mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-27 00:42:05 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 dragonpilot
|
61adbbb858 |
@@ -1,25 +0,0 @@
|
||||
---
|
||||
name: Bug report
|
||||
about: Create a report to help us improve openpilot
|
||||
title: ''
|
||||
labels: 'bug'
|
||||
assignees: ''
|
||||
|
||||
---
|
||||
|
||||
**Describe the bug**
|
||||
A clear and concise description of what the bug is.
|
||||
|
||||
**How to reproduce or log data**
|
||||
Steps to reproduce the behavior, or a explorer/cabana link to the exact drive and timestamp of when the bug occurred.
|
||||
|
||||
**Expected behavior**
|
||||
A clear and concise description of what you expected to happen.
|
||||
|
||||
**Device/Version information (please complete the following information):**
|
||||
- Device: [e.g. EON/EON Gold]
|
||||
- Version: [e.g. 0.6.4], or commit hash when on devel
|
||||
- Car make/model [e.g. Toyota Prius 2016]
|
||||
|
||||
**Additional context**
|
||||
Add any other context about the problem here.
|
||||
@@ -1,21 +0,0 @@
|
||||
Choose one of the templates below:
|
||||
|
||||
# Fingerprint
|
||||
This pull requests adds a fingerprint for <Make - Model - Year - Trim>.
|
||||
|
||||
This is an explorer link to a drive with the stock system enabled: ...
|
||||
|
||||
# Car support
|
||||
This pull requests adds support for <Make - Model - Year - Trim>.
|
||||
|
||||
This is an explorer link to a drive with the stock system enabled: ...
|
||||
This is an explorer link to a drive with openpilot system enabled: ...
|
||||
|
||||
# Feature
|
||||
This pull requests adds feature X
|
||||
|
||||
## Description
|
||||
Explain what the feature does
|
||||
|
||||
## Testing
|
||||
Explain how the feature was tested. Either by the added unit tests, or what tests were performed while driving.
|
||||
+4
-15
@@ -4,7 +4,6 @@ venv/
|
||||
.ipynb_checkpoints
|
||||
.idea
|
||||
.sconsign.dblite
|
||||
.vscode
|
||||
model2.png
|
||||
a.out
|
||||
|
||||
@@ -15,9 +14,7 @@ a.out
|
||||
.*.swp
|
||||
.*.swo
|
||||
.*.un~
|
||||
*.tmp
|
||||
*.o
|
||||
*.os
|
||||
*.so
|
||||
*.a
|
||||
*.clb
|
||||
@@ -32,23 +29,15 @@ selfdrive/boardd/boardd
|
||||
selfdrive/logcatd/logcatd
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
selfdrive/proclogd/proclogd
|
||||
selfdrive/ui/_ui
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/ui/ui
|
||||
selfdrive/test/tests/plant/out
|
||||
selfdrive/visiond/visiond
|
||||
selfdrive/loggerd/loggerd
|
||||
selfdrive/sensord/_gpsd
|
||||
selfdrive/sensord/_sensord
|
||||
selfdrive/camerad/camerad
|
||||
selfdrive/modeld/_modeld
|
||||
selfdrive/modeld/_monitoringd
|
||||
selfdrive/sensord/gpsd
|
||||
selfdrive/sensord/sensord
|
||||
/src/
|
||||
|
||||
one
|
||||
openpilot
|
||||
notebooks
|
||||
xx
|
||||
panda_jungle
|
||||
|
||||
.coverage*
|
||||
htmlcov
|
||||
|
||||
|
||||
+22
-47
@@ -6,67 +6,43 @@ RUN apt-get update && apt-get install -y \
|
||||
build-essential \
|
||||
bzip2 \
|
||||
clang \
|
||||
cmake \
|
||||
curl \
|
||||
ffmpeg \
|
||||
git \
|
||||
libarchive-dev \
|
||||
libbz2-dev \
|
||||
libcurl4-openssl-dev \
|
||||
libeigen3-dev \
|
||||
libavcodec-dev \
|
||||
libavdevice-dev \
|
||||
libavfilter-dev \
|
||||
libavresample-dev \
|
||||
libavutil-dev \
|
||||
libffi-dev \
|
||||
libglew-dev \
|
||||
libgles2-mesa-dev \
|
||||
libglib2.0-0 \
|
||||
liblzma-dev \
|
||||
libmysqlclient-dev \
|
||||
libomp-dev \
|
||||
libopencv-dev \
|
||||
libssl-dev \
|
||||
libswscale-dev \
|
||||
libtool \
|
||||
libusb-1.0-0-dev \
|
||||
libusb-1.0-0 \
|
||||
libzmq5-dev \
|
||||
locales \
|
||||
ocl-icd-libopencl1 \
|
||||
ocl-icd-opencl-dev \
|
||||
opencl-headers \
|
||||
python-dev \
|
||||
pkg-config \
|
||||
python-pip \
|
||||
screen \
|
||||
sudo \
|
||||
vim \
|
||||
wget
|
||||
|
||||
|
||||
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
|
||||
ENV LANG en_US.UTF-8
|
||||
ENV LANGUAGE en_US:en
|
||||
ENV LC_ALL en_US.UTF-8
|
||||
|
||||
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
|
||||
|
||||
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
|
||||
RUN pyenv install 3.7.3
|
||||
RUN pyenv global 3.7.3
|
||||
RUN pyenv rehash
|
||||
|
||||
RUN pip install pipenv==2018.11.26
|
||||
|
||||
COPY Pipfile /tmp/
|
||||
COPY Pipfile.lock /tmp/
|
||||
|
||||
RUN python --version
|
||||
RUN cd /tmp && pipenv install --system --deploy
|
||||
|
||||
# Install subset of dev dependencies needed for CI
|
||||
RUN pip install matplotlib==3.1.1 dictdiffer==0.8.0 fastcluster==1.1.25 aenum==2.2.1 scipy==1.3.1 lru-dict==1.1.6 tenacity==5.1.1 azure-common==1.1.23 azure-nspkg==3.0.2 azure-storage-blob==2.1.0 azure-storage-common==2.1.0 azure-storage-nspkg==3.1.0 pycurl==7.43.0.3
|
||||
|
||||
COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
|
||||
RUN /tmp/install_capnp.sh
|
||||
|
||||
RUN git clone --branch v0.7 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
|
||||
RUN pip install --upgrade pip==18.0
|
||||
RUN pip install pipenv==2018.11.26
|
||||
|
||||
COPY Pipfile /tmp/
|
||||
COPY Pipfile.lock /tmp/
|
||||
RUN cd /tmp && pipenv install --deploy --system
|
||||
|
||||
ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
|
||||
|
||||
RUN git clone --branch v0.6.2 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
|
||||
RUN pip install -r /tmp/openpilot/tools/requirements.txt
|
||||
RUN pip install fastcluster==1.1.20 scipy==0.19.1 dictdiffer==0.8.0 azure-batch==4.1.3 azure-common==1.1.16 azure-nspkg==3.0.0 azure-storage-blob==1.3.1 azure-storage-common==1.3.0 azure-storage-nspkg==3.0.0
|
||||
|
||||
ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
|
||||
COPY ./.pylintrc /tmp/openpilot/.pylintrc
|
||||
COPY ./common /tmp/openpilot/common
|
||||
COPY ./cereal /tmp/openpilot/cereal
|
||||
@@ -76,7 +52,6 @@ COPY ./phonelibs /tmp/openpilot/phonelibs
|
||||
COPY ./pyextra /tmp/openpilot/pyextra
|
||||
COPY ./panda /tmp/openpilot/panda
|
||||
|
||||
COPY SConstruct /tmp/openpilot/SConstruct
|
||||
|
||||
RUN mkdir -p /tmp/openpilot/selfdrive/test/out
|
||||
RUN cd /tmp/openpilot && scons -j$(nproc)
|
||||
RUN make -C /tmp/openpilot/selfdrive/controls/lib/longitudinal_mpc clean
|
||||
RUN make -C /tmp/openpilot/selfdrive/controls/lib/lateral_mpc clean
|
||||
|
||||
@@ -4,17 +4,16 @@ url = "https://pypi.org/simple"
|
||||
verify_ssl = true
|
||||
|
||||
[dev-packages]
|
||||
opencv-python= "==3.4.2.17"
|
||||
PyQt5 = "*"
|
||||
ipython = "*"
|
||||
networkx = "==2.3"
|
||||
azure-common = "==1.1.23"
|
||||
azure-nspkg = "==3.0.2"
|
||||
azure-storage-blob = "==2.1.0"
|
||||
azure-storage-common = "==2.1.0"
|
||||
azure-storage-nspkg = "==3.1.0"
|
||||
ipython = "<6.0"
|
||||
aenum = "*"
|
||||
azure-batch = "==4.1.3"
|
||||
azure-common = "==1.1.16"
|
||||
azure-nspkg = "==3.0.1"
|
||||
azure-storage-blob = "==1.3.1"
|
||||
azure-storage-common = "==1.3.0"
|
||||
azure-storage-nspkg = "==3.0.0"
|
||||
bincopy = "*"
|
||||
bleach = "*"
|
||||
bleach = "==1.5.0"
|
||||
boto = "*"
|
||||
"boto3" = "*"
|
||||
celery = "*"
|
||||
@@ -24,6 +23,7 @@ decorator = "*"
|
||||
dlib = "*"
|
||||
dominate = "*"
|
||||
elasticsearch = "*"
|
||||
entium = "==0.1.4"
|
||||
fasteners = "*"
|
||||
future = "*"
|
||||
futures = "*"
|
||||
@@ -32,31 +32,32 @@ pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory =
|
||||
gunicorn = "*"
|
||||
"h5py" = "*"
|
||||
hexdump = "*"
|
||||
"html5lib" = "*"
|
||||
