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https://github.com/dragonpilot/dragonpilot.git
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22 Commits
0.7.7-i18n
...
0.8.4
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17
.gitignore
vendored
17
.gitignore
vendored
@@ -1,4 +1,5 @@
|
||||
venv/
|
||||
.clang-format
|
||||
.DS_Store
|
||||
.tags
|
||||
.ipynb_checkpoints
|
||||
@@ -6,9 +7,10 @@ venv/
|
||||
.overlay_init
|
||||
.overlay_consistent
|
||||
.sconsign.dblite
|
||||
.vscode
|
||||
.vscode*
|
||||
model2.png
|
||||
a.out
|
||||
.hypothesis
|
||||
|
||||
*.dylib
|
||||
*.DSYM
|
||||
@@ -31,6 +33,7 @@ a.out
|
||||
*.vcd
|
||||
config.json
|
||||
clcache
|
||||
compile_commands.json
|
||||
|
||||
persist
|
||||
board/obj/
|
||||
@@ -38,13 +41,15 @@ selfdrive/boardd/boardd
|
||||
selfdrive/logcatd/logcatd
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
selfdrive/proclogd/proclogd
|
||||
selfdrive/ui/_ui
|
||||
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/visiond/visiond
|
||||
selfdrive/loggerd/loggerd
|
||||
selfdrive/loggerd/bootlog
|
||||
selfdrive/sensord/_gpsd
|
||||
selfdrive/sensord/_sensord
|
||||
selfdrive/camerad/camerad
|
||||
selfdrive/camerad/test/ae_gray_test
|
||||
selfdrive/modeld/_modeld
|
||||
selfdrive/modeld/_dmonitoringmodeld
|
||||
/src/
|
||||
@@ -53,9 +58,9 @@ one
|
||||
openpilot
|
||||
notebooks
|
||||
xx
|
||||
hyperthneed
|
||||
panda_jungle
|
||||
apks
|
||||
openpilot-apks
|
||||
provisioning
|
||||
|
||||
.coverage*
|
||||
coverage.xml
|
||||
@@ -66,3 +71,7 @@ pandaextra
|
||||
flycheck_*
|
||||
|
||||
cppcheck_report.txt
|
||||
comma*.sh
|
||||
|
||||
selfdrive/modeld/thneed/compile
|
||||
models/*.thneed
|
||||
|
||||
634
CHANGELOGS-DEV.md
Normal file
634
CHANGELOGS-DEV.md
Normal file
@@ -0,0 +1,634 @@
|
||||
dragonpilot 0.8.4-3
|
||||
========================
|
||||
* 簡化 1+3t 安裝方法. (請查閱 HOWTO-ONEPLUS.md)
|
||||
* Simplied 1+3t installation. (See HOWTO-ONEPLUS.md)
|
||||
* 加回舊 ssh 登錄.
|
||||
* Good old ssh key.
|
||||
* 修復本田錯誤. (感謝 @loveloveses)
|
||||
* Fixed Honda bug. (Thanks to @loveloveses)
|
||||
|
||||
dragonpilot 0.8.4-2
|
||||
========================
|
||||
* 加回可調整加速/跟車設定.
|
||||
* Added back Accel/Following Profile.
|
||||
* 支持 Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
|
||||
* Support Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
|
||||
* 支持 1+3t (需額外安裝手續)
|
||||
* Support 1+3t (Require additional install procedure)
|
||||
* 支持白/灰熊
|
||||
* Support White/Grey Panda.
|
||||
|
||||
dragonpilot 0.8.4-1
|
||||
========================
|
||||
* 基於 openpilot 0.8.4 devel.
|
||||
* Based on openpilot 0.8.4 devel.
|
||||
|
||||
dragonpilot 0.8.1
|
||||
========================
|
||||
* 基於最新 openpilot 0.8.1 devel.
|
||||
* Based on latest openpilot 0.8.1 devel.
|
||||
* 加入行車記錄按鈕。(感謝 @toyboxZ 提供)
|
||||
* Added REC screen button. (Thanks to @toyboxZ)
|
||||
|
||||
dragonpilot 0.8.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.8.0 devel.
|
||||
* Based on latest openpilot 0.8.0 devel.
|
||||
* 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
|
||||
* Added git error fix. (Thanks to @toyboxZ)
|
||||
|
||||
dragonpilot 0.7.10.1
|
||||
========================
|
||||
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
|
||||
* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
|
||||
* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe)
|
||||
* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
|
||||
* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
|
||||
* 使用 openpilot v0.8 的模型。(感謝 @eisenheim)
|
||||
* Use openpilot v0.8 model. (Thanks to @eisenheim)
|
||||
* 加入 0.8 測試版的部分優化。
|
||||
* Added optimizations from pre-0.8.
|
||||
* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供)
|
||||
* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369)
|
||||
* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供)
|
||||
* Fixed issue with white/grey panda support for VW (Thanks to @lirudy)
|
||||
* GENESIS_G70 優化 (感謝 @sebastian4k 提供)
|
||||
* GENESIS_G70 Optimisation (Thanks to @sebastian4k)
|
||||
* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
|
||||
* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
|
||||
* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
|
||||
* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
|
||||
* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang)
|
||||
* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
|
||||
* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
|
||||
|
||||
dragonpilot 0.7.10.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.10 devel.
|
||||
* Based on latest openpilot 0.7.10 devel.
|
||||
* 修正 Prius 特定情況下無法操控方向盤的問題。
|
||||
* Fixed unable to regain Prius steering control under certain condition.
|
||||
* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
|
||||
* Updated support of VW MQB. (scripts/vw.sh script required)
|
||||
* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
|
||||
* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
|
||||
* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
|
||||
* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa)
|
||||
* 優化 nanovg。(感謝 @piggy 提供)
|
||||
* Optomized nanovg. (Thanks to @piggy)
|
||||
* 加入 complete_setup.sh (感謝 @深鲸希西 提供)
|
||||
* Added complete_setup.sh (Thanks to @深鲸希西)
|
||||
* Based on latest openpilot 0.7.10 devel.
|
||||
* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
|
||||
* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
|
||||
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
|
||||
|
||||
dragonpilot 0.7.8.3
|
||||
========================
|
||||
* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼)
|
||||
* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd)
|
||||
|
||||
dragonpilot 0.7.8.2
|
||||
========================
|
||||
* 修正在沒網路的情況下，開機超過五分鐘的問題。
|
||||
* Fixed 5+ minutes boot time issue when there is no internet connection.
|
||||
* 錯誤回傳改使用 dp 的主機。
|
||||
* Used dp server for error reporting.
|
||||
* 更新服務改使用 gitee 的 IP 檢查連線狀態。
|
||||
* updated service uses gitee IP address instead.
|
||||
|
||||
dragonpilot 0.7.8.1
|
||||
========================
|
||||
* 加入 ko-KR 翻譯。
|
||||
* Added ko-KR translation.
|
||||
* 加入 Honda Jade 支援。(感謝 @李俊灝)
|
||||
* Added Honda Jade support. (Thanks to @lijunhao731)
|
||||
* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供)
|
||||
* Fixed ui.cc memory out of bound issue. (Thanks to @piggy)
|
||||
* gpxd 記錄改自動存成 zip 格式。
|
||||
* gpxd now store in zip format.
|
||||
* 強制關閉 panda 檢查 DOS 硬體。
|
||||
* Force disabled DOS hardware check in panda.
|
||||
|
||||
dragonpilot 0.7.8.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.8 devel.
|
||||
* Based on latest openpilot 0.7.8 devel.
|
||||
* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議)
|
||||
* Added "Reset DP Settings" button. (Thanks to @LOVEChen)
|
||||
* 將警示訊息更改為類似於概念 UI 的設計。
|
||||
* Alert messages changed to concept UI alike design.
|
||||
* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
|
||||
* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors.
|
||||
|
||||
dragonpilot 0.7.7.3
|
||||
========================
|
||||
* 修正方向盤監控。
|
||||
* Fixed steering monitor timer param.
|
||||
* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報)
|
||||
* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough)
|
||||
* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議)
|
||||
* Re-added Dev Mini UI. (Thanks to @Ninjaa)
|
||||
* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim)
|
||||
* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim)
|
||||
* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough)
|
||||
* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough)
|
||||
* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1）
|
||||
* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1)
|
||||
* 使用德國的車道寬度估算值。 （感謝 @arne182）
|
||||
* Used lane width estimate value from Germany. (Thanks to @arne182)
|
||||
|
||||
dragonpilot 0.7.7.2
|
||||
========================
|
||||
* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
|
||||
* Added d_poly offset. (Thanks to @ShaneSmiskol)
|
||||
* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
|
||||
* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
|
||||
* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
|
||||
* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
|
||||
* 加入 LQR 控制器開關進設定畫面。
|
||||
* Added LQR Controller toggle to settings.
|
||||
|
||||
dragonpilot 0.7.7.1
|
||||
========================
|
||||
* 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
|
||||
* Added C2 quiet fan mode. (Thanks to @dingliangxue)
|
||||
* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
|
||||
* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
|
||||
* 加入回調校介面。(感謝 @Kent)
|
||||
* Re-added Dev UI. (Thanks to @Kent)
|
||||
* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
|
||||
* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim)
|
||||
|
||||
dragonpilot 0.7.7.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.7 devel.
|
||||
* Based on latest openpilot 0.7.7 devel.
|
||||
* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue)
|
||||
* When Manager failed, display IP address. (Thanks to @dingliangxue)
|
||||
* 加回 sr learner 開關。
|
||||
* Re-added sr learner toggle.
|
||||
* 加回 加速模式 開關。
|
||||
* Re-added Accel Profile toggle.
|
||||
* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo)
|
||||
* Added Toyota to override lowerest cruise speed. (Thanks to @Mojo)
|
||||
* 介面加入盲點偵測顯示。(感謝 @wabes)
|
||||
* Added BSM indicator to UI. (Thanks to @wabes)
|
||||
* 加回彎道減速功能。(感謝 @Mojo)
|
||||
* re-added Slow On Curve functionality. (Thanks to @Mojo)
|
||||
|
||||
dragonpilot 0.7.6.2
|
||||
========================
|
||||
* 修正無法正確關閉駕駛監控的問題。
|
||||
* Fixed unable to properly turn off driver monitor issue.
|
||||
|
||||
dragonpilot 0.7.6.1
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.6.1 devel.
|
||||
* Based on latest openpilot 0.7.6.1 devel.
|
||||
* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
|
||||
* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
|
||||
* 完全關閉 steer ratio learner。
|
||||
* Completely disabled steer ratio learner.
|
||||
* 移除「加速模式」。
|
||||
* Removed Accel Profile.
|
||||
* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
|
||||
* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
|
||||
* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
|
||||
* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
|
||||
|
||||
dragonpilot 0.7.5.4
|
||||
========================
|
||||
* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
|
||||
* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
|
||||
|
||||
dragonpilot 0.7.5.3
|
||||
========================
|
||||
* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
|
||||
* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
|
||||
* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
|
||||
* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
|
||||
* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
|
||||
* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
|
||||
* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
|
||||
* Fixed issue showing "pedalPressed" error. (Thanks to @Wei)
|
||||
* 將剎車狀熊顯示於 dp 資訊欄。
|
||||
* Added brake indicator to dp infobar.
|
||||
* 修正「溫度監控」燈示。
|
||||
* Fixed "Temp monitor" indicator.
|
||||
* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
|
||||
* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
|
||||
* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
|
||||
* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22)
|
||||
|
||||
dragonpilot 0.7.5.2
|
||||
========================
|
||||
* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
|
||||
* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
|
||||
* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
|
||||
* Updated to stop charging after 3 hrs. (Thanks to @Wei)
|
||||
* 移除行車記錄下的「碰撞偵測」功能。
|
||||
* Removed Impact Detection in Dashcam.
|
||||
* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
|
||||
* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
|
||||
* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
|
||||
* Fixed alert issue in waze mode. (Thanks to @axandres)
|
||||
* 修正無法顯示更新中圖示的問題。
|
||||
* Fixed unable to display "UPDATING" icon issue.
|
||||
* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
|
||||
* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
|
||||
* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
|
||||
* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
|
||||
* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
|
||||
* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
|
||||
|
||||
dragonpilot 0.7.5.1
|
||||
========================
|
||||
* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
|
||||
* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林)
|
||||
* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
|
||||
* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
|
||||
* 更新 appd 使用 cnpmjs 來下載 APKs。
|
||||
* Updated appd to use cnpmjs to download APKs.
|
||||
* 修正更新服務。(感謝 @Wei)
|
||||
* Fixed Update Service. (Thanks to @Wei)
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
|
||||
* 新增「通過移動網路上傳」開關
|
||||
* Added Upload Over Mobile Network toggle.
|
||||
* 新增「通過熱點上傳」開關
|
||||
* Added Upload Over Hotspot toggle.
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
|
||||
* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
|
||||
* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
|
||||
|
||||
dragonpilot 0.7.5.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.5 devel-staging.
|
||||
* Based on latest openpilot 0.7.5 devel-staging.
|
||||
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
|
||||
* Updated dp logo, special thanks to @wabes for the design.
|
||||
* 簡/繁中文版和 i18n 整合成為單一版本。
|
||||
* Merged zhs/zht/i18n versions into one.
|
||||
* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
|
||||
* Added China Camery Hybrid FPv2. (Thanks to @杜子腾)
|
||||
* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
|
||||
* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
|
||||
* 新增行駛時關閉畫面功能。
|
||||
* Added Screen off while driving feature.
|
||||
* 新增倒車時關閉畫面功能。
|
||||
* Added Screen off while reversing feature.
|
||||
* 新增駕駛介面加入「加速模式」切換鈕。
|
||||
* Added acceleration profile toggle onto driving UI.
|
||||
* 新增自定車型功能，取代指紋暫存功能。
|
||||
* Replaced fingerprint cache with custom car model selector.
|
||||
* 新增可調亮度。
|
||||
* Added Brightness changer.
|
||||
* 新增部分德語支持。(特別感謝 @arne182 提供)
|
||||
* Added partial de_DE language support (Thanks to @arne182)
|
||||
* 新增停車碰撞偵測記錄功能。
|
||||
* Added off road impact detection to dashcam.
|
||||
|
||||
2020-05-06
|
||||
========================
|
||||
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
|
||||
* 中文版整合進 i18n 版。
|
||||
* 刪除指紋暫存功能。
|
||||
* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾)
|
||||
* 新增行駛時關閉畫面功能。
|
||||
* 新增倒車時關閉畫面功能。
|
||||
* 新增駕駛介面加入「加速模式」切換鈕。
|
||||
* 新增自定義車型。
|
||||
|
||||
2020-04-16
|
||||
========================
|
||||
* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai)
|
||||
* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip)
|
||||
* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip)
|
||||
* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip)
|
||||
* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助)
|
||||
|
||||
2020-04-13
|
||||
========================
|
||||
* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR)
|
||||
* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議)
|
||||
* [DEVEL] 更新 update script。(感謝 深鯨希西 回報)
|
||||
|
||||
2020-04-10
|
||||
========================
|
||||
* [DEVEL] 更新 panda 至最新的 comma:master 分支。
|
||||
* [DEVEL] 移除所有的第三方應用改為自動下載。
|
||||
* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
|
||||
|
||||
2020-03-31
|
||||
========================
|
||||
* [DEVEL] 更新至 2020-03-31 testing 分支。
|
||||
|
||||
2020-03-27
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支:
|
||||
* 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
|
||||
* 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
|
||||
* 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
|
||||
* 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
|
||||
* 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
|
||||
* 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
|
||||
* 加入韓文支持。(感謝 crwusiz 提供)
|
||||
* 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
|
||||
|
||||
2020-03-22
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支。
|
||||
|
||||
2020-03-17
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。
|
||||
* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
|
||||
|
||||
2020-03-14
|
||||
========================
|
||||
* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
|
||||
* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議)
|
||||
* [DEVEL] 調高 Toyota 扭力容錯值。
|
||||
* [DEVEL] 優化讀取 dp 設定值。
|
||||
* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
|
||||
* [DEVEL] dp 功能加入對 Subaru 車系的支援。
|
||||
|
||||
2020-03-06
|
||||
========================
|
||||
* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供)
|
||||
* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
|
||||
* [DEVEL] 建立 devel-i18n 取代 devel-en。
|
||||
* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead.
|
||||
|
||||
2020-03-04
|
||||
========================
|
||||
* [DEVEL] 加入顯示駕駛監控畫面。
|
||||
* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
|
||||
* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
|
||||
|
||||
2020-02-25
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
|
||||
|
||||
2020-02-21
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
|
||||
|
||||
2020-02-14
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
|
||||
* [DEVEL] 修正錯誤。
|
||||
|
||||
2020-02-08
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
|
||||
* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。
|
||||
* [DEVEL] 加入神盾測速照相自動啟動的開關。
|
||||
* [DEVEL] 更新高德地圖至 v4.5.0.600053。
|
||||
* [DEVEL] 使用 0.6.6 版的更新系統。
|
||||
* [DEVEL] 修正急剎問題。(感謝 kumar 提供)
|
||||
|
||||
2020-01-31
|
||||
========================
|
||||
* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
|
||||
|
||||
2020-01-29
|
||||
========================
|
||||
* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
|
||||
|
||||
2020-01-23
|
||||
========================
|
||||
* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
|
||||
* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
|
||||
* [DEVEL] 優化 appd。
|
||||
|
||||
2020-01-19
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
|
||||
* [DEVEL] 調整 appd 和 ALC 邏輯。
|
||||
|
||||
2020-01-14
|
||||
========================
|
||||
* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
|
||||
|
||||
2020-01-08
|
||||
========================
|
||||
* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
|
||||
* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
|
||||
|
||||
2019-12-31
|
||||
========================
|
||||
* [DEVEL-ZHS] 加回第三方應用。
|
||||
|
||||
2019-12-29
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
|
||||
* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
|
||||
* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
|
||||
|
||||
2019-12-18
|
||||
========================
|
||||
* [DEVEL] 修正自動換道邏輯。
|
||||
* [DEVEL] 更新 offroad 翻譯。
|
||||
* [DEVEL] 錯誤修正。
|
||||
* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
|
||||
|
||||
2019-12-17
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
|
||||
* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上)
|
||||
* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上)
|
||||
* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
|
||||
* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
|
||||
* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
|
||||
|
||||
2019-12-10
|
||||
========================
|
||||
* [DEVEL] 加入位智車機模式。 (Waze Mode)
|
||||
|
||||
2019-11-21
|
||||
========================
|
||||
* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報)
|
||||
* [DEVEL] 調整前車靜止移動偵測參數。
|
||||
* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。
|
||||
|
||||
2019-11-18
|
||||
========================
|
||||
* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
|
||||
|
||||
2019-11-18
|
||||
========================
|
||||
* [DEVEL] 修正 frame 翻譯。
|
||||
|
||||
2019-11-15
|
||||
========================
|
||||
* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應)
|
||||
|
||||
2019-11-15
|
||||
========================
|
||||
* [DEVEL] 修正充電控制。 (感謝 KT 反應)
|
||||
* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
|
||||
2019-11-12
|
||||
========================
|
||||
* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
|
||||
* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。
|
||||
|
||||
2019-11-12
|
||||
========================
|
||||
* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。
|
||||
|
||||
2019-11-11
|
||||
========================
|
||||
* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
|
||||
* [DEVEL] 更新 MiXplorer 至 v6.40.3
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
* [DEVEL] 前車靜止移動偵測加入偵測警示。
|
||||
|
||||
2019-11-07
|
||||
========================
|
||||
* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
|
||||
* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
|
||||
|
||||
2019-11-06
|
||||
========================
|
||||
* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
|
||||
2019-11-05
|
||||
========================
|
||||
* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
|
||||
|
||||
2019-11-01
|
||||
========================
|
||||
* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
|
||||
* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
|
||||
|
||||
2019-11-01
|
||||
========================
|
||||
* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。
|
||||
* [DEVEL] 更新 offroad 為多語言版
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
|
||||
2019-10-29
|
||||
========================
|
||||
* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智)
|
||||
|
||||
2019-10-28
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
|
||||
|
||||
2019-10-18
|
||||
========================
|
||||
* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
|
||||
* [DEVEL] 移除強迫網路連線提示。(感謝 Shell)
|
||||
* [DEVEL] 修正 allow_gas 功能。
|
||||
|
||||
2019-10-18
|
||||
========================
|
||||
* [DEVEL] 加入彎道減速功能開關。
|
||||
* [DEVEL] 強迫使用 dp 版 Panda 韌體。
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
|
||||
2019-10-17
|
||||
========================
|
||||
* [DEVEL] 加入「車型」顯示於 dp 設定畫面。
|
||||
* [DEVEL] 修正充電控制讀取預設值的錯誤。
|
||||
* [DEVEL] 修正無法顯示更新記錄的錯誤。
|
||||
|
||||
2019-10-16
|
||||
========================
|
||||
* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
|
||||
* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。
|
||||
* [DEVEL] 更新高德地圖至 v4.3.0
|
||||
* [DEVEL] 刪除 bs (Branch Switcher)
|
||||
|
||||
2019-10-14
|
||||
========================
|
||||
* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供)
|
||||
* [DEVEL] 清除不再使用的 dp params。
|
||||
* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議)
|
||||
* [DEVEL] 加入刷新 Panda 韌體按鈕。
|
||||
|
||||
2019-10-11
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
|
||||
|
||||
2019-10-09
|
||||
========================
|
||||
* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
|
||||
|
||||
2019-10-08
|
||||
========================
|
||||
* [DEVEL] 加回駕駛監控開關。
|
||||
* [DEVEL] 加入 bs (branch switcher) 程式。
|
||||
|
||||
2019-10-07
|
||||
========================
|
||||
* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
|
||||
|
||||
2019-10-05
|
||||
========================
|
||||
* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。
|
||||
|
||||
2019-09-30
|
||||
========================
|
||||
* [DEVEL] 更新 curvature learner 版本至 v4。
|
||||
* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor
|
||||
|
||||
2019-09-27
|
||||
========================
|
||||
* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
|
||||
* [DEVEL] 加入可開關駕駛監控的程式碼。
|
||||
* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
|
||||
* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
|
||||
|
||||
2019-09-26
|
||||
========================
|
||||
* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
|
||||
|
||||
2019-09-24
|
||||
========================
|
||||
* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
|
||||
* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
|
||||
|
||||
2019-09-23
|
||||
========================
|
||||
* [DEVEL] 優化讀取 params 的次數。
|
||||
* [DEVEL] 加入可開關的車道偏移警示。
|
||||
* [DEVEL] 修正充電控制邏輯。
|
||||
* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
|
||||
|
||||
2019-09-20
|
||||
========================
|
||||
* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
|
||||
|
||||
2019-09-16
|
||||
========================
|
||||
* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
|
||||
* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
|
||||
|
||||
2019-09-13
|
||||
========================
|
||||
* [DEVEL] 行車介面加入可開關的「速度顯示」設定。
|
||||
|
||||
2019-09-09
|
||||
========================
|
||||
* [DEVEL] 加入 GreyPanda 模式。
|
||||
|
||||
2019-08-28
|
||||
========================
|
||||
* [DEVEL] 加入可調警示音量。
|
||||
|
||||
2019-08-27
|
||||
========================
|
||||
* [DEVEL] 自動關機改為可調時長。
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
|
||||
|
||||
Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
|
||||
Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
|
||||
|
||||
## Getting Started
|
||||
|
||||
@@ -12,23 +12,19 @@ Most open source development activity is coordinated through our [Discord](https
|
||||
|
||||
## Testing
|
||||
|
||||
### Local Testing
|
||||
|
||||
You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code.
|
||||
|
||||
### Automated Testing
|
||||
|
||||
All PRs and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests sould be added to Github Actions.
|
||||
All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
|
||||
|
||||
### Code Style and Linting
|
||||
|
||||
Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
|
||||
Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
|
||||
|
||||
## Car Ports (openpilot)
|
||||
|
||||
We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
|
||||
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84).
|
||||
|
||||
## Pull Requests
|
||||
|
||||
@@ -38,12 +34,10 @@ git clone https://github.com/commaai/openpilot.git --recursive
|
||||
```
|
||||
Or alternatively, when on the master branch:
|
||||
```
|
||||
git submodule init
|
||||
git submodule update
|
||||
git submodule update --init
|
||||
```
|
||||
The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
|
||||
Modules that are in seperate repositories include:
|
||||
* apks
|
||||
* cereal
|
||||
* laika
|
||||
* opendbc
|
||||
|
||||
31
HOWTO-ONEPLUS.md
Normal file
31
HOWTO-ONEPLUS.md
Normal file
@@ -0,0 +1,31 @@
|
||||
How to install on Oneplus 3t?
|
||||
------
|
||||
1. clone dragonpilot to /data/ and make sure it's named openpilot:
|
||||
|
||||
(手動安裝切換至 dragonpilot 0.8.4 branch)
|
||||
```
|
||||
cd /data/ && rm -fr openpilot; git clone https://github.com/dragonpilot-community/dragonpilot.git openpilot -b 0.8.4
|
||||
```
|
||||
|
||||
2. run command:
|
||||
|
||||
(在 ssh 畫面下，輸入)
|
||||
```
|
||||
cd /data/openpilot/scripts/ && ./oneplus_update_neos.sh
|
||||
```
|
||||
|
||||
3. Let it download and complete it update, after a couple of reboot, your screen will then stay in fastboot mode.
|
||||
|
||||
(等待下載並讓它重新開機，沒錯誤的話會進入 Android 機器人更新畫面，等自動重新開機)
|
||||
|
||||
4. In fastboot mode, select use volume button to select to `Recovery mode` then press power button.
|
||||
|
||||
(在 fastboot 模式，用音量鍵上下選到 Recovery mode 再按下電源鍵)
|
||||
|
||||
5. In Recovery mode, tap `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`
|
||||
|
||||
(在 Recovery mode，點選 `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`)
|
||||
|
||||
6. You should be able to boot into openpilot, if touch screen is not working, try to reboot again.
|
||||
|
||||
(你現在應該可以進入 openpilot 畫面，如果點擊畫面沒有反應，請再重新開機一次)
|
||||
251
Jenkinsfile
vendored
251
Jenkinsfile
vendored
@@ -1,89 +1,246 @@
|
||||
pipeline {
|
||||
agent {
|
||||
docker {
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
def phone(String ip, String step_label, String cmd) {
|
||||
withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
|
||||
def ssh_cmd = """
|
||||
ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
|
||||
|
||||
set -e
|
||||
|
||||
export CI=1
|
||||
export TEST_DIR=${env.TEST_DIR}
|
||||
export GIT_BRANCH=${env.GIT_BRANCH}
|
||||
export GIT_COMMIT=${env.GIT_COMMIT}
|
||||
|
||||
source ~/.bash_profile
|
||||
if [ -f /TICI ]; then
|
||||
source /etc/profile
|
||||
fi
|
||||
|
||||
ln -snf ${env.TEST_DIR} /data/pythonpath
|
||||
|
||||
if [ -f /EON ]; then
|
||||
echo \$\$ > /dev/cpuset/app/tasks || true
|
||||
echo \$PPID > /dev/cpuset/app/tasks || true
|
||||
mkdir -p /dev/shm
|
||||
chmod 777 /dev/shm
|
||||
fi
|
||||
|
||||
cd ${env.TEST_DIR} || true
|
||||
${cmd}
|
||||
exit 0
|
||||
|
||||
EOF"""
|
||||
|
||||
sh script: ssh_cmd, label: step_label
|
||||
}
|
||||
}
|
||||
|
||||
def phone_steps(String device_type, steps) {
|
||||
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
|
||||
timeout(time: 90, unit: 'MINUTES') {
|
||||
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
|
||||
steps.each { item ->
|
||||
phone(device_ip, item[0], item[1])
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pipeline {
|
||||
agent none
|
||||
environment {
|
||||
COMMA_JWT = credentials('athena-test-jwt')
|
||||
TEST_DIR = "/data/openpilot"
|
||||
}
|
||||
options {
|
||||
timeout(time: 1, unit: 'HOURS')
|
||||
}
|
||||
|
||||
stages {
|
||||
|
||||
stage('Release Build') {
|
||||
stage('Build release2') {
|
||||
agent {
|
||||
docker {
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
}
|
||||
}
|
||||
when {
|
||||
branch 'devel-staging'
|
||||
}
|
||||
steps {
|
||||
lock(resource: "", label: 'eon-build', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
|
||||
timeout(time: 60, unit: 'MINUTES') {
|
||||
dir(path: 'selfdrive/test') {
|
||||
sh 'pip install paramiko'
|
||||
sh 'python phone_ci.py "cd release && PUSH=1 ./build_release2.sh"'
|
||||
}
|
||||
}
|
||||
}
|
||||
phone_steps("eon-build", [
|
||||
["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('On-device Tests') {
|
||||
stage('openpilot tests') {
|
||||
when {
|
||||
not {
|
||||
anyOf {
|
||||
branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'
|
||||
branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
parallel {
|
||||
stages {
|
||||
|
||||
stage('Build') {
|
||||
environment {
|
||||
CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ''}"
|
||||
/*
|
||||
stage('PC tests') {
|
||||
agent {
|
||||
dockerfile {
|
||||
filename 'Dockerfile.openpilotci'
|
||||
args '--privileged --shm-size=1G --user=root'
|
||||
}
|
||||
}
|
||||
|
||||
steps {
|
||||
lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
|
||||
timeout(time: 60, unit: 'MINUTES') {
|
||||
dir(path: 'selfdrive/test') {
|
||||
sh 'pip install paramiko'
|
||||
sh 'python phone_ci.py "cd release && ./build_devel.sh"'
|
||||
}
|
||||
stages {
|
||||
stage('Build') {
|
||||
steps {
|
||||
sh 'scons -j$(nproc)'
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
// fix permissions since docker runs as another user
|
||||
sh "chmod -R 777 ."
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
stage('Replay Tests') {
|
||||
steps {
|
||||
lock(resource: "", label: 'eon2', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
|
||||
timeout(time: 60, unit: 'MINUTES') {
|
||||
dir(path: 'selfdrive/test') {
|
||||
sh 'pip install paramiko'
|
||||
sh 'python phone_ci.py "cd selfdrive/test/process_replay && ./camera_replay.py"'
|
||||
}
|
||||
}
|
||||
stage('On-device Tests') {
|
||||
agent {
|
||||
docker {
|
||||
/*
|
||||
filename 'Dockerfile.ondevice_ci'
|
||||
args "--privileged -v /dev:/dev --shm-size=1G --user=root"
|
||||
*/
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('HW Tests') {
|
||||
steps {
|
||||
lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
|
||||
timeout(time: 60, unit: 'MINUTES') {
|
||||
dir(path: 'selfdrive/test') {
|
||||
sh 'pip install paramiko'
|
||||
sh 'python phone_ci.py "SCONS_CACHE=1 scons -j3 cereal/ && \
|
||||
nosetests -s selfdrive/test/test_sounds.py && \
|
||||
nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"'
|
||||
stages {
|
||||
stage('parallel tests') {
|
||||
parallel {
|
||||
stage('Devel Tests') {
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["build devel", "cd release && SCONS_CACHE=1 DEVEL_TEST=1 ./build_devel.sh"],
|
||||
["test manager", "python selfdrive/manager/test/test_manager.py"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Replay Tests') {
|
||||
steps {
|
||||
phone_steps("eon2", [
|
||||
["build QCOM_REPLAY", "SCONS_CACHE=1 QCOM_REPLAY=1 scons -j4"],
|
||||
["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('HW + Unit Tests') {
|
||||
steps {
|
||||
phone_steps("eon", [
|
||||
["build", "SCONS_CACHE=1 scons -j4"],
|
||||
["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
|
||||
["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
|
||||
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
|
||||
["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
|
||||
//["test updater", "python installer/updater/test_updater.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
stage('Power Consumption Tests') {
|
||||
steps {
|
||||
lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
|
||||
timeout(time: 90, unit: 'MINUTES') {
|
||||
sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
|
||||
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
|
||||
phone(device_ip, "build", "SCONS_CACHE=1 scons -j4 && sync")
|
||||
sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
|
||||
sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
|
||||
sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
|
||||
sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
|
||||
sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
|
||||
sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
|
||||
sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
stage('Tici Build') {
|
||||
environment {
|
||||
R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
|
||||
}
|
||||
steps {
|
||||
phone_steps("tici", [
|
||||
["build", "SCONS_CACHE=1 scons -j16"],
|
||||
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
//["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('camerad') {
|
||||
steps {
|
||||
phone_steps("eon-party", [
|
||||
["build", "SCONS_CACHE=1 scons -j16"],
|
||||
["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
|
||||
["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Tici camerad') {
|
||||
steps {
|
||||
phone_steps("tici-party", [
|
||||
["build", "SCONS_CACHE=1 scons -j16"],
|
||||
["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
|
||||
["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
stage('Push master-ci') {
|
||||
when {
|
||||
branch 'master'
|
||||
}
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["push devel", "cd release && CI_PUSH='master-ci' ./build_devel.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
post {
|
||||
always {
|
||||
cleanWs()
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
158
README.md
158
README.md
@@ -64,58 +64,63 @@ Supported Cars
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
|
||||
| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Accord 2018-19 | All | Stock | 0mph | 3mph |
|
||||
| Acura | RDX 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2019-20 | Honda Sensing | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | Civic Sedan/Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | CR-V 2017-20 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | HR-V 2019 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019 | Honda Sensing | Stock | 0mph | 3mph |
|
||||
| Honda | HR-V 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
|
||||
| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Hyundai | Sonata 2020 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Honda | Pilot 2016-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Hyundai | Palisade 2020-21 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2020-21 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | NX 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | NX 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | NX Hybrid 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2016-17 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Avalon 2016 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon 2017-18 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon 2016-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-19 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | Camry 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | C-HR 2017-20 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 2016 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2017-18 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2017-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Sienna 2018-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
|
||||
<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
|
||||
@@ -128,6 +133,8 @@ Community Maintained Cars and Features
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
|
||||
| Audi | A3 2014-17 | Prestige | Stock | 0mph | 0mph |
|
||||
| Audi | A3 Sportback e-tron 2017-18 | Prestige | Stock | 0mph | 0mph |
|
||||
| Buick | Regal 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Cadillac | ATS 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Malibu 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
@@ -135,45 +142,65 @@ Community Maintained Cars and Features
|
||||
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Chrysler | Pacifica Hybrid 2019-21 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
|
||||
| GMC | Acadia Denali 2018<sup>2</sup>| Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| GMC | Acadia 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
|
||||
| Hyundai | Ioniq Electric Premium SE 2020| SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Electric Limited 2019 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Kona 2017-19 | SCC + LKAS | Stock | 22mph | 0mph |
|
||||
| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2019 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Veloster 2019 | SCC + LKAS | Stock | 5mph | 0mph |
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Forte 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Optima 2017 | SCC + LKAS/LDWS | Stock | 0mph | 32mph |
|
||||
| Kia | Forte 2018-2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Seltos 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-19<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2019<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2017<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
|
||||
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Nissan | Altima 2020 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| SEAT | Ateca 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Kodiaq 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Superb 2015-18 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Forester 2019 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Forester 2019-21 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Atlas 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| e-Golf 2014, 2019-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf Alltrack 2017-18 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTE 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTI 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf R 2016-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf SportsVan 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Jetta 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Jetta GLI 2021 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Passat 2016-17<sup>2</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
|
||||
<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built giraffe](https://github.com/commaai/openpilot/wiki/GM). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>2</sup>Requires a custom connector for the developer [car harness](https://comma.ai/shop/products/car-harness) <br />
|
||||
|
||||
Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
|
||||
<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>2</sup>Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.
|
||||
|
||||
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
|
||||
|
||||
To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
|
||||
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
Installation Instructions
|
||||
------
|
||||
|
||||
@@ -242,7 +269,6 @@ Many factors can impact the performance of openpilot DM, causing it to be unable
|
||||
* Low light conditions, such as driving at night or in dark tunnels.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* The driver's face is partially or completely outside field of view of the driver facing camera.
|
||||
* Right hand driving vehicles.
|
||||
* The driver facing camera is obstructed, covered, or damaged.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
|
||||
@@ -262,7 +288,7 @@ By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privac
|
||||
Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
|
||||
* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more details.
|
||||
* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
|
||||
* The safety model code 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).
|
||||
@@ -272,8 +298,23 @@ Safety and Testing
|
||||
|
||||
Testing on PC
|
||||
------
|
||||
For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.
|
||||
|
||||
Steps:
|
||||
1) Start the CARLA server on first terminal
|
||||
```
|
||||
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_carla.sh)"
|
||||
```
|
||||
2) Start openpilot on second terminal
|
||||
```
|
||||
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_openpilot_docker.sh)"
|
||||
```
|
||||
3) Press 1 to engage openpilot
|
||||
|
||||
See the full [README](tools/sim/README.md)
|
||||
|
||||
You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test, and develop openpilot from your PC.
|
||||
|
||||
Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
|
||||
|
||||
Community and Contributing
|
||||
------
|
||||
@@ -289,16 +330,15 @@ And [follow us on Twitter](https://twitter.com/comma_ai).
|
||||
Directory Structure
|
||||
------
|
||||
.
|
||||
├── apk # The apk files used for the UI
|
||||
├── cereal # The messaging spec and libs used for all logs
|
||||
├── common # Library like functionality we've developed here
|
||||
├── installer/updater # Manages auto-updates of openpilot
|
||||
├── installer/updater # Manages auto-updates of NEOS
|
||||
├── opendbc # Files showing how to interpret data from cars
|
||||
├── panda # Code used to communicate on CAN
|
||||
├── phonelibs # Libraries used on NEOS devices
|
||||
├── pyextra # Libraries used on NEOS devices
|
||||
└── selfdrive # Code needed to drive the car
|
||||
├── assets # Fonts, images, and sounds for UI
|
||||
├── assets # Fonts, images and sounds for UI
|
||||
├── athena # Allows communication with the app
|
||||
├── boardd # Daemon to talk to the board
|
||||
├── camerad # Driver to capture images from the camera sensors
|
||||
@@ -315,8 +355,6 @@ Directory Structure
|
||||
├── test # Unit tests, system tests and a car simulator
|
||||
└── ui # The UI
|
||||
|
||||
To understand how the services interact, see `cereal/service_list.yaml`.
|
||||
|
||||
Licensing
|
||||
------
|
||||
|
||||
|
||||
214
RELEASES.md
214
RELEASES.md
@@ -1,3 +1,91 @@
|
||||
Version 0.8.4 (2021-05-17)
|
||||
========================
|
||||
* Delay controls start until system is ready
|
||||
* Fuzzy car identification, enabled with Community Features toggle
|
||||
* Localizer optimized for increased precision and less CPU usage
|
||||
* Retuned lateral control to be more aggressive when model is confident
|
||||
* Toyota Mirai 2021 support
|
||||
* Lexus NX 300 2020 support thanks to goesreallyfast!
|
||||
* Volkswagen Atlas 2018-19 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.3 (2021-04-01)
|
||||
========================
|
||||
* New model
|
||||
* Trained on new diverse dataset from 2000+ users from 30+ countries
|
||||
* Trained with improved segnet from the comma-pencil community project
|
||||
* 🥬 Dramatically improved end-to-end lateral performance 🥬
|
||||
* Toggle added to disable the use of lanelines
|
||||
* NEOS update: update packages and support for new UI
|
||||
* New offroad UI based on Qt
|
||||
* Default SSH key only used for setup
|
||||
* Kia Ceed 2019 support thanks to ZanZaD13!
|
||||
* Kia Seltos 2021 support thanks to speedking456!
|
||||
* Added support for many Volkswagen and Škoda models thanks to jyoung8607!
|
||||
|
||||
Version 0.8.2 (2021-02-26)
|
||||
========================
|
||||
* Use model points directly in MPC (no more polyfits), making lateral planning more accurate
|
||||
* Use model heading prediction for smoother lateral control
|
||||
* Smarter actuator delay compensation
|
||||
* Improve qcamera resolution for improved video in explorer and connect
|
||||
* Adjust maximum engagement speed to better fit the model's training distribution
|
||||
* New driver monitoring model trained with 3x more diverse data
|
||||
* Improved face detection with masks
|
||||
* More predictable DM alerts when visibility is bad
|
||||
* Rewritten video streaming between openpilot processes
|
||||
* Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
|
||||
* Audi A3 2015 and 2017 support thanks to keeleysam!
|
||||
* Nissan Altima 2020 support thanks to avolmensky!
