mirror of
https://github.com/dragonpilot/dragonpilot.git
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Compare commits
5 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
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446fb5f857 | ||
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e55185a7bb | ||
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4bf7baabe6 | ||
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91ade81972 |
16
.gitignore
vendored
16
.gitignore
vendored
@@ -1,5 +1,4 @@
|
||||
venv/
|
||||
.clang-format
|
||||
.DS_Store
|
||||
.tags
|
||||
.ipynb_checkpoints
|
||||
@@ -7,10 +6,9 @@ venv/
|
||||
.overlay_init
|
||||
.overlay_consistent
|
||||
.sconsign.dblite
|
||||
.vscode*
|
||||
.vscode
|
||||
model2.png
|
||||
a.out
|
||||
.hypothesis
|
||||
|
||||
*.dylib
|
||||
*.DSYM
|
||||
@@ -33,7 +31,6 @@ a.out
|
||||
*.vcd
|
||||
config.json
|
||||
clcache
|
||||
compile_commands.json
|
||||
|
||||
persist
|
||||
board/obj/
|
||||
@@ -41,14 +38,13 @@ 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/
|
||||
@@ -59,7 +55,8 @@ notebooks
|
||||
xx
|
||||
hyperthneed
|
||||
panda_jungle
|
||||
provisioning
|
||||
apks
|
||||
openpilot-apks
|
||||
|
||||
.coverage*
|
||||
coverage.xml
|
||||
@@ -70,7 +67,4 @@ pandaextra
|
||||
flycheck_*
|
||||
|
||||
cppcheck_report.txt
|
||||
comma*.sh
|
||||
|
||||
selfdrive/modeld/thneed/compile
|
||||
models/*.thneed
|
||||
comma.sh
|
||||
|
||||
@@ -1,64 +1,3 @@
|
||||
dragonpilot 0.8.6-1
|
||||
========================
|
||||
* Based on openpilot 0.8.6 devel.
|
||||
* Support 1+3t / C2 / Jetson Xavier NX.
|
||||
* Support White / Grey Panda.
|
||||
|
||||
dragonpilot 0.8.5-4
|
||||
========================
|
||||
* Added multiple toggles.
|
||||
* Code clean up.
|
||||
* Android app support. (see selfdrive/dragonpilot/HOWTO-APPD.md)
|
||||
* Better support for VW MPQ (Thanks to @Saber)
|
||||
|
||||
dragonpilot 0.8.5-3
|
||||
========================
|
||||
* Added Jetson support toggle.
|
||||
* Added Steering Ratio controller.
|
||||
* Reduce Following Profile to 3 modes only. (1.8s / 1.5s / 1.2s)
|
||||
* Bug fixes.
|
||||
|
||||
dragonpilot 0.8.5-2
|
||||
========================
|
||||
* Added black panda simulation toggle.
|
||||
* Added No GPS toggle.
|
||||
* Added No Battery Toggle.
|
||||
* Bug fixes.
|
||||
|
||||
dragonpilot 0.8.5-1
|
||||
========================
|
||||
* Based on openpilot 0.8.5 devel.
|
||||
* 基於 openpilot 0.8.5 devel.
|
||||
* Support 1+3t / C2 / Jetson Xavier NX.
|
||||
* 支持 1+3t / C2 / Jetson Xavier NX.
|
||||
* No White/Grey Panda Support.
|
||||
* 不支持白灰熊.
|
||||
|
||||
dragonpilot 0.8.4-3
|
||||
========================
|
||||
* 簡化 1+3t 安裝方法. (請查閱 HOWTO-ONEPLUS.md)
|
||||
* Simplied 1+3t installation. (See HOWTO-ONEPLUS.md)
|
||||
* 加回舊 ssh 登錄.
|
||||
* Good old ssh key.
|
||||
* 修復本田錯誤. (感謝 @loveloveses)
|
||||
* Fixed Honda bug. (Thanks to @loveloveses)
|
||||
|
||||
dragonpilot 0.8.4-2
|
||||
========================
|
||||
* 加回可調整加速/跟車設定.
|
||||
* Added back Accel/Following Profile.
|
||||
* 支持 Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
|
||||
* Support Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
|
||||
* 支持 1+3t (需額外安裝手續)
|
||||
* Support 1+3t (Require additional install procedure)
|
||||
* 支持白/灰熊
|
||||
* Support White/Grey Panda.
|
||||
|
||||
dragonpilot 0.8.4-1
|
||||
========================
|
||||
* 基於 openpilot 0.8.4 devel.
|
||||
* Based on openpilot 0.8.4 devel.
|
||||
|
||||
dragonpilot 0.8.1
|
||||
========================
|
||||
* 基於最新 openpilot 0.8.1 devel.
|
||||
|
||||
308
CHANGELOGS-REL.md
Normal file
308
CHANGELOGS-REL.md
Normal file
@@ -0,0 +1,308 @@
|
||||
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 0.7.10.0
|
||||
========================
|
||||
* 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)
|
||||
* 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 0.7.8
|
||||
========================
|
||||
* 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.
|
||||
* 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.
|
||||
* 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.
|
||||
* 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 0.7.7.0
|
||||
========================
|
||||
* 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.
|
||||
|
||||
dragonpilot 0.7.6
|
||||
========================
|
||||
* 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)
|
||||
* 加入 2020 Toyota Prius 指紋v2。(感謝 @Trae)
|
||||
* Added Toyota Prius 2020 FPv2. (Thanks to @Trae)
|
||||
* 優化 Honda CR-V Hybrid 轉向。(感謝 @martint1980)
|
||||
× Optomised Honda CR-V Hybrid lateral control. (Thanks to @martint1980)
|
||||
|
||||
dragonpilot 0.7.5
|
||||
========================
|
||||
* 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)
|
||||
* 將剎車狀熊顯示於 dp 資訊欄。
|
||||
* Added brake indicator to dp infobar.
|
||||
* 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)
|
||||
* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
|
||||
* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
|
||||
* 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)
|
||||
* 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)
|
||||
* 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)
|
||||
* 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)
|
||||
|
||||
dragonpilot 0.7.4
|
||||
========================
|
||||
* [2020-04-10] 移除所有的第三方應用改為自動下載。
|
||||
* [2020-04-10] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
|
||||
* [2020-03-31] 還原部分修改代碼以達到 comma ai 安全準則。 (Reverted changes to panda safety code to comply with comma ai safety guideline.)
|
||||
* [2020-03-31] 調整「啟用原廠 DSU 模式」為踩剎車時會暫時斷開控制 。(Enable Stock DSU Mode will temporary disable controls when brake is pressed.)
|
||||
* [2020-03-27] 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
|
||||
* [2020-03-27] 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
|
||||
* [2020-03-27] 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
|
||||
* [2020-03-27] 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
|
||||
* [2020-03-27] 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
|
||||
* [2020-03-27] 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
|
||||
* [2020-03-27] 加入韓文支持。(感謝 crwusiz 提供)
|
||||
* [2020-03-27] 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
|
||||
|
||||
dragonpilot 0.7.3
|
||||
========================
|
||||
* [2020-03-17] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
|
||||
* [2020-03-14] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
|
||||
* [2020-03-14] 加入自動關機開關。(感謝 Rzxd 建議)
|
||||
* [2020-03-14] 調高 Toyota 扭力容錯值。
|
||||
* [2020-03-14] 優化讀取 dp 設定值。
|
||||
* [2020-03-14] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
|
||||
* [2020-03-14] dp 功能加入對 Subaru 車系的支援。
|
||||
* [2020-03-06] 加入葡萄牙語支持。(感謝 berno22 提供)
|
||||
* [2020-03-06] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
|
||||
* [2020-03-04] 加入顯示駕駛監控畫面。
|
||||
* [2020-03-04] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
|
||||
* [2020-03-04] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
|
||||
|
||||
dragonpilot 0.7.2
|
||||
========================
|
||||
* [2020-02-08] dp 功能加入對現代 (Hyundai) 車系的支援。
|
||||
* [2020-02-08] 加入神盾測速照相自動啟動的開關。
|
||||
* [2020-02-08] 更新高德地圖至 v4.5.0.600053。
|
||||
* [2020-02-08] 使用 0.6.6 版的更新系統。
|
||||
* [2020-02-08] 修正急剎問題。(感謝 kumar 提供)
|
||||
* [2020-01-31] 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] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
|
||||
* [2020-01-23] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
|
||||
* [2020-01-23] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
|
||||
* [2020-01-23] 優化 appd。
|
||||
|
||||
dragonpilot 0.7.1
|
||||
========================
|
||||
* [2020-01-19] 調整 appd 和 ALC 邏輯。
|
||||
* [2020-01-14] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
|
||||
* [2020-01-18] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
|
||||
* [2020-01-18] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
|
||||
|
||||
dragonpilot 0.7.0
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
|
||||
* [2019-12-29] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
|
||||
* [2019-12-29] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
|
||||
* [2019-12-18] 修正自動換道邏輯。
|
||||
* [2019-12-18] 更新 offroad 翻譯。
|
||||
* [2019-12-18] 錯誤修正。
|
||||
* [2019-12-18] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
|
||||
* [2019-12-17] 加入輔助換道開關。（24mph / 40kph 以上)
|
||||
* [2019-12-17] 加入自動換道開關。（40mph / 65kph 以上)
|
||||
* [2019-12-17] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
|
||||
* [2019-12-17] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
|
||||
* [2019-12-17] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
|
||||
* [2019-12-10] 加入位智車機模式。 (Waze Mode)
|
||||
* [2019-11-21] 修正 offroad 翻譯。(感謝 鄧育林 回報)
|
||||
* [2019-11-21] 調整前車靜止移動偵測參數。
|
||||
* [2019-11-21] 前車靜止移動偵測可在未啟用 dp 時運作。
|
||||
* [2019-11-18] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
|
||||
* [2019-11-18] 修正 frame 翻譯。
|
||||
|
||||
dragonpilot 0.6.6
|
||||
========================
|
||||
* [2019-11-15] 修正不會充電的錯誤。 (感謝 袁昊 反應)
|
||||
* [2019-11-15] 修正充電控制。 (感謝 KT 反應)
|
||||
* [2019-11-15] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
|
||||
* [2019-11-12] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
|
||||
* [2019-11-12] 自動偵測並鎖定硬體 (EON / UNO)。
|
||||
* [2019-11-12] 加入鎖定硬體 (EON / UNO) 的程式碼。
|
||||
* [2019-11-11] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
|
||||
* [2019-11-11] 更新 MiXplorer 至 v6.40.3
|
||||
* [2019-11-11] 前車靜止移動偵測加入偵測警示。
|
||||
* [2019-11-07] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
|
||||
* [2019-11-07] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
|
||||
* [2019-11-06] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
|
||||
|
||||
dragonpilot 0.6.5
|
||||
========================
|
||||
* [2019-11-05] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
|
||||
* [2019-11-01] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
|
||||
* [2019-11-01] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
|
||||
* [2019-11-01] 移除 Miui 字型，縮小 dp 使用空間。
|
||||
* [2019-11-01] 更新 offroad 為多語言版
|
||||
* [2019-10-29] 加入 SnG 補丁。（感謝 楊雅智)
|
||||
* [2019-10-28] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
|
||||
* [2019-10-22] 移除強迫網路連線提示。(感謝 Shell)
|
||||
* [2019-10-18] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
|
||||
* [2019-10-18] 移除強迫網路連線提示。(感謝 Shell)
|
||||
* [2019-10-18] 修正 allow_gas 功能。
|
||||
* [2019-10-18] 加入彎道減速功能開關。
|
||||
* [2019-10-18] 強迫使用 dp 版 Panda 韌體。
|
||||
* [2019-10-17] 加入「車型」顯示於 dp 設定畫面。
|
||||
* [2019-10-17] 修正充電控制讀取預設值的錯誤。
|
||||
* [2019-10-17] 修正無法顯示更新記錄的錯誤。
|
||||
* [2019-10-17] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
|
||||
* [2019-10-17] 下載更新記錄時使用 "no-cache" 標頭。
|
||||
* [2019-10-17] 更新高德地圖至 v4.3.0
|
||||
* [2019-10-14] 啟用自動更新功能。(感謝 鄧育林 提供)
|
||||
* [2019-10-14] 清除不再使用的 dp params。
|
||||
* [2019-10-14] 加入數字電量指示。(感謝 鄧育林 建議)
|
||||
* [2019-10-14] 加入刷新 Panda 韌體按鈕。
|
||||
* [2019-10-11] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
|
||||
* [2019-10-11] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
|
||||
|
||||
dragonpilot 0.6.4
|
||||
========================
|
||||
* [2019-10-11] 加入台灣版 2019 RAV4H 油電版指紋。
|
||||
* [2019-10-08] 加回駕駛監控開關。
|
||||
* [2019-10-07] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
|
||||
* [2019-10-05] 移除 curvature learner: 轉角明顯比原廠小。
|
||||
* [2019-09-30] 更新 curvature learner 版本至 v4。
|
||||
* [2019-09-30] Lexus ISH 使用更精確的 EPS Steering Angle Sensor
|
||||
* [2019-09-27] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
|
||||
* [2019-09-27] 加入可開關駕駛監控的程式碼。
|
||||
* [2019-09-27] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
|
||||
* [2019-09-27] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
|
||||
* [2019-09-26] 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] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
|
||||
* [2019-09-24] 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] 優化讀取 params 的次數。
|
||||
* [2019-09-23] 加入可開關的車道偏移警示。
|
||||
* [2019-09-23] 修正充電控制邏輯。
|
||||
* [2019-09-23] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
|
||||
* [2019-09-20] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
|
||||
* [2019-09-16] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
|
||||
* [2019-09-16] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
|
||||
* [2019-09-13] 行車介面加入可開關的「速度顯示」設定。
|
||||
* [2019-09-09] 加入 GreyPanda 模式。
|
||||
* [2019-08-28] 加入可調警示音量。
|
||||
* [2019-08-27] 自動關機改為可調時長。
|
||||
|
||||
dragonpilot 0.6.3
|
||||
========================
|
||||
* [2019-10-11] 加入台灣版 2019 RAV4H 油電版指紋。
|
||||
429
CHANGELOGS.md
Normal file
429
CHANGELOGS.md
Normal file
@@ -0,0 +1,429 @@
|
||||
2021-01-11 (0.8.1.0)
|
||||
========================
|
||||
* 修正 honda 剎車錯誤顯示。(感謝 @深鲸希西 提供)
|
||||
* Fixed Honda display incorrect brake display. (Thanks to @深鲸希西)
|
||||
|
||||
2021-01-02 (0.8.1.0)
|
||||
========================
|
||||
* 加入行車記錄按鈕。(感謝 @toyboxZ 提供)
|
||||
* Added REC screen button. (Thanks to @toyboxZ)
|
||||
|
||||
2020-12-23 (0.8.1.0)
|
||||
========================
|
||||
* 基於最新 openpilot 0.8.1 devel.
|
||||
* Based on latest openpilot 0.8.1 devel.
|
||||
|
||||
2020-12-07 (0.8.0.0)
|
||||
========================
|
||||
* 錯誤修正。
|
||||
* Bug fixes.
|
||||
|
||||
2020-12-04 (0.8.0.0)
|
||||
========================
|
||||
* 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
|
||||
* Added git error fix. (Thanks to @toyboxZ)
|
||||
|
||||
2020-12-02 (0.8.0.0)
|
||||
========================
|
||||
* 基於最新 openpilot 0.8.0 devel.
|
||||
* Based on latest openpilot 0.8.0 devel.
|
||||
|
||||
2020-11-28 (0.7.10.0)
|
||||
========================
|
||||
* 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)
|
||||
|
||||
2020-11-20 (0.7.10.0)
|
||||
========================
|
||||
* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
|
||||
* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
|
||||
|
||||
2020-11-19 (0.7.10.0)
|
||||
========================
|
||||
* 更新所有 honda/hyunda/toyota 指紋。
|
||||
* Updated all honda/hyunda/toyota fingerprints.
|
||||
|
||||
2020-11-18 (0.7.10.0)
|
||||
========================
|
||||
* 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)
|
||||
|
||||
2020-11-05 (0.7.10.0)
|
||||
========================
|
||||
* 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)
|
||||
|
||||
2020-11-04 (0.7.10.0)
|
||||
========================
|
||||
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
|
||||
|
||||
2020-10-30 (0.7.10.0)
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.10 devel.
|
||||
* 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)
|
||||
* 新增大陸版 2018 Inspire 指紋。(感謝 @)
|
||||
* Added China Camry Hybrid FPv2. (Thanks to @杜子腾)
|
||||
|
||||
2020-10-23 (0.7.9.0)
|
||||
========================
|
||||
* 加入 Headunit Reloaded Android Auto 斷線偵側。
|
||||
* Added Disconnect detection for Headunit Reloaded Android Auto.
|
||||
* 加入 complete_setup.sh (感謝 @深鲸希西 提供)
|
||||
* Added complete_setup.sh (Thanks to @深鲸希西)
|
||||
|
||||
2020-10-21 (0.7.9.0)
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.9 devel.
|
||||
* Based on latest openpilot 0.7.9 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)
|
||||
* 加入 HKG mdps/sas 的支援。(需執行 scripts/hkg.sh 腳本)
|
||||
* Added support to HKG mdps/sas. (scripts/hkg.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)
|
||||
|
||||
2020-09-25 (0.7.8.0)
|
||||
========================
|
||||
* 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)
|
||||
|
||||
2020-09-23 (0.7.8.0)
|
||||
========================
|
||||
* 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.
|
||||
|
||||
2020-09-21 (0.7.8.0)
|
||||
========================
|
||||
* 強制關閉 panda 檢查 DOS 硬體。
|
||||
* Force disabled DOS hardware check in panda.
|
||||
|
||||
2020-09-18 (0.7.8.0)
|
||||
========================
|
||||
* gpxd 記錄改自動存成 zip 格式。
|
||||
* gpxd now store in zip format.
|
||||
|
||||
2020-09-15 (0.7.8.0)
|
||||
========================
|
||||
* 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)
|
||||
|
||||
2020-09-01 (0.7.8.0)
|
||||
========================
|
||||
* 加入 ko-KR 翻譯。
|
||||
* Added ko-KR translation.
|
||||
|
||||
2020-08-21 (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.
|
||||
|
||||
2020-08-18 (0.7.7.0)
|
||||
========================
|
||||
* gpxd 不再切換至 GCJ-02 格式。(感謝 @arne182 建議)
|
||||
* gpxd no longer switch to GCJ-02 format automatically. (Thanks to @arne182)
|
||||
* 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)
|
||||
|
||||
2020-08-17 (0.7.7.0)
|
||||
========================
|
||||
* gpxd 只儲存高精度數據。(感謝 @arne182)
|
||||
* gpxd now only stored high accuracy data. (Thanks to @arne182)
|
||||
* gpxd 加入自動切換成 GCJ-02 格式。
|
||||
* added ability to switch to GCJ-02 format in gpxd.
|
||||
* 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)
|
||||
|
||||
2020-08-12 (0.7.7.0)
|
||||
========================
|
||||
* 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)
|
||||
|
||||
2020-08-12 (0.7.7.0)
|
||||
========================
|
||||
* 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)
|
||||
|
||||
2020-08-11 (0.7.7.0)
|
||||
========================
|
||||
* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
|
||||
* Added d_poly offset. (Thanks to @ShaneSmiskol)
|
||||
|
||||
2020-08-05 (0.7.7.0)
|
||||
========================
|
||||
* 修正 Dev UI 顯示。
|
||||
* Fixed Dev UI display.
|
||||
* 加入 LQR 控制器開關進設定畫面。
|
||||
* Added LQR Controller toggle to settings.
|
||||
|
||||
2020-08-04 (0.7.7.0)
|
||||
========================
|
||||
* 嘗試修正非 Toyota 使用 lqr 產生的錯誤。
|
||||
* Attempted to fix lqr issue on non-Toyota Cars.
|
||||
* 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)
|
||||
|
||||
2020-08-02 (0.7.7.0)
|
||||
========================
|
||||
* 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)
|
||||
|
||||
2020-07-28 (0.7.7.0)
|
||||
========================
|
||||
* 修正 steer ratio learner 關閉。(感謝 @Mojo 回報, @ShaneSmiskol 提供代碼)
|
||||
* Fixed steer ratio learner toggle. (Thanks to @Mojo, @ShaneSmiskol)
|
||||
* 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)
|
||||
|
||||
2020-07-28 (0.7.7.0)
|
||||
========================
|
||||
* 修正無法上傳記錄的問題。(感謝 @Mojo)
|
||||
* Fixed unable to upload log issue. (Thanks to @Mojo)
|
||||
* 修正無法關閉警示音的問題。(感謝 @Mojo)
|
||||
* Fixed unable to disable audio alert (-100%) issue. ($Thanks to @Mojo)
|
||||
|
||||
2020-07-27 (0.7.7.0)
|
||||
========================
|
||||
* 加入回調校介面。(感謝 @Kent)
|
||||
* Re-added Dev UI. (Thanks to @Kent)
|
||||
|
||||
2020-07-27 (0.7.7.0)
|
||||
========================
|
||||
* 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.
