigen::Vector3d to_vector() const {
|
||||
return Eigen::Vector3d(x, y, z);
|
||||
}
|
||||
};
|
||||
|
||||
struct NED {
|
||||
double n, e, d;
|
||||
Eigen::Vector3d to_vector() const {
|
||||
return Eigen::Vector3d(n, e, d);
|
||||
}
|
||||
};
|
||||
|
||||
struct Geodetic {
|
||||
double lat, lon, alt;
|
||||
bool radians=false;
|
||||
};
|
||||
|
||||
ECEF geodetic2ecef(const Geodetic &g);
|
||||
Geodetic ecef2geodetic(const ECEF &e);
|
||||
|
||||
class LocalCoord {
|
||||
public:
|
||||
Eigen::Matrix3d ned2ecef_matrix;
|
||||
Eigen::Matrix3d ecef2ned_matrix;
|
||||
Eigen::Vector3d init_ecef;
|
||||
LocalCoord(const Geodetic &g, const ECEF &e);
|
||||
LocalCoord(const Geodetic &g) : LocalCoord(g, ::geodetic2ecef(g)) {}
|
||||
LocalCoord(const ECEF &e) : LocalCoord(::ecef2geodetic(e), e) {}
|
||||
|
||||
NED ecef2ned(const ECEF &e);
|
||||
ECEF ned2ecef(const NED &n);
|
||||
NED geodetic2ned(const Geodetic &g);
|
||||
Geodetic ned2geodetic(const NED &n);
|
||||
};
|
||||
@@ -0,0 +1,17 @@
|
||||
#pragma once
|
||||
#include <eigen3/Eigen/Dense>
|
||||
#include "common/transformations/coordinates.hpp"
|
||||
|
||||
|
||||
Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat);
|
||||
|
||||
Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler);
|
||||
Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat);
|
||||
Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat);
|
||||
Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
|
||||
Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler);
|
||||
Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
|
||||
Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
|
||||
Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle);
|
||||
Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose);
|
||||
Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose);
|
||||
@@ -1,137 +0,0 @@
|
||||
import numpy as np
|
||||
|
||||
import openpilot.common.transformations.coordinates as coord
|
||||
|
||||
geodetic_positions = np.array([[37.7610403, -122.4778699, 115],
|
||||
[27.4840915, -68.5867592, 2380],
|
||||
[32.4916858, -113.652821, -6],
|
||||
[15.1392514, 103.6976037, 24],
|
||||
[24.2302229, 44.2835412, 1650]])
|
||||
|
||||
ecef_positions = np.array([[-2711076.55270557, -4259167.14692758, 3884579.87669935],
|
||||
[ 2068042.69652729, -5273435.40316622, 2927004.89190746],
|
||||
[-2160412.60461669, -4932588.89873832, 3406542.29652851],
|
||||
[-1458247.92550567, 5983060.87496612, 1654984.6099885 ],
|
||||
[ 4167239.10867871, 4064301.90363223, 2602234.6065749 ]])
|
||||
|
||||
ecef_positions_offset = np.array([[-2711004.46961115, -4259099.33540613, 3884605.16002147],
|
||||
[ 2068074.30639499, -5273413.78835412, 2927012.48741131],
|
||||
[-2160344.53748176, -4932586.20092211, 3406636.2962545 ],
|
||||
[-1458211.98517094, 5983151.11161276, 1655077.02698447],
|
||||
[ 4167271.20055269, 4064398.22619263, 2602238.95265847]])
|
||||
|
||||
|
||||
ned_offsets = np.array([[78.722153649976391, 24.396208657446344, 60.343017506838436],
|
||||
[10.699003365155221, 37.319278617604269, 4.1084100025050407],
|
||||
[95.282646251726959, 61.266689955574428, -25.376506058505054],
|
||||
[68.535769283630003, -56.285970011848889, -100.54840137956515],
|
||||
[-33.066609321880179, 46.549821994306861, -84.062540548335591]])
|
||||
|
||||
ecef_init_batch = np.array([2068042.69652729, -5273435.40316622, 2927004.89190746])
|
||||
ecef_positions_offset_batch = np.array([[ 2068089.41454771, -5273434.46829148, 2927074.04783672],
|
||||
[ 2068103.31628647, -5273393.92275431, 2927102.08725987],
|
||||
[ 2068108.49939636, -5273359.27047121, 2927045.07091581],
|
||||
[ 2068075.12395611, -5273381.69432566, 2927041.08207992],
|
||||
[ 2068060.72033399, -5273430.6061505, 2927094.54928305]])
|
||||
|
||||
ned_offsets_batch = np.array([[ 53.88103168, 43.83445935, -46.27488057],
|
||||
[ 93.83378995, 71.57943024, -30.23113187],
|
||||
[ 57.26725796, 89.05602684, 23.02265814],
|
||||
[ 49.71775195, 49.79767572, 17.15351015],
|
||||
[ 78.56272609, 18.53100158, -43.25290759]])
|
||||
|
||||
|
||||
class TestNED:
|
||||
def test_small_distances(self):
|
||||
start_geodetic = np.array([33.8042184, -117.888593, 0.0])
|
||||
local_coord = coord.LocalCoord.from_geodetic(start_geodetic)
|
||||
|
||||
start_ned = local_coord.geodetic2ned(start_geodetic)
|
||||
np.testing.assert_array_equal(start_ned, np.zeros(3,))
|
||||
|
||||
west_geodetic = start_geodetic + [0, -0.0005, 0]
|
||||
west_ned = local_coord.geodetic2ned(west_geodetic)
|
||||
assert np.abs(west_ned[0]) < 1e-3
|
||||
assert west_ned[1] < 0
|
||||
|
||||
southwest_geodetic = start_geodetic + [-0.0005, -0.002, 0]
|
||||
southwest_ned = local_coord.geodetic2ned(southwest_geodetic)
|
||||
assert southwest_ned[0] < 0
|
||||
assert southwest_ned[1] < 0
|
||||
|
||||
def test_ecef_geodetic(self):
|
||||
# testing single
|
||||
np.testing.assert_allclose(ecef_positions[0], coord.geodetic2ecef(geodetic_positions[0]), rtol=1e-9)
|
||||
np.testing.assert_allclose(geodetic_positions[0, :2], coord.ecef2geodetic(ecef_positions[0])[:2], rtol=1e-9)
|
||||
np.testing.assert_allclose(geodetic_positions[0, 2], coord.ecef2geodetic(ecef_positions[0])[2], rtol=1e-9, atol=1e-4)
|
||||
|
||||
np.testing.assert_allclose(geodetic_positions[:, :2], coord.ecef2geodetic(ecef_positions)[:, :2], rtol=1e-9)
|
||||
np.testing.assert_allclose(geodetic_positions[:, 2], coord.ecef2geodetic(ecef_positions)[:, 2], rtol=1e-9, atol=1e-4)
|
||||
np.testing.assert_allclose(ecef_positions, coord.geodetic2ecef(geodetic_positions), rtol=1e-9)
|
||||
|
||||
|
||||
def test_ned(self):
|
||||
for ecef_pos in ecef_positions:
|
||||
converter = coord.LocalCoord.from_ecef(ecef_pos)
|
||||
ecef_pos_moved = ecef_pos + [25, -25, 25]
|
||||
ecef_pos_moved_double_converted = converter.ned2ecef(converter.ecef2ned(ecef_pos_moved))
|
||||
np.testing.assert_allclose(ecef_pos_moved, ecef_pos_moved_double_converted, rtol=1e-9)
|
||||
|
||||
for geo_pos in geodetic_positions:
|
||||
converter = coord.LocalCoord.from_geodetic(geo_pos)
|
||||
geo_pos_moved = geo_pos + np.array([0, 0, 10])
|
||||
geo_pos_double_converted_moved = converter.ned2geodetic(converter.geodetic2ned(geo_pos) + np.array([0, 0, -10]))
|
||||
np.testing.assert_allclose(geo_pos_moved[:2], geo_pos_double_converted_moved[:2], rtol=1e-9, atol=1e-6)
|
||||