|
||||
* Lexus ES Hybrid 2018 support thanks to TheInventorMan!
|
||||
* Toyota Camry Hybrid 2021 support thanks to alancyau!
|
||||
|
||||
Version 0.8.1 (2020-12-21)
|
||||
========================
|
||||
* Original EON is deprecated, upgrade to comma two
|
||||
* Better model performance in heavy rain
|
||||
* Better lane positioning in turns
|
||||
* Fixed bug where model would cut turns on empty roads at night
|
||||
* Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
|
||||
* Toyota Camry 2021 with TSS2.5 support
|
||||
* Hyundai Ioniq Electric 2020 support thanks to baldwalker!
|
||||
|
||||
Version 0.8.0 (2020-11-30)
|
||||
========================
|
||||
* New driving model: fully 3D and improved cut-in detection
|
||||
* UI draws 2 road edges, 4 lanelines and paths in 3D
|
||||
* Major fixes to cut-in detection for openpilot longitudinal
|
||||
* Grey panda is no longer supported, upgrade to comma two or black panda
|
||||
* Lexus NX 2018 support thanks to matt12eagles!
|
||||
* Kia Niro EV 2020 support thanks to nickn17!
|
||||
* Toyota Prius 2021 support thanks to rav4kumar!
|
||||
* Improved lane positioning with uncertain lanelines, wide lanes and exits
|
||||
* Improved lateral control for Prius and Subaru
|
||||
|
||||
Version 0.7.10 (2020-10-29)
|
||||
========================
|
||||
* Grey panda is deprecated, upgrade to comma two or black panda
|
||||
* NEOS update: update to Python 3.8.2 and lower CPU frequency
|
||||
* Improved thermals due to reduced CPU frequency
|
||||
* Update SNPE to 1.41.0
|
||||
* Reduced offroad power consumption
|
||||
* Various system stability improvements
|
||||
* Acura RDX 2020 support thanks to csouers!
|
||||
|
||||
Version 0.7.9 (2020-10-09)
|
||||
========================
|
||||
* Improved car battery power management
|
||||
* Improved updater robustness
|
||||
* Improved realtime performance
|
||||
* Reduced UI and modeld lags
|
||||
* Increased torque on 2020 Hyundai Sonata and Palisade
|
||||
|
||||
Version 0.7.8 (2020-08-19)
|
||||
========================
|
||||
* New driver monitoring model: improved face detection and better compatibility with sunglasses
|
||||
* Download NEOS operating system updates in the background
|
||||
* Improved updater reliability and responsiveness
|
||||
* Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
|
||||
|
||||
Version 0.7.7 (2020-07-20)
|
||||
========================
|
||||
* White panda is no longer supported, upgrade to comma two or black panda
|
||||
@@ -14,24 +102,24 @@ Version 0.7.7 (2020-07-20)
|
||||
|
||||
Version 0.7.6.1 (2020-06-16)
|
||||
========================
|
||||
* Hotfix: update kernel on some comma twos (orders #8570-#8680)
|
||||
* Hotfix: update kernel on some comma twos (orders #8570-#8680)
|
||||
|
||||
Version 0.7.6 (2020-06-05)
|
||||
========================
|
||||
* White panda is deprecated, upgrade to comma two or black panda
|
||||
* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
|
||||
* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
|
||||
* Huge CPU savings in modeld by using thneed!
|
||||
* Lots of code cleanup and refactors
|
||||
* White panda is deprecated, upgrade to comma two or black panda
|
||||
* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
|
||||
* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
|
||||
* Huge CPU savings in modeld by using thneed!
|
||||
* Lots of code cleanup and refactors
|
||||
|
||||
Version 0.7.5 (2020-05-13)
|
||||
========================
|
||||
* Right-Hand Drive support for both driving and driver monitoring!
|
||||
* New driving model: improved at sharp turns and lead speed estimation
|
||||
* New driver monitoring model: overall improvement on comma two
|
||||
* Driver camera preview in settings to improve mounting position
|
||||
* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
|
||||
* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
|
||||
* Right-Hand Drive support for both driving and driver monitoring!
|
||||
* New driving model: improved at sharp turns and lead speed estimation
|
||||
* New driver monitoring model: overall improvement on comma two
|
||||
* Driver camera preview in settings to improve mounting position
|
||||
* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
|
||||
* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
|
||||
|
||||
Version 0.7.4 (2020-03-20)
|
||||
========================
|
||||
@@ -467,96 +555,96 @@ Version 0.3.4 (2017-07-28)
|
||||
|
||||
Version 0.3.3 (2017-06-28)
|
||||
===========================
|
||||
* Improved model trained on more data
|
||||
* Alpha CR-V support thanks to energee and johnnwvs!
|
||||
* Using the opendbc project for DBC files
|
||||
* Minor performance improvements
|
||||
* UI update thanks to pjlao307
|
||||
* Power off button
|
||||
* 6% more torque on the Civic
|
||||
* Improved model trained on more data
|
||||
* Alpha CR-V support thanks to energee and johnnwvs!
|
||||
* Using the opendbc project for DBC files
|
||||
* Minor performance improvements
|
||||
* UI update thanks to pjlao307
|
||||
* Power off button
|
||||
* 6% more torque on the Civic
|
||||
|
||||
Version 0.3.2 (2017-05-22)
|
||||
===========================
|
||||
* Minor stability bugfixes
|
||||
* Added metrics and rear view mirror disable to settings
|
||||
* Update model with more crowdsourced data
|
||||
* Minor stability bugfixes
|
||||
* Added metrics and rear view mirror disable to settings
|
||||
* Update model with more crowdsourced data
|
||||
|
||||
Version 0.3.1 (2017-05-17)
|
||||
===========================
|
||||
* visiond stability bugfix
|
||||
* Add logging for angle and flashing
|
||||
* visiond stability bugfix
|
||||
* Add logging for angle and flashing
|
||||
|
||||
Version 0.3.0 (2017-05-12)
|
||||
===========================
|
||||
* Add CarParams struct to improve the abstraction layer
|
||||
* Refactor visiond IPC to support multiple clients
|
||||
* Add raw GPS and beginning support for navigation
|
||||
* Improve model in visiond using crowdsourced data
|
||||
* Add improved system logging to diagnose instability
|
||||
* Rewrite baseui in React Native
|
||||
* Moved calibration to the cloud
|
||||
* Add CarParams struct to improve the abstraction layer
|
||||
* Refactor visiond IPC to support multiple clients
|
||||
* Add raw GPS and beginning support for navigation
|
||||
* Improve model in visiond using crowdsourced data
|
||||
* Add improved system logging to diagnose instability
|
||||
* Rewrite baseui in React Native
|
||||
* Moved calibration to the cloud
|
||||
|
||||
Version 0.2.9 (2017-03-01)
|
||||
===========================
|
||||
* Retain compatibility with NEOS v1
|
||||
* Retain compatibility with NEOS v1
|
||||
|
||||
Version 0.2.8 (2017-02-27)
|
||||
===========================
|
||||
* Fix bug where frames were being dropped in minute 71
|
||||
* Fix bug where frames were being dropped in minute 71
|
||||
|
||||
Version 0.2.7 (2017-02-08)
|
||||
===========================
|
||||
* Better performance and pictures at night
|
||||
* Fix ptr alignment issue in boardd
|
||||
* Fix brake error light, fix crash if too cold
|
||||
* Better performance and pictures at night
|
||||
* Fix ptr alignment issue in boardd
|
||||
* Fix brake error light, fix crash if too cold
|
||||
|
||||
Version 0.2.6 (2017-01-31)
|
||||
===========================
|
||||
* Fix bug in visiond model execution
|
||||
* Fix bug in visiond model execution
|
||||
|
||||
Version 0.2.5 (2017-01-30)
|
||||
===========================
|
||||
* Fix race condition in manager
|
||||
* Fix race condition in manager
|
||||
|
||||
Version 0.2.4 (2017-01-27)
|
||||
===========================
|
||||
* OnePlus 3T support
|
||||
* Enable installation as NEOS app
|
||||
* Various minor bugfixes
|
||||
* OnePlus 3T support
|
||||
* Enable installation as NEOS app
|
||||
* Various minor bugfixes
|
||||
|
||||
Version 0.2.3 (2017-01-11)
|
||||
===========================
|
||||
* Reduce space usage by 80%
|
||||
* Add better logging
|
||||
* Add Travis CI
|
||||
* Reduce space usage by 80%
|
||||
* Add better logging
|
||||
* Add Travis CI
|
||||
|
||||
Version 0.2.2 (2017-01-10)
|
||||
===========================
|
||||
* Board triggers started signal on CAN messages
|
||||
* Improved autoexposure
|
||||
* Handle out of space, improve upload status
|
||||
* Board triggers started signal on CAN messages
|
||||
* Improved autoexposure
|
||||
* Handle out of space, improve upload status
|
||||
|
||||
Version 0.2.1 (2016-12-14)
|
||||
===========================
|
||||
* Performance improvements, removal of more numpy
|
||||
* Fix boardd process priority
|
||||
* Make counter timer reset on use of steering wheel
|
||||
* Performance improvements, removal of more numpy
|
||||
* Fix boardd process priority
|
||||
* Make counter timer reset on use of steering wheel
|
||||
|
||||
Version 0.2 (2016-12-12)
|
||||
=========================
|
||||
* Car/Radar abstraction layers have shipped, see cereal/car.capnp
|
||||
* controlsd has been refactored
|
||||
* Shipped plant model and testing maneuvers
|
||||
* visiond exits more gracefully now
|
||||
* Hardware encoder in visiond should always init
|
||||
* ui now turns off the screen after 30 seconds
|
||||
* Switch to openpilot release branch for future releases
|
||||
* Added preliminary Docker container to run tests on PC
|
||||
* Car/Radar abstraction layers have shipped, see cereal/car.capnp
|
||||
* controlsd has been refactored
|
||||
* Shipped plant model and testing maneuvers
|
||||
* visiond exits more gracefully now
|
||||
* Hardware encoder in visiond should always init
|
||||
* ui now turns off the screen after 30 seconds
|
||||
* Switch to openpilot release branch for future releases
|
||||
* Added preliminary Docker container to run tests on PC
|
||||
|
||||
Version 0.1 (2016-11-29)
|
||||
=========================
|
||||
* Initial release of openpilot
|
||||
* Adaptive cruise control is working
|
||||
* Lane keep assist is working
|
||||
* Support for Acura ILX 2016 with AcuraWatch Plus
|
||||
* Support for Honda Civic 2016 Touring Edition
|
||||
* Initial release of openpilot
|
||||
* Adaptive cruise control is working
|
||||
* Lane keep assist is working
|
||||
* Support for Acura ILX 2016 with AcuraWatch Plus
|
||||
* Support for Honda Civic 2016 Touring Edition
|
||||
|
||||
308
SConstruct
308
SConstruct
@@ -2,30 +2,69 @@ import os
|
||||
import shutil
|
||||
import subprocess
|
||||
import sys
|
||||
import sysconfig
|
||||
import platform
|
||||
import numpy as np
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
JETSON = os.path.isfile('/JETSON')
|
||||
|
||||
Decider('MD5-timestamp')
|
||||
|
||||
AddOption('--test',
|
||||
action='store_true',
|
||||
help='build test files')
|
||||
|
||||
AddOption('--kaitai',
|
||||
action='store_true',
|
||||
help='Regenerate kaitai struct parsers')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
AddOption('--ubsan',
|
||||
action='store_true',
|
||||
help='turn on UBSan')
|
||||
|
||||
AddOption('--clazy',
|
||||
action='store_true',
|
||||
help='build with clazy')
|
||||
|
||||
AddOption('--compile_db',
|
||||
action='store_true',
|
||||
help='build clang compilation database')
|
||||
|
||||
AddOption('--mpc-generate',
|
||||
action='store_true',
|
||||
help='regenerates the mpc sources')
|
||||
|
||||
AddOption('--external-sconscript',
|
||||
action='store',
|
||||
metavar='FILE',
|
||||
dest='external_sconscript',
|
||||
help='add an external SConscript to the build')
|
||||
|
||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
if arch == "aarch64" and not os.path.isdir("/system"):
|
||||
|
||||
if arch == "aarch64" and TICI:
|
||||
arch = "larch64"
|
||||
|
||||
webcam = bool(ARGUMENTS.get("use_webcam", 0))
|
||||
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
|
||||
QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
|
||||
|
||||
USE_MIPI = os.getenv("USE_MIPI") is not None
|
||||
if arch == "aarch64" and JETSON:
|
||||
arch = "jarch64"
|
||||
|
||||
lenv = {
|
||||
"PATH": os.environ['PATH'],
|
||||
}
|
||||
|
||||
if arch == "aarch64" or arch == "larch64":
|
||||
lenv = {
|
||||
"LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
|
||||
"PATH": os.environ['PATH'],
|
||||
}
|
||||
lenv["LD_LIBRARY_PATH"] = '/data/data/com.termux/files/usr/lib'
|
||||
|
||||
if arch == "aarch64":
|
||||
# android
|
||||
@@ -37,8 +76,8 @@ if arch == "aarch64" or arch == "larch64":
|
||||
]
|
||||
|
||||
libpath = [
|
||||
"/usr/local/lib",
|
||||
"/usr/lib",
|
||||
"/data/data/com.termux/files/usr/lib",
|
||||
"/system/vendor/lib64",
|
||||
"/system/comma/usr/lib",
|
||||
"#phonelibs/nanovg",
|
||||
@@ -50,56 +89,71 @@ if arch == "aarch64" or arch == "larch64":
|
||||
"#phonelibs/libyuv/larch64/lib",
|
||||
"/usr/lib/aarch64-linux-gnu"
|
||||
]
|
||||
cpppath += [
|
||||
"#selfdrive/camerad/include",
|
||||
]
|
||||
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
rpath = ["/usr/local/lib"]
|
||||
else:
|
||||
libpath += [
|
||||
"#phonelibs/snpe/aarch64",
|
||||
"#phonelibs/libyuv/lib"
|
||||
"#phonelibs/libyuv/lib",
|
||||
"/system/vendor/lib64"
|
||||
]
|
||||
cflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
rpath = ["/system/vendor/lib64"]
|
||||
rpath = []
|
||||
|
||||
if QCOM_REPLAY:
|
||||
cflags += ["-DQCOM_REPLAY"]
|
||||
cxxflags += ["-DQCOM_REPLAY"]
|
||||
|
||||
else:
|
||||
cflags = []
|
||||
cxxflags = []
|
||||
cpppath = []
|
||||
rpath = []
|
||||
|
||||
lenv = {
|
||||
"PATH": "#external/bin:" + os.environ['PATH'],
|
||||
}
|
||||
cpppath = [
|
||||
"#external/tensorflow/include",
|
||||
]
|
||||
|
||||
if arch == "Darwin":
|
||||
if arch == "jarch64":
|
||||
libpath = [
|
||||
"#phonelibs/libyuv/mac/lib",
|
||||
"#cereal",
|
||||
"#phonelibs/libyuv/larch64/lib",
|
||||
"#selfdrive/common",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
cflags = ["-DXNX", "-march=armv8.2-a"]
|
||||
cxxflags = ["-DXNX", "-march=armv8.2-a"]
|
||||
rpath += ["/usr/local/lib"]
|
||||
elif arch == "Darwin":
|
||||
yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
|
||||
libpath = [
|
||||
f"#phonelibs/libyuv/{yuv_dir}/lib",
|
||||
"/usr/local/lib",
|
||||
"/opt/homebrew/lib",
|
||||
"/usr/local/opt/openssl/lib",
|
||||
"/opt/homebrew/opt/openssl/lib",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
]
|
||||
cflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cpppath += [
|
||||
"/opt/homebrew/include",
|
||||
"/usr/local/opt/openssl/include",
|
||||
"/opt/homebrew/opt/openssl/include"
|
||||
]
|
||||
else:
|
||||
libpath = [
|
||||
"#phonelibs/snpe/x86_64-linux-clang",
|
||||
"#phonelibs/libyuv/x64/lib",
|
||||
"#external/tensorflow/lib",
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
rpath = [
|
||||
"external/tensorflow/lib",
|
||||
if arch != "jarch64":
|
||||
rpath += ["phonelibs/snpe/x86_64-linux-clang"]
|
||||
rpath += [
|
||||
"cereal",
|
||||
"selfdrive/common"
|
||||
]
|
||||
@@ -108,11 +162,18 @@ else:
|
||||
rpath = [os.path.join(os.getcwd(), x) for x in rpath]
|
||||
|
||||
if GetOption('asan'):
|
||||
ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags_asan = ["-fsanitize=address"]
|
||||
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags = ["-fsanitize=address"]
|
||||
elif GetOption('ubsan'):
|
||||
ccflags = ["-fsanitize=undefined"]
|
||||
ldflags = ["-fsanitize=undefined"]
|
||||
else:
|
||||
ccflags_asan = []
|
||||
ldflags_asan = []
|
||||
ccflags = []
|
||||
ldflags = []
|
||||
|
||||
# no --as-needed on mac linker
|
||||
if arch != "Darwin":
|
||||
ldflags += ["-Wl,--as-needed"]
|
||||
|
||||
# change pythonpath to this
|
||||
lenv["PYTHONPATH"] = Dir("#").path
|
||||
@@ -125,19 +186,22 @@ env = Environment(
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wno-unknown-warning-option",
|
||||
"-Wno-deprecated-register",
|
||||
"-Wno-register",
|
||||
"-Wno-inconsistent-missing-override",
|
||||
] + cflags + ccflags_asan,
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
] + cflags + ccflags,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
"#",
|
||||
"#selfdrive",
|
||||
"#phonelibs/catch2/include",
|
||||
"#phonelibs/bzip2",
|
||||
"#phonelibs/libyuv/include",
|
||||
"#phonelibs/openmax/include",
|
||||
"#phonelibs/json11",
|
||||
"#phonelibs/curl/include",
|
||||
#"#phonelibs/opencv/include", # use opencv4 instead
|
||||
"#phonelibs/libgralloc/include",
|
||||
"#phonelibs/android_frameworks_native/include",
|
||||
"#phonelibs/android_hardware_libhardware/include",
|
||||
@@ -145,44 +209,45 @@ env = Environment(
|
||||
"#phonelibs/linux/include",
|
||||
"#phonelibs/snpe/include",
|
||||
"#phonelibs/nanovg",
|
||||
"#selfdrive/common",
|
||||
"#selfdrive/camerad",
|
||||
"#selfdrive/camerad/include",
|
||||
"#selfdrive/loggerd/include",
|
||||
"#selfdrive/modeld",
|
||||
"#cereal/messaging",
|
||||
"#phonelibs/qrcode",
|
||||
"#phonelibs",
|
||||
"#cereal",
|
||||
"#cereal/messaging",
|
||||
"#cereal/visionipc",
|
||||
"#opendbc/can",
|
||||
],
|
||||
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
LINKFLAGS=ldflags_asan,
|
||||
LINKFLAGS=ldflags,
|
||||
|
||||
RPATH=rpath,
|
||||
|
||||
CFLAGS=["-std=gnu11"] + cflags,
|
||||
CXXFLAGS=["-std=c++14"] + cxxflags,
|
||||
CXXFLAGS=["-std=c++1z"] + cxxflags,
|
||||
LIBPATH=libpath + [
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
"#phonelibs",
|
||||
]
|
||||
"#opendbc/can",
|
||||
"#selfdrive/boardd",
|
||||
"#selfdrive/common",
|
||||
],
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
COMPILATIONDB_USE_ABSPATH=True,
|
||||
tools=["default", "cython", "compilation_db"],
|
||||
)
|
||||
|
||||
if GetOption('compile_db'):
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
|
||||
if os.environ.get('SCONS_CACHE'):
|
||||
cache_dir = '/tmp/scons_cache'
|
||||
if TICI:
|
||||
cache_dir = '/data/scons_cache'
|
||||
|
||||
if os.getenv('CI'):
|
||||
branch = os.getenv('GIT_BRANCH')
|
||||
if QCOM_REPLAY:
|
||||
cache_dir = '/tmp/scons_cache_qcom_replay'
|
||||
|
||||
if QCOM_REPLAY:
|
||||
cache_dir = '/tmp/scons_cache_qcom_replay'
|
||||
elif branch is not None and branch != 'master':
|
||||
cache_dir_branch = '/tmp/scons_cache_' + branch
|
||||
if not os.path.isdir(cache_dir_branch) and os.path.isdir(cache_dir):
|
||||
shutil.copytree(cache_dir, cache_dir_branch)
|
||||
cache_dir = cache_dir_branch
|
||||
CacheDir(cache_dir)
|
||||
|
||||
node_interval = 5
|
||||
@@ -206,9 +271,92 @@ def abspath(x):
|
||||
# rpath works elsewhere
|
||||
return x[0].path.rsplit("/", 1)[1][:-3]
|
||||
|
||||
# still needed for apks
|
||||
zmq = 'zmq'
|
||||
Export('env', 'arch', 'zmq', 'SHARED', 'webcam', 'QCOM_REPLAY')
|
||||
# Cython build enviroment
|
||||
py_include = sysconfig.get_paths()['include']
|
||||
envCython = env.Clone()
|
||||
envCython["CPPPATH"] += [py_include, np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
|
||||
|
||||
envCython["LIBS"] = []
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
|
||||
elif arch == "aarch64":
|
||||
envCython["LINKFLAGS"] = ["-shared"]
|
||||
envCython["LIBS"] = [os.path.basename(py_include)]
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
Export('envCython')
|
||||
|
||||
# Qt build environment
|
||||
qt_env = env.Clone()
|
||||
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets"]
|
||||
if arch != "aarch64":
|
||||
qt_modules += ["DBus"]
|
||||
|
||||
qt_libs = []
|
||||
if arch == "Darwin":
|
||||
if real_arch == "arm64":
|
||||
qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
|
||||
else:
|
||||
qt_env['QTDIR'] = "/usr/local/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"]
|
||||
elif arch == "aarch64":
|
||||
qt_env['QTDIR'] = "/system/comma/usr"
|
||||
qt_dirs = [
|
||||
f"/system/comma/usr/include/qt",
|
||||
]
|
||||
qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
|
||||
|
||||
qt_libs = [f"Qt5{m}" for m in qt_modules]
|
||||
qt_libs += ['EGL', 'GLESv3', 'c++_shared']
|
||||
else:
|
||||
qt_env['QTDIR'] = "/usr"
|
||||
qt_dirs = [
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
|
||||
]
|
||||
qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
|
||||
|
||||
qt_libs = [f"Qt5{m}" for m in qt_modules]
|
||||
if arch == "larch64" or arch == "jarch64":
|
||||
qt_libs += ["GLESv2", "wayland-client"]
|
||||
elif arch != "Darwin":
|
||||
qt_libs += ["GL"]
|
||||
|
||||
qt_env.Tool('qt')
|
||||
qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
|
||||
qt_flags = [
|
||||
"-D_REENTRANT",
|
||||
"-DQT_NO_DEBUG",
|
||||
"-DQT_WIDGETS_LIB",
|
||||
"-DQT_GUI_LIB",
|
||||
"-DQT_QUICK_LIB",
|
||||
"-DQT_QUICKWIDGETS_LIB",
|
||||
"-DQT_QML_LIB",
|
||||
"-DQT_CORE_LIB"
|
||||
]
|
||||
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', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY', 'USE_MIPI')
|
||||
|
||||
# cereal and messaging are shared with the system
|
||||
SConscript(['cereal/SConscript'])
|
||||
@@ -218,26 +366,55 @@ if SHARED:
|
||||
else:
|
||||
cereal = [File('#cereal/libcereal.a')]
|
||||
messaging = [File('#cereal/libmessaging.a')]
|
||||
visionipc = [File('#cereal/libvisionipc.a')]
|
||||
|
||||
Export('cereal', 'messaging')
|
||||
|
||||
SConscript(['selfdrive/common/SConscript'])
|
||||
Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
|
||||
Import('_common', '_gpucommon', '_gpu_libs')
|
||||
|
||||
if SHARED:
|
||||
common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
|
||||
common, gpucommon = abspath(common), abspath(gpucommon)
|
||||
else:
|
||||
common = [_common, 'json11']
|
||||
visionipc = _visionipc
|
||||
gpucommon = [_gpucommon] + _gpu_libs
|
||||
|
||||
Export('common', 'visionipc', 'gpucommon')
|
||||
Export('common', 'gpucommon', 'visionipc')
|
||||
|
||||
# Build rednose library and ekf models
|
||||
|
||||
rednose_config = {
|
||||
'generated_folder': '#selfdrive/locationd/models/generated',
|
||||
'to_build': {
|
||||
'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
|
||||
'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
|
||||
},
|
||||
}
|
||||
|
||||
if arch != "aarch64":
|
||||
rednose_config['to_build'].update({
|
||||
'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
|
||||
'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
|
||||
'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
|
||||
'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
|
||||
'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
|
||||
'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
|
||||
})
|
||||
|
||||
Export('rednose_config')
|
||||
SConscript(['rednose/SConscript'])
|
||||
|
||||
# Build openpilot
|
||||
|
||||
SConscript(['cereal/SConscript'])
|
||||
SConscript(['panda/board/SConscript'])
|
||||
SConscript(['opendbc/can/SConscript'])
|
||||
|
||||
SConscript(['phonelibs/SConscript'])
|
||||
|
||||
SConscript(['common/SConscript'])
|
||||
SConscript(['common/kalman/SConscript'])
|
||||
SConscript(['common/transformations/SConscript'])
|
||||
SConscript(['phonelibs/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/camerad/SConscript'])
|
||||
SConscript(['selfdrive/modeld/SConscript'])
|
||||
@@ -249,16 +426,17 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/boardd/SConscript'])
|
||||
SConscript(['selfdrive/proclogd/SConscript'])
|
||||
SConscript(['selfdrive/clocksd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/ui/SConscript'])
|
||||
SConscript(['selfdrive/loggerd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/locationd/SConscript'])
|
||||
SConscript(['selfdrive/locationd/models/SConscript'])
|
||||
SConscript(['selfdrive/sensord/SConscript'])
|
||||
SConscript(['selfdrive/ui/SConscript'])
|
||||
|
||||
if arch == "aarch64":
|
||||
if arch != "Darwin":
|
||||
SConscript(['selfdrive/logcatd/SConscript'])
|
||||
SConscript(['selfdrive/sensord/SConscript'])
|
||||
SConscript(['selfdrive/clocksd/SConscript'])
|
||||
else:
|
||||
SConscript(['tools/lib/index_log/SConscript'])
|
||||
|
||||
external_sconscript = GetOption('external_sconscript')
|
||||
if external_sconscript:
|
||||
SConscript([external_sconscript])
|
||||
|
||||
9
cereal/.gitignore
vendored
9
cereal/.gitignore
vendored
@@ -1,14 +1,21 @@
|
||||
gen
|
||||
node_modules
|
||||
package-lock.json
|
||||
*.tmp
|
||||
*.pyc
|
||||
__pycache__
|
||||
.*.swp
|
||||
.*.swo
|
||||
libcereal*.a
|
||||
*.os
|
||||
*.o
|
||||
*.a
|
||||
|
||||
test_runner
|
||||
|
||||
libmessaging.*
|
||||
libmessaging_shared.*
|
||||
services.h
|
||||
.sconsign.dblite
|
||||
libcereal_shared.*
|
||||
.mypy_cache/
|
||||
catch2/
|
||||
|
||||
@@ -1,35 +1,33 @@
|
||||
Import('env', 'arch', 'zmq')
|
||||
Import('env', 'envCython', 'arch', 'QCOM_REPLAY')
|
||||
|
||||
import shutil
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
gen_dir = Dir('gen')
|
||||
messaging_dir = Dir('messaging')
|
||||
|
||||
# TODO: remove src-prefix and cereal from command string. can we set working directory?
|
||||
# Build cereal
|
||||
|
||||
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'dp.capnp']
|
||||
env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
|
||||
env.Command(
|
||||
['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
|
||||
['car.capnp', 'log.capnp'],
|
||||
'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
|
||||
import shutil
|
||||
env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
|
||||
schema_files,
|
||||
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
|
||||
|
||||
if shutil.which('capnpc-java'):
|
||||
env.Command(
|
||||
['gen/java/Car.java', 'gen/java/Log.java'],
|
||||
['car.capnp', 'log.capnp'],
|
||||
'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
|
||||
env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
|
||||
schema_files,
|
||||
f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")
|
||||
|
||||
# TODO: remove non shared cereal and messaging
|
||||
cereal_objects = env.SharedObject([
|
||||
'gen/cpp/car.capnp.c++',
|
||||
'gen/cpp/log.capnp.c++',
|
||||
])
|
||||
cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
|
||||
|
||||
env.Library('cereal', cereal_objects)
|
||||
env.SharedLibrary('cereal_shared', cereal_objects)
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
services_h = env.Command(
|
||||
['services.h'],
|
||||
['service_list.yaml', 'services.py'],
|
||||
'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
# Build messaging
|
||||
|
||||
services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
|
||||
messaging_objects = env.SharedObject([
|
||||
'messaging/messaging.cc',
|
||||
@@ -42,24 +40,36 @@ messaging_objects = env.SharedObject([
|
||||
messaging_lib = env.Library('messaging', messaging_objects)
|
||||
Depends('messaging/impl_zmq.cc', services_h)
|
||||
|
||||
# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
|
||||
# TODO: get APK to load system zmq to remove the static link
|
||||
if arch == "aarch64":
|
||||
zmq_static = FindFile("libzmq.a", "/usr/lib")
|
||||
shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared", "kj", "capnp"]
|
||||
env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
|
||||
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
|
||||
Depends('messaging/bridge.cc', services_h)