"html5lib" = "==0.9999999"
|
||||
imageio = "*"
|
||||
intervaltree = "*"
|
||||
ipykernel = "*"
|
||||
ipykernel = "<5.0"
|
||||
joblib = "*"
|
||||
json-logging-py = "*"
|
||||
jupyter = "*"
|
||||
libarchive = "*"
|
||||
lru-dict = "*"
|
||||
lxml = "*"
|
||||
matplotlib = "==2.2.3"
|
||||
"mpld3" = "*"
|
||||
msgpack-python = "*"
|
||||
nbstripout = "*"
|
||||
nose-parameterized = "*"
|
||||
numpy = "*"
|
||||
osmium = "*"
|
||||
pbr = "*"
|
||||
numpy = "==1.14.5"
|
||||
osmium = "==2.15.0"
|
||||
pbr = "==5.1.3"
|
||||
percache = "*"
|
||||
pprofile = "*"
|
||||
psutil = "*"
|
||||
pycurl = "*"
|
||||
git-pylint-commit-hook = "*"
|
||||
git-pylint-commit-hook = "==2.5.1"
|
||||
pymongo = "*"
|
||||
"pynmea2" = "*"
|
||||
pypolyline = "*"
|
||||
pypolyline = "==0.1.17"
|
||||
pysendfile = "*"
|
||||
python-logstash = "*"
|
||||
pyvcd = "*"
|
||||
@@ -67,9 +68,11 @@ scikit-image = "*"
|
||||
"subprocess32" = "*"
|
||||
supervisor = "*"
|
||||
tenacity = "*"
|
||||
tensorflow-gpu = ""
|
||||
tensorflow-gpu = "==1.13.0rc0"
|
||||
"transforms3d" = "*"
|
||||
utm = "*"
|
||||
"v4l2" = "*"
|
||||
visdom = "*"
|
||||
PyJWT = "==1.4.1"
|
||||
PyMySQL = "==0.9.2"
|
||||
Theano = "*"
|
||||
@@ -78,29 +81,26 @@ Werkzeug = "*"
|
||||
Flask-Cors = "*"
|
||||
Flask-SocketIO = "*"
|
||||
"GeoAlchemy2" = "*"
|
||||
Keras = ">=2.1.6"
|
||||
keras-maskrcnn = "*"
|
||||
keras-retinanet = "*"
|
||||
Pygments = "*"
|
||||
PyNaCl = "*"
|
||||
"PySDL2" = "*"
|
||||
reverse_geocoder = "*"
|
||||
Shapely = "*"
|
||||
SQLAlchemy = "*"
|
||||
SQLAlchemy = "==1.2.7"
|
||||
uWSGI = "*"
|
||||
scipy = "*"
|
||||
fastcluster = "*"
|
||||
fastcluster = "==1.1.25"
|
||||
backports-abc = "*"
|
||||
pygame = "*"
|
||||
simplejson = "*"
|
||||
python-logstash-async = "*"
|
||||
pandas = "*"
|
||||
seaborn = "*"
|
||||
tensorflow-estimator = "*"
|
||||
tensorflow-estimator = "==1.10.12"
|
||||
pyproj = "*"
|
||||
mock = "*"
|
||||
blinker = "*"
|
||||
gast = "==0.2.2"
|
||||
matplotlib = "*"
|
||||
dictdiffer = "*"
|
||||
aenum = "*"
|
||||
coverage = "*"
|
||||
|
||||
[packages]
|
||||
overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
|
||||
@@ -126,7 +126,7 @@ tqdm = "*"
|
||||
Cython = "*"
|
||||
PyYAML = "*"
|
||||
websocket_client = "*"
|
||||
Logentries = {git = "https://github.com/commaai/le_python.git",ref = "feaeacb48f7f4bdb02c0a8fc092326d4e101b7f2"}
|
||||
Logentries = {git = "https://github.com/commaai/le_python.git",ref = "5eef8f5be5929d33973e1b10e686fa0cdcd6792f"}
|
||||
urllib3 = "*"
|
||||
chardet = "*"
|
||||
idna = "*"
|
||||
@@ -137,13 +137,9 @@ Flask = "*"
|
||||
PyJWT = "*"
|
||||
"Jinja2" = "*"
|
||||
nose = "*"
|
||||
flake8 = "*"
|
||||
pyflakes = "*"
|
||||
pylint = "*"
|
||||
pycryptodome = "*"
|
||||
pillow = "*"
|
||||
scons = "*"
|
||||
cysignals = "*"
|
||||
|
||||
|
||||
[requires]
|
||||
python_version = "3.7.3"
|
||||
python_version = "2.7"
|
||||
|
||||
Generated
+1314
-1388
File diff suppressed because it is too large
Load Diff
@@ -1,274 +1,177 @@
|
||||
[](#)
|
||||
|
||||
Welcome to openpilot
|
||||
======
|
||||
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently, it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
|
||||
|
||||
The openpilot codebase has been written to be concise and to enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
|
||||
|
||||
Table of Contents
|
||||
=======================
|
||||
|
||||
* [What is openpilot?](#what-is-openpilot)
|
||||
* [Integration with Stock Features](#integration-with-stock-features)
|
||||
* [Supported Hardware](#supported-hardware)
|
||||
* [Community](#community)
|
||||
* [Hardware](#hardware)
|
||||
* [Supported Cars](#supported-cars)
|
||||
* [Community Maintained Cars and Features](#community-maintained-cars-and-features)
|
||||
* [Installation Instructions](#installation-instructions)
|
||||
* [Limitations of openpilot ALC and LDW](#limitations-of-openpilot-alc-and-ldw)
|
||||
* [Limitations of openpilot ACC and FCW](#limitations-of-openpilot-acc-and-fcw)
|
||||
* [Limitations of openpilot DM](#limitations-of-openpilot-dm)
|
||||
* [User Data and comma Account](#user-data-and-comma-account)
|
||||
* [Safety and Testing](#safety-and-testing)
|
||||
* [Community Maintained Cars](#community-maintained-cars)
|
||||
* [In Progress Cars](#in-progress-cars)
|
||||
* [How can I add support for my car?](#how-can-i-add-support-for-my-car)
|
||||
* [Directory structure](#directory-structure)
|
||||
* [User Data / chffr Account / Crash Reporting](#user-data--chffr-account--crash-reporting)
|
||||
* [Testing on PC](#testing-on-pc)
|
||||
* [Community and Contributing](#community-and-contributing)
|
||||
* [Directory Structure](#directory-structure)
|
||||
* [Contributing](#contributing)
|
||||
* [Licensing](#licensing)
|
||||
|
||||
---
|
||||
|
||||
What is openpilot?
|
||||
Community
|
||||
------
|
||||
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported [car makes, models and model years](#supported-cars). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers.
|
||||
openpilot is developed by [comma.ai](https://comma.ai/) and users like you.
|
||||
|
||||
We have a [Twitter you should follow](https://twitter.com/comma_ai).
|
||||
|
||||
Also, we have a several thousand people community on [Discord](https://discord.comma.ai).
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
<td><a href="https://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=ICOIin4p70w" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=1zCtj3ckGFo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gNhhcep.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=Qd2mjkBIRx0" title="YouTube" rel="noopener"><img src="https://i.imgur.com/tFnSexp.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=ju12vlBm59E" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3BKiJVy.png"></a></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=Z5VY5FzgNt4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3I9XOK2.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=blnhZC7OmMg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/f9IgX6s.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=iRkz7FuJsA8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Vo5Zvmn.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=IHjEqAKDqjM" title="YouTube" rel="noopener"><img src="https://i.imgur.com/V9Zd81n.png"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
Integration with Stock Features
|
||||
Hardware
|
||||
------
|
||||
|
||||
In all supported cars:
|
||||
* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
|
||||
* Stock LDW is replaced by openpilot LDW.
|
||||
At the moment openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [panda](https://shop.comma.ai/products/panda-obd-ii-dongle) and a [giraffe](https://comma.ai/shop/products/giraffe/) are recommended tools to interface the EON with the car. We'd like to support other platforms as well.
|
||||
|
||||
Additionally, on specific supported cars (see ACC column in [supported cars](#supported-cars)):
|
||||
* Stock ACC is replaced by openpilot ACC.
|
||||
* openpilot FCW operates in addition to stock FCW.
|
||||
|
||||
openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
|
||||
|
||||
Supported Hardware
|
||||
------
|
||||
|
||||
At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON to the car. In the future, we'd like to support other platforms as well.