|
||||
|
||||
2020-07-23 (0.7.7.0)
|
||||
========================
|
||||
* 修正 appd。(感謝 @cgw1968)
|
||||
* Fixed appd. (Thanks to @cgw1968)
|
||||
|
||||
2020-07-22 (0.7.7.0)
|
||||
========================
|
||||
* 修正 waze 顯示。(感謝 @Mojo)
|
||||
* Fixed waze display. (Thanks to @Mojo)
|
||||
* 加回彎道減速功能。(感謝 @Mojo)
|
||||
* re-added Slow On Curve functionality. (Thanks to @Mojo)
|
||||
* 加入日文支援。(特別感謝 @ponzu07 提供)
|
||||
* Added Japanese support. (Special thanks to @ponzu07)
|
||||
* 刪除部分設定對 dp_steering_on_signal 的依賴。
|
||||
* Removed dp_steering_on_signal dependencies.
|
||||
* 介面加入盲點偵測顯示。(感謝 @wabes)
|
||||
* Added BSM indicator to UI. (Thanks to @wabes)
|
||||
|
||||
2020-07-21 (0.7.7.0)
|
||||
========================
|
||||
* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo)
|
||||
* Added Toyota to override lowest cruise speed. (Thanks to @Mojo)
|
||||
* 修正 gm 錯誤。
|
||||
* Fixed bugs in gm cars.
|
||||
|
||||
2020-07-20 (0.7.7.0)
|
||||
========================
|
||||
* 加回 加速模式 開關。
|
||||
* Re-added Accel Profile toggle.
|
||||
* 修正 gm 錯誤。
|
||||
* Fixed bugs in gm cars.
|
||||
|
||||
2020-07-19 (0.7.7.0)
|
||||
========================
|
||||
* 限制 dp_conf int / float 範圍。
|
||||
* Limited dp_conf int/float range.
|
||||
* 修復行車記錄文件夾不存在的錯誤。
|
||||
* Fixed dashcam folder not exist error.
|
||||
|
||||
2020-07-18 (0.7.7.0)
|
||||
========================
|
||||
* 優化 camera offset 讀取。
|
||||
* optomised loading camera offset value.
|
||||
* 更換模型延遲警示為一般警示。
|
||||
* Replaced model lagging loud alert to normal alert.
|
||||
|
||||
2020-07-17 (0.7.7.0)
|
||||
========================
|
||||
* 更新至最新 openpilot 0.7.7 devel。
|
||||
* Updated to latest openpilot 0.7.7 devel.
|
||||
|
||||
2020-07-17 (0.7.7.0)
|
||||
========================
|
||||
* 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.
|
||||
|
||||
2020-07-13 (0.7.7.0)
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.7 devel.
|
||||
* Based on latest openpilot 0.7.7 devel.
|
||||
|
||||
2020-06-22 (0.7.6.1)
|
||||
========================
|
||||
* 更新至 openpilot 0.7.6.1。 (特別感謝 @rockindy 協助更新)
|
||||
* Updated to openpilot 0.7.6.1. (Special thanks to @rockindy for initial merge)
|
||||
* 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)
|
||||
|
||||
2020-06-18 (0.7.5)
|
||||
========================
|
||||
* 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)
|
||||
|
||||
2020-05-30 (0.7.5)
|
||||
========================
|
||||
* 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)
|
||||
|
||||
2020-05-28 (0.7.5)
|
||||
========================
|
||||
* 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)
|
||||
|
||||
2020-05-26 (0.7.5)
|
||||
========================
|
||||
* 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)
|
||||
|
||||
2020-05-25 (0.7.5)
|
||||
========================
|
||||
* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
|
||||
* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
|
||||
|
||||
2020-05-21 (0.7.5)
|
||||
========================
|
||||
* 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.
|
||||
|
||||
2020-05-20 (0.7.5)
|
||||
========================
|
||||
* 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)
|
||||
|
||||
2020-05-19 (0.7.5)
|
||||
========================
|
||||
* 加入 DragonEnableAutoUpdate 預設值。
|
||||
* Added DragonEnableAutoUpdate default value.
|
||||
|
||||
2020-05-18 (0.7.5)
|
||||
========================
|
||||
* 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"
|
||||
|
||||
2020-05-16 (0.7.5)
|
||||
========================
|
||||
* 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)
|
||||
|
||||
2020-05-15 (0.7.5)
|
||||
========================
|
||||
* 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)
|
||||
|
||||
2020-05-10
|
||||
========================
|
||||
* 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 Camry 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.
|
||||
@@ -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 [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [blog](https://blog.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
|
||||
|
||||
@@ -22,9 +22,9 @@ Code is automatically checked for style by GitHub Actions as part of the automat
|
||||
|
||||
## Car Ports (openpilot)
|
||||
|
||||
We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.
|
||||
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://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
|
||||
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
|
||||
|
||||
@@ -36,7 +36,7 @@ Or alternatively, when on the master branch:
|
||||
```
|
||||
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://blog.comma.ai/a-2020-theme-externalization/).
|
||||
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:
|
||||
* cereal
|
||||
* laika
|
||||
|
||||
@@ -1,28 +0,0 @@
|
||||
# CONTRIBUTORS
|
||||
|
||||
Due to the way we manage the source code, it is not possible to see all the contributors info, hence we create a list here.
|
||||
|
||||
If you have contributed to DP project before and your name is not listed here, feel free to send us a PR to update this!
|
||||
|
||||
name | github | contribution
|
||||
------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------
|
||||
andy741217 | [andy741217](https://github.com/andy741217) | New features, bug fixes
|
||||
Arne Schwarck | [arne182](https://github.com/arne182) | New features, bug fixes
|
||||
berno22 | [berno22](https://github.com/berno22) | New car fingerprint
|
||||
Bobbydough | [Bobbydough](https://github.com/bobbydough) | Bug fixes
|
||||
Curtis Jenkins | [actuallylemoncurd](https://github.com/actuallylemoncurd) | New Features
|
||||
DFyffe | [donfyffe](https://github.com/donfyffe) | New features, bug fixes
|
||||
dinglx | [dingliangxue](https://github.com/dingliangxue) | New features, bug fixes
|
||||
eyezenheim | [eyezenheim](https://github.com/eyezenheim) | Tester
|
||||
kegman | [kegman](https://github.com/kegman) | New features, bug fixes
|
||||
kumar | [rav4kumar](https://github.com/rav4kumar) | DP main maintainer, New features, bug fixes
|
||||
lijunhao731 | [lijunhao731](https://github.com/lijunhao731) | New car fingerprint
|
||||
lirudy | [lirudy](https://github.com/lirudy) | Bug fixes
|
||||
LOVEChen | [LOVEChen](https://github.com/LOVEChen) | Bug fixes
|
||||
loveloveses | [loveloveses](https://github.com/loveloveses) | Bug fixes, DP wiki main maintainer
|
||||
menwenliang | [menwenliang](https://github.com/menwenliang) | New features
|
||||
Rick Lan | [efinilan](https://github.com/efinilan) | Project lead
|
||||
rming | [Rming](https://github.com/rming) | Bug fixes, wiki contributor
|
||||
sebastian4k | [sebastian4k](https://github.com/sebastian4k) | Bug fixes
|
||||
Shane Smiskol | [sshane](https://github.com/sshane) | New features, bug fixes
|
||||
toyboxZ | [toyboxZ](https://github.com/toyboxZ) | New features, bug fixes
|
||||
@@ -1,25 +0,0 @@
|
||||
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 0.8.6 branch)
|
||||
```
|
||||
cd /data/ && rm -fr openpilot; && git clone https://github.com/dragonpilot-community/dragonpilot.git -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)
|
||||
157
Jenkinsfile
vendored
157
Jenkinsfile
vendored
@@ -1,43 +1,25 @@
|
||||
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=${env.TEST_DIR}
|
||||
export SOURCE_DIR=${env.SOURCE_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 ${env.TEST_DIR} /data/pythonpath
|
||||
|
||||
if [ -f /EON ]; then
|
||||
echo \$\$ > /dev/cpuset/app/tasks || true
|
||||
echo \$PPID > /dev/cpuset/app/tasks || true
|
||||
mkdir -p /dev/shm
|
||||
chmod 777 /dev/shm
|
||||
fi
|
||||
def ci_env = "CI=1 TEST_DIR=${env.TEST_DIR} GIT_BRANCH=${env.GIT_BRANCH} GIT_COMMIT=${env.GIT_COMMIT}"
|
||||
|
||||
withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
|
||||
sh label: step_label,
|
||||
script: """
|
||||
ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 root@${ip} '${ci_env} /usr/bin/bash -le' <<'EOF'
|
||||
echo \$\$ > /dev/cpuset/app/tasks || true
|
||||
echo \$PPID > /dev/cpuset/app/tasks || true
|
||||
mkdir -p /dev/shm
|
||||
chmod 777 /dev/shm
|
||||
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: 150, unit: 'MINUTES') {
|
||||
timeout(time: 60, unit: 'MINUTES') {
|
||||
phone(device_ip, "kill old processes", "pkill -f comma || true")
|
||||
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
|
||||
steps.each { item ->
|
||||
phone(device_ip, item[0], item[1])
|
||||
@@ -51,15 +33,14 @@ pipeline {
|
||||
environment {
|
||||
COMMA_JWT = credentials('athena-test-jwt')
|
||||
TEST_DIR = "/data/openpilot"
|
||||
SOURCE_DIR = "/data/openpilot_source/"
|
||||
}
|
||||
options {
|
||||
timeout(time: 3, unit: 'HOURS')
|
||||
timeout(time: 1, unit: 'HOURS')
|
||||
}
|
||||
|
||||
stages {
|
||||
|
||||
stage('Build release2') {
|
||||
stage('Release Build') {
|
||||
agent {
|
||||
docker {
|
||||
image 'python:3.7.3'
|
||||
@@ -80,11 +61,12 @@ pipeline {
|
||||
when {
|
||||
not {
|
||||
anyOf {
|
||||
branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'; branch 'hotfix-*'
|
||||
branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
stages {
|
||||
|
||||
/*
|
||||
@@ -114,10 +96,6 @@ pipeline {
|
||||
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'
|
||||
}
|
||||
@@ -126,14 +104,19 @@ pipeline {
|
||||
stages {
|
||||
stage('parallel tests') {
|
||||
parallel {
|
||||
stage('Devel Tests') {
|
||||
|
||||
stage('Devel Build') {
|
||||
environment {
|
||||
CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
|
||||
}
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["build devel", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
|
||||
["build openpilot", "cd selfdrive/manager && ./build.py"],
|
||||
["test manager", "python selfdrive/manager/test/test_manager.py"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
phone_steps("eon", [
|
||||
["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
|
||||
["test openpilot", "nosetests -s selfdrive/test/test_openpilot.py"],
|
||||
["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
|
||||
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
|
||||
["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
|
||||
["test text window build", "cd selfdrive/ui/text && make clean && make"],
|
||||
])
|
||||
}
|
||||
}
|
||||
@@ -141,8 +124,7 @@ pipeline {
|
||||
stage('Replay Tests') {
|
||||
steps {
|
||||
phone_steps("eon2", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
|
||||
["camerad/modeld replay", "QCOM_REPLAY=1 scons -j4 && cd selfdrive/test/process_replay && ./camera_replay.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
@@ -150,96 +132,18 @@ pipeline {
|
||||
stage('HW + Unit Tests') {
|
||||
steps {
|
||||
phone_steps("eon", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
|
||||
["build", "SCONS_CACHE=1 scons -j4"],
|
||||
["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 loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
//["test camerad", "CI=1 python selfdrive/camerad/test/test_camerad.py"], // wait for shelf refactor
|
||||
//["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 -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", "cd selfdrive/manager && ./build.py"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
//["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Unit Tests (tici)') {
|
||||
steps {
|
||||
phone_steps("tici2", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('camerad') {
|
||||
steps {
|
||||
phone_steps("eon-party", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["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", "cd selfdrive/manager && ./build.py"],
|
||||
["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 $SOURCE_DIR/release && PUSH='master-ci' ./build_devel.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
post {
|
||||
@@ -254,4 +158,3 @@ pipeline {
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
121
README.md
121
README.md
@@ -57,7 +57,7 @@ openpilot should preserve all other vehicle's stock features, including, but are
|
||||
Supported Hardware
|
||||
------
|
||||
|
||||
At the moment, openpilot supports the EON Gold DevKit and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
|
||||
At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
|
||||
|
||||
Supported Cars
|
||||
------
|
||||
@@ -66,62 +66,53 @@ Supported Cars
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
|
||||
| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Acura | RDX 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Acura | RDX 2020 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | Civic Sedan 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Sedan 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| 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 2017-21 | Honda Sensing | Stock | 0mph | 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 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Insight 2019-20 | 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 2016-19 | 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 |
|
||||
| Honda | Ridgeline 2017-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Hyundai | Palisade 2020 | 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 | ES 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019 | 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 2018-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | NX Hybrid 2018 | All | Stock<sup>3</sup>| 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 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | UX Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Alphard 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Avalon 2016-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon Hybrid 2019-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Avalon 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry 2021 | All | openpilot | 0mph<sup>4</sup> | 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 2017-19 | 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 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-20 | 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 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 | 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 |
|
||||
@@ -138,9 +129,6 @@ Community Maintained Cars and Features
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
|
||||
| Audi | A3 2014-18 | Prestige | Stock | 0mph | 0mph |
|
||||
| Audi | A3 Sportback e-tron 2017-18 | Prestige | Stock | 0mph | 0mph |
|
||||
| Audi | Q2 2018 | Driver Assistance | 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 |
|
||||
@@ -148,78 +136,50 @@ 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 2019-21 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Chrysler | Pacifica Hybrid 2019-20 | 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 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 | Elantra 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Elantra Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
|
||||
| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Ioniq PHEV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Veloster 2019-20 | SCC + LKAS | Stock | 5mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 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 2018-2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Forte 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro PHEV 2019 | SCC + LKAS | Stock | 10mph | 32mph |
|
||||
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Seltos 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Nissan | Altima 2019-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2018-19 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| SEAT | Ateca 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| SEAT | Leon 2014-2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Kodiaq 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Octavia 2015, 2019 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Octavia RS 2016 | 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 2019-21 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Forester 2019-20 | 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| Golf SportWagen 2015 | 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 |
|
||||
| Volkswagen| Touran 2017 | 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 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.
|
||||
|
||||
Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
|
||||
|
||||
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
|
||||
------
|
||||
|
||||
Install openpilot on an EON Gold or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.
|
||||
Install openpilot on an EON or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.
|
||||
|
||||
Follow these [video instructions](https://youtu.be/lcjqxCymins) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.
|
||||
|
||||
@@ -303,13 +263,13 @@ 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 details.
|
||||
* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
|
||||
* 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).
|
||||
* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
|
||||
* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
|
||||
* We run the latest openpilot in a testing closet containing 10 EONs continuously replaying routes.
|
||||
|
||||
Testing on PC
|
||||
------
|
||||
@@ -336,7 +296,7 @@ Community and Contributing
|
||||
|
||||
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged.
|
||||
|
||||
You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
|
||||
You can add support for your car by following guides we have written for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
|
||||
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
|
||||
|
||||
@@ -345,31 +305,34 @@ 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 updates of NEOS
|
||||
├── installer/updater # Manages auto-updates of openpilot
|
||||
├── opendbc # Files showing how to interpret data from cars
|
||||
├── panda # Code used to communicate on CAN
|
||||
├── phonelibs # External libraries
|
||||
├── pyextra # Extra python packages not shipped in NEOS
|
||||
├── 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
|
||||
├── car # Car specific code to read states and control actuators
|
||||
├── common # Shared C/C++ code for the daemons
|
||||
├── controls # Planning and controls
|
||||
├── controls # Perception, planning and controls
|
||||
├── debug # Tools to help you debug and do car ports
|
||||
├── locationd # Precise localization and vehicle parameter estimation
|
||||
├── locationd # Soon to be home of precise location
|
||||
├── logcatd # Android logcat as a service
|
||||
├── loggerd # Logger and uploader of car data
|
||||
├── modeld # Driving and monitoring model runners
|
||||
├── proclogd # Logs information from proc
|
||||
├── sensord # IMU interface code
|
||||
├── test # Unit tests, system tests, and a car simulator
|
||||
├── sensord # IMU / GPS interface code
|
||||
├── test # Unit tests, system tests and a car simulator
|
||||
└── ui # The UI
|
||||
|
||||
To understand how the services interact, see `cereal/service_list.yaml`.
|
||||
|
||||
Licensing
|
||||
------
|
||||
|
||||
|
||||
72
RELEASES.md
72
RELEASES.md
@@ -1,75 +1,3 @@
|
||||
Version 0.8.6 (2021-07-21)
|
||||
========================
|
||||
* Revamp lateral and longitudinal planners
|
||||
* Refactor planner output API to be more readable and verbose
|
||||
* Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
|
||||
* Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
|
||||
* Remove "CHECK DRIVER FACE VISIBILITY" warning
|
||||
* Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
|
||||
* Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
|
||||
* Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
|
||||
* Kia Niro Hybrid 2019 support thanks to jyoung8607!
|
||||
* Škoda Octavia RS 2016 support thanks to jyoung8607!
|
||||
* Toyota Alphard 2020 support thanks to belm0!
|
||||
* Volkswagen Golf SportWagen 2015 support thanks to jona96!
|
||||
* Volkswagen Touran 2017 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.5 (2021-06-11)
|
||||
========================
|
||||
* NEOS update: improved reliability and stability with better voltage regulator configuration
|
||||
* Smart model-based Forward Collision Warning
|
||||
* CAN-based fingerprinting moved behind community features toggle
|
||||
* Improved longitudinal control on Toyotas with a comma pedal
|
||||
* Improved auto-brightness using road-facing camera
|
||||
* Added "Software" settings page with updater controls
|
||||
* Audi Q2 2018 support thanks to jyoung8607!
|
||||
* Hyundai Elantra 2021 support thanks to CruiseBrantley!
|
||||
* Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
|
||||
* Toyota Avalon Hybrid 2019 support thanks to jbates9011!
|
||||
* SEAT Leon 2017 & 2020 support thanks to jyoung8607!
|
||||
* Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
|
||||
|
||||
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
|
||||
|
||||
@@ -28,7 +28,7 @@ ensuring two main safety requirements.
|
||||
react. This means that while the system is engaged, the actuators are constrained
|
||||
to operate within reasonable limits.
|
||||
|
||||
For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
|
||||
For vehicle specific implementation of the safety concept, refer to `panda/board/safety/`.
|
||||
|
||||
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
|
||||
not fully meeting the above requirements.