|
||||
|
||||
# different target?
|
||||
#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
|
||||
envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
|
||||
|
||||
|
||||
env.Command(['messaging/messaging_pyx.so'],
|
||||
[messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
|
||||
"cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
|
||||
# Build Vision IPC
|
||||
vipc_sources = [
|
||||
'visionipc/ipc.cc',
|
||||
'visionipc/visionipc_server.cc',
|
||||
'visionipc/visionipc_client.cc',
|
||||
'visionipc/visionbuf.cc',
|
||||
]
|
||||
|
||||
if arch in ["aarch64", "larch64"] and (not QCOM_REPLAY):
|
||||
vipc_sources += ['visionipc/visionbuf_ion.cc']
|
||||
else:
|
||||
vipc_sources += ['visionipc/visionbuf_cl.cc']
|
||||
|
||||
vipc_objects = env.SharedObject(vipc_sources)
|
||||
vipc = env.Library('visionipc', vipc_objects)
|
||||
|
||||
|
||||
libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
|
||||
if arch == "Darwin":
|
||||
del libs[libs.index('OpenCL')]
|
||||
envCython['FRAMEWORKS'] += ['OpenCL']
|
||||
envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=libs)
|
||||
|
||||
|
||||
if GetOption('test'):
|
||||
env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
|
||||
env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL'])
|
||||
|
||||
126
cereal/car.capnp
126
cereal/car.capnp
@@ -11,6 +11,8 @@ $Java.outerClassname("Car");
|
||||
|
||||
struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
name @0 :EventName;
|
||||
|
||||
# event types
|
||||
enable @1 :Bool;
|
||||
noEntry @2 :Bool;
|
||||
warning @3 :Bool; # alerts presented only when enabled or soft disabling
|
||||
@@ -21,11 +23,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
permanent @8 :Bool; # alerts presented regardless of openpilot state
|
||||
|
||||
enum EventName @0xbaa8c5d505f727de {
|
||||
# TODO: copy from error list
|
||||
canError @0;
|
||||
steerUnavailable @1;
|
||||
brakeUnavailable @2;
|
||||
gasUnavailable @3;
|
||||
wrongGear @4;
|
||||
doorOpen @5;
|
||||
seatbeltNotLatched @6;
|
||||
@@ -37,8 +37,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
buttonEnable @12;
|
||||
pedalPressed @13;
|
||||
cruiseDisabled @14;
|
||||
radarCanError @15;
|
||||
dataNeededDEPRECATED @16;
|
||||
speedTooLow @17;
|
||||
outOfSpace @18;
|
||||
overheat @19;
|
||||
@@ -49,31 +47,24 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
pcmDisable @24;
|
||||
noTarget @25;
|
||||
radarFault @26;
|
||||
modelCommIssueDEPRECATED @27;
|
||||
brakeHold @28;
|
||||
parkBrake @29;
|
||||
manualRestart @30;
|
||||
lowSpeedLockout @31;
|
||||
plannerError @32;
|
||||
ipasOverrideDEPRECATED @33;
|
||||
debugAlert @34;
|
||||
steerTempUnavailableMute @35;
|
||||
steerTempUnavailableUserOverride @35;
|
||||
resumeRequired @36;
|
||||
preDriverDistracted @37;
|
||||
promptDriverDistracted @38;
|
||||
driverDistracted @39;
|
||||
geofenceDEPRECATED @40;
|
||||
driverMonitorOnDEPRECATED @41;
|
||||
driverMonitorOffDEPRECATED @42;
|
||||
preDriverUnresponsive @43;
|
||||
promptDriverUnresponsive @44;
|
||||
driverUnresponsive @45;
|
||||
belowSteerSpeed @46;
|
||||
calibrationProgressDEPRECATED @47;
|
||||
lowBattery @48;
|
||||
invalidGiraffeHondaDEPRECATED @49;
|
||||
vehicleModelInvalid @50;
|
||||
controlsFailed @51;
|
||||
accFaulted @51;
|
||||
sensorDataInvalid @52;
|
||||
commIssue @53;
|
||||
tooDistracted @54;
|
||||
@@ -82,14 +73,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
preLaneChangeLeft @57;
|
||||
preLaneChangeRight @58;
|
||||
laneChange @59;
|
||||
invalidGiraffeToyota @60;
|
||||
internetConnectivityNeeded @61;
|
||||
communityFeatureDisallowed @62;
|
||||
lowMemory @63;
|
||||
stockAeb @64;
|
||||
ldw @65;
|
||||
carUnrecognized @66;
|
||||
radarCommIssue @67;
|
||||
driverMonitorLowAcc @68;
|
||||
invalidLkasSetting @69;
|
||||
speedTooHigh @70;
|
||||
@@ -101,17 +89,52 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
startupNoCar @76;
|
||||
startupNoControl @77;
|
||||
startupMaster @78;
|
||||
startupFuzzyFingerprint @97;
|
||||
fcw @79;
|
||||
steerSaturated @80;
|
||||
whitePandaUnsupported @81;
|
||||
startupWhitePanda @82;
|
||||
canErrorPersistentDEPRECATED @83;
|
||||
belowEngageSpeed @84;
|
||||
noGps @85;
|
||||
focusRecoverActive @86;
|
||||
wrongCruiseMode @87;
|
||||
neosUpdateRequired @88;
|
||||
modeldLagging @89;
|
||||
deviceFalling @90;
|
||||
fanMalfunction @91;
|
||||
cameraMalfunction @92;
|
||||
gpsMalfunction @94;
|
||||
processNotRunning @95;
|
||||
dashcamMode @96;
|
||||
controlsInitializing @98;
|
||||
|
||||
radarCanErrorDEPRECATED @15;
|
||||
radarCommIssueDEPRECATED @67;
|
||||
gasUnavailableDEPRECATED @3;
|
||||
dataNeededDEPRECATED @16;
|
||||
modelCommIssueDEPRECATED @27;
|
||||
ipasOverrideDEPRECATED @33;
|
||||
geofenceDEPRECATED @40;
|
||||
driverMonitorOnDEPRECATED @41;
|
||||
driverMonitorOffDEPRECATED @42;
|
||||
calibrationProgressDEPRECATED @47;
|
||||
invalidGiraffeHondaDEPRECATED @49;
|
||||
invalidGiraffeToyotaDEPRECATED @60;
|
||||
internetConnectivityNeededDEPRECATED @61;
|
||||
whitePandaUnsupportedDEPRECATED @81;
|
||||
commIssueWarningDEPRECATED @83;
|
||||
focusRecoverActiveDEPRECATED @86;
|
||||
neosUpdateRequiredDEPRECATED @88;
|
||||
modelLagWarningDEPRECATED @93;
|
||||
startupOneplusDEPRECATED @82;
|
||||
|
||||
#dp
|
||||
preLaneChangeLeftALC @99;
|
||||
preLaneChangeRightALC @100;
|
||||
manualSteeringRequired @101;
|
||||
manualSteeringRequiredBlinkersOn @102;
|
||||
leadCarMoving @103;
|
||||
|
||||
# timebomb assist
|
||||
timebombWarn @104;
|
||||
timebombBypassing @105;
|
||||
timebombBypassed @106;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -119,7 +142,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
# all speeds in m/s
|
||||
|
||||
struct CarState {
|
||||
errorsDEPRECATED @0 :List(CarEvent.EventName);
|
||||
events @13 :List(CarEvent);
|
||||
|
||||
# car speed
|
||||
@@ -140,8 +162,8 @@ struct CarState {
|
||||
brakeLights @19 :Bool;
|
||||
|
||||
# steering wheel
|
||||
steeringAngle @7 :Float32; # deg
|
||||
steeringRate @15 :Float32; # deg/s
|
||||
steeringAngleDeg @7 :Float32;
|
||||
steeringRateDeg @15 :Float32;
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
steeringTorqueEps @27 :Float32; # TODO: standardize units
|
||||
steeringPressed @9 :Bool; # if the user is using the steering wheel
|
||||
@@ -179,6 +201,10 @@ struct CarState {
|
||||
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
|
||||
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
|
||||
|
||||
# dp
|
||||
lkMode @37 :Bool;
|
||||
stopSteering @38 :Bool; # timebomb - stopSteering
|
||||
|
||||
struct WheelSpeeds {
|
||||
# optional wheel speeds
|
||||
fl @0 :Float32;
|
||||
@@ -229,6 +255,8 @@ struct CarState {
|
||||
gapAdjustCruise @11;
|
||||
}
|
||||
}
|
||||
|
||||
errorsDEPRECATED @0 :List(CarEvent.EventName);
|
||||
}
|
||||
|
||||
# ******* radar state @ 20hz *******
|
||||
@@ -272,10 +300,6 @@ struct CarControl {
|
||||
enabled @0 :Bool;
|
||||
active @7 :Bool;
|
||||
|
||||
gasDEPRECATED @1 :Float32;
|
||||
brakeDEPRECATED @2 :Float32;
|
||||
steeringTorqueDEPRECATED @3 :Float32;
|
||||
|
||||
actuators @6 :Actuators;
|
||||
|
||||
cruiseControl @4 :CruiseControl;
|
||||
@@ -287,7 +311,7 @@ struct CarControl {
|
||||
brake @1: Float32;
|
||||
# range from -1.0 - 1.0
|
||||
steer @2: Float32;
|
||||
steerAngle @3: Float32;
|
||||
steeringAngleDeg @3: Float32;
|
||||
}
|
||||
|
||||
struct CruiseControl {
|
||||
@@ -323,8 +347,6 @@ struct CarControl {
|
||||
}
|
||||
|
||||
enum AudibleAlert {
|
||||
# these are the choices from the Honda
|
||||
# map as good as you can for your car
|
||||
none @0;
|
||||
chimeEngage @1;
|
||||
chimeDisengage @2;
|
||||
@@ -336,6 +358,10 @@ struct CarControl {
|
||||
chimeWarning2Repeat @8;
|
||||
}
|
||||
}
|
||||
|
||||
gasDEPRECATED @1 :Float32;
|
||||
brakeDEPRECATED @2 :Float32;
|
||||
steeringTorqueDEPRECATED @3 :Float32;
|
||||
}
|
||||
|
||||
# ****** car param ******
|
||||
@@ -343,15 +369,18 @@ struct CarControl {
|
||||
struct CarParams {
|
||||
carName @0 :Text;
|
||||
carFingerprint @1 :Text;
|
||||
fuzzyFingerprint @55 :Bool;
|
||||
|
||||
enableGasInterceptor @2 :Bool;
|
||||
enableCruise @3 :Bool;
|
||||
enableCamera @4 :Bool;
|
||||
enableDsu @5 :Bool; # driving support unit
|
||||
enableApgs @6 :Bool; # advanced parking guidance system
|
||||
enableBsm @56 :Bool; # blind spot monitoring
|
||||
|
||||
minEnableSpeed @7 :Float32;
|
||||
minSteerSpeed @8 :Float32;
|
||||
maxSteeringAngleDeg @54 :Float32;
|
||||
safetyModel @9 :SafetyModel;
|
||||
safetyModelPassive @42 :SafetyModel = silent;
|
||||
safetyParam @10 :Int16;
|
||||
@@ -364,11 +393,11 @@ struct CarParams {
|
||||
brakeMaxV @16 :List(Float32);
|
||||
|
||||
# things about the car in the manual
|
||||
mass @17 :Float32; # [kg] running weight
|
||||
wheelbase @18 :Float32; # [m] distance from rear to front axle
|
||||
centerToFront @19 :Float32; # [m] GC distance to front axle
|
||||
steerRatio @20 :Float32; # [] ratio between front wheels and steering wheel angles
|
||||
steerRatioRear @21 :Float32; # [] rear steering ratio wrt front steering (usually 0)
|
||||
mass @17 :Float32; # [kg] curb weight: all fluids no cargo
|
||||
wheelbase @18 :Float32; # [m] distance from rear axle to front axle
|
||||
centerToFront @19 :Float32; # [m] distance from center of mass to front axle
|
||||
steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle
|
||||
steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0)
|
||||
|
||||
# things we can derive
|
||||
rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia
|
||||
@@ -393,14 +422,17 @@ struct CarParams {
|
||||
steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
|
||||
steerControlType @34 :SteerControlType;
|
||||
radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
|
||||
minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
|
||||
stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
|
||||
startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart
|
||||
|
||||
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
|
||||
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
|
||||
carVin @38 :Text; # VIN number queried during fingerprinting
|
||||
isPandaBlack @39: Bool;
|
||||
dashcamOnly @41: Bool;
|
||||
transmissionType @43 :TransmissionType;
|
||||
carFw @44 :List(CarFw);
|
||||
|
||||
radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
|
||||
communityFeature @46: Bool; # true if a community maintained feature is detected
|
||||
fingerprintSource @49: FingerprintSource;
|
||||
@@ -429,10 +461,19 @@ struct CarParams {
|
||||
}
|
||||
|
||||
struct LateralINDITuning {
|
||||
outerLoopGain @0 :Float32;
|
||||
innerLoopGain @1 :Float32;
|
||||
timeConstant @2 :Float32;
|
||||
actuatorEffectiveness @3 :Float32;
|
||||
outerLoopGainBP @4 :List(Float32);
|
||||
outerLoopGainV @5 :List(Float32);
|
||||
innerLoopGainBP @6 :List(Float32);
|
||||
innerLoopGainV @7 :List(Float32);
|
||||
timeConstantBP @8 :List(Float32);
|
||||
timeConstantV @9 :List(Float32);
|
||||
actuatorEffectivenessBP @10 :List(Float32);
|
||||
actuatorEffectivenessV @11 :List(Float32);
|
||||
|
||||
outerLoopGainDEPRECATED @0 :Float32;
|
||||
innerLoopGainDEPRECATED @1 :Float32;
|
||||
timeConstantDEPRECATED @2 :Float32;
|
||||
actuatorEffectivenessDEPRECATED @3 :Float32;
|
||||
}
|
||||
|
||||
struct LateralLQRTuning {
|
||||
@@ -474,6 +515,7 @@ struct CarParams {
|
||||
volkswagenPq @21;
|
||||
subaruLegacy @22; # pre-Global platform
|
||||
hyundaiLegacy @23;
|
||||
hyundaiCommunity @24;
|
||||
}
|
||||
|
||||
enum SteerControlType {
|
||||
@@ -529,4 +571,6 @@ struct CarParams {
|
||||
fwdCamera @0; # Standard/default integration at LKAS camera
|
||||
gateway @1; # Integration at vehicle's CAN gateway
|
||||
}
|
||||
|
||||
isPandaBlack @39: Bool;
|
||||
}
|
||||
|
||||
58
cereal/dp.capnp
Normal file
58
cereal/dp.capnp
Normal file
@@ -0,0 +1,58 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Java = import "./include/java.capnp";
|
||||
$Java.package("ai.comma.openpilot.cereal");
|
||||
$Java.outerClassname("dp");
|
||||
|
||||
@0xbfa7e645486440c7;
|
||||
|
||||
# dp.capnp: a home for deprecated structs
|
||||
|
||||
# dp
|
||||
struct DragonConf {
|
||||
dpThermalStarted @0 :Bool;
|
||||
dpThermalOverheat @1 :Bool;
|
||||
dpAtl @2 :Bool;
|
||||
dpAutoShutdown @3 :Bool;
|
||||
dpAthenad @4 :Bool;
|
||||
dpUploader @5 :Bool;
|
||||
dpSteeringOnSignal @6 :Bool;
|
||||
dpSignalOffDelay @7 :UInt8;
|
||||
dpAssistedLcMinMph @8 :Float32;
|
||||
dpAutoLc @9 :Bool;
|
||||
dpAutoLcCont @10 :Bool;
|
||||
dpAutoLcMinMph @11 :Float32;
|
||||
dpAutoLcDelay @12 :Float32;
|
||||
dpAllowGas @13 :Bool;
|
||||
dpFollowingProfileCtrl @14 :Bool;
|
||||
dpFollowingProfile @15 :UInt8;
|
||||
dpAccelProfileCtrl @16 :Bool;
|
||||
dpAccelProfile @17 :UInt8;
|
||||
dpGearCheck @18 :Bool;
|
||||
dpSpeedCheck @19 :Bool;
|
||||
dpUiScreenOffReversing @20 :Bool;
|
||||
dpUiSpeed @21 :Bool;
|
||||
dpUiEvent @22 :Bool;
|
||||
dpUiMaxSpeed @23 :Bool;
|
||||
dpUiFace @24 :Bool;
|
||||
dpUiLane @25 :Bool;
|
||||
dpUiLead @26 :Bool;
|
||||
dpUiDev @27 :Bool;
|
||||
dpUiDevMini @28 :Bool;
|
||||
dpUiBlinker @29 :Bool;
|
||||
dpAppExtGps @30 :Bool;
|
||||
dpAppTomtom @31 :Bool;
|
||||
dpAppTomtomAuto @32 :Bool;
|
||||
dpAppTomtomManual @33 :Int8;
|
||||
dpAppMixplorer @34 :Bool;
|
||||
dpAppMixplorerManual @35 :Int8;
|
||||
dpCarDetected @36 :Text;
|
||||
dpToyotaLdw @37 :Bool;
|
||||
dpToyotaSng @38 :Bool;
|
||||
dpVwPanda @39 :Bool;
|
||||
dpVwTimebombAssist @40 :Bool;
|
||||
dpIpAddr @41 :Text;
|
||||
dpLocale @42 :Text;
|
||||
dpDebug @43 :Bool;
|
||||
}
|
||||
865
cereal/legacy.capnp
Normal file
865
cereal/legacy.capnp
Normal file
@@ -0,0 +1,865 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Java = import "./include/java.capnp";
|
||||
$Java.package("ai.comma.openpilot.cereal");
|
||||
$Java.outerClassname("Legacy");
|
||||
|
||||
@0x80ef1ec4889c2a63;
|
||||
|
||||
# legacy.capnp: a home for deprecated structs
|
||||
|
||||
struct LogRotate @0x9811e1f38f62f2d1 {
|
||||
segmentNum @0 :Int32;
|
||||
path @1 :Text;
|
||||
}
|
||||
|
||||
struct LiveUI @0xc08240f996aefced {
|
||||
rearViewCam @0 :Bool;
|
||||
alertText1 @1 :Text;
|
||||
alertText2 @2 :Text;
|
||||
awarenessStatus @3 :Float32;
|
||||
}
|
||||
|
||||
struct UiLayoutState @0x88dcce08ad29dda0 {
|
||||
activeApp @0 :App;
|
||||
sidebarCollapsed @1 :Bool;
|
||||
mapEnabled @2 :Bool;
|
||||
mockEngaged @3 :Bool;
|
||||
|
||||
enum App @0x9917470acf94d285 {
|
||||
home @0;
|
||||
music @1;
|
||||
nav @2;
|
||||
settings @3;
|
||||
none @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbslamCorrection @0x8afd33dc9b35e1aa {
|
||||
correctionMonoTime @0 :UInt64;
|
||||
prePositionECEF @1 :List(Float64);
|
||||
postPositionECEF @2 :List(Float64);
|
||||
prePoseQuatECEF @3 :List(Float32);
|
||||
postPoseQuatECEF @4 :List(Float32);
|
||||
numInliers @5 :UInt32;
|
||||
}
|
||||
|
||||
struct EthernetPacket @0xa99a9d5b33cf5859 {
|
||||
pkt @0 :Data;
|
||||
ts @1 :Float32;
|
||||
}
|
||||
|
||||
struct CellInfo @0xcff7566681c277ce {
|
||||
timestamp @0 :UInt64;
|
||||
repr @1 :Text; # android toString() for now
|
||||
}
|
||||
|
||||
struct WifiScan @0xd4df5a192382ba0b {
|
||||
bssid @0 :Text;
|
||||
ssid @1 :Text;
|
||||
capabilities @2 :Text;
|
||||
frequency @3 :Int32;
|
||||
level @4 :Int32;
|
||||
timestamp @5 :Int64;
|
||||
|
||||
centerFreq0 @6 :Int32;
|
||||
centerFreq1 @7 :Int32;
|
||||
channelWidth @8 :ChannelWidth;
|
||||
operatorFriendlyName @9 :Text;
|
||||
venueName @10 :Text;
|
||||
is80211mcResponder @11 :Bool;
|
||||
passpoint @12 :Bool;
|
||||
|
||||
distanceCm @13 :Int32;
|
||||
distanceSdCm @14 :Int32;
|
||||
|
||||
enum ChannelWidth @0xcb6a279f015f6b51 {
|
||||
w20Mhz @0;
|
||||
w40Mhz @1;
|
||||
w80Mhz @2;
|
||||
w160Mhz @3;
|
||||
w80Plus80Mhz @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveEventData @0x94b7baa90c5c321e {
|
||||
name @0 :Text;
|
||||
value @1 :Int32;
|
||||
}
|
||||
|
||||
struct ModelData @0xb8aad62cffef28a9 {
|
||||
frameId @0 :UInt32;
|
||||
frameAge @12 :UInt32;
|
||||
frameDropPerc @13 :Float32;
|
||||
timestampEof @9 :UInt64;
|
||||
modelExecutionTime @14 :Float32;
|
||||
gpuExecutionTime @16 :Float32;
|
||||
rawPred @15 :Data;
|
||||
|
||||
path @1 :PathData;
|
||||
leftLane @2 :PathData;
|
||||
rightLane @3 :PathData;
|
||||
lead @4 :LeadData;
|
||||
freePath @6 :List(Float32);
|
||||
|
||||
settings @5 :ModelSettings;
|
||||
leadFuture @7 :LeadData;
|
||||
speed @8 :List(Float32);
|
||||
meta @10 :MetaData;
|
||||
longitudinal @11 :LongitudinalData;
|
||||
|
||||
struct PathData @0x8817eeea389e9f08 {
|
||||
points @0 :List(Float32);
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
stds @3 :List(Float32);
|
||||
poly @4 :List(Float32);
|
||||
validLen @5 :Float32;
|
||||
}
|
||||
|
||||
struct LeadData @0xd1c9bef96d26fa91 {
|
||||
dist @0 :Float32;
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
relVel @3 :Float32;
|
||||
relVelStd @4 :Float32;
|
||||
relY @5 :Float32;
|
||||
relYStd @6 :Float32;
|
||||
relA @7 :Float32;
|
||||
relAStd @8 :Float32;
|
||||
}
|
||||
|
||||
struct ModelSettings @0xa26e3710efd3e914 {
|
||||
bigBoxX @0 :UInt16;
|
||||
bigBoxY @1 :UInt16;
|
||||
bigBoxWidth @2 :UInt16;
|
||||
bigBoxHeight @3 :UInt16;
|
||||
boxProjection @4 :List(Float32);
|
||||
yuvCorrection @5 :List(Float32);
|
||||
inputTransform @6 :List(Float32);
|
||||
}
|
||||
|
||||
struct MetaData @0x9744f25fb60f2bf8 {
|
||||
engagedProb @0 :Float32;
|
||||
desirePrediction @1 :List(Float32);
|
||||
brakeDisengageProb @2 :Float32;
|
||||
gasDisengageProb @3 :Float32;
|
||||
steerOverrideProb @4 :Float32;
|
||||
desireState @5 :List(Float32);
|
||||
}
|
||||
|
||||
struct LongitudinalData @0xf98f999c6a071122 {
|
||||
distances @2 :List(Float32);
|
||||
speeds @0 :List(Float32);
|
||||
accelerations @1 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
struct ECEFPoint @0xc25bbbd524983447 {
|
||||
x @0 :Float64;
|
||||
y @1 :Float64;
|
||||
z @2 :Float64;
|
||||
}
|
||||
|
||||
struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
|
||||
x @0 :Float32;
|
||||
y @1 :Float32;
|
||||
z @2 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPoints @0xab54c59699f8f9f3 {
|
||||
curPosDEPRECATED @0 :ECEFPointDEPRECATED;
|
||||
pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
|
||||
curPos @6 :ECEFPoint;
|
||||
points @7 :List(ECEFPoint);
|
||||
valid @2 :Bool;
|
||||
trackName @3 :Text;
|
||||
speedLimit @4 :Float32;
|
||||
accelTarget @5 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
|
||||
valid @0 :Bool;
|
||||
poly @1 :List(Float32);
|
||||
trackName @2 :Text;
|
||||
speed @3 :Float32;
|
||||
acceleration @4 :Float32;
|
||||
pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
|
||||
points @6 :List(ECEFPoint);
|
||||
xLookahead @7 :Float32;
|
||||
}
|
||||
|
||||
struct UiNavigationEvent @0x90c8426c3eaddd3b {
|
||||
type @0: Type;
|
||||
status @1: Status;
|
||||
distanceTo @2: Float32;
|
||||
endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
|
||||
endRoadPoint @4: ECEFPoint;
|
||||
|
||||
enum Type @0xe8db07dcf8fcea05 {
|
||||
none @0;
|
||||
laneChangeLeft @1;
|
||||
laneChangeRight @2;
|
||||
mergeLeft @3;
|
||||
mergeRight @4;
|
||||
turnLeft @5;
|
||||
turnRight @6;
|
||||
}
|
||||
|
||||
enum Status @0xb9aa88c75ef99a1f {
|
||||
none @0;
|
||||
passive @1;
|
||||
approaching @2;
|
||||
active @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveLocationData @0xb99b2bc7a57e8128 {
|
||||
status @0 :UInt8;
|
||||
|
||||
# 3D fix
|
||||
lat @1 :Float64;
|
||||
lon @2 :Float64;
|
||||
alt @3 :Float32; # m
|
||||
|
||||
# speed
|
||||
speed @4 :Float32; # m/s
|
||||
|
||||
# NED velocity components
|
||||
vNED @5 :List(Float32);
|
||||
|
||||
# roll, pitch, heading (x,y,z)
|
||||
roll @6 :Float32; # WRT to center of earth?
|
||||
pitch @7 :Float32; # WRT to center of earth?
|
||||
heading @8 :Float32; # WRT to north?
|
||||
|
||||
# what are these?
|
||||
wanderAngle @9 :Float32;
|
||||
trackAngle @10 :Float32;
|
||||
|
||||
# car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
|
||||
|
||||
# gyro, in car frame, deg/s
|
||||
gyro @11 :List(Float32);
|
||||
|
||||
# accel, in car frame, m/s^2
|
||||
accel @12 :List(Float32);
|
||||
|
||||
accuracy @13 :Accuracy;
|
||||
|
||||
source @14 :SensorSource;
|
||||
# if we are fixing a location in the past
|
||||
fixMonoTime @15 :UInt64;
|
||||
|
||||
gpsWeek @16 :Int32;
|
||||
timeOfWeek @17 :Float64;
|
||||
|
||||
positionECEF @18 :List(Float64);
|
||||
poseQuatECEF @19 :List(Float32);
|
||||
pitchCalibration @20 :Float32;
|
||||
yawCalibration @21 :Float32;
|
||||
imuFrame @22 :List(Float32);
|
||||
|
||||
struct Accuracy @0x943dc4625473b03f {
|
||||
pNEDError @0 :List(Float32);
|
||||
vNEDError @1 :List(Float32);
|
||||
rollError @2 :Float32;
|
||||
pitchError @3 :Float32;
|
||||
headingError @4 :Float32;
|
||||
ellipsoidSemiMajorError @5 :Float32;
|
||||
ellipsoidSemiMinorError @6 :Float32;
|
||||
ellipsoidOrientationError @7 :Float32;
|
||||
}
|
||||
|
||||
enum SensorSource @0xc871d3cc252af657 {
|
||||
applanix @0;
|
||||
kalman @1;
|
||||
orbslam @2;
|
||||
timing @3;
|
||||
dummy @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbOdometry @0xd7700859ed1f5b76 {
|
||||
# timing first
|
||||
startMonoTime @0 :UInt64;
|
||||
endMonoTime @1 :UInt64;
|
||||
|
||||
# fundamental matrix and error
|
||||
f @2: List(Float64);
|
||||
err @3: Float64;
|
||||
|
||||
# number of inlier points
|
||||
inliers @4: Int32;
|
||||
|
||||
# for debug only
|
||||
# indexed by endMonoTime features
|
||||
# value is startMonoTime feature match
|
||||
# -1 if no match
|
||||
matches @5: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeatures @0xcd60164a8a0159ef {
|
||||
timestampEof @0 :UInt64;
|
||||
# transposed arrays of normalized image coordinates
|
||||
# len(xs) == len(ys) == len(descriptors) * 32
|
||||
xs @1 :List(Float32);
|
||||
ys @2 :List(Float32);
|
||||
descriptors @3 :Data;
|
||||
octaves @4 :List(Int8);
|
||||
|
||||
# match index to last OrbFeatures
|
||||
# -1 if no match
|
||||
timestampLastEof @5 :UInt64;
|
||||
matches @6: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeaturesSummary @0xd500d30c5803fa4f {
|
||||
timestampEof @0 :UInt64;
|
||||
timestampLastEof @1 :UInt64;
|
||||
|
||||
featureCount @2 :UInt16;
|
||||
matchCount @3 :UInt16;
|
||||
computeNs @4 :UInt64;
|
||||
}
|
||||
|
||||
struct OrbKeyFrame @0xc8233c0345e27e24 {
|
||||
# this is a globally unique id for the KeyFrame
|
||||
id @0: UInt64;
|
||||
|
||||
# this is the location of the KeyFrame
|
||||
pos @1: ECEFPoint;
|
||||
|
||||
# these are the features in the world
|
||||
# len(dpos) == len(descriptors) * 32
|
||||
dpos @2 :List(ECEFPoint);
|
||||
descriptors @3 :Data;
|
||||
}
|
||||
|
||||
struct KalmanOdometry @0x92e21bb7ea38793a {
|
||||
trans @0 :List(Float32); # m/s in device frame
|
||||
rot @1 :List(Float32); # rad/s in device frame
|
||||
transStd @2 :List(Float32); # std m/s in device frame
|
||||
rotStd @3 :List(Float32); # std rad/s in device frame
|
||||
}
|
||||
|
||||
struct OrbObservation @0x9b326d4e436afec7 {
|
||||
observationMonoTime @0 :UInt64;
|
||||
normalizedCoordinates @1 :List(Float32);
|
||||
locationECEF @2 :List(Float64);
|
||||
matchDistance @3: UInt32;
|
||||
}
|
||||
|
||||
struct CalibrationFeatures @0x8fdfadb254ea867a {
|
||||
frameId @0 :UInt32;
|
||||
|
||||
p0 @1 :List(Float32);
|
||||
p1 @2 :List(Float32);
|
||||
status @3 :List(Int8);
|
||||
}
|
||||
|
||||
struct NavStatus @0xbd8822120928120c {
|
||||
isNavigating @0 :Bool;
|
||||
currentAddress @1 :Address;
|
||||
|
||||
struct Address @0xce7cd672cacc7814 {
|
||||
title @0 :Text;
|
||||
lat @1 :Float64;
|
||||
lng @2 :Float64;
|
||||
house @3 :Text;
|
||||
address @4 :Text;
|
||||
street @5 :Text;
|
||||
city @6 :Text;
|
||||
state @7 :Text;
|
||||
country @8 :Text;
|
||||
}
|
||||
}
|
||||
|
||||
struct NavUpdate @0xdb98be6565516acb {
|
||||
isNavigating @0 :Bool;
|
||||
curSegment @1 :Int32;
|
||||
segments @2 :List(Segment);
|
||||
|
||||
struct LatLng @0x9eaef9187cadbb9b {
|
||||
lat @0 :Float64;
|
||||
lng @1 :Float64;
|
||||
}
|
||||
|
||||
struct Segment @0xa5b39b4fc4d7da3f {
|
||||
from @0 :LatLng;
|
||||
to @1 :LatLng;
|
||||
updateTime @2 :Int32;
|
||||
distance @3 :Int32;
|
||||
crossTime @4 :Int32;
|
||||
exitNo @5 :Int32;
|
||||
instruction @6 :Instruction;
|
||||
|
||||
parts @7 :List(LatLng);
|
||||
|
||||
enum Instruction @0xc5417a637451246f {
|
||||
turnLeft @0;
|
||||
turnRight @1;
|
||||
keepLeft @2;
|
||||
keepRight @3;
|
||||
straight @4;
|
||||
roundaboutExitNumber @5;
|
||||
roundaboutExit @6;
|
||||
roundaboutTurnLeft @7;
|
||||
unkn8 @8;
|
||||
roundaboutStraight @9;
|
||||
unkn10 @10;
|
||||
roundaboutTurnRight @11;
|
||||
unkn12 @12;
|
||||
roundaboutUturn @13;
|
||||
unkn14 @14;
|
||||
arrive @15;
|
||||
exitLeft @16;
|
||||
exitRight @17;
|
||||
unkn18 @18;
|
||||
uturn @19;
|
||||
# ...
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct TrafficEvent @0xacfa74a094e62626 {
|
||||
type @0 :Type;
|
||||
distance @1 :Float32;
|
||||
action @2 :Action;
|
||||
resuming @3 :Bool;
|
||||
|
||||
enum Type @0xd85d75253435bf4b {
|
||||
stopSign @0;
|
||||
lightRed @1;
|
||||
lightYellow @2;
|
||||
lightGreen @3;
|
||||
stopLight @4;
|
||||
}
|
||||
|
||||
enum Action @0xa6f6ce72165ccb49 {
|
||||
none @0;
|
||||
yield @1;
|
||||
stop @2;
|
||||
resumeReady @3;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
struct AndroidGnss @0xdfdf30d03fc485bd {
|
||||
union {
|
||||
measurements @0 :Measurements;
|
||||
navigationMessage @1 :NavigationMessage;
|
||||
}
|
||||
|
||||
struct Measurements @0xa20710d4f428d6cd {
|
||||
clock @0 :Clock;
|
||||
measurements @1 :List(Measurement);
|
||||
|
||||
struct Clock @0xa0e27b453a38f450 {
|
||||
timeNanos @0 :Int64;
|
||||
hardwareClockDiscontinuityCount @1 :Int32;
|
||||
|
||||
hasTimeUncertaintyNanos @2 :Bool;
|
||||
timeUncertaintyNanos @3 :Float64;
|
||||
|
||||
hasLeapSecond @4 :Bool;
|
||||
leapSecond @5 :Int32;
|
||||
|
||||
hasFullBiasNanos @6 :Bool;
|
||||
fullBiasNanos @7 :Int64;
|
||||
|
||||
hasBiasNanos @8 :Bool;
|
||||
biasNanos @9 :Float64;
|
||||
|
||||
hasBiasUncertaintyNanos @10 :Bool;
|
||||
biasUncertaintyNanos @11 :Float64;
|
||||
|
||||
hasDriftNanosPerSecond @12 :Bool;
|
||||
driftNanosPerSecond @13 :Float64;
|
||||
|
||||
hasDriftUncertaintyNanosPerSecond @14 :Bool;
|
||||
driftUncertaintyNanosPerSecond @15 :Float64;
|
||||
}
|
||||
|
||||
struct Measurement @0xd949bf717d77614d {
|
||||
svId @0 :Int32;
|
||||
constellation @1 :Constellation;
|
||||
|
||||
timeOffsetNanos @2 :Float64;
|
||||
state @3 :Int32;
|
||||
receivedSvTimeNanos @4 :Int64;
|
||||
receivedSvTimeUncertaintyNanos @5 :Int64;
|
||||
cn0DbHz @6 :Float64;
|
||||
pseudorangeRateMetersPerSecond @7 :Float64;
|
||||
pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
|
||||
accumulatedDeltaRangeState @9 :Int32;
|
||||
accumulatedDeltaRangeMeters @10 :Float64;
|
||||
accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
|
||||
|
||||
hasCarrierFrequencyHz @12 :Bool;
|
||||
carrierFrequencyHz @13 :Float32;
|
||||
hasCarrierCycles @14 :Bool;
|
||||
carrierCycles @15 :Int64;
|
||||
hasCarrierPhase @16 :Bool;
|
||||
carrierPhase @17 :Float64;
|
||||
hasCarrierPhaseUncertainty @18 :Bool;
|
||||
carrierPhaseUncertainty @19 :Float64;
|
||||
hasSnrInDb @20 :Bool;
|
||||
snrInDb @21 :Float64;
|
||||
|
||||
multipathIndicator @22 :MultipathIndicator;
|
||||
|
||||
enum Constellation @0x9ef1f3ff0deb5ffb {
|
||||
unknown @0;
|
||||
gps @1;
|
||||
sbas @2;
|
||||
glonass @3;
|
||||
qzss @4;
|
||||
beidou @5;
|
||||
galileo @6;
|
||||
}
|
||||
|
||||
enum State @0xcbb9490adce12d72 {
|
||||
unknown @0;
|
||||
codeLock @1;
|
||||
bitSync @2;
|
||||
subframeSync @3;
|
||||
towDecoded @4;
|
||||
msecAmbiguous @5;
|
||||
symbolSync @6;
|
||||
gloStringSync @7;
|
||||
gloTodDecoded @8;
|
||||
bdsD2BitSync @9;
|
||||
bdsD2SubframeSync @10;
|
||||
galE1bcCodeLock @11;
|
||||
galE1c2ndCodeLock @12;
|
||||
galE1bPageSync @13;
|
||||
sbasSync @14;
|
||||
}
|
||||
|
||||
enum MultipathIndicator @0xc04e7b6231d4caa8 {
|
||||
unknown @0;
|
||||
detected @1;
|
||||
notDetected @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct NavigationMessage @0xe2517b083095fd4e {
|
||||
type @0 :Int32;
|
||||
svId @1 :Int32;
|
||||
messageId @2 :Int32;
|
||||
submessageId @3 :Int32;
|
||||
data @4 :Data;
|
||||
status @5 :Status;
|
||||
|
||||
enum Status @0xec1ff7996b35366f {
|
||||
unknown @0;
|
||||
parityPassed @1;
|
||||
parityRebuilt @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct QcomGnss @0xde94674b07ae51c1 {
|
||||
logTs @0 :UInt64;
|
||||
union {
|
||||
measurementReport @1 :MeasurementReport;
|
||||
clockReport @2 :ClockReport;
|
||||
drMeasurementReport @3 :DrMeasurementReport;
|
||||
drSvPoly @4 :DrSvPolyReport;
|
||||
rawLog @5 :Data;
|
||||
}
|
||||
|
||||
enum MeasurementSource @0xd71a12b6faada7ee {
|
||||
gps @0;
|
||||
glonass @1;
|
||||
beidou @2;
|
||||
}
|
||||
|
||||
enum SVObservationState @0xe81e829a0d6c83e9 {
|
||||
idle @0;
|
||||
search @1;
|
||||
searchVerify @2;
|
||||
bitEdge @3;
|
||||
trackVerify @4;
|
||||
track @5;
|
||||
restart @6;
|
||||
dpo @7;
|
||||
glo10msBe @8;
|
||||
glo10msAt @9;
|
||||
}
|
||||
|
||||
struct MeasurementStatus @0xe501010e1bcae83b {
|
||||
subMillisecondIsValid @0 :Bool;
|
||||
subBitTimeIsKnown @1 :Bool;
|
||||
satelliteTimeIsKnown @2 :Bool;
|
||||
bitEdgeConfirmedFromSignal @3 :Bool;
|
||||
measuredVelocity @4 :Bool;
|
||||
fineOrCoarseVelocity @5 :Bool;
|
||||
lockPointValid @6 :Bool;
|
||||
lockPointPositive @7 :Bool;
|
||||
lastUpdateFromDifference @8 :Bool;
|
||||
lastUpdateFromVelocityDifference @9 :Bool;
|
||||
strongIndicationOfCrossCorelation @10 :Bool;
|
||||
tentativeMeasurement @11 :Bool;
|
||||
measurementNotUsable @12 :Bool;
|
||||
sirCheckIsNeeded @13 :Bool;
|
||||
probationMode @14 :Bool;
|
||||
|
||||
glonassMeanderBitEdgeValid @15 :Bool;
|
||||
glonassTimeMarkValid @16 :Bool;
|
||||
|
||||
gpsRoundRobinRxDiversity @17 :Bool;
|
||||
gpsRxDiversity @18 :Bool;
|
||||
gpsLowBandwidthRxDiversityCombined @19 :Bool;
|
||||
gpsHighBandwidthNu4 @20 :Bool;
|
||||
gpsHighBandwidthNu8 @21 :Bool;
|
||||
gpsHighBandwidthUniform @22 :Bool;
|
||||
multipathIndicator @23 :Bool;
|
||||
|
||||
imdJammingIndicator @24 :Bool;
|
||||
lteB13TxJammingIndicator @25 :Bool;
|
||||
freshMeasurementIndicator @26 :Bool;
|
||||
|
||||
multipathEstimateIsValid @27 :Bool;
|
||||
directionIsValid @28 :Bool;
|
||||
}
|
||||
|
||||
struct MeasurementReport @0xf580d7d86b7b8692 {
|
||||
source @0 :MeasurementSource;
|
||||
|
||||
fCount @1 :UInt32;
|
||||
|
||||
gpsWeek @2 :UInt16;
|
||||
glonassCycleNumber @3 :UInt8;
|
||||
glonassNumberOfDays @4 :UInt16;
|
||||
|
||||
milliseconds @5 :UInt32;
|
||||
timeBias @6 :Float32;
|
||||
clockTimeUncertainty @7 :Float32;
|
||||
clockFrequencyBias @8 :Float32;
|
||||
clockFrequencyUncertainty @9 :Float32;
|
||||
|
||||
sv @10 :List(SV);
|
||||
|
||||
struct SV @0xf10c595ae7bb2c27 {
|
||||
svId @0 :UInt8;
|
||||
observationState @2 :SVObservationState;
|
||||
observations @3 :UInt8;
|
||||
goodObservations @4 :UInt8;
|
||||
gpsParityErrorCount @5 :UInt16;
|
||||
glonassFrequencyIndex @1 :Int8;
|
||||
glonassHemmingErrorCount @6 :UInt8;
|
||||
filterStages @7 :UInt8;
|
||||
carrierNoise @8 :UInt16;
|
||||
latency @9 :Int16;
|
||||
predetectInterval @10 :UInt8;
|
||||
postdetections @11 :UInt16;
|
||||
|
||||
unfilteredMeasurementIntegral @12 :UInt32;
|
||||
unfilteredMeasurementFraction @13 :Float32;
|
||||
unfilteredTimeUncertainty @14 :Float32;
|
||||
unfilteredSpeed @15 :Float32;
|
||||
unfilteredSpeedUncertainty @16 :Float32;
|
||||
measurementStatus @17 :MeasurementStatus;
|
||||
multipathEstimate @18 :UInt32;
|
||||
azimuth @19 :Float32;
|
||||
elevation @20 :Float32;
|
||||
carrierPhaseCyclesIntegral @21 :Int32;
|
||||
carrierPhaseCyclesFraction @22 :UInt16;
|
||||
fineSpeed @23 :Float32;
|
||||
fineSpeedUncertainty @24 :Float32;
|
||||
cycleSlipCount @25 :UInt8;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
struct ClockReport @0xca965e4add8f4f0b {
|
||||
hasFCount @0 :Bool;
|
||||
fCount @1 :UInt32;
|
||||
|
||||
hasGpsWeek @2 :Bool;
|
||||
gpsWeek @3 :UInt16;
|
||||
hasGpsMilliseconds @4 :Bool;
|
||||
gpsMilliseconds @5 :UInt32;
|
||||
gpsTimeBias @6 :Float32;
|
||||
gpsClockTimeUncertainty @7 :Float32;
|
||||
gpsClockSource @8 :UInt8;
|
||||
|
||||
hasGlonassYear @9 :Bool;
|
||||
glonassYear @10 :UInt8;
|
||||
hasGlonassDay @11 :Bool;
|
||||
glonassDay @12 :UInt16;
|
||||
hasGlonassMilliseconds @13 :Bool;
|
||||
glonassMilliseconds @14 :UInt32;
|
||||
glonassTimeBias @15 :Float32;
|
||||
glonassClockTimeUncertainty @16 :Float32;
|
||||
glonassClockSource @17 :UInt8;
|
||||
|
||||
bdsWeek @18 :UInt16;
|
||||
bdsMilliseconds @19 :UInt32;
|
||||
bdsTimeBias @20 :Float32;
|
||||
bdsClockTimeUncertainty @21 :Float32;
|
||||
bdsClockSource @22 :UInt8;
|
||||
|
||||
galWeek @23 :UInt16;
|
||||
galMilliseconds @24 :UInt32;
|
||||
galTimeBias @25 :Float32;
|
||||
galClockTimeUncertainty @26 :Float32;
|
||||
galClockSource @27 :UInt8;
|
||||
|
||||
clockFrequencyBias @28 :Float32;
|
||||
clockFrequencyUncertainty @29 :Float32;
|
||||
frequencySource @30 :UInt8;
|
||||
gpsLeapSeconds @31 :UInt8;
|
||||
gpsLeapSecondsUncertainty @32 :UInt8;
|
||||
gpsLeapSecondsSource @33 :UInt8;
|
||||
|
||||
gpsToGlonassTimeBiasMilliseconds @34 :Float32;
|
||||
gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
|
||||
gpsToBdsTimeBiasMilliseconds @36 :Float32;
|
||||
gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
|
||||
bdsToGloTimeBiasMilliseconds @38 :Float32;
|
||||
bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
|
||||
gpsToGalTimeBiasMilliseconds @40 :Float32;
|
||||
gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
|
||||
galToGloTimeBiasMilliseconds @42 :Float32;
|
||||
galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
|
||||
galToBdsTimeBiasMilliseconds @44 :Float32;
|
||||
galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
|
||||
|
||||
hasRtcTime @46 :Bool;
|
||||
systemRtcTime @47 :UInt32;
|
||||
fCountOffset @48 :UInt32;
|
||||
lpmRtcCount @49 :UInt32;
|
||||
clockResets @50 :UInt32;
|
||||
}
|
||||
|
||||
struct DrMeasurementReport @0x8053c39445c6c75c {
|
||||
|
||||
reason @0 :UInt8;
|
||||
seqNum @1 :UInt8;
|
||||
seqMax @2 :UInt8;
|
||||
rfLoss @3 :UInt16;
|
||||
|
||||
systemRtcValid @4 :Bool;
|
||||
fCount @5 :UInt32;
|
||||
clockResets @6 :UInt32;
|
||||
systemRtcTime @7 :UInt64;
|
||||
|
||||
gpsLeapSeconds @8 :UInt8;
|
||||
gpsLeapSecondsUncertainty @9 :UInt8;
|
||||
gpsToGlonassTimeBiasMilliseconds @10 :Float32;
|
||||
gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32;
|
||||
|
||||
gpsWeek @12 :UInt16;
|
||||
gpsMilliseconds @13 :UInt32;
|
||||
gpsTimeBiasMs @14 :UInt32;
|
||||
gpsClockTimeUncertaintyMs @15 :UInt32;
|
||||
gpsClockSource @16 :UInt8;
|
||||
|
||||
glonassClockSource @17 :UInt8;
|
||||
glonassYear @18 :UInt8;
|
||||
glonassDay @19 :UInt16;
|
||||
glonassMilliseconds @20 :UInt32;
|
||||
glonassTimeBias @21 :Float32;
|
||||
glonassClockTimeUncertainty @22 :Float32;
|
||||
|
||||
clockFrequencyBias @23 :Float32;
|
||||
clockFrequencyUncertainty @24 :Float32;
|
||||
frequencySource @25 :UInt8;
|
||||
|
||||
source @26 :MeasurementSource;
|
||||
|
||||
sv @27 :List(SV);
|
||||
|
||||
struct SV @0xf08b81df8cbf459c {
|
||||
svId @0 :UInt8;
|
||||
glonassFrequencyIndex @1 :Int8;
|
||||
observationState @2 :SVObservationState;
|
||||
observations @3 :UInt8;
|
||||
goodObservations @4 :UInt8;
|
||||
filterStages @5 :UInt8;
|
||||
predetectInterval @6 :UInt8;
|
||||
cycleSlipCount @7 :UInt8;
|
||||
postdetections @8 :UInt16;
|
||||
|
||||
measurementStatus @9 :MeasurementStatus;
|
||||
|
||||
carrierNoise @10 :UInt16;
|
||||
rfLoss @11 :UInt16;
|
||||
latency @12 :Int16;
|
||||
|
||||
filteredMeasurementFraction @13 :Float32;
|
||||
filteredMeasurementIntegral @14 :UInt32;
|
||||
filteredTimeUncertainty @15 :Float32;
|
||||
filteredSpeed @16 :Float32;
|
||||
filteredSpeedUncertainty @17 :Float32;
|
||||
|
||||
unfilteredMeasurementFraction @18 :Float32;
|
||||
unfilteredMeasurementIntegral @19 :UInt32;
|
||||
unfilteredTimeUncertainty @20 :Float32;
|
||||
unfilteredSpeed @21 :Float32;
|
||||
unfilteredSpeedUncertainty @22 :Float32;
|
||||
|
||||
multipathEstimate @23 :UInt32;
|
||||
azimuth @24 :Float32;
|
||||
elevation @25 :Float32;
|
||||
dopplerAcceleration @26 :Float32;
|
||||
fineSpeed @27 :Float32;
|
||||
fineSpeedUncertainty @28 :Float32;
|
||||
|
||||
carrierPhase @29 :Float64;
|
||||
fCount @30 :UInt32;
|
||||
|
||||
parityErrorCount @31 :UInt16;
|
||||
goodParity @32 :Bool;
|
||||
}
|
||||
}
|
||||
|
||||
struct DrSvPolyReport @0xb1fb80811a673270 {
|
||||
svId @0 :UInt16;
|
||||
frequencyIndex @1 :Int8;
|
||||
|
||||
hasPosition @2 :Bool;
|
||||
hasIono @3 :Bool;
|
||||
hasTropo @4 :Bool;
|
||||
hasElevation @5 :Bool;
|
||||
polyFromXtra @6 :Bool;
|
||||
hasSbasIono @7 :Bool;
|
||||
|
||||
iode @8 :UInt16;
|
||||
t0 @9 :Float64;
|
||||
xyz0 @10 :List(Float64);
|
||||
xyzN @11 :List(Float64);
|
||||
other @12 :List(Float32);
|
||||
|
||||
positionUncertainty @13 :Float32;
|
||||
ionoDelay @14 :Float32;
|
||||
ionoDot @15 :Float32;
|
||||
sbasIonoDelay @16 :Float32;
|
||||
sbasIonoDot @17 :Float32;
|
||||
tropoDelay @18 :Float32;
|
||||
elevation @19 :Float32;
|
||||
elevationDot @20 :Float32;
|
||||
elevationUncertainty @21 :Float32;
|
||||
velocityCoeff @22 :List(Float64);
|
||||
}
|
||||
}
|
||||
|
||||
struct LidarPts @0xe3d6685d4e9d8f7a {
|
||||
r @0 :List(UInt16); # uint16 m*500.0
|
||||
theta @1 :List(UInt16); # uint16 deg*100.0
|
||||
reflect @2 :List(UInt8); # uint8 0-255
|
||||
|
||||
# For storing out of file.
|
||||
idx @3 :UInt64;
|
||||
|
||||
# For storing in file
|
||||
pkt @4 :Data;
|
||||
}
|
||||
|
||||
|
||||
1420
cereal/log.capnp
1420
cereal/log.capnp
File diff suppressed because it is too large
Load Diff
@@ -1,14 +1,21 @@
|
||||
# must be build with scons
|
||||
from .messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
|
||||
from .messaging_pyx import MultiplePublishersError, MessagingError # pylint: disable=no-name-in-module, import-error
|
||||
import os
|
||||
import capnp
|
||||
|
||||
from typing import Optional, List, Union
|
||||
from collections import deque
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import service_list
|
||||
|
||||
assert MultiplePublishersError
|
||||
assert MessagingError
|
||||
|
||||
AVG_FREQ_HISTORY = 100
|
||||
SIMULATION = "SIMULATION" in os.environ
|
||||
|
||||
# sec_since_boot is faster, but allow to run standalone too
|
||||
try:
|
||||
from common.realtime import sec_since_boot
|
||||
@@ -19,7 +26,7 @@ except ImportError:
|
||||
|
||||
context = Context()
|
||||
|
||||
def new_message(service=None, size=None):
|
||||
def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
dat = log.Event.new_message()
|
||||
dat.logMonoTime = int(sec_since_boot() * 1e9)
|
||||
dat.valid = True
|
||||
@@ -30,15 +37,15 @@ def new_message(service=None, size=None):
|
||||
dat.init(service, size)
|
||||
return dat
|
||||
|
||||
def pub_sock(endpoint):
|
||||
def pub_sock(endpoint: str) -> PubSocket:
|
||||
sock = PubSocket()
|
||||
sock.connect(context, endpoint)
|
||||
return sock
|
||||
|
||||
def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=None):
|
||||
def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
|
||||
conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
|
||||
sock = SubSocket()
|
||||
addr = addr.encode('utf8')
|
||||
sock.connect(context, endpoint, addr, conflate)
|
||||
sock.connect(context, endpoint, addr.encode('utf8'), conflate)
|
||||
|
||||
if timeout is not None:
|
||||
sock.setTimeout(timeout)
|
||||
@@ -48,9 +55,9 @@ def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=No
|
||||
return sock
|
||||
|
||||
|
||||
def drain_sock_raw(sock, wait_for_one=False):
|
||||
def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret = []
|
||||
ret: List[bytes] = []
|
||||
while 1:
|
||||
if wait_for_one and len(ret) == 0:
|
||||
dat = sock.receive()
|
||||
@@ -64,9 +71,9 @@ def drain_sock_raw(sock, wait_for_one=False):
|
||||
|
||||
return ret
|
||||
|
||||
def drain_sock(sock, wait_for_one=False):
|
||||
def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret = []
|
||||
ret: List[capnp.lib.capnp._DynamicStructReader] = []
|
||||
while 1:
|
||||
if wait_for_one and len(ret) == 0:
|
||||
dat = sock.receive()
|
||||
@@ -83,7 +90,7 @@ def drain_sock(sock, wait_for_one=False):
|
||||
|
||||
|
||||
# TODO: print when we drop packets?
|
||||
def recv_sock(sock, wait=False):
|
||||
def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Same as drain sock, but only returns latest message. Consider using conflate instead."""