np.testing.assert_allclose(geo_pos_moved[2], geo_pos_double_converted_moved[2], rtol=1e-9, atol=1e-4)
|
||||
|
||||
def test_ned_saved_results(self):
|
||||
for i, ecef_pos in enumerate(ecef_positions):
|
||||
converter = coord.LocalCoord.from_ecef(ecef_pos)
|
||||
np.testing.assert_allclose(converter.ned2ecef(ned_offsets[i]),
|
||||
ecef_positions_offset[i],
|
||||
rtol=1e-9, atol=1e-4)
|
||||
np.testing.assert_allclose(converter.ecef2ned(ecef_positions_offset[i]),
|
||||
ned_offsets[i],
|
||||
rtol=1e-9, atol=1e-4)
|
||||
|
||||
def test_ned_batch(self):
|
||||
converter = coord.LocalCoord.from_ecef(ecef_init_batch)
|
||||
np.testing.assert_allclose(converter.ecef2ned(ecef_positions_offset_batch),
|
||||
ned_offsets_batch,
|
||||
rtol=1e-9, atol=1e-7)
|
||||
np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
|
||||
ecef_positions_offset_batch,
|
||||
rtol=1e-9, atol=1e-7)
|
||||
|
||||
def test_errors(self):
|
||||
# Test wrong shape/type for geodetic2ecef
|
||||
# numpy_wrap raises IndexError for scalar input
|
||||
with np.testing.assert_raises(IndexError):
|
||||
coord.geodetic2ecef(1.0)
|
||||
|
||||
with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
|
||||
coord.geodetic2ecef([0, 0])
|
||||
|
||||
with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
|
||||
coord.geodetic2ecef([0, 0, 0, 0])
|
||||
|
||||
with np.testing.assert_raises(TypeError):
|
||||
coord.geodetic2ecef(['a', 'b', 'c'])
|
||||
|
||||
# Test LocalCoord constructor errors
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.LocalCoord.from_geodetic([0, 0])
|
||||
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.LocalCoord.from_geodetic(1)
|
||||
|
||||
with np.testing.assert_raises(TypeError):
|
||||
coord.LocalCoord.from_geodetic(['a', 'b', 'c'])
|
||||
|
||||
# Test wrong shape/type for ecef2geodetic
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.ecef2geodetic([1, 2])
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.ecef2geodetic([1, 2, 3, 4])
|
||||
with np.testing.assert_raises(IndexError):
|
||||
coord.ecef2geodetic(1.0)
|
||||
@@ -1,91 +0,0 @@
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
|
||||
rot2quat, quat2rot, \
|
||||
ned_euler_from_ecef
|
||||
|
||||
eulers = np.array([[ 1.46520501, 2.78688383, 2.92780854],
|
||||
[ 4.86909526, 3.60618161, 4.30648981],
|
||||
[ 3.72175965, 2.68763705, 5.43895988],
|
||||
[ 5.92306687, 5.69573614, 0.81100357],
|
||||
[ 0.67838374, 5.02402037, 2.47106426]])
|
||||
|
||||
quats = np.array([[ 0.66855182, -0.71500939, 0.19539353, 0.06017818],
|
||||
[ 0.43163717, 0.70013301, 0.28209145, 0.49389021],
|
||||
[ 0.44121991, -0.08252646, 0.34257534, 0.82532207],
|
||||
[ 0.88578382, -0.04515356, -0.32936046, 0.32383617],
|
||||
[ 0.06578165, 0.61282835, 0.07126891, 0.78424163]])
|
||||
|
||||
ecef_positions = np.array([[-2711076.55270557, -4259167.14692758, 3884579.87669935],
|
||||
[ 2068042.69652729, -5273435.40316622, 2927004.89190746],
|
||||
[-2160412.60461669, -4932588.89873832, 3406542.29652851],
|
||||
[-1458247.92550567, 5983060.87496612, 1654984.6099885 ],
|
||||
[ 4167239.10867871, 4064301.90363223, 2602234.6065749 ]])
|
||||
|
||||
ned_eulers = np.array([[ 0.46806039, -0.4881889 , 1.65697808],
|
||||
[-2.14525969, -0.36533066, 0.73813479],
|
||||
[-1.39523364, -0.58540761, -1.77376356],
|
||||
[-1.84220435, 0.61828016, -1.03310421],
|
||||
[ 2.50450101, 0.36304151, 0.33136365]])
|
||||
|
||||
|
||||
class TestOrientation:
|
||||
def test_quat_euler(self):
|
||||
for i, eul in enumerate(eulers):
|
||||
np.testing.assert_allclose(quats[i], euler2quat(eul), rtol=1e-7)
|
||||
np.testing.assert_allclose(quats[i], euler2quat(quat2euler(quats[i])), rtol=1e-6)
|
||||
for i, eul in enumerate(eulers):
|
||||
np.testing.assert_allclose(quats[i], euler2quat(list(eul)), rtol=1e-7)
|
||||
np.testing.assert_allclose(quats[i], euler2quat(quat2euler(list(quats[i]))), rtol=1e-6)
|
||||
np.testing.assert_allclose(quats, euler2quat(eulers), rtol=1e-7)
|
||||
np.testing.assert_allclose(quats, euler2quat(quat2euler(quats)), rtol=1e-6)
|
||||
|
||||
def test_rot_euler(self):
|
||||
for eul in eulers:
|
||||
np.testing.assert_allclose(euler2quat(eul), euler2quat(rot2euler(euler2rot(eul))), rtol=1e-7)
|
||||
for eul in eulers:
|
||||
np.testing.assert_allclose(euler2quat(eul), euler2quat(rot2euler(euler2rot(list(eul)))), rtol=1e-7)
|
||||
np.testing.assert_allclose(euler2quat(eulers), euler2quat(rot2euler(euler2rot(eulers))), rtol=1e-7)
|
||||
|
||||
def test_rot_quat(self):
|
||||
for quat in quats:
|
||||
np.testing.assert_allclose(quat, rot2quat(quat2rot(quat)), rtol=1e-7)
|
||||
for quat in quats:
|
||||
np.testing.assert_allclose(quat, rot2quat(quat2rot(list(quat))), rtol=1e-7)
|
||||
np.testing.assert_allclose(quats, rot2quat(quat2rot(quats)), rtol=1e-7)
|
||||
|
||||
def test_euler_ned(self):
|
||||
for i in range(len(eulers)):
|
||||
np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
|
||||
#np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
|
||||
# np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
|
||||
|
||||
def test_inputs(self):
|
||||
with pytest.raises(ValueError):
|
||||
euler2quat([1, 2])
|
||||
|
||||
with pytest.raises(ValueError):
|
||||
quat2rot([1, 2, 3])
|
||||
|
||||
with pytest.raises(IndexError):
|
||||
rot2quat(np.zeros((2, 2)))
|
||||
|
||||
def test_euler_rot_consistency(self):
|
||||
rpy = [0.1, 0.2, 0.3]
|
||||
R = euler2rot(rpy)
|
||||
|
||||
# R -> q -> R
|
||||
q = rot2quat(R)
|
||||
R_new = quat2rot(q)
|
||||
np.testing.assert_allclose(R, R_new, atol=1e-15)
|
||||
|
||||
# q -> R -> Euler (quat2euler) -> R
|
||||
rpy_new = quat2euler(q)
|
||||
R_new2 = euler2rot(rpy_new)
|
||||
np.testing.assert_allclose(R, R_new2, atol=1e-15)
|
||||
|
||||
# R -> Euler (rot2euler) -> R
|
||||
rpy_from_rot = rot2euler(R)
|
||||
R_new3 = euler2rot(rpy_from_rot)
|
||||
np.testing.assert_allclose(R, R_new3, atol=1e-15)
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,72 @@
|
||||
# cython: language_level=3
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "orientation.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "orientation.hpp":
|
||||
cdef cppclass Quaternion "Eigen::Quaterniond":
|
||||
Quaternion()
|
||||
Quaternion(double, double, double, double)
|
||||
double w()
|
||||
double x()
|
||||
double y()
|
||||
double z()
|
||||
|
||||
cdef cppclass Vector3 "Eigen::Vector3d":