|
||||
|
||||
278
SConstruct
278
SConstruct
@@ -7,57 +7,16 @@ 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('--setup',
|
||||
action='store_true',
|
||||
help='build setup and installer files')
|
||||
|
||||
AddOption('--kaitai',
|
||||
action='store_true',
|
||||
help='Regenerate kaitai struct parsers')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
AddOption('--ubsan',
|
||||
action='store_true',
|
||||
help='turn on UBSan')
|
||||
|
||||
AddOption('--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('--snpe',
|
||||
action='store_true',
|
||||
help='use SNPE on PC')
|
||||
|
||||
AddOption('--external-sconscript',
|
||||
action='store',
|
||||
metavar='FILE',
|
||||
dest='external_sconscript',
|
||||
help='add an external SConscript to the build')
|
||||
|
||||
AddOption('--no-thneed',
|
||||
action='store_true',
|
||||
dest='no_thneed',
|
||||
help='avoid using thneed')
|
||||
|
||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
@@ -66,17 +25,13 @@ if arch == "aarch64" and TICI:
|
||||
arch = "larch64"
|
||||
|
||||
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
|
||||
|
||||
USE_MIPI = os.getenv("USE_MIPI") is not None
|
||||
if arch == "aarch64" and JETSON:
|
||||
arch = "jarch64"
|
||||
|
||||
lenv = {
|
||||
"PATH": os.environ['PATH'],
|
||||
}
|
||||
QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
|
||||
|
||||
if arch == "aarch64" or arch == "larch64":
|
||||
lenv["LD_LIBRARY_PATH"] = '/data/data/com.termux/files/usr/lib'
|
||||
lenv = {
|
||||
"LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
|
||||
"PATH": os.environ['PATH'],
|
||||
}
|
||||
|
||||
if arch == "aarch64":
|
||||
# android
|
||||
@@ -88,7 +43,6 @@ if arch == "aarch64" or arch == "larch64":
|
||||
]
|
||||
|
||||
libpath = [
|
||||
"/usr/local/lib",
|
||||
"/usr/lib",
|
||||
"/system/vendor/lib64",
|
||||
"/system/comma/usr/lib",
|
||||
@@ -101,9 +55,6 @@ 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"]
|
||||
@@ -113,56 +64,49 @@ if arch == "aarch64" or arch == "larch64":
|
||||
"#phonelibs/libyuv/lib",
|
||||
"/system/vendor/lib64"
|
||||
]
|
||||
cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
|
||||
cflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
rpath = []
|
||||
|
||||
if QCOM_REPLAY:
|
||||
cflags += ["-DQCOM_REPLAY"]
|
||||
cxxflags += ["-DQCOM_REPLAY"]
|
||||
|
||||
else:
|
||||
cflags = []
|
||||
cxxflags = []
|
||||
cpppath = []
|
||||
rpath = []
|
||||
|
||||
if arch == "jarch64":
|
||||
lenv = {
|
||||
"PATH": "#external/bin:" + os.environ['PATH'],
|
||||
}
|
||||
cpppath = [
|
||||
"#external/tensorflow/include",
|
||||
]
|
||||
|
||||
if arch == "Darwin":
|
||||
libpath = [
|
||||
"#phonelibs/libyuv/larch64/lib",
|
||||
"#phonelibs/libyuv/mac/lib",
|
||||
"#cereal",
|
||||
"#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",
|
||||
"#phonelibs/mapbox-gl-native-qt/x86_64",
|
||||
"#external/tensorflow/lib",
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
if arch != "jarch64":
|
||||
rpath += ["phonelibs/snpe/x86_64-linux-clang"]
|
||||
rpath += [
|
||||
rpath = [
|
||||
"phonelibs/snpe/x86_64-linux-clang",
|
||||
"external/tensorflow/lib",
|
||||
"cereal",
|
||||
"selfdrive/common"
|
||||
]
|
||||
@@ -171,18 +115,11 @@ else:
|
||||
rpath = [os.path.join(os.getcwd(), x) for x in rpath]
|
||||
|
||||
if GetOption('asan'):
|
||||
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags = ["-fsanitize=address"]
|
||||
elif GetOption('ubsan'):
|
||||
ccflags = ["-fsanitize=undefined"]
|
||||
ldflags = ["-fsanitize=undefined"]
|
||||
ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags_asan = ["-fsanitize=address"]
|
||||
else:
|
||||
ccflags = []
|
||||
ldflags = []
|
||||
|
||||
# no --as-needed on mac linker
|
||||
if arch != "Darwin":
|
||||
ldflags += ["-Wl,--as-needed"]
|
||||
ccflags_asan = []
|
||||
ldflags_asan = []
|
||||
|
||||
# change pythonpath to this
|
||||
lenv["PYTHONPATH"] = Dir("#").path
|
||||
@@ -201,11 +138,11 @@ env = Environment(
|
||||
"-Wno-inconsistent-missing-override",
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
] + cflags + ccflags,
|
||||
] + cflags + ccflags_asan,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
"#",
|
||||
"#phonelibs/catch2/include",
|
||||
"#selfdrive",
|
||||
"#phonelibs/bzip2",
|
||||
"#phonelibs/libyuv/include",
|
||||
"#phonelibs/openmax/include",
|
||||
@@ -217,17 +154,23 @@ env = Environment(
|
||||
"#phonelibs/android_system_core/include",
|
||||
"#phonelibs/linux/include",
|
||||
"#phonelibs/snpe/include",
|
||||
"#phonelibs/mapbox-gl-native-qt/include",
|
||||
"#phonelibs/nanovg",
|
||||
"#phonelibs/qrcode",
|
||||
"#phonelibs",
|
||||
"#selfdrive/boardd",
|
||||
"#selfdrive/common",
|
||||
"#selfdrive/camerad",
|
||||
"#selfdrive/camerad/include",
|
||||
"#selfdrive/loggerd/include",
|
||||
"#selfdrive/modeld",
|
||||
"#selfdrive/sensord",
|
||||
"#selfdrive/ui",
|
||||
"#cereal/messaging",
|
||||
"#cereal",
|
||||
"#opendbc/can",
|
||||
],
|
||||
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
LINKFLAGS=ldflags,
|
||||
LINKFLAGS=ldflags_asan,
|
||||
|
||||
RPATH=rpath,
|
||||
|
||||
@@ -245,13 +188,18 @@ env = Environment(
|
||||
tools=["default", "cython", "compilation_db"],
|
||||
)
|
||||
|
||||
if GetOption('compile_db'):
|
||||
if GetOption('test'):
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
|
||||
# Setup cache dir
|
||||
cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache'
|
||||
CacheDir(cache_dir)
|
||||
Clean(["."], cache_dir)
|
||||
if os.environ.get('SCONS_CACHE'):
|
||||
cache_dir = '/tmp/scons_cache'
|
||||
if TICI:
|
||||
cache_dir = '/data/scons_cache'
|
||||
|
||||
if QCOM_REPLAY:
|
||||
cache_dir = '/tmp/scons_cache_qcom_replay'
|
||||
|
||||
CacheDir(cache_dir)
|
||||
|
||||
node_interval = 5
|
||||
node_count = 0
|
||||
@@ -291,77 +239,9 @@ else:
|
||||
|
||||
Export('envCython')
|
||||
|
||||
# Qt build environment
|
||||
qt_env = env.Clone()
|
||||
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
|
||||
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",
|
||||
"-DQT_MESSAGELOGCONTEXT",
|
||||
]
|
||||
qt_env['CXXFLAGS'] += qt_flags
|
||||
qt_env['LIBPATH'] += ['#selfdrive/ui']
|
||||
qt_env['LIBS'] = qt_libs
|
||||
|
||||
if GetOption("clazy"):
|
||||
checks = [
|
||||
"level0",
|
||||
"level1",
|
||||
"no-range-loop",
|
||||
"no-non-pod-global-static",
|
||||
]
|
||||
qt_env['CXX'] = 'clazy'
|
||||
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
|
||||
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
|
||||
|
||||
# still needed for apks
|
||||
zmq = 'zmq'
|
||||
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'zmq', 'USE_MIPI')
|
||||
Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
|
||||
|
||||
# cereal and messaging are shared with the system
|
||||
SConscript(['cereal/SConscript'])
|
||||
@@ -371,63 +251,34 @@ 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', '_gpucommon', '_gpu_libs')
|
||||
Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
|
||||
|
||||
if SHARED:
|
||||
common, gpucommon = abspath(common), abspath(gpucommon)
|
||||
common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
|
||||
else:
|
||||
common = [_common, 'json11']
|
||||
visionipc = _visionipc
|
||||
gpucommon = [_gpucommon] + _gpu_libs
|
||||
|
||||
Export('common', 'gpucommon', 'visionipc')
|
||||
Export('common', 'visionipc', 'gpucommon')
|
||||
|
||||
# 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'])
|
||||
|
||||
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/lead_mpc_lib/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/boardd/SConscript'])
|
||||
SConscript(['selfdrive/proclogd/SConscript'])
|
||||
@@ -436,12 +287,13 @@ SConscript(['selfdrive/clocksd/SConscript'])
|
||||
SConscript(['selfdrive/loggerd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/locationd/SConscript'])
|
||||
SConscript(['selfdrive/locationd/models/SConscript'])
|
||||
SConscript(['selfdrive/sensord/SConscript'])
|
||||
SConscript(['selfdrive/ui/SConscript'])
|
||||
|
||||
if arch != "Darwin":
|
||||
SConscript(['selfdrive/logcatd/SConscript'])
|
||||
|
||||
external_sconscript = GetOption('external_sconscript')
|
||||
if external_sconscript:
|
||||
SConscript([external_sconscript])
|
||||
if arch == "x86_64":
|
||||
SConscript(['tools/lib/index_log/SConscript'])
|
||||
|
||||
|
||||
Binary file not shown.
8
cereal/.gitignore
vendored
8
cereal/.gitignore
vendored
@@ -6,16 +6,10 @@ package-lock.json
|
||||
__pycache__
|
||||
.*.swp
|
||||
.*.swo
|
||||
*.os
|
||||
*.o
|
||||
*.a
|
||||
|
||||
test_runner
|
||||
|
||||
libcereal*.a
|
||||
libmessaging.*
|
||||
libmessaging_shared.*
|
||||
services.h
|
||||
.sconsign.dblite
|
||||
libcereal_shared.*
|
||||
.mypy_cache/
|
||||
catch2/
|
||||
|
||||
@@ -6,28 +6,30 @@ cereal_dir = Dir('.')
|
||||
gen_dir = Dir('gen')
|
||||
messaging_dir = Dir('messaging')
|
||||
|
||||
# Build cereal
|
||||
|
||||
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'dp.capnp']
|
||||
# TODO: remove src-prefix and cereal from command string. can we set working directory?
|
||||
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([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
|
||||
schema_files,
|
||||
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'],
|
||||
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'],
|
||||
schema_files,
|
||||
['car.capnp', 'log.capnp'],
|
||||
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([f'gen/cpp/{s}.c++' for s in schema_files])
|
||||
cereal_objects = env.SharedObject([
|
||||
'gen/cpp/car.capnp.c++',
|
||||
'gen/cpp/log.capnp.c++',
|
||||
])
|
||||
|
||||
env.Library('cereal', cereal_objects)
|
||||
env.SharedLibrary('cereal_shared', cereal_objects)
|
||||
|
||||
# Build messaging
|
||||
|
||||
services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
cereal_dir = Dir('.')
|
||||
services_h = env.Command(['services.h'],
|
||||
['service_list.yaml', 'services.py'],
|
||||
'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
|
||||
messaging_objects = env.SharedObject([
|
||||
'messaging/messaging.cc',
|
||||
@@ -50,35 +52,10 @@ if arch == "aarch64":
|
||||
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"])
|
||||
|
||||
|
||||
# Build Vision IPC
|
||||
vipc_sources = [
|
||||
'visionipc/ipc.cc',
|
||||
'visionipc/visionipc_server.cc',
|
||||
'visionipc/visionipc_client.cc',
|
||||
'visionipc/visionbuf.cc',
|
||||
]
|
||||
|
||||
if arch in ["aarch64", "larch64"]:
|
||||
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 == "aarch64":
|
||||
libs += ["adreno_utils"]
|
||||
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'])
|
||||
|
||||
@@ -1,73 +0,0 @@
|
||||
import os
|
||||
import platform
|
||||
import subprocess
|
||||
import sysconfig
|
||||
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
messaging_dir = Dir('./messaging')
|
||||
|
||||
cpppath = [
|
||||
cereal_dir,
|
||||
messaging_dir,
|
||||
'/usr/lib/include',
|
||||
'/opt/homebrew/include',
|
||||
sysconfig.get_paths()['include'],
|
||||
]
|
||||
|
||||
libpath = [
|
||||
'/opt/homebrew/lib',
|
||||
]
|
||||
|
||||
AddOption('--test',
|
||||
action='store_true',
|
||||
help='build test files')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
|
||||
ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
|
||||
|
||||
env = Environment(
|
||||
ENV=os.environ,
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
] + ccflags_asan,
|
||||
LDFLAGS=ldflags_asan,
|
||||
LINKFLAGS=ldflags_asan,
|
||||
|
||||
CFLAGS="-std=gnu11",
|
||||
CXXFLAGS="-std=c++1z",
|
||||
CPPPATH=cpppath,
|
||||
LIBPATH=libpath,
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
tools=["default", "cython"]
|
||||
)
|
||||
|
||||
Export('env', 'arch')
|
||||
|
||||
envCython = env.Clone(LIBS=[])
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
|
||||
elif arch == "aarch64":
|
||||
envCython["LINKFLAGS"] = ["-shared"]
|
||||
envCython["LIBS"] = [os.path.basename(sysconfig.get_paths()['include'])]
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
Export('envCython')
|
||||
|
||||
|
||||
SConscript(['SConscript'])
|
||||
112
cereal/car.capnp
112
cereal/car.capnp
@@ -11,8 +11,6 @@ $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
|
||||
@@ -23,6 +21,7 @@ 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;
|
||||
@@ -37,6 +36,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
buttonEnable @12;
|
||||
pedalPressed @13;
|
||||
cruiseDisabled @14;
|
||||
radarCanError @15;
|
||||
speedTooLow @17;
|
||||
outOfSpace @18;
|
||||
overheat @19;
|
||||
@@ -52,8 +52,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
manualRestart @30;
|
||||
lowSpeedLockout @31;
|
||||
plannerError @32;
|
||||
joystickDebug @34;
|
||||
steerTempUnavailableSilent @35;
|
||||
debugAlert @34;
|
||||
steerTempUnavailableMute @35;
|
||||
resumeRequired @36;
|
||||
preDriverDistracted @37;
|
||||
promptDriverDistracted @38;
|
||||
@@ -64,7 +64,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
belowSteerSpeed @46;
|
||||
lowBattery @48;
|
||||
vehicleModelInvalid @50;
|
||||
accFaulted @51;
|
||||
controlsFailed @51;
|
||||
sensorDataInvalid @52;
|
||||
commIssue @53;
|
||||
tooDistracted @54;
|
||||
@@ -73,11 +73,14 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
preLaneChangeLeft @57;
|
||||
preLaneChangeRight @58;
|
||||
laneChange @59;
|
||||
internetConnectivityNeeded @61;
|
||||
communityFeatureDisallowed @62;
|
||||
lowMemory @63;
|
||||
stockAeb @64;
|
||||
ldw @65;
|
||||
carUnrecognized @66;
|
||||
radarCommIssue @67;
|
||||
driverMonitorLowAcc @68;
|
||||
invalidLkasSetting @69;
|
||||
speedTooHigh @70;
|
||||
laneChangeBlocked @71;
|
||||
@@ -88,8 +91,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
startupNoCar @76;
|
||||
startupNoControl @77;
|
||||
startupMaster @78;
|
||||
startupFuzzyFingerprint @97;
|
||||
startupNoFw @104;
|
||||
fcw @79;
|
||||
steerSaturated @80;
|
||||
belowEngageSpeed @84;
|
||||
@@ -99,19 +100,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
deviceFalling @90;
|
||||
fanMalfunction @91;
|
||||
cameraMalfunction @92;
|
||||
gpsMalfunction @94;
|
||||
processNotRunning @95;
|
||||
dashcamMode @96;
|
||||
controlsInitializing @98;
|
||||
usbError @99;
|
||||
roadCameraError @100;
|
||||
driverCameraError @101;
|
||||
wideRoadCameraError @102;
|
||||
localizerMalfunction @103;
|
||||
|
||||
driverMonitorLowAccDEPRECATED @68;
|
||||
radarCanErrorDEPRECATED @15;
|
||||
radarCommIssueDEPRECATED @67;
|
||||
startupOneplus @82;
|
||||
|
||||
gasUnavailableDEPRECATED @3;
|
||||
dataNeededDEPRECATED @16;
|
||||
modelCommIssueDEPRECATED @27;
|
||||
@@ -122,25 +113,23 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
calibrationProgressDEPRECATED @47;
|
||||
invalidGiraffeHondaDEPRECATED @49;
|
||||
invalidGiraffeToyotaDEPRECATED @60;
|
||||
internetConnectivityNeededDEPRECATED @61;
|
||||
whitePandaUnsupportedDEPRECATED @81;
|
||||
commIssueWarningDEPRECATED @83;
|
||||
focusRecoverActiveDEPRECATED @86;
|
||||
neosUpdateRequiredDEPRECATED @88;
|
||||
modelLagWarningDEPRECATED @93;
|
||||
startupOneplusDEPRECATED @82;
|
||||
|
||||
#dp
|
||||
preLaneChangeLeftALC @105;
|
||||
preLaneChangeRightALC @106;
|
||||
manualSteeringRequired @107;
|
||||
manualSteeringRequiredBlinkersOn @108;
|
||||
leadCarMoving @109;
|
||||
preLaneChangeLeftALC @94;
|
||||
preLaneChangeRightALC @95;
|
||||
manualSteeringRequired @96;
|
||||
manualSteeringRequiredBlinkersOn @97;
|
||||
leadCarMoving @98;
|
||||
|
||||
# timebomb assist
|
||||
timebombWarn @110;
|
||||
timebombBypassing @111;
|
||||
timebombBypassed @112;
|
||||
timebombWarn @99;
|
||||
timebombBypassing @100;
|
||||
timebombBypassed @101;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -148,6 +137,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
# all speeds in m/s
|
||||
|
||||
struct CarState {
|
||||
errorsDEPRECATED @0 :List(CarEvent.EventName);
|
||||
events @13 :List(CarEvent);
|
||||
|
||||
# car speed
|
||||
@@ -165,10 +155,11 @@ struct CarState {
|
||||
# brake pedal, 0.0-1.0
|
||||
brake @5 :Float32; # this is user pedal only
|
||||
brakePressed @6 :Bool; # this is user pedal only
|
||||
brakeLights @19 :Bool;
|
||||
|
||||
# steering wheel
|
||||
steeringAngleDeg @7 :Float32;
|
||||
steeringRateDeg @15 :Float32;
|
||||
steeringAngle @7 :Float32; # deg
|
||||
steeringRate @15 :Float32; # deg/s
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
steeringTorqueEps @27 :Float32; # TODO: standardize units
|
||||
steeringPressed @9 :Bool; # if the user is using the steering wheel
|
||||
@@ -260,9 +251,6 @@ struct CarState {
|
||||
gapAdjustCruise @11;
|
||||
}
|
||||
}
|
||||
|
||||
errorsDEPRECATED @0 :List(CarEvent.EventName);
|
||||
brakeLights @19 :Bool;
|
||||
}
|
||||
|
||||
# ******* radar state @ 20hz *******
|
||||
@@ -306,6 +294,10 @@ struct CarControl {
|
||||
enabled @0 :Bool;
|
||||
active @7 :Bool;
|
||||
|
||||
gasDEPRECATED @1 :Float32;
|
||||
brakeDEPRECATED @2 :Float32;
|
||||
steeringTorqueDEPRECATED @3 :Float32;
|
||||
|
||||
actuators @6 :Actuators;
|
||||
|
||||
cruiseControl @4 :CruiseControl;
|
||||
@@ -317,7 +309,7 @@ struct CarControl {
|
||||
brake @1: Float32;
|
||||
# range from -1.0 - 1.0
|
||||
steer @2: Float32;
|
||||
steeringAngleDeg @3: Float32;
|
||||
steerAngle @3: Float32;
|
||||
}
|
||||
|
||||
struct CruiseControl {
|
||||
@@ -353,6 +345,8 @@ 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;
|
||||
@@ -364,10 +358,6 @@ struct CarControl {
|
||||
chimeWarning2Repeat @8;
|
||||
}
|
||||
}
|
||||
|
||||
gasDEPRECATED @1 :Float32;
|
||||
brakeDEPRECATED @2 :Float32;
|
||||
steeringTorqueDEPRECATED @3 :Float32;
|
||||
}
|
||||
|
||||
# ****** car param ******
|
||||
@@ -375,18 +365,15 @@ struct CarControl {
|
||||
struct CarParams {
|
||||
carName @0 :Text;
|
||||
carFingerprint @1 :Text;
|
||||
fuzzyFingerprint @55 :Bool;
|
||||
|
||||
enableGasInterceptor @2 :Bool;
|
||||
pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state?