|
||||
dat = None
|
||||
|
||||
@@ -103,77 +110,77 @@ def recv_sock(sock, wait=False):
|
||||
|
||||
return dat
|
||||
|
||||
def recv_one(sock):
|
||||
def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_or_none(sock):
|
||||
def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_retry(sock):
|
||||
def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
"""Keep receiving until we get a message"""
|
||||
while True:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
return log.Event.from_bytes(dat)
|
||||
|
||||
# TODO: This does not belong in messaging
|
||||
def get_one_can(logcan):
|
||||
while True:
|
||||
can = recv_one_retry(logcan)
|
||||
if len(can.can) > 0:
|
||||
return can
|
||||
|
||||
class SubMaster():
|
||||
def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
|
||||
self.poller = Poller()
|
||||
def __init__(self, services: List[str], poll: Optional[List[str]] = None,
|
||||
ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
|
||||
addr: str = "127.0.0.1"):
|
||||
self.frame = -1
|
||||
self.updated = {s: False for s in services}
|
||||
self.rcv_time = {s: 0. for s in services}
|
||||
self.rcv_frame = {s: 0 for s in services}
|
||||
self.alive = {s: False for s in services}
|
||||
self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
|
||||
self.sock = {}
|
||||
self.freq = {}
|
||||
self.data = {}
|
||||
self.logMonoTime = {}
|
||||
self.valid = {}
|
||||
self.logMonoTime = {}
|
||||
|
||||
if ignore_alive is not None:
|
||||
self.ignore_alive = ignore_alive
|
||||
else:
|
||||
self.ignore_alive = []
|
||||
self.poller = Poller()
|
||||
self.non_polled_services = [s for s in services if poll is not None and
|
||||
len(poll) and s not in poll]
|
||||
|
||||
self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
|
||||
self.ignore_alive = [] if ignore_alive is None else ignore_alive
|
||||
|
||||
for s in services:
|
||||
if addr is not None:
|
||||
self.sock[s] = sub_sock(s, poller=self.poller, addr=addr, conflate=True)
|
||||
p = self.poller if s not in self.non_polled_services else None
|
||||
self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
|
||||
self.freq[s] = service_list[s].frequency
|
||||
|
||||
try:
|
||||
data = new_message(s)
|
||||
except capnp.lib.capnp.KjException: # pylint: disable=c-extension-no-member
|
||||
# lists
|
||||
data = new_message(s, 0)
|
||||
data = new_message(s, 0) # lists
|
||||
|
||||
self.data[s] = getattr(data, s)
|
||||
self.logMonoTime[s] = 0
|
||||
self.valid[s] = data.valid
|
||||
|
||||
def __getitem__(self, s):
|
||||
def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return self.data[s]
|
||||
|
||||
def update(self, timeout=1000):
|
||||
def update(self, timeout: int = 1000) -> None:
|
||||
msgs = []
|
||||
for sock in self.poller.poll(timeout):
|
||||
msgs.append(recv_one_or_none(sock))
|
||||
|
||||
# non-blocking receive for non-polled sockets
|
||||
for s in self.non_polled_services:
|
||||
msgs.append(recv_one_or_none(self.sock[s]))
|
||||
self.update_msgs(sec_since_boot(), msgs)
|
||||
|
||||
def update_msgs(self, cur_time, msgs):
|
||||
# TODO: add optional input that specify the service to wait for
|
||||
def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
|
||||
self.frame += 1
|
||||
self.updated = dict.fromkeys(self.updated, False)
|
||||
for msg in msgs:
|
||||
@@ -182,44 +189,59 @@ class SubMaster():
|
||||
|
||||
s = msg.which()
|
||||
self.updated[s] = True
|
||||
|
||||
if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
|
||||
and (s not in self.ignore_average_freq):
|
||||
self.recv_dts[s].append(cur_time - self.rcv_time[s])
|
||||
|
||||
self.rcv_time[s] = cur_time
|
||||
self.rcv_frame[s] = self.frame
|
||||
self.data[s] = getattr(msg, s)
|
||||
self.logMonoTime[s] = msg.logMonoTime
|
||||
self.valid[s] = msg.valid
|
||||
|
||||
for s in self.data:
|
||||
# arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
|
||||
if self.freq[s] > 1e-5:
|
||||
# alive if delay is within 10x the expected frequency
|
||||
self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
|
||||
else:
|
||||
if SIMULATION:
|
||||
self.alive[s] = True
|
||||
|
||||
def all_alive(self, service_list=None):
|
||||
if not SIMULATION:
|
||||
for s in self.data:
|
||||
# arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
|
||||
if self.freq[s] > 1e-5:
|
||||
# alive if delay is within 10x the expected frequency
|
||||
self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
|
||||
|
||||
# alive if average frequency is higher than 90% of expected frequency
|
||||
avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
|
||||
expected_dt = 1 / (self.freq[s] * 0.90)
|
||||
self.alive[s] = self.alive[s] and (avg_dt < expected_dt)
|
||||
else:
|
||||
self.alive[s] = True
|
||||
|
||||
def all_alive(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
|
||||
|
||||
def all_valid(self, service_list=None):
|
||||
def all_valid(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.valid.keys()
|
||||
return all(self.valid[s] for s in service_list)
|
||||
|
||||
def all_alive_and_valid(self, service_list=None):
|
||||
def all_alive_and_valid(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
|
||||
|
||||
|
||||
class PubMaster():
|
||||
def __init__(self, services):
|
||||
def __init__(self, services: List[str]):
|
||||
self.sock = {}
|
||||
for s in services:
|
||||
self.sock[s] = pub_sock(s)
|
||||
|
||||
def send(self, s, dat):
|
||||
# accept either bytes or capnp builder
|
||||
def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
|
||||
if not isinstance(dat, bytes):
|
||||
dat = dat.to_bytes()
|
||||
self.sock[s].send(dat)
|
||||
|
||||
def all_readers_updated(self, s: str) -> bool:
|
||||
return self.sock[s].all_readers_updated()
|
||||
|
||||
@@ -8,8 +8,8 @@ typedef void (*sighandler_t)(int sig);
|
||||
|
||||
#include "services.h"
|
||||
|
||||
#include "impl_msgq.hpp"
|
||||
#include "impl_zmq.hpp"
|
||||
#include "impl_msgq.h"
|
||||
#include "impl_zmq.h"
|
||||
|
||||
void sigpipe_handler(int sig) {
|
||||
assert(sig == SIGPIPE);
|
||||
|
||||
@@ -5,8 +5,9 @@
|
||||
#include <csignal>
|
||||
#include <cerrno>
|
||||
|
||||
#include "services.h"
|
||||
#include "impl_msgq.h"
|
||||
|
||||
#include "impl_msgq.hpp"
|
||||
|
||||
volatile sig_atomic_t msgq_do_exit = 0;
|
||||
|
||||
@@ -15,6 +16,25 @@ void sig_handler(int signal) {
|
||||
msgq_do_exit = 1;
|
||||
}
|
||||
|
||||
static bool service_exists(std::string path){
|
||||
for (const auto& it : services) {
|
||||
if (it.name == path) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
static size_t get_size(std::string endpoint){
|
||||
size_t sz = DEFAULT_SEGMENT_SIZE;
|
||||
|
||||
if (endpoint == "roadCameraState" || endpoint == "driverCameraState" || endpoint == "wideRoadCameraState"){
|
||||
sz *= 10;
|
||||
}
|
||||
|
||||
return sz;
|
||||
}
|
||||
|
||||
|
||||
MSGQContext::MSGQContext() {
|
||||
}
|
||||
@@ -49,13 +69,16 @@ MSGQMessage::~MSGQMessage() {
|
||||
this->close();
|
||||
}
|
||||
|
||||
|
||||
int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
|
||||
int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
|
||||
assert(context);
|
||||
assert(address == "127.0.0.1");
|
||||
|
||||
if (check_endpoint && !service_exists(std::string(endpoint))){
|
||||
std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
|
||||
}
|
||||
|
||||
q = new msgq_queue_t;
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
|
||||
if (r != 0){
|
||||
return r;
|
||||
}
|
||||
@@ -139,11 +162,15 @@ MSGQSubSocket::~MSGQSubSocket(){
|
||||
}
|
||||
}
|
||||
|
||||
int MSGQPubSocket::connect(Context *context, std::string endpoint){
|
||||
int MSGQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
|
||||
assert(context);
|
||||
|
||||
if (check_endpoint && !service_exists(std::string(endpoint))){
|
||||
std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
|
||||
}
|
||||
|
||||
q = new msgq_queue_t;
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
|
||||
if (r != 0){
|
||||
return r;
|
||||
}
|
||||
@@ -169,6 +196,10 @@ int MSGQPubSocket::send(char *data, size_t size){
|
||||
return msgq_msg_send(&msg, q);
|
||||
}
|
||||
|
||||
bool MSGQPubSocket::all_readers_updated() {
|
||||
return msgq_all_readers_updated(q);
|
||||
}
|
||||
|
||||
MSGQPubSocket::~MSGQPubSocket(){
|
||||
if (q != NULL){
|
||||
msgq_close_queue(q);
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
#pragma once
|
||||
#include "messaging.hpp"
|
||||
#include "msgq.hpp"
|
||||
#include "messaging.h"
|
||||
#include "msgq.h"
|
||||
#include <zmq.h>
|
||||
#include <string>
|
||||
|
||||
@@ -34,7 +34,7 @@ private:
|
||||
msgq_queue_t * q = NULL;
|
||||
int timeout;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
|
||||
void setTimeout(int timeout);
|
||||
void * getRawSocket() {return (void*)q;}
|
||||
Message *receive(bool non_blocking=false);
|
||||
@@ -45,9 +45,10 @@ class MSGQPubSocket : public PubSocket {
|
||||
private:
|
||||
msgq_queue_t * q = NULL;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint);
|
||||
int connect(Context *context, std::string endpoint, bool check_endpoint=true);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
bool all_readers_updated();
|
||||
~MSGQPubSocket();
|
||||
};
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
#include <zmq.h>
|
||||
|
||||
#include "services.h"
|
||||
#include "impl_zmq.hpp"
|
||||
#include "impl_zmq.h"
|
||||
|
||||
static int get_port(std::string endpoint) {
|
||||
int port = -1;
|
||||
@@ -54,7 +54,7 @@ ZMQMessage::~ZMQMessage() {
|
||||
}
|
||||
|
||||
|
||||
int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
|
||||
int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
|
||||
if (sock == NULL){
|
||||
return -1;
|
||||
@@ -71,7 +71,11 @@ int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string ad
|
||||
zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
|
||||
|
||||
full_endpoint = "tcp://" + address + ":";
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
if (check_endpoint){
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
return zmq_connect(sock, full_endpoint.c_str());
|
||||
}
|
||||
@@ -103,14 +107,18 @@ ZMQSubSocket::~ZMQSubSocket(){
|
||||
zmq_close(sock);
|
||||
}
|
||||
|
||||
int ZMQPubSocket::connect(Context *context, std::string endpoint){
|
||||
int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
|
||||
if (sock == NULL){
|
||||
return -1;
|
||||
}
|
||||
|
||||
full_endpoint = "tcp://*:";
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
if (check_endpoint){
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
return zmq_bind(sock, full_endpoint.c_str());
|
||||
}
|
||||
@@ -123,6 +131,11 @@ int ZMQPubSocket::send(char *data, size_t size){
|
||||
return zmq_send(sock, data, size, ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
bool ZMQPubSocket::all_readers_updated() {
|
||||
assert(false); // TODO not implemented
|
||||
return false;
|
||||
}
|
||||
|
||||
ZMQPubSocket::~ZMQPubSocket(){
|
||||
zmq_close(sock);
|
||||
}
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
#pragma once
|
||||
#include "messaging.hpp"
|
||||
#include "messaging.h"
|
||||
#include <zmq.h>
|
||||
#include <string>
|
||||
|
||||
@@ -32,7 +32,7 @@ private:
|
||||
void * sock;
|
||||
std::string full_endpoint;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
|
||||
void setTimeout(int timeout);
|
||||
void * getRawSocket() {return sock;}
|
||||
Message *receive(bool non_blocking=false);
|
||||
@@ -44,9 +44,10 @@ private:
|
||||
void * sock;
|
||||
std::string full_endpoint;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint);
|
||||
int connect(Context *context, std::string endpoint, bool check_endpoint=true);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
bool all_readers_updated();
|
||||
~ZMQPubSocket();
|
||||
};
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
#include "messaging.hpp"
|
||||
#include "impl_zmq.hpp"
|
||||
#include "impl_msgq.hpp"
|
||||
#include "messaging.h"
|
||||
#include "impl_zmq.h"
|
||||
#include "impl_msgq.h"
|
||||
|
||||
#ifdef __APPLE__
|
||||
const bool MUST_USE_ZMQ = true;
|
||||
@@ -8,9 +8,13 @@ const bool MUST_USE_ZMQ = true;
|
||||
const bool MUST_USE_ZMQ = false;
|
||||
#endif
|
||||
|
||||
bool messaging_use_zmq(){
|
||||
return std::getenv("ZMQ") || MUST_USE_ZMQ;
|
||||
}
|
||||
|
||||
Context * Context::create(){
|
||||
Context * c;
|
||||
if (std::getenv("ZMQ") || MUST_USE_ZMQ){
|
||||
if (messaging_use_zmq()){
|
||||
c = new ZMQContext();
|
||||
} else {
|
||||
c = new MSGQContext();
|
||||
@@ -20,7 +24,7 @@ Context * Context::create(){
|
||||
|
||||
SubSocket * SubSocket::create(){
|
||||
SubSocket * s;
|
||||
if (std::getenv("ZMQ") || MUST_USE_ZMQ){
|
||||
if (messaging_use_zmq()){
|
||||
s = new ZMQSubSocket();
|
||||
} else {
|
||||
s = new MSGQSubSocket();
|
||||
@@ -28,33 +32,9 @@ SubSocket * SubSocket::create(){
|
||||
return s;
|
||||
}
|
||||
|
||||
SubSocket * SubSocket::create(Context * context, std::string endpoint){
|
||||
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
|
||||
SubSocket *s = SubSocket::create();
|
||||
int r = s->connect(context, endpoint, "127.0.0.1");
|
||||
|
||||
if (r == 0) {
|
||||
return s;
|
||||
} else {
|
||||
delete s;
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address){
|
||||
SubSocket *s = SubSocket::create();
|
||||
int r = s->connect(context, endpoint, address);
|
||||
|
||||
if (r == 0) {
|
||||
return s;
|
||||
} else {
|
||||
delete s;
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate){
|
||||
SubSocket *s = SubSocket::create();
|
||||
int r = s->connect(context, endpoint, address, conflate);
|
||||
int r = s->connect(context, endpoint, address, conflate, check_endpoint);
|
||||
|
||||
if (r == 0) {
|
||||
return s;
|
||||
@@ -66,7 +46,7 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri
|
||||
|
||||
PubSocket * PubSocket::create(){
|
||||
PubSocket * s;
|
||||
if (std::getenv("ZMQ") || MUST_USE_ZMQ){
|
||||
if (messaging_use_zmq()){
|
||||
s = new ZMQPubSocket();
|
||||
} else {
|
||||
s = new MSGQPubSocket();
|
||||
@@ -74,9 +54,9 @@ PubSocket * PubSocket::create(){
|
||||
return s;
|
||||
}
|
||||
|
||||
PubSocket * PubSocket::create(Context * context, std::string endpoint){
|
||||
PubSocket * PubSocket::create(Context * context, std::string endpoint, bool check_endpoint){
|
||||
PubSocket *s = PubSocket::create();
|
||||
int r = s->connect(context, endpoint);
|
||||
int r = s->connect(context, endpoint, check_endpoint);
|
||||
|
||||
if (r == 0) {
|
||||
return s;
|
||||
@@ -88,7 +68,7 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint){
|
||||
|
||||
Poller * Poller::create(){
|
||||
Poller * p;
|
||||
if (std::getenv("ZMQ") || MUST_USE_ZMQ){
|
||||
if (messaging_use_zmq()){
|
||||
p = new ZMQPoller();
|
||||
} else {
|
||||
p = new MSGQPoller();
|
||||
|
||||
@@ -6,8 +6,14 @@
|
||||
#include <capnp/serialize.h>
|
||||
#include "../gen/cpp/log.capnp.h"
|
||||
|
||||
#ifdef __APPLE__
|
||||
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
|
||||
#endif
|
||||
|
||||
#define MSG_MULTIPLE_PUBLISHERS 100
|
||||
|
||||
bool messaging_use_zmq();
|
||||
|
||||
class Context {
|
||||
public:
|
||||
virtual void * getRawContext() = 0;
|
||||
@@ -28,24 +34,24 @@ public:
|
||||
|
||||
class SubSocket {
|
||||
public:
|
||||
virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false) = 0;
|
||||
virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
|
||||
virtual void setTimeout(int timeout) = 0;
|
||||
virtual Message *receive(bool non_blocking=false) = 0;
|
||||
virtual void * getRawSocket() = 0;
|
||||
static SubSocket * create();
|
||||
static SubSocket * create(Context * context, std::string endpoint);
|
||||
static SubSocket * create(Context * context, std::string endpoint, std::string address);
|
||||
static SubSocket * create(Context * context, std::string endpoint, std::string address, bool conflate);
|
||||
static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
|
||||
virtual ~SubSocket(){};
|
||||
};
|
||||
|
||||
class PubSocket {
|
||||
public:
|
||||
virtual int connect(Context *context, std::string endpoint) = 0;
|
||||
virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
|
||||
virtual int sendMessage(Message *message) = 0;
|
||||
virtual int send(char *data, size_t size) = 0;
|
||||
virtual bool all_readers_updated() = 0;
|
||||
static PubSocket * create();
|
||||
static PubSocket * create(Context * context, std::string endpoint);
|
||||
static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
|
||||
static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
|
||||
virtual ~PubSocket(){};
|
||||
};
|
||||
|
||||
@@ -59,34 +65,81 @@ public:
|
||||
};
|
||||
|
||||
class SubMaster {
|
||||
public:
|
||||
public:
|
||||
SubMaster(const std::initializer_list<const char *> &service_list,
|
||||
const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
|
||||
int update(int timeout = 1000);
|
||||
void update(int timeout = 1000);
|
||||
void update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages);
|
||||
inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); }
|
||||
inline bool allValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, false); }
|
||||
inline bool allAliveAndValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, true); }
|
||||
bool updated(const char *name) const;
|
||||
void drain();
|
||||
cereal::Event::Reader &operator[](const char *name);
|
||||
~SubMaster();
|
||||
|
||||
private:
|
||||
uint64_t frame = 0;
|
||||
bool updated(const char *name) const;
|
||||
bool alive(const char *name) const;
|
||||
bool valid(const char *name) const;
|
||||
uint64_t rcv_frame(const char *name) const;
|
||||
uint64_t rcv_time(const char *name) const;
|
||||
cereal::Event::Reader &operator[](const char *name);
|
||||
|
||||
private:
|
||||
bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
|
||||
Poller *poller_ = nullptr;
|
||||
uint64_t frame_ = 0;
|
||||
struct SubMessage;
|
||||
std::map<SubSocket *, SubMessage *> messages_;
|
||||
std::map<std::string, SubMessage *> services_;
|
||||
};
|
||||
|
||||
class MessageBuilder : public capnp::MallocMessageBuilder {
|
||||
public:
|
||||
MessageBuilder() = default;
|
||||
|
||||
cereal::Event::Builder initEvent(bool valid = true) {
|
||||
cereal::Event::Builder event = initRoot<cereal::Event>();
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
event.setLogMonoTime(current_time);
|
||||
event.setValid(valid);
|
||||
return event;
|
||||
}
|
||||
|
||||
kj::ArrayPtr<capnp::byte> toBytes() {
|
||||
heapArray_ = capnp::messageToFlatArray(*this);
|
||||
return heapArray_.asBytes();
|
||||
}
|
||||
|
||||
private:
|
||||
kj::Array<capnp::word> heapArray_;
|
||||
};
|
||||
|
||||
class PubMaster {
|
||||
public:
|
||||
public:
|
||||
PubMaster(const std::initializer_list<const char *> &service_list);
|
||||
inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
|
||||
int send(const char *name, capnp::MessageBuilder &msg);
|
||||
int send(const char *name, MessageBuilder &msg);
|
||||
~PubMaster();
|
||||
|
||||
private:
|
||||
private:
|
||||
std::map<std::string, PubSocket *> sockets_;
|
||||
};
|
||||
|
||||
class AlignedBuffer {
|
||||
public:
|
||||
kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
|
||||
words_size = size / sizeof(capnp::word) + 1;
|
||||
if (aligned_buf.size() < words_size) {
|
||||
aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
|
||||
}
|
||||
memcpy(aligned_buf.begin(), data, size);
|
||||
return aligned_buf.slice(0, words_size);
|
||||
}
|
||||
inline kj::ArrayPtr<const capnp::word> align(Message *m) {
|
||||
return align(m->getData(), m->getSize());
|
||||
}
|
||||
private:
|
||||
kj::Array<capnp::word> aligned_buf;
|
||||
size_t words_size;
|
||||
};
|
||||
@@ -6,7 +6,7 @@ from libcpp.vector cimport vector
|
||||
from libcpp cimport bool
|
||||
|
||||
|
||||
cdef extern from "messaging.hpp":
|
||||
cdef extern from "messaging.h":
|
||||
cdef cppclass Context:
|
||||
@staticmethod
|
||||
Context * create()
|
||||
@@ -31,6 +31,7 @@ cdef extern from "messaging.hpp":
|
||||
int connect(Context *, string)
|
||||
int sendMessage(Message *)
|
||||
int send(char *, size_t)
|
||||
bool all_readers_updated()
|
||||
|
||||
cdef cppclass Poller:
|
||||
@staticmethod
|
||||
|
||||
@@ -7,11 +7,11 @@ from libcpp cimport bool
|
||||
from libc cimport errno
|
||||
|
||||
|
||||
from messaging cimport Context as cppContext
|
||||
from messaging cimport SubSocket as cppSubSocket
|
||||
from messaging cimport PubSocket as cppPubSocket
|
||||
from messaging cimport Poller as cppPoller
|
||||
from messaging cimport Message as cppMessage
|
||||
from .messaging cimport Context as cppContext
|
||||
from .messaging cimport SubSocket as cppSubSocket
|
||||
from .messaging cimport PubSocket as cppPubSocket
|
||||
from .messaging cimport Poller as cppPoller
|
||||
from .messaging cimport Message as cppMessage
|
||||
|
||||
|
||||
class MessagingError(Exception):
|
||||
@@ -59,12 +59,12 @@ cdef class Poller:
|
||||
cdef int t = timeout
|
||||
|
||||
with nogil:
|
||||
result = self.poller.poll(t)
|
||||
result = self.poller.poll(t)
|
||||
|
||||
for s in result:
|
||||
socket = SubSocket()
|
||||
socket.setPtr(s)
|
||||
sockets.append(socket)
|
||||
socket = SubSocket()
|
||||
socket.setPtr(s)
|
||||
sockets.append(socket)
|
||||
|
||||
return sockets
|
||||
|
||||
@@ -140,12 +140,15 @@ cdef class PubSocket:
|
||||
else:
|
||||
raise MessagingError
|
||||
|
||||
def send(self, string data):
|
||||
def send(self, bytes data):
|
||||
length = len(data)
|
||||
r = self.socket.send(<char*>data.c_str(), length)
|
||||
r = self.socket.send(<char*>data, length)
|
||||
|
||||
if r != length:
|
||||
if errno.errno == errno.EADDRINUSE:
|
||||
raise MultiplePublishersError
|
||||
else:
|
||||
raise MessagingError
|
||||
|
||||
def all_readers_updated(self):
|
||||
return self.socket.all_readers_updated()
|
||||
|
||||
@@ -1,57 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
import sysconfig
|
||||
from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module
|
||||
|
||||
from Cython.Build import cythonize
|
||||
from Cython.Distutils import build_ext
|
||||
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
|
||||
|
||||
if ext_suffix == ext:
|
||||
return filename
|
||||
|
||||
ext_suffix = ext_suffix.replace(ext, '')
|
||||
idx = name.find(ext_suffix)
|
||||
|
||||
if idx == -1:
|
||||
return filename
|
||||
else:
|
||||
return name[:idx] + ext
|
||||
|
||||
|
||||
class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
def get_ext_filename(self, ext_name):
|
||||
filename = super().get_ext_filename(ext_name)
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
|
||||
|
||||
sourcefiles = ['messaging_pyx.pyx']
|
||||
extra_compile_args = ["-std=c++14"]
|
||||
libraries = ['zmq']
|
||||
ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() # pylint: disable=unexpected-keyword-arg
|
||||
|
||||
if ARCH == "aarch64" and os.path.isdir("/system"):
|
||||
# android
|
||||
extra_compile_args += ["-Wno-deprecated-register"]
|
||||
libraries += ['gnustl_shared']
|
||||
|
||||
setup(name='CAN parser',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"messaging_pyx",
|
||||
language="c++",
|
||||
sources=sourcefiles,
|
||||
extra_compile_args=extra_compile_args,
|
||||
libraries=libraries,
|
||||
extra_objects=[
|
||||
os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
|
||||
]
|
||||
)
|
||||
),
|
||||
nthreads=4,
|
||||
)
|
||||
@@ -21,7 +21,7 @@
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
#include "msgq.hpp"
|
||||
#include "msgq.h"
|
||||
|
||||
void sigusr2_handler(int signal) {
|
||||
assert(signal == SIGUSR2);
|
||||
@@ -82,10 +82,8 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
|
||||
}
|
||||
|
||||
|
||||
|
||||
int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
|
||||
assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
|
||||
|
||||
std::signal(SIGUSR2, sigusr2_handler);
|
||||
|
||||
const char * prefix = "/dev/shm/";
|
||||
@@ -102,15 +100,16 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
|
||||
delete[] full_path;
|
||||
|
||||
int rc = ftruncate(fd, size + sizeof(msgq_header_t));
|
||||
if (rc < 0)
|
||||
if (rc < 0){
|
||||
close(fd);
|
||||
return -1;
|
||||
|
||||
}
|
||||
char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
|
||||
close(fd);
|
||||
|
||||
if (mem == NULL)
|
||||
if (mem == NULL){
|
||||
return -1;
|
||||
|
||||
}
|
||||
q->mmap_p = mem;
|
||||
|
||||
msgq_header_t *header = (msgq_header_t *)mem;
|
||||
@@ -418,8 +417,6 @@ int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){
|
||||
|
||||
|
||||
int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
|
||||
assert(timeout >= 0);
|
||||
|
||||
int num = 0;
|
||||
|
||||
// Check if messages ready
|
||||
@@ -455,3 +452,13 @@ int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
|
||||
|
||||
return num;
|
||||
}
|
||||
|
||||
bool msgq_all_readers_updated(msgq_queue_t *q) {
|
||||
uint64_t num_readers = *q->num_readers;
|
||||
for (uint64_t i = 0; i < num_readers; i++) {
|
||||
if (*q->read_valids[i] && *q->write_pointer != *q->read_pointers[i]) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
return num_readers > 0;
|
||||
}
|
||||
|
||||
@@ -64,3 +64,5 @@ int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
|
||||
int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
|
||||
int msgq_msg_ready(msgq_queue_t * q);
|
||||
int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
|
||||
|
||||
bool msgq_all_readers_updated(msgq_queue_t *q);
|
||||
@@ -1,21 +1,26 @@
|
||||
#include <assert.h>
|
||||
#include <time.h>
|
||||
#include "messaging.hpp"
|
||||
#include <assert.h>
|
||||
#include <stdlib.h>
|
||||
#include <string>
|
||||
|
||||
#include "services.h"
|
||||
#ifdef __APPLE__
|
||||
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
|
||||
#endif
|
||||
#include "messaging.h"
|
||||
|
||||
const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
|
||||
|
||||
static inline uint64_t nanos_since_boot() {
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
return t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
}
|
||||
|
||||
static const service *get_service(const char *name) {
|
||||
for (const auto &it : services) {
|
||||
if (strcmp(it.name, name) == 0) return ⁢
|
||||
}
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
|
||||
for (auto &v : list) {
|
||||
if (strcmp(value, v) == 0) return true;
|
||||
@@ -24,7 +29,7 @@ static inline bool inList(const std::initializer_list<const char *> &list, const
|
||||
}
|
||||
|
||||
class MessageContext {
|
||||
public:
|
||||
public:
|
||||
MessageContext() { ctx_ = Context::create(); }
|
||||
~MessageContext() { delete ctx_; }
|
||||
Context *ctx_;
|
||||
@@ -35,11 +40,11 @@ struct SubMaster::SubMessage {
|
||||
std::string name;
|
||||
SubSocket *socket = nullptr;
|
||||
int freq = 0;
|
||||
bool updated = false, alive = false, valid = false, ignore_alive;
|
||||
bool updated = false, alive = false, valid = true, ignore_alive;
|
||||
uint64_t rcv_time = 0, rcv_frame = 0;
|
||||
void *allocated_msg_reader = nullptr;
|
||||
capnp::FlatArrayMessageReader *msg_reader = nullptr;
|
||||
kj::Array<capnp::word> buf;
|
||||
AlignedBuffer aligned_buf;
|
||||
cereal::Event::Reader event;
|
||||
};
|
||||
|
||||
@@ -53,53 +58,64 @@ SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, co
|
||||
assert(socket != 0);
|
||||
poller_->registerSocket(socket);
|
||||
SubMessage *m = new SubMessage{
|
||||
.socket = socket,
|
||||
.freq = serv->frequency,
|
||||
.ignore_alive = inList(ignore_alive, name),
|
||||
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
|
||||
.buf = kj::heapArray<capnp::word>(1024)};
|
||||
.name = name,
|
||||
.socket = socket,
|
||||
.freq = serv->frequency,
|
||||
.ignore_alive = inList(ignore_alive, name),
|
||||
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader))};
|
||||
messages_[socket] = m;
|
||||
services_[name] = m;
|
||||
}
|
||||
}
|
||||
|
||||
int SubMaster::update(int timeout) {
|
||||
if (++frame_ == UINT64_MAX) frame_ = 1;
|
||||
void SubMaster::update(int timeout) {
|
||||
for (auto &kv : messages_) kv.second->updated = false;
|
||||
|
||||
int updated = 0;
|
||||
auto sockets = poller_->poll(timeout);
|
||||
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);
|
||||
const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
|
||||
if (m->buf.size() < size) {
|
||||
m->buf = kj::heapArray<capnp::word>(size);
|
||||
}
|
||||
memcpy(m->buf.begin(), msg->getData(), msg->getSize());
|
||||
delete msg;
|
||||
|
||||
if (m->msg_reader) {
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
}
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(kj::ArrayPtr<capnp::word>(m->buf.begin(), size));
|
||||
m->event = m->msg_reader->getRoot<cereal::Event>();
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg));
|
||||
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, 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->rcv_frame = frame;
|
||||
m->valid = m->event.getValid();
|
||||
|
||||
++updated;
|
||||
if (SIMULATION) m->alive = true;
|
||||
}
|
||||
|
||||
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));
|
||||
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));
|
||||
}
|
||||
}
|
||||
return updated;
|
||||
}
|
||||
|
||||
bool SubMaster::all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive) {
|
||||
@@ -107,7 +123,7 @@ bool SubMaster::all_(const std::initializer_list<const char *> &service_list, bo
|
||||
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));
|
||||
found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
|
||||
}
|
||||
}
|
||||
return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
|
||||
@@ -126,8 +142,29 @@ void SubMaster::drain() {
|
||||
}
|
||||
}
|
||||
|
||||
bool SubMaster::updated(const char *name) const { return services_.at(name)->updated; }
|
||||
cereal::Event::Reader &SubMaster::operator[](const char *name) { return services_.at(name)->event; };
|
||||
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) {
|
||||
return services_.at(name)->event;
|
||||
};
|
||||
|
||||
SubMaster::~SubMaster() {
|
||||
delete poller_;
|
||||
@@ -151,9 +188,8 @@ PubMaster::PubMaster(const std::initializer_list<const char *> &service_list) {
|
||||
}
|
||||
}
|
||||
|
||||
int PubMaster::send(const char *name, capnp::MessageBuilder &msg) {
|
||||
auto words = capnp::messageToFlatArray(msg);
|
||||
auto bytes = words.asBytes();
|
||||
int PubMaster::send(const char *name, MessageBuilder &msg) {
|
||||
auto bytes = msg.toBytes();
|
||||
return send(name, bytes.begin(), bytes.size());
|
||||
}
|
||||
|
||||
|
||||
@@ -1,177 +0,0 @@
|
||||
# TODO: these port numbers are hardcoded in c, fix this
|
||||
|
||||
# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
|
||||
|
||||
# all ZMQ pub sub: port, should_log, frequency, (qlog_decimation)
|
||||
|
||||
# frame syncing packet
|
||||
frame: [8002, true, 20., 1]
|
||||
# accel, gyro, and compass
|
||||
sensorEvents: [8003, true, 100., 100]
|
||||
# GPS data, also global timestamp
|
||||
gpsNMEA: [8004, true, 9.] # 9 msgs each sec
|
||||
# CPU+MEM+GPU+BAT temps
|
||||
thermal: [8005, true, 2., 1]
|
||||
# List(CanData), list of can messages
|
||||
can: [8006, true, 100.]
|
||||
controlsState: [8007, true, 100., 100]
|
||||
#liveEvent: [8008, true, 0.]
|
||||
model: [8009, true, 20., 5]
|
||||
features: [8010, true, 0.]
|
||||
health: [8011, true, 2., 1]
|
||||
radarState: [8012, true, 20., 5]
|
||||
#liveUI: [8014, true, 0.]
|
||||
encodeIdx: [8015, true, 20.]
|
||||
liveTracks: [8016, true, 20.]
|
||||
sendcan: [8017, true, 100.]
|
||||
logMessage: [8018, true, 0.]
|
||||
liveCalibration: [8019, true, 4., 4]
|
||||
androidLog: [8020, true, 0.]
|
||||
carState: [8021, true, 100., 10]
|
||||
# 8022 is reserved for sshd
|
||||
carControl: [8023, true, 100., 10]
|
||||
plan: [8024, true, 20., 2]
|
||||
liveLocation: [8025, true, 0., 1]
|
||||
gpsLocation: [8026, true, 1., 1]
|
||||
ethernetData: [8027, true, 0.]
|
||||
navUpdate: [8028, true, 0.]
|
||||
qcomGnss: [8029, true, 0.]
|
||||
lidarPts: [8030, true, 0.]
|
||||
procLog: [8031, true, 0.5]
|
||||
gpsLocationExternal: [8032, true, 10., 1]
|
||||
ubloxGnss: [8033, true, 10.]
|
||||
clocks: [8034, true, 1., 1]
|
||||
liveMpc: [8035, false, 20.]
|
||||
liveLongitudinalMpc: [8036, false, 20.]
|
||||
navStatus: [8038, true, 0.]
|
||||
gpsLocationTrimble: [8039, true, 0.]
|
||||
trimbleGnss: [8041, true, 0.]
|
||||
ubloxRaw: [8042, true, 20.]
|
||||
gpsPlannerPoints: [8043, true, 0.]
|
||||
gpsPlannerPlan: [8044, true, 0.]
|
||||
applanixRaw: [8046, true, 0.]
|
||||
orbLocation: [8047, true, 0.]
|
||||
trafficEvents: [8048, true, 0.]
|
||||
liveLocationTiming: [8049, true, 0.]
|
||||
orbslamCorrection: [8050, true, 0.]
|
||||
liveLocationCorrected: [8051, true, 0.]
|
||||
orbObservation: [8052, true, 0.]
|
||||
applanixLocation: [8053, true, 0.]
|
||||
liveLocationKalman: [8054, true, 20., 2]
|
||||
uiNavigationEvent: [8055, true, 0.]
|
||||
orbOdometry: [8057, true, 0.]
|
||||
orbFeatures: [8058, false, 0.]
|
||||
orbKeyFrame: [8059, true, 0.]
|
||||
uiLayoutState: [8060, true, 0.]
|
||||
frontEncodeIdx: [8061, true, 5.]
|
||||
orbFeaturesSummary: [8062, true, 0.]
|
||||
driverState: [8063, true, 5., 1]
|
||||
liveParameters: [8064, true, 20., 2]
|
||||
liveMapData: [8065, true, 0.]
|
||||
cameraOdometry: [8066, true, 20., 5]
|
||||
pathPlan: [8067, true, 20., 2]
|
||||
kalmanOdometry: [8068, true, 0.]
|
||||
thumbnail: [8069, true, 0.2, 1]
|
||||
carEvents: [8070, true, 1., 1]
|
||||
carParams: [8071, true, 0.02, 1]
|
||||
frontFrame: [8072, true, 10.]
|
||||
dMonitoringState: [8073, true, 5., 1]
|
||||
offroadLayout: [8074, false, 0.]
|
||||
|
||||
testModel: [8040, false, 0.]
|
||||
testLiveLocation: [8045, false, 0.]
|
||||
testJoystick: [8056, false, 0.]