|
||||
Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
|
||||
|
||||
Supported Cars
|
||||
------
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
|
||||
| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>5</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>5</sup> | 12mph |
|
||||
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica Hybrid 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Honda | Accord 2018-19 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-19 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Stock | 0mph | 2mph |
|
||||
| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>5</sup> | 12mph |
|
||||
| Honda | CR-V 2017-19 | 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>5</sup> | 12mph |
|
||||
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>5</sup> | 0mph |
|
||||
| Honda | Passport 2019 | All | openpilot | 25mph<sup>5</sup> | 12mph |
|
||||
| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>5</sup> | 12mph |
|
||||
| Honda | Pilot 2019 | All | openpilot | 25mph<sup>5</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-19 | Honda Sensing | openpilot | 25mph<sup>5</sup> | 12mph |
|
||||
| Hyundai | Santa Fe 2019<sup>1</sup> | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Elantra 2017-19<sup>1</sup> | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| Hyundai | Genesis 2018<sup>1</sup> | All | Stock | 19mph | 34mph |
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Optima 2019<sup>1</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018<sup>1</sup> | All | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018<sup>1</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | All | Stock<sup>4</sup>| 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>4</sup>| 0mph | 0mph |
|
||||
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph |
|
||||
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Impreza 2019-20 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Toyota | Avalon 2016 | TSS-P | Stock<sup>4</sup>| 20mph<sup>5</sup> | 0mph |
|
||||
| Toyota | Avalon 2017-18 | All | Stock<sup>4</sup>| 20mph<sup>5</sup> | 0mph |
|
||||
| Toyota | Camry 2018-19 | All | Stock | 0mph<sup>2</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-19 | All | Stock | 0mph<sup>2</sup> | 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>4</sup>| 20mph<sup>5</sup> | 0mph |
|
||||
| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2017-19 | All | Stock<sup>4</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>4</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2016 | TSS-P | Stock<sup>4</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2017-19 | All | Stock<sup>4</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017-20 | All | Stock<sup>4</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 2016 | TSS-P | Stock<sup>4</sup>| 20mph<sup>5</sup> | 0mph |
|
||||
| Toyota | Rav4 2017-18 | All | Stock<sup>4</sup>| 20mph<sup>5</sup> | 0mph |
|
||||
| Toyota | Rav4 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock<sup>4</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2017-18 | All | Stock<sup>4</sup>| 0mph | 0mph |
|
||||
| Toyota | Sienna 2018 | All | Stock<sup>4</sup>| 0mph | 0mph |
|
||||
| Volkswagen| Golf 2016-19<sup>3</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
|
||||
| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
|
||||
| Acura | ILX 2016-18 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph | Nidec |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
|
||||
| Buick<sup>3</sup> | Regal 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
|
||||
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
|
||||
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
|
||||
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
|
||||
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
|
||||
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
|
||||
| Chrysler | Pacifica Hybrid 2019 | Adaptive Cruise | Yes | Stock | 0mph | 39mph | FCA |
|
||||
| GMC<sup>3</sup> | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
|
||||
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
|
||||
| Honda | Accord 2018-19 | All | Yes | Stock | 0mph | 3mph | Bosch |
|
||||
| Honda | Accord Hybrid 2018-19 | All | Yes | Stock | 0mph | 3mph | Bosch |
|
||||
| Honda | Civic Sedan/Coupe 2016-18| Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
|
||||
| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Yes | Stock | 0mph | 2mph | Bosch |
|
||||
| Honda | Civic Hatchback 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
|
||||
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
|
||||
| Honda | CR-V 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
|
||||
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
|
||||
| Honda | Fit 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
|
||||
| Honda | Odyssey 2018-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
|
||||
| Honda | Passport 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
|
||||
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
|
||||
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
|
||||
| Honda | Ridgeline 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
|
||||
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
|
||||
| Hyundai | Elantra 2017-19 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
|
||||
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
|
||||
| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Yes | Stock | 0mph | 39mph | FCA |
|
||||
| Kia | Optima 2019 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
|
||||
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
|
||||
| Lexus | ES Hybrid 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Subaru | Crosstrek 2018 | EyeSight | Yes | Stock | 0mph | 0mph | Custom<sup>4</sup>|
|
||||
| Subaru | Impreza 2019 | EyeSight | Yes | Stock | 0mph | 0mph | Custom<sup>4</sup>|
|
||||
| Toyota | Avalon 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
|
||||
| Toyota | Avalon 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
|
||||
| Toyota | Camry 2018-19 | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
|
||||
| Toyota | Camry Hybrid 2018-19 | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
|
||||
| Toyota | C-HR 2017-19 | All | Yes | Stock | 0mph | 0mph | Toyota |
|
||||
| Toyota | C-HR Hybrid 2017-19 | All | Yes | Stock | 0mph | 0mph | Toyota |
|
||||
| Toyota | Corolla 2017-19 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
|
||||
| Toyota | Corolla 2020 | All | Yes | Yes | 0mph | 0mph | Toyota |
|
||||
| Toyota | Corolla Hatchback 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
|
||||
| Toyota | Highlander 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Highlander Hybrid 2017-19| All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Prius 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Prius Prime 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
|
||||
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
|
||||
| Toyota | Rav4 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
|
||||
| Toyota | Rav4 Hybrid 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Sienna 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
|
||||
<sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br />
|
||||
<sup>2</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>3</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br />
|
||||
<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai).*** <br />
|
||||
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). <br />
|
||||
<sup>3</sup>[GM installation guide](https://zoneos.com/volt/). <br />
|
||||
<sup>4</sup>Subaru Giraffe is DIY. <br />
|
||||
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
|
||||
<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <br />
|
||||
|
||||
Community Maintained Cars and Features
|
||||
Community Maintained Cars
|
||||
------
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
|
||||
| Buick | Regal 2018<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Malibu 2017<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Volt 2017-18<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Cadillac | ATS 2018<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| GMC | Acadia Denali 2018<sup>6</sup>| Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Holden | Astra 2017<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
|
||||
| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
|
||||
| Tesla | Model S 2012-13 | All | Yes | Not yet | Not applicable | 0mph | Custom<sup>8</sup>|
|
||||
|
||||
<sup>4</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>5</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
|
||||
<sup>6</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
||||
[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br />
|
||||
<sup>8</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />
|
||||
|
||||
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`.
|
||||
Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
|
||||
|
||||
Installation Instructions
|
||||
In Progress Cars
|
||||
------
|
||||
- All TSS-P Toyota with Steering Assist and LSS-P Lexus with Steering Assist or Lane Keep Assist.
|
||||
- All Hyundai with SmartSense.
|
||||
- All Kia with SCC and LKAS.
|
||||
- All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.
|
||||
|
||||
How can I add support for my car?
|
||||
------
|
||||
|
||||
Install openpilot on a EON by entering ``https://openpilot.comma.ai`` during the installer setup.
|
||||
If your car has adaptive cruise control and lane keep assist, you are in luck. Using a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle/) and [cabana](https://community.comma.ai/cabana/), you can understand how to make your car drive by wire.
|
||||
|
||||
Follow this [video instructions](https://youtu.be/3nlkomHathI) to properly mount the EON 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 EON mounting.
|
||||
We've written guides 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. These guides might help you after you have the basics figured out.
|
||||
|
||||
Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.
|
||||
- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and can be supported after [FlexRay support](https://github.com/commaai/openpilot/pull/463) is merged.
|
||||
- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
|
||||
- The 2016-2017 Honda Accord uses a custom signaling protocol for steering that's unlikely to ever be upstreamed.
|
||||
|
||||
You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.
|
||||
|
||||
Limitations of openpilot ALC and LDW
|
||||
------
|
||||
|
||||
openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
|
||||
|
||||
Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
|
||||
* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
|
||||
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
|
||||
* The EON is mounted incorrectly.
|
||||
* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
|
||||
* In the presence of restricted lanes or construction zones.
|
||||
* When driving on highly banked roads or in presence of strong cross-wind.
|
||||
* Extremely hot or cold temperatures.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* Driving on hills, narrow, or winding roads.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
|
||||
|
||||
Limitations of openpilot ACC and FCW
|
||||
------
|
||||
|
||||
openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
|
||||
|
||||
Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
|
||||
* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
|
||||
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
|
||||
* The EON is mounted incorrectly.
|
||||
* Approaching a toll booth, a bridge or a large metal plate.
|
||||
* When driving on roads with pedestrians, cyclists, etc...
|
||||
* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
|
||||
* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
|
||||
* In presence of vehicles in the same lane that are not moving.
|
||||
* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
|
||||
* When surrounding vehicles perform close cut-ins from neighbor lanes.
|
||||
* Driving on hills, narrow, or winding roads.
|
||||
* Extremely hot or cold temperatures.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* Interference from other equipment that generates radar waves.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
|
||||
|
||||
Limitations of openpilot DM
|
||||
------
|
||||
|
||||
openpilot DM should not be considered an exact measurements of the status of alertness of the driver.
|
||||
|
||||
Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Low light conditions, such as driving at night or in dark tunnels.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* The driver face is partially or completely outside field of view of the driver facing camera.
|
||||
* Right hand driving vehicles.
|
||||
* The driver facing camera is obstructed, covered, or damaged.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
|
||||
|
||||
User Data and comma Account
|
||||
------
|
||||
|
||||
By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app ([iOS](https://apps.apple.com/us/app/comma-connect/id1456551889), [Android](https://play.google.com/store/apps/details?id=ai.comma.connect&hl=en_US)). We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
||||
|
||||
openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
|
||||
|
||||
By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
|
||||
Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
|
||||
* openpilot has software in the loop [tests](run_docker_tests.sh) 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 EONs continuously replaying routes.
|
||||
|
||||
Testing on PC
|
||||
------
|
||||
|
||||
Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
|
||||
|
||||
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://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/). We also have a [bounty program](https://comma.ai/bounties.html).
|
||||
|
||||
And [follow us on Twitter](https://twitter.com/comma_ai).
|
||||
|
||||
Directory Structure
|
||||
Directory structure
|
||||
------
|
||||
.
|
||||
├── apk # The apk files used for the UI
|
||||
├── cereal # The messaging spec and libs used for all logs on EON
|
||||
├── cereal # The messaging spec used for all logs on EON
|
||||
├── common # Library like functionality we've developed here
|
||||
├── installer/updater # Manages auto-updates of openpilot
|
||||
├── opendbc # Files showing how to interpret data from cars
|
||||
├── panda # Code used to communicate on CAN
|
||||
├── panda # Code used to communicate on CAN and LIN
|
||||
├── phonelibs # Libraries used on EON
|
||||
├── pyextra # Libraries used on EON
|
||||
└── selfdrive # Code needed to drive the car
|
||||
├── assets # Fonts and images for UI
|
||||
├── athena # Allows communication with the app
|
||||
├── boardd # Daemon to talk to the board
|
||||
├── camerad # Driver to capture images from the camera sensors
|
||||
├── can # Helpers for parsing CAN messages
|
||||
├── car # Car specific code to read states and control actuators
|
||||
├── common # Shared C/C++ code for the daemons
|
||||
├── controls # Perception, planning and controls
|
||||
@@ -276,20 +179,54 @@ Directory Structure
|
||||
├── 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 / GPS interface code
|
||||
├── tests # Unit tests, system tests and a car simulator
|
||||
└── ui # The UI
|
||||
├── test # Car simulator running code through virtual maneuvers
|
||||
├── ui # The UI
|
||||
└── visiond # Vision pipeline
|
||||
|
||||
To understand how the services interact, see `cereal/service_list.yaml`.
|
||||
To understand how the services interact, see `selfdrive/service_list.yaml`
|
||||
|
||||
User Data / chffr Account / Crash Reporting
|
||||
------
|
||||
|
||||
By default, openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
It's open source software, so you are free to disable it if you wish.
|
||||
|
||||
It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The user facing camera is only logged if you explicitly opt-in in settings.
|
||||
It does not log the microphone.
|
||||
|
||||
By using it, you agree to [our privacy policy](https://community.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
|
||||
|
||||
Testing on PC
|
||||
------
|
||||
|
||||
Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
|
||||
|
||||
Also, within openpilot there is a rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different longitudinal control scenarios.
|
||||
|
||||
```bash
|
||||
# Requires working docker
|
||||
./run_docker_tests.sh
|
||||
```
|
||||
|
||||
Contributing
|
||||
------
|
||||
|
||||
We welcome both pull requests and issues on [github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
|
||||
|
||||
We also have a [bounty program](https://comma.ai/bounties.html).
|
||||
|
||||
Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)
|
||||
|
||||
Licensing
|
||||
------
|
||||
|
||||
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
|
||||
Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
|
||||
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
|
||||
@@ -0,0 +1,36 @@
|
||||
Welcome to chffrplus
|
||||
======
|
||||
|
||||
[chffrplus](https://github.com/commaai/chffrplus) is an open source dashcam.
|
||||
|
||||
This is the shipping reference software for the comma EON Dashcam DevKit. It keeps many of the niceities of [openpilot](https://github.com/commaai/openpilot), like high quality sensors, great camera, and good autostart and stop. Though unlike openpilot, it cannot control your car. chffrplus can interface with your car through a [panda](https://shop.comma.ai/products/panda-obd-ii-dongle), but just like our dashcam app [chffr](https://getchffr.com/), it is read only.