|
||||
Vector3()
|
||||
Vector3(double, double, double)
|
||||
double operator()(int)
|
||||
|
||||
cdef cppclass Matrix3 "Eigen::Matrix3d":
|
||||
Matrix3()
|
||||
Matrix3(double*)
|
||||
|
||||
double operator()(int, int)
|
||||
|
||||
Quaternion euler2quat(const Vector3 &)
|
||||
Vector3 quat2euler(const Quaternion &)
|
||||
Matrix3 quat2rot(const Quaternion &)
|
||||
Quaternion rot2quat(const Matrix3 &)
|
||||
Vector3 rot2euler(const Matrix3 &)
|
||||
Matrix3 euler2rot(const Vector3 &)
|
||||
Matrix3 rot_matrix(double, double, double)
|
||||
Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
|
||||
Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
|
||||
|
||||
|
||||
cdef extern from "coordinates.cc":
|
||||
cdef struct ECEF:
|
||||
double x
|
||||
double y
|
||||
double z
|
||||
|
||||
cdef struct NED:
|
||||
double n
|
||||
double e
|
||||
double d
|
||||
|
||||
cdef struct Geodetic:
|
||||
double lat
|
||||
double lon
|
||||
double alt
|
||||
bool radians
|
||||
|
||||
ECEF geodetic2ecef(const Geodetic &)
|
||||
Geodetic ecef2geodetic(const ECEF &)
|
||||
|
||||
cdef cppclass LocalCoord_c "LocalCoord":
|
||||
Matrix3 ned2ecef_matrix
|
||||
Matrix3 ecef2ned_matrix
|
||||
|
||||
LocalCoord_c(const Geodetic &, const ECEF &)
|
||||
LocalCoord_c(const Geodetic &)
|
||||
LocalCoord_c(const ECEF &)
|
||||
|
||||
NED ecef2ned(const ECEF &)
|
||||
ECEF ned2ecef(const NED &)
|
||||
NED geodetic2ned(const Geodetic &)
|
||||
Geodetic ned2geodetic(const NED &)
|
||||
|
||||
cdef extern from "coordinates.hpp":
|
||||
pass
|
||||
@@ -1,342 +0,0 @@
|
||||
import numpy as np
|
||||
|
||||
|
||||
# Constants
|
||||
a = 6378137.0
|
||||
b = 6356752.3142
|
||||
esq = 6.69437999014e-3
|
||||
e1sq = 6.73949674228e-3
|
||||
|
||||
|
||||
def geodetic2ecef_single(g):
|
||||
"""
|
||||
Convert geodetic coordinates (latitude, longitude, altitude) to ECEF.
|
||||
"""
|
||||
try:
|
||||
if len(g) != 3:
|
||||
raise ValueError("Geodetic must be size 3")
|
||||
except TypeError:
|
||||
raise ValueError("Geodetic must be a sequence of length 3") from None
|
||||
|
||||
lat, lon, alt = g
|
||||
lat = np.radians(lat)
|
||||
lon = np.radians(lon)
|
||||
xi = np.sqrt(1.0 - esq * np.sin(lat)**2)
|
||||
x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
|
||||
y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
|
||||
z = (a / xi * (1.0 - esq) + alt) * np.sin(lat)
|
||||
return np.array([x, y, z])
|
||||
|
||||
|
||||
def ecef2geodetic_single(e):
|
||||
"""
|
||||
Convert ECEF to geodetic coordinates using Ferrari's solution.
|
||||
"""
|
||||
x, y, z = e
|
||||
r = np.sqrt(x**2 + y**2)
|
||||
Esq = a**2 - b**2
|
||||
F = 54 * b**2 * z**2
|
||||
G = r**2 + (1 - esq) * z**2 - esq * Esq
|
||||
C = (esq**2 * F * r**2) / (G**3)
|
||||
S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C))
|
||||
P = F / (3 * (S + 1 / S + 1)**2 * G**2)
|
||||
Q = np.sqrt(1 + 2 * esq**2 * P)
|
||||
r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2)
|
||||
U = np.sqrt((r - esq * r_0)**2 + z**2)
|
||||
V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2)
|
||||
Z_0 = b**2 * z / (a * V)
|
||||
h = U * (1 - b**2 / (a * V))
|
||||
lat = np.arctan((z + e1sq * Z_0) / r)
|
||||
lon = np.arctan2(y, x)
|
||||
return np.array([np.degrees(lat), np.degrees(lon), h])
|
||||
|
||||
|
||||
def euler2quat_single(euler):
|
||||
"""
|
||||
Convert Euler angles (roll, pitch, yaw) to a quaternion.
|
||||
Rotation order: Z-Y-X (yaw, pitch, roll).
|
||||
"""
|
||||
phi, theta, psi = euler
|
||||
|
||||
c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2)
|
||||
c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2)
|
||||
c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2)
|
||||
|
||||
w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi
|
||||
x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi
|
||||
y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi
|
||||
z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi
|
||||
|
||||
if w < 0:
|
||||
return np.array([-w, -x, -y, -z])
|
||||
return np.array([w, x, y, z])
|
||||
|
||||
|
||||
def quat2euler_single(q):
|
||||
"""
|
||||
Convert a quaternion to Euler angles (roll, pitch, yaw).
|
||||
"""
|
||||
w, x, y, z = q
|
||||
gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2))
|
||||
sin_arg = 2 * (w * y - z * x)
|
||||
sin_arg = np.clip(sin_arg, -1.0, 1.0)
|
||||
theta = np.arcsin(sin_arg)
|
||||
psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2))
|
||||
return np.array([gamma, theta, psi])
|
||||
|
||||
|
||||
def quat2rot_single(q):
|
||||
"""
|
||||
Convert a quaternion to a 3x3 rotation matrix.
|
||||
"""
|
||||
w, x, y, z = q
|
||||
xx, yy, zz = x * x, y * y, z * z
|
||||
xy, xz, yz = x * y, x * z, y * z
|
||||
wx, wy, wz = w * x, w * y, w * z
|
||||
|
||||
mat = np.array([
|
||||
[1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)],
|
||||
[2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)],
|
||||
[2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)]
|
||||
])
|
||||
return mat
|
||||
|
||||
|
||||
def rot2quat_single(rot):
|
||||
"""
|
||||
Convert a 3x3 rotation matrix to a quaternion.
|
||||
"""
|
||||
trace = np.trace(rot)
|
||||
if trace > 0:
|
||||
s = 0.5 / np.sqrt(trace + 1.0)
|
||||
w = 0.25 / s
|
||||
x = (rot[2, 1] - rot[1, 2]) * s
|
||||
y = (rot[0, 2] - rot[2, 0]) * s
|
||||
z = (rot[1, 0] - rot[0, 1]) * s
|
||||
else:
|
||||
if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]:
|
||||
s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2])
|
||||
w = (rot[2, 1] - rot[1, 2]) / s
|
||||
x = 0.25 * s
|
||||
y = (rot[0, 1] + rot[1, 0]) / s
|
||||
z = (rot[0, 2] + rot[2, 0]) / s
|
||||
elif rot[1, 1] > rot[2, 2]:
|
||||
s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2])
|
||||
w = (rot[0, 2] - rot[2, 0]) / s
|
||||
x = (rot[0, 1] + rot[1, 0]) / s
|
||||
y = 0.25 * s
|
||||
z = (rot[1, 2] + rot[2, 1]) / s
|
||||
else:
|
||||
s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1])
|
||||
w = (rot[1, 0] - rot[0, 1]) / s
|
||||
x = (rot[0, 2] + rot[2, 0]) / s
|
||||
y = (rot[1, 2] + rot[2, 1]) / s
|
||||
z = 0.25 * s
|
||||
|
||||
if w < 0:
|
||||
return np.array([-w, -x, -y, -z])
|
||||
return np.array([w, x, y, z])
|
||||
|
||||
|
||||
def euler2rot_single(euler):
|
||||
"""
|
||||
Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix.