|
||||
|
||||
# 8080 is reserved for slave testing daemon
|
||||
# 8762 is reserved for logserver
|
||||
|
||||
# manager -- base process to manage starting and stopping of all others
|
||||
# subscribes: thermal
|
||||
|
||||
# **** processes that communicate with the outside world ****
|
||||
|
||||
# thermald -- decides when to start and stop onroad
|
||||
# subscribes: health, location
|
||||
# publishes: thermal
|
||||
|
||||
# boardd -- communicates with the car
|
||||
# subscribes: sendcan
|
||||
# publishes: can, health, ubloxRaw
|
||||
|
||||
# sensord -- publishes IMU and Magnetometer
|
||||
# publishes: sensorEvents
|
||||
|
||||
# gpsd -- publishes EON's gps
|
||||
# publishes: gpsNMEA
|
||||
|
||||
# camerad -- publishes camera frames
|
||||
# publishes: frame, frontFrame, thumbnail
|
||||
# subscribes: driverState
|
||||
|
||||
# dmonitoringmodeld -- runs face detection on camera frames
|
||||
# publishes: driverState
|
||||
|
||||
# **** stateful data transformers ****
|
||||
|
||||
# modeld -- runs & publishes the model
|
||||
# publishes: model, cameraOdometry
|
||||
# subscribes: liveCalibration, pathPlan
|
||||
|
||||
# plannerd -- decides where to drive the car
|
||||
# subscribes: carState, model, radarState, controlsState, liveParameters
|
||||
# publishes: plan, pathPlan, liveMpc, liveLongitudinalMpc
|
||||
|
||||
# controlsd -- drives the car by sending CAN messages to panda
|
||||
# subscribes: can, thermal, health, plan, pathPlan, dMonitoringState, liveCalibration, model
|
||||
# publishes: carState, carControl, sendcan, controlsState, carEvents, carParams
|
||||
|
||||
# dmonitoringd -- processes driver monitoring data and publishes driver awareness
|
||||
# subscribes: driverState, liveCalibration, carState, model, gpsLocation
|
||||
# publishes: dMonitoringState
|
||||
|
||||
# radard -- processes the radar and vision data
|
||||
# subscribes: can, controlsState, model, liveParameters
|
||||
# publishes: radarState, liveTracks
|
||||
|
||||
# params_learner -- learns vehicle params by observing the vehicle dynamics
|
||||
# subscribes: controlsState, sensorEvents, cameraOdometry
|
||||
# publishes: liveParameters
|
||||
|
||||
# calibrationd -- reads posenet and applies a temporal filter on the frame region to look at
|
||||
# subscribes: cameraOdometry
|
||||
# publishes: liveCalibration
|
||||
|
||||
# ubloxd -- read raw ublox data and converts them in readable format
|
||||
# subscribes: ubloxRaw
|
||||
# publishes: ubloxGnss
|
||||
|
||||
# **** LOGGING SERVICE ****
|
||||
|
||||
# loggerd
|
||||
# subscribes: EVERYTHING
|
||||
|
||||
# **** NON VITAL SERVICES ****
|
||||
|
||||
# ui
|
||||
# subscribes: thermal, model, controlsState, uiLayout, liveCalibration, radarState, liveMpc, plusFrame, liveMapData
|
||||
|
||||
# uploader
|
||||
# communicates through file system with loggerd
|
||||
|
||||
# deleter
|
||||
# communicates through file system with loggerd and uploader
|
||||
|
||||
# logmessaged -- central logging service, can log to cloud
|
||||
# publishes: logMessage
|
||||
|
||||
# logcatd -- fetches logcat info from android
|
||||
# publishes: androidLog
|
||||
|
||||
# proclogd -- fetches process information
|
||||
# publishes: procLog
|
||||
|
||||
# tombstoned -- reports native crashes
|
||||
|
||||
# athenad -- on request, open a sub socket and return the value
|
||||
|
||||
# updated -- waits for network access and tries to update every hour
|
||||
105
cereal/services.py
Executable file → Normal file
105
cereal/services.py
Executable file → Normal file
@@ -1,34 +1,99 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import yaml
|
||||
from typing import Optional
|
||||
|
||||
EON = os.path.isfile('/EON')
|
||||
RESERVED_PORT = 8022 # sshd
|
||||
STARTING_PORT = 8001
|
||||
|
||||
|
||||
class Service():
|
||||
def __init__(self, port, should_log, frequency, decimation=None):
|
||||
def new_port(port: int):
|
||||
port += STARTING_PORT
|
||||
return port + 1 if port >= RESERVED_PORT else port
|
||||
|
||||
|
||||
class Service:
|
||||
def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
|
||||
self.port = port
|
||||
self.should_log = should_log
|
||||
self.frequency = frequency
|
||||
self.decimation = decimation
|
||||
|
||||
|
||||
service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
|
||||
services = {
|
||||
"roadCameraState": (True, 20., 1), # should_log, frequency, decimation (optional)
|
||||
"sensorEvents": (True, 100., 100),
|
||||
"gpsNMEA": (True, 9.),
|
||||
"deviceState": (True, 2., 1),
|
||||
"can": (True, 100.),
|
||||
"controlsState": (True, 100., 100),
|
||||
"features": (True, 0.),
|
||||
"pandaState": (True, 2., 1),
|
||||
"radarState": (True, 20., 5),
|
||||
"roadEncodeIdx": (True, 20., 1),
|
||||
"liveTracks": (True, 20.),
|
||||
"sendcan": (True, 100.),
|
||||
"logMessage": (True, 0.),
|
||||
"liveCalibration": (True, 4., 4),
|
||||
"androidLog": (True, 0., 1),
|
||||
"carState": (True, 100., 10),
|
||||
"carControl": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 2),
|
||||
"liveLocation": (True, 0., 1),
|
||||
"procLog": (True, 0.5),
|
||||
"gpsLocationExternal": (True, 10., 1),
|
||||
"ubloxGnss": (True, 10.),
|
||||
"clocks": (True, 1., 1),
|
||||
"liveMpc": (False, 20.),
|
||||
"liveLongitudinalMpc": (False, 20.),
|
||||
"ubloxRaw": (True, 20.),
|
||||
"liveLocationKalman": (True, 20., 2),
|
||||
"uiLayoutState": (True, 0.),
|
||||
"liveParameters": (True, 20., 2),
|
||||
"cameraOdometry": (True, 20., 5),
|
||||
"lateralPlan": (True, 20., 2),
|
||||
"thumbnail": (True, 0.2, 1),
|
||||
"carEvents": (True, 1., 1),
|
||||
"carParams": (True, 0.02, 1),
|
||||
"driverCameraState": (True, 10. if EON else 20., 1),
|
||||
"driverEncodeIdx": (True, 10. if EON else 20., 1),
|
||||
"driverState": (True, 10. if EON else 20., 1),
|
||||
"driverMonitoringState": (True, 10. if EON else 20., 1),
|
||||
"offroadLayout": (False, 0.),
|
||||
"wideRoadEncodeIdx": (True, 20., 1),
|
||||
"wideRoadCameraState": (True, 20., 1),
|
||||
"modelV2": (True, 20., 20),
|
||||
"managerState": (True, 2., 1),
|
||||
|
||||
service_list = {}
|
||||
with open(service_list_path, "r") as f:
|
||||
for k, v in yaml.safe_load(f).items():
|
||||
decimation = None
|
||||
if len(v) == 4:
|
||||
decimation = v[3]
|
||||
"testModel": (False, 0.),
|
||||
"testLiveLocation": (False, 0.),
|
||||
"testJoystick": (False, 0.),
|
||||
|
||||
# dp
|
||||
"thermal": (True, 2., 1),
|
||||
"dragonConf": (False, 2.),
|
||||
|
||||
}
|
||||
service_list = {name: Service(new_port(idx), *vals) for # type: ignore
|
||||
idx, (name, vals) in enumerate(services.items())}
|
||||
|
||||
|
||||
def build_header():
|
||||
h = ""
|
||||
h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
|
||||
h += "#ifndef __SERVICES_H\n"
|
||||
h += "#define __SERVICES_H\n"
|
||||
h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
|
||||
h += "static struct 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 += ' { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },\n' % \
|
||||
(k, v.port, should_log, v.frequency, decimation)
|
||||
h += "};\n"
|
||||
h += "#endif\n"
|
||||
return h
|
||||
|
||||
service_list[k] = Service(v[0], v[1], v[2], decimation)
|
||||
|
||||
if __name__ == "__main__":
|
||||
print("/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT service_list.yaml */")
|
||||
print("#ifndef __SERVICES_H")
|
||||
print("#define __SERVICES_H")
|
||||
print("struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };")
|
||||
print("static struct service services[] = {")
|
||||
for k, v in service_list.items():
|
||||
print(' { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },' % (k, v.port, "true" if v.should_log else "false", v.frequency, -1 if v.decimation is None else v.decimation))
|
||||
print("};")
|
||||
print("#endif")
|
||||
print(build_header())
|
||||
|
||||
2
cereal/visionipc/.gitignore
vendored
Normal file
2
cereal/visionipc/.gitignore
vendored
Normal file
@@ -0,0 +1,2 @@
|
||||
visionipc_pyx.cpp
|
||||
*.so
|
||||
@@ -1,6 +1,5 @@
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdbool.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <assert.h>
|
||||
@@ -10,16 +9,19 @@
|
||||
#include <sys/socket.h>
|
||||
#include <sys/un.h>
|
||||
|
||||
#ifdef __APPLE__
|
||||
#define getsocket() socket(AF_UNIX, SOCK_STREAM, 0)
|
||||
#else
|
||||
#define getsocket() socket(AF_UNIX, SOCK_SEQPACKET, 0)
|
||||
#endif
|
||||
|
||||
#include "ipc.h"
|
||||
|
||||
int ipc_connect(const char* socket_path) {
|
||||
int err;
|
||||
|
||||
#ifdef __APPLE__
|
||||
int sock = socket(AF_UNIX, SOCK_STREAM, 0);
|
||||
#else
|
||||
int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
|
||||
#endif
|
||||
int sock = getsocket();
|
||||
|
||||
if (sock < 0) return -1;
|
||||
struct sockaddr_un addr = {
|
||||
.sun_family = AF_UNIX,
|
||||
@@ -39,11 +41,8 @@ int ipc_bind(const char* socket_path) {
|
||||
|
||||
unlink(socket_path);
|
||||
|
||||
#ifdef __APPLE__
|
||||
int sock = socket(AF_UNIX, SOCK_STREAM, 0);
|
||||
#else
|
||||
int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
|
||||
#endif
|
||||
int sock = getsocket();
|
||||
|
||||
struct sockaddr_un addr = {
|
||||
.sun_family = AF_UNIX,
|
||||
};
|
||||
@@ -87,7 +86,6 @@ int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fd
|
||||
cmsg->cmsg_type = SCM_RIGHTS;
|
||||
cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
|
||||
memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
|
||||
// printf("send clen %d -> %d\n", num_fds, cmsg->cmsg_len);
|
||||
}
|
||||
return sendmsg(fd, &msg, 0);
|
||||
} else {
|
||||
@@ -102,8 +100,6 @@ int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fd
|
||||
recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
|
||||
assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
|
||||
recv_fds /= sizeof(int);
|
||||
// printf("recv clen %d -> %d\n", cmsg->cmsg_len, recv_fds);
|
||||
// assert(cmsg->cmsg_len == CMSG_LEN(sizeof(int) * num_fds));
|
||||
|
||||
assert(fds && recv_fds <= num_fds);
|
||||
memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
|
||||
@@ -1,19 +1,7 @@
|
||||
#ifndef IPC_H
|
||||
#define IPC_H
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
#pragma once
|
||||
#include <cstddef>
|
||||
|
||||
int ipc_connect(const char* socket_path);
|
||||
int ipc_bind(const char* socket_path);
|
||||
int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
|
||||
int *out_num_fds);
|
||||
|
||||
#ifdef __cplusplus
|
||||
} // extern "C"
|
||||
#endif
|
||||
|
||||
#endif
|
||||
2
cereal/visionipc/test_runner.cc
Normal file
2
cereal/visionipc/test_runner.cc
Normal file
@@ -0,0 +1,2 @@
|
||||
#define CATCH_CONFIG_MAIN
|
||||
#include "catch2/catch.hpp"
|
||||
40
cereal/visionipc/visionbuf.cc
Normal file
40
cereal/visionipc/visionbuf.cc
Normal file
@@ -0,0 +1,40 @@
|
||||
#include "visionbuf.h"
|
||||
|
||||
#define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))
|
||||
|
||||
#ifdef QCOM
|
||||
// from libadreno_utils.so
|
||||
extern "C" void compute_aligned_width_and_height(int width,
|
||||
int height,
|
||||
int bpp,
|
||||
int tile_mode,
|
||||
int raster_mode,
|
||||
int padding_threshold,
|
||||
int *aligned_w,
|
||||
int *aligned_h);
|
||||
#endif
|
||||
|
||||
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
|
||||
#if defined(QCOM) && !defined(QCOM_REPLAY)
|
||||
compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
|
||||
#else
|
||||
*aligned_w = width; *aligned_h = height;
|
||||
#endif
|
||||
}
|
||||
|
||||
void VisionBuf::init_rgb(size_t width, size_t height, size_t stride) {
|
||||
this->rgb = true;
|
||||
this->width = width;
|
||||
this->height = height;
|
||||
this->stride = stride;
|
||||
}
|
||||
|
||||
void VisionBuf::init_yuv(size_t width, size_t height){
|
||||
this->rgb = false;
|
||||
this->width = width;
|
||||
this->height = height;
|
||||
|
||||
this->y = (uint8_t *)this->addr;
|
||||
this->u = this->y + (width * height);
|
||||
this->v = this->u + (width / 2 * height / 2);
|
||||
}
|
||||
63
cereal/visionipc/visionbuf.h
Normal file
63
cereal/visionipc/visionbuf.h
Normal file
@@ -0,0 +1,63 @@
|
||||
#pragma once
|
||||
#include "visionipc.h"
|
||||
|
||||
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
|
||||
#ifdef __APPLE__
|
||||
#include <OpenCL/cl.h>
|
||||
#else
|
||||
#include <CL/cl.h>
|
||||
#endif
|
||||
|
||||
#define VISIONBUF_SYNC_FROM_DEVICE 0
|
||||
#define VISIONBUF_SYNC_TO_DEVICE 1
|
||||
|
||||
enum VisionStreamType {
|
||||
VISION_STREAM_RGB_BACK,
|
||||
VISION_STREAM_RGB_FRONT,
|
||||
VISION_STREAM_RGB_WIDE,
|
||||
VISION_STREAM_YUV_BACK,
|
||||
VISION_STREAM_YUV_FRONT,
|
||||
VISION_STREAM_YUV_WIDE,
|
||||
VISION_STREAM_MAX,
|
||||
};
|
||||
|
||||
class VisionBuf {
|
||||
public:
|
||||
size_t len = 0;
|
||||
size_t mmap_len = 0;
|
||||
void * addr = nullptr;
|
||||
int fd = 0;
|
||||
|
||||
bool rgb = false;
|
||||
size_t width = 0;
|
||||
size_t height = 0;
|
||||
size_t stride = 0;
|
||||
|
||||
// YUV
|
||||
uint8_t * y = nullptr;
|
||||
uint8_t * u = nullptr;
|
||||
uint8_t * v = nullptr;
|
||||
|
||||
// Visionipc
|
||||
uint64_t server_id = 0;
|
||||
size_t idx = 0;
|
||||
VisionStreamType type;
|
||||
|
||||
// OpenCL
|
||||
cl_mem buf_cl = nullptr;
|
||||
cl_command_queue copy_q = nullptr;
|
||||
|
||||
// ion
|
||||
int handle = 0;
|
||||
bool owner = false;
|
||||
|
||||
void allocate(size_t len);
|
||||
void import();
|
||||
void init_cl(cl_device_id device_id, cl_context ctx);
|
||||
void init_rgb(size_t width, size_t height, size_t stride);
|
||||
void init_yuv(size_t width, size_t height);
|
||||
void sync(int dir);
|
||||
void free();
|
||||
};
|
||||
|
||||
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
|
||||
86
cereal/visionipc/visionbuf_cl.cc
Normal file
86
cereal/visionipc/visionbuf_cl.cc
Normal file
@@ -0,0 +1,86 @@
|
||||
#include "visionbuf.h"
|
||||
|
||||
#include <atomic>
|
||||
#include <stdio.h>
|
||||
#include <fcntl.h>
|
||||
#include <assert.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <sys/mman.h>
|
||||
#include <sys/types.h>
|
||||
|
||||
std::atomic<int> offset = 0;
|
||||
|
||||
static void *malloc_with_fd(size_t len, int *fd) {
|
||||
char full_path[0x100];
|
||||
|
||||
#ifdef __APPLE__
|
||||
snprintf(full_path, sizeof(full_path)-1, "/tmp/visionbuf_%d_%d", getpid(), offset++);
|
||||
#else
|
||||
snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
|
||||
#endif
|
||||
|
||||
*fd = open(full_path, O_RDWR | O_CREAT, 0777);
|
||||
assert(*fd >= 0);
|
||||
|
||||
unlink(full_path);
|
||||
|
||||
ftruncate(*fd, len);
|
||||
void *addr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
|
||||
assert(addr != MAP_FAILED);
|
||||
|
||||
return addr;
|
||||
}
|
||||
|
||||
void VisionBuf::allocate(size_t len) {
|
||||
int fd;
|
||||
void *addr = malloc_with_fd(len, &fd);
|
||||
|
||||
this->len = len;
|
||||
this->mmap_len = len;
|
||||
this->addr = addr;
|
||||
this->fd = fd;
|
||||
}
|
||||
|
||||
void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){
|
||||
int err;
|
||||
|
||||
this->copy_q = clCreateCommandQueue(ctx, device_id, 0, &err);
|
||||
assert(err == 0);
|
||||
|
||||
this->buf_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, this->len, this->addr, &err);
|
||||
assert(err == 0);
|
||||
}
|
||||
|
||||
|
||||
void VisionBuf::import(){
|
||||
assert(this->fd >= 0);
|
||||
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
|
||||
assert(this->addr != MAP_FAILED);
|
||||
}
|
||||
|
||||
|
||||
void VisionBuf::sync(int dir) {
|
||||
int err = 0;
|
||||
if (!this->buf_cl) return;
|
||||
|
||||
if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
|
||||
err = clEnqueueReadBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
|
||||
} else {
|
||||
err = clEnqueueWriteBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
|
||||
}
|
||||
assert(err == 0);
|
||||
clFinish(this->copy_q);
|
||||
}
|
||||
|
||||
void VisionBuf::free() {
|
||||
if (this->buf_cl){
|
||||
int err = clReleaseMemObject(this->buf_cl);
|
||||
assert(err == 0);
|
||||
|
||||
clReleaseCommandQueue(this->copy_q);
|
||||
}
|
||||
|
||||
munmap(this->addr, this->len);
|
||||
close(this->fd);
|
||||
}
|
||||
@@ -36,7 +36,7 @@ static void ion_init() {
|
||||
}
|
||||
}
|
||||
|
||||
VisionBuf visionbuf_allocate(size_t len) {
|
||||
void VisionBuf::allocate(size_t len) {
|
||||
int err;
|
||||
|
||||
ion_init();
|
||||
@@ -62,54 +62,58 @@ VisionBuf visionbuf_allocate(size_t len) {
|
||||
|
||||
memset(addr, 0, ion_alloc.len);
|
||||
|
||||
return (VisionBuf){
|
||||
.len = len,
|
||||
.mmap_len = ion_alloc.len,
|
||||
.addr = addr,
|
||||
.handle = ion_alloc.handle,
|
||||
.fd = ion_fd_data.fd,
|
||||
};
|
||||
this->owner = true;
|
||||
this->len = len;
|
||||
this->mmap_len = ion_alloc.len;
|
||||
this->addr = addr;
|
||||
this->handle = ion_alloc.handle;
|
||||
this->fd = ion_fd_data.fd;
|
||||
}
|
||||
|
||||
VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx, cl_mem *out_mem) {
|
||||
VisionBuf r = visionbuf_allocate(len);
|
||||
*out_mem = visionbuf_to_cl(&r, device_id, ctx);
|
||||
r.buf_cl = *out_mem;
|
||||
return r;
|
||||
void VisionBuf::import(){
|
||||
int err;
|
||||
assert(this->fd >= 0);
|
||||
|
||||
ion_init();
|
||||
|
||||
// Get handle
|
||||
struct ion_fd_data fd_data = {0};
|
||||
fd_data.fd = this->fd;
|
||||
err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
|
||||
assert(err == 0);
|
||||
|
||||
this->owner = false;
|
||||
this->handle = fd_data.handle;
|
||||
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
|
||||
assert(this->addr != MAP_FAILED);
|
||||
}
|
||||
|
||||
cl_mem visionbuf_to_cl(const VisionBuf* buf, cl_device_id device_id, cl_context ctx) {
|
||||
int err = 0;
|
||||
void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
|
||||
int err;
|
||||
|
||||
assert(((uintptr_t)buf->addr % DEVICE_PAGE_SIZE_CL) == 0);
|
||||
assert(((uintptr_t)this->addr % DEVICE_PAGE_SIZE_CL) == 0);
|
||||
|
||||
cl_mem_ion_host_ptr ion_cl = {0};
|
||||
ion_cl.ext_host_ptr.allocation_type = CL_MEM_ION_HOST_PTR_QCOM;
|
||||
ion_cl.ext_host_ptr.host_cache_policy = CL_MEM_HOST_UNCACHED_QCOM;
|
||||
ion_cl.ion_filedesc = buf->fd;
|
||||
ion_cl.ion_hostptr = buf->addr;
|
||||
ion_cl.ion_filedesc = this->fd;
|
||||
ion_cl.ion_hostptr = this->addr;
|
||||
|
||||
cl_mem mem = clCreateBuffer(ctx,
|
||||
this->buf_cl = clCreateBuffer(ctx,
|
||||
CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM,
|
||||
buf->len, &ion_cl, &err);
|
||||
this->len, &ion_cl, &err);
|
||||
assert(err == 0);
|
||||
|
||||
return mem;
|
||||
}
|
||||
|
||||
void visionbuf_sync(const VisionBuf* buf, int dir) {
|
||||
|
||||
void VisionBuf::sync(int dir) {
|
||||
int err;
|
||||
|
||||
struct ion_fd_data fd_data = {0};
|
||||
fd_data.fd = buf->fd;
|
||||
err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
|
||||
assert(err == 0);
|
||||
|
||||
struct ion_flush_data flush_data = {0};
|
||||
flush_data.handle = fd_data.handle;
|
||||
flush_data.vaddr = buf->addr;
|
||||
flush_data.handle = this->handle;
|
||||
flush_data.vaddr = this->addr;
|
||||
flush_data.offset = 0;
|
||||
flush_data.length = buf->len;
|
||||
flush_data.length = this->len;
|
||||
|
||||
// ION_IOC_INV_CACHES ~= DMA_FROM_DEVICE
|
||||
// ION_IOC_CLEAN_CACHES ~= DMA_TO_DEVICE
|
||||
@@ -117,34 +121,28 @@ void visionbuf_sync(const VisionBuf* buf, int dir) {
|
||||
|
||||
struct ion_custom_data custom_data = {0};
|
||||
|
||||
switch (dir) {
|
||||
case VISIONBUF_SYNC_FROM_DEVICE:
|
||||
custom_data.cmd = ION_IOC_INV_CACHES;
|
||||
break;
|
||||
case VISIONBUF_SYNC_TO_DEVICE:
|
||||
custom_data.cmd = ION_IOC_CLEAN_CACHES;
|
||||
break;
|
||||
default:
|
||||
assert(0);
|
||||
}
|
||||
assert(dir == VISIONBUF_SYNC_FROM_DEVICE || dir == VISIONBUF_SYNC_TO_DEVICE);
|
||||
custom_data.cmd = (dir == VISIONBUF_SYNC_FROM_DEVICE) ?
|
||||
ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;
|
||||
|
||||
custom_data.arg = (unsigned long)&flush_data;
|
||||
err = ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
|
||||
assert(err == 0);
|
||||
|
||||
struct ion_handle_data handle_data = {0};
|
||||
handle_data.handle = fd_data.handle;
|
||||
err = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
|
||||
assert(err == 0);
|
||||
}
|
||||
|
||||
void visionbuf_free(const VisionBuf* buf) {
|
||||
clReleaseMemObject(buf->buf_cl);
|
||||
munmap(buf->addr, buf->mmap_len);
|
||||
close(buf->fd);
|
||||
struct ion_handle_data handle_data = {
|
||||
.handle = buf->handle,
|
||||
};
|
||||
int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
|
||||
assert(ret == 0);
|
||||
void VisionBuf::free() {
|
||||
if (this->buf_cl){
|
||||
int err = clReleaseMemObject(this->buf_cl);
|
||||
assert(err == 0);
|
||||
}
|
||||
|
||||
munmap(this->addr, this->mmap_len);
|
||||
close(this->fd);
|
||||
|
||||
// Free the ION buffer if we also shared it
|
||||
if (this->owner){
|
||||
struct ion_handle_data handle_data = {.handle = this->handle};
|
||||
int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
|
||||
assert(ret == 0);
|
||||
}
|
||||
}
|
||||
18
cereal/visionipc/visionipc.h
Normal file
18
cereal/visionipc/visionipc.h
Normal file
@@ -0,0 +1,18 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
#include <cstddef>
|
||||
|
||||
constexpr int VISIONIPC_MAX_FDS = 64;
|
||||
|
||||
struct VisionIpcBufExtra {
|
||||
uint32_t frame_id;
|
||||
uint64_t timestamp_sof;
|
||||
uint64_t timestamp_eof;
|
||||
};
|
||||
|
||||
struct VisionIpcPacket {
|
||||
uint64_t server_id;
|
||||
size_t idx;
|
||||
struct VisionIpcBufExtra extra;
|
||||
};
|
||||
29
cereal/visionipc/visionipc.pxd
Normal file
29
cereal/visionipc/visionipc.pxd
Normal file
@@ -0,0 +1,29 @@
|
||||
# distutils: language = c++
|
||||
#cython: language_level=3
|
||||
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libc.stdint cimport uint32_t, uint64_t
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "visionbuf.h":
|
||||
cdef enum VisionStreamType:
|
||||
pass
|
||||
|
||||
cdef cppclass VisionBuf:
|
||||
void * addr
|
||||
size_t len
|
||||
|
||||
cdef extern from "visionipc.h":
|
||||
struct VisionIpcBufExtra:
|
||||
uint32_t frame_id
|
||||
uint64_t timestamp_sof
|
||||
uint64_t timestamp_eof
|
||||
|
||||
cdef extern from "visionipc_server.h":
|
||||
cdef cppclass VisionIpcServer:
|
||||
VisionIpcServer(string, void*, void*)
|
||||
void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
|
||||
VisionBuf * get_buffer(VisionStreamType)
|
||||
void send(VisionBuf *, VisionIpcBufExtra *, bool)
|
||||
void start_listener()
|
||||
119
cereal/visionipc/visionipc_client.cc
Normal file
119
cereal/visionipc/visionipc_client.cc
Normal file
@@ -0,0 +1,119 @@
|
||||
#include <chrono>
|
||||
#include <cassert>
|
||||
#include <iostream>
|
||||
#include <thread>
|
||||
|
||||
#include "ipc.h"
|
||||
#include "visionipc_client.h"
|
||||
#include "visionipc_server.h"
|
||||
|
||||
VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) {
|
||||
msg_ctx = Context::create();
|
||||
sock = SubSocket::create(msg_ctx, get_endpoint_name(name, type), "127.0.0.1", conflate, false);
|
||||
|
||||
poller = Poller::create();
|
||||
poller->registerSocket(sock);
|
||||
}
|
||||
|
||||
// Connect is not thread safe. Do not use the buffers while calling connect
|
||||
bool VisionIpcClient::connect(bool blocking){
|
||||
connected = false;
|
||||
|
||||
// Cleanup old buffers on reconnect
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
buffers[i].free();
|
||||
}
|
||||
num_buffers = 0;
|
||||
|
||||
// Connect to server socket and ask for all FDs of type
|
||||
std::string path = "/tmp/visionipc_" + name;
|
||||
|
||||
int socket_fd = -1;
|
||||
while (socket_fd < 0) {
|
||||
socket_fd = ipc_connect(path.c_str());
|
||||
|
||||
if (socket_fd < 0) {
|
||||
if (blocking){
|
||||
std::cout << "VisionIpcClient connecting" << std::endl;
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Send stream type to server to request FDs
|
||||
int r = ipc_sendrecv_with_fds(true, socket_fd, &type, sizeof(type), nullptr, 0, nullptr);
|
||||
assert(r == sizeof(type));
|
||||
|
||||
// Get FDs
|
||||
int fds[VISIONIPC_MAX_FDS];
|
||||
VisionBuf bufs[VISIONIPC_MAX_FDS];
|
||||
r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers);
|
||||
|
||||
assert(num_buffers > 0);
|
||||
assert(r == sizeof(VisionBuf) * num_buffers);
|
||||
|
||||
// Import buffers
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
buffers[i] = bufs[i];
|
||||
buffers[i].fd = fds[i];
|
||||
buffers[i].import();
|
||||
if (buffers[i].rgb) {
|
||||
buffers[i].init_rgb(buffers[i].width, buffers[i].height, buffers[i].stride);
|
||||
} else {
|
||||
buffers[i].init_yuv(buffers[i].width, buffers[i].height);
|
||||
}
|
||||
|
||||
if (device_id) buffers[i].init_cl(device_id, ctx);
|
||||
}
|
||||
|
||||
connected = true;
|
||||
return true;
|
||||
}
|
||||
|
||||
VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_ms){
|
||||
auto p = poller->poll(timeout_ms);
|
||||
|
||||
if (!p.size()){
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
Message * r = sock->receive(true);
|
||||
if (r == nullptr){
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
// Get buffer
|
||||
assert(r->getSize() == sizeof(VisionIpcPacket));
|
||||
VisionIpcPacket *packet = (VisionIpcPacket*)r->getData();
|
||||
|
||||
assert(packet->idx < num_buffers);
|
||||
VisionBuf * buf = &buffers[packet->idx];
|
||||
|
||||
if (buf->server_id != packet->server_id){
|
||||
connected = false;
|
||||
delete r;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (extra) {
|
||||
*extra = packet->extra;
|
||||
}
|
||||
|
||||
buf->sync(VISIONBUF_SYNC_TO_DEVICE);
|
||||
delete r;
|
||||
return buf;
|
||||
}
|
||||
|
||||
|
||||
|
||||
VisionIpcClient::~VisionIpcClient(){
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
buffers[i].free();
|
||||
}
|
||||
|
||||
delete sock;
|
||||
delete poller;
|
||||
delete msg_ctx;
|
||||
}
|
||||
32
cereal/visionipc/visionipc_client.h
Normal file
32
cereal/visionipc/visionipc_client.h
Normal file
@@ -0,0 +1,32 @@
|
||||
#pragma once
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "messaging.h"
|
||||
#include "visionipc.h"
|
||||
#include "visionbuf.h"
|
||||
|
||||
class VisionIpcClient {
|
||||
private:
|
||||
std::string name;
|
||||
Context * msg_ctx;
|
||||
SubSocket * sock;
|
||||
Poller * poller;
|
||||
|
||||
VisionStreamType type;
|
||||
|
||||
cl_device_id device_id = nullptr;
|
||||
cl_context ctx = nullptr;
|
||||
|
||||
void init_msgq(bool conflate);
|
||||
|
||||
public:
|
||||
bool connected = false;
|
||||
int num_buffers = 0;
|
||||
VisionBuf buffers[VISIONIPC_MAX_FDS];
|
||||
VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
|
||||
~VisionIpcClient();
|
||||
VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
|
||||
bool connect(bool blocking=true);
|
||||
};
|
||||
49
cereal/visionipc/visionipc_pyx.pyx
Normal file
49
cereal/visionipc/visionipc_pyx.pyx
Normal file
@@ -0,0 +1,49 @@
|
||||
# distutils: language = c++
|
||||
# cython: c_string_encoding=ascii, language_level=3
|
||||
|
||||
import sys
|
||||
from libcpp.string cimport string
|
||||
from libcpp cimport bool
|
||||
from libc.string cimport memcpy
|
||||
from libc.stdint cimport uint32_t, uint64_t
|
||||
|
||||
from .visionipc cimport VisionIpcServer as cppVisionIpcServer
|
||||
from .visionipc cimport VisionBuf as cppVisionBuf
|
||||
from .visionipc cimport VisionIpcBufExtra
|
||||
|
||||
cpdef enum VisionStreamType:
|
||||
VISION_STREAM_RGB_BACK
|
||||
VISION_STREAM_RGB_FRONT
|
||||
VISION_STREAM_RGB_WIDE
|
||||
VISION_STREAM_YUV_BACK
|
||||
VISION_STREAM_YUV_FRONT
|
||||
VISION_STREAM_YUV_WIDE
|
||||
|
||||
cdef class VisionIpcServer:
|
||||
cdef cppVisionIpcServer * server
|
||||
|
||||
def __init__(self, string name):
|
||||
self.server = new cppVisionIpcServer(name, NULL, NULL)
|
||||
|
||||
def create_buffers(self, VisionStreamType tp, size_t num_buffers, bool rgb, size_t width, size_t height):
|
||||
self.server.create_buffers(tp, num_buffers, rgb, width, height)
|
||||
|
||||
def send(self, VisionStreamType tp, bytes data, uint32_t frame_id=0, uint64_t timestamp_sof=0, uint64_t timestamp_eof=0):
|
||||
cdef cppVisionBuf * buf = self.server.get_buffer(tp)
|
||||
|
||||
# Populate buffer
|
||||
assert buf.len == len(data)
|
||||
memcpy(buf.addr, <char*>data, len(data))
|
||||
|
||||
cdef VisionIpcBufExtra extra
|
||||
extra.frame_id = frame_id
|
||||
extra.timestamp_sof = timestamp_sof
|
||||
extra.timestamp_eof = timestamp_eof
|
||||
|
||||
self.server.send(buf, &extra, False)
|
||||
|
||||
def start_listener(self):
|
||||
self.server.start_listener()
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.server
|
||||
179
cereal/visionipc/visionipc_server.cc
Normal file
179
cereal/visionipc/visionipc_server.cc
Normal file
@@ -0,0 +1,179 @@
|
||||
#include <iostream>
|
||||
#include <chrono>
|
||||
#include <cassert>
|
||||
#include <random>
|
||||
|
||||
#include <poll.h>
|
||||
#include <sys/socket.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "messaging.h"
|
||||
#include "ipc.h"
|
||||
#include "visionipc_server.h"
|
||||
|
||||
std::string get_endpoint_name(std::string name, VisionStreamType type){
|
||||
if (messaging_use_zmq()){
|
||||
assert(name == "camerad");
|
||||
return std::to_string(9000 + static_cast<int>(type));
|
||||
} else {
|
||||
return "visionipc_" + name + "_" + std::to_string(type);
|
||||
}
|
||||
}
|
||||
|
||||
VisionIpcServer::VisionIpcServer(std::string name, cl_device_id device_id, cl_context ctx) : name(name), device_id(device_id), ctx(ctx) {
|
||||
msg_ctx = Context::create();
|
||||
|
||||
std::random_device rd("/dev/urandom");
|
||||
std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint64_t>::max());
|
||||
server_id = distribution(rd);
|
||||
}
|
||||
|
||||
void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height){
|
||||
// TODO: assert that this type is not created yet
|
||||
assert(num_buffers < VISIONIPC_MAX_FDS);
|
||||
int aligned_w = 0, aligned_h = 0;
|
||||
|
||||
size_t size = 0;
|
||||
size_t stride = 0; // Only used for RGB
|
||||
|
||||
if (rgb) {
|
||||
visionbuf_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);
|
||||
size = (size_t)aligned_w * (size_t)aligned_h * 3;
|
||||
stride = aligned_w * 3;
|
||||
} else {
|
||||
size = width * height * 3 / 2;
|
||||
}
|
||||
|
||||
|
||||
// Create map + alloc requested buffers
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
VisionBuf* buf = new VisionBuf();
|
||||
buf->allocate(size);
|
||||
buf->idx = i;
|
||||
buf->type = type;
|
||||
|
||||
if (device_id) buf->init_cl(device_id, ctx);
|
||||
|
||||
rgb ? buf->init_rgb(width, height, stride) : buf->init_yuv(width, height);
|
||||
|
||||
buffers[type].push_back(buf);
|
||||
}
|
||||
|
||||
cur_idx[type] = 0;
|
||||
|
||||
// Create msgq publisher for each of the `name` + type combos
|
||||
// TODO: compute port number directly if using zmq
|
||||
sockets[type] = PubSocket::create(msg_ctx, get_endpoint_name(name, type), false);
|
||||
}
|
||||
|
||||
|
||||
void VisionIpcServer::start_listener(){
|
||||
listener_thread = std::thread(&VisionIpcServer::listener, this);
|
||||
}
|
||||
|
||||
|
||||
void VisionIpcServer::listener(){
|
||||
std::cout << "Starting listener for: " << name << std::endl;
|
||||
|
||||
std::string path = "/tmp/visionipc_" + name;
|
||||
int sock = ipc_bind(path.c_str());
|
||||
assert(sock >= 0);
|
||||
|
||||
while (!should_exit){
|
||||
// Wait for incoming connection
|
||||
struct pollfd polls[1] = {{0}};
|
||||
polls[0].fd = sock;
|
||||
polls[0].events = POLLIN;
|
||||
|
||||
int ret = poll(polls, 1, 100);
|
||||
if (ret < 0) {
|
||||
if (errno == EINTR || errno == EAGAIN) continue;
|
||||
std::cout << "poll failed, stopping listener" << std::endl;
|
||||
break;
|
||||
}
|
||||
|
||||
if (should_exit) break;
|
||||
if (!polls[0].revents) {
|
||||
continue;
|
||||
}
|
||||
|
||||
// Handle incoming request
|
||||
int fd = accept(sock, NULL, NULL);
|
||||
assert(fd >= 0);
|
||||
|
||||
VisionStreamType type = VisionStreamType::VISION_STREAM_MAX;
|
||||
int r = ipc_sendrecv_with_fds(false, fd, &type, sizeof(type), nullptr, 0, nullptr);
|
||||
assert(r == sizeof(type));
|
||||
if (buffers.count(type) <= 0) {
|
||||
std::cout << "got request for invalid buffer type: " << type << std::endl;
|
||||
close(fd);
|
||||
continue;
|
||||
}
|
||||
|
||||
int fds[VISIONIPC_MAX_FDS];
|
||||
int num_fds = buffers[type].size();
|
||||
VisionBuf bufs[VISIONIPC_MAX_FDS];
|
||||
|
||||
for (int i = 0; i < num_fds; i++){
|
||||
fds[i] = buffers[type][i]->fd;
|
||||
bufs[i] = *buffers[type][i];
|
||||
|
||||
// Remove some private openCL/ion metadata
|
||||
bufs[i].buf_cl = 0;
|
||||
bufs[i].copy_q = 0;
|
||||
bufs[i].handle = 0;
|
||||
bufs[i].owner = false;
|
||||
|
||||
bufs[i].server_id = server_id;
|
||||
}
|
||||
|
||||
r = ipc_sendrecv_with_fds(true, fd, &bufs, sizeof(VisionBuf) * num_fds, fds, num_fds, nullptr);
|
||||
|
||||
close(fd);
|
||||
}
|
||||
|
||||
std::cout << "Stopping listener for: " << name << std::endl;
|
||||
close(sock);
|
||||
}
|
||||
|
||||
|
||||
|
||||
VisionBuf * VisionIpcServer::get_buffer(VisionStreamType type){
|
||||
// Do we want to keep track if the buffer has been sent out yet and warn user?