|
||||
enableDsu @5 :Bool; # driving support unit
|
||||
enableApgs @6 :Bool; # advanced parking guidance system
|
||||
enableBsm @56 :Bool; # blind spot monitoring
|
||||
hasStockCamera @57 :Bool; # factory LKAS/LDW camera is present
|
||||
enableCruise @3 :Bool;
|
||||
enableCamera @4 :Bool;
|
||||
enableDsu @5 :Bool; # driving support unit
|
||||
enableApgs @6 :Bool; # advanced parking guidance system
|
||||
|
||||
minEnableSpeed @7 :Float32;
|
||||
minSteerSpeed @8 :Float32;
|
||||
maxSteeringAngleDeg @54 :Float32;
|
||||
safetyModel @9 :SafetyModel;
|
||||
safetyModelPassive @42 :SafetyModel = silent;
|
||||
safetyParam @10 :Int16;
|
||||
@@ -399,11 +386,11 @@ struct CarParams {
|
||||
brakeMaxV @16 :List(Float32);
|
||||
|
||||
# things about the car in the manual
|
||||
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)
|
||||
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)
|
||||
|
||||
# things we can derive
|
||||
rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia
|
||||
@@ -435,10 +422,10 @@ struct CarParams {
|
||||
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;
|
||||
@@ -467,19 +454,10 @@ struct CarParams {
|
||||
}
|
||||
|
||||
struct LateralINDITuning {
|
||||
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;
|
||||
outerLoopGain @0 :Float32;
|
||||
innerLoopGain @1 :Float32;
|
||||
timeConstant @2 :Float32;
|
||||
actuatorEffectiveness @3 :Float32;
|
||||
}
|
||||
|
||||
struct LateralLQRTuning {
|
||||
@@ -534,7 +512,6 @@ struct CarParams {
|
||||
automatic @1; # Traditional auto, including DSG
|
||||
manual @2; # True "stick shift" only
|
||||
direct @3; # Electric vehicle or other direct drive
|
||||
cvt @4;
|
||||
}
|
||||
|
||||
struct CarFw {
|
||||
@@ -578,7 +555,4 @@ struct CarParams {
|
||||
fwdCamera @0; # Standard/default integration at LKAS camera
|
||||
gateway @1; # Integration at vehicle's CAN gateway
|
||||
}
|
||||
|
||||
enableCameraDEPRECATED @4 :Bool;
|
||||
isPandaBlackDEPRECATED @39: Bool;
|
||||
}
|
||||
|
||||
@@ -1,57 +0,0 @@
|
||||
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;
|
||||
dpDashcamd @3 :Bool;
|
||||
dpAutoShutdown @4 :Bool;
|
||||
dpAthenad @5 :Bool;
|
||||
dpUploader @6 :Bool;
|
||||
dpLateralMode @7 :UInt8;
|
||||
dpSignalOffDelay @8 :Float32;
|
||||
dpLcMinMph @9 :UInt8;
|
||||
dpLcAutoCont @10 :Bool;
|
||||
dpLcAutoMinMph @11 :UInt8;
|
||||
dpLcAutoDelay @12 :Float32;
|
||||
dpAllowGas @13 :Bool;
|
||||
dpFollowingProfileCtrl @14 :Bool;
|
||||
dpFollowingProfile @15 :UInt8;
|
||||
dpAccelProfileCtrl @16 :Bool;
|
||||
dpAccelProfile @17 :UInt8;
|
||||
dpGearCheck @18 :Bool;
|
||||
dpSpeedCheck @19 :Bool;
|
||||
dpUiDisplayMode @20 :UInt8;
|
||||
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;
|
||||
dpUiBrightness @30 :UInt8;
|
||||
dpUiVolume @31 :Int8;
|
||||
dpToyotaLdw @32 :Bool;
|
||||
dpToyotaSng @33 :Bool;
|
||||
dpVwTimebombAssist @34 :Bool;
|
||||
dpIpAddr @35 :Text;
|
||||
dpCameraOffset @36 :Int8;
|
||||
dpPathOffset @37 :Int8;
|
||||
dpLocale @38 :Text;
|
||||
dpSrLearner @39 :Bool;
|
||||
dpSrCustom @40 :Float32;
|
||||
dpAppd @41 :Bool;
|
||||
dpDebug @42 :Bool;
|
||||
}
|
||||
@@ -1,865 +0,0 @@
|
||||
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;
|
||||
}
|
||||
|
||||
|
||||
1643
cereal/log.capnp
1643
cereal/log.capnp
File diff suppressed because it is too large
Load Diff
@@ -1,11 +1,9 @@
|
||||
# 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
|
||||
@@ -13,9 +11,6 @@ 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
|
||||
@@ -131,14 +126,12 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
|
||||
class SubMaster():
|
||||
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"):
|
||||
ignore_alive: 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 = {}
|
||||
@@ -149,8 +142,10 @@ class SubMaster():
|
||||
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
|
||||
if ignore_alive is not None:
|
||||
self.ignore_alive = ignore_alive
|
||||
else:
|
||||
self.ignore_alive = []
|
||||
|
||||
for s in services:
|
||||
if addr is not None:
|
||||
@@ -189,34 +184,20 @@ 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
|
||||
|
||||
if 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])
|
||||
else:
|
||||
self.alive[s] = True
|
||||
|
||||
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()
|
||||
@@ -242,6 +223,3 @@ class PubMaster():
|
||||
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()
|
||||
|
||||
@@ -1,74 +1,59 @@
|
||||
#include <algorithm>
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <cassert>
|
||||
#include <csignal>
|
||||
#include <iostream>
|
||||
#include <map>
|
||||
#include <string>
|
||||
|
||||
typedef void (*sighandler_t)(int sig);
|
||||
|
||||
#include "impl_msgq.h"
|
||||
#include "impl_zmq.h"
|
||||
#include "services.h"
|
||||
|
||||
#include "impl_msgq.hpp"
|
||||
#include "impl_zmq.hpp"
|
||||
|
||||
void sigpipe_handler(int sig) {
|
||||
assert(sig == SIGPIPE);
|
||||
std::cout << "SIGPIPE received" << std::endl;
|
||||
}
|
||||
|
||||
static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
|
||||
std::vector<std::string> service_list;
|
||||
static std::vector<std::string> get_services() {
|
||||
std::vector<std::string> name_list;
|
||||
|
||||
for (const auto& it : services) {
|
||||
std::string name = it.name;
|
||||
bool in_whitelist = whitelist_str.find(name) != std::string::npos;
|
||||
if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
|
||||
continue;
|
||||
}
|
||||
service_list.push_back(name);
|
||||
if (name == "plusFrame" || name == "uiLayoutState") continue;
|
||||
name_list.push_back(name);
|
||||
}
|
||||
return service_list;
|
||||
|
||||
return name_list;
|
||||
}
|
||||
|
||||
int main(int argc, char** argv) {
|
||||
|
||||
int main(void){
|
||||
signal(SIGPIPE, (sighandler_t)sigpipe_handler);
|
||||
|
||||
bool zmq_to_msgq = argc > 2;
|
||||
std::string ip = zmq_to_msgq ? argv[1] : "127.0.0.1";
|
||||
std::string whitelist_str = zmq_to_msgq ? std::string(argv[2]) : "";
|
||||
|
||||
Poller *poller;
|
||||
Context *pub_context;
|
||||
Context *sub_context;
|
||||
if (zmq_to_msgq) { // republishes zmq debugging messages as msgq
|
||||
poller = new ZMQPoller();
|
||||
pub_context = new MSGQContext();
|
||||
sub_context = new ZMQContext();
|
||||
} else {
|
||||
poller = new MSGQPoller();
|
||||
pub_context = new ZMQContext();
|
||||
sub_context = new MSGQContext();
|
||||
}
|
||||
auto endpoints = get_services();
|
||||
|
||||
std::map<SubSocket*, PubSocket*> sub2pub;
|
||||
for (auto endpoint: get_services(whitelist_str, zmq_to_msgq)) {
|
||||
PubSocket * pub_sock;
|
||||
SubSocket * sub_sock;
|
||||
if (zmq_to_msgq) {
|
||||
pub_sock = new MSGQPubSocket();
|
||||
sub_sock = new ZMQSubSocket();
|
||||
} else {
|
||||
pub_sock = new ZMQPubSocket();
|
||||
sub_sock = new MSGQSubSocket();
|
||||
}
|
||||
pub_sock->connect(pub_context, endpoint);
|
||||
sub_sock->connect(sub_context, endpoint, ip, false);
|
||||
|
||||
poller->registerSocket(sub_sock);
|
||||
sub2pub[sub_sock] = pub_sock;
|
||||
Context *zmq_context = new ZMQContext();
|
||||
Context *msgq_context = new MSGQContext();
|
||||
Poller *poller = new MSGQPoller();
|
||||
|
||||
for (auto endpoint: endpoints){
|
||||
SubSocket * msgq_sock = new MSGQSubSocket();
|
||||
msgq_sock->connect(msgq_context, endpoint, "127.0.0.1", false);
|
||||
poller->registerSocket(msgq_sock);
|
||||
|
||||
PubSocket * zmq_sock = new ZMQPubSocket();
|
||||
zmq_sock->connect(zmq_context, endpoint);
|
||||
|
||||
sub2pub[msgq_sock] = zmq_sock;
|
||||
}
|
||||
|
||||
while (true) {
|
||||
for (auto sub_sock : poller->poll(100)) {
|
||||
|
||||
while (true){
|
||||
for (auto sub_sock : poller->poll(100)){
|
||||
Message * msg = sub_sock->receive();
|
||||
if (msg == NULL) continue;
|
||||
sub2pub[sub_sock]->sendMessage(msg);
|
||||
|
||||
@@ -5,9 +5,8 @@
|
||||
#include <csignal>
|
||||
#include <cerrno>
|
||||
|
||||
#include "services.h"
|
||||
#include "impl_msgq.h"
|
||||
|
||||
#include "impl_msgq.hpp"
|
||||
|
||||
volatile sig_atomic_t msgq_do_exit = 0;
|
||||
|
||||
@@ -16,21 +15,14 @@ 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"){
|
||||
#if !defined(QCOM) && !defined(QCOM2)
|
||||
if (endpoint == "frame" || endpoint == "frontFrame" || endpoint == "wideFrame"){
|
||||
sz *= 10;
|
||||
}
|
||||
#endif
|
||||
|
||||
return sz;
|
||||
}
|
||||
@@ -69,14 +61,10 @@ MSGQMessage::~MSGQMessage() {
|
||||
this->close();
|
||||
}
|
||||
|
||||
int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
|
||||
int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
|
||||
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(), get_size(endpoint));
|
||||
if (r != 0){
|
||||
@@ -162,13 +150,9 @@ MSGQSubSocket::~MSGQSubSocket(){
|
||||
}
|
||||
}
|
||||
|
||||
int MSGQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
|
||||
int MSGQPubSocket::connect(Context *context, std::string 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(), get_size(endpoint));
|
||||
if (r != 0){
|
||||
@@ -196,10 +180,6 @@ 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.h"
|
||||
#include "msgq.h"
|
||||
#include "messaging.hpp"
|
||||
#include "msgq.hpp"
|
||||
#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, bool check_endpoint=true);
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
|
||||
void setTimeout(int timeout);
|
||||
void * getRawSocket() {return (void*)q;}
|
||||
Message *receive(bool non_blocking=false);
|
||||
@@ -45,10 +45,9 @@ class MSGQPubSocket : public PubSocket {
|
||||
private:
|
||||
msgq_queue_t * q = NULL;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, bool check_endpoint=true);
|
||||
int connect(Context *context, std::string endpoint);
|
||||
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.h"
|
||||
#include "impl_zmq.hpp"
|
||||
|
||||
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, bool check_endpoint){
|
||||
int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
|
||||
if (sock == NULL){
|
||||
return -1;
|
||||
@@ -71,11 +71,7 @@ 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 + ":";
|
||||
if (check_endpoint){
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
|
||||
return zmq_connect(sock, full_endpoint.c_str());
|
||||
}
|
||||
@@ -107,18 +103,14 @@ ZMQSubSocket::~ZMQSubSocket(){
|
||||
zmq_close(sock);
|
||||
}
|
||||
|
||||
int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
|
||||
int ZMQPubSocket::connect(Context *context, std::string endpoint){
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
|
||||
if (sock == NULL){
|
||||
return -1;
|
||||
}
|
||||
|
||||
full_endpoint = "tcp://*:";
|
||||
if (check_endpoint){
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
|
||||
return zmq_bind(sock, full_endpoint.c_str());
|
||||
}
|
||||
@@ -131,11 +123,6 @@ 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.h"
|
||||
#include "messaging.hpp"
|
||||
#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, bool check_endpoint=true);
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
|
||||
void setTimeout(int timeout);
|
||||
void * getRawSocket() {return sock;}
|
||||
Message *receive(bool non_blocking=false);
|
||||
@@ -44,10 +44,9 @@ private:
|
||||
void * sock;
|
||||
std::string full_endpoint;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, bool check_endpoint=true);
|
||||
int connect(Context *context, std::string endpoint);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
bool all_readers_updated();
|
||||
~ZMQPubSocket();
|
||||
};
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
#include "messaging.h"
|
||||
#include "impl_zmq.h"
|
||||
#include "impl_msgq.h"
|
||||
#include "messaging.hpp"
|
||||
#include "impl_zmq.hpp"
|
||||
#include "impl_msgq.hpp"
|
||||
|
||||
#ifdef __APPLE__
|
||||
const bool MUST_USE_ZMQ = true;
|
||||
@@ -8,13 +8,9 @@ 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 (messaging_use_zmq()){
|
||||
if (std::getenv("ZMQ") || MUST_USE_ZMQ){
|
||||
c = new ZMQContext();
|
||||
} else {
|
||||
c = new MSGQContext();
|
||||
@@ -24,7 +20,7 @@ Context * Context::create(){
|
||||
|
||||
SubSocket * SubSocket::create(){
|
||||
SubSocket * s;
|
||||
if (messaging_use_zmq()){
|
||||
if (std::getenv("ZMQ") || MUST_USE_ZMQ){
|
||||
s = new ZMQSubSocket();
|
||||
} else {
|
||||
s = new MSGQSubSocket();
|
||||
@@ -32,9 +28,33 @@ SubSocket * SubSocket::create(){
|
||||
return s;
|
||||
}
|
||||
|
||||
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
|
||||
SubSocket * SubSocket::create(Context * context, std::string endpoint){
|
||||
SubSocket *s = SubSocket::create();
|
||||
int r = s->connect(context, endpoint, address, conflate, check_endpoint);
|
||||
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);
|
||||
|
||||
if (r == 0) {
|
||||
return s;
|
||||
@@ -46,7 +66,7 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri
|
||||
|
||||
PubSocket * PubSocket::create(){
|
||||
PubSocket * s;
|
||||
if (messaging_use_zmq()){
|
||||
if (std::getenv("ZMQ") || MUST_USE_ZMQ){
|
||||
s = new ZMQPubSocket();
|
||||
} else {
|
||||
s = new MSGQPubSocket();
|
||||
@@ -54,9 +74,9 @@ PubSocket * PubSocket::create(){
|
||||
return s;
|
||||
}
|
||||
|
||||
PubSocket * PubSocket::create(Context * context, std::string endpoint, bool check_endpoint){
|
||||
PubSocket * PubSocket::create(Context * context, std::string endpoint){
|
||||
PubSocket *s = PubSocket::create();
|
||||
int r = s->connect(context, endpoint, check_endpoint);
|
||||
int r = s->connect(context, endpoint);
|
||||
|
||||
if (r == 0) {
|
||||
return s;
|
||||
@@ -68,7 +88,7 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint, bool chec
|
||||
|
||||
Poller * Poller::create(){
|
||||
Poller * p;
|
||||
if (messaging_use_zmq()){
|
||||
if (std::getenv("ZMQ") || MUST_USE_ZMQ){
|
||||
p = new ZMQPoller();
|
||||
} else {
|
||||
p = new MSGQPoller();
|
||||
|
||||
@@ -12,8 +12,6 @@
|
||||
|
||||
#define MSG_MULTIPLE_PUBLISHERS 100
|
||||
|
||||
bool messaging_use_zmq();
|
||||
|
||||
class Context {
|
||||
public:
|
||||
virtual void * getRawContext() = 0;
|
||||
@@ -34,24 +32,24 @@ public:
|
||||
|
||||
class SubSocket {
|
||||
public:
|
||||
virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
|
||||
virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false) = 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, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
|
||||
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);
|
||||
virtual ~SubSocket(){};
|
||||
};
|
||||
|
||||
class PubSocket {
|
||||
public:
|
||||
virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
|
||||
virtual int connect(Context *context, std::string endpoint) = 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, bool check_endpoint=true);
|
||||
static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
|
||||
static PubSocket * create(Context * context, std::string endpoint);
|
||||
virtual ~PubSocket(){};
|
||||
};
|
||||
|
||||
@@ -66,26 +64,22 @@ public:
|
||||
|
||||
class SubMaster {
|
||||
public:
|
||||
SubMaster(const std::vector<const char *> &service_list,
|
||||
const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
|
||||
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::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
|
||||
inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
|
||||
inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
|
||||
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);
|
||||
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); }
|
||||
void drain();
|
||||
~SubMaster();
|
||||
|
||||
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) const;
|
||||
cereal::Event::Reader &operator[](const char *name);
|
||||
|
||||
private:
|
||||
bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
|
||||
bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
|
||||
Poller *poller_ = nullptr;
|
||||
struct SubMessage;
|
||||
std::map<SubSocket *, SubMessage *> messages_;
|
||||
@@ -117,7 +111,7 @@ private:
|
||||
|
||||
class PubMaster {
|
||||
public:
|
||||
PubMaster(const std::vector<const char *> &service_list);
|
||||
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, MessageBuilder &msg);
|
||||
~PubMaster();
|
||||
@@ -125,21 +119,3 @@ public:
|
||||
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.h":
|
||||
cdef extern from "messaging.hpp":
|
||||
cdef cppclass Context:
|
||||
@staticmethod
|
||||
Context * create()
|
||||
@@ -31,7 +31,6 @@ cdef extern from "messaging.h":
|
||||
int connect(Context *, string)
|
||||
int sendMessage(Message *)
|
||||
int send(char *, size_t)
|
||||
bool all_readers_updated()
|
||||
|
||||
cdef cppclass Poller:
|
||||
@staticmethod
|
||||
|
||||
@@ -149,6 +149,3 @@ cdef class PubSocket:
|
||||
raise MultiplePublishersError
|
||||
else:
|
||||
raise MessagingError
|
||||
|
||||
def all_readers_updated(self):
|
||||
return self.socket.all_readers_updated()
|
||||
|
||||
@@ -21,7 +21,9 @@
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
#include "msgq.h"
|
||||
#include "services.h"
|
||||
|
||||
#include "msgq.hpp"
|
||||
|
||||
void sigusr2_handler(int signal) {
|
||||
assert(signal == SIGUSR2);
|
||||
@@ -81,9 +83,20 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
|
||||
return;
|
||||
}
|
||||
|
||||
bool service_exists(std::string path){
|
||||
for (const auto& it : services) {
|
||||
if (it.name == path) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
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
|
||||
if (!service_exists(std::string(path))){
|
||||
std::cout << "Warning, " << std::string(path) << " is not in service list." << std::endl;
|
||||
}
|
||||
std::signal(SIGUSR2, sigusr2_handler);
|
||||
|
||||
const char * prefix = "/dev/shm/";
|
||||
@@ -452,13 +465,3 @@ 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;
|
||||
}
|
||||
|
||||
@@ -5,7 +5,7 @@
|
||||
#include <atomic>
|
||||
|
||||
#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
|
||||
#define NUM_READERS 10
|
||||
#define NUM_READERS 8
|
||||
#define ALIGN(n) ((n + (8 - 1)) & -8)
|
||||
|
||||
#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
|
||||
@@ -64,5 +64,3 @@ 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);
|
||||
@@ -1,13 +1,7 @@
|
||||
#include <time.h>
|
||||
#include <assert.h>
|
||||
#include <stdlib.h>
|
||||
#include <string>
|
||||
#include <mutex>
|
||||
|
||||
#include <time.h>
|
||||
#include "messaging.hpp"
|
||||
#include "services.h"
|
||||
#include "messaging.h"
|
||||
|
||||
const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
|
||||
|
||||
static inline uint64_t nanos_since_boot() {
|
||||
struct timespec t;
|
||||
@@ -22,7 +16,7 @@ static const service *get_service(const char *name) {
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
static inline bool inList(const std::vector<const char *> &list, const char *value) {
|
||||
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;
|
||||
}
|
||||
@@ -31,106 +25,89 @@ static inline bool inList(const std::vector<const char *> &list, const char *val
|
||||
|
||||
class MessageContext {
|
||||
public:
|
||||
MessageContext() : ctx_(nullptr) {};
|
||||
MessageContext() { ctx_ = Context::create(); }
|
||||
~MessageContext() { delete ctx_; }
|
||||
inline Context *context() {
|
||||
std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
|
||||
return ctx_;
|
||||
}
|
||||
private:
|
||||
Context *ctx_;
|
||||
std::once_flag init_flag;
|
||||
};
|
||||
|
||||
MessageContext message_context;
|
||||
MessageContext ctx;
|
||||
|
||||
struct SubMaster::SubMessage {
|
||||
std::string name;
|
||||
SubSocket *socket = nullptr;
|
||||
int freq = 0;
|
||||
bool updated = false, alive = false, valid = true, ignore_alive;
|
||||
bool updated = false, alive = false, valid = false, ignore_alive;
|
||||
uint64_t rcv_time = 0, rcv_frame = 0;
|
||||
void *allocated_msg_reader = nullptr;
|
||||
capnp::FlatArrayMessageReader *msg_reader = nullptr;
|
||||
AlignedBuffer aligned_buf;
|
||||
kj::Array<capnp::word> buf;
|
||||
cereal::Event::Reader event;
|
||||
};
|
||||
|
||||
SubMaster::SubMaster(const std::vector<const char *> &service_list, const char *address,
|
||||
const std::vector<const char *> &ignore_alive) {
|
||||
SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, const char *address,
|
||||
const std::initializer_list<const char *> &ignore_alive) {
|
||||
poller_ = Poller::create();
|
||||
for (auto name : service_list) {
|
||||
const service *serv = get_service(name);
|
||||
assert(serv != nullptr);
|
||||
SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
|
||||
SubSocket *socket = SubSocket::create(ctx.ctx_, name, address ? address : "127.0.0.1", true);
|
||||
assert(socket != 0);
|
||||
poller_->registerSocket(socket);
|
||||
SubMessage *m = new SubMessage{
|
||||
.name = name,
|
||||
.socket = socket,
|
||||
.freq = serv->frequency,
|
||||
.ignore_alive = inList(ignore_alive, name),
|
||||
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader))};
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
|
||||
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
|
||||
.buf = kj::heapArray<capnp::word>(1024)};
|
||||
messages_[socket] = m;
|
||||
services_[name] = m;
|
||||
}
|
||||
}
|
||||
|
||||
void SubMaster::update(int timeout) {
|
||||
int SubMaster::update(int timeout) {
|
||||
if (++frame == UINT64_MAX) frame = 1;
|
||||
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);
|
||||
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
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;
|
||||
const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
|
||||
if (m->buf.size() < size) {
|
||||
m->buf = kj::heapArray<capnp::word>(size);
|
||||
}
|
||||
SubMessage *m = m_find->second;
|
||||
m->event = kv.second;
|
||||
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->updated = true;
|
||||
m->rcv_time = current_time;
|
||||
m->rcv_frame = frame;
|
||||
m->valid = m->event.getValid();
|
||||
if (SIMULATION) m->alive = true;
|
||||
|
||||
++updated;
|
||||
}
|
||||
|
||||
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));
|
||||
}
|
||||
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::vector<const char *> &service_list, bool valid, bool alive) {
|
||||
bool SubMaster::all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive) {
|
||||
int found = 0;
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
|
||||
found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
|
||||
found += (!valid || m->valid) && (!alive || (m->alive && !m->ignore_alive));
|
||||
}
|
||||
}
|
||||
return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
|
||||
@@ -153,23 +130,11 @@ bool SubMaster::updated(const char *name) const {
|
||||
return services_.at(name)->updated;
|
||||
}
|
||||
|
||||
bool SubMaster::alive(const char *name) const {
|
||||
return services_.at(name)->alive;
|
||||
}
|
||||
|
||||
bool SubMaster::valid(const char *name) const {
|
||||
return services_.at(name)->valid;
|
||||
}
|
||||
|
||||
uint64_t SubMaster::rcv_frame(const char *name) const {
|
||||
return services_.at(name)->rcv_frame;
|
||||
}
|
||||
|
||||
uint64_t SubMaster::rcv_time(const char *name) const {
|
||||
return services_.at(name)->rcv_time;
|
||||
}
|
||||
|
||||
cereal::Event::Reader &SubMaster::operator[](const char *name) const {
|
||||
cereal::Event::Reader &SubMaster::operator[](const char *name) {
|
||||
return services_.at(name)->event;
|
||||
};
|
||||
|
||||
@@ -177,17 +142,19 @@ SubMaster::~SubMaster() {
|
||||
delete poller_;
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
if (m->msg_reader) {
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
}
|
||||
free(m->allocated_msg_reader);
|
||||
delete m->socket;
|
||||
delete m;
|
||||
}
|
||||
}
|
||||
|
||||
PubMaster::PubMaster(const std::vector<const char *> &service_list) {
|
||||
PubMaster::PubMaster(const std::initializer_list<const char *> &service_list) {
|
||||
for (auto name : service_list) {
|
||||
assert(get_service(name) != nullptr);
|
||||
PubSocket *socket = PubSocket::create(message_context.context(), name);
|
||||
PubSocket *socket = PubSocket::create(ctx.ctx_, name);
|
||||
assert(socket);
|
||||
sockets_[name] = socket;
|
||||
}
|
||||
|
||||
182
cereal/service_list.yaml
Normal file
182
cereal/service_list.yaml
Normal file
@@ -0,0 +1,182 @@
|
||||
# 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.] # should be 20fps on tici
|
||||
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.]