|
||||
Rotation order: Z-Y-X (yaw, pitch, roll).
|
||||
"""
|
||||
phi, theta, psi = euler
|
||||
|
||||
cx, sx = np.cos(phi), np.sin(phi)
|
||||
cy, sy = np.cos(theta), np.sin(theta)
|
||||
cz, sz = np.cos(psi), np.sin(psi)
|
||||
|
||||
Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]])
|
||||
Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]])
|
||||
Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]])
|
||||
|
||||
return Rz @ Ry @ Rx
|
||||
|
||||
|
||||
def rot2euler_single(rot):
|
||||
"""
|
||||
Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw).
|
||||
"""
|
||||
return quat2euler_single(rot2quat_single(rot))
|
||||
|
||||
|
||||
def rot_matrix(roll, pitch, yaw):
|
||||
"""
|
||||
Create a 3x3 rotation matrix from roll, pitch, and yaw angles.
|
||||
"""
|
||||
return euler2rot_single([roll, pitch, yaw])
|
||||
|
||||
|
||||
def axis_angle_to_rot(axis, angle):
|
||||
"""
|
||||
Convert an axis-angle representation to a 3x3 rotation matrix.
|
||||
"""
|
||||
c = np.cos(angle / 2)
|
||||
s = np.sin(angle / 2)
|
||||
q = np.array([c, s*axis[0], s*axis[1], s*axis[2]])
|
||||
return quat2rot_single(q)
|
||||
|
||||
|
||||
class LocalCoord:
|
||||
"""
|
||||
A class to handle conversions between ECEF and local NED coordinates.
|
||||
"""
|
||||
def __init__(self, geodetic=None, ecef=None):
|
||||
"""
|
||||
Initialize LocalCoord with either geodetic or ECEF coordinates.
|
||||
"""
|
||||
if geodetic is not None:
|
||||
self.init_ecef = geodetic2ecef_single(geodetic)
|
||||
lat, lon, _ = geodetic
|
||||
elif ecef is not None:
|
||||
self.init_ecef = np.array(ecef)
|
||||
lat, lon, _ = ecef2geodetic_single(ecef)
|
||||
else:
|
||||
raise ValueError("Must provide geodetic or ecef")
|
||||
|
||||
lat = np.radians(lat)
|
||||
lon = np.radians(lon)
|
||||
|
||||
self.ned2ecef_matrix = np.array([
|
||||
[-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
|
||||
[-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
|
||||
[np.cos(lat), 0, -np.sin(lat)]
|
||||
])
|
||||
self.ecef2ned_matrix = self.ned2ecef_matrix.T
|
||||
|
||||
@classmethod
|
||||
def from_geodetic(cls, geodetic):
|
||||
"""
|
||||
Create a LocalCoord instance from geodetic coordinates.
|
||||
"""
|
||||
return cls(geodetic=geodetic)
|
||||
|
||||
@classmethod
|
||||
def from_ecef(cls, ecef):
|
||||
"""
|
||||
Create a LocalCoord instance from ECEF coordinates.
|
||||
"""
|
||||
return cls(ecef=ecef)
|
||||
|
||||
def ecef2ned_single(self, ecef):
|
||||
"""
|
||||
Convert a single ECEF point to NED coordinates relative to the origin.
|
||||
"""
|
||||
return self.ecef2ned_matrix @ (ecef - self.init_ecef)
|
||||
|
||||
def ned2ecef_single(self, ned):
|
||||
"""
|
||||
Convert a single NED point to ECEF coordinates.
|
||||
"""
|
||||
return self.ned2ecef_matrix @ ned + self.init_ecef
|
||||
|
||||
def geodetic2ned_single(self, geodetic):
|
||||
"""
|
||||
Convert a single geodetic point to NED coordinates.
|
||||
"""
|
||||
ecef = geodetic2ecef_single(geodetic)
|
||||
return self.ecef2ned_single(ecef)
|
||||
|
||||
def ned2geodetic_single(self, ned):
|
||||
"""
|
||||
Convert a single NED point to geodetic coordinates.
|
||||
"""
|
||||
ecef = self.ned2ecef_single(ned)
|
||||
return ecef2geodetic_single(ecef)
|
||||
|
||||
@property
|
||||
def ned_from_ecef_matrix(self):
|
||||
"""
|
||||
Returns the rotation matrix from ECEF to NED coordinates.
|
||||
"""
|
||||
return self.ecef2ned_matrix
|
||||
|
||||
@property
|
||||
def ecef_from_ned_matrix(self):
|
||||
"""
|
||||
Returns the rotation matrix from NED to ECEF coordinates.
|
||||
"""
|
||||
return self.ned2ecef_matrix
|
||||
|
||||
|
||||
def ecef_euler_from_ned_single(ecef_init, ned_pose):
|
||||
"""
|
||||
Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin
|
||||
to equivalent ECEF Euler angles.
|
||||
"""
|
||||
converter = LocalCoord(ecef=ecef_init)
|
||||
zero = np.array(ecef_init)
|
||||
|
||||
x0 = converter.ned2ecef_single([1, 0, 0]) - zero
|
||||
y0 = converter.ned2ecef_single([0, 1, 0]) - zero
|
||||
z0 = converter.ned2ecef_single([0, 0, 1]) - zero
|
||||
|
||||
phi, theta, psi = ned_pose
|
||||
|
||||
x1 = axis_angle_to_rot(z0, psi) @ x0
|
||||
y1 = axis_angle_to_rot(z0, psi) @ y0
|
||||
z1 = axis_angle_to_rot(z0, psi) @ z0
|
||||
|
||||
x2 = axis_angle_to_rot(y1, theta) @ x1
|
||||
y2 = axis_angle_to_rot(y1, theta) @ y1
|
||||
z2 = axis_angle_to_rot(y1, theta) @ z1
|
||||
|
||||
x3 = axis_angle_to_rot(x2, phi) @ x2
|
||||
y3 = axis_angle_to_rot(x2, phi) @ y2
|
||||
|
||||
x0 = np.array([1.0, 0, 0])
|
||||
y0 = np.array([0, 1.0, 0])
|
||||
z0 = np.array([0, 0, 1.0])
|
||||
|
||||
psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
|
||||
theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
|
||||
|
||||
y2 = axis_angle_to_rot(z0, psi_out) @ y0
|
||||
z2 = axis_angle_to_rot(y2, theta_out) @ z0
|
||||
|
||||
phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
|
||||
|
||||
return np.array([phi_out, theta_out, psi_out])
|
||||
|
||||
|
||||
def ned_euler_from_ecef_single(ecef_init, ecef_pose):
|
||||
"""
|
||||
Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin
|
||||
to equivalent NED Euler angles.