|
||||
assert(buffers.count(type));
|
||||
auto b = buffers[type];
|
||||
return b[cur_idx[type]++ % b.size()];
|
||||
}
|
||||
|
||||
void VisionIpcServer::send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync){
|
||||
if (sync) buf->sync(VISIONBUF_SYNC_FROM_DEVICE);
|
||||
assert(buffers.count(buf->type));
|
||||
assert(buf->idx < buffers[buf->type].size());
|
||||
|
||||
// Send over correct msgq socket
|
||||
VisionIpcPacket packet = {0};
|
||||
packet.server_id = server_id;
|
||||
packet.idx = buf->idx;
|
||||
packet.extra = *extra;
|
||||
|
||||
sockets[buf->type]->send((char*)&packet, sizeof(packet));
|
||||
}
|
||||
|
||||
VisionIpcServer::~VisionIpcServer(){
|
||||
should_exit = true;
|
||||
listener_thread.join();
|
||||
|
||||
// VisionBuf cleanup
|
||||
for( auto const& [type, buf] : buffers ) {
|
||||
for (VisionBuf* b : buf){
|
||||
b->free();
|
||||
delete b;
|
||||
}
|
||||
}
|
||||
|
||||
// Messaging cleanup
|
||||
for( auto const& [type, sock] : sockets ) {
|
||||
delete sock;
|
||||
}
|
||||
delete msg_ctx;
|
||||
}
|
||||
42
cereal/visionipc/visionipc_server.h
Normal file
42
cereal/visionipc/visionipc_server.h
Normal file
@@ -0,0 +1,42 @@
|
||||
#pragma once
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <thread>
|
||||
#include <atomic>
|
||||
#include <map>
|
||||
|
||||
#include "messaging.h"
|
||||
#include "visionipc.h"
|
||||
#include "visionbuf.h"
|
||||
|
||||
std::string get_endpoint_name(std::string name, VisionStreamType type);
|
||||
|
||||
class VisionIpcServer {
|
||||
private:
|
||||
cl_device_id device_id = nullptr;
|
||||
cl_context ctx = nullptr;
|
||||
uint64_t server_id;
|
||||
|
||||
std::atomic<bool> should_exit = false;
|
||||
std::string name;
|
||||
std::thread listener_thread;
|
||||
|
||||
std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
|
||||
std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
|
||||
std::map<VisionStreamType, std::map<VisionBuf*, size_t> > idxs;
|
||||
|
||||
Context * msg_ctx;
|
||||
std::map<VisionStreamType, PubSocket*> sockets;
|
||||
|
||||
void listener(void);
|
||||
|
||||
public:
|
||||
VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
|
||||
~VisionIpcServer();
|
||||
|
||||
VisionBuf * get_buffer(VisionStreamType type);
|
||||
|
||||
void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
|
||||
void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
|
||||
void start_listener();
|
||||
};
|
||||
135
cereal/visionipc/visionipc_tests.cc
Normal file
135
cereal/visionipc/visionipc_tests.cc
Normal file
@@ -0,0 +1,135 @@
|
||||
#include <thread>
|
||||
#include <chrono>
|
||||
|
||||
#include "catch2/catch.hpp"
|
||||
#include "visionipc_server.h"
|
||||
#include "visionipc_client.h"
|
||||
|
||||
static void zmq_sleep(int milliseconds=1000){
|
||||
if (messaging_use_zmq()){
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
|
||||
}
|
||||
}
|
||||
|
||||
TEST_CASE("Connecting"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
REQUIRE(client.connect());
|
||||
|
||||
REQUIRE(client.connected);
|
||||
}
|
||||
|
||||
TEST_CASE("Check buffers"){
|
||||
size_t width = 100, height = 200, num_buffers = 5;
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, num_buffers, false, width, height);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
REQUIRE(client.connect());
|
||||
|
||||
REQUIRE(client.buffers[0].width == width);
|
||||
REQUIRE(client.buffers[0].height == height);
|
||||
REQUIRE(client.buffers[0].len);
|
||||
REQUIRE(client.num_buffers == num_buffers);
|
||||
}
|
||||
|
||||
TEST_CASE("Check yuv/rgb"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
|
||||
server.create_buffers(VISION_STREAM_RGB_BACK, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
|
||||
client_yuv.connect();
|
||||
client_rgb.connect();
|
||||
|
||||
REQUIRE(client_rgb.buffers[0].rgb == true);
|
||||
REQUIRE(client_yuv.buffers[0].rgb == false);
|
||||
}
|
||||
|
||||
TEST_CASE("Send single buffer"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
*((uint64_t*)buf->addr) = 1234;
|
||||
|
||||
VisionIpcBufExtra extra = {0};
|
||||
extra.frame_id = 1337;
|
||||
|
||||
server.send(buf, &extra);
|
||||
|
||||
VisionIpcBufExtra extra_recv = {0};
|
||||
VisionBuf * recv_buf = client.recv(&extra_recv);
|
||||
REQUIRE(recv_buf != nullptr);
|
||||
REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
|
||||
REQUIRE(extra_recv.frame_id == extra.frame_id);
|
||||
}
|
||||
|
||||
|
||||
TEST_CASE("Test no conflate"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
VisionIpcBufExtra extra = {0};
|
||||
extra.frame_id = 1;
|
||||
server.send(buf, &extra);
|
||||
extra.frame_id = 2;
|
||||
server.send(buf, &extra);
|
||||
|
||||
VisionIpcBufExtra extra_recv = {0};
|
||||
VisionBuf * recv_buf = client.recv(&extra_recv);
|
||||
REQUIRE(recv_buf != nullptr);
|
||||
REQUIRE(extra_recv.frame_id == 1);
|
||||
|
||||
recv_buf = client.recv(&extra_recv);
|
||||
REQUIRE(recv_buf != nullptr);
|
||||
REQUIRE(extra_recv.frame_id == 2);
|
||||
}
|
||||
|
||||
TEST_CASE("Test conflate"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, true);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
VisionIpcBufExtra extra = {0};
|
||||
extra.frame_id = 1;
|
||||
server.send(buf, &extra);
|
||||
extra.frame_id = 2;
|
||||
server.send(buf, &extra);
|
||||
|
||||
VisionIpcBufExtra extra_recv = {0};
|
||||
VisionBuf * recv_buf = client.recv(&extra_recv);
|
||||
REQUIRE(recv_buf != nullptr);
|
||||
REQUIRE(extra_recv.frame_id == 2);
|
||||
|
||||
recv_buf = client.recv(&extra_recv);
|
||||
REQUIRE(recv_buf == nullptr);
|
||||
}
|
||||
@@ -1,6 +1,4 @@
|
||||
Import('env')
|
||||
Import('envCython', 'common')
|
||||
|
||||
# parser
|
||||
env.Command(['common_pyx.so'],
|
||||
['common_pyx_setup.py', 'clock.pyx'],
|
||||
"cd common && python3 common_pyx_setup.py build_ext --inplace")
|
||||
envCython.Program('clock.so', 'clock.pyx')
|
||||
envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])
|
||||
|
||||
@@ -1,286 +0,0 @@
|
||||
import os
|
||||
import binascii
|
||||
import itertools
|
||||
import re
|
||||
import struct
|
||||
import subprocess
|
||||
import random
|
||||
from cereal import log
|
||||
|
||||
NetworkType = log.ThermalData.NetworkType
|
||||
NetworkStrength = log.ThermalData.NetworkStrength
|
||||
|
||||
ANDROID = os.path.isfile('/EON')
|
||||
|
||||
def get_sound_card_online():
|
||||
return (os.path.isfile('/proc/asound/card0/state') and
|
||||
open('/proc/asound/card0/state').read().strip() == 'ONLINE')
|
||||
|
||||
def getprop(key):
|
||||
if not ANDROID:
|
||||
return ""
|
||||
return subprocess.check_output(["getprop", key], encoding='utf8').strip()
|
||||
|
||||
def get_imei(slot):
|
||||
slot = str(slot)
|
||||
if slot not in ("0", "1"):
|
||||
raise ValueError("SIM slot must be 0 or 1")
|
||||
|
||||
ret = parse_service_call_string(service_call(["iphonesubinfo", "3" , "i32", str(slot)]))
|
||||
if not ret:
|
||||
# allow non android to be identified differently
|
||||
ret = "%015d" % random.randint(0, 1 << 32)
|
||||
return ret
|
||||
|
||||
def get_serial():
|
||||
ret = getprop("ro.serialno")
|
||||
if ret == "":
|
||||
ret = "cccccccc"
|
||||
return ret
|
||||
|
||||
def get_subscriber_info():
|
||||
ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
|
||||
if ret is None or len(ret) < 8:
|
||||
return ""
|
||||
return ret
|
||||
|
||||
def reboot(reason=None):
|
||||
if reason is None:
|
||||
reason_args = ["null"]
|
||||
else:
|
||||
reason_args = ["s16", reason]
|
||||
|
||||
subprocess.check_output([
|
||||
"service", "call", "power", "16", # IPowerManager.reboot
|
||||
"i32", "0", # no confirmation,
|
||||
*reason_args,
|
||||
"i32", "1" # wait
|
||||
])
|
||||
|
||||
def service_call(call):
|
||||
if not ANDROID:
|
||||
return None
|
||||
|
||||
ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
|
||||
if 'Parcel' not in ret:
|
||||
return None
|
||||
|
||||
return parse_service_call_bytes(ret)
|
||||
|
||||
def parse_service_call_unpack(r, fmt):
|
||||
try:
|
||||
return struct.unpack(fmt, r)[0]
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def parse_service_call_string(r):
|
||||
try:
|
||||
r = r[8:] # Cut off length field
|
||||
r = r.decode('utf_16_be')
|
||||
|
||||
# All pairs of two characters seem to be swapped. Not sure why
|
||||
result = ""
|
||||
for a, b, in itertools.zip_longest(r[::2], r[1::2], fillvalue='\x00'):
|
||||
result += b + a
|
||||
|
||||
result = result.replace('\x00', '')
|
||||
|
||||
return result
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def parse_service_call_bytes(ret):
|
||||
try:
|
||||
r = b""
|
||||
for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
|
||||
r += binascii.unhexlify(hex_part)
|
||||
return r
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def get_network_type():
|
||||
if not ANDROID:
|
||||
return NetworkType.none
|
||||
|
||||
wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
|
||||
if wifi_check is None:
|
||||
return NetworkType.none
|
||||
elif 'WIFI' in wifi_check:
|
||||
return NetworkType.wifi
|
||||
else:
|
||||
cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
|
||||
# from TelephonyManager.java
|
||||
cell_networks = {
|
||||
0: NetworkType.none,
|
||||
1: NetworkType.cell2G,
|
||||
2: NetworkType.cell2G,
|
||||
3: NetworkType.cell3G,
|
||||
4: NetworkType.cell2G,
|
||||
5: NetworkType.cell3G,
|
||||
6: NetworkType.cell3G,
|
||||
7: NetworkType.cell3G,
|
||||
8: NetworkType.cell3G,
|
||||
9: NetworkType.cell3G,
|
||||
10: NetworkType.cell3G,
|
||||
11: NetworkType.cell2G,
|
||||
12: NetworkType.cell3G,
|
||||
13: NetworkType.cell4G,
|
||||
14: NetworkType.cell4G,
|
||||
15: NetworkType.cell3G,
|
||||
16: NetworkType.cell2G,
|
||||
17: NetworkType.cell3G,
|
||||
18: NetworkType.cell4G,
|
||||
19: NetworkType.cell4G
|
||||
}
|
||||
return cell_networks.get(cell_check, NetworkType.none)
|
||||
|
||||
def get_network_strength(network_type):
|
||||
network_strength = NetworkStrength.unknown
|
||||
|
||||
# from SignalStrength.java
|
||||
def get_lte_level(rsrp, rssnr):
|
||||
INT_MAX = 2147483647
|
||||
if rsrp == INT_MAX:
|
||||
lvl_rsrp = NetworkStrength.unknown
|
||||
elif rsrp >= -95:
|
||||
lvl_rsrp = NetworkStrength.great
|
||||
elif rsrp >= -105:
|
||||
lvl_rsrp = NetworkStrength.good
|
||||
elif rsrp >= -115:
|
||||
lvl_rsrp = NetworkStrength.moderate
|
||||
else:
|
||||
lvl_rsrp = NetworkStrength.poor
|
||||
if rssnr == INT_MAX:
|
||||
lvl_rssnr = NetworkStrength.unknown
|
||||
elif rssnr >= 45:
|
||||
lvl_rssnr = NetworkStrength.great
|
||||
elif rssnr >= 10:
|
||||
lvl_rssnr = NetworkStrength.good
|
||||
elif rssnr >= -30:
|
||||
lvl_rssnr = NetworkStrength.moderate
|
||||
else:
|
||||
lvl_rssnr = NetworkStrength.poor
|
||||
return max(lvl_rsrp, lvl_rssnr)
|
||||
|
||||
def get_tdscdma_level(tdscmadbm):
|
||||
lvl = NetworkStrength.unknown
|
||||
if tdscmadbm > -25:
|
||||
lvl = NetworkStrength.unknown
|
||||
elif tdscmadbm >= -49:
|
||||
lvl = NetworkStrength.great
|
||||
elif tdscmadbm >= -73:
|
||||
lvl = NetworkStrength.good
|
||||
elif tdscmadbm >= -97:
|
||||
lvl = NetworkStrength.moderate
|
||||
elif tdscmadbm >= -110:
|
||||
lvl = NetworkStrength.poor
|
||||
return lvl
|
||||
|
||||
def get_gsm_level(asu):
|
||||
if asu <= 2 or asu == 99:
|
||||
lvl = NetworkStrength.unknown
|
||||
elif asu >= 12:
|
||||
lvl = NetworkStrength.great
|
||||
elif asu >= 8:
|
||||
lvl = NetworkStrength.good
|
||||
elif asu >= 5:
|
||||
lvl = NetworkStrength.moderate
|
||||
else:
|
||||
lvl = NetworkStrength.poor
|
||||
return lvl
|
||||
|
||||
def get_evdo_level(evdodbm, evdosnr):
|
||||
lvl_evdodbm = NetworkStrength.unknown
|
||||
lvl_evdosnr = NetworkStrength.unknown
|
||||
if evdodbm >= -65:
|
||||
lvl_evdodbm = NetworkStrength.great
|
||||
elif evdodbm >= -75:
|
||||
lvl_evdodbm = NetworkStrength.good
|
||||
elif evdodbm >= -90:
|
||||
lvl_evdodbm = NetworkStrength.moderate
|
||||
elif evdodbm >= -105:
|
||||
lvl_evdodbm = NetworkStrength.poor
|
||||
if evdosnr >= 7:
|
||||
lvl_evdosnr = NetworkStrength.great
|
||||
elif evdosnr >= 5:
|
||||
lvl_evdosnr = NetworkStrength.good
|
||||
elif evdosnr >= 3:
|
||||
lvl_evdosnr = NetworkStrength.moderate
|
||||
elif evdosnr >= 1:
|
||||
lvl_evdosnr = NetworkStrength.poor
|
||||
return max(lvl_evdodbm, lvl_evdosnr)
|
||||
|
||||
def get_cdma_level(cdmadbm, cdmaecio):
|
||||
lvl_cdmadbm = NetworkStrength.unknown
|
||||
lvl_cdmaecio = NetworkStrength.unknown
|
||||
if cdmadbm >= -75:
|
||||
lvl_cdmadbm = NetworkStrength.great
|
||||
elif cdmadbm >= -85:
|
||||
lvl_cdmadbm = NetworkStrength.good
|
||||
elif cdmadbm >= -95:
|
||||
lvl_cdmadbm = NetworkStrength.moderate
|
||||
elif cdmadbm >= -100:
|
||||
lvl_cdmadbm = NetworkStrength.poor
|
||||
if cdmaecio >= -90:
|
||||
lvl_cdmaecio = NetworkStrength.great
|
||||
elif cdmaecio >= -110:
|
||||
lvl_cdmaecio = NetworkStrength.good
|
||||
elif cdmaecio >= -130:
|
||||
lvl_cdmaecio = NetworkStrength.moderate
|
||||
elif cdmaecio >= -150:
|
||||
lvl_cdmaecio = NetworkStrength.poor
|
||||
return max(lvl_cdmadbm, lvl_cdmaecio)
|
||||
|
||||
if network_type == NetworkType.none:
|
||||
return network_strength
|
||||
if network_type == NetworkType.wifi:
|
||||
out = subprocess.check_output('dumpsys connectivity', shell=True).decode('utf-8')
|
||||
network_strength = NetworkStrength.unknown
|
||||
for line in out.split('\n'):
|
||||
signal_str = "SignalStrength: "
|
||||
if signal_str in line:
|
||||
lvl_idx_start = line.find(signal_str) + len(signal_str)
|
||||
lvl_idx_end = line.find(']', lvl_idx_start)
|
||||
lvl = int(line[lvl_idx_start : lvl_idx_end])
|
||||
if lvl >= -50:
|
||||
network_strength = NetworkStrength.great
|
||||
elif lvl >= -60:
|
||||
network_strength = NetworkStrength.good
|
||||
elif lvl >= -70:
|
||||
network_strength = NetworkStrength.moderate
|
||||
else:
|
||||
network_strength = NetworkStrength.poor
|
||||
return network_strength
|
||||
else:
|
||||
# check cell strength
|
||||
out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('utf-8')
|
||||
for line in out.split('\n'):
|
||||
if "mSignalStrength" in line:
|
||||
arr = line.split(' ')
|
||||
ns = 0
|
||||
if ("gsm" in arr[14]):
|
||||
rsrp = int(arr[9])
|
||||
rssnr = int(arr[11])
|
||||
ns = get_lte_level(rsrp, rssnr)
|
||||
if ns == NetworkStrength.unknown:
|
||||
tdscmadbm = int(arr[13])
|
||||
ns = get_tdscdma_level(tdscmadbm)
|
||||
if ns == NetworkStrength.unknown:
|
||||
asu = int(arr[1])
|
||||
ns = get_gsm_level(asu)
|
||||
else:
|
||||
cdmadbm = int(arr[3])
|
||||
cdmaecio = int(arr[4])
|
||||
evdodbm = int(arr[5])
|
||||
evdosnr = int(arr[7])
|
||||
lvl_cdma = get_cdma_level(cdmadbm, cdmaecio)
|
||||
lvl_edmo = get_evdo_level(evdodbm, evdosnr)
|
||||
if lvl_edmo == NetworkStrength.unknown:
|
||||
ns = lvl_cdma
|
||||
elif lvl_cdma == NetworkStrength.unknown:
|
||||
ns = lvl_edmo
|
||||
else:
|
||||
ns = min(lvl_cdma, lvl_edmo)
|
||||
network_strength = max(network_strength, ns)
|
||||
|
||||
return network_strength
|
||||
@@ -27,7 +27,11 @@ class Api():
|
||||
'iat': now,
|
||||
'exp': now + timedelta(hours=1)
|
||||
}
|
||||
return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')
|
||||
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, **params):
|
||||
backend = "https://api.commadotai.com/"
|
||||
|
||||
@@ -1,97 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
import glob
|
||||
import hashlib
|
||||
import shutil
|
||||
from common.basedir import BASEDIR
|
||||
from selfdrive.swaglog import cloudlog
|
||||
|
||||
android_packages = ("ai.comma.plus.offroad",)
|
||||
|
||||
def get_installed_apks():
|
||||
dat = subprocess.check_output(["pm", "list", "packages", "-f"], encoding='utf8').strip().split("\n")
|
||||
ret = {}
|
||||
for x in dat:
|
||||
if x.startswith("package:"):
|
||||
v, k = x.split("package:")[1].split("=")
|
||||
ret[k] = v
|
||||
return ret
|
||||
|
||||
def install_apk(path):
|
||||
# can only install from world readable path
|
||||
install_path = "/sdcard/%s" % os.path.basename(path)
|
||||
shutil.copyfile(path, install_path)
|
||||
|
||||
ret = subprocess.call(["pm", "install", "-r", install_path])
|
||||
os.remove(install_path)
|
||||
return ret == 0
|
||||
|
||||
def start_offroad():
|
||||
set_package_permissions()
|
||||
system("am start -n ai.comma.plus.offroad/.MainActivity")
|
||||
|
||||
def set_package_permissions():
|
||||
pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
|
||||
pm_grant("ai.comma.plus.offroad", "android.permission.READ_PHONE_STATE")
|
||||
pm_grant("ai.comma.plus.offroad", "android.permission.READ_EXTERNAL_STORAGE")
|
||||
appops_set("ai.comma.plus.offroad", "SU", "allow")
|
||||
appops_set("ai.comma.plus.offroad", "WIFI_SCAN", "allow")
|
||||
|
||||
def appops_set(package, op, mode):
|
||||
system(f"LD_LIBRARY_PATH= appops set {package} {op} {mode}")
|
||||
|
||||
def pm_grant(package, permission):
|
||||
system(f"pm grant {package} {permission}")
|
||||
|
||||
def system(cmd):
|
||||
try:
|
||||
cloudlog.info("running %s" % cmd)
|
||||
subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
|
||||
except subprocess.CalledProcessError as e:
|
||||
cloudlog.event("running failed",
|
||||
cmd=e.cmd,
|
||||
output=e.output[-1024:],
|
||||
returncode=e.returncode)
|
||||
|
||||
# *** external functions ***
|
||||
|
||||
def update_apks():
|
||||
# install apks
|
||||
installed = get_installed_apks()
|
||||
|
||||
install_apks = glob.glob(os.path.join(BASEDIR, "apk/*.apk"))
|
||||
for apk in install_apks:
|
||||
app = os.path.basename(apk)[:-4]
|
||||
if app not in installed:
|
||||
installed[app] = None
|
||||
|
||||
cloudlog.info("installed apks %s" % (str(installed), ))
|
||||
|
||||
for app in installed.keys():
|
||||
apk_path = os.path.join(BASEDIR, "apk/"+app+".apk")
|
||||
if not os.path.exists(apk_path):
|
||||
continue
|
||||
|
||||
h1 = hashlib.sha1(open(apk_path, 'rb').read()).hexdigest()
|
||||
h2 = None
|
||||
if installed[app] is not None:
|
||||
h2 = hashlib.sha1(open(installed[app], 'rb').read()).hexdigest()
|
||||
cloudlog.info("comparing version of %s %s vs %s" % (app, h1, h2))
|
||||
|
||||
if h2 is None or h1 != h2:
|
||||
cloudlog.info("installing %s" % app)
|
||||
|
||||
success = install_apk(apk_path)
|
||||
if not success:
|
||||
cloudlog.info("needing to uninstall %s" % app)
|
||||
system("pm uninstall %s" % app)
|
||||
success = install_apk(apk_path)
|
||||
|
||||
assert success
|
||||
|
||||
def pm_apply_packages(cmd):
|
||||
for p in android_packages:
|
||||
system("pm %s %s" % (cmd, p))
|
||||
|
||||
if __name__ == "__main__":
|
||||
update_apks()
|
||||
@@ -1,10 +1,11 @@
|
||||
import os
|
||||
from pathlib import Path
|
||||
|
||||
from selfdrive.hardware import PC, JETSON
|
||||
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
|
||||
from common.android import ANDROID
|
||||
if ANDROID:
|
||||
PERSIST = "/persist"
|
||||
PARAMS = "/data/params"
|
||||
if PC or JETSON:
|
||||
PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
|
||||
else:
|
||||
PERSIST = os.path.join(BASEDIR, "persist")
|
||||
PARAMS = os.path.join(BASEDIR, "persist", "params")
|
||||
PERSIST = "/persist"
|
||||
|
||||
@@ -1,3 +1,5 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
|
||||
|
||||
IF UNAME_SYSNAME == "Darwin":
|
||||
|
||||
@@ -1,20 +0,0 @@
|
||||
from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module
|
||||
from Cython.Build import cythonize
|
||||
|
||||
from common.cython_hacks import BuildExtWithoutPlatformSuffix
|
||||
|
||||
sourcefiles = ['clock.pyx']
|
||||
extra_compile_args = ["-std=c++11"]
|
||||
|
||||
setup(name='Common',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"common_pyx",
|
||||
language="c++",
|
||||
sources=sourcefiles,
|
||||
extra_compile_args=extra_compile_args,
|
||||
)
|
||||
),
|
||||
nthreads=4,
|
||||
)
|
||||
9
common/dict_helpers.py
Normal file
9
common/dict_helpers.py
Normal file
@@ -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
|
||||
80
common/dp_common.py
Normal file
80
common/dp_common.py
Normal file
@@ -0,0 +1,80 @@
|
||||
#!/usr/bin/env python3.7
|
||||
import subprocess
|
||||
from cereal import car
|
||||
from common.params import Params
|
||||
from common.realtime import sec_since_boot
|
||||
import os
|
||||
params = Params()
|
||||
PARAM_PATH = params.get_params_path() + '/d/'
|
||||
LAST_MODIFIED = PARAM_PATH + "dp_last_modified"
|
||||
|
||||
def is_online():
|
||||
try:
|
||||
return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
|
||||
except ProcessLookupError:
|
||||
return False
|
||||
|
||||
def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego):
|
||||
if enabled:
|
||||
if dragonconf.dpSteeringOnSignal and blinker_on:
|
||||
steer_req = 0 if isinstance(steer_req, int) else False
|
||||
return steer_req
|
||||
|
||||
def common_interface_atl(ret, atl):
|
||||
# dp
|
||||
enable_acc = ret.cruiseState.enabled
|
||||
if atl and ret.cruiseState.available:
|
||||
enable_acc = True
|
||||
if ret.gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park]:
|
||||
enable_acc = False
|
||||
if ret.seatbeltUnlatched or ret.doorOpen:
|
||||
enable_acc = False
|
||||
return enable_acc
|
||||
|
||||
def common_interface_get_params_lqr(ret):
|
||||
if params.get('dp_lqr') == b'1':
|
||||
ret.lateralTuning.init('lqr')
|
||||
ret.lateralTuning.lqr.scale = 1500.0
|
||||
ret.lateralTuning.lqr.ki = 0.05
|
||||
|
||||
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
|
||||
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
|
||||
ret.lateralTuning.lqr.c = [1., 0.]
|
||||
ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
|
||||
ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
|
||||
ret.lateralTuning.lqr.dcGain = 0.002237852961363602
|
||||
return ret
|
||||
|
||||
|
||||
def get_last_modified(delay, old_check, old_modified):
|
||||
new_check = sec_since_boot()
|
||||
if old_check is None or new_check - old_check >= delay:
|
||||
return new_check, os.stat(LAST_MODIFIED).st_mtime
|
||||
else:
|
||||
return old_check, old_modified
|
||||
|
||||
def param_get_if_updated(param, type, old_val, old_modified):
|
||||
try:
|
||||
modified = os.stat(PARAM_PATH + param).st_mtime
|
||||
except OSError:
|
||||
return old_val, old_modified
|
||||
if old_modified != modified:
|
||||
new_val = param_get(param, type, old_val)
|
||||
new_modified = modified
|
||||
else:
|
||||
new_val = old_val
|
||||
new_modified = old_modified
|
||||
return new_val, new_modified
|
||||
|
||||
def param_get(param_name, type, default):
|
||||
try:
|
||||
val = params.get(param_name, encoding='utf8').rstrip('\x00')
|
||||
if type == 'bool':
|
||||
val = val == '1'
|
||||
elif type == 'int':
|
||||
val = int(val)
|
||||
elif type == 'float':
|
||||
val = float(val)
|
||||
except (TypeError, ValueError):
|
||||
val = default
|
||||
return val
|
||||
246
common/dp_conf.py
Normal file
246
common/dp_conf.py
Normal file
@@ -0,0 +1,246 @@
|
||||
#!/usr/bin/env python3.7
|
||||
import os
|
||||
import sys
|
||||
import json
|
||||
import time
|
||||
from math import floor
|
||||
|
||||
'''
|
||||
* type: Bool, Int8, UInt8, UInt16, Float32
|
||||
* conf_type: param, struct
|
||||
* dependencies needs to use struct and loaded prior so we don't have to read the param multiple times.
|
||||
* update_once: True, False (the param will only load up once.)
|
||||
'''
|
||||
confs = [
|
||||
# thermald data
|
||||
{'name': 'dp_thermal_started', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
|
||||
{'name': 'dp_thermal_overheat', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
|
||||
|
||||
{'name': 'dp_atl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
# full screen apps
|
||||
# {'name': 'dp_app_waze', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_app_waze_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_waze', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_app_hr', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_app_hr_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_hr', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# dashcam related
|
||||
# {'name': 'dp_dashcam', 'default': 0, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_dashcam_ui', 'default': 0, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# auto shutdown
|
||||
{'name': 'dp_auto_shutdown', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 1, 'max': 65535, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
|
||||
# service
|
||||
{'name': 'dp_logger', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_athenad', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_uploader', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# lat ctrl
|
||||
# {'name': 'dp_lat_ctrl', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_steering_limit_alert', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_lat_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_steering_on_signal', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lat_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_signal_off_delay', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 10, 'conf_type': ['param', 'struct']},
|
||||
# assist/auto lane change
|
||||
{'name': 'dp_assisted_lc_min_mph', 'default': 45, 'type': 'Float32', 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_auto_lc', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_auto_lc_cont', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_auto_lc_min_mph', 'default': 60, 'type': 'Float32', 'min': 0, 'max': 255., 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_auto_lc_delay', 'default': 3, 'type': 'Float32', 'min': 0, 'max': 10., 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# long ctrl
|
||||
{'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_max_ctrl_speed', 'default': 92., 'type': 'Float32', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_lead_car_alert', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_lead_car_away_alert', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 4, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# safety
|
||||
# {'name': 'dp_driver_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_steering_monitor', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driver_monitor', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_steering_monitor_timer', 'default': 70, 'type': 'UInt8', 'min': 70, 'max': 360, 'depends': [{'name': 'dp_driver_monitor', 'vals': [False]}, {'name': 'dp_steering_monitor', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# UIs
|
||||
# {'name': 'dp_driving_ui', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_screen_off_reversing', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_screen_off_driving', 'default': False, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_path', 'default': True, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_dev', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_dev_mini', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'depends': [], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_volume_boost', 'default': 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
# Apps
|
||||
# {'name': 'dp_app_auto_update', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_ext_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_tomtom', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_tomtom_auto', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_app_tomtom', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_tomtom_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_tomtom', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_app_autonavi', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_app_autonavi_auto', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_app_autonavi', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_app_autonavi_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_autonavi', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_app_aegis', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_app_aegis_auto', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_app_aegis', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_app_aegis_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_aegis', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_mixplorer', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_mixplorer_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_mixplorer', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# custom car
|
||||
{'name': 'dp_car_selected', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_car_detected', 'default': '', 'type': 'Text', 'conf_type': ['param', 'struct']},
|
||||
# toyota
|
||||
{'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}], 'conf_type': ['param']},
|
||||
# {'name': 'dp_toyota_lowest_cruise_override', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_toyota_lowest_cruise_override_vego', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_toyota_lowest_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_toyota_lowest_cruise_override', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_toyota_lowest_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_toyota_lowest_cruise_override_speed', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
|
||||
# hyundai
|
||||
{'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# honda
|
||||
{'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# volkswagen
|
||||
{'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
{'name': 'dp_vw_timebomb_assist', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
#misc
|
||||
{'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
|
||||
{'name': 'dp_c2_fan_quiet_mode', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
|
||||
# {'name': 'dp_camera_offset', 'default': 6, 'type': 'Int8', 'min': -255, 'max': 255, 'conf_type': ['param', 'struct']},
|
||||
|
||||
{'name': 'dp_locale', 'default': 'en-US', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
{'name': 'dp_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_charging_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_charging_at', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 100, 'depends': [{'name': 'dp_charging_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_discharging_at', 'default': 70, 'type': 'UInt8', 'min': 0, 'max': 100, 'depends': [{'name': 'dp_charging_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_reg', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_reset_live_param_on_start', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param'], 'update_once': True},
|
||||
{'name': 'dp_debug', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
]
|
||||
|
||||
def get_definition(name):
|
||||
for conf in confs:
|
||||
if conf['name'] == name:
|
||||
return conf
|
||||
return None
|
||||
|
||||
def to_param_val(name, val):
|
||||
conf = get_definition(name)
|
||||
if conf is not None:
|
||||
type = conf['type'].lower()
|
||||
try:
|
||||
if 'bool' in type:
|
||||
val = '1' if val else '0'
|
||||
elif 'int' in type:
|
||||
val = int(val)
|
||||
elif 'float' in type:
|
||||
val = float(val)
|
||||
return str(val)
|
||||
except (ValueError, TypeError):
|
||||
return ''
|
||||
return ''
|
||||
|
||||
def to_struct_val(name, val):
|
||||
conf = get_definition(name)
|
||||
if conf is not None:
|
||||
try:
|
||||
type = conf['type'].lower()
|
||||
if 'bool' in type:
|
||||
val = True if val == '1' else False
|
||||
elif 'int' in type:
|
||||
val = int(val)
|
||||
elif 'float' in type:
|
||||
val = float(val)
|
||||
return val
|
||||
except (ValueError, TypeError):
|
||||
return None
|
||||
return None
|
||||
|
||||
'''
|
||||
function to convert param name into struct name.
|
||||
'''
|
||||
def get_struct_name(snake_str):
|
||||
components = snake_str.split('_')
|
||||
# We capitalize the first letter of each component except the first one
|
||||
# with the 'title' method and join them together.
|
||||
return components[0] + ''.join(x.title() for x in components[1:])
|
||||
|
||||
'''
|
||||
function to generate struct for log.capnp
|
||||
'''
|
||||
def gen_log_struct():
|
||||
count = 0
|
||||
str = "# dp\n"
|
||||
str += "struct DragonConf {\n"
|
||||
for conf in confs:
|
||||
name = get_struct_name(conf['name'])
|
||||
if 'struct' in conf['conf_type']:
|
||||
str += f" {name} @{count} :{conf['type']};\n"
|
||||
count += 1
|
||||
str += "}"
|
||||
print(str)
|
||||
|
||||
'''
|
||||
function to generate support car list
|
||||
'''
|
||||
def get_support_car_list():
|
||||
attrs = ['FINGERPRINTS', 'FW_VERSIONS']
|
||||
cars = dict()
|
||||
for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]:
|
||||
try:
|
||||
car_name = car_folder.split('/')[-1]
|
||||
if car_name != "mock":
|
||||
names = []
|
||||
for attr in attrs:
|
||||
values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr])
|
||||
if hasattr(values, attr):
|
||||
attr_values = getattr(values, attr)
|
||||
else:
|
||||
continue
|
||||
|
||||
if isinstance(attr_values, dict):
|
||||
for f, v in attr_values.items():
|
||||
if f not in names:
|
||||
names.append(f)
|
||||
names.sort()
|
||||
cars[car_name] = names
|
||||
except (ImportError, IOError, ValueError):
|
||||
pass
|
||||
return json.dumps(cars)
|
||||
|
||||
'''
|
||||
function to init param value.
|
||||
should add this into manager.py
|
||||
'''
|
||||
def init_params_vals(params):
|
||||
for conf in confs:
|
||||
if 'param' in conf['conf_type']:
|
||||
if conf['name'] == 'dp_car_list':
|
||||
params.put(conf['name'], get_support_car_list())
|
||||
elif params.get(conf['name']) is None:
|
||||
params.put(conf['name'], to_param_val(conf['name'], conf['default']))
|
||||
|
||||
def gen_params_cc_keys():
|
||||
for conf in confs:
|
||||
if 'param' in conf['conf_type']:
|
||||
print("{\"%s\", PERSISTENT}," % conf['name'])
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
if (len(sys.argv) > 1) and sys.argv[1] == 'cc':
|
||||
gen_params_cc_keys()
|
||||
else:
|
||||
gen_log_struct()
|
||||
7
common/dp_time.py
Normal file
7
common/dp_time.py
Normal file
@@ -0,0 +1,7 @@
|
||||
#!/usr/bin/env python3.7
|
||||
|
||||
# delay of reading last modified
|
||||
LAST_MODIFIED_THERMALD = 10.
|
||||
LAST_MODIFIED_SYSTEMD = 1.
|
||||
LAST_MODIFIED_LANE_PLANNER = 3.
|
||||
LAST_MODIFIED_UPLOADER = 10.
|
||||
@@ -44,7 +44,7 @@ def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
|
||||
ffibuilder = FFI()
|
||||
ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
|
||||
ffibuilder.cdef(c_header)
|
||||
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
|
||||
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
|
||||
os.environ['CFLAGS'] = cflags
|
||||
ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
|
||||
|
||||
|
||||
14
common/gpio.py
Normal file
14
common/gpio.py
Normal file
@@ -0,0 +1,14 @@
|
||||
def gpio_init(pin, output):
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
|
||||
f.write(b"out" if output else b"in")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} direction: {e}")
|
||||
|
||||
|
||||
def gpio_set(pin, high):
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
|
||||
f.write(b"1" if high else b"0")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} value: {e}")
|
||||
14
common/i18n.py
Normal file
14
common/i18n.py
Normal file
@@ -0,0 +1,14 @@
|
||||
import gettext
|
||||
from selfdrive.hardware import EON
|
||||
from selfdrive.hardware.eon.hardware import getprop
|
||||
|
||||
locale_dir = '/data/openpilot/selfdrive/assets/locales'
|
||||
supported_language = ['en-US', 'zh-TW', 'zh-CN', 'ja-JP', 'ko-KR']
|
||||
|
||||
def get_locale():
|
||||
return getprop("persist.sys.locale") if EON else 'en-US'
|
||||
|
||||
def events():
|
||||
i18n = gettext.translation('events', localedir=locale_dir, fallback=True, languages=[get_locale()])
|
||||
i18n.install()
|
||||
return i18n.gettext
|
||||
@@ -1,6 +1,3 @@
|
||||
Import('env')
|
||||
|
||||
env.Command(['simple_kalman_impl.so'],
|
||||
['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
|
||||
"cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")
|
||||
Import('envCython')
|
||||
|
||||
envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
|
||||
|
||||
@@ -1,3 +1,5 @@
|
||||
# cython: language_level = 3
|
||||
|
||||
cdef class KF1D:
|
||||
cdef public:
|
||||
double x0_0
|
||||
@@ -13,4 +15,4 @@ cdef class KF1D:
|
||||
double A_K_0
|
||||
double A_K_1
|
||||
double A_K_2
|
||||
double A_K_3
|
||||
double A_K_3
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level=3
|
||||
|
||||
cdef class KF1D:
|
||||
|
||||
@@ -8,7 +8,7 @@ class KF1D:
|
||||
def __init__(self, x0, A, C, K):
|
||||
self.x = x0
|
||||
self.A = A
|
||||
self.C = C
|
||||
self.C = np.atleast_2d(C)
|
||||
self.K = K
|
||||
|
||||
self.A_K = self.A - np.dot(self.K, self.C)
|
||||
|
||||
@@ -1,9 +0,0 @@
|
||||
from distutils.core import Extension, setup
|
||||
|
||||
from Cython.Build import cythonize
|
||||
|
||||
from common.cython_hacks import BuildExtWithoutPlatformSuffix
|
||||
|
||||
setup(name='Simple Kalman Implementation',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
|
||||
@@ -21,10 +21,10 @@ class TestSimpleKalman(unittest.TestCase):
|
||||
K0_0 = 0.12287673
|
||||
K1_0 = 0.29666309
|
||||
|
||||
self.kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
|
||||
A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.matrix([C0_0, C0_1]),
|
||||
K=np.matrix([[K0_0], [K1_0]]))
|
||||
self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
|
||||
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.array([C0_0, C0_1]),
|
||||
K=np.array([[K0_0], [K1_0]]))
|
||||
|
||||
self.kf = KF1D(x0=[[x0_0], [x1_0]],
|
||||
A=[[A0_0, A0_1], [A1_0, A1_1]],
|
||||
@@ -47,8 +47,8 @@ class TestSimpleKalman(unittest.TestCase):
|
||||
x = self.kf.update(v_wheel)
|
||||
|
||||
# Compare the output x, verify that the error is less than 1e-4
|
||||
self.assertAlmostEqual(x_old[0], x[0])
|
||||
self.assertAlmostEqual(x_old[1], x[1])
|
||||
np.testing.assert_almost_equal(x_old[0], x[0])
|
||||
np.testing.assert_almost_equal(x_old[1], x[1])
|
||||
|
||||
def test_new_is_faster(self):
|
||||
setup = """
|
||||
@@ -69,10 +69,10 @@ C0_1 = 0.0
|
||||
K0_0 = 0.12287673
|
||||
K1_0 = 0.29666309
|
||||
|
||||
kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
|
||||
A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.matrix([C0_0, C0_1]),
|
||||
K=np.matrix([[K0_0], [K1_0]]))
|
||||
kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
|
||||
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.array([C0_0, C0_1]),
|
||||
K=np.array([[K0_0], [K1_0]]))
|
||||
|
||||
kf = KF1D(x0=[[x0_0], [x1_0]],
|
||||
A=[[A0_0, A0_1], [A1_0, A1_1]],
|
||||
@@ -82,3 +82,6 @@ kf = KF1D(x0=[[x0_0], [x1_0]],
|
||||
kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
|
||||
kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
|
||||
self.assertTrue(kf_speed < kf_old_speed / 4)
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
||||
@@ -3,6 +3,7 @@ import os
|
||||
import sys
|
||||
import copy
|
||||
import json
|
||||
import uuid
|
||||
import socket
|
||||
import logging
|
||||
import traceback
|
||||
@@ -62,8 +63,48 @@ class SwagFormatter(logging.Formatter):
|
||||
return record_dict
|
||||
|
||||
def format(self, record):
|
||||
if self.swaglogger is None:
|
||||
raise Exception("must set swaglogger before calling format()")
|
||||
return json_robust_dumps(self.format_dict(record))
|
||||
|
||||
class SwagLogFileFormatter(SwagFormatter):
|
||||
def fix_kv(self, k, v):
|
||||
# append type to names to preserve legacy naming in logs
|
||||
# avoids overlapping key namespaces with different types
|
||||
# e.g. log.info() creates 'msg' -> 'msg$s'
|
||||
# log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i'
|
||||
# because overlapping namespace 'msg' caused problems
|
||||
if isinstance(v, (str, bytes)):
|
||||
k += "$s"
|
||||
elif isinstance(v, float):
|
||||
k += "$f"
|
||||
elif isinstance(v, bool):
|
||||
k += "$b"
|
||||
elif isinstance(v, int):
|
||||
k += "$i"
|
||||
elif isinstance(v, dict):
|
||||
nv = {}
|
||||
for ik, iv in v.items():
|
||||
ik, iv = self.fix_kv(ik, iv)
|
||||
nv[ik] = iv
|
||||
v = nv
|
||||
elif isinstance(v, list):
|
||||
k += "$a"
|
||||
return k, v
|
||||
|
||||
def format(self, record):
|
||||
if isinstance(record, str):
|
||||
v = json.loads(record)
|
||||
else:
|
||||
v = self.format_dict(record)
|
||||
|
||||
mk, mv = self.fix_kv('msg', v['msg'])
|
||||
del v['msg']
|
||||
v[mk] = mv
|
||||
v['id'] = uuid.uuid4().hex
|
||||
|
||||
return json_robust_dumps(v)
|
||||
|
||||
class SwagErrorFilter(logging.Filter):
|
||||
def filter(self, record):
|
||||
return record.levelno < logging.ERROR
|
||||
@@ -117,6 +158,8 @@ class SwagLogger(logging.Logger):
|
||||
evt.update(kwargs)
|
||||
if 'error' in kwargs:
|
||||
self.error(evt)
|
||||
if 'debug' in kwargs:
|
||||
self.debug(evt)
|
||||
else:
|
||||
self.info(evt)
|
||||
|
||||
|
||||
434
common/params.py
Executable file → Normal file
434
common/params.py
Executable file → Normal file
@@ -1,410 +1,24 @@
|
||||
#!/usr/bin/env python3
|
||||
"""ROS has a parameter server, we have files.