|
||||
|
||||
It integrates with the rest of the comma ecosystem, so you can view your drives on the [chffr](https://getchffr.com/) app for Android or iOS, and reverse engineer your car with [cabana](https://community.comma.ai/cabana/?demo=1).
|
||||
|
||||
|
||||
Hardware
|
||||
------
|
||||
|
||||
Right now chffrplus supports the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit) for hardware to run on.
|
||||
|
||||
Install chffrplus on a EON device by entering ``https://chffrplus.comma.ai`` during NEOS setup.
|
||||
|
||||
|
||||
User Data / chffr Account / Crash Reporting
|
||||
------
|
||||
|
||||
By default chffrplus creates an account and includes a client for chffr, our dashcam app.
|
||||
|
||||
It's open source software, so you are free to disable it if you wish.
|
||||
|
||||
It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
It does not log the user facing camera or the microphone.
|
||||
|
||||
By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
|
||||
|
||||
|
||||
Licensing
|
||||
------
|
||||
|
||||
chffrplus is released under the MIT license.
|
||||
|
||||
+1
-53
@@ -1,55 +1,3 @@
|
||||
Version 0.7 (2019-12-13)
|
||||
========================
|
||||
* Move to SCons build system!
|
||||
* Add Lane Departure Warning (LDW) for all supported vehicles!
|
||||
* NEOS update: increase wifi speed thanks to jyoung8607!
|
||||
* Adaptive driver monitoring based on scene
|
||||
* New driving model trained end-to-end: improve lane lines and lead detection
|
||||
* Smarter torque limit alerts for all cars
|
||||
* Improve GM longitudinal control: proper computations for 15Hz radar
|
||||
* Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
|
||||
* Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
|
||||
* Refactor Panda code towards ISO26262 and SIL2 compliancy
|
||||
* Forward stock FCW for Honda Nidec
|
||||
* Volkswagen port now standard: comma Harness intercepts stock camera
|
||||
|
||||
Version 0.6.6 (2019-11-05)
|
||||
========================
|
||||
* Volkswagen support thanks to jyoung8607!
|
||||
* Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049!
|
||||
* Lexus ES with TSS 2.0 support thanks to energee!
|
||||
* Fix GM ignition detection and lock safety mode not required anymore
|
||||
* Log panda firmware and dongle ID thanks to martinl!
|
||||
* New driving model: improve path prediction and lead detection
|
||||
* New driver monitoring model, 4x smaller and running on DSP
|
||||
* Display an alert and don't start openpilot if panda has wrong firmware
|
||||
* Fix bug preventing EON from terminating processes after a drive
|
||||
* Remove support for Toyota giraffe without the 120Ohm resistor
|
||||
|
||||
Version 0.6.5 (2019-10-07)
|
||||
========================
|
||||
* NEOS update: upgrade to Python3 and new installer!
|
||||
* comma Harness support!
|
||||
* New driving model: improve path prediction
|
||||
* New driver monitoring model: more accurate face and eye detection
|
||||
* Redesign offroad screen to display updates and alerts
|
||||
* Increase maximum allowed acceleration
|
||||
* Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive
|
||||
* Lexus CT Hybrid support thanks to thomaspich!
|
||||
* Louder chime for critical alerts
|
||||
* Add toggle to switch to dashcam mode
|
||||
* Fix "invalid vehicle params" error on DSU-less Toyota
|
||||
|
||||
Version 0.6.4 (2019-09-08)
|
||||
========================
|
||||
* Forward stock AEB for Honda Nidec
|
||||
* Improve lane centering on banked roads
|
||||
* Always-on forward collision warning
|
||||
* Always-on driver monitoring, except for right hand drive countries
|
||||
* Driver monitoring learns the user's normal driving position
|
||||
* Honda Fit support thanks to energee!
|
||||
* Lexus IS support
|
||||
|
||||
Version 0.6.3 (2019-08-12)
|
||||
========================
|
||||
* Alert sounds from EON: requires NEOS update
|
||||
@@ -90,7 +38,7 @@ Version 0.6 (2019-07-01)
|
||||
* Panda safety code is MISRA compliant and ships with a signed version on release2
|
||||
* New NEOS is 500MB smaller and has a reproducible usr/pipenv
|
||||
* Lexus ES Hybrid support thanks to wocsor!
|
||||
* Improve tuning for supported Toyota with TSS 2.0
|
||||
* Improve tuning for supported Toyota with TSS2
|
||||
* Various other stability improvements
|
||||
|
||||
Version 0.5.13 (2019-05-31)
|
||||
|
||||
@@ -1,26 +1,16 @@
|
||||
openpilot Safety
|
||||
======
|
||||
|
||||
openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
|
||||
Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
|
||||
driver to be alert and to pay attention at all times.
|
||||
openpilot is an Adaptive Cruise Control (ACC) and Lane Keeping Assist (LKA) system.
|
||||
Like other ACC and LKA systems, openpilot requires the driver to be alert and to
|
||||
pay attention at all times. We repeat, **driver alertness is necessary, but not
|
||||
sufficient, for openpilot to be used safely**.
|
||||
|
||||
In order to enforce driver alertness, openpilot includes a driver monitoring feature
|
||||
that alerts the driver when distracted.
|
||||
|
||||
However, even with an attentive driver, we must make further efforts for the system to be
|
||||
safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
|
||||
used safely** and openpilot is provided with no warranty of fitness for any purpose.
|
||||
|
||||
openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
|
||||
industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
|
||||
ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
|
||||
released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx))
|
||||
on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
|
||||
hardware-in-the-loop and in-vehicle tests before each software release.
|
||||
|
||||
Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
|
||||
ensuring two main safety requirements.
|
||||
safe. We have designed openpilot with two other safety considerations.
|
||||
|
||||
1. The driver must always be capable to immediately retake manual control of the vehicle,
|
||||
by stepping on either pedal or by pressing the cancel button.
|
||||
@@ -28,7 +18,134 @@ ensuring two main safety requirements.
|
||||
react. This means that while the system is engaged, the actuators are constrained
|
||||
to operate within reasonable limits.
|
||||
|
||||
For vehicle specific implementation of the safety concept, refer to `panda/board/safety/`.
|
||||
Following are details of the car specific safety implementations:
|
||||
|
||||
Honda/Acura
|
||||
------
|
||||
|
||||
- While the system is engaged, gas, brake and steer commands are subject to the same limits used by
|
||||
the stock system.
|
||||
|
||||
- Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM).
|
||||
The PCM limits acceleration to what is reasonable for a cruise control system. With an
|
||||
interceptor, the gas is clipped to 60%.
|
||||
|
||||
- The brake is controlled by the 0x1FA CAN message. This message allows full
|
||||
braking, although the panda firmware and openpilot clip it to 1/4th of the max.
|
||||
This is approximately 0.3g of braking.
|
||||
|
||||
- Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS)
|
||||
controller in the car limits the torque to a very small amount, so regardless of the
|
||||
message, the controller cannot jerk the wheel.
|
||||
|
||||
- Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
|
||||
either signals triggers a disengagement, which is enforced by the panda firmware and by openpilot. The
|
||||
white led on the panda signifies if the panda is allowing control messages.
|
||||
|
||||
- Honda CAN uses both a counter and a checksum to ensure integrity and prevent
|
||||
replay of the same message.
|
||||
|
||||
Toyota/Lexus
|
||||
------
|
||||
|
||||
- While the system is engaged, gas, brake and steer commands are subject to the same limits used by
|
||||
the stock system.
|
||||
|
||||
- With the stock Driving Support Unit (DSU) connected (or in DSU-less models like Camry and C-HR),
|
||||
the acceleration is controlled by the stock system and is subject to the stock adaptive cruise
|
||||
control limits. Without the stock DSU connected, the acceleration command is controlled by the
|
||||
0x343 CAN message and its value is limited between .3g of deceleration and .15g of acceleration
|
||||
by the panda firmware and by openpilot. The acceleration command is ignored by the Engine Control
|
||||
Module (ECM) while the cruise control system is disengaged.
|
||||
|
||||
- Steering torque is controlled through the 0x2E4 CAN message and it's limited by the panda firmware and by
|
||||
openpilot to a value between -1500 and 1500. In addition, the vehicle EPS unit will not respond to
|
||||
commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
|
||||
openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
|
||||
1.5s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 350
|
||||
units above the actual EPS generated motor torque to ensure limited differences between
|
||||
commanded and actual torques.
|
||||
|
||||
- Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
|
||||
respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
|
||||
panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
|
||||
the brake pedal pressed signal.
|
||||
|
||||
- The cruise control system state is contained in the 0x1D2 message. No control messages are
|
||||
allowed if the cruise control system is not active. This is enforced by openpilot and the
|
||||
panda firmware. The white led on the panda signifies if the panda is allowing control messages.
|
||||
|
||||
GM/Chevrolet
|
||||
------
|
||||
|
||||
- While the system is engaged, gas, brake and steer commands are subject to the same limits used by
|
||||
the stock system.
|
||||
|
||||
- The gas and regen are controlled by the 0x2CB message and it's limited by the panda firmware and by
|
||||
openpilot to a value between 1404 and 3072. the minimum value correspond to a mild decel due to regen,
|
||||
while 3072 correspond to approximately 0.18g of acceleration from stop.
|
||||
|
||||
- The friction brakes are controlled by the 0x315 message and its value is limited by the panda firmware
|
||||
and openpilot to 350. This is approximately 0.3g of braking.
|
||||
|
||||
- Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
|
||||
openpilot to a value between -300 and 300. In addition, the vehicle EPS unit will fault for
|
||||
commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
|
||||
openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
|
||||
0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
|
||||
torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
|
||||
driver's will.
|
||||
|
||||
- Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
|
||||
respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
|
||||
panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
|
||||
the brake pedal pressed signal. The regen paddle pressed signal is in the 0xBD message. When the
|
||||
regen paddle is pressed, a disengagement is enforced by both the firmware and by openpilot.
|
||||
|
||||
- GM CAN uses both a counter and a checksum to ensure integrity and prevent
|
||||
replay of the same message.
|
||||
|
||||
Hyundai/Kia (Lateral only)
|
||||
------
|
||||
|
||||
- While the system is engaged, steer commands are subject to the same limits used by
|
||||
the stock system.