|
||||
"""
|
||||
converter = LocalCoord(ecef=ecef_init)
|
||||
|
||||
x0 = np.array([1.0, 0, 0])
|
||||
y0 = np.array([0, 1.0, 0])
|
||||
z0 = np.array([0, 0, 1.0])
|
||||
|
||||
phi, theta, psi = ecef_pose
|
||||
|
||||
x1 = axis_angle_to_rot(z0, psi) @ x0
|
||||
y1 = axis_angle_to_rot(z0, psi) @ y0
|
||||
z1 = axis_angle_to_rot(z0, psi) @ z0
|
||||
|
||||
x2 = axis_angle_to_rot(y1, theta) @ x1
|
||||
y2 = axis_angle_to_rot(y1, theta) @ y1
|
||||
z2 = axis_angle_to_rot(y1, theta) @ z1
|
||||
|
||||
x3 = axis_angle_to_rot(x2, phi) @ x2
|
||||
y3 = axis_angle_to_rot(x2, phi) @ y2
|
||||
|
||||
zero = np.array(ecef_init)
|
||||
x0 = converter.ned2ecef_single([1, 0, 0]) - zero
|
||||
y0 = converter.ned2ecef_single([0, 1, 0]) - zero
|
||||
z0 = converter.ned2ecef_single([0, 0, 1]) - zero
|
||||
|
||||
psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
|
||||
theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
|
||||
|
||||
y2 = axis_angle_to_rot(z0, psi_out) @ y0
|
||||
z2 = axis_angle_to_rot(y2, theta_out) @ z0
|
||||
|
||||
phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
|
||||
|
||||
return np.array([phi_out, theta_out, psi_out])
|
||||
@@ -0,0 +1,173 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
|
||||
from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
|
||||
|
||||
from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
|
||||
from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
|
||||
from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
|
||||
from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
|
||||
from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
|
||||
from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
|
||||
from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
|
||||
from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
|
||||
from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
|
||||
from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
|
||||
from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
|
||||
from openpilot.common.transformations.transformations cimport LocalCoord_c
|
||||
|
||||
|
||||
import numpy as np
|
||||
cimport numpy as np
|
||||
|
||||
cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
|
||||
return np.array([
|
||||
[m(0, 0), m(0, 1), m(0, 2)],
|
||||
[m(1, 0), m(1, 1), m(1, 2)],
|
||||
[m(2, 0), m(2, 1), m(2, 2)],
|
||||
])
|
||||
|
||||
cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
|
||||
assert m.shape[0] == 3
|
||||
assert m.shape[1] == 3
|
||||
return Matrix3(<double*>m.data)
|
||||
|
||||
cdef ECEF list2ecef(ecef):
|
||||
cdef ECEF e
|
||||
e.x = ecef[0]
|
||||
e.y = ecef[1]
|
||||
e.z = ecef[2]
|
||||
return e
|
||||
|
||||
cdef NED list2ned(ned):
|
||||
cdef NED n
|
||||
n.n = ned[0]
|
||||
n.e = ned[1]
|
||||
n.d = ned[2]
|
||||
return n
|
||||
|
||||
cdef Geodetic list2geodetic(geodetic):
|
||||
cdef Geodetic g
|
||||
g.lat = geodetic[0]
|
||||
g.lon = geodetic[1]
|
||||
g.alt = geodetic[2]
|
||||
return g
|
||||
|
||||
def euler2quat_single(euler):
|
||||
cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
|
||||
cdef Quaternion q = euler2quat_c(e)
|
||||
return [q.w(), q.x(), q.y(), q.z()]
|
||||
|
||||
def quat2euler_single(quat):
|
||||
cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
|
||||
cdef Vector3 e = quat2euler_c(q)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def quat2rot_single(quat):
|
||||
cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
|
||||
cdef Matrix3 r = quat2rot_c(q)
|
||||
return matrix2numpy(r)
|
||||
|
||||
def rot2quat_single(rot):
|
||||
cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
|
||||
cdef Quaternion q = rot2quat_c(r)
|
||||
return [q.w(), q.x(), q.y(), q.z()]
|
||||
|
||||
def euler2rot_single(euler):
|
||||
cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
|
||||
cdef Matrix3 r = euler2rot_c(e)
|
||||
return matrix2numpy(r)
|
||||
|
||||
def rot2euler_single(rot):
|
||||
cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
|
||||
cdef Vector3 e = rot2euler_c(r)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def rot_matrix(roll, pitch, yaw):
|
||||
return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
|
||||
|
||||
def ecef_euler_from_ned_single(ecef_init, ned_pose):
|
||||
cdef ECEF init = list2ecef(ecef_init)
|
||||
cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
|
||||
|
||||
cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def ned_euler_from_ecef_single(ecef_init, ecef_pose):
|
||||
cdef ECEF init = list2ecef(ecef_init)
|
||||
cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
|
||||
|
||||
cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def geodetic2ecef_single(geodetic):
|
||||
cdef Geodetic g = list2geodetic(geodetic)
|
||||
cdef ECEF e = geodetic2ecef_c(g)
|
||||
return [e.x, e.y, e.z]
|
||||
|
||||
def ecef2geodetic_single(ecef):
|
||||
cdef ECEF e = list2ecef(ecef)
|
||||
cdef Geodetic g = ecef2geodetic_c(e)
|
||||
return [g.lat, g.lon, g.alt]
|
||||
|
||||
|
||||
cdef class LocalCoord:
|
||||
cdef LocalCoord_c * lc
|
||||
|
||||
def __init__(self, geodetic=None, ecef=None):
|
||||
assert (geodetic is not None) or (ecef is not None)
|
||||
if geodetic is not None:
|
||||
self.lc = new LocalCoord_c(list2geodetic(geodetic))
|
||||
elif ecef is not None:
|
||||
self.lc = new LocalCoord_c(list2ecef(ecef))
|
||||
|
||||
@property
|
||||
def ned2ecef_matrix(self):
|
||||
return matrix2numpy(self.lc.ned2ecef_matrix)
|
||||
|
||||
@property
|
||||
def ecef2ned_matrix(self):
|
||||
return matrix2numpy(self.lc.ecef2ned_matrix)
|
||||
|
||||
@property
|
||||
def ned_from_ecef_matrix(self):
|
||||
return self.ecef2ned_matrix
|
||||
|
||||
@property
|
||||
def ecef_from_ned_matrix(self):
|
||||
return self.ned2ecef_matrix
|
||||
|
||||
@classmethod
|
||||
def from_geodetic(cls, geodetic):
|
||||
return cls(geodetic=geodetic)
|
||||
|
||||
@classmethod
|
||||
def from_ecef(cls, ecef):
|
||||
return cls(ecef=ecef)
|
||||
|
||||
def ecef2ned_single(self, ecef):
|
||||
assert self.lc
|
||||
cdef ECEF e = list2ecef(ecef)
|
||||
cdef NED n = self.lc.ecef2ned(e)
|
||||
return [n.n, n.e, n.d]
|
||||
|
||||
def ned2ecef_single(self, ned):
|
||||
assert self.lc
|
||||
cdef NED n = list2ned(ned)
|
||||
cdef ECEF e = self.lc.ned2ecef(n)
|
||||
return [e.x, e.y, e.z]
|
||||
|
||||
def geodetic2ned_single(self, geodetic):
|
||||
assert self.lc
|
||||
cdef Geodetic g = list2geodetic(geodetic)
|
||||
cdef NED n = self.lc.geodetic2ned(g)
|
||||
return [n.n, n.e, n.d]
|
||||
|
||||
def ned2geodetic_single(self, ned):
|
||||
assert self.lc
|
||||
cdef NED n = list2ned(ned)
|
||||
cdef Geodetic g = self.lc.ned2geodetic(n)
|
||||
return [g.lat, g.lon, g.alt]
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.lc
|
||||
Executable
BIN
Binary file not shown.