|
||||
|
||||
The parameter store is a persistent key value store, implemented as a directory with a writer lock.
|
||||
On Android, we store params under params_dir = /data/params. The writer lock is a file
|
||||
"<params_dir>/.lock" taken using flock(), and data is stored in a directory symlinked to by
|
||||
"<params_dir>/d".
|
||||
|
||||
Each key, value pair is stored as a file with named <key> with contents <value>, located in
|
||||
<params_dir>/d/<key>
|
||||
|
||||
Readers of a single key can just open("<params_dir>/d/<key>") and read the file contents.
|
||||
Readers who want a consistent snapshot of multiple keys should take the lock.
|
||||
|
||||
Writers should take the lock before modifying anything. Writers should also leave the DB in a
|
||||
consistent state after a crash. The implementation below does this by copying all params to a temp
|
||||
directory <params_dir>/<tmp>, then atomically symlinking <params_dir>/<d> to <params_dir>/<tmp>
|
||||
before deleting the old <params_dir>/<d> directory.
|
||||
|
||||
Writers that only modify a single key can simply take the lock, then swap the corresponding value
|
||||
file in place without messing with <params_dir>/d.
|
||||
"""
|
||||
import time
|
||||
import os
|
||||
import errno
|
||||
import shutil
|
||||
import fcntl
|
||||
import tempfile
|
||||
import threading
|
||||
from enum import Enum
|
||||
from common.basedir import PARAMS
|
||||
|
||||
|
||||
def mkdirs_exists_ok(path):
|
||||
try:
|
||||
os.makedirs(path)
|
||||
except OSError:
|
||||
if not os.path.isdir(path):
|
||||
raise
|
||||
|
||||
|
||||
class TxType(Enum):
|
||||
PERSISTENT = 1
|
||||
CLEAR_ON_MANAGER_START = 2
|
||||
CLEAR_ON_PANDA_DISCONNECT = 3
|
||||
|
||||
|
||||
class UnknownKeyName(Exception):
|
||||
pass
|
||||
|
||||
|
||||
keys = {
|
||||
"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"AthenadPid": [TxType.PERSISTENT],
|
||||
"CalibrationParams": [TxType.PERSISTENT],
|
||||
"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CommunityFeaturesToggle": [TxType.PERSISTENT],
|
||||
"CompletedTrainingVersion": [TxType.PERSISTENT],
|
||||
"ControlsParams": [TxType.PERSISTENT],
|
||||
"DisablePowerDown": [TxType.PERSISTENT],
|
||||
"DisableUpdates": [TxType.PERSISTENT],
|
||||
"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"DongleId": [TxType.PERSISTENT],
|
||||
"GitBranch": [TxType.PERSISTENT],
|
||||
"GitCommit": [TxType.PERSISTENT],
|
||||
"GitRemote": [TxType.PERSISTENT],
|
||||
"GithubSshKeys": [TxType.PERSISTENT],
|
||||
"HasAcceptedTerms": [TxType.PERSISTENT],
|
||||
"HasCompletedSetup": [TxType.PERSISTENT],
|
||||
"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsLdwEnabled": [TxType.PERSISTENT],
|
||||
"IsGeofenceEnabled": [TxType.PERSISTENT],
|
||||
"IsMetric": [TxType.PERSISTENT],
|
||||
"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsRHD": [TxType.PERSISTENT],
|
||||
"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsUploadRawEnabled": [TxType.PERSISTENT],
|
||||
"LastAthenaPingTime": [TxType.PERSISTENT],
|
||||
"LastUpdateTime": [TxType.PERSISTENT],
|
||||
"LimitSetSpeed": [TxType.PERSISTENT],
|
||||
"LimitSetSpeedNeural": [TxType.PERSISTENT],
|
||||
"LiveParameters": [TxType.PERSISTENT],
|
||||
"LongitudinalControl": [TxType.PERSISTENT],
|
||||
"OpenpilotEnabledToggle": [TxType.PERSISTENT],
|
||||
"LaneChangeEnabled": [TxType.PERSISTENT],
|
||||
"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"Passive": [TxType.PERSISTENT],
|
||||
"RecordFront": [TxType.PERSISTENT],
|
||||
"ReleaseNotes": [TxType.PERSISTENT],
|
||||
"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"SpeedLimitOffset": [TxType.PERSISTENT],
|
||||
"SubscriberInfo": [TxType.PERSISTENT],
|
||||
"TermsVersion": [TxType.PERSISTENT],
|
||||
"TrainingVersion": [TxType.PERSISTENT],
|
||||
"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Version": [TxType.PERSISTENT],
|
||||
"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
}
|
||||
|
||||
|
||||
def fsync_dir(path):
|
||||
fd = os.open(path, os.O_RDONLY)
|
||||
try:
|
||||
os.fsync(fd)
|
||||
finally:
|
||||
os.close(fd)
|
||||
|
||||
|
||||
class FileLock():
|
||||
def __init__(self, path, create):
|
||||
self._path = path
|
||||
self._create = create
|
||||
self._fd = None
|
||||
|
||||
def acquire(self):
|
||||
self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
|
||||
fcntl.flock(self._fd, fcntl.LOCK_EX)
|
||||
|
||||
def release(self):
|
||||
if self._fd is not None:
|
||||
os.close(self._fd)
|
||||
self._fd = None
|
||||
|
||||
|
||||
class DBAccessor():
|
||||
def __init__(self, path):
|
||||
self._path = path
|
||||
self._vals = None
|
||||
|
||||
def keys(self):
|
||||
self._check_entered()
|
||||
return self._vals.keys()
|
||||
|
||||
def get(self, key):
|
||||
self._check_entered()
|
||||
|
||||
if self._vals is None:
|
||||
return None
|
||||
|
||||
try:
|
||||
return self._vals[key]
|
||||
except KeyError:
|
||||
return None
|
||||
|
||||
def _get_lock(self, create):
|
||||
lock = FileLock(os.path.join(self._path, ".lock"), create)
|
||||
lock.acquire()
|
||||
return lock
|
||||
|
||||
def _read_values_locked(self):
|
||||
"""Callers should hold a lock while calling this method."""
|
||||
vals = {}
|
||||
try:
|
||||
data_path = self._data_path()
|
||||
keys = os.listdir(data_path)
|
||||
for key in keys:
|
||||
with open(os.path.join(data_path, key), "rb") as f:
|
||||
vals[key] = f.read()
|
||||
except (OSError, IOError) as e:
|
||||
# Either the DB hasn't been created yet, or somebody wrote a bug and left the DB in an
|
||||
# inconsistent state. Either way, return empty.
|
||||
if e.errno == errno.ENOENT:
|
||||
return {}
|
||||
|
||||
return vals
|
||||
|
||||
def _data_path(self):
|
||||
return os.path.join(self._path, "d")
|
||||
|
||||
def _check_entered(self):
|
||||
if self._vals is None:
|
||||
raise Exception("Must call __enter__ before using DB")
|
||||
|
||||
|
||||
class DBReader(DBAccessor):
|
||||
def __enter__(self):
|
||||
try:
|
||||
lock = self._get_lock(False)
|
||||
except OSError as e:
|
||||
# Do not create lock if it does not exist.
|
||||
if e.errno == errno.ENOENT:
|
||||
self._vals = {}
|
||||
return self
|
||||
|
||||
try:
|
||||
# Read everything.
|
||||
self._vals = self._read_values_locked()
|
||||
return self
|
||||
finally:
|
||||
lock.release()
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
pass
|
||||
|
||||
|
||||
class DBWriter(DBAccessor):
|
||||
def __init__(self, path):
|
||||
super(DBWriter, self).__init__(path)
|
||||
self._lock = None
|
||||
self._prev_umask = None
|
||||
|
||||
def put(self, key, value):
|
||||
self._vals[key] = value
|
||||
|
||||
def delete(self, key):
|
||||
self._vals.pop(key, None)
|
||||
|
||||
def __enter__(self):
|
||||
mkdirs_exists_ok(self._path)
|
||||
|
||||
# Make sure we can write and that permissions are correct.
|
||||
self._prev_umask = os.umask(0)
|
||||
|
||||
try:
|
||||
os.chmod(self._path, 0o777)
|
||||
self._lock = self._get_lock(True)
|
||||
self._vals = self._read_values_locked()
|
||||
except Exception:
|
||||
os.umask(self._prev_umask)
|
||||
self._prev_umask = None
|
||||
raise
|
||||
|
||||
return self
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self._check_entered()
|
||||
|
||||
try:
|
||||
# data_path refers to the externally used path to the params. It is a symlink.
|
||||
# old_data_path is the path currently pointed to by data_path.
|
||||
# tempdir_path is a path where the new params will go, which the new data path will point to.
|
||||
# new_data_path is a temporary symlink that will atomically overwrite data_path.
|
||||
#
|
||||
# The current situation is:
|
||||
# data_path -> old_data_path
|
||||
# We're going to write params data to tempdir_path
|
||||
# tempdir_path -> params data
|
||||
# Then point new_data_path to tempdir_path
|
||||
# new_data_path -> tempdir_path
|
||||
# Then atomically overwrite data_path with new_data_path
|
||||
# data_path -> tempdir_path
|
||||
old_data_path = None
|
||||
new_data_path = None
|
||||
tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
|
||||
|
||||
try:
|
||||
# Write back all keys.
|
||||
os.chmod(tempdir_path, 0o777)
|
||||
for k, v in self._vals.items():
|
||||
with open(os.path.join(tempdir_path, k), "wb") as f:
|
||||
f.write(v)
|
||||
f.flush()
|
||||
os.fsync(f.fileno())
|
||||
fsync_dir(tempdir_path)
|
||||
|
||||
data_path = self._data_path()
|
||||
try:
|
||||
old_data_path = os.path.join(self._path, os.readlink(data_path))
|
||||
except (OSError, IOError):
|
||||
# NOTE(mgraczyk): If other DB implementations have bugs, this could cause
|
||||
# copies to be left behind, but we still want to overwrite.
|
||||
pass
|
||||
|
||||
new_data_path = "{}.link".format(tempdir_path)
|
||||
os.symlink(os.path.basename(tempdir_path), new_data_path)
|
||||
os.rename(new_data_path, data_path)
|
||||
fsync_dir(self._path)
|
||||
finally:
|
||||
# If the rename worked, we can delete the old data. Otherwise delete the new one.
|
||||
success = new_data_path is not None and os.path.exists(data_path) and (
|
||||
os.readlink(data_path) == os.path.basename(tempdir_path))
|
||||
|
||||
if success:
|
||||
if old_data_path is not None:
|
||||
shutil.rmtree(old_data_path)
|
||||
else:
|
||||
shutil.rmtree(tempdir_path)
|
||||
|
||||
# Regardless of what happened above, there should be no link at new_data_path.
|
||||
if new_data_path is not None and os.path.islink(new_data_path):
|
||||
os.remove(new_data_path)
|
||||
finally:
|
||||
os.umask(self._prev_umask)
|
||||
self._prev_umask = None
|
||||
|
||||
# Always release the lock.
|
||||
self._lock.release()
|
||||
self._lock = None
|
||||
|
||||
|
||||
def read_db(params_path, key):
|
||||
path = "%s/d/%s" % (params_path, key)
|
||||
try:
|
||||
with open(path, "rb") as f:
|
||||
return f.read()
|
||||
except IOError:
|
||||
return None
|
||||
|
||||
|
||||
def write_db(params_path, key, value):
|
||||
if isinstance(value, str):
|
||||
value = value.encode('utf8')
|
||||
|
||||
prev_umask = os.umask(0)
|
||||
lock = FileLock(params_path + "/.lock", True)
|
||||
lock.acquire()
|
||||
|
||||
try:
|
||||
tmp_path = tempfile.mktemp(prefix=".tmp", dir=params_path)
|
||||
with open(tmp_path, "wb") as f:
|
||||
f.write(value)
|
||||
f.flush()
|
||||
os.fsync(f.fileno())
|
||||
|
||||
path = "%s/d/%s" % (params_path, key)
|
||||
os.rename(tmp_path, path)
|
||||
fsync_dir(os.path.dirname(path))
|
||||
finally:
|
||||
os.umask(prev_umask)
|
||||
lock.release()
|
||||
|
||||
|
||||
class Params():
|
||||
def __init__(self, db=PARAMS):
|
||||
self.db = db
|
||||
|
||||
# create the database if it doesn't exist...
|
||||
if not os.path.exists(self.db + "/d"):
|
||||
with self.transaction(write=True):
|
||||
pass
|
||||
|
||||
def clear_all(self):
|
||||
shutil.rmtree(self.db, ignore_errors=True)
|
||||
with self.transaction(write=True):
|
||||
pass
|
||||
|
||||
def transaction(self, write=False):
|
||||
if write:
|
||||
return DBWriter(self.db)
|
||||
else:
|
||||
return DBReader(self.db)
|
||||
|
||||
def _clear_keys_with_type(self, tx_type):
|
||||
with self.transaction(write=True) as txn:
|
||||
for key in keys:
|
||||
if tx_type in keys[key]:
|
||||
txn.delete(key)
|
||||
|
||||
def manager_start(self):
|
||||
self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
|
||||
|
||||
def panda_disconnect(self):
|
||||
self._clear_keys_with_type(TxType.CLEAR_ON_PANDA_DISCONNECT)
|
||||
|
||||
def delete(self, key):
|
||||
with self.transaction(write=True) as txn:
|
||||
txn.delete(key)
|
||||
|
||||
def get(self, key, block=False, encoding=None):
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
while 1:
|
||||
ret = read_db(self.db, key)
|
||||
if not block or ret is not None:
|
||||
break
|
||||
# is polling really the best we can do?
|
||||
time.sleep(0.05)
|
||||
|
||||
if ret is not None and encoding is not None:
|
||||
ret = ret.decode(encoding)
|
||||
|
||||
return ret
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
In very rare cases this can take over a second, and your code will hang.
|
||||
|
||||
Use the put_nonblocking helper function in time sensitive code, but
|
||||
in general try to avoid writing params as much as possible.
|
||||
"""
|
||||
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
write_db(self.db, key, dat)
|
||||
|
||||
|
||||
def put_nonblocking(key, val):
|
||||
def f(key, val):
|
||||
params = Params()
|
||||
params.put(key, val)
|
||||
|
||||
t = threading.Thread(target=f, args=(key, val))
|
||||
t.start()
|
||||
return t
|
||||
from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
|
||||
assert Params
|
||||
assert ParamKeyType
|
||||
assert UnknownKeyName
|
||||
assert put_nonblocking
|
||||
|
||||
if __name__ == "__main__":
|
||||
import sys
|
||||
from common.params_pyx import keys # pylint: disable=no-name-in-module, import-error
|
||||
|
||||
params = Params()
|
||||
if len(sys.argv) == 3:
|
||||
name = sys.argv[1]
|
||||
val = sys.argv[2]
|
||||
assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
|
||||
print(f"SET: {name} = {val}")
|
||||
params.put(name, val)
|
||||
elif len(sys.argv) == 2:
|
||||
name = sys.argv[1]
|
||||
assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
|
||||
print(f"GET: {name} = {params.get(name)}")
|
||||
else:
|
||||
for k in keys.keys():
|
||||
print(f"GET: {k} = {params.get(k)}")
|
||||
|
||||
29
common/params_pxd.pxd
Normal file
29
common/params_pxd.pxd
Normal file
@@ -0,0 +1,29 @@
|
||||
from libcpp.string cimport string
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "selfdrive/common/params.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/util.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/params.h":
|
||||
cpdef enum ParamKeyType:
|
||||
PERSISTENT
|
||||
CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_PANDA_DISCONNECT
|
||||
CLEAR_ON_IGNITION
|
||||
ALL
|
||||
|
||||
cdef cppclass Params:
|
||||
Params(bool)
|
||||
Params(string)
|
||||
string get(string, bool) nogil
|
||||
bool getBool(string)
|
||||
int remove(string)
|
||||
int put(string, string)
|
||||
int putBool(string, bool)
|
||||
bool checkKey(string)
|
||||
void clearAll(ParamKeyType)
|
||||
|
||||
string get_params_path()
|
||||
110
common/params_pyx.pyx
Executable file
110
common/params_pyx.pyx
Executable file
@@ -0,0 +1,110 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
from common.params_pxd cimport Params as c_Params, ParamKeyType as c_ParamKeyType
|
||||
|
||||
import os
|
||||
import threading
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
|
||||
cdef class ParamKeyType:
|
||||
PERSISTENT = c_ParamKeyType.PERSISTENT
|
||||
CLEAR_ON_MANAGER_START = c_ParamKeyType.CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_PANDA_DISCONNECT = c_ParamKeyType.CLEAR_ON_PANDA_DISCONNECT
|
||||
CLEAR_ON_IGNITION = c_ParamKeyType.CLEAR_ON_IGNITION
|
||||
ALL = c_ParamKeyType.ALL
|
||||
|
||||
def ensure_bytes(v):
|
||||
if isinstance(v, str):
|
||||
return v.encode()
|
||||
else:
|
||||
return v
|
||||
|
||||
|
||||
class UnknownKeyName(Exception):
|
||||
pass
|
||||
|
||||
cdef class Params:
|
||||
cdef c_Params* p
|
||||
|
||||
def __cinit__(self, d=None, bool persistent_params=False):
|
||||
if d is None:
|
||||
self.p = new c_Params(persistent_params)
|
||||
else:
|
||||
self.p = new c_Params(<string>d.encode())
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.p
|
||||
|
||||
def clear_all(self, tx_type=None):
|
||||
if tx_type is None:
|
||||
tx_type = ParamKeyType.ALL
|
||||
|
||||
self.p.clearAll(tx_type)
|
||||
|
||||
def check_key(self, key):
|
||||
key = ensure_bytes(key)
|
||||
|
||||
if not self.p.checkKey(key):
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
return key
|
||||
|
||||
def get(self, key, block=False, encoding=None):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef bool b = block
|
||||
|
||||
cdef string val
|
||||
with nogil:
|
||||
val = self.p.get(k, b)
|
||||
|
||||
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 None
|
||||
|
||||
if encoding is not None:
|
||||
return val.decode(encoding)
|
||||
else:
|
||||
return val
|
||||
|
||||
def get_bool(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
return self.p.getBool(k)
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
In very rare cases this can take over a second, and your code will hang.
|
||||
Use the put_nonblocking helper function in time sensitive code, but
|
||||
in general try to avoid writing params as much as possible.
|
||||
"""
|
||||
cdef string k = self.check_key(key)
|
||||
dat = ensure_bytes(dat)
|
||||
self.p.put(k, dat)
|
||||
|
||||
def put_bool(self, key, val):
|
||||
cdef string k = self.check_key(key)
|
||||
self.p.putBool(k, val)
|
||||
|
||||
def delete(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
self.p.remove(k)
|
||||
|
||||
def get_params_path(self):
|
||||
return self.p.get_params_path().decode("utf-8")
|
||||
|
||||
def put_nonblocking(key, val, d=None):
|
||||
def f(key, val):
|
||||
params = Params(d)
|
||||
cdef string k = ensure_bytes(key)
|
||||
params.put(k, val)
|
||||
|
||||
t = threading.Thread(target=f, args=(key, val))
|
||||
t.start()
|
||||
return t
|
||||
@@ -36,10 +36,10 @@ class Profiler():
|
||||
if not self.enabled:
|
||||
return
|
||||
self.iter += 1
|
||||
print("******* Profiling *******")
|
||||
print("******* Profiling %d *******" % self.iter)
|
||||
for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
|
||||
if n in self.cp_ignored:
|
||||
print("%30s: %9.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms/self.tot*100))
|
||||
print("%30s: %9.2f avg: %7.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
|
||||
else:
|
||||
print("%30s: %9.2f percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
|
||||
print("%30s: %9.2f avg: %7.2f percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
|
||||
print("Iter clock: %2.6f TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
|
||||
|
||||
@@ -1,53 +1,50 @@
|
||||
"""Utilities for reading real time clocks and keeping soft real time constraints."""
|
||||
import gc
|
||||
import os
|
||||
import time
|
||||
import platform
|
||||
import subprocess
|
||||
import multiprocessing
|
||||
from cffi import FFI
|
||||
|
||||
from common.android import ANDROID
|
||||
from common.common_pyx import sec_since_boot # pylint: disable=no-name-in-module, import-error
|
||||
from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error
|
||||
from selfdrive.hardware import PC, TICI, JETSON
|
||||
|
||||
|
||||
# time step for each process
|
||||
DT_CTRL = 0.01 # controlsd
|
||||
DT_MDL = 0.05 # model
|
||||
DT_DMON = 0.1 # driver monitoring
|
||||
DT_TRML = 0.5 # thermald and manager
|
||||
|
||||
# driver monitoring
|
||||
if TICI:
|
||||
DT_DMON = 0.05
|
||||
else:
|
||||
DT_DMON = 0.1
|
||||
|
||||
ffi = FFI()
|
||||
ffi.cdef("long syscall(long number, ...);")
|
||||
libc = ffi.dlopen(None)
|
||||
|
||||
def _get_tid():
|
||||
if platform.machine() == "x86_64":
|
||||
NR_gettid = 186
|
||||
elif platform.machine() == "aarch64":
|
||||
NR_gettid = 178
|
||||
else:
|
||||
raise NotImplementedError
|
||||
class Priority:
|
||||
# CORE 2
|
||||
# - modeld = 55
|
||||
# - camerad = 54
|
||||
CTRL_LOW = 51 # plannerd & radard
|
||||
|
||||
return libc.syscall(NR_gettid)
|
||||
# CORE 3
|
||||
# - boardd = 55
|
||||
CTRL_HIGH = 53
|
||||
|
||||
|
||||
def set_realtime_priority(level):
|
||||
if os.getuid() != 0:
|
||||
print("not setting priority, not root")
|
||||
return
|
||||
if JETSON or not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
|
||||
|
||||
return subprocess.call(['chrt', '-f', '-p', str(level), str(_get_tid())])
|
||||
|
||||
def set_core_affinity(core):
|
||||
if os.getuid() != 0:
|
||||
print("not setting affinity, not root")
|
||||
return
|
||||
if JETSON or not PC:
|
||||
os.sched_setaffinity(0, [core,])
|
||||
|
||||
if ANDROID:
|
||||
return subprocess.call(['taskset', '-p', str(core), str(_get_tid())])
|
||||
else:
|
||||
return -1
|
||||
|
||||
def config_realtime_process(core, priority):
|
||||
gc.disable()
|
||||
set_realtime_priority(priority)
|
||||
set_core_affinity(core)
|
||||
|
||||
|
||||
class Ratekeeper():
|
||||
|
||||
@@ -8,7 +8,7 @@ class Spinner():
|
||||
try:
|
||||
self.spinner_proc = subprocess.Popen(["./spinner"],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.spinner_proc = None
|
||||
@@ -16,7 +16,7 @@ class Spinner():
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, spinner_text):
|
||||
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:
|
||||
@@ -24,6 +24,9 @@ class Spinner():
|
||||
except BrokenPipeError:
|
||||
pass
|
||||
|
||||
def update_progress(self, cur: int, total: int):
|
||||
self.update(str(round(100 * cur / total)))
|
||||
|
||||
def close(self):
|
||||
if self.spinner_proc is not None:
|
||||
try:
|
||||
@@ -40,23 +43,6 @@ class Spinner():
|
||||
self.close()
|
||||
|
||||
|
||||
class FakeSpinner(Spinner):
|
||||
def __init__(self): # pylint: disable=super-init-not-called
|
||||
pass
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, _):
|
||||
pass
|
||||
|
||||
def close(self):
|
||||
pass
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
pass
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import time
|
||||
with Spinner() as s:
|
||||
|
||||
@@ -5,12 +5,12 @@ import subprocess
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
|
||||
class TextWindow():
|
||||
def __init__(self, s):
|
||||
class TextWindow:
|
||||
def __init__(self, text):
|
||||
try:
|
||||
self.text_proc = subprocess.Popen(["./text", s],
|
||||
self.text_proc = subprocess.Popen(["./text", text],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.text_proc = None
|
||||
@@ -19,7 +19,6 @@ class TextWindow():
|
||||
if self.text_proc is not None:
|
||||
self.text_proc.poll()
|
||||
return self.text_proc.returncode
|
||||
|
||||
return None
|
||||
|
||||
def __enter__(self):
|
||||
@@ -31,10 +30,12 @@ class TextWindow():
|
||||
self.text_proc = None
|
||||
|
||||
def wait_for_exit(self):
|
||||
while True:
|
||||
if self.get_status() == 1:
|
||||
return
|
||||
time.sleep(0.1)
|
||||
if self.text_proc is not None:
|
||||
while True:
|
||||
if self.get_status() == 1:
|
||||
os.system('/data/openpilot/scripts/reset_update.sh')
|
||||
return
|
||||
time.sleep(0.1)
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
@@ -43,29 +44,6 @@ class TextWindow():
|
||||
self.close()
|
||||
|
||||
|
||||
class FakeTextWindow(TextWindow):
|
||||
def __init__(self, s): # pylint: disable=super-init-not-called
|
||||
pass
|
||||
|
||||
def get_status(self):
|
||||
return 1
|
||||
|
||||
def wait_for_exit(self):
|
||||
return
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, _):
|
||||
pass
|
||||
|
||||
def close(self):
|
||||
pass
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
pass
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
text = """Traceback (most recent call last):
|
||||
File "./controlsd.py", line 608, in <module>
|
||||
|
||||
@@ -1,9 +1,6 @@
|
||||
Import('env')
|
||||
Import('env', 'envCython')
|
||||
|
||||
d = Dir('.')
|
||||
transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
|
||||
Export('transformations')
|
||||
|
||||
env.Command(
|
||||
['transformations.so'],
|
||||
['transformations.pxd', 'transformations.pyx',
|
||||
'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
|
||||
'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
|
||||
envCython.Program('transformations.so', 'transformations.pyx')
|
||||
|
||||
@@ -1,29 +1,67 @@
|
||||
import numpy as np
|
||||
import common.transformations.orientation as orient
|
||||
|
||||
FULL_FRAME_SIZE = (1164, 874)
|
||||
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
|
||||
eon_focal_length = FOCAL = 910.0
|
||||
import common.transformations.orientation as orient
|
||||
from selfdrive.hardware import TICI
|
||||
|
||||
## -- hardcoded hardware params --
|
||||
eon_f_focal_length = 910.0
|
||||
eon_d_focal_length = 860.0
|
||||
leon_d_focal_length = 650.0
|
||||
tici_f_focal_length = 2648.0
|
||||
tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
|
||||
|
||||
eon_f_frame_size = (1164, 874)
|
||||
eon_d_frame_size = (1152, 864)
|
||||
leon_d_frame_size = (816, 612)
|
||||
tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
|
||||
|
||||
# aka 'K' aka camera_frame_from_view_frame
|
||||
eon_intrinsics = np.array([
|
||||
[FOCAL, 0., W/2.],
|
||||
[ 0., FOCAL, H/2.],
|
||||
[ 0., 0., 1.]])
|
||||
|
||||
eon_fcam_intrinsics = np.array([
|
||||
[eon_f_focal_length, 0.0, float(eon_f_frame_size[0])/2],
|
||||
[0.0, eon_f_focal_length, float(eon_f_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
eon_intrinsics = eon_fcam_intrinsics # xx
|
||||
|
||||
leon_dcam_intrinsics = np.array([
|
||||
[650, 0, 816//2],
|
||||
[ 0, 650, 612//2],
|
||||
[ 0, 0, 1]])
|
||||
[leon_d_focal_length, 0.0, float(leon_d_frame_size[0])/2],
|
||||
[0.0, leon_d_focal_length, float(leon_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
eon_dcam_intrinsics = np.array([
|
||||
[860, 0, 1152//2],
|
||||
[ 0, 860, 864//2],
|
||||
[ 0, 0, 1]])
|
||||
[eon_d_focal_length, 0.0, float(eon_d_frame_size[0])/2],
|
||||
[0.0, eon_d_focal_length, float(eon_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
tici_fcam_intrinsics = np.array([
|
||||
[tici_f_focal_length, 0.0, float(tici_f_frame_size[0])/2],
|
||||
[0.0, tici_f_focal_length, float(tici_f_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
tici_dcam_intrinsics = np.array([
|
||||
[tici_d_focal_length, 0.0, float(tici_d_frame_size[0])/2],
|
||||
[0.0, tici_d_focal_length, float(tici_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
tici_ecam_intrinsics = tici_dcam_intrinsics
|
||||
|
||||
# aka 'K_inv' aka view_frame_from_camera_frame
|
||||
eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
|
||||
eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
|
||||
eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
|
||||
|
||||
tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
|
||||
tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
|
||||
|
||||
|
||||
if not TICI:
|
||||
FULL_FRAME_SIZE = eon_f_frame_size
|
||||
FOCAL = eon_f_focal_length
|
||||
fcam_intrinsics = eon_fcam_intrinsics
|
||||
else:
|
||||
FULL_FRAME_SIZE = tici_f_frame_size
|
||||
FOCAL = tici_f_focal_length
|
||||
fcam_intrinsics = tici_fcam_intrinsics
|
||||
|
||||
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
|
||||
|
||||
|
||||
# device/mesh : x->forward, y-> right, z->down
|
||||
@@ -52,6 +90,13 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
|
||||
return np.hstack((view_from_road, [[0], [height], [0]]))
|
||||
|
||||
|
||||
# aka 'extrinsic_matrix'
|
||||
def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
|
||||
device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
|
||||
view_from_calib = view_frame_from_device_frame.dot(device_from_calib)
|
||||
return np.hstack((view_from_calib, [[0], [height], [0]]))
|
||||
|
||||
|
||||
def vp_from_ke(m):
|
||||
"""
|
||||
Computes the vanishing point from the product of the intrinsic and extrinsic
|
||||
@@ -62,9 +107,9 @@ def vp_from_ke(m):
|
||||
return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
|
||||
|
||||
|
||||
def vp_from_rpy(rpy):
|
||||
def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
|
||||
e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
|
||||
ke = np.dot(eon_intrinsics, e)
|
||||
ke = np.dot(intrinsics, e)
|
||||
return vp_from_ke(ke)
|
||||
|
||||
|
||||
@@ -74,7 +119,7 @@ def roll_from_ke(m):
|
||||
-(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
|
||||
|
||||
|
||||
def normalize(img_pts, intrinsics=eon_intrinsics):
|
||||
def normalize(img_pts, intrinsics=fcam_intrinsics):
|
||||
# normalizes image coordinates
|
||||
# accepts single pt or array of pts
|
||||
intrinsics_inv = np.linalg.inv(intrinsics)
|
||||
@@ -87,7 +132,7 @@ def normalize(img_pts, intrinsics=eon_intrinsics):
|
||||
return img_pts_normalized[:, :2].reshape(input_shape)
|
||||
|
||||
|
||||
def denormalize(img_pts, intrinsics=eon_intrinsics):
|
||||
def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H):
|
||||
# denormalizes image coordinates
|
||||
# accepts single pt or array of pts
|
||||
img_pts = np.array(img_pts)
|
||||
@@ -95,9 +140,9 @@ def denormalize(img_pts, intrinsics=eon_intrinsics):
|
||||
img_pts = np.atleast_2d(img_pts)
|
||||
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
|
||||
img_pts_denormalized = img_pts.dot(intrinsics.T)
|
||||
img_pts_denormalized[img_pts_denormalized[:, 0] > W] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 1] > H] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
|
||||
return img_pts_denormalized[:, :2].reshape(input_shape)
|
||||
|
||||
@@ -130,18 +175,10 @@ def img_from_device(pt_device):
|
||||
return pt_img.reshape(input_shape)[:, :2]
|
||||
|
||||
|
||||
def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
|
||||
def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
|
||||
camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
|
||||
calib_frame_from_ground = np.dot(eon_intrinsics,
|
||||
calib_frame_from_ground = np.dot(intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
|
||||
ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
|
||||
camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
|
||||
return camera_frame_from_calib_frame
|
||||
|
||||
|
||||
def pretransform_from_calib(calib):
|
||||
roll, pitch, yaw, height = calib
|
||||
view_frame_from_road_frame = get_view_frame_from_road_frame(roll, pitch, yaw, height)
|
||||
camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
|
||||
camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
|
||||
return np.linalg.inv(camera_frame_from_calib_frame)
|
||||
|
||||
@@ -6,13 +6,11 @@
|
||||
|
||||
#include "coordinates.hpp"
|
||||
|
||||
#define DEG2RAD(x) ((x) * M_PI / 180.0)
|
||||
#define RAD2DEG(x) ((x) * 180.0 / M_PI)
|
||||
|
||||
|
||||
double a = 6378137;
|
||||
double b = 6356752.3142;
|
||||
double esq = 6.69437999014 * 0.001;
|
||||
double a = 6378137; // lgtm [cpp/short-global-name]
|
||||
double b = 6356752.3142; // lgtm [cpp/short-global-name]
|
||||
double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
|
||||
double e1sq = 6.73949674228 * 0.001;
|
||||
|
||||
|
||||
|
||||
@@ -1,5 +1,8 @@
|
||||
#pragma once
|
||||
|
||||
#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(){
|
||||
@@ -9,6 +12,9 @@ struct ECEF {
|
||||
|
||||
struct NED {
|
||||
double n, e, d;
|
||||
Eigen::Vector3d to_vector(){
|
||||
return Eigen::Vector3d(n, e, d);
|
||||
}
|
||||
};
|
||||
|
||||
struct Geodetic {
|
||||
|
||||
@@ -1,33 +1,33 @@
|
||||
import numpy as np
|
||||
|
||||
from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
|
||||
from common.transformations.camera import (FULL_FRAME_SIZE,
|
||||
FOCAL,
|
||||
get_view_frame_from_road_frame,
|
||||
get_view_frame_from_calib_frame,
|
||||
vp_from_ke)
|
||||
|
||||
# segnet
|
||||
|
||||
SEGNET_SIZE = (512, 384)
|
||||
|
||||
segnet_frame_from_camera_frame = np.array([
|
||||
[float(SEGNET_SIZE[0])/FULL_FRAME_SIZE[0], 0., ],
|
||||
[ 0., float(SEGNET_SIZE[1])/FULL_FRAME_SIZE[1]]])
|
||||
|
||||
def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
|
||||
return np.array([[float(segnet_size[0]) / full_frame_size[0], 0.0],
|
||||
[0.0, float(segnet_size[1]) / full_frame_size[1]]])
|
||||
segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
|
||||
|
||||
# model
|
||||
|
||||
MODEL_INPUT_SIZE = (320, 160)
|
||||
MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
MODEL_CX = MODEL_INPUT_SIZE[0]/2.
|
||||
MODEL_CX = MODEL_INPUT_SIZE[0] / 2.
|
||||
MODEL_CY = 21.
|
||||
|
||||
model_zoom = 1.25
|
||||
model_fl = 728.0
|
||||
model_height = 1.22
|
||||
|
||||
# canonical model transform
|
||||
model_intrinsics = np.array(
|
||||
[[ eon_focal_length / model_zoom, 0. , MODEL_CX],
|
||||
[ 0. , eon_focal_length / model_zoom, MODEL_CY],
|
||||
[ 0. , 0. , 1.]])
|
||||
model_intrinsics = np.array([
|
||||
[model_fl, 0.0, MODEL_CX],
|
||||
[0.0, model_fl, MODEL_CY],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
|
||||
# MED model
|
||||
@@ -35,34 +35,45 @@ MEDMODEL_INPUT_SIZE = (512, 256)
|
||||
MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
MEDMODEL_CY = 47.6
|
||||
|
||||
medmodel_zoom = 1.
|
||||
medmodel_intrinsics = np.array(
|
||||
[[ eon_focal_length / medmodel_zoom, 0. , 0.5 * MEDMODEL_INPUT_SIZE[0]],
|
||||
[ 0. , eon_focal_length / medmodel_zoom, MEDMODEL_CY],
|
||||
[ 0. , 0. , 1.]])
|
||||
medmodel_fl = 910.0
|
||||
medmodel_intrinsics = np.array([
|
||||
[medmodel_fl, 0.0, 0.5 * MEDMODEL_INPUT_SIZE[0]],
|
||||
[0.0, medmodel_fl, MEDMODEL_CY],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
|
||||
# CAL model
|
||||
CALMODEL_INPUT_SIZE = (512, 256)
|
||||
CALMODEL_YUV_SIZE = (CALMODEL_INPUT_SIZE[0], CALMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
CALMODEL_CY = 47.6
|
||||
|
||||
calmodel_zoom = 1.5
|
||||
calmodel_intrinsics = np.array(
|
||||
[[ eon_focal_length / calmodel_zoom, 0. , 0.5 * CALMODEL_INPUT_SIZE[0]],
|
||||
[ 0. , eon_focal_length / calmodel_zoom, CALMODEL_CY],
|
||||
[ 0. , 0. , 1.]])
|
||||
calmodel_fl = 606.7
|
||||
calmodel_intrinsics = np.array([
|
||||
[calmodel_fl, 0.0, 0.5 * CALMODEL_INPUT_SIZE[0]],
|
||||
[0.0, calmodel_fl, CALMODEL_CY],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
|
||||
# BIG model
|
||||
|
||||
BIGMODEL_INPUT_SIZE = (1024, 512)
|
||||
BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
|
||||
bigmodel_zoom = 1.
|
||||
bigmodel_intrinsics = np.array(
|
||||
[[ eon_focal_length / bigmodel_zoom, 0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
|
||||
[ 0. , eon_focal_length / bigmodel_zoom, 256+MEDMODEL_CY],
|
||||
[ 0. , 0. , 1.]])