|
||||
|
||||
- Steering torque is controlled through the 0x340 CAN message and it's limited by the panda firmware and by
|
||||
openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
|
||||
commands outside the values of -409 and 409. A steering torque rate limit is enforced by the panda firmware and by
|
||||
openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
|
||||
0.85s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
|
||||
torque exceeds 50 units in the opposite dicrection to ensure limited applied torque against the
|
||||
driver's will.
|
||||
|
||||
Chrysler/Jeep/Fiat (Lateral only)
|
||||
------
|
||||
|
||||
- While the system is engaged, steer commands are subject to the same limits used by
|
||||
the stock system.
|
||||
|
||||
- Steering torque is controlled through the 0x292 CAN message and it's limited by the panda firmware and by
|
||||
openpilot to a value between -261 and 261. In addition, the vehicle EPS unit will fault for
|
||||
commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
|
||||
openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
|
||||
0.87s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 80
|
||||
units above the actual EPS generated motor torque to ensure limited differences between
|
||||
commanded and actual torques.
|
||||
|
||||
Subaru (Lateral only)
|
||||
------
|
||||
|
||||
- While the system is engaged, steer commands are subject to the same limits used by
|
||||
the stock system.
|
||||
|
||||
- Steering torque is controlled through the 0x122 CAN message and it's limited by the panda firmware and by
|
||||
openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
|
||||
commands outside the values of -2047 and 2047. A steering torque rate limit is enforced by the panda firmware and by
|
||||
openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
|
||||
0.41s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
|
||||
torque exceeds 60 units in the opposite dicrection to ensure limited applied torque against the
|
||||
driver's will.
|
||||
|
||||
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
|
||||
not fully meeting the above requirements.
|
||||
|
||||
-212
@@ -1,212 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
import sys
|
||||
|
||||
AddOption('--test',
|
||||
action='store_true',
|
||||
help='build test files')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
|
||||
if arch == "aarch64":
|
||||
lenv = {
|
||||
"LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
|
||||
"PATH": os.environ['PATH'],
|
||||
"ANDROID_DATA": os.environ['ANDROID_DATA'],
|
||||
"ANDROID_ROOT": os.environ['ANDROID_ROOT'],
|
||||
}
|
||||
|
||||
cpppath = [
|
||||
"#phonelibs/opencl/include",
|
||||
]
|
||||
libpath = [
|
||||
"#phonelibs/snpe/aarch64-android-clang3.8",
|
||||
"/usr/lib",
|
||||
"/data/data/com.termux/files/usr/lib",
|
||||
"/system/vendor/lib64",
|
||||
"/system/comma/usr/lib",
|
||||
"#phonelibs/yaml-cpp/lib",
|
||||
"#phonelibs/nanovg",
|
||||
"#phonelibs/libyuv/lib",
|
||||
]
|
||||
|
||||
cflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
|
||||
rpath = ["/system/vendor/lib64"]
|
||||
else:
|
||||
lenv = {
|
||||
"PATH": "#external/bin:" + os.environ['PATH'],
|
||||
}
|
||||
cpppath = [
|
||||
"#phonelibs/capnp-cpp/include",
|
||||
"#phonelibs/capnp-c/include",
|
||||
"#phonelibs/zmq/x64/include",
|
||||
]
|
||||
libpath = [
|
||||
"#phonelibs/capnp-cpp/x64/lib",
|
||||
"#phonelibs/capnp-c/x64/lib",
|
||||
"#phonelibs/yaml-cpp/x64/lib",
|
||||
"#phonelibs/snpe/x86_64-linux-clang",
|
||||
"#phonelibs/zmq/x64/lib",
|
||||
"#phonelibs/libyuv/x64/lib",
|
||||
"#external/zmq/lib",
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
rpath = ["phonelibs/capnp-cpp/x64/lib",
|
||||
"cereal",
|
||||
"selfdrive/common"]
|
||||
|
||||
# allows shared libraries to work globally
|
||||
rpath = [os.path.join(os.getcwd(), x) for x in rpath]
|
||||
|
||||
cflags = []
|
||||
cxxflags = []
|
||||
|
||||
ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
|
||||
ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
|
||||
|
||||
# change pythonpath to this
|
||||
lenv["PYTHONPATH"] = Dir("#").path
|
||||
|
||||
env = Environment(
|
||||
ENV=lenv,
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Werror=implicit-function-declaration",
|
||||
"-Werror=incompatible-pointer-types",
|
||||
"-Werror=int-conversion",
|
||||
"-Werror=return-type",
|
||||
"-Werror=format-extra-args",
|
||||
] + cflags + ccflags_asan,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
"#",
|
||||
"#selfdrive",
|
||||
"#phonelibs/bzip2",
|
||||
"#phonelibs/libyuv/include",
|
||||
"#phonelibs/yaml-cpp/include",
|
||||
"#phonelibs/openmax/include",
|
||||
"#phonelibs/json/src",
|
||||
"#phonelibs/json11",
|
||||
"#phonelibs/eigen",
|
||||
"#phonelibs/curl/include",
|
||||
"#phonelibs/opencv/include",
|
||||
"#phonelibs/libgralloc/include",
|
||||
"#phonelibs/android_frameworks_native/include",
|
||||
"#phonelibs/android_hardware_libhardware/include",
|
||||
"#phonelibs/android_system_core/include",
|
||||
"#phonelibs/linux/include",
|
||||
"#phonelibs/snpe/include",
|
||||
"#phonelibs/nanovg",
|
||||
"#selfdrive/common",
|
||||
"#selfdrive/camerad",
|
||||
"#selfdrive/camerad/include",
|
||||
"#selfdrive/loggerd/include",
|
||||
"#selfdrive/modeld",
|
||||
"#cereal/messaging",
|
||||
"#cereal",
|
||||
"#opendbc/can",
|
||||
],
|
||||
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
LINKFLAGS=ldflags_asan,
|
||||
|
||||
RPATH=rpath,
|
||||
|
||||
CFLAGS=["-std=gnu11"] + cflags,
|
||||
CXXFLAGS=["-std=c++14"] + cxxflags,
|
||||
LIBPATH=libpath +
|
||||
[
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
"#phonelibs",
|
||||
]
|
||||
)
|
||||
|
||||
if os.environ.get('SCONS_CACHE'):
|
||||
CacheDir('/tmp/scons_cache')
|
||||
|
||||
node_interval = 5
|
||||
node_count = 0
|
||||
def progress_function(node):
|
||||
global node_count
|
||||
node_count += node_interval
|
||||
sys.stderr.write("progress: %d\n" % node_count)
|
||||
|
||||
if os.environ.get('SCONS_PROGRESS'):
|
||||
Progress(progress_function, interval=node_interval)
|
||||
|
||||
SHARED = False
|
||||
|
||||
def abspath(x):
|
||||
if arch == 'aarch64':
|
||||
pth = os.path.join("/data/pythonpath", x[0].path)
|
||||
env.Depends(pth, x)
|
||||
return File(pth)
|
||||
else:
|
||||
# rpath works elsewhere
|
||||
return x[0].path.rsplit("/", 1)[1][:-3]
|
||||
|
||||
#zmq = 'zmq'
|
||||
# still needed for apks
|
||||
zmq = FindFile("libzmq.a", libpath)
|
||||
Export('env', 'arch', 'zmq', 'SHARED')
|
||||
|
||||
# cereal and messaging are shared with the system
|
||||
SConscript(['cereal/SConscript'])
|
||||
if SHARED:
|
||||
cereal = abspath([File('cereal/libcereal_shared.so')])
|
||||
messaging = abspath([File('cereal/libmessaging_shared.so')])
|
||||
else:
|
||||
cereal = [File('#cereal/libcereal.a')]
|
||||
messaging = [File('#cereal/libmessaging.a')]
|
||||
Export('cereal', 'messaging')
|
||||
|
||||
SConscript(['selfdrive/common/SConscript'])
|
||||
Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
|
||||
|
||||
if SHARED:
|
||||
common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
|
||||
else:
|
||||
common = [_common, 'json']
|
||||
visionipc = _visionipc
|
||||
gpucommon = [_gpucommon] + _gpu_libs
|
||||
|
||||
Export('common', 'visionipc', 'gpucommon')
|
||||
|
||||
SConscript(['opendbc/can/SConscript'])
|
||||
|
||||
SConscript(['common/SConscript'])
|
||||
SConscript(['common/kalman/SConscript'])
|
||||
SConscript(['phonelibs/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/modeld/SConscript'])
|
||||
SConscript(['selfdrive/camerad/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/boardd/SConscript'])
|
||||
SConscript(['selfdrive/proclogd/SConscript'])
|
||||
|
||||
if arch == "aarch64":
|
||||
SConscript(['selfdrive/logcatd/SConscript'])
|
||||
SConscript(['selfdrive/ui/SConscript'])
|
||||
SConscript(['selfdrive/sensord/SConscript'])
|
||||
SConscript(['selfdrive/loggerd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/locationd/SConscript'])
|
||||
|
||||
# TODO: finish cereal, dbcbuilder, MPC
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1 +0,0 @@
|
||||
.sconsign.dblite
|
||||
@@ -3,12 +3,4 @@ node_modules
|
||||
package-lock.json
|
||||
*.pyc
|
||||
__pycache__
|
||||
.*.swp
|
||||
.*.swo
|
||||
libcereal*.a
|
||||
libmessaging.*
|
||||
libmessaging_shared.*
|
||||
services.h
|
||||
.sconsign.dblite
|
||||
libcereal_shared.so
|
||||
|
||||
|
||||
@@ -1,19 +0,0 @@
|
||||
from ubuntu:16.04
|
||||
|
||||
RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
|
||||
|
||||
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
|
||||
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
|
||||
RUN pyenv install 3.7.3
|
||||
RUN pyenv global 3.7.3
|
||||
RUN pyenv rehash
|
||||
RUN pip3 install pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==0.6.4
|
||||
|
||||
WORKDIR /project/cereal
|
||||
COPY install_capnp.sh .
|
||||
RUN ./install_capnp.sh
|
||||
|
||||
ENV PYTHONPATH=/project
|
||||
|
||||
COPY . .