-317
@@ -1,317 +0,0 @@
|
||||
#include "common/util.h"
|
||||
#include "common/swaglog.h"
|
||||
|
||||
#include <sys/ioctl.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/resource.h>
|
||||
|
||||
#include <cassert>
|
||||
#include <cerrno>
|
||||
#include <cstring>
|
||||
#include <dirent.h>
|
||||
#include <fstream>
|
||||
#include <iomanip>
|
||||
#include <random>
|
||||
#include <sstream>
|
||||
#include <limits>
|
||||
|
||||
#ifdef __linux__
|
||||
#include <sys/prctl.h>
|
||||
#include <sys/syscall.h>
|
||||
#ifndef __USE_GNU
|
||||
#define __USE_GNU
|
||||
#endif
|
||||
#include <sched.h>
|
||||
#endif // __linux__
|
||||
|
||||
namespace util {
|
||||
|
||||
void set_thread_name(const char* name) {
|
||||
#ifdef __linux__
|
||||
// pthread_setname_np is dumb (fails instead of truncates)
|
||||
prctl(PR_SET_NAME, (unsigned long)name, 0, 0, 0);
|
||||
#endif
|
||||
}
|
||||
|
||||
int set_realtime_priority(int level) {
|
||||
#ifdef __linux__
|
||||
long tid = syscall(SYS_gettid);
|
||||
|
||||
// should match python using chrt
|
||||
struct sched_param sa;
|
||||
memset(&sa, 0, sizeof(sa));
|
||||
sa.sched_priority = level;
|
||||
return sched_setscheduler(tid, SCHED_FIFO, &sa);
|
||||
#else
|
||||
return -1;
|
||||
#endif
|
||||
}
|
||||
|
||||
int set_core_affinity(std::vector<int> cores) {
|
||||
#ifdef __linux__
|
||||
long tid = syscall(SYS_gettid);
|
||||
cpu_set_t cpu;
|
||||
|
||||
CPU_ZERO(&cpu);
|
||||
for (const int n : cores) {
|
||||
CPU_SET(n, &cpu);
|
||||
}
|
||||
return sched_setaffinity(tid, sizeof(cpu), &cpu);
|
||||
#else
|
||||
return -1;
|
||||
#endif
|
||||
}
|
||||
|
||||
int set_file_descriptor_limit(uint64_t limit_val) {
|
||||
struct rlimit limit;
|
||||
int status;
|
||||
|
||||
if ((status = getrlimit(RLIMIT_NOFILE, &limit)) < 0)
|
||||
return status;
|
||||
|
||||
limit.rlim_cur = limit_val;
|
||||
if ((status = setrlimit(RLIMIT_NOFILE, &limit)) < 0)
|
||||
return status;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
std::string read_file(const std::string& fn) {
|
||||
std::ifstream f(fn, std::ios::binary | std::ios::in);
|
||||
if (f.is_open()) {
|
||||
f.seekg(0, std::ios::end);
|
||||
std::streamsize size = f.tellg();
|
||||
// seekg and tellg on a directory doesn't return pos_type(-1) but max(streamsize)
|
||||
if (f.good() && size > 0 && size < std::numeric_limits<std::streamsize>::max()) {
|
||||
std::string result(size, '\0');
|
||||
f.seekg(0, std::ios::beg);
|
||||
f.read(result.data(), size);
|
||||
// return either good() or has reached end-of-file (e.g. /sys/power/wakeup_count)
|
||||
if (f.good() || f.eof()) {
|
||||
result.resize(f.gcount());
|
||||
return result;
|
||||
}
|
||||
}
|
||||
// fallback for files created on read, e.g. procfs
|
||||
std::stringstream buffer;
|
||||
buffer << f.rdbuf();
|
||||
return buffer.str();
|
||||
}
|
||||
return std::string();
|
||||
}
|
||||
|
||||
std::map<std::string, std::string> read_files_in_dir(const std::string &path) {
|
||||
std::map<std::string, std::string> ret;
|
||||
DIR *d = opendir(path.c_str());
|
||||
if (!d) return ret;
|
||||
|
||||
struct dirent *de = NULL;
|
||||
while ((de = readdir(d))) {
|
||||
if (de->d_type != DT_DIR) {
|
||||
ret[de->d_name] = util::read_file(path + "/" + de->d_name);
|
||||
}
|
||||
}
|
||||
|
||||
closedir(d);
|
||||
return ret;
|
||||
}
|
||||
|
||||
int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
|
||||
int fd = HANDLE_EINTR(open(path, flags, mode));
|
||||
if (fd == -1) {
|
||||
return -1;
|
||||
}
|
||||
ssize_t n = HANDLE_EINTR(write(fd, data, size));
|
||||
close(fd);
|
||||
return (n >= 0 && (size_t)n == size) ? 0 : -1;
|
||||
}
|
||||
|
||||
FILE* safe_fopen(const char* filename, const char* mode) {
|
||||
FILE* fp = NULL;
|
||||
do {
|
||||
fp = fopen(filename, mode);
|
||||
} while ((nullptr == fp) && (errno == EINTR));
|
||||
return fp;
|
||||
}
|
||||
|
||||
size_t safe_fwrite(const void* ptr, size_t size, size_t count, FILE* stream) {
|
||||
size_t written = 0;
|
||||
do {
|
||||
size_t ret = ::fwrite((void*)((char *)ptr + written * size), size, count - written, stream);
|
||||
if (ret == 0 && errno != EINTR) break;
|
||||
written += ret;
|
||||
} while (written != count);
|
||||
return written;
|
||||
}
|
||||
|
||||
int safe_fflush(FILE *stream) {
|
||||
int ret = EOF;
|
||||
do {
|
||||
ret = fflush(stream);
|
||||
} while ((EOF == ret) && (errno == EINTR));
|
||||
return ret;
|
||||
}
|
||||
|
||||
int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg) {
|
||||
int ret;
|
||||
do {
|
||||
ret = ioctl(fd, request, argp);
|
||||
} while ((ret == -1) && (errno == EINTR));
|
||||
|
||||
if (ret == -1 && exception_msg) {
|
||||
LOGE("safe_ioctl error: %s %s(%d) (fd: %d request: %lx argp: %p)", exception_msg, strerror(errno), errno, fd, request, argp);
|
||||
throw std::runtime_error(exception_msg);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
std::string readlink(const std::string &path) {
|
||||
char buff[4096];
|
||||
ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
|
||||
if (len != -1) {
|
||||
buff[len] = '\0';
|
||||
return std::string(buff);
|
||||
}
|
||||
return "";
|
||||
}
|
||||
|
||||
bool file_exists(const std::string& fn) {
|
||||
struct stat st = {};
|
||||
return stat(fn.c_str(), &st) != -1;
|
||||
}
|
||||
|
||||
static bool createDirectory(std::string dir, mode_t mode) {
|
||||
auto verify_dir = [](const std::string& path) -> bool {
|
||||
struct stat st = {};
|
||||
return (stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
|
||||
};
|
||||
// remove trailing /'s
|
||||
while (dir.size() > 1 && dir.back() == '/') {
|
||||
dir.pop_back();
|
||||
}
|
||||
// try to mkdir this directory
|
||||
if (mkdir(dir.c_str(), mode) == 0) return true;
|
||||
if (errno == EEXIST) return verify_dir(dir);
|
||||
if (errno != ENOENT) return false;
|
||||
|
||||
// mkdir failed because the parent dir doesn't exist, so try to create it
|
||||
size_t slash = dir.rfind('/');
|
||||
if ((slash == std::string::npos || slash < 1) ||
|
||||
!createDirectory(dir.substr(0, slash), mode)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// try again
|
||||
if (mkdir(dir.c_str(), mode) == 0) return true;
|
||||
return errno == EEXIST && verify_dir(dir);
|
||||
}
|
||||
|
||||
bool create_directories(const std::string& dir, mode_t mode) {
|
||||
if (dir.empty()) return false;
|
||||
return createDirectory(dir, mode);
|
||||
}
|
||||
|
||||
std::string getenv(const char* key, std::string default_val) {
|
||||
const char* val = ::getenv(key);
|
||||
return val ? val : default_val;
|
||||
}
|
||||
|
||||
int getenv(const char* key, int default_val) {
|
||||
const char* val = ::getenv(key);
|
||||
return val ? atoi(val) : default_val;
|
||||
}
|
||||
|
||||
float getenv(const char* key, float default_val) {
|
||||
const char* val = ::getenv(key);
|
||||
return val ? atof(val) : default_val;
|
||||
}
|
||||
|
||||
std::string hexdump(const uint8_t* in, const size_t size) {
|
||||
std::stringstream ss;
|
||||
ss << std::hex << std::setfill('0');
|
||||
for (size_t i = 0; i < size; i++) {
|
||||
ss << std::setw(2) << static_cast<unsigned int>(in[i]);
|
||||
}
|
||||
return ss.str();
|
||||
}
|
||||
|
||||
int random_int(int min, int max) {
|
||||
std::random_device dev;
|
||||
std::mt19937 rng(dev());
|
||||