|
||||
wideEncodeIdx: [8075, true, 20.]
|
||||
wideFrame: [8076, true, 20.]
|
||||
modelV2: [8077, true, 20., 20]
|
||||
|
||||
dragonConf: [8088, false, 2.]
|
||||
|
||||
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
|
||||
@@ -1,91 +1,34 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
from typing import Optional
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
RESERVED_PORT = 8022 # sshd
|
||||
STARTING_PORT = 8001
|
||||
import yaml
|
||||
|
||||
|
||||
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):
|
||||
class Service():
|
||||
def __init__(self, port, should_log, frequency, decimation=None):
|
||||
self.port = port
|
||||
self.should_log = should_log
|
||||
self.frequency = frequency
|
||||
self.decimation = decimation
|
||||
|
||||
DCAM_FREQ = 10. if not TICI else 20.
|
||||
|
||||
services = {
|
||||
# service: (should_log, frequency, qlog decimation (optional))
|
||||
"sensorEvents": (True, 100., 100),
|
||||
"gpsNMEA": (True, 9.),
|
||||
"deviceState": (True, 2., 1),
|
||||
"can": (True, 100.),
|
||||
"controlsState": (True, 100., 10),
|
||||
"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., 5),
|
||||
"procLog": (True, 0.5),
|
||||
"gpsLocationExternal": (True, 10., 1),
|
||||
"ubloxGnss": (True, 10.),
|
||||
"clocks": (True, 1., 1),
|
||||
"ubloxRaw": (True, 20.),
|
||||
"liveLocationKalman": (True, 20., 2),
|
||||
"liveParameters": (True, 20., 2),
|
||||
"cameraOdometry": (True, 20., 5),
|
||||
"lateralPlan": (True, 20., 5),
|
||||
"thumbnail": (True, 0.2, 1),
|
||||
"carEvents": (True, 1., 1),
|
||||
"carParams": (True, 0.02, 1),
|
||||
"roadCameraState": (True, 20., 20),
|
||||
"driverCameraState": (True, DCAM_FREQ, DCAM_FREQ),
|
||||
"driverEncodeIdx": (True, DCAM_FREQ, 1),
|
||||
"driverState": (True, DCAM_FREQ, DCAM_FREQ / 2),
|
||||
"driverMonitoringState": (True, DCAM_FREQ, DCAM_FREQ / 2),
|
||||
"wideRoadEncodeIdx": (True, 20., 1),
|
||||
"wideRoadCameraState": (True, 20., 20),
|
||||
"modelV2": (True, 20., 40),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
|
||||
|
||||
# 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 += ' { "%s", %d, %s, %d, %d },\n' % \
|
||||
(k, v.port, should_log, v.frequency, decimation)
|
||||
h += "};\n"
|
||||
h += "#endif\n"
|
||||
return h
|
||||
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]
|
||||
|
||||
service_list[k] = Service(v[0], v[1], v[2], decimation)
|
||||
|
||||
if __name__ == "__main__":
|
||||
print(build_header())
|
||||
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")
|
||||
|
||||
2
cereal/visionipc/.gitignore
vendored
2
cereal/visionipc/.gitignore
vendored
@@ -1,2 +0,0 @@
|
||||
visionipc_pyx.cpp
|
||||
*.so
|
||||
@@ -1,2 +0,0 @@
|
||||
#define CATCH_CONFIG_MAIN
|
||||
#include "catch2/catch.hpp"
|
||||
@@ -1,40 +0,0 @@
|
||||
#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) {
|
||||
#ifdef QCOM
|
||||
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);
|
||||
}
|
||||
@@ -1,63 +0,0 @@
|
||||
#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);
|
||||
@@ -1,86 +0,0 @@
|
||||
#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);
|
||||
}
|
||||
@@ -1,18 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
#include <cstddef>
|
||||
|
||||
constexpr int VISIONIPC_MAX_FDS = 128;
|
||||
|
||||
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;
|
||||
};
|
||||
@@ -1,29 +0,0 @@
|
||||
# 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()
|
||||
@@ -1,119 +0,0 @@
|
||||
#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;
|
||||
}
|
||||
@@ -1,32 +0,0 @@
|
||||
#pragma once
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "messaging/messaging.h"
|
||||
#include "visionipc/visionipc.h"
|
||||
#include "visionipc/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);
|
||||
};
|
||||
@@ -1,49 +0,0 @@
|
||||
# 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
|
||||
@@ -1,179 +0,0 @@
|
||||
#include <iostream>
|
||||
#include <chrono>
|
||||
#include <cassert>
|
||||
#include <random>
|
||||
|
||||
#include <poll.h>
|
||||
#include <sys/socket.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "messaging/messaging.h"
|
||||
#include "visionipc/ipc.h"
|
||||
#include "visionipc/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;
|
||||
}
|
||||
@@ -1,42 +0,0 @@
|
||||
#pragma once
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <thread>
|
||||
#include <atomic>
|
||||
#include <map>
|
||||
|
||||
#include "messaging/messaging.h"
|
||||
#include "visionipc/visionipc.h"
|
||||
#include "visionipc/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();
|
||||
};
|
||||
@@ -1,135 +0,0 @@
|
||||
#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);
|
||||
}
|
||||
@@ -1,4 +1,4 @@
|
||||
Import('envCython', 'common')
|
||||
Import('envCython')
|
||||
|
||||
envCython.Program('clock.so', 'clock.pyx')
|
||||
envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])
|
||||
envCython.Program('params_pyx.so', 'params_pyx.pyx')
|
||||
|
||||
@@ -27,11 +27,7 @@ class Api():
|
||||
'iat': now,
|
||||
'exp': now + timedelta(hours=1)
|
||||
}
|
||||
token = jwt.encode(payload, self.private_key, algorithm='RS256')
|
||||
if isinstance(token, bytes):
|
||||
token = token.decode('utf8')
|
||||
return token
|
||||
|
||||
return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
backend = "https://api.commadotai.com/"
|
||||
|
||||
@@ -1,11 +1,8 @@
|
||||
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__)), "../"))
|
||||
|
||||
if PC or JETSON:
|
||||
PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
|
||||
from selfdrive.hardware import PC
|
||||
if PC:
|
||||
PERSIST = os.path.join(BASEDIR, "persist")
|
||||
else:
|
||||
PERSIST = "/persist"
|
||||
|
||||
@@ -1,9 +0,0 @@
|
||||
# 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
|
||||
@@ -5,7 +5,7 @@ from common.params import Params
|
||||
from common.realtime import sec_since_boot
|
||||
import os
|
||||
params = Params()
|
||||
PARAM_PATH = params.get_params_path() + '/d/'
|
||||
PARAM_PATH = "/data/params/d/"
|
||||
LAST_MODIFIED = PARAM_PATH + "dp_last_modified"
|
||||
|
||||
def is_online():
|
||||
@@ -16,7 +16,7 @@ def is_online():
|
||||
|
||||
def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego):
|
||||
if enabled:
|
||||
if dragonconf.dpLateralMode == 0 and blinker_on:
|
||||
if (dragonconf.dpSteeringOnSignal and blinker_on) or not dragonconf.dpLatCtrl:
|
||||
steer_req = 0 if isinstance(steer_req, int) else False
|
||||
return steer_req
|
||||
|
||||
@@ -32,7 +32,7 @@ def common_interface_atl(ret, atl):
|
||||
return enable_acc
|
||||
|
||||
def common_interface_get_params_lqr(ret):
|
||||
if params.get_bool('dp_lqr'):
|
||||
if params.get('dp_lqr') == b'1':
|
||||
ret.lateralTuning.init('lqr')
|
||||
ret.lateralTuning.lqr.scale = 1500.0
|
||||
ret.lateralTuning.lqr.ki = 0.05
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
#!/usr/bin/env python3.7
|
||||
import os
|
||||
import sys
|
||||
import json
|
||||
import time
|
||||
from math import floor
|
||||
@@ -9,94 +8,130 @@ 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, need both param and struct defined)
|
||||
* 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']},
|
||||
|
||||
# car specific
|
||||
{'name': 'dp_vw', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
|
||||
{'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_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'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': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
|
||||
{'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_updated', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_logger', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_athenad', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
{'name': 'dp_uploader', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
# {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_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_upload_on_mobile', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_uploader', 'vals': [True]}], 'conf_type': ['param']},
|
||||
{'name': 'dp_upload_on_hotspot', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_uploader', 'vals': [True]}], 'conf_type': ['param']},
|
||||
{'name': 'dp_updated', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'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_lateral_mode', 'default': 1, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_signal_off_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [0]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_min_mph', 'default': 45, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [1,2]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_auto_cont', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_auto_min_mph', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_auto_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_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_slow_on_curve', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, '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': 2, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_accel_profile_ctrl', 'vals': [True]}], '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_dynamic_follow', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 4, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_dynamic_follow_multiplier', 'default': 1., 'type': 'Float32', 'min': 0.85, 'max': 1.2, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param']},
|
||||
{'name': 'dp_dynamic_follow_min_tr', 'default': 0.9, 'type': 'Float32', 'min': 0.85, 'max': 1.6, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param']},
|
||||
{'name': 'dp_dynamic_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param']},
|
||||
{'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_atl', 'vals': [False]}], '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', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# UIs
|
||||
{'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_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': [{'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_driver_monitor', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_path', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], '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', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
{'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', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'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']},
|
||||
{'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_fan_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param']},
|
||||
{'name': 'dp_full_speed_fan', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_uno_fan_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': -100, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_path_offset', 'default': 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
{'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']},
|
||||
# sr learner related
|
||||
{'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_sr_custom', 'default': 9.99, 'min': 9.99, 'max': 30., 'type': 'Float32', 'depends': [{'name': 'dp_sr_learner', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_sr_stock', 'default': 9.99, 'min': 9.99, 'max': 100., 'type': 'Float32', 'conf_type': ['param']},
|
||||
{'name': 'dp_is_updating', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
|
||||
{'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_appd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_no_batt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_panda_fake_black', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_panda_no_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_last_candidate', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_debug', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_timebomb_assist', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
]
|
||||
|
||||
def get_definition(name):
|
||||
@@ -161,12 +196,21 @@ def gen_log_struct():
|
||||
str += "}"
|
||||
print(str)
|
||||
|
||||
'''
|
||||
function to append new keys to params.py
|
||||
'''
|
||||
def init_params_keys(keys, type):
|
||||
for conf in confs:
|
||||
if 'param' in conf['conf_type']:
|
||||
keys[conf['name'].encode('utf-8')] = type
|
||||
return keys
|
||||
|
||||
'''
|
||||
function to generate support car list
|
||||
'''
|
||||
def get_support_car_list():
|
||||
attrs = ['FINGERPRINTS', 'FW_VERSIONS']
|
||||
cars = dict({"cars": []})
|
||||
cars = dict()
|
||||
for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]:
|
||||
try:
|
||||
car_name = car_folder.split('/')[-1]
|
||||
@@ -178,13 +222,13 @@ def get_support_car_list():
|
||||
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()
|
||||
brand_models = {"brand": car_name.upper(), "models": names }
|
||||
cars["cars"].append(brand_models)
|
||||
cars[car_name] = names
|
||||
except (ImportError, IOError, ValueError):
|
||||
pass
|
||||
return json.dumps(cars)
|
||||
@@ -201,14 +245,5 @@ def init_params_vals(params):
|
||||
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()
|
||||
gen_log_struct()
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
#!/usr/bin/env python3.7
|
||||
|
||||
# delay of reading last modified
|
||||
LAST_MODIFIED_DYNAMIC_FOLLOW = 3.
|
||||
LAST_MODIFIED_THERMALD = 10.
|
||||
LAST_MODIFIED_SYSTEMD = 1.
|
||||
LAST_MODIFIED_LANE_PLANNER = 3.
|
||||
|
||||
@@ -3,7 +3,6 @@ import os
|
||||
import sys
|
||||
import copy
|
||||
import json
|
||||
import uuid
|
||||
import socket
|
||||
import logging
|
||||
import traceback
|
||||
@@ -63,48 +62,8 @@ 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
|
||||
@@ -158,8 +117,6 @@ 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)
|
||||
|
||||
|
||||
@@ -1,24 +1,4 @@
|
||||
from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
|
||||
from common.params_pyx import Params, 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)}")
|
||||
|
||||
@@ -4,27 +4,13 @@ from libcpp cimport bool
|
||||
cdef extern from "selfdrive/common/params.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/util.cc":
|
||||
cdef extern from "selfdrive/common/util.c":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/params.h":
|
||||
cpdef enum ParamKeyType:
|
||||
PERSISTENT
|
||||
CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_PANDA_DISCONNECT
|
||||
CLEAR_ON_IGNITION_ON
|
||||
CLEAR_ON_IGNITION_OFF
|
||||
ALL
|
||||
|
||||
cdef cppclass Params:
|
||||
Params(bool) nogil
|
||||
Params(string) nogil
|
||||
Params(bool)
|
||||
Params(string)
|
||||
string get(string, bool) nogil
|
||||
bool getBool(string) nogil
|
||||
int remove(string) nogil
|
||||
int put(string, string) nogil
|
||||
int putBool(string, bool) nogil
|
||||
bool checkKey(string) nogil
|
||||
void clearAll(ParamKeyType)
|
||||
|
||||
string get_params_path()
|
||||
int delete_db_value(string)
|
||||
int write_db_value(string, string)
|
||||
|
||||
@@ -2,20 +2,78 @@
|
||||
# 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
|
||||
from common.params_pxd cimport Params as c_Params
|
||||
from common.dp_conf import init_params_keys
|
||||
|
||||
import os
|
||||
import threading
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
cdef enum TxType:
|
||||
PERSISTENT = 1
|
||||
CLEAR_ON_MANAGER_START = 2
|
||||
CLEAR_ON_PANDA_DISCONNECT = 3
|
||||
|
||||
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_ON = c_ParamKeyType.CLEAR_ON_IGNITION_ON
|
||||
CLEAR_ON_IGNITION_OFF = c_ParamKeyType.CLEAR_ON_IGNITION_OFF
|
||||
ALL = c_ParamKeyType.ALL
|
||||
keys = {
|
||||
b"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"AthenadPid": [TxType.PERSISTENT],
|
||||
b"CalibrationParams": [TxType.PERSISTENT],
|
||||
b"CarBatteryCapacity": [TxType.PERSISTENT],
|
||||
b"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"CommunityFeaturesToggle": [TxType.PERSISTENT],
|
||||
b"CompletedTrainingVersion": [TxType.PERSISTENT],
|
||||
b"DisablePowerDown": [TxType.PERSISTENT],
|
||||
b"DisableUpdates": [TxType.PERSISTENT],
|
||||
b"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"DongleId": [TxType.PERSISTENT],
|
||||
b"GitBranch": [TxType.PERSISTENT],
|
||||
b"GitCommit": [TxType.PERSISTENT],
|
||||
b"GitRemote": [TxType.PERSISTENT],
|
||||
b"GithubSshKeys": [TxType.PERSISTENT],
|
||||
b"HasAcceptedTerms": [TxType.PERSISTENT],
|
||||
b"HasCompletedSetup": [TxType.PERSISTENT],
|
||||
b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsLdwEnabled": [TxType.PERSISTENT],
|
||||
b"IsMetric": [TxType.PERSISTENT],
|
||||
b"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsRHD": [TxType.PERSISTENT],
|
||||
b"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsUploadRawEnabled": [TxType.PERSISTENT],
|
||||
b"LastAthenaPingTime": [TxType.PERSISTENT],
|
||||
b"LastUpdateTime": [TxType.PERSISTENT],
|
||||
b"LastUpdateException": [TxType.PERSISTENT],
|
||||
b"LiveParameters": [TxType.PERSISTENT],
|
||||
b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
|
||||
b"LaneChangeEnabled": [TxType.PERSISTENT],
|
||||
b"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"Passive": [TxType.PERSISTENT],
|
||||
b"RecordFront": [TxType.PERSISTENT],
|
||||
b"ReleaseNotes": [TxType.PERSISTENT],
|
||||
b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"SubscriberInfo": [TxType.PERSISTENT],
|
||||
b"TermsVersion": [TxType.PERSISTENT],
|
||||
b"TrainingVersion": [TxType.PERSISTENT],
|
||||
b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Version": [TxType.PERSISTENT],
|
||||
b"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_HardwareUnsupported": [TxType.CLEAR_ON_MANAGER_START],
|
||||
}
|
||||
|
||||
keys = init_params_keys(keys, [TxType.PERSISTENT])
|
||||
|
||||
def ensure_bytes(v):
|
||||
if isinstance(v, str):
|
||||
@@ -31,38 +89,37 @@ cdef class Params:
|
||||
cdef c_Params* p
|
||||
|
||||
def __cinit__(self, d=None, bool persistent_params=False):
|
||||
cdef string path
|
||||
if d is None:
|
||||
with nogil:
|
||||
self.p = new c_Params(persistent_params)
|
||||
self.p = new c_Params(persistent_params)
|
||||
else:
|
||||
path = <string>d.encode()
|
||||
with nogil:
|
||||
self.p = new c_Params(path)
|
||||
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
|
||||
for key in keys:
|
||||
if tx_type is None or tx_type in keys[key]:
|
||||
self.delete(key)
|
||||
|
||||
self.p.clearAll(tx_type)
|
||||
def manager_start(self):
|
||||
self.clear_all(TxType.CLEAR_ON_MANAGER_START)
|
||||
|
||||
def check_key(self, key):
|
||||
def panda_disconnect(self):
|
||||
self.clear_all(TxType.CLEAR_ON_PANDA_DISCONNECT)
|
||||
|
||||
def get(self, key, block=False, encoding=None):
|
||||
key = ensure_bytes(key)
|
||||
|
||||
if not self.p.checkKey(key):
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
return key
|
||||
|
||||
def get(self, key, bool block=False, encoding=None):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef string k = key
|
||||
cdef bool b = block
|
||||
|
||||
cdef string val
|
||||
with nogil:
|
||||
val = self.p.get(k, block)
|
||||
val = self.p.get(k, b)
|
||||
|
||||
if val == b"":
|
||||
if block:
|
||||
@@ -77,13 +134,6 @@ cdef class Params:
|
||||
else:
|
||||
return val
|
||||
|
||||
def get_bool(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef bool r
|
||||
with nogil:
|
||||
r = self.p.getBool(k)
|
||||
return r
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
@@ -91,29 +141,23 @@ cdef class Params:
|
||||
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)
|
||||
cdef string dat_bytes = ensure_bytes(dat)
|
||||
with nogil:
|
||||
self.p.put(k, dat_bytes)
|
||||
key = ensure_bytes(key)
|
||||
dat = ensure_bytes(dat)
|
||||
|
||||
def put_bool(self, key, bool val):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
self.p.putBool(k, val)
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
self.p.write_db_value(key, dat)
|
||||
|
||||
def delete(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
self.p.remove(k)
|
||||
key = ensure_bytes(key)
|
||||
self.p.delete_db_value(key)
|
||||
|
||||
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)
|
||||
params.put(key, val)
|
||||
|
||||
t = threading.Thread(target=f, args=(key, val))
|
||||
t.start()
|
||||
|
||||
@@ -3,10 +3,9 @@ import gc
|
||||
import os
|
||||
import time
|
||||
import multiprocessing
|
||||
from typing import Optional
|
||||
|
||||
from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error
|
||||
from selfdrive.hardware import PC, TICI, JETSON
|
||||
from selfdrive.hardware import PC, TICI
|
||||
|
||||
|
||||
# time step for each process
|
||||
@@ -32,49 +31,49 @@ class Priority:
|
||||
CTRL_HIGH = 53
|
||||
|
||||
|
||||
def set_realtime_priority(level: int) -> None:
|
||||
if JETSON or not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) # type: ignore[attr-defined]
|
||||
def set_realtime_priority(level):
|
||||
if not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
|
||||
|
||||
|
||||
def set_core_affinity(core: int) -> None:
|
||||
if JETSON or not PC:
|
||||
def set_core_affinity(core):
|
||||
if not PC:
|
||||
os.sched_setaffinity(0, [core,])
|
||||
|
||||
|
||||
def config_realtime_process(core: int, priority: int) -> None:
|
||||
def config_realtime_process(core, priority):
|
||||
gc.disable()
|
||||
set_realtime_priority(priority)
|
||||
set_core_affinity(core)
|
||||
|
||||
|
||||
class Ratekeeper:
|
||||
def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
|
||||
class Ratekeeper():
|
||||
def __init__(self, rate, print_delay_threshold=0.):
|
||||
"""Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
|
||||
self._interval = 1. / rate
|
||||
self._next_frame_time = sec_since_boot() + self._interval
|
||||
self._print_delay_threshold = print_delay_threshold
|
||||
self._frame = 0
|
||||
self._remaining = 0.0
|
||||
self._remaining = 0
|
||||
self._process_name = multiprocessing.current_process().name
|
||||
|
||||
@property
|
||||
def frame(self) -> int:
|
||||
def frame(self):
|
||||
return self._frame
|
||||
|
||||
@property
|
||||
def remaining(self) -> float:
|
||||
def remaining(self):
|
||||
return self._remaining
|
||||
|
||||
# Maintain loop rate by calling this at the end of each loop
|
||||
def keep_time(self) -> bool:
|
||||
def keep_time(self):
|
||||
lagged = self.monitor_time()
|
||||
if self._remaining > 0:
|
||||
time.sleep(self._remaining)
|
||||
return lagged
|
||||
|
||||
# this only monitor the cumulative lag, but does not enforce a rate
|
||||
def monitor_time(self) -> bool:
|
||||
def monitor_time(self):
|
||||
lagged = False
|
||||
remaining = self._next_frame_time - sec_since_boot()
|
||||
self._next_frame_time += self._interval
|
||||
|
||||
@@ -16,7 +16,7 @@ class Spinner():
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, spinner_text: str):
|
||||
def update(self, spinner_text):
|
||||
if self.spinner_proc is not None:
|
||||
self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
|
||||
try:
|
||||
@@ -24,9 +24,6 @@ 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:
|
||||
|
||||
@@ -1,6 +1,3 @@
|
||||
Import('env', 'envCython')
|
||||
|
||||
transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
|
||||
Export('transformations')
|
||||
Import('envCython')
|
||||
|
||||
envCython.Program('transformations.so', 'transformations.pyx')
|
||||
|
||||
@@ -6,6 +6,8 @@
|
||||
|
||||
#include "coordinates.hpp"
|
||||
|
||||
#define DEG2RAD(x) ((x) * M_PI / 180.0)
|
||||
#define RAD2DEG(x) ((x) * 180.0 / M_PI)
|
||||
|
||||
|
||||
double a = 6378137; // lgtm [cpp/short-global-name]
|
||||
|
||||
@@ -1,8 +1,5 @@
|
||||
#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(){
|
||||
@@ -12,9 +9,6 @@ struct ECEF {
|
||||
|
||||
struct NED {
|
||||
double n, e, d;
|
||||
Eigen::Vector3d to_vector(){
|
||||
return Eigen::Vector3d(n, e, d);
|
||||
}
|
||||
};
|
||||
|
||||
struct Geodetic {
|
||||
|
||||
@@ -30,8 +30,7 @@ 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 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 theta = asin(2 * (quat.w() * quat.y() - quat.z() * quat.x()));
|
||||
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};
|
||||
}
|
||||
@@ -40,7 +39,7 @@ Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat){
|
||||
return quat.toRotationMatrix();
|
||||
}
|
||||
|
||||
Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot){
|
||||
Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot){
|
||||
return ensure_unique(Eigen::Quaterniond(rot));
|
||||
}
|
||||
|
||||
@@ -48,7 +47,7 @@ Eigen::Matrix3d euler2rot(Eigen::Vector3d euler){
|
||||
return quat2rot(euler2quat(euler));
|
||||
}
|
||||
|
||||
Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot){
|
||||
Eigen::Vector3d rot2euler(Eigen::Matrix3d rot){
|
||||
return quat2euler(rot2quat(rot));
|
||||
}
|
||||
|
||||
@@ -142,3 +141,7 @@ 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(const Eigen::Matrix3d &rot);
|
||||
Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot);
|
||||
Eigen::Matrix3d euler2rot(Eigen::Vector3d euler);
|
||||
Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
|
||||
Eigen::Vector3d rot2euler(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);
|
||||
|
||||
56
dragonpilot/HOWTO-Translate.md
Normal file
56
dragonpilot/HOWTO-Translate.md
Normal file
@@ -0,0 +1,56 @@
|
||||
Make a python script translatable
|
||||
--
|
||||
1. add following codes to the top
|
||||
```python
|
||||
# This Python file uses the following encoding: utf-8
|
||||
# -*- coding: utf-8 -*-
|
||||
from common.i18n import events
|
||||
_ = events()
|
||||
```
|
||||
2. wrap ```_()``` function around the string.