|
||||
RUN scons -c && scons -j$(nproc)
|
||||
@@ -0,0 +1,62 @@
|
||||
PWD := $(shell pwd)
|
||||
|
||||
SRCS := log.capnp car.capnp
|
||||
|
||||
GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
|
||||
JS := gen/js/car.capnp.js gen/js/log.capnp.js
|
||||
|
||||
UNAME_M ?= $(shell uname -m)
|
||||
|
||||
GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
|
||||
|
||||
ifeq ($(UNAME_M),x86_64)
|
||||
|
||||
ifneq (, $(shell which capnpc-java))
|
||||
GENS += gen/java/Car.java gen/java/Log.java
|
||||
else
|
||||
$(warning capnpc-java not found, skipping java build)
|
||||
endif
|
||||
|
||||
endif
|
||||
|
||||
|
||||
ifeq ($(UNAME_M),aarch64)
|
||||
CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
|
||||
else
|
||||
CAPNPC=capnpc
|
||||
endif
|
||||
|
||||
.PHONY: all
|
||||
all: $(GENS)
|
||||
js: $(JS)
|
||||
|
||||
.PHONY: clean
|
||||
clean:
|
||||
rm -rf gen
|
||||
rm -rf node_modules
|
||||
rm -rf package-lock.json
|
||||
|
||||
gen/c/%.capnp.c: %.capnp
|
||||
@echo "[ CAPNPC C ] $@"
|
||||
mkdir -p gen/c/
|
||||
$(CAPNPC) '$<' -o c:gen/c/
|
||||
|
||||
gen/js/%.capnp.js: %.capnp
|
||||
@echo "[ CAPNPC JavaScript ] $@"
|
||||
mkdir -p gen/js/
|
||||
sh ./generate_javascript.sh
|
||||
|
||||
gen/cpp/%.capnp.c++: %.capnp
|
||||
@echo "[ CAPNPC C++ ] $@"
|
||||
mkdir -p gen/cpp/
|
||||
$(CAPNPC) '$<' -o c++:gen/cpp/
|
||||
|
||||
gen/java/Car.java gen/java/Log.java: $(SRCS)
|
||||
@echo "[ CAPNPC java ] $@"
|
||||
mkdir -p gen/java/
|
||||
$(CAPNPC) $^ -o java:gen/java
|
||||
|
||||
# c-capnproto needs some empty headers
|
||||
gen/c/include/c++.capnp.h gen/c/include/java.capnp.h:
|
||||
mkdir -p gen/c/include
|
||||
touch '$@'
|
||||
@@ -1,68 +0,0 @@
|
||||
Import('env', 'arch', 'zmq')
|
||||
|
||||
gen_dir = Dir('gen')
|
||||
messaging_dir = Dir('messaging')
|
||||
|
||||
# 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(
|
||||
['gen/c/car.capnp.c', 'gen/c/log.capnp.c', 'gen/c/car.capnp.h', 'gen/c/log.capnp.h'],
|
||||
['car.capnp', 'log.capnp'],
|
||||
'capnpc $SOURCES --src-prefix=cereal -o c:' + gen_dir.path + '/c/')
|
||||
env.Command(
|
||||
['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
|
||||
['car.capnp', 'log.capnp'],
|
||||
'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
|
||||
import shutil
|
||||
if shutil.which('capnpc-java'):
|
||||
env.Command(
|
||||
['gen/java/Car.java', 'gen/java/Log.java'],
|
||||
['car.capnp', 'log.capnp'],
|
||||
'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
|
||||
|
||||
# TODO: remove non shared cereal and messaging
|
||||
cereal_objects = env.SharedObject([
|
||||
'gen/c/car.capnp.c',
|
||||
'gen/c/log.capnp.c',
|
||||
'gen/cpp/car.capnp.c++',
|
||||
'gen/cpp/log.capnp.c++',
|
||||
])
|
||||
|
||||
env.Library('cereal', cereal_objects)
|
||||
env.SharedLibrary('cereal_shared', cereal_objects)
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
services_h = env.Command(
|
||||
['services.h'],
|
||||
['service_list.yaml', 'services.py'],
|
||||
'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
|
||||
messaging_objects = env.SharedObject([
|
||||
'messaging/messaging.cc',
|
||||
'messaging/impl_zmq.cc',
|
||||
'messaging/impl_msgq.cc',
|
||||
'messaging/msgq.cc',
|
||||
])
|
||||
|
||||
messaging_lib = env.Library('messaging', messaging_objects)
|
||||
Depends('messaging/impl_zmq.cc', services_h)
|
||||
|
||||
# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
|
||||
# TODO: get APK to load system zmq to remove the static link
|
||||
shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else []
|
||||
env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
|
||||
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
|
||||
Depends('messaging/bridge.cc', services_h)
|
||||
|
||||
# different target?
|
||||
#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
|
||||
|
||||
|
||||
env.Command(['messaging/messaging_pyx.so'],
|
||||
[messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
|
||||
"cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
|
||||
|
||||
|
||||
if GetOption('test'):
|
||||
env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
|
||||
@@ -1,49 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
|
||||
zmq = 'zmq'
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
|
||||
cpppath = [
|
||||
cereal_dir,
|
||||
'/usr/lib/include',
|
||||
]
|
||||
|
||||
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",
|
||||
"-Werror=implicit-function-declaration",
|
||||
"-Werror=incompatible-pointer-types",
|
||||
"-Werror=int-conversion",
|
||||
"-Werror=return-type",
|
||||
"-Werror=format-extra-args",
|
||||
] + ccflags_asan,
|
||||
LDFLAGS=ldflags_asan,
|
||||
LINKFLAGS=ldflags_asan,
|
||||
|
||||
CFLAGS="-std=gnu11",
|
||||
CXXFLAGS="-std=c++14",
|
||||
CPPPATH=cpppath,
|
||||
)
|
||||
|
||||
|
||||
Export('env', 'zmq', 'arch')
|
||||
SConscript(['SConscript'])
|
||||
@@ -1,14 +0,0 @@
|
||||
pr: none
|
||||
|
||||
pool:
|
||||
vmImage: 'ubuntu-16.04'
|
||||
|
||||
steps:
|
||||
- script: |
|
||||
set -e
|
||||
docker build -t cereal .
|
||||
docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
|
||||
docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
|
||||
docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
|
||||
|
||||
displayName: 'Run Tests'
|
||||
+8
-64
@@ -79,24 +79,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
tooDistracted @54;
|
||||
posenetInvalid @55;
|
||||
soundsUnavailable @56;
|
||||
preLaneChangeLeft @57;
|
||||
preLaneChangeRight @58;
|
||||
laneChange @59;
|
||||
invalidGiraffeToyota @60;
|
||||
internetConnectivityNeeded @61;
|
||||
communityFeatureDisallowed @62;
|
||||
lowMemory @63;
|
||||
stockAeb @64;
|
||||
ldw @65;
|
||||
|
||||
# dragonpilot
|
||||
manualSteeringRequired @66;
|
||||
manualSteeringRequiredBlinkersOn @67;
|
||||
leadCarMoving @68;
|
||||
leadCarDetected @69;
|
||||
preAutoLaneChangeLeft @70;
|
||||
preAutoLaneChangeRight @71;
|
||||
autoLaneChange @72;
|
||||
manualSteeringRequired @57;
|
||||
manualSteeringRequiredBlinkersOn @58;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -130,9 +114,6 @@ struct CarState {
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
steeringTorqueEps @27 :Float32; # TODO: standardize units
|
||||
steeringPressed @9 :Bool; # if the user is using the steering wheel
|
||||
steeringRateLimited @29 :Bool; # if the torque is limited by the rate limiter
|
||||
stockAeb @30 :Bool;
|
||||
stockFcw @31 :Bool;
|
||||
|
||||
# cruise state
|
||||
cruiseState @10 :CruiseState;
|
||||
@@ -151,9 +132,6 @@ struct CarState {
|
||||
seatbeltUnlatched @25 :Bool;
|
||||
canValid @26 :Bool;
|
||||
|
||||
# clutch (manual transmission only)
|
||||
clutchPressed @28 :Bool;
|
||||
|
||||
# which packets this state came from
|
||||
canMonoTimes @12: List(UInt64);
|
||||
|
||||
@@ -182,10 +160,9 @@ struct CarState {
|
||||
sport @5;
|
||||
low @6;
|
||||
brake @7;
|
||||
eco @8;
|
||||
manumatic @9;
|
||||
}
|
||||
|
||||
|
||||
# send on change
|
||||
struct ButtonEvent {
|
||||
pressed @0 :Bool;
|
||||
@@ -201,9 +178,6 @@ struct CarState {
|
||||
altButton1 @6;
|
||||
altButton2 @7;
|
||||
altButton3 @8;
|
||||
setCruise @9;
|
||||
resumeCruise @10;
|
||||
gapAdjustCruise @11;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -296,7 +270,6 @@ struct CarControl {
|
||||
wrongGear @4;
|
||||
seatbeltUnbuckled @5;
|
||||
speedTooHigh @6;
|
||||
ldw @7;
|
||||
}
|
||||
|
||||
enum AudibleAlert {
|
||||
@@ -329,7 +302,6 @@ struct CarParams {
|
||||
minEnableSpeed @7 :Float32;
|
||||
minSteerSpeed @8 :Float32;
|
||||
safetyModel @9 :SafetyModel;
|
||||
safetyModelPassive @42 :SafetyModel = silent;
|
||||
safetyParam @10 :Int16;
|
||||
|
||||
steerMaxBP @11 :List(Float32);
|
||||
@@ -339,6 +311,7 @@ struct CarParams {
|
||||
brakeMaxBP @15 :List(Float32);
|
||||
brakeMaxV @16 :List(Float32);
|
||||
|
||||
|
||||
# things about the car in the manual
|
||||
mass @17 :Float32; # [kg] running weight
|
||||
wheelbase @18 :Float32; # [m] distance from rear to front axle
|
||||
@@ -359,7 +332,6 @@ struct CarParams {
|
||||
}
|
||||
|
||||
steerLimitAlert @28 :Bool;
|
||||
steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued
|
||||
|
||||
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
|
||||
directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
|
||||
@@ -373,11 +345,6 @@ struct CarParams {
|
||||
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
|
||||
|
||||
struct LateralPIDTuning {
|
||||
kpBP @0 :List(Float32);
|
||||
@@ -396,6 +363,7 @@ struct CarParams {
|
||||
deadzoneV @5 :List(Float32);
|
||||
}
|
||||
|
||||
|
||||
struct LateralINDITuning {
|
||||
outerLoopGain @0 :Float32;
|
||||
innerLoopGain @1 :Float32;
|
||||
@@ -417,8 +385,10 @@ struct CarParams {
|
||||
l @7 :List(Float32); # Kalman gain
|
||||
}
|
||||
|
||||
|
||||
enum SafetyModel {
|
||||
silent @0;
|
||||
# does NOT match board setting
|
||||
noOutput @0;
|
||||
honda @1;
|
||||
toyota @2;
|
||||
elm327 @3;
|
||||
@@ -430,36 +400,10 @@ struct CarParams {
|
||||
chrysler @9;
|
||||
tesla @10;
|
||||
subaru @11;
|
||||
gmPassive @12;
|
||||
mazda @13;
|
||||
nissan @14;
|
||||
volkswagen @15;
|
||||
toyotaIpas @16;
|
||||
allOutput @17;
|
||||
gmAscm @18;
|
||||
noOutput @19; # like silent but with silent CAN TXs