std::uniform_int_distribution<std::mt19937::result_type> dist(min, max);
|
||||
return dist(rng);
|
||||
}
|
||||
|
||||
std::string random_string(std::string::size_type length) {
|
||||
const std::string chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ";
|
||||
std::mt19937 rg{std::random_device{}()};
|
||||
std::uniform_int_distribution<std::string::size_type> pick(0, chrs.length() - 1);
|
||||
std::string s;
|
||||
s.reserve(length);
|
||||
while (length--) {
|
||||
s += chrs[pick(rg)];
|
||||
}
|
||||
return s;
|
||||
}
|
||||
|
||||
bool starts_with(const std::string &s1, const std::string &s2) {
|
||||
return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0;
|
||||
}
|
||||
|
||||
bool ends_with(const std::string& s, const std::string& suffix) {
|
||||
return s.size() >= suffix.size() &&
|
||||
strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
|
||||
}
|
||||
|
||||
std::string strip(const std::string &str) {
|
||||
auto should_trim = [](unsigned char ch) {
|
||||
return std::isspace(ch) || ch == '\0';
|
||||
};
|
||||
|
||||
size_t start = 0;
|
||||
while (start < str.size() && should_trim(static_cast<unsigned char>(str[start]))) {
|
||||
start++;
|
||||
}
|
||||
|
||||
if (start == str.size()) {
|
||||
return "";
|
||||
}
|
||||
|
||||
size_t end = str.size() - 1;
|
||||
while (end > 0 && should_trim(static_cast<unsigned char>(str[end]))) {
|
||||
end--;
|
||||
}
|
||||
|
||||
return str.substr(start, end - start + 1);
|
||||
}
|
||||
|
||||
std::string check_output(const std::string& command) {
|
||||
char buffer[128];
|
||||
std::string result;
|
||||
std::unique_ptr<FILE, int(*)(FILE*)> pipe(popen(command.c_str(), "r"), pclose);
|
||||
|
||||
if (!pipe) {
|
||||
return "";
|
||||
}
|
||||
|
||||
while (fgets(buffer, std::size(buffer), pipe.get()) != nullptr) {
|
||||
result += std::string(buffer);
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
bool system_time_valid() {
|
||||
// Default to August 26, 2024
|
||||
tm min_tm = {.tm_mday = 26, .tm_mon = 7, .tm_year = 2024 - 1900};
|
||||
time_t min_date = mktime(&min_tm);
|
||||
|
||||
struct stat st;
|
||||
if (stat("/lib/systemd/systemd", &st) == 0) {
|
||||
min_date = std::max(min_date, st.st_mtime + 86400); // Add 1 day (86400 seconds)
|
||||
}
|
||||
|
||||
return time(nullptr) > min_date;
|
||||
}
|
||||
|
||||
} // namespace util
|
||||
+1
-8
@@ -88,7 +88,7 @@ int write_file(const char* path, const void* data, size_t size, int flags = O_WR
|
||||
FILE* safe_fopen(const char* filename, const char* mode);
|
||||
size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream);
|
||||
int safe_fflush(FILE *stream);
|
||||
int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg = nullptr);
|
||||
int safe_ioctl(int fd, unsigned long request, void *argp);
|
||||
|
||||
std::string readlink(const std::string& path);
|
||||
bool file_exists(const std::string& fn);
|
||||
@@ -96,13 +96,6 @@ bool create_directories(const std::string &dir, mode_t mode);
|
||||
|
||||
std::string check_output(const std::string& command);
|
||||
|
||||
inline void check_system(const std::string& cmd) {
|
||||
int ret = std::system(cmd.c_str());
|
||||
if (ret != 0) {
|
||||
fprintf(stderr, "system command failed (%d): %s\n", ret, cmd.c_str());
|
||||
}
|
||||
}
|
||||
|
||||
bool system_time_valid();
|
||||
|
||||
inline void sleep_for(const int milliseconds) {
|
||||
|
||||
@@ -0,0 +1,46 @@
|
||||
import os
|
||||
import subprocess
|
||||
|
||||
def sudo_write(val: str, path: str) -> None:
|
||||
try:
|
||||
with open(path, 'w') as f:
|
||||
f.write(str(val))
|
||||
except PermissionError:
|
||||
os.system(f"sudo chmod a+w {path}")
|
||||
try:
|
||||
with open(path, 'w') as f:
|
||||
f.write(str(val))
|
||||
except PermissionError:
|
||||
# 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').strip()
|
||||
except Exception:
|
||||
return ""
|
||||
|
||||
class MovingAverage:
|
||||
def __init__(self, window_size: int):
|
||||
self.window_size: int = window_size
|
||||
self.buffer: list[float] = [0.0] * window_size
|
||||
self.index: int = 0
|
||||
self.count: int = 0
|
||||
self.sum: float = 0.0
|
||||
|
||||
def add_value(self, new_value: float):
|
||||
# Update the sum: subtract the value being replaced and add the new value
|
||||
self.sum -= self.buffer[self.index]
|
||||
self.buffer[self.index] = new_value
|
||||
self.sum += new_value
|
||||
|
||||
# Update the index in a circular manner
|
||||
self.index = (self.index + 1) % self.window_size
|
||||
|
||||
# Track the number of added values (for partial windows)
|
||||
self.count = min(self.count + 1, self.window_size)
|
||||
|
||||
def get_average(self) -> float:
|
||||
if self.count == 0:
|
||||
return float('nan')
|
||||
return self.sum / self.count
|
||||
-272
@@ -1,272 +0,0 @@
|
||||
import io
|
||||
import os
|
||||
import tempfile
|
||||
import contextlib
|
||||
import subprocess
|
||||
import time
|
||||
import functools
|
||||
from subprocess import Popen, PIPE, TimeoutExpired
|
||||
import zstandard as zstd
|
||||
|
||||
LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
|
||||
|
||||
class Timer:
|
||||
"""Simple lap timer for profiling sequential operations."""
|
||||
|
||||
def __init__(self):
|
||||
self._start = self._lap = time.monotonic()
|
||||
self._sections = {}
|
||||
|
||||
def lap(self, name):
|
||||
now = time.monotonic()
|
||||
self._sections[name] = now - self._lap
|
||||
self._lap = now
|
||||
|
||||
@property
|
||||
def total(self):
|
||||
return time.monotonic() - self._start
|
||||
|
||||
def fmt(self, duration):
|
||||
parts = ", ".join(f"{k}={v:.2f}s" + (f" ({duration/v:.0f}x)" if k == 'render' and v > 0 else "") for k, v in self._sections.items())
|
||||
total = self.total
|
||||
realtime = f"{duration/total:.1f}x realtime" if total > 0 else "N/A"
|
||||
return f"{duration}s in {total:.1f}s ({realtime}) | {parts}"
|
||||
|
||||
def sudo_write(val: str, path: str) -> None:
|
||||
try:
|
||||
with open(path, 'w') as f:
|
||||
f.write(str(val))
|
||||
except PermissionError:
|
||||
os.system(f"sudo chmod a+w {path}")
|
||||
try:
|
||||
with open(path, 'w') as f:
|
||||
f.write(str(val))
|
||||
except PermissionError:
|
||||
# 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').strip()
|
||||
except Exception:
|
||||
return ""
|
||||
|
||||
|
||||
class MovingAverage:
|
||||
def __init__(self, window_size: int):
|
||||
self.window_size: int = window_size
|
||||
self.buffer: list[float] = [0.0] * window_size
|
||||
self.index: int = 0
|
||||
self.count: int = 0
|
||||
self.sum: float = 0.0
|
||||
|
||||
def add_value(self, new_value: float):
|
||||
# Update the sum: subtract the value being replaced and add the new value
|
||||
self.sum -= self.buffer[self.index]
|
||||
self.buffer[self.index] = new_value
|
||||
self.sum += new_value
|
||||
|
||||
# Update the index in a circular manner
|
||||
self.index = (self.index + 1) % self.window_size
|
||||
|
||||
# Track the number of added values (for partial windows)
|
||||
self.count = min(self.count + 1, self.window_size)
|
||||
|
||||
def get_average(self) -> float:
|
||||
if self.count == 0:
|
||||
return float('nan')
|
||||
return self.sum / self.count
|
||||
|
||||
|
||||
class CallbackReader:
|
||||
"""Wraps a file, but overrides the read method to also
|
||||
call a callback function with the number of bytes read so far."""