|
||||
|
||||
3. generate pot file (template file)
|
||||
```bash
|
||||
# e.g. xgettext -d base -o /data/openpilot/selfdrive/assets/locales/events.pot /data/openpilot/selfdrive/controls/lib/events.py
|
||||
xgettext -d base -o <openpilot_path>/selfdrive/assets/locales/<template_file>.pot <file_to_translate>.py
|
||||
```
|
||||
|
||||
4. add po file to languages
|
||||
```bash
|
||||
# e.g. cp /data/openpilot/selfdrive/assets/locales/events.pot /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.po
|
||||
cp <openpilot_path>/selfdrive/assets/locales/<template_file>.pot <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>.po
|
||||
```
|
||||
|
||||
5. translate po file with your favorite editor.
|
||||
|
||||
6. generate mo file.
|
||||
```bash
|
||||
# e.g. msgfmt -o /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.mo /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events
|
||||
msgfmt -o <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>.mo <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>
|
||||
```
|
||||
|
||||
Update translations
|
||||
---
|
||||
1. add ```_()``` around the new strings
|
||||
|
||||
2. generate pot file again (template file)
|
||||
```bash
|
||||
# e.g. xgettext -d base -o /data/openpilot/selfdrive/assets/locales/events.pot /data/openpilot/selfdrive/controls/lib/events.py
|
||||
xgettext -d base -o <openpilot_path>/selfdrive/assets/locales/<template_file>.pot <file_to_translate>.py
|
||||
```
|
||||
|
||||
3. update already translated file (merge)
|
||||
```bash
|
||||
# e.g. msgmerge --update /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.po /data/openpilot/selfdrive/assets/locales/events.pot
|
||||
msgmerge --update <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<file_to_translate>.po <openpilot_path>/selfdrive/assets/locales/<template_file>.pot
|
||||
```
|
||||
|
||||
4. generate mo file again.
|
||||
```bash
|
||||
# e.g. msgfmt -o /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.mo /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events
|
||||
msgfmt -o <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>.mo <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>
|
||||
```
|
||||
|
||||
Reference
|
||||
---
|
||||
https://simpleit.rocks/python/how-to-translate-a-python-project-with-gettext-the-easy-way/
|
||||
21
dragonpilot/LICENSE.md
Normal file
21
dragonpilot/LICENSE.md
Normal file
@@ -0,0 +1,21 @@
|
||||
The MIT License
|
||||
|
||||
Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
92
dragonpilot/cjk-fonts/LICENSE_OFL.txt
Normal file
92
dragonpilot/cjk-fonts/LICENSE_OFL.txt
Normal file
@@ -0,0 +1,92 @@
|
||||
This Font Software is licensed under the SIL Open Font License,
|
||||
Version 1.1.
|
||||
|
||||
This license is copied below, and is also available with a FAQ at:
|
||||
http://scripts.sil.org/OFL
|
||||
|
||||
-----------------------------------------------------------
|
||||
SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
|
||||
-----------------------------------------------------------
|
||||
|
||||
PREAMBLE
|
||||
The goals of the Open Font License (OFL) are to stimulate worldwide
|
||||
development of collaborative font projects, to support the font
|
||||
creation efforts of academic and linguistic communities, and to
|
||||
provide a free and open framework in which fonts may be shared and
|
||||
improved in partnership with others.
|
||||
|
||||
The OFL allows the licensed fonts to be used, studied, modified and
|
||||
redistributed freely as long as they are not sold by themselves. The
|
||||
fonts, including any derivative works, can be bundled, embedded,
|
||||
redistributed and/or sold with any software provided that any reserved
|
||||
names are not used by derivative works. The fonts and derivatives,
|
||||
however, cannot be released under any other type of license. The
|
||||
requirement for fonts to remain under this license does not apply to
|
||||
any document created using the fonts or their derivatives.
|
||||
|
||||
DEFINITIONS
|
||||
"Font Software" refers to the set of files released by the Copyright
|
||||
Holder(s) under this license and clearly marked as such. This may
|
||||
include source files, build scripts and documentation.
|
||||
|
||||
"Reserved Font Name" refers to any names specified as such after the
|
||||
copyright statement(s).
|
||||
|
||||
"Original Version" refers to the collection of Font Software
|
||||
components as distributed by the Copyright Holder(s).
|
||||
|
||||
"Modified Version" refers to any derivative made by adding to,
|
||||
deleting, or substituting -- in part or in whole -- any of the
|
||||
components of the Original Version, by changing formats or by porting
|
||||
the Font Software to a new environment.
|
||||
|
||||
"Author" refers to any designer, engineer, programmer, technical
|
||||
writer or other person who contributed to the Font Software.
|
||||
|
||||
PERMISSION & CONDITIONS
|
||||
Permission is hereby granted, free of charge, to any person obtaining
|
||||
a copy of the Font Software, to use, study, copy, merge, embed,
|
||||
modify, redistribute, and sell modified and unmodified copies of the
|
||||
Font Software, subject to the following conditions:
|
||||
|
||||
1) Neither the Font Software nor any of its individual components, in
|
||||
Original or Modified Versions, may be sold by itself.
|
||||
|
||||
2) Original or Modified Versions of the Font Software may be bundled,
|
||||
redistributed and/or sold with any software, provided that each copy
|
||||
contains the above copyright notice and this license. These can be
|
||||
included either as stand-alone text files, human-readable headers or
|
||||
in the appropriate machine-readable metadata fields within text or
|
||||
binary files as long as those fields can be easily viewed by the user.
|
||||
|
||||
3) No Modified Version of the Font Software may use the Reserved Font
|
||||
Name(s) unless explicit written permission is granted by the
|
||||
corresponding Copyright Holder. This restriction only applies to the
|
||||
primary font name as presented to the users.
|
||||
|
||||
4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
|
||||
Software shall not be used to promote, endorse or advertise any
|
||||
Modified Version, except to acknowledge the contribution(s) of the
|
||||
Copyright Holder(s) and the Author(s) or with their explicit written
|
||||
permission.
|
||||
|
||||
5) The Font Software, modified or unmodified, in part or in whole,
|
||||
must be distributed entirely under this license, and must not be
|
||||
distributed under any other license. The requirement for fonts to
|
||||
remain under this license does not apply to any document created using
|
||||
the Font Software.
|
||||
|
||||
TERMINATION
|
||||
This license becomes null and void if any of the above conditions are
|
||||
not met.
|
||||
|
||||
DISCLAIMER
|
||||
THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
|
||||
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
|
||||
OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
|
||||
COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||||
INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
|
||||
DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||||
FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
|
||||
OTHER DEALINGS IN THE FONT SOFTWARE.
|
||||
BIN
dragonpilot/cjk-fonts/NotoSansCJKtc-Bold.otf
Normal file
BIN
dragonpilot/cjk-fonts/NotoSansCJKtc-Bold.otf
Normal file
Binary file not shown.
BIN
dragonpilot/cjk-fonts/NotoSansCJKtc-Medium.otf
Normal file
BIN
dragonpilot/cjk-fonts/NotoSansCJKtc-Medium.otf
Normal file
Binary file not shown.
BIN
dragonpilot/cjk-fonts/NotoSansCJKtc-Regular.otf
Normal file
BIN
dragonpilot/cjk-fonts/NotoSansCJKtc-Regular.otf
Normal file
Binary file not shown.
372
dragonpilot/cjk-fonts/fonts.xml
Normal file
372
dragonpilot/cjk-fonts/fonts.xml
Normal file
@@ -0,0 +1,372 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!--
|
||||
NOTE: this is the newer (L) version of the system font configuration,
|
||||
supporting richer weight selection. Some apps will expect the older
|
||||
version, so please keep system_fonts.xml and fallback_fonts.xml in sync
|
||||
with any changes, even though framework will only read this file.
|
||||
|
||||
All fonts withohut names are added to the default list. Fonts are chosen
|
||||
based on a match: full BCP-47 language tag including script, then just
|
||||
language, and finally order (the first font containing the glyph).
|
||||
|
||||
Order of appearance is also the tiebreaker for weight matching. This is
|
||||
the reason why the 900 weights of Roboto precede the 700 weights - we
|
||||
prefer the former when an 800 weight is requested. Since bold spans
|
||||
effectively add 300 to the weight, this ensures that 900 is the bold
|
||||
paired with the 500 weight, ensuring adequate contrast.
|
||||
-->
|
||||
<familyset version="22">
|
||||
<!-- first font is default -->
|
||||
<family name="sans-serif">
|
||||
<font weight="100" style="normal">Roboto-Thin.ttf</font>
|
||||
<font weight="100" style="italic">Roboto-ThinItalic.ttf</font>
|
||||
<font weight="300" style="normal">Roboto-Light.ttf</font>
|
||||
<font weight="300" style="italic">Roboto-LightItalic.ttf</font>
|
||||
<font weight="400" style="normal">Roboto-Regular.ttf</font>
|
||||
<font weight="400" style="italic">Roboto-Italic.ttf</font>
|
||||
<font weight="500" style="normal">Roboto-Medium.ttf</font>
|
||||
<font weight="500" style="italic">Roboto-MediumItalic.ttf</font>
|
||||
<font weight="900" style="normal">Roboto-Black.ttf</font>
|
||||
<font weight="900" style="italic">Roboto-BlackItalic.ttf</font>
|
||||
<font weight="700" style="normal">Roboto-Bold.ttf</font>
|
||||
<font weight="700" style="italic">Roboto-BoldItalic.ttf</font>
|
||||
</family>
|
||||
|
||||
<!-- Note that aliases must come after the fonts they reference. -->
|
||||
<alias name="sans-serif-thin" to="sans-serif" weight="100" />
|
||||
<alias name="sans-serif-light" to="sans-serif" weight="300" />
|
||||
<alias name="sans-serif-medium" to="sans-serif" weight="500" />
|
||||
<alias name="sans-serif-black" to="sans-serif" weight="900" />
|
||||
<alias name="arial" to="sans-serif" />
|
||||
<alias name="helvetica" to="sans-serif" />
|
||||
<alias name="tahoma" to="sans-serif" />
|
||||
<alias name="verdana" to="sans-serif" />
|
||||
|
||||
<family name="sans-serif-condensed">
|
||||
<font weight="300" style="normal">RobotoCondensed-Light.ttf</font>
|
||||
<font weight="300" style="italic">RobotoCondensed-LightItalic.ttf</font>
|
||||
<font weight="400" style="normal">RobotoCondensed-Regular.ttf</font>
|
||||
<font weight="400" style="italic">RobotoCondensed-Italic.ttf</font>
|
||||
<font weight="700" style="normal">RobotoCondensed-Bold.ttf</font>
|
||||
<font weight="700" style="italic">RobotoCondensed-BoldItalic.ttf</font>
|
||||
</family>
|
||||
<alias name="sans-serif-condensed-light" to="sans-serif-condensed" weight="300" />
|
||||
|
||||
<family name="serif">
|
||||
<font weight="400" style="normal">NotoSerif-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSerif-Bold.ttf</font>
|
||||
<font weight="400" style="italic">NotoSerif-Italic.ttf</font>
|
||||
<font weight="700" style="italic">NotoSerif-BoldItalic.ttf</font>
|
||||
</family>
|
||||
<alias name="times" to="serif" />
|
||||
<alias name="times new roman" to="serif" />
|
||||
<alias name="palatino" to="serif" />
|
||||
<alias name="georgia" to="serif" />
|
||||
<alias name="baskerville" to="serif" />
|
||||
<alias name="goudy" to="serif" />
|
||||
<alias name="fantasy" to="serif" />
|
||||
<alias name="ITC Stone Serif" to="serif" />
|
||||
|
||||
<family name="monospace">
|
||||
<font weight="400" style="normal">DroidSansMono.ttf</font>
|
||||
</family>
|
||||
<alias name="sans-serif-monospace" to="monospace" />
|
||||
<alias name="monaco" to="monospace" />
|
||||
|
||||
<family name="serif-monospace">
|
||||
<font weight="400" style="normal">CutiveMono.ttf</font>
|
||||
</family>
|
||||
<alias name="courier" to="serif-monospace" />
|
||||
<alias name="courier new" to="serif-monospace" />
|
||||
|
||||
<family name="casual">
|
||||
<font weight="400" style="normal">ComingSoon.ttf</font>
|
||||
</family>
|
||||
|
||||
<family name="cursive">
|
||||
<font weight="400" style="normal">DancingScript-Regular.ttf</font>
|
||||
<font weight="700" style="normal">DancingScript-Bold.ttf</font>
|
||||
</family>
|
||||
|
||||
<family name="sans-serif-smallcaps">
|
||||
<font weight="400" style="normal">CarroisGothicSC-Regular.ttf</font>
|
||||
</family>
|
||||
|
||||
<!-- fallback fonts -->
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoNaskhArabic-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoNaskhArabic-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoNaskhArabicUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoNaskhArabicUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansEthiopic-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansEthiopic-Bold.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansHebrew-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansHebrew-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansThai-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansThai-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansThaiUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansThaiUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansArmenian-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansArmenian-Bold.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansGeorgian-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansGeorgian-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansDevanagari-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansDevanagari-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansDevanagariUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansDevanagariUI-Bold.ttf</font>
|
||||
</family>
|
||||
<!-- Gujarati should come after Devanagari -->
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansGujarati-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansGujarati-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansGujaratiUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansGujaratiUI-Bold.ttf</font>
|
||||
</family>
|
||||
<!-- Gurmukhi should come after Devanagari -->
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansGurmukhi-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansGurmukhi-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansGurmukhiUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansGurmukhiUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansTamil-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansTamil-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansTamilUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansTamilUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansMalayalam-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansMalayalam-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansMalayalamUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansMalayalamUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansBengali-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansBengali-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansBengaliUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansBengaliUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansTelugu-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansTelugu-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansTeluguUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansTeluguUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansKannada-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansKannada-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansKannadaUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansKannadaUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansOriya-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansOriya-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansOriyaUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansOriyaUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansSinhala-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansSinhala-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansKhmer-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansKhmer-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansKhmerUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansKhmerUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansLao-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansLao-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansLaoUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansLaoUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansMyanmar-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansMyanmar-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansMyanmarUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansMyanmarUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansThaana-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansThaana-Bold.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansCham-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansCham-Bold.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansBalinese-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansBamum-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansBatak-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansBuginese-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansBuhid-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansCanadianAboriginal-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansCherokee-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansCoptic-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansGlagolitic-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansHanunoo-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansJavanese-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansKayahLi-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansLepcha-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansLimbu-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansLisu-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansMandaic-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansMeeteiMayek-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansNewTaiLue-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansNKo-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansOlChiki-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansRejang-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansSaurashtra-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansSundanese-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansSylotiNagri-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansSyriacEstrangela-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansTagbanwa-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansTaiTham-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansTaiViet-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansTibetan-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansTifinagh-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansVai-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansYi-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansSymbols-Regular-Subsetted.ttf</font>
|
||||
</family>
|
||||
<family lang="ja">
|
||||
<font weight="400" style="normal">NotoSansJP-Regular.otf</font>
|
||||
</family>
|
||||
<family lang="ko">
|
||||
<font weight="400" style="normal">NotoSansKR-Regular.otf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NanumGothic.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoColorEmoji.ttf</font>
|
||||
</family>
|
||||
<family lang="zh-Hans">
|
||||
<font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
|
||||
<font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
|
||||
<font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
|
||||
</family>
|
||||
<family lang="zh-Hant">
|
||||
<font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
|
||||
<font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
|
||||
<font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
|
||||
</family>
|
||||
<family lang="ja">
|
||||
<font weight="400" style="normal">MTLmr3m.ttf</font>
|
||||
</family>
|
||||
<!--
|
||||
Tai Le and Mongolian are intentionally kept last, to make sure they don't override
|
||||
the East Asian punctuation for Chinese.