|
||||
}
|
||||
|
||||
enum SteerControlType {
|
||||
torque @0;
|
||||
angle @1;
|
||||
}
|
||||
|
||||
enum TransmissionType {
|
||||
unknown @0;
|
||||
automatic @1;
|
||||
manual @2;
|
||||
}
|
||||
|
||||
struct CarFw {
|
||||
ecu @0 :Ecu;
|
||||
fwVersion @1 :Text;
|
||||
}
|
||||
|
||||
enum Ecu {
|
||||
eps @0;
|
||||
esp @1;
|
||||
fwdRadar @2;
|
||||
fwdCamera @3;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -8,8 +8,7 @@ tar xvf capnproto-c++-${VERSION}.tar.gz
|
||||
cd capnproto-c++-${VERSION}
|
||||
CXXFLAGS="-fPIC" ./configure
|
||||
|
||||
make -j$(nproc)
|
||||
make install
|
||||
make -j4
|
||||
|
||||
# manually build binaries statically
|
||||
g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
|
||||
@@ -19,6 +18,7 @@ g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -D
|
||||
g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
|
||||
|
||||
cp .libs/capnp /usr/local/bin/
|
||||
ln -s /usr/local/bin/capnp /usr/local/bin/capnpc
|
||||
cp .libs/capnpc-c++ /usr/local/bin/
|
||||
cp .libs/capnpc-capnp /usr/local/bin/
|
||||
cp .libs/*.a /usr/local/lib
|
||||
@@ -30,8 +30,7 @@ cd c-capnproto
|
||||
git submodule update --init --recursive
|
||||
autoreconf -f -i -s
|
||||
CXXFLAGS="-fPIC" ./configure
|
||||
make -j$(nproc)
|
||||
make install
|
||||
make -j4
|
||||
|
||||
# manually build binaries statically
|
||||
gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o ./.libs/libcapnp_c.a
|
||||
|
||||
+4
-83
@@ -126,7 +126,6 @@ struct FrameData {
|
||||
lensErr @13 :Float32;
|
||||
lensTruePos @14 :Float32;
|
||||
image @6 :Data;
|
||||
gainFrac @15 :Float32;
|
||||
|
||||
frameType @7 :FrameType;
|
||||
timestampSof @8 :UInt64;
|
||||
@@ -138,7 +137,6 @@ struct FrameData {
|
||||
unknown @0;
|
||||
neo @1;
|
||||
chffrAndroid @2;
|
||||
front @3;
|
||||
}
|
||||
|
||||
struct AndroidCaptureResult {
|
||||
@@ -270,7 +268,6 @@ struct ThermalData {
|
||||
mem @4 :UInt16;
|
||||
gpu @5 :UInt16;
|
||||
bat @6 :UInt32;
|
||||
pa0 @21 :UInt16;
|
||||
|
||||
# not thermal
|
||||
freeSpace @7 :Float32;
|
||||
@@ -287,11 +284,7 @@ struct ThermalData {
|
||||
thermalStatus @14 :ThermalStatus;
|
||||
chargingError @17 :Bool;
|
||||
chargingDisabled @18 :Bool;
|
||||
|
||||
memUsedPercent @19 :Int8;
|
||||
cpuPerc @20 :Int8;
|
||||
|
||||
ipAddr @22 :Text; # dragonpilot
|
||||
ipAddr @19 :Text;
|
||||
|
||||
enum ThermalStatus {
|
||||
green @0; # all processes run
|
||||
@@ -305,7 +298,7 @@ struct HealthData {
|
||||
# from can health
|
||||
voltage @0 :UInt32;
|
||||
current @1 :UInt32;
|
||||
ignitionLine @2 :Bool;
|
||||
started @2 :Bool;
|
||||
controlsAllowed @3 :Bool;
|
||||
gasInterceptorDetected @4 :Bool;
|
||||
startedSignalDetectedDeprecated @5 :Bool;
|
||||
@@ -313,25 +306,7 @@ struct HealthData {
|
||||
canSendErrs @7 :UInt32;
|
||||
canFwdErrs @8 :UInt32;
|
||||
gmlanSendErrs @9 :UInt32;
|
||||
hwType @10 :HwType;
|
||||
fanSpeedRpm @11 :UInt16;
|
||||
usbPowerMode @12 :UsbPowerMode;
|
||||
ignitionCan @13 :Bool;
|
||||
safetyModel @14 :Car.CarParams.SafetyModel;
|
||||
faultStatus @15 :FaultStatus;
|
||||
powerSaveEnabled @16 :Bool;
|
||||
uptime @17 :UInt32;
|
||||
faults @18 :List(FaultType);
|
||||
|
||||
enum FaultStatus {
|
||||
none @0;
|
||||
faultTemp @1;
|
||||
faultPerm @2;
|
||||
}
|
||||
|
||||
enum FaultType {
|
||||
relayMalfunction @0;
|
||||
}
|
||||
hwType @10: HwType;
|
||||
|
||||
enum HwType {
|
||||
unknown @0;
|
||||
@@ -339,14 +314,6 @@ struct HealthData {
|
||||
greyPanda @2;
|
||||
blackPanda @3;
|
||||
pedal @4;
|
||||
uno @5;
|
||||
}
|
||||
|
||||
enum UsbPowerMode {
|
||||
none @0;
|
||||
client @1;
|
||||
cdp @2;
|
||||
dcp @3;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -476,7 +443,7 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
alertSoundDEPRECATED @45 :Text;
|
||||
alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
|
||||
awarenessStatus @26 :Float32;
|
||||
angleModelBiasDEPRECATED @27 :Float32;
|
||||
angleModelBias @27 :Float32;
|
||||
gpsPlannerActive @40 :Bool;
|
||||
engageable @41 :Bool; # can OP be engaged?
|
||||
driverMonitoringOn @43 :Bool;
|
||||
@@ -531,7 +498,6 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
delayedOutput @7 :Float32;
|
||||
delta @8 :Float32;
|
||||
output @9 :Float32;
|
||||
saturated @10 :Bool;
|
||||
}
|
||||
|
||||
struct LateralPIDState {
|
||||
@@ -551,11 +517,8 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
steerAngle @1 :Float32;
|
||||
i @2 :Float32;
|
||||
output @3 :Float32;
|
||||
lqrOutput @4 :Float32;
|
||||
saturated @5 :Bool;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
struct LiveEventData {
|
||||
@@ -565,7 +528,6 @@ struct LiveEventData {
|
||||
|
||||
struct ModelData {
|
||||
frameId @0 :UInt32;
|
||||
timestampEof @9 :UInt64;
|
||||
|
||||
path @1 :PathData;
|
||||
leftLane @2 :PathData;
|
||||
@@ -576,7 +538,6 @@ struct ModelData {
|
||||
settings @5 :ModelSettings;
|
||||
leadFuture @7 :LeadData;
|
||||
speed @8 :List(Float32);
|
||||
meta @10 :MetaData;
|
||||
|
||||
struct PathData {
|
||||
points @0 :List(Float32);
|
||||
@@ -607,13 +568,6 @@ struct ModelData {
|
||||
yuvCorrection @5 :List(Float32);
|
||||
inputTransform @6 :List(Float32);
|
||||
}
|
||||
struct MetaData {
|
||||
engagedProb @0 :Float32;
|
||||
desirePrediction @1 :List(Float32);
|
||||
brakeDisengageProb @2 :Float32;
|
||||
gasDisengageProb @3 :Float32;
|
||||
steerOverrideProb @4 :Float32;
|
||||
}
|
||||
}
|
||||
|
||||
struct CalibrationFeatures {
|
||||
@@ -744,34 +698,6 @@ struct PathPlan {
|
||||
sensorValid @14 :Bool;
|
||||
commIssue @15 :Bool;
|
||||
posenetValid @16 :Bool;
|
||||
desire @17 :Desire;
|
||||
laneChangeState @18 :LaneChangeState;
|
||||
laneChangeDirection @19 :LaneChangeDirection;
|
||||
# dragonpilot
|
||||
autoLCAllowed @20 :Bool;
|
||||
|
||||
enum Desire {
|
||||
none @0;
|
||||
turnLeft @1;
|
||||
turnRight @2;
|
||||
laneChangeLeft @3;
|
||||
laneChangeRight @4;
|
||||
keepLeft @5;
|
||||
keepRight @6;
|
||||
}
|
||||
|
||||
enum LaneChangeState {
|
||||
off @0;
|
||||
preLaneChange @1;
|
||||
laneChangeStarting @2;
|
||||
laneChangeFinishing @3;
|
||||
}
|
||||
|
||||
enum LaneChangeDirection {
|
||||
none @0;
|
||||
left @1;
|
||||
right @2;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveLocationData {
|
||||
@@ -1683,7 +1609,6 @@ struct UiLayoutState {
|
||||
home @0;
|
||||
music @1;
|
||||
nav @2;
|
||||
settings @3;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1760,7 +1685,6 @@ struct DriverMonitoring {
|
||||
rightEyeProb @7 :Float32;
|
||||
leftBlinkProb @8 :Float32;
|
||||
rightBlinkProb @9 :Float32;
|
||||
irPwrDEPRECATED @10 :Float32;
|
||||
}
|
||||
|
||||
struct Boot {
|
||||
@@ -1803,8 +1727,6 @@ struct LiveMapData {
|
||||
}
|
||||
|
||||
struct CameraOdometry {
|
||||
frameId @4 :UInt32;
|
||||
timestampEof @5 :UInt64;
|
||||
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
|
||||
@@ -1892,6 +1814,5 @@ struct Event {
|
||||
thumbnail @66: Thumbnail;
|
||||
carEvents @68: List(Car.CarEvent);
|
||||
carParams @69: Car.CarParams;
|
||||
frontFrame @70: FrameData;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,10 +0,0 @@
|
||||
demo
|
||||
bridge
|
||||
test_runner
|
||||
*.o
|
||||
*.os
|
||||
*.d
|
||||
*.a
|
||||
*.so
|
||||
messaging_pyx.cpp
|
||||
build/
|
||||
@@ -1,219 +0,0 @@
|
||||
# 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
|
||||
|
||||
assert MultiplePublishersError
|
||||
assert MessagingError
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import service_list
|
||||
|
||||
# sec_since_boot is faster, but allow to run standalone too
|
||||
try:
|
||||
from common.realtime import sec_since_boot
|
||||
except ImportError:
|
||||
import time
|
||||
sec_since_boot = time.time
|
||||
print("Warning, using python time.time() instead of faster sec_since_boot")
|
||||
|
||||
context = Context()
|
||||
|
||||
def new_message():
|
||||
dat = log.Event.new_message()
|
||||
dat.logMonoTime = int(sec_since_boot() * 1e9)
|
||||
dat.valid = True
|
||||
return dat
|
||||
|
||||
def pub_sock(endpoint):
|
||||
sock = PubSocket()
|
||||
sock.connect(context, endpoint)
|
||||
return sock
|
||||
|
||||
def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=None):
|
||||
sock = SubSocket()
|
||||
addr = addr.encode('utf8')
|
||||
sock.connect(context, endpoint, addr, conflate)
|
||||
|
||||
if timeout is not None:
|
||||
sock.setTimeout(timeout)
|
||||
|
||||
if poller is not None:
|
||||
poller.registerSocket(sock)
|
||||
return sock
|
||||
|
||||
|
||||
def drain_sock_raw(sock, wait_for_one=False):
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret = []
|
||||
while 1:
|
||||
if wait_for_one and len(ret) == 0:
|
||||
dat = sock.receive()
|
||||
else:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
|
||||
if dat is None:
|
||||
break
|
||||
|
||||
ret.append(dat)
|
||||
|
||||
return ret
|
||||
|
||||
def drain_sock(sock, wait_for_one=False):
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret = []
|
||||
while 1:
|
||||
if wait_for_one and len(ret) == 0:
|
||||
dat = sock.receive()
|
||||
else:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
|
||||
if dat is None: # Timeout hit
|
||||
break
|
||||
|
||||
dat = log.Event.from_bytes(dat)
|
||||
ret.append(dat)