|
||||
bigmodel_fl = 910.0
|
||||
bigmodel_intrinsics = np.array([
|
||||
[bigmodel_fl, 0.0, 0.5 * BIGMODEL_INPUT_SIZE[0]],
|
||||
[0.0, bigmodel_fl, 256 + MEDMODEL_CY],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
|
||||
# SBIG model (big model with the size of small model)
|
||||
SBIGMODEL_INPUT_SIZE = (512, 256)
|
||||
SBIGMODEL_YUV_SIZE = (SBIGMODEL_INPUT_SIZE[0], SBIGMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
|
||||
sbigmodel_fl = 455.0
|
||||
sbigmodel_intrinsics = np.array([
|
||||
[sbigmodel_fl, 0.0, 0.5 * SBIGMODEL_INPUT_SIZE[0]],
|
||||
[0.0, sbigmodel_fl, 0.5 * (256 + MEDMODEL_CY)],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
model_frame_from_road_frame = np.dot(model_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
@@ -73,23 +84,27 @@ bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
|
||||
medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
|
||||
get_view_frame_from_calib_frame(0, 0, 0, 0))
|
||||
|
||||
model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
|
||||
medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
|
||||
|
||||
|
||||
# 'camera from model camera'
|
||||
def get_model_height_transform(camera_frame_from_road_frame, height):
|
||||
camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, 0],
|
||||
[0, 0, 1],
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, 0],
|
||||
[0, 0, 1],
|
||||
]))
|
||||
|
||||
camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, height - model_height],
|
||||
[0, 0, 1],
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, height - model_height],
|
||||
[0, 0, 1],
|
||||
]))
|
||||
|
||||
road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
|
||||
@@ -100,13 +115,14 @@ def get_model_height_transform(camera_frame_from_road_frame, height):
|
||||
|
||||
# camera_frame_from_model_frame aka 'warp matrix'
|
||||
# was: calibration.h/CalibrationTransform
|
||||
def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height):
|
||||
def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height, camera_fl=FOCAL):
|
||||
vp = vp_from_ke(camera_frame_from_road_frame)
|
||||
|
||||
model_zoom = camera_fl / model_fl
|
||||
model_camera_from_model_frame = np.array([
|
||||
[model_zoom, 0., vp[0] - MODEL_CX * model_zoom],
|
||||
[ 0., model_zoom, vp[1] - MODEL_CY * model_zoom],
|
||||
[ 0., 0., 1.],
|
||||
[model_zoom, 0.0, vp[0] - MODEL_CX * model_zoom],
|
||||
[0.0, model_zoom, vp[1] - MODEL_CY * model_zoom],
|
||||
[0.0, 0.0, 1.0],
|
||||
])
|
||||
|
||||
# This function is super slow, so skip it if height is very close to canonical
|
||||
|
||||
@@ -30,7 +30,8 @@ Eigen::Vector3d quat2euler(Eigen::Quaterniond quat){
|
||||
// Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
|
||||
// return {euler(2), euler(1), euler(0)};
|
||||
double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
|
||||
double theta = asin(2 * (quat.w() * quat.y() - quat.z() * quat.x()));
|
||||
double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0);
|
||||
double theta = asin(asin_arg_clipped);
|
||||
double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
|
||||
return {gamma, theta, psi};
|
||||
}
|
||||
@@ -39,7 +40,7 @@ Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat){
|
||||
return quat.toRotationMatrix();
|
||||
}
|
||||
|
||||
Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot){
|
||||
Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot){
|
||||
return ensure_unique(Eigen::Quaterniond(rot));
|
||||
}
|
||||
|
||||
@@ -47,7 +48,7 @@ Eigen::Matrix3d euler2rot(Eigen::Vector3d euler){
|
||||
return quat2rot(euler2quat(euler));
|
||||
}
|
||||
|
||||
Eigen::Vector3d rot2euler(Eigen::Matrix3d rot){
|
||||
Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot){
|
||||
return quat2euler(rot2quat(rot));
|
||||
}
|
||||
|
||||
@@ -141,7 +142,3 @@ Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose){
|
||||
return {phi, theta, psi};
|
||||
}
|
||||
|
||||
|
||||
|
||||
int main(void){
|
||||
}
|
||||
|
||||
@@ -8,9 +8,9 @@ Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat);
|
||||
Eigen::Quaterniond euler2quat(Eigen::Vector3d euler);
|
||||
Eigen::Vector3d quat2euler(Eigen::Quaterniond quat);
|
||||
Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat);
|
||||
Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot);
|
||||
Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
|
||||
Eigen::Matrix3d euler2rot(Eigen::Vector3d euler);
|
||||
Eigen::Vector3d rot2euler(Eigen::Matrix3d rot);
|
||||
Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
|
||||
Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
|
||||
Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle);
|
||||
Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose);
|
||||
|
||||
@@ -46,7 +46,6 @@ quats_from_rotations = rot2quat
|
||||
quat_from_rot = rot2quat
|
||||
rotations_from_quats = quat2rot
|
||||
rot_from_quat = quat2rot
|
||||
rot_from_quat = quat2rot
|
||||
euler_from_rot = rot2euler
|
||||
euler_from_quat = quat2euler
|
||||
rot_from_euler = euler2rot
|
||||
|
||||
@@ -1,42 +0,0 @@
|
||||
import os
|
||||
import numpy
|
||||
import sysconfig
|
||||
|
||||
from Cython.Build import cythonize
|
||||
from Cython.Distutils import build_ext
|
||||
from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
|
||||
|
||||
if ext_suffix == ext:
|
||||
return filename
|
||||
|
||||
ext_suffix = ext_suffix.replace(ext, '')
|
||||
idx = name.find(ext_suffix)
|
||||
|
||||
if idx == -1:
|
||||
return filename
|
||||
else:
|
||||
return name[:idx] + ext
|
||||
|
||||
|
||||
class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
def get_ext_filename(self, ext_name):
|
||||
filename = super().get_ext_filename(ext_name)
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
|
||||
|
||||
setup(
|
||||
name='Cython transformations wrapper',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"transformations",
|
||||
sources=["transformations.pyx"],
|
||||
language="c++",
|
||||
extra_compile_args=["-std=c++14"],
|
||||
include_dirs=[numpy.get_include()],
|
||||
)
|
||||
))
|
||||
@@ -1,3 +1,4 @@
|
||||
#cython: language_level=3
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "orientation.cc":
|
||||
|
||||
@@ -1,18 +1,20 @@
|
||||
from transformations cimport Matrix3, Vector3, Quaternion
|
||||
from transformations cimport ECEF, NED, Geodetic
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from common.transformations.transformations cimport Matrix3, Vector3, Quaternion
|
||||
from common.transformations.transformations cimport ECEF, NED, Geodetic
|
||||
|
||||
from transformations cimport euler2quat as euler2quat_c
|
||||
from transformations cimport quat2euler as quat2euler_c
|
||||
from transformations cimport quat2rot as quat2rot_c
|
||||
from transformations cimport rot2quat as rot2quat_c
|
||||
from transformations cimport euler2rot as euler2rot_c
|
||||
from transformations cimport rot2euler as rot2euler_c
|
||||
from transformations cimport rot_matrix as rot_matrix_c
|
||||
from transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
|
||||
from transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
|
||||
from transformations cimport geodetic2ecef as geodetic2ecef_c
|
||||
from transformations cimport ecef2geodetic as ecef2geodetic_c
|
||||
from transformations cimport LocalCoord_c
|
||||
from common.transformations.transformations cimport euler2quat as euler2quat_c
|
||||
from common.transformations.transformations cimport quat2euler as quat2euler_c
|
||||
from common.transformations.transformations cimport quat2rot as quat2rot_c
|
||||
from common.transformations.transformations cimport rot2quat as rot2quat_c
|
||||
from common.transformations.transformations cimport euler2rot as euler2rot_c
|
||||
from common.transformations.transformations cimport rot2euler as rot2euler_c
|
||||
from common.transformations.transformations cimport rot_matrix as rot_matrix_c
|
||||
from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
|
||||
from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
|
||||
from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
|
||||
from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
|
||||
from common.transformations.transformations cimport LocalCoord_c
|
||||
|
||||
|
||||
import cython
|
||||
@@ -26,7 +28,7 @@ cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
|
||||
[m(2, 0), m(2, 1), m(2, 2)],
|
||||
])
|
||||
|
||||
cdef Matrix3 numpy2matrix (np.ndarray[double, ndim=2, mode="fortran"] m):
|
||||
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)
|
||||
|
||||
@@ -10,7 +10,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
|
||||
-Werror=format-extra-args
|
||||
|
||||
CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
|
||||
CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
|
||||
CXXFLAGS = -std=c++1z -g -fPIC -O2 $(WARN_FLAGS)
|
||||
|
||||
CURL_FLAGS = -I$(PHONELIBS)/curl/include
|
||||
CURL_LIBS = $(PHONELIBS)/curl/lib/libcurl.a \
|
||||
@@ -34,6 +34,7 @@ all: updater
|
||||
OBJS = opensans_regular.ttf.o \
|
||||
opensans_semibold.ttf.o \
|
||||
opensans_bold.ttf.o \
|
||||
../../selfdrive/common/util.o \
|
||||
../../selfdrive/common/touch.o \
|
||||
../../selfdrive/common/framebuffer.o \
|
||||
$(PHONELIBS)/json11/json11.o \
|
||||
|
||||
7
installer/updater/oneplus.json
Normal file
7
installer/updater/oneplus.json
Normal file
@@ -0,0 +1,7 @@
|
||||
{
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-969e22c42e5c6314e54bc3ccaa5c6a684f3130a53a7a70e0cea9f1453ceb0b06.zip",
|
||||
"ota_hash": "969e22c42e5c6314e54bc3ccaa5c6a684f3130a53a7a70e0cea9f1453ceb0b06",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb.img",
|
||||
"recovery_len": 15926572,
|
||||
"recovery_hash": "db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb"
|
||||
}
|
||||
@@ -1,7 +1,7 @@
|
||||
{
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a.zip",
|
||||
"ota_hash": "efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
|
||||
"recovery_len": 15861036,
|
||||
"recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-969e22c42e5c6314e54bc3ccaa5c6a684f3130a53a7a70e0cea9f1453ceb0b06.zip",
|
||||
"ota_hash": "969e22c42e5c6314e54bc3ccaa5c6a684f3130a53a7a70e0cea9f1453ceb0b06",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-9c784a24826c25df315d0ace864224478e9c0e86b904f5d1f8e18ea1037e842b.img",
|
||||
"recovery_len": 15209772,
|
||||
"recovery_hash": "9c784a24826c25df315d0ace864224478e9c0e86b904f5d1f8e18ea1037e842b"
|
||||
}
|
||||
|
||||
Binary file not shown.
@@ -1,7 +0,0 @@
|
||||
{
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-3bd2b3bdd6a501569e00b8f12786d65e0fd2788c0dd238f8c986e3e2e504683a-kernel.zip",
|
||||
"ota_hash": "3bd2b3bdd6a501569e00b8f12786d65e0fd2788c0dd238f8c986e3e2e504683a",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
|
||||
"recovery_len": 15861036,
|
||||
"recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
|
||||
}
|
||||
Binary file not shown.
@@ -1,42 +1,40 @@
|
||||
#include <sys/stat.h>
|
||||
#include <sys/statvfs.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <cassert>
|
||||
#include <cstdio>
|
||||
#include <cstdlib>
|
||||
#include <cstring>
|
||||
#include <cassert>
|
||||
|
||||
#include <unistd.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/statvfs.h>
|
||||
|
||||
#include <string>
|
||||
#include <sstream>
|
||||
#include <fstream>
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
#include <mutex>
|
||||
#include <sstream>
|
||||
#include <string>
|
||||
#include <thread>
|
||||
|
||||
#include <curl/curl.h>
|
||||
#include <openssl/sha.h>
|
||||
|
||||
#include <GLES3/gl3.h>
|
||||
#include <EGL/egl.h>
|
||||
#include <EGL/eglext.h>
|
||||
|
||||
#include <GLES3/gl3.h>
|
||||
#include "nanovg.h"
|
||||
#define NANOVG_GLES3_IMPLEMENTATION
|
||||
#include "json11.hpp"
|
||||
#include "nanovg_gl.h"
|
||||
#include "nanovg_gl_utils.h"
|
||||
|
||||
#include "json11.hpp"
|
||||
|
||||
#include "common/framebuffer.h"
|
||||
#include "common/touch.h"
|
||||
#include "common/utilpp.h"
|
||||
#include "selfdrive/common/framebuffer.h"
|
||||
#include "selfdrive/common/touch.h"
|
||||
#include "selfdrive/common/util.h"
|
||||
|
||||
#define USER_AGENT "NEOSUpdater-0.2"
|
||||
|
||||
#define MANIFEST_URL_EON_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
|
||||
#define MANIFEST_URL_EON_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
|
||||
#define MANIFEST_URL_EON "https://github.com/commaai/eon-neos/raw/master/update.json"
|
||||
const char *manifest_url = MANIFEST_URL_EON;
|
||||
#define MANIFEST_URL_NEOS_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
|
||||
#define MANIFEST_URL_NEOS_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
|
||||
#define MANIFEST_URL_NEOS "https://github.com/commaai/eon-neos/raw/master/update.json"
|
||||
const char *manifest_url = MANIFEST_URL_NEOS;
|
||||
|
||||
#define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
|
||||
#define RECOVERY_COMMAND "/cache/recovery/command"
|
||||
@@ -96,7 +94,7 @@ std::string download_string(CURL *curl, std::string url) {
|
||||
|
||||
curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
|
||||
curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
|
||||
curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
|
||||
curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
|
||||
@@ -149,6 +147,32 @@ static void start_settings_activity(const char* name) {
|
||||
system(launch_cmd);
|
||||
}
|
||||
|
||||
bool is_settings_active() {
|
||||
FILE *fp;
|
||||
char sys_output[4096];
|
||||
|
||||
fp = popen("/bin/dumpsys window windows", "r");
|
||||
if (fp == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
bool active = false;
|
||||
while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
|
||||
if (strstr(sys_output, "mCurrentFocus=null") != NULL) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
|
||||
active = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
pclose(fp);
|
||||
|
||||
return active;
|
||||
}
|
||||
|
||||
struct Updater {
|
||||
bool do_exit = false;
|
||||
|
||||
@@ -156,7 +180,7 @@ struct Updater {
|
||||
|
||||
int fb_w, fb_h;
|
||||
|
||||
FramebufferState *fb = NULL;
|
||||
std::unique_ptr<FrameBuffer> fb;
|
||||
NVGcontext *vg = NULL;
|
||||
int font_regular;
|
||||
int font_semibold;
|
||||
@@ -166,7 +190,6 @@ struct Updater {
|
||||
|
||||
std::mutex lock;
|
||||
|
||||
// i hate state machines give me coroutines already
|
||||
enum UpdateState {
|
||||
CONFIRMATION,
|
||||
LOW_BATTERY,
|
||||
@@ -190,14 +213,20 @@ struct Updater {
|
||||
int b_x, b_w, b_y, b_h;
|
||||
int balt_x;
|
||||
|
||||
// download stage writes these for the installation stage
|
||||
int recovery_len;
|
||||
std::string recovery_hash;
|
||||
std::string recovery_fn;
|
||||
std::string ota_fn;
|
||||
|
||||
CURL *curl = NULL;
|
||||
|
||||
Updater() {
|
||||
void ui_init() {
|
||||
touch_init(&touch);
|
||||
|
||||
fb = framebuffer_init("updater", 0x00001000, false,
|
||||
&fb_w, &fb_h);
|
||||
assert(fb);
|
||||
fb = std::make_unique<FrameBuffer>("updater", 0x00001000, false, &fb_w, &fb_h);
|
||||
|
||||
fb->set_power(HWC_POWER_MODE_NORMAL);
|
||||
|
||||
vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
|
||||
assert(vg);
|
||||
@@ -217,8 +246,12 @@ struct Updater {
|
||||
b_y = 720;
|
||||
b_h = 220;
|
||||
|
||||
state = CONFIRMATION;
|
||||
|
||||
if (download_stage(true)) {
|
||||
state = RUNNING;
|
||||
update_thread_handle = std::thread(&Updater::run_stages, this);
|
||||
} else {
|
||||
state = CONFIRMATION;
|
||||
}
|
||||
}
|
||||
|
||||
int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
|
||||
@@ -251,7 +284,7 @@ struct Updater {
|
||||
|
||||
curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
|
||||
curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
|
||||
curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
|
||||
curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
|
||||
@@ -319,92 +352,82 @@ struct Updater {
|
||||
state = RUNNING;
|
||||
}
|
||||
|
||||
std::string stage_download(std::string url, std::string hash, std::string name) {
|
||||
std::string download(std::string url, std::string hash, std::string name, bool dry_run) {
|
||||
std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
|
||||
|
||||
set_progress("Downloading " + name + "...");
|
||||
bool r = download_file(url, out_fn);
|
||||
if (!r) {
|
||||
set_error("failed to download " + name);
|
||||
return "";
|
||||
std::string fn_hash = sha256_file(out_fn);
|
||||
if (dry_run) {
|
||||
return (hash.compare(fn_hash) != 0) ? "" : out_fn;
|
||||
}
|
||||
|
||||
// start or resume downloading if hash doesn't match
|
||||
if (hash.compare(fn_hash) != 0) {
|
||||
set_progress("Downloading " + name + "...");
|
||||
bool r = download_file(url, out_fn);
|
||||
if (!r) {
|
||||
set_error("failed to download " + name);
|
||||
unlink(out_fn.c_str());
|
||||
return "";
|
||||
}
|
||||
fn_hash = sha256_file(out_fn);
|
||||
}
|
||||
|
||||
set_progress("Verifying " + name + "...");
|
||||
std::string fn_hash = sha256_file(out_fn);
|
||||
printf("got %s hash: %s\n", name.c_str(), hash.c_str());
|
||||
if (fn_hash != hash) {
|
||||
set_error(name + " was corrupt");
|
||||
unlink(out_fn.c_str());
|
||||
return "";
|
||||
}
|
||||
|
||||
return out_fn;
|
||||
}
|
||||
|
||||
void run_stages() {
|
||||
bool download_stage(bool dry_run = false) {
|
||||
curl = curl_easy_init();
|
||||
assert(curl);
|
||||
|
||||
if (!check_battery()) {
|
||||
set_battery_low();
|
||||
int battery_cap = battery_capacity();
|
||||
while(battery_cap < min_battery_cap) {
|
||||
battery_cap = battery_capacity();
|
||||
battery_cap_text = std::to_string(battery_cap);
|
||||
usleep(1000000);
|
||||
}
|
||||
set_running();
|
||||
}
|
||||
// ** quick checks before download **
|
||||
|
||||
if (!check_space()) {
|
||||
set_error("2GB of free space required to update");
|
||||
return;
|
||||
if (!dry_run) set_error("2GB of free space required to update");
|
||||
return false;
|
||||
}
|
||||
|
||||
mkdir(UPDATE_DIR, 0777);
|
||||
|
||||
const int EON = (access("/EON", F_OK) != -1);
|
||||
|
||||
set_progress("Finding latest version...");
|
||||
std::string manifest_s;
|
||||
if (EON) {
|
||||
manifest_s = download_string(curl, manifest_url);
|
||||
} else {
|
||||
// don't update NEO
|
||||
exit(0);
|
||||
}
|
||||
|
||||
std::string manifest_s = download_string(curl, manifest_url);
|
||||
printf("manifest: %s\n", manifest_s.c_str());
|
||||
|
||||
std::string err;
|
||||
auto manifest = json11::Json::parse(manifest_s, err);
|
||||
if (manifest.is_null() || !err.empty()) {
|
||||
set_error("failed to load update manifest");
|
||||
return;
|
||||
return false;
|
||||
}
|
||||
|
||||
std::string ota_url = manifest["ota_url"].string_value();
|
||||
std::string ota_hash = manifest["ota_hash"].string_value();
|
||||
|
||||
std::string recovery_url = manifest["recovery_url"].string_value();
|
||||
std::string recovery_hash = manifest["recovery_hash"].string_value();
|
||||
int recovery_len = manifest["recovery_len"].int_value();
|
||||
recovery_hash = manifest["recovery_hash"].string_value();
|
||||
recovery_len = manifest["recovery_len"].int_value();
|
||||
|
||||
// std::string installer_url = manifest["installer_url"].string_value();
|
||||
// std::string installer_hash = manifest["installer_hash"].string_value();
|
||||
|
||||
if (ota_url.empty() || ota_hash.empty()) {
|
||||
set_error("invalid update manifest");
|
||||
return;
|
||||
return false;
|
||||
}
|
||||
|
||||
// std::string installer_fn = stage_download(installer_url, installer_hash, "installer");
|
||||
// std::string installer_fn = download(installer_url, installer_hash, "installer");
|
||||
// if (installer_fn.empty()) {
|
||||
// //error'd
|
||||
// return;
|
||||
// }
|
||||
|
||||
std::string recovery_fn;
|
||||
// ** handle recovery download **
|
||||
if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
|
||||
set_progress("Skipping recovery flash...");
|
||||
} else {
|
||||
@@ -414,27 +437,57 @@ struct Updater {
|
||||
printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
|
||||
|
||||
if (existing_recovery_hash != recovery_hash) {
|
||||
recovery_fn = stage_download(recovery_url, recovery_hash, "recovery");
|
||||
recovery_fn = download(recovery_url, recovery_hash, "recovery", dry_run);
|
||||
if (recovery_fn.empty()) {
|
||||
// error'd
|
||||
return;
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
std::string ota_fn = stage_download(ota_url, ota_hash, "update");
|
||||
// ** handle ota download **
|
||||
ota_fn = download(ota_url, ota_hash, "update", dry_run);
|
||||
if (ota_fn.empty()) {
|
||||
//error'd
|
||||
return;
|
||||
return false;
|
||||
}
|
||||
|
||||
// download sucessful
|
||||
return true;
|
||||
}
|
||||
|
||||
// thread that handles downloading and installing the update
|
||||
void run_stages() {
|
||||
printf("run_stages start\n");
|
||||
|
||||
|
||||
// ** download update **
|
||||
|
||||
if (!check_battery()) {
|
||||
set_battery_low();
|
||||
int battery_cap = battery_capacity();
|
||||
while(battery_cap < min_battery_cap) {
|
||||
battery_cap = battery_capacity();
|
||||
battery_cap_text = std::to_string(battery_cap);
|
||||
usleep(1000000);
|
||||
util::sleep_for(1000);
|
||||
}
|
||||
set_running();
|
||||
}
|
||||
|
||||
bool sucess = download_stage();
|
||||
if (!sucess) {
|
||||
return;
|
||||
}
|
||||
|
||||
// ** install update **
|
||||
|
||||
if (!check_battery()) {
|
||||
set_battery_low();
|
||||
int battery_cap = battery_capacity();
|
||||
while(battery_cap < min_battery_cap) {
|
||||
battery_cap = battery_capacity();
|
||||
battery_cap_text = std::to_string(battery_cap);
|
||||
util::sleep_for(1000);
|
||||
}
|
||||
set_running();
|
||||
}
|
||||
@@ -601,7 +654,7 @@ struct Updater {
|
||||
int powerprompt_y = 312;
|
||||
nvgFontFace(vg, "opensans_regular");
|
||||
nvgFontSize(vg, 64.0f);
|
||||
nvgText(vg, fb_w/2, 740, "Ensure EON is connected to power.", NULL);
|
||||
nvgText(vg, fb_w/2, 740, "Ensure your device remains connected to a power source.", NULL);
|
||||
|
||||
NVGpaint paint = nvgBoxGradient(
|
||||
vg, progress_x + 1, progress_y + 1,
|
||||
@@ -657,9 +710,7 @@ struct Updater {
|
||||
void ui_update() {
|
||||
std::lock_guard<std::mutex> guard(lock);
|
||||
|
||||
switch (state) {
|
||||
case ERROR:
|
||||
case CONFIRMATION: {
|
||||
if (state == ERROR || state == CONFIRMATION) {
|
||||
int touch_x = -1, touch_y = -1;
|
||||
int res = touch_poll(&touch, &touch_x, &touch_y, 0);
|
||||
if (res == 1 && !is_settings_active()) {
|
||||
@@ -678,13 +729,11 @@ struct Updater {
|
||||
}
|
||||
}
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void go() {
|
||||
ui_init();
|
||||
|
||||
while (!do_exit) {
|
||||
ui_update();
|
||||
|
||||
@@ -706,63 +755,49 @@ struct Updater {
|
||||
|
||||
glDisable(GL_BLEND);
|
||||
|
||||
framebuffer_swap(fb);
|
||||
fb->swap();
|
||||
|
||||
assert(glGetError() == GL_NO_ERROR);
|
||||
|
||||
// no simple way to do 30fps vsync with surfaceflinger...
|
||||
usleep(30000);
|
||||
util::sleep_for(30);
|
||||
}
|
||||
|
||||
if (update_thread_handle.joinable()) {
|
||||
update_thread_handle.join();
|
||||
}
|
||||
|
||||
// reboot
|
||||
system("service call power 16 i32 0 i32 0 i32 1");
|
||||
}
|
||||
|
||||
bool is_settings_active() {
|
||||
FILE *fp;
|
||||
char sys_output[4096];
|
||||
|
||||
fp = popen("/bin/dumpsys window windows", "r");
|
||||
if (fp == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
bool active = false;
|
||||
while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
|
||||
if (strstr(sys_output, "mCurrentFocus=null") != NULL) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
|
||||
active = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
pclose(fp);
|
||||
|
||||
return active;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
bool background_cache = false;
|
||||
if (argc > 1) {
|
||||
if (strcmp(argv[1], "local") == 0) {
|
||||
manifest_url = MANIFEST_URL_EON_LOCAL;
|
||||
manifest_url = MANIFEST_URL_NEOS_LOCAL;
|
||||
} else if (strcmp(argv[1], "staging") == 0) {
|
||||
manifest_url = MANIFEST_URL_EON_STAGING;
|
||||
manifest_url = MANIFEST_URL_NEOS_STAGING;
|
||||
} else if (strcmp(argv[1], "bgcache") == 0) {
|
||||
manifest_url = argv[2];
|
||||
background_cache = true;
|
||||
} else {
|
||||
manifest_url = argv[1];
|
||||
}
|
||||
}
|
||||
|
||||
printf("updating from %s\n", manifest_url);
|
||||
Updater updater;
|
||||
updater.go();
|
||||
|
||||
return 0;
|
||||
int err = 0;
|
||||
if (background_cache) {
|
||||
err = !updater.download_stage();
|
||||
} else {
|
||||
updater.go();
|
||||
}
|
||||
return err;
|
||||
}
|
||||
|
||||
@@ -1,25 +1,196 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
export OMP_NUM_THREADS=1
|
||||
export MKL_NUM_THREADS=1
|
||||
export NUMEXPR_NUM_THREADS=1
|
||||
export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$BASEDIR" ]; then
|
||||
BASEDIR="/data/openpilot"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
export PASSIVE="1"
|
||||
source "$BASEDIR/launch_env.sh"
|
||||
|
||||
if ! $(grep -q "letv" /proc/cmdline); then
|
||||
mount -o remount,rw /system
|
||||
sed -i -e 's#/dev/input/event1#/dev/input/event2#g' ~/.bash_profile
|
||||
mount -o remount,r /system
|
||||
fi
|
||||
|
||||
STAGING_ROOT="/data/safe_staging"
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
function two_init {
|
||||
|
||||
function launch {
|
||||
# Wifi scan
|
||||
wpa_cli IFNAME=wlan0 SCAN
|
||||
|
||||
# *** shield cores 2-3 ***
|
||||
|
||||
# android gets two cores
|
||||
echo 0-1 > /dev/cpuset/background/cpus
|
||||
echo 0-1 > /dev/cpuset/system-background/cpus
|
||||
echo 0-1 > /dev/cpuset/foreground/cpus
|
||||
echo 0-1 > /dev/cpuset/foreground/boost/cpus
|
||||
echo 0-1 > /dev/cpuset/android/cpus
|
||||
|
||||
# openpilot gets all the cores
|
||||
echo 0-3 > /dev/cpuset/app/cpus
|
||||
|
||||
# mask off 2-3 from RPS and XPS - Receive/Transmit Packet Steering
|
||||
echo 3 | tee /sys/class/net/*/queues/*/rps_cpus
|
||||
echo 3 | tee /sys/class/net/*/queues/*/xps_cpus
|
||||
|
||||
# *** set up governors ***
|
||||
|
||||
# +50mW offroad, +500mW onroad for 30% more RAM bandwidth
|
||||
echo "performance" > /sys/class/devfreq/soc:qcom,cpubw/governor
|
||||
echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq
|
||||
echo "performance" > /sys/class/devfreq/soc:qcom,m4m/governor
|
||||
|
||||
# unclear if these help, but they don't seem to hurt
|
||||
echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor
|
||||
echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor
|
||||
|
||||
# GPU
|
||||
echo "performance" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor
|
||||
|
||||
# /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave"
|
||||
# it seems to gain nothing but a wasted 500mW
|
||||
|
||||
# *** set up IRQ affinities ***
|
||||
|
||||
# Collect RIL and other possibly long-running I/O interrupts onto CPU 1
|
||||
echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
|
||||
echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
|
||||
echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
|
||||
echo 1 > /proc/irq/6/smp_affinity_list # MDSS
|
||||
|
||||
# USB traffic needs realtime handling on cpu 3
|
||||
[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list
|
||||
[ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
|
||||
|
||||
# GPU and camera get cpu 2
|
||||
CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
|
||||
for irq in $CAM_IRQS; do
|
||||
echo 2 > /proc/irq/$irq/smp_affinity_list
|
||||
done
|
||||
echo 2 > /proc/irq/193/smp_affinity_list # GPU
|
||||
|
||||
# give GPU threads RT priority
|
||||
for pid in $(pgrep "kgsl"); do
|
||||
chrt -f -p 52 $pid
|
||||
done
|
||||
|
||||
# the flippening!
|
||||
LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1
|
||||
|
||||
# disable bluetooth
|
||||
service call bluetooth_manager 8
|
||||
|
||||
# Check for NEOS update
|
||||
if $(grep -q "letv" /proc/cmdline); then
|
||||
if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
|
||||
if [ -f "$DIR/scripts/continue.sh" ]; then
|
||||
cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
|
||||
fi
|
||||
|
||||
if [ ! -f "$BASEDIR/prebuilt" ]; then
|
||||
# Clean old build products, but preserve the scons cache
|
||||
cd $DIR
|
||||
scons --clean
|
||||
git clean -xdf
|
||||
git submodule foreach --recursive git clean -xdf
|
||||
fi
|
||||
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
|
||||
fi
|
||||
else
|
||||
echo -n 0 > /data/params/d/DisableUpdates
|
||||
fi
|
||||
|
||||
# One-time fix for a subset of OP3T with gyro orientation offsets.
|
||||
# Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
|
||||
# Performed exactly once. The old registry is preserved just-in-case, and
|
||||
# doubles as a flag denoting we've already done the reset.
|
||||
if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
|
||||
echo "Performing OP3T sensor registry reset"
|
||||
mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
|
||||
rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
|
||||
echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
|
||||
sleep 5 # Give Android sensor subsystem a moment to recover
|
||||
fi
|
||||
}
|
||||
|
||||
function tici_init {
|
||||
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
|
||||
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
|
||||
|
||||
# set success flag for current boot slot
|
||||
sudo abctl --set_success
|
||||
|
||||
# Check if AGNOS update is required
|
||||
if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
|
||||
# Get number of slot to switch to
|
||||
CUR_SLOT=$(abctl --boot_slot)
|
||||
if [[ "$CUR_SLOT" == "_a" ]]; then
|
||||
OTHER_SLOT="_b"
|
||||
OTHER_SLOT_NUMBER="1"
|
||||
else
|
||||
OTHER_SLOT="_a"
|
||||
OTHER_SLOT_NUMBER="0"
|
||||
fi
|
||||
echo "Cur slot $CUR_SLOT, target $OTHER_SLOT"
|
||||
|
||||
# Get expected hashes from manifest
|
||||
MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
|
||||
SYSTEM_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"system\") | .hash_raw" $MANIFEST)
|
||||
SYSTEM_SIZE=$(jq -r ".[] | select(.name == \"system\") | .size" $MANIFEST)
|
||||
BOOT_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"boot\") | .hash_raw" $MANIFEST)
|
||||
BOOT_SIZE=$(jq -r ".[] | select(.name == \"boot\") | .size" $MANIFEST)
|
||||
echo "Expected hashes:"
|
||||
echo "System: $SYSTEM_HASH_EXPECTED"
|
||||
echo "Boot: $BOOT_HASH_EXPECTED"
|
||||
|
||||
# Read hashes from alternate partitions, should already be flashed by updated
|
||||
SYSTEM_HASH=$(dd if="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 skip="$SYSTEM_SIZE" count=64 2>/dev/null)
|
||||
BOOT_HASH=$(dd if="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 skip="$BOOT_SIZE" count=64 2>/dev/null)
|
||||
echo "Found hashes:"
|
||||
echo "System: $SYSTEM_HASH"
|
||||
echo "Boot: $BOOT_HASH"
|
||||
|
||||
if [[ "$SYSTEM_HASH" == "$SYSTEM_HASH_EXPECTED" && "$BOOT_HASH" == "$BOOT_HASH_EXPECTED" ]]; then
|
||||
echo "Swapping active slot to $OTHER_SLOT_NUMBER"
|
||||
|
||||
# Clean hashes before swapping to prevent looping
|
||||
dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
|
||||
dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
|
||||
sync
|
||||
|
||||
abctl --set_active "$OTHER_SLOT_NUMBER"
|
||||
|
||||
sleep 1
|
||||
sudo reboot
|
||||
else
|
||||
echo "Hash mismatch, downloading agnos"
|
||||
if $DIR/selfdrive/hardware/tici/agnos.py $MANIFEST; then
|
||||
echo "Download done, swapping active slot to $OTHER_SLOT_NUMBER"
|
||||
|
||||
# Clean hashes before swapping to prevent looping
|
||||
dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
|
||||
dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
|
||||
sync
|
||||
|
||||
abctl --set_active "$OTHER_SLOT_NUMBER"
|
||||
fi
|
||||
|
||||
sleep 1
|
||||
sudo reboot
|
||||
fi
|
||||
fi
|
||||
}
|
||||
|
||||
function launch {
|
||||
# Remove orphaned git lock if it exists on boot
|
||||
[ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
|
||||
|
||||
# Pull time from panda
|
||||
$DIR/selfdrive/boardd/set_time.py
|
||||
|
||||
# Check to see if there's a valid overlay-based update available. Conditions
|
||||
# are as follows:
|
||||
#
|
||||
@@ -30,10 +201,10 @@ function launch {
|
||||
# that completed successfully and synced to disk.
|
||||
|
||||
if [ -f "${BASEDIR}/.overlay_init" ]; then
|
||||
find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
|
||||
if [ $? -eq 0 ]; then
|
||||
echo "${BASEDIR} has been modified, skipping overlay update installation"
|
||||
else
|
||||
# find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
|
||||
# if [ $? -eq 0 ]; then
|
||||
# echo "${BASEDIR} has been modified, skipping overlay update installation"
|
||||
# else
|
||||
if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
|
||||
if [ ! -d /data/safe_staging/old_openpilot ]; then
|
||||
echo "Valid overlay update found, installing"
|
||||
@@ -49,79 +220,38 @@ function launch {
|
||||
git submodule foreach --recursive git reset --hard
|
||||
|
||||
echo "Restarting launch script ${LAUNCHER_LOCATION}"
|
||||
unset REQUIRED_NEOS_VERSION
|
||||
unset AGNOS_VERSION
|
||||
exec "${LAUNCHER_LOCATION}"
|
||||
else
|
||||
echo "openpilot backup found, not updating"
|
||||
# TODO: restore backup? This means the updater didn't start after swapping
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
# Android and other system processes are not permitted to run on CPU 3
|
||||
# NEOS installed app processes can run anywhere
|
||||
echo 0-2 > /dev/cpuset/background/cpus
|
||||
echo 0-2 > /dev/cpuset/system-background/cpus
|
||||
[ -d "/dev/cpuset/foreground/boost/cpus" ] && echo 0-2 > /dev/cpuset/foreground/boost/cpus # Not present in < NEOS 15
|
||||
echo 0-2 > /dev/cpuset/foreground/cpus
|
||||
echo 0-2 > /dev/cpuset/android/cpus
|
||||
echo 0-3 > /dev/cpuset/app/cpus
|
||||
|
||||
# Collect RIL and other possibly long-running I/O interrupts onto CPU 1
|
||||
echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
|
||||
echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
|
||||
echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
|
||||
# USB traffic needs realtime handling on cpu 3
|
||||
[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
|
||||
[ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
|
||||
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
# Remove old NEOS update file
|
||||
# TODO: move this code to the updater
|
||||
if [ -d /data/neoupdate ]; then
|
||||
rm -rf /data/neoupdate
|
||||
fi
|
||||
|
||||
# Check for NEOS update
|
||||
if [ $(< /VERSION) != "14" ]; then
|
||||
if [ -f "$DIR/scripts/continue.sh" ]; then
|
||||
cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
|
||||
fi
|
||||
|
||||
if [ ! -f "$BASEDIR/prebuilt" ]; then
|
||||
echo "Clearing build products and resetting scons state prior to NEOS update"
|
||||
cd $BASEDIR && scons --clean
|
||||
rm -rf /tmp/scons_cache
|
||||
rm -r $BASEDIR/.sconsign.dblite
|
||||
fi
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
|
||||
else
|
||||
if [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update_kernel.json"
|
||||
fi
|
||||
fi
|
||||
|
||||
# One-time fix for a subset of OP3T with gyro orientation offsets.
|
||||
# Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
|
||||
# Performed exactly once. The old registry is preserved just-in-case, and
|
||||
# doubles as a flag denoting we've already done the reset.
|
||||
# TODO: we should really grow per-platform detect and setup routines
|
||||
if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
|
||||
echo "Performing OP3T sensor registry reset"
|
||||
mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
|
||||
rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
|
||||
echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
|
||||
sleep 5 # Give Android sensor subsystem a moment to recover
|
||||
# fi
|
||||
fi
|
||||
|
||||
# handle pythonpath
|
||||
ln -sfn $(pwd) /data/pythonpath
|
||||
export PYTHONPATH="$PWD"
|
||||
|
||||
# hardware specific init
|
||||
if [ -f /EON ]; then
|
||||
two_init
|
||||
elif [ -f /TICI ]; then
|
||||
tici_init
|
||||
fi
|
||||
|
||||
if [ -f "/sdcard/dp_patcher.py" ]; then
|
||||
/data/data/com.termux/files/usr/bin/python /sdcard/dp_patcher.py
|
||||
fi
|
||||
|
||||
# write tmux scrollback to a file
|
||||
tmux capture-pane -pq -S-1000 > /tmp/launch_log
|
||||
|
||||
# start manager
|
||||
cd selfdrive
|
||||
./manager.py
|
||||
cd selfdrive/manager
|
||||
./build.py && ./manager.py
|
||||
|
||||
# if broken, keep on screen error
|
||||
while true; do sleep 1; done
|
||||
|
||||
21
launch_env.sh
Executable file
21
launch_env.sh
Executable file
@@ -0,0 +1,21 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
export OMP_NUM_THREADS=1
|
||||
export MKL_NUM_THREADS=1
|
||||
export NUMEXPR_NUM_THREADS=1
|
||||
export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$REQUIRED_NEOS_VERSION" ]; then
|
||||
export REQUIRED_NEOS_VERSION="16.2"
|
||||
fi
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="0.14"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
export PASSIVE="1"
|
||||
fi
|
||||
|
||||
export STAGING_ROOT="/data/safe_staging"
|
||||
@@ -1,4 +1,10 @@
|
||||
#!/usr/bin/bash
|
||||
size=$(du -sb .git/index 2>/dev/null|awk '{print $1}')
|
||||
echo $size|grep -E '^[0-9]+$' >/dev/null || size=0
|
||||
if [ $size -le 1024 ];then
|
||||
rm .git/index 2>/dev/null
|
||||
git reset
|
||||
fi
|
||||
|
||||
export PASSIVE="0"
|
||||
exec ./launch_chffrplus.sh
|
||||
|
||||
Binary file not shown.
Binary file not shown.
2
opendbc/.gitignore
vendored
2
opendbc/.gitignore
vendored
@@ -1,6 +1,7 @@
|
||||
.mypy_cache/
|
||||
*.pyc
|
||||
*.os
|
||||
*.o
|
||||
*.tmp
|
||||
*.dylib
|
||||
.*.swp
|
||||
@@ -14,4 +15,3 @@ can/packer_pyx.cpp
|
||||
can/parser_pyx.cpp
|
||||
can/packer_pyx.html
|
||||
can/parser_pyx.html
|
||||
can/packer_impl.cpp
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "acura_ilx_2016_can.dbc starts here"
|
||||
CM_ "acura_ilx_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user