|
||||
-->
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansTaiLe-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansMongolian-Regular.ttf</font>
|
||||
</family>
|
||||
</familyset>
|
||||
70
dragonpilot/cjk-fonts/installer.sh
Normal file
70
dragonpilot/cjk-fonts/installer.sh
Normal file
@@ -0,0 +1,70 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
###############################################################################
|
||||
# The MIT License
|
||||
#
|
||||
# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
|
||||
#
|
||||
# Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
# of this software and associated documentation files (the "Software"), to deal
|
||||
# in the Software without restriction, including without limitation the rights
|
||||
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
# copies of the Software, and to permit persons to whom the Software is
|
||||
# furnished to do so, subject to the following conditions:
|
||||
#
|
||||
# The above copyright notice and this permission notice shall be included in
|
||||
# all copies or substantial portions of the Software.
|
||||
#
|
||||
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
# THE SOFTWARE.
|
||||
#
|
||||
# Noto is a trademark of Google Inc. Noto fonts are open source.
|
||||
# All Noto fonts are published under the SIL Open Font License,
|
||||
# Version 1.1. Language data and some sample texts are from the Unicode CLDR project.
|
||||
#
|
||||
###############################################################################
|
||||
|
||||
|
||||
# Android system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
|
||||
#lang=en
|
||||
|
||||
update_font=0
|
||||
remove_old_font=0
|
||||
|
||||
# temp fix for lib change
|
||||
if [ ! -f "/system/comma/usr/lib/libcapnp-0.6.1.so" ]; then
|
||||
mount -o remount,rw /system
|
||||
ln -sf /system/comma/usr/lib/libcapnp.so /system/comma/usr/lib/libcapnp-0.6.1.so
|
||||
ln -sf /system/comma/usr/lib/libkj.so /system/comma/usr/lib/libkj-0.6.1.so
|
||||
mount -o remount,r /system
|
||||
fi
|
||||
|
||||
# check regular font
|
||||
if [ ! -f "/system/fonts/NotoSansCJKtc-Regular.otf" ]; then
|
||||
update_font=1
|
||||
fi
|
||||
|
||||
if [ $update_font -eq "1" ] || [ $remove_old_font -eq "1" ]; then
|
||||
# sleep 3 secs in case, make sure the /system is re-mountable
|
||||
sleep 3
|
||||
mount -o remount,rw /system
|
||||
if [ $update_font -eq "1" ]; then
|
||||
# install font
|
||||
cp -rf /data/openpilot/dragonpilot/cjk-fonts/NotoSansCJKtc-* /system/fonts/
|
||||
# install font mapping
|
||||
cp -rf /data/openpilot/dragonpilot/cjk-fonts/fonts.xml /system/etc/fonts.xml
|
||||
# change permissions
|
||||
chmod 644 /system/etc/fonts.xml
|
||||
chmod 644 /system/fonts/NotoSansCJKtc-*
|
||||
fi
|
||||
mount -o remount,r /system
|
||||
# change system locale
|
||||
fi
|
||||
|
||||
#setprop persist.sys.locale $lang
|
||||
#setprop persist.sys.local $lang
|
||||
@@ -1,7 +0,0 @@
|
||||
{
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
|
||||
"ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
|
||||
"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-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
|
||||
"ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5.img",
|
||||
"recovery_len": 15209772,
|
||||
"recovery_hash": "c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5"
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47.zip",
|
||||
"ota_hash": "e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb.img",
|
||||
"recovery_len": 15926572,
|
||||
"recovery_hash": "db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb"
|
||||
}
|
||||
|
||||
Binary file not shown.
@@ -1,33 +1,36 @@
|
||||
#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 "selfdrive/common/framebuffer.h"
|
||||
#include "selfdrive/common/touch.h"
|
||||
#include "selfdrive/common/util.h"
|
||||
#include "json11.hpp"
|
||||
|
||||
#include "common/framebuffer.h"
|
||||
#include "common/touch.h"
|
||||
#include "common/utilpp.h"
|
||||
|
||||
#define USER_AGENT "NEOSUpdater-0.2"
|
||||
|
||||
@@ -125,20 +128,10 @@ int battery_current() {
|
||||
return atoi(current_now_s.c_str());
|
||||
}
|
||||
|
||||
bool has_no_battery() {
|
||||
if (FILE *file = fopen("/data/params/d/dp_no_batt", "r")) {
|
||||
fclose(file);
|
||||
std::string has_no_batt = util::read_file("/data/params/d/dp_no_batt");
|
||||
return atoi(has_no_batt.c_str()) == 1;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool check_battery() {
|
||||
int bat_cap = battery_capacity();
|
||||
int current_now = battery_current();
|
||||
return (has_no_battery())? true : bat_cap > 35 || (current_now < 0 && bat_cap > 10);
|
||||
return bat_cap > 35 || (current_now < 0 && bat_cap > 10);
|
||||
}
|
||||
|
||||
bool check_space() {
|
||||
@@ -190,7 +183,7 @@ struct Updater {
|
||||
|
||||
int fb_w, fb_h;
|
||||
|
||||
std::unique_ptr<FrameBuffer> fb;
|
||||
FramebufferState *fb = NULL;
|
||||
NVGcontext *vg = NULL;
|
||||
int font_regular;
|
||||
int font_semibold;
|
||||
@@ -234,9 +227,11 @@ struct Updater {
|
||||
void ui_init() {
|
||||
touch_init(&touch);
|
||||
|
||||
fb = std::make_unique<FrameBuffer>("updater", 0x00001000, false, &fb_w, &fb_h);
|
||||
fb = framebuffer_init("updater", 0x00001000, false,
|
||||
&fb_w, &fb_h);
|
||||
assert(fb);
|
||||
|
||||
fb->set_power(HWC_POWER_MODE_NORMAL);
|
||||
framebuffer_set_power(fb, HWC_POWER_MODE_NORMAL);
|
||||
|
||||
vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
|
||||
assert(vg);
|
||||
@@ -256,12 +251,7 @@ struct Updater {
|
||||
b_y = 720;
|
||||
b_h = 220;
|
||||
|
||||
if (download_stage(true)) {
|
||||
state = RUNNING;
|
||||
update_thread_handle = std::thread(&Updater::run_stages, this);
|
||||
} else {
|
||||
state = CONFIRMATION;
|
||||
}
|
||||
state = CONFIRMATION;
|
||||
}
|
||||
|
||||
int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
|
||||
@@ -362,15 +352,11 @@ struct Updater {
|
||||
state = RUNNING;
|
||||
}
|
||||
|
||||
std::string download(std::string url, std::string hash, std::string name, bool dry_run) {
|
||||
std::string download(std::string url, std::string hash, std::string name) {
|
||||
std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
|
||||
|
||||
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
|
||||
std::string fn_hash = sha256_file(out_fn);
|
||||
if (hash.compare(fn_hash) != 0) {
|
||||
set_progress("Downloading " + name + "...");
|
||||
bool r = download_file(url, out_fn);
|
||||
@@ -392,14 +378,14 @@ struct Updater {
|
||||
return out_fn;
|
||||
}
|
||||
|
||||
bool download_stage(bool dry_run = false) {
|
||||
bool download_stage() {
|
||||
curl = curl_easy_init();
|
||||
assert(curl);
|
||||
|
||||
// ** quick checks before download **
|
||||
|
||||
if (!check_space()) {
|
||||
if (!dry_run) set_error("2GB of free space required to update");
|
||||
set_error("2GB of free space required to update");
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -447,7 +433,7 @@ struct Updater {
|
||||
printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
|
||||
|
||||
if (existing_recovery_hash != recovery_hash) {
|
||||
recovery_fn = download(recovery_url, recovery_hash, "recovery", dry_run);
|
||||
recovery_fn = download(recovery_url, recovery_hash, "recovery");
|
||||
if (recovery_fn.empty()) {
|
||||
// error'd
|
||||
return false;
|
||||
@@ -456,7 +442,7 @@ struct Updater {
|
||||
}
|
||||
|
||||
// ** handle ota download **
|
||||
ota_fn = download(ota_url, ota_hash, "update", dry_run);
|
||||
ota_fn = download(ota_url, ota_hash, "update");
|
||||
if (ota_fn.empty()) {
|
||||
//error'd
|
||||
return false;
|
||||
@@ -479,7 +465,7 @@ struct Updater {
|
||||
while(battery_cap < min_battery_cap) {
|
||||
battery_cap = battery_capacity();
|
||||
battery_cap_text = std::to_string(battery_cap);
|
||||
util::sleep_for(1000);
|
||||
usleep(1000000);
|
||||
}
|
||||
set_running();
|
||||
}
|
||||
@@ -497,7 +483,7 @@ struct Updater {
|
||||
while(battery_cap < min_battery_cap) {
|
||||
battery_cap = battery_capacity();
|
||||
battery_cap_text = std::to_string(battery_cap);
|
||||
util::sleep_for(1000);
|
||||
usleep(1000000);
|
||||
}
|
||||
set_running();
|
||||
}
|
||||
@@ -567,7 +553,7 @@ struct Updater {
|
||||
// TODO: this should be generic between android versions
|
||||
// IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
|
||||
system("service call power 16 i32 0 s16 recovery i32 1");
|
||||
while (true) pause();
|
||||
while(1) pause();
|
||||
|
||||
// execl("/system/bin/reboot", "recovery");
|
||||
// set_error("failed to reboot into recovery");
|
||||
@@ -765,12 +751,12 @@ struct Updater {
|
||||
|
||||
glDisable(GL_BLEND);
|
||||
|
||||
fb->swap();
|
||||
framebuffer_swap(fb);
|
||||
|
||||
assert(glGetError() == GL_NO_ERROR);
|
||||
|
||||
// no simple way to do 30fps vsync with surfaceflinger...
|
||||
util::sleep_for(30);
|
||||
usleep(30000);
|
||||
}
|
||||
|
||||
if (update_thread_handle.joinable()) {
|
||||
|
||||
4
launch.sh
Executable file
4
launch.sh
Executable file
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
export PASSIVE="0"
|
||||
exec ./launch_chffrplus.sh
|
||||
@@ -6,17 +6,14 @@ fi
|
||||
|
||||
source "$BASEDIR/launch_env.sh"
|
||||
|
||||
if ! $(grep -q "letv" /proc/cmdline); then
|
||||
mount -o remount,rw /system
|
||||
sed -i -e 's#/dev/input/event1#/dev/input/event2#g' ~/.bash_profile
|
||||
touch /ONEPLUS
|
||||
mount -o remount,r /system
|
||||
fi
|
||||
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
function two_init {
|
||||
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'
|
||||
}
|
||||
|
||||
function two_init {
|
||||
# Wifi scan
|
||||
wpa_cli IFNAME=wlan0 SCAN
|
||||
|
||||
@@ -62,7 +59,7 @@ function two_init {
|
||||
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/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
|
||||
|
||||
# GPU and camera get cpu 2
|
||||
@@ -84,23 +81,20 @@ function two_init {
|
||||
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 $DIR
|
||||
git clean -xdf
|
||||
git submodule foreach --recursive git clean -xdf
|
||||
fi
|
||||
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
|
||||
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
|
||||
else
|
||||
echo -n 0 > /data/params/d/DisableUpdates
|
||||
|
||||
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
|
||||
|
||||
# One-time fix for a subset of OP3T with gyro orientation offsets.
|
||||
@@ -116,32 +110,10 @@ function two_init {
|
||||
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'
|
||||
nmcli connection modify --temporary lte gsm.auto-config yes
|
||||
nmcli connection modify --temporary lte gsm.home-only yes
|
||||
|
||||
# set success flag for current boot slot
|
||||
sudo abctl --set_success
|
||||
|
||||
# Check if AGNOS update is required
|
||||
if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
|
||||
MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
|
||||
$DIR/selfdrive/hardware/tici/agnos.py --swap $MANIFEST
|
||||
|
||||
sleep 1
|
||||
sudo reboot
|
||||
fi
|
||||
}
|
||||
|
||||
function launch {
|
||||
# Remove orphaned git lock if it exists on boot
|
||||
[ -f "$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:
|
||||
#
|
||||
@@ -172,7 +144,6 @@ function launch {
|
||||
|
||||
echo "Restarting launch script ${LAUNCHER_LOCATION}"
|
||||
unset REQUIRED_NEOS_VERSION
|
||||
unset AGNOS_VERSION
|
||||
exec "${LAUNCHER_LOCATION}"
|
||||
else
|
||||
echo "openpilot backup found, not updating"
|
||||
@@ -182,20 +153,17 @@ function launch {
|
||||
# fi
|
||||
fi
|
||||
|
||||
# handle pythonpath
|
||||
ln -sfn $(pwd) /data/pythonpath
|
||||
export PYTHONPATH="$PWD:$PWD/pyextra"
|
||||
|
||||
# dp - ignore chmod changes
|
||||
git -C $DIR config core.fileMode false
|
||||
|
||||
# hardware specific init
|
||||
# comma two init
|
||||
if [ -f /EON ]; then
|
||||
two_init
|
||||
elif [ -f /TICI ]; then
|
||||
tici_init
|
||||
fi
|
||||
|
||||
# handle pythonpath
|
||||
ln -sfn $(pwd) /data/pythonpath
|
||||
export PYTHONPATH="$PWD"
|
||||
|
||||
if [ -f "/sdcard/dp_patcher.py" ]; then
|
||||
/data/data/com.termux/files/usr/bin/python /sdcard/dp_patcher.py
|
||||
fi
|
||||
@@ -204,8 +172,8 @@ function launch {
|
||||
tmux capture-pane -pq -S-1000 > /tmp/launch_log
|
||||
|
||||
# start manager
|
||||
cd selfdrive/manager
|
||||
./build.py && ./manager.py
|
||||
cd selfdrive
|
||||
./manager.py
|
||||
|
||||
# if broken, keep on screen error
|
||||
while true; do sleep 1; done
|
||||
|
||||
@@ -7,11 +7,7 @@ export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$REQUIRED_NEOS_VERSION" ]; then
|
||||
export REQUIRED_NEOS_VERSION="17"
|
||||
fi
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="0.21"
|
||||
export REQUIRED_NEOS_VERSION="15-1"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
|
||||
@@ -5,7 +5,7 @@ if [ $size -le 1024 ];then
|
||||
rm .git/index 2>/dev/null
|
||||
git reset
|
||||
fi
|
||||
|
||||
/usr/bin/sh /data/openpilot/dragonpilot/cjk-fonts/installer.sh &
|
||||
export PASSIVE="0"
|
||||
exec ./launch_chffrplus.sh
|
||||
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -275,7 +275,7 @@ BO_ 316 GAS_PEDAL: 8 PCM
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
|
||||
@@ -257,7 +257,7 @@ CM_ "acura_rdx_2018_can.dbc starts here";
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
|
||||
@@ -48,7 +48,6 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
|
||||
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
@@ -69,7 +68,7 @@ BO_ 232 BRAKE_HOLD: 7 XXX
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
|
||||
@@ -18,8 +18,5 @@ libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "commo
|
||||
# Build packer and parser
|
||||
lenv = envCython.Clone()
|
||||
lenv["LINKFLAGS"] += [libdbc[0].get_labspath()]
|
||||
parser = lenv.Program('parser_pyx.so', 'parser_pyx.pyx')
|
||||
packer = lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
|
||||
|
||||
lenv.Depends(parser, libdbc)
|
||||
lenv.Depends(packer, libdbc)
|
||||
lenv.Program('parser_pyx.so', 'parser_pyx.pyx')
|
||||
lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
|
||||
|
||||
@@ -5,11 +5,9 @@ unsigned int honda_checksum(unsigned int address, uint64_t d, int l) {
|
||||
d >>= 4; // remove checksum
|
||||
|
||||
int s = 0;
|
||||
bool extended = address > 0x7FF; // extended can
|
||||
while (address) { s += (address & 0xF); address >>= 4; }
|
||||
while (d) { s += (d & 0xF); d >>= 4; }
|
||||
s = 8-s;
|
||||
if (extended) s += 3;
|
||||
s &= 0xF;
|
||||
|
||||
return s;
|
||||
@@ -114,7 +112,7 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
|
||||
case 0x86: // LWI_01 Steering Angle
|
||||
crc ^= (uint8_t[]){0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86}[counter];
|
||||
break;
|
||||
case 0x9F: // LH_EPS_03 Electric Power Steering
|
||||
case 0x9F: // EPS_01 Electric Power Steering
|
||||
crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
|
||||
break;
|
||||
case 0xAD: // Getriebe_11 Automatic Gearbox
|
||||
@@ -153,9 +151,6 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
|
||||
case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent)
|
||||
crc ^= (uint8_t[]){0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C}[counter];
|
||||
break;
|
||||
case 0x324: // ACC_04 Automatic Cruise Control
|
||||
crc ^= (uint8_t[]){0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27}[counter];
|
||||
break;
|
||||
case 0x3C0: // Klemmen_Status_01 ignition and starting status
|
||||
crc ^= (uint8_t[]){0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3}[counter];
|
||||
break;
|
||||
|
||||
@@ -5,12 +5,8 @@
|
||||
#include <unordered_map>
|
||||
|
||||
#include "common_dbc.h"
|
||||
#include <capnp/dynamic.h>
|
||||
#include <capnp/serialize.h>
|
||||
|
||||
#ifndef DYNAMIC_CAPNP
|
||||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
#endif
|
||||
|
||||
#define MAX_BAD_COUNTER 5
|
||||
|
||||
@@ -40,9 +36,6 @@ public:
|
||||
uint8_t counter;
|
||||
uint8_t counter_fail;
|
||||
|
||||
bool ignore_checksum = false;
|
||||
bool ignore_counter = false;
|
||||
|
||||
bool parse(uint64_t sec, uint16_t ts_, uint8_t * dat);
|
||||
bool update_counter_generic(int64_t v, int cnt_size);
|
||||
};
|
||||
@@ -50,7 +43,6 @@ public:
|
||||
class CANParser {
|
||||
private:
|
||||
const int bus;
|
||||
kj::Array<capnp::word> aligned_buf;
|
||||
|
||||
const DBC *dbc = NULL;
|
||||
std::unordered_map<uint32_t, MessageState> message_states;
|
||||
@@ -62,13 +54,9 @@ public:
|
||||
CANParser(int abus, const std::string& dbc_name,
|
||||
const std::vector<MessageParseOptions> &options,
|
||||
const std::vector<SignalParseOptions> &sigoptions);
|
||||
CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter);
|
||||
#ifndef DYNAMIC_CAPNP
|
||||
void update_string(const std::string &data, bool sendcan);
|
||||
void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
|
||||
#endif
|
||||
void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
|
||||
void UpdateValid(uint64_t sec);
|
||||
void update_string(std::string data, bool sendcan);
|
||||
std::vector<SignalValue> query_latest();
|
||||
};
|
||||
|
||||
@@ -80,6 +68,5 @@ private:
|
||||
|
||||
public:
|
||||
CANPacker(const std::string& dbc_name);
|
||||
uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &values, int counter);
|
||||
Msg* lookup_message(uint32_t address);
|
||||
uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter);
|
||||
};
|
||||
|
||||
@@ -3,7 +3,6 @@
|
||||
#include <cstddef>
|
||||
#include <cstdint>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
|
||||
|
||||
@@ -75,7 +74,6 @@ struct DBC {
|
||||
size_t num_vals;
|
||||
};
|
||||
|
||||
std::vector<const DBC*>& get_dbcs();
|
||||
const DBC* dbc_lookup(const std::string& dbc_name);
|
||||
|
||||
void dbc_register(const DBC* dbc);
|
||||
|
||||
@@ -2,11 +2,15 @@
|
||||
|
||||
#include "common_dbc.h"
|
||||
|
||||
namespace {
|
||||
|
||||
std::vector<const DBC*>& get_dbcs() {
|
||||
static std::vector<const DBC*> vec;
|
||||
return vec;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
const DBC* dbc_lookup(const std::string& dbc_name) {
|
||||
for (const auto& dbci : get_dbcs()) {
|
||||
if (dbc_name == dbci->name) {
|
||||
|
||||
@@ -20,7 +20,7 @@ uint64_t ReverseBytes(uint64_t x) {
|
||||
((x & 0x00000000000000ffull) << 56);
|
||||
}
|
||||
|
||||
static uint64_t set_value(uint64_t ret, const Signal& sig, int64_t ival) {
|
||||
uint64_t set_value(uint64_t ret, Signal sig, int64_t ival){
|
||||
int shift = sig.is_little_endian? sig.b1 : sig.bo;
|
||||
uint64_t mask = ((1ULL << sig.b2)-1) << shift;
|
||||
uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << shift;
|
||||
@@ -59,7 +59,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
|
||||
WARN("undefined signal %s - %d\n", name.c_str(), address);
|
||||
continue;
|
||||
}
|
||||
const auto& sig = sig_it->second;
|
||||
auto sig = sig_it->second;
|
||||
|
||||
int64_t ival = (int64_t)(round((value - sig.offset) / sig.factor));
|
||||
if (ival < 0) {
|
||||
@@ -75,7 +75,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
|
||||
WARN("COUNTER not defined\n");
|
||||
return ret;
|
||||
}
|
||||
const auto& sig = sig_it->second;
|
||||
auto sig = sig_it->second;
|
||||
|
||||
if ((sig.type != SignalType::HONDA_COUNTER) && (sig.type != SignalType::VOLKSWAGEN_COUNTER)) {
|
||||
WARN("COUNTER signal type not valid\n");
|
||||
@@ -86,7 +86,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
|
||||
|
||||
auto sig_it_checksum = signal_lookup.find(std::make_pair(address, "CHECKSUM"));
|
||||
if (sig_it_checksum != signal_lookup.end()) {
|
||||
const auto& sig = sig_it_checksum->second;
|
||||
auto sig = sig_it_checksum->second;
|
||||
if (sig.type == SignalType::HONDA_CHECKSUM) {
|
||||
unsigned int chksm = honda_checksum(address, ret, message_lookup[address].size);
|
||||
ret = set_value(ret, sig, chksm);
|
||||
@@ -112,7 +112,3 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
Msg* CANPacker::lookup_message(uint32_t address) {
|
||||
return &message_lookup[address];
|
||||
}
|
||||
|
||||
@@ -13,6 +13,7 @@
|
||||
// #define DEBUG printf
|
||||
#define INFO printf
|
||||
|
||||
|
||||
bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
|
||||
uint64_t dat_le = read_u64_le(dat);
|
||||
uint64_t dat_be = read_u64_be(dat);
|