|
||||
|
||||
def __init__(self, f, callback, *args):
|
||||
self.f = f
|
||||
self.callback = callback
|
||||
self.cb_args = args
|
||||
self.total_read = 0
|
||||
|
||||
def __getattr__(self, attr):
|
||||
return getattr(self.f, attr)
|
||||
|
||||
def read(self, *args, **kwargs):
|
||||
chunk = self.f.read(*args, **kwargs)
|
||||
self.total_read += len(chunk)
|
||||
self.callback(*self.cb_args, self.total_read)
|
||||
return chunk
|
||||
|
||||
|
||||
@contextlib.contextmanager
|
||||
def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = 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)
|
||||
|
||||
if not overwrite and os.path.exists(path):
|
||||
raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
|
||||
|
||||
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)
|
||||
|
||||
|
||||
def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
|
||||
if not should_compress:
|
||||
file_size = os.path.getsize(filepath)
|
||||
file_stream = open(filepath, "rb")
|
||||
return file_stream, file_size
|
||||
|
||||
# Compress the file on the fly
|
||||
compressed_stream = io.BytesIO()
|
||||
compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
|
||||
|
||||
with open(filepath, "rb") as f:
|
||||
compressor.copy_stream(f, compressed_stream)
|
||||
compressed_size = compressed_stream.tell()
|
||||
compressed_stream.seek(0)
|
||||
return compressed_stream, compressed_size
|
||||
|
||||
|
||||
# remove all keys that end in DEPRECATED
|
||||
def strip_deprecated_keys(d):
|
||||
for k in list(d.keys()):
|
||||
if isinstance(k, str):
|
||||
if k.endswith('DEPRECATED'):
|
||||
d.pop(k)
|
||||
elif isinstance(d[k], dict):
|
||||
strip_deprecated_keys(d[k])
|
||||
return d
|
||||
|
||||
|
||||
def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
|
||||
return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
|
||||
|
||||
|
||||
def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
|
||||
try:
|
||||
return run_cmd(cmd, cwd=cwd, env=env)
|
||||
except subprocess.CalledProcessError:
|
||||
return default
|
||||
|
||||
|
||||
@contextlib.contextmanager
|
||||
def managed_proc(cmd: list[str], env: dict[str, str]):
|
||||
proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
|
||||
try:
|
||||
yield proc
|
||||
finally:
|
||||
if proc.poll() is None:
|
||||
proc.terminate()
|
||||
try:
|
||||
proc.wait(timeout=5)
|
||||
except TimeoutExpired:
|
||||
proc.kill()
|
||||
|
||||
|
||||
def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None):
|
||||
rows = [list(row) for row in tabular_data]
|
||||
|
||||
def fmt(val):
|
||||
if isinstance(val, str):
|
||||
return val
|
||||
if isinstance(val, (bool, int)):
|
||||
return str(val)
|
||||
try:
|
||||
return format(val, floatfmt)
|
||||
except (TypeError, ValueError):
|
||||
return str(val)
|
||||
|
||||
formatted = [[fmt(c) for c in row] for row in rows]
|
||||
hdrs = [str(h) for h in headers] if headers else None
|
||||
|
||||
ncols = max((len(r) for r in formatted), default=0)
|
||||
if hdrs:
|
||||
ncols = max(ncols, len(hdrs))
|
||||
if ncols == 0:
|
||||
return ""
|
||||
|
||||
for r in formatted:
|
||||
r.extend([""] * (ncols - len(r)))
|
||||
if hdrs:
|
||||
hdrs.extend([""] * (ncols - len(hdrs)))
|
||||
|
||||
widths = [0] * ncols
|
||||
if hdrs:
|
||||
for i in range(ncols):
|
||||
widths[i] = len(hdrs[i])
|
||||
for row in formatted:
|
||||
for i in range(ncols):
|
||||
widths[i] = max(widths[i], max(len(ln) for ln in row[i].split('\n')))
|
||||
|
||||
def _align(s, w):
|
||||
if stralign == "center":
|
||||
return s.center(w)
|
||||
return s.ljust(w)
|
||||
|
||||
if tablefmt == "html":
|
||||
parts = ["<table>"]
|
||||
if hdrs:
|
||||
parts.append("<thead>")
|
||||
parts.append("<tr>" + "".join(f"<th>{h}</th>" for h in hdrs) + "</tr>")
|
||||
parts.append("</thead>")
|
||||
parts.append("<tbody>")
|
||||
for row in formatted:
|
||||
parts.append("<tr>" + "".join(f"<td>{c}</td>" for c in row) + "</tr>")
|
||||
parts.append("</tbody>")
|
||||
parts.append("</table>")
|
||||
return "\n".join(parts)
|
||||
|
||||
if tablefmt == "simple_grid":
|
||||
def _sep(left, mid, right):
|
||||
return left + mid.join("\u2500" * (w + 2) for w in widths) + right
|
||||
|
||||
top, mid_sep, bot = _sep("\u250c", "\u252c", "\u2510"), _sep("\u251c", "\u253c", "\u2524"), _sep("\u2514", "\u2534", "\u2518")
|
||||
|
||||
def _fmt_row(cells):
|
||||
split = [c.split('\n') for c in cells]
|
||||
nlines = max(len(s) for s in split)
|
||||
for s in split:
|
||||
s.extend([""] * (nlines - len(s)))
|
||||
return ["\u2502" + "\u2502".join(f" {_align(split[i][li], widths[i])} " for i in range(ncols)) + "\u2502" for li in range(nlines)]
|
||||
|
||||
lines = [top]
|
||||
if hdrs:
|
||||
lines.extend(_fmt_row(hdrs))
|
||||
lines.append(mid_sep)
|
||||
for ri, row in enumerate(formatted):
|
||||
lines.extend(_fmt_row(row))
|
||||
lines.append(mid_sep if ri < len(formatted) - 1 else bot)
|
||||
return "\n".join(lines)
|
||||
|
||||
# simple
|
||||
gap = " "
|
||||
lines = []
|
||||
if hdrs:
|
||||
lines.append(gap.join(h.ljust(w) for h, w in zip(hdrs, widths, strict=True)))
|
||||
lines.append(gap.join("-" * w for w in widths))
|
||||
for row in formatted:
|
||||
lines.append(gap.join(_align(row[i], widths[i]) for i in range(ncols)))
|
||||
return "\n".join(lines)
|
||||
|
||||
|
||||
def retry(attempts=3, delay=1.0, ignore_failure=False):
|
||||
def decorator(func):
|
||||
@functools.wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
for _ in range(attempts):
|
||||
try:
|
||||
return func(*args, **kwargs)
|
||||
except Exception:
|
||||
print(f"{func.__name__} failed, trying again")
|
||||
time.sleep(delay)
|
||||
|
||||
if ignore_failure:
|
||||
print(f"{func.__name__} failed after retry")
|
||||
else:
|
||||
raise Exception(f"{func.__name__} failed after retry")
|
||||
return wrapper
|
||||
return decorator
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "0.11.0"
|
||||
#define COMMA_VERSION "0.9.9"
|
||||
|
||||
@@ -0,0 +1,5 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
bool watchdog_kick(uint64_t ts);
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user