||||
@@ -33,52 +34,47 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
|
||||
|
||||
DEBUG("parse 0x%X %s -> %lld\n", address, sig.name, tmp);
|
||||
|
||||
if (!ignore_checksum) {
|
||||
if (sig.type == SignalType::HONDA_CHECKSUM) {
|
||||
if (honda_checksum(address, dat_be, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
|
||||
if (toyota_checksum(address, dat_be, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
|
||||
if (volkswagen_crc(address, dat_le, size) != tmp) {
|
||||
INFO("0x%X CRC FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::SUBARU_CHECKSUM) {
|
||||
if (subaru_checksum(address, dat_be, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
|
||||
if (chrysler_checksum(address, dat_le, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::PEDAL_CHECKSUM) {
|
||||
if (pedal_checksum(dat_be, size) != tmp) {
|
||||
INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
if (sig.type == SignalType::HONDA_CHECKSUM) {
|
||||
if (honda_checksum(address, dat_be, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
if (!ignore_counter) {
|
||||
if (sig.type == SignalType::HONDA_COUNTER) {
|
||||
} else if (sig.type == SignalType::HONDA_COUNTER) {
|
||||
if (!update_counter_generic(tmp, sig.b2)) {
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
|
||||
if (toyota_checksum(address, dat_be, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
|
||||
if (volkswagen_crc(address, dat_le, size) != tmp) {
|
||||
INFO("0x%X CRC FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
|
||||
if (!update_counter_generic(tmp, sig.b2)) {
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
|
||||
if (!update_counter_generic(tmp, sig.b2)) {
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::PEDAL_COUNTER) {
|
||||
if (!update_counter_generic(tmp, sig.b2)) {
|
||||
return false;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::SUBARU_CHECKSUM) {
|
||||
if (subaru_checksum(address, dat_be, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
|
||||
if (chrysler_checksum(address, dat_le, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::PEDAL_CHECKSUM) {
|
||||
if (pedal_checksum(dat_be, size) != tmp) {
|
||||
INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::PEDAL_COUNTER) {
|
||||
if (!update_counter_generic(tmp, sig.b2)) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -112,24 +108,26 @@ bool MessageState::update_counter_generic(int64_t v, int cnt_size) {
|
||||
CANParser::CANParser(int abus, const std::string& dbc_name,
|
||||
const std::vector<MessageParseOptions> &options,
|
||||
const std::vector<SignalParseOptions> &sigoptions)
|
||||
: bus(abus), aligned_buf(kj::heapArray<capnp::word>(1024)) {
|
||||
: bus(abus) {
|
||||
|
||||
dbc = dbc_lookup(dbc_name);
|
||||
assert(dbc);
|
||||
init_crc_lookup_tables();
|
||||
|
||||
for (const auto& op : options) {
|
||||
MessageState &state = message_states[op.address];
|
||||
state.address = op.address;
|
||||
// state.check_frequency = op.check_frequency,
|
||||
MessageState state = {
|
||||
.address = op.address,
|
||||
// .check_frequency = op.check_frequency,
|
||||
};
|
||||
|
||||
// msg is not valid if a message isn't received for 10 consecutive steps
|
||||
if (op.check_frequency > 0) {
|
||||
state.check_threshold = (1000000000ULL / op.check_frequency) * 10;
|
||||
}
|
||||
|
||||
|
||||
const Msg* msg = NULL;
|
||||
for (int i = 0; i < dbc->num_msgs; i++) {
|
||||
for (int i=0; i<dbc->num_msgs; i++) {
|
||||
if (dbc->msgs[i].address == op.address) {
|
||||
msg = &dbc->msgs[i];
|
||||
break;
|
||||
@@ -143,7 +141,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
|
||||
state.size = msg->size;
|
||||
|
||||
// track checksums and counters for this message
|
||||
for (int i = 0; i < msg->num_sigs; i++) {
|
||||
for (int i=0; i<msg->num_sigs; i++) {
|
||||
const Signal *sig = &msg->sigs[i];
|
||||
if (sig->type != SignalType::DEFAULT) {
|
||||
state.parse_sigs.push_back(*sig);
|
||||
@@ -155,7 +153,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
|
||||
for (const auto& sigop : sigoptions) {
|
||||
if (sigop.address != op.address) continue;
|
||||
|
||||
for (int i = 0; i < msg->num_sigs; i++) {
|
||||
for (int i=0; i<msg->num_sigs; i++) {
|
||||
const Signal *sig = &msg->sigs[i];
|
||||
if (strcmp(sig->name, sigop.name) == 0
|
||||
&& sig->type == SignalType::DEFAULT) {
|
||||
@@ -164,48 +162,59 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter)
|
||||
: bus(abus) {
|
||||
// Add all messages and signals
|
||||
|
||||
dbc = dbc_lookup(dbc_name);
|
||||
assert(dbc);
|
||||
init_crc_lookup_tables();
|
||||
|
||||
for (int i = 0; i < dbc->num_msgs; i++) {
|
||||
const Msg* msg = &dbc->msgs[i];
|
||||
MessageState state = {
|
||||
.address = msg->address,
|
||||
.size = msg->size,
|
||||
.ignore_checksum = ignore_checksum,
|
||||
.ignore_counter = ignore_counter,
|
||||
};
|
||||
|
||||
for (int j = 0; j < msg->num_sigs; j++) {
|
||||
const Signal *sig = &msg->sigs[j];
|
||||
state.parse_sigs.push_back(*sig);
|
||||
state.vals.push_back(0);
|
||||
}
|
||||
|
||||
message_states[state.address] = state;
|
||||
}
|
||||
}
|
||||
|
||||
#ifndef DYNAMIC_CAPNP
|
||||
void CANParser::update_string(const std::string &data, bool sendcan) {
|
||||
// format for board, make copy due to alignment issues.
|
||||
const size_t buf_size = (data.length() / sizeof(capnp::word)) + 1;
|
||||
if (aligned_buf.size() < buf_size) {
|
||||
aligned_buf = kj::heapArray<capnp::word>(buf_size);
|
||||
void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
|
||||
int msg_count = cans.size();
|
||||
|
||||
DEBUG("got %d messages\n", msg_count);
|
||||
|
||||
// parse the messages
|
||||
for (int i = 0; i < msg_count; i++) {
|
||||
auto cmsg = cans[i];
|
||||
if (cmsg.getSrc() != bus) {
|
||||
// DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
|
||||
continue;
|
||||
}
|
||||
auto state_it = message_states.find(cmsg.getAddress());
|
||||
if (state_it == message_states.end()) {
|
||||
// DEBUG("skip %d: not specified\n", cmsg.getAddress());
|
||||
continue;
|
||||
}
|
||||
|
||||
if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
|
||||
uint8_t dat[8] = {0};
|
||||
memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
|
||||
|
||||
state_it->second.parse(sec, cmsg.getBusTime(), dat);
|
||||
}
|
||||
}
|
||||
|
||||
void CANParser::UpdateValid(uint64_t sec) {
|
||||
can_valid = true;
|
||||
for (const auto& kv : message_states) {
|
||||
const auto& state = kv.second;
|
||||
if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
|
||||
if (state.seen > 0) {
|
||||
DEBUG("0x%X TIMEOUT\n", state.address);
|
||||
}
|
||||
can_valid = false;
|
||||
}
|
||||
}
|
||||
memcpy(aligned_buf.begin(), data.data(), data.length());
|
||||
}
|
||||
|
||||
void CANParser::update_string(std::string data, bool sendcan) {
|
||||
// format for board, make copy due to alignment issues, will be freed on out of scope
|
||||
auto amsg = kj::heapArray<capnp::word>((data.length() / sizeof(capnp::word)) + 1);
|
||||
memcpy(amsg.begin(), data.data(), data.length());
|
||||
|
||||
// extract the messages
|
||||
capnp::FlatArrayMessageReader cmsg(aligned_buf.slice(0, buf_size));
|
||||
capnp::FlatArrayMessageReader cmsg(amsg);
|
||||
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
|
||||
|
||||
last_sec = event.getLogMonoTime();
|
||||
@@ -216,69 +225,6 @@ void CANParser::update_string(const std::string &data, bool sendcan) {
|
||||
UpdateValid(last_sec);
|
||||
}
|
||||
|
||||
void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
|
||||
int msg_count = cans.size();
|
||||
|
||||
DEBUG("got %d messages\n", msg_count);
|
||||
|
||||
for (int i = 0; i < msg_count; i++) {
|
||||
auto cmsg = cans[i];
|
||||
// parse the messages
|
||||
if (cmsg.getSrc() != bus) {
|
||||
// DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
|
||||
continue;
|
||||
}
|
||||
auto state_it = message_states.find(cmsg.getAddress());
|
||||
if (state_it == message_states.end()) {
|
||||
// DEBUG("skip %d: not specified\n", cmsg.getAddress());
|
||||
continue;
|
||||
}
|
||||
|
||||
if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
|
||||
uint8_t dat[8] = {0};
|
||||
memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
|
||||
|
||||
state_it->second.parse(sec, cmsg.getBusTime(), dat);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
void CANParser::UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cmsg) {
|
||||
// assume message struct is `cereal::CanData` and parse
|
||||
assert(cmsg.has("address") && cmsg.has("src") && cmsg.has("dat") && cmsg.has("busTime"));
|
||||
|
||||
if (cmsg.get("src").as<uint8_t>() != bus) {
|
||||
DEBUG("skip %d: wrong bus\n", cmsg.get("address").as<uint32_t>());
|
||||
return;
|
||||
}
|
||||
|
||||
auto state_it = message_states.find(cmsg.get("address").as<uint32_t>());
|
||||
if (state_it == message_states.end()) {
|
||||
DEBUG("skip %d: not specified\n", cmsg.get("address").as<uint32_t>());
|
||||
return;
|
||||
}
|
||||
|
||||
auto dat = cmsg.get("dat").as<capnp::Data>();
|
||||
if (dat.size() > 8) return; //shouldn't ever happen
|
||||
uint8_t data[8] = {0};
|
||||
memcpy(data, dat.begin(), dat.size());
|
||||
state_it->second.parse(sec, cmsg.get("busTime").as<uint16_t>(), data);
|
||||
}
|
||||
|
||||
void CANParser::UpdateValid(uint64_t sec) {
|
||||
can_valid = true;
|
||||
for (const auto& kv : message_states) {
|
||||
const auto& state = kv.second;
|
||||
if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
|
||||
if (state.seen > 0) {
|
||||
DEBUG("0x%X TIMEOUT\n", state.address);
|
||||
} else {
|
||||
DEBUG("0x%X MISSING\n", state.address);
|
||||
}
|
||||
can_valid = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
std::vector<SignalValue> CANParser::query_latest() {
|
||||
std::vector<SignalValue> ret;
|
||||
|
||||
@@ -33,16 +33,14 @@ cdef class CANParser:
|
||||
bool can_valid
|
||||
int can_invalid_cnt
|
||||
|
||||
def __init__(self, dbc_name, signals, checks=None, bus=0, enforce_checks=True):
|
||||
def __init__(self, dbc_name, signals, checks=None, bus=0):
|
||||
if checks is None:
|
||||
checks = []
|
||||
checks = []
|
||||
enforce_checks = False
|
||||
self.can_valid = True
|
||||
self.dbc_name = dbc_name
|
||||
self.dbc = dbc_lookup(dbc_name)
|
||||
if not self.dbc:
|
||||
raise RuntimeError(f"Can't find DBC: {dbc_name}")
|
||||
raise RuntimeError("Can't lookup" + dbc_name)
|
||||
self.vl = {}
|
||||
self.ts = {}
|
||||
|
||||
@@ -76,14 +74,6 @@ cdef class CANParser:
|
||||
c = (self.msg_name_to_address[name], c[1])
|
||||
checks[i] = c
|
||||
|
||||
if enforce_checks:
|
||||
checked_addrs = {c[0] for c in checks}
|
||||
signal_addrs = {s[1] for s in signals}
|
||||
unchecked = signal_addrs - checked_addrs
|
||||
if len(unchecked):
|
||||
err_msg = ', '.join(f"{self.address_to_msg_name[addr].decode()} ({hex(addr)})" for addr in unchecked)
|
||||
raise RuntimeError(f"Unchecked addrs: {err_msg}")
|
||||
|
||||
cdef vector[SignalParseOptions] signal_options_v
|
||||
cdef SignalParseOptions spo
|
||||
for sig_name, sig_address, sig_default in signals:
|
||||
@@ -118,6 +108,7 @@ cdef class CANParser:
|
||||
self.can_invalid_cnt = 0
|
||||
self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT
|
||||
|
||||
|
||||
for cv in can_values:
|
||||
# Cast char * directly to unicode
|
||||
name = <unicode>self.address_to_msg_name[cv.address].c_str()
|
||||
@@ -158,8 +149,8 @@ cdef class CANDefine():
|
||||
self.dbc_name = dbc_name
|
||||
self.dbc = dbc_lookup(dbc_name)
|
||||
if not self.dbc:
|
||||
raise RuntimeError(f"Can't find DBC: '{dbc_name}'")
|
||||
|
||||
raise RuntimeError("Can't lookup" + dbc_name)
|
||||
|
||||
num_vals = self.dbc[0].num_vals
|
||||
|
||||
address_to_msg_name = {}
|
||||
|
||||
@@ -106,12 +106,8 @@ def process(in_fn, out_fn):
|
||||
|
||||
parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)
|
||||
|
||||
with open(out_fn, "a+") as out_f:
|
||||
out_f.seek(0)
|
||||
if out_f.read() != parser_code:
|
||||
out_f.seek(0)
|
||||
out_f.truncate()
|
||||
out_f.write(parser_code)
|
||||
with open(out_fn, "w") as out_f:
|
||||
out_f.write(parser_code)
|
||||
|
||||
def main():
|
||||
if len(sys.argv) != 3:
|
||||
|
||||
@@ -300,7 +300,6 @@ BO_ 501 DASHBOARD: 8 XXX
|
||||
SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ CRUISE_STATE : 38|3@0+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 639 NEW_MSG_27f: 8 XXX
|
||||
SG_ INCREASING : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -426,11 +425,9 @@ CM_ SG_ 500 ACC_STATUS_1 "2 briefly (9 packets) when ACC goes to green, 1 help w
|
||||
CM_ SG_ 500 BRAKE_MAYBE "2046 in non-ACC and non-decel. Signal on deceleration. 818 for already stopped break.";
|
||||
CM_ SG_ 500 ACC_STATUS_2 "set to 1 in non-ACC, 3 when ACC enabled (white icon), and 7 when ACC in use (green icon)";
|
||||
CM_ SG_ 500 BRAKE_BOOL_1 "set to 1 when ACC decel. 0 on non-ACC and accel.";
|
||||
CM_ SG_ 501 CRUISE_STATE "may just be an icon, but seems to indicate different cruise modes: ACC and Non-ACC and engaged state for both.";
|
||||
CM_ SG_ 625 SPEED "zero on non-acc drives";
|
||||
CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
|
||||
CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
|
||||
CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
|
||||
VAL_ 501 CRUISE_STATE 0 "Off" 1 "CC On" 2 "CC Engaged" 3 "ACC On" 4 "ACC Engaged";
|
||||
VAL_ 746 PRNDL 5 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;
|
||||
|
||||
@@ -133,8 +133,8 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
|
||||
SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
|
||||
SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO
|
||||
SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s" NEO
|
||||
SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-540|540] "deg" NEO
|
||||
SG_ SteeringWheelRate : 27|12@0- (0.5,0) [-100|100] "deg/s" NEO
|
||||
|
||||
BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
|
||||
SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
@@ -48,7 +48,6 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
|
||||
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
@@ -370,48 +369,6 @@ BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 13274 LKAS_HUD_A: 5 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 13275 LKAS_HUD_B: 8 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
|
||||
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
|
||||
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
|
||||
@@ -422,7 +379,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
||||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_accord_2018_can.dbc starts here";
|
||||
CM_ "honda_accord_lx15t_2018_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
@@ -431,14 +388,8 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 419 GEARBOX: 8 PCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
BO_ 401 GEARBOX_15T: 8 PCM
|
||||
|
||||
BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -478,7 +429,6 @@ BO_ 1302 ODOMETER: 8 XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ;
|
||||
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
|
||||
437
opendbc/honda_accord_s2t_2018_can_generated.dbc
Normal file
437
opendbc/honda_accord_s2t_2018_can_generated.dbc
Normal file
@@ -0,0 +1,437 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
|
||||
|
||||
BO_ 148 KINEMATICS: 8 XXX
|
||||
SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
|
||||
SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 232 BRAKE_HOLD: 7 XXX
|
||||
SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
|
||||
SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 330 STEERING_SENSORS: 8 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 399 STEER_STATUS: 7 EPS
|
||||
SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
|
||||
SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
|
||||
SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
|
||||
SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 450 EPB_STATUS: 8 EPB
|
||||
SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 464 WHEEL_SPEEDS: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 479 ACC_CONTROL: 8 EON
|
||||
SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
|
||||
SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
|
||||
SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
|
||||
SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 495 ACC_CONTROL_ON: 8 XXX
|
||||
SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
|
||||
SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 545 XXX_16: 6 SCM
|
||||
SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 576 LEFT_LANE_LINE_1: 8 CAM
|
||||
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
|
||||
SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
|
||||
SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
|
||||
SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 577 LEFT_LANE_LINE_2: 8 CAM
|
||||
SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
|
||||
SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
|
||||
SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
|
||||
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
|
||||
SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
|
||||
SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
|
||||
SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
|
||||
SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
|
||||
SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
|
||||
SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
|
||||
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
|
||||
SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
|
||||
SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
|
||||
SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
|
||||
SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
|
||||
SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
|
||||
SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
|
||||
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
|
||||
SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
|
||||
SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
|
||||
SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
|
||||
SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
|
||||
SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
|
||||
SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 662 SCM_BUTTONS: 4 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 773 SEATBELT_STATUS: 7 BDY
|
||||
SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
|
||||
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
|
||||
SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 804 CRUISE: 8 PCM
|
||||
SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 806 SCM_FEEDBACK: 8 SCM
|
||||
SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 829 LKAS_HUD: 5 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 862 CAMERA_MESSAGES: 8 CAM
|
||||
SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
|
||||
SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 884 STALK_STATUS: 8 XXX
|
||||
SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
|
||||
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
|
||||
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
|
||||
CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
|
||||
CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
|
||||
CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
|
||||
CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
||||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_accord_s2t_2018_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 419 GEARBOX: 8 PCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
BO_ 432 STANDSTILL: 7 VSA
|
||||
SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 446 BRAKE_MODULE: 3 VSA
|
||||
SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 927 RADAR_HUD: 8 RADAR
|
||||
SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
|
||||
SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1302 ODOMETER: 8 XXX
|
||||
SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ;
|
||||
VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
|
||||
VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
|
||||
VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user