|
||||
|
||||
return ret
|
||||
|
||||
|
||||
# TODO: print when we drop packets?
|
||||
def recv_sock(sock, wait=False):
|
||||
"""Same as drain sock, but only returns latest message. Consider using conflate instead."""
|
||||
dat = None
|
||||
|
||||
while 1:
|
||||
if wait and dat is None:
|
||||
rcv = sock.receive()
|
||||
else:
|
||||
rcv = sock.receive(non_blocking=True)
|
||||
|
||||
if rcv is None: # Timeout hit
|
||||
break
|
||||
|
||||
dat = rcv
|
||||
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
|
||||
return dat
|
||||
|
||||
def recv_one(sock):
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_or_none(sock):
|
||||
dat = sock.receive(non_blocking=True)
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_retry(sock):
|
||||
"""Keep receiving until we get a message"""
|
||||
while True:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
return log.Event.from_bytes(dat)
|
||||
|
||||
def get_one_can(logcan):
|
||||
while True:
|
||||
can = recv_one_retry(logcan)
|
||||
if len(can.can) > 0:
|
||||
return can
|
||||
|
||||
class SubMaster():
|
||||
def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
|
||||
self.poller = Poller()
|
||||
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.sock = {}
|
||||
self.freq = {}
|
||||
self.data = {}
|
||||
self.logMonoTime = {}
|
||||
self.valid = {}
|
||||
|
||||
if ignore_alive is not None:
|
||||
self.ignore_alive = ignore_alive
|
||||
else:
|
||||
self.ignore_alive = []
|
||||
|
||||
for s in services:
|
||||
if addr is not None:
|
||||
self.sock[s] = sub_sock(s, poller=self.poller, addr=addr, conflate=True)
|
||||
self.freq[s] = service_list[s].frequency
|
||||
|
||||
data = new_message()
|
||||
if s in ['can', 'sensorEvents', 'liveTracks', 'sendCan',
|
||||
'ethernetData', 'cellInfo', 'wifiScan',
|
||||
'trafficEvents', 'orbObservation', 'carEvents']:
|
||||
data.init(s, 0)
|
||||
else:
|
||||
data.init(s)
|
||||
self.data[s] = getattr(data, s)
|
||||
self.logMonoTime[s] = 0
|
||||
self.valid[s] = data.valid
|
||||
|
||||
def __getitem__(self, s):
|
||||
return self.data[s]
|
||||
|
||||
def update(self, timeout=1000):
|
||||
msgs = []
|
||||
for sock in self.poller.poll(timeout):
|
||||
msgs.append(recv_one_or_none(sock))
|
||||
self.update_msgs(sec_since_boot(), msgs)
|
||||
|
||||
def update_msgs(self, cur_time, msgs):
|
||||
# TODO: add optional input that specify the service to wait for
|
||||
self.frame += 1
|
||||
self.updated = dict.fromkeys(self.updated, False)
|
||||
for msg in msgs:
|
||||
if msg is None:
|
||||
continue
|
||||
|
||||
s = msg.which()
|
||||
self.updated[s] = True
|
||||
self.rcv_time[s] = cur_time
|
||||
self.rcv_frame[s] = self.frame
|
||||
self.data[s] = getattr(msg, s)
|
||||
self.logMonoTime[s] = msg.logMonoTime
|
||||
self.valid[s] = msg.valid
|
||||
|
||||
for s in self.data:
|
||||
# arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
|
||||
if self.freq[s] > 1e-5:
|
||||
# alive if delay is within 10x the expected frequency
|
||||
self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
|
||||
else:
|
||||
self.alive[s] = True
|
||||
|
||||
def all_alive(self, service_list=None):
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
|
||||
|
||||
def all_valid(self, service_list=None):
|
||||
if service_list is None: # check all
|
||||
service_list = self.valid.keys()
|
||||
return all(self.valid[s] for s in service_list)
|
||||
|
||||
def all_alive_and_valid(self, service_list=None):
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
|
||||
|
||||
|
||||
class PubMaster():
|
||||
def __init__(self, services):
|
||||
self.sock = {}
|
||||
for s in services:
|
||||
self.sock[s] = pub_sock(s)
|
||||
|
||||
def send(self, s, dat):
|
||||
# accept either bytes or capnp builder
|
||||
if not isinstance(dat, bytes):
|
||||
dat = dat.to_bytes()
|
||||
self.sock[s].send(dat)
|
||||
@@ -1,62 +0,0 @@
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <cassert>
|
||||
#include <csignal>
|
||||
#include <map>
|
||||
|
||||
#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::vector<std::string> name_list;
|
||||
|
||||
for (const auto& it : services) {
|
||||
std::string name = it.name;
|
||||
if (name == "plusFrame" || name == "uiLayoutState") continue;
|
||||
name_list.push_back(name);
|
||||
}
|
||||
|
||||
return name_list;
|
||||
}
|
||||
|
||||
|
||||
int main(void){
|
||||
signal(SIGPIPE, (sighandler_t)sigpipe_handler);
|
||||
|
||||
auto endpoints = get_services();
|
||||
|
||||
std::map<SubSocket*, PubSocket*> sub2pub;
|
||||
|
||||
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)){
|
||||
Message * msg = sub_sock->receive();
|
||||
if (msg == NULL) continue;
|
||||
sub2pub[sub_sock]->sendMessage(msg);
|
||||
delete msg;
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,50 +0,0 @@
|
||||
#include <iostream>
|
||||
#include <cstddef>
|
||||
#include <chrono>
|
||||
#include <thread>
|
||||
#include <cassert>
|
||||
|
||||
#include "messaging.hpp"
|
||||
#include "impl_zmq.hpp"
|
||||
|
||||
#define MSGS 1e5
|
||||
|
||||
int main() {
|
||||
Context * c = Context::create();
|
||||
SubSocket * sub_sock = SubSocket::create(c, "controlsState");
|
||||
PubSocket * pub_sock = PubSocket::create(c, "controlsState");
|
||||
|
||||
char data[8];
|
||||
|
||||
Poller * poller = Poller::create({sub_sock});
|
||||
|
||||
auto start = std::chrono::steady_clock::now();
|
||||
|
||||
for (uint64_t i = 0; i < MSGS; i++){
|
||||
*(uint64_t*)data = i;
|
||||
pub_sock->send(data, 8);
|
||||
|
||||
auto r = poller->poll(100);
|
||||
|
||||
for (auto p : r){
|
||||
Message * m = p->receive();
|
||||
uint64_t ii = *(uint64_t*)m->getData();
|
||||
assert(i == ii);
|
||||
delete m;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
auto end = std::chrono::steady_clock::now();
|
||||
double elapsed = std::chrono::duration_cast<std::chrono::nanoseconds>(end - start).count() / 1e9;
|
||||
double throughput = ((double) MSGS / (double) elapsed);
|
||||
std::cout << throughput << " msg/s" << std::endl;
|
||||
|
||||
delete poller;
|
||||
delete sub_sock;
|
||||
delete pub_sock;
|
||||
delete c;
|
||||
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -1,30 +0,0 @@
|
||||
import time
|
||||
|
||||
from messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
|
||||
|
||||
MSGS = 1e5
|
||||
|
||||
if __name__ == "__main__":
|
||||
c = Context()
|
||||
sub_sock = SubSocket()
|
||||
pub_sock = PubSocket()
|
||||
|
||||
sub_sock.connect(c, "controlsState")
|
||||
pub_sock.connect(c, "controlsState")
|
||||
|
||||
|
||||
poller = Poller()
|
||||
poller.registerSocket(sub_sock)
|
||||
|
||||
t = time.time()
|
||||
for i in range(int(MSGS)):
|
||||
bts = i.to_bytes(4, 'little')
|
||||
pub_sock.send(bts)
|
||||
|
||||
for s in poller.poll(100):
|
||||
dat = s.receive()
|
||||
ii = int.from_bytes(dat, 'little')
|
||||
assert(i == ii)
|
||||
|
||||
dt = time.time() - t
|
||||
print("%.1f msg/s" % (MSGS / dt))
|
||||
@@ -1,190 +0,0 @@
|
||||
#include <cassert>
|
||||
#include <cstring>
|
||||
#include <iostream>
|
||||
#include <cstdlib>
|
||||
#include <csignal>
|
||||
#include <cerrno>
|
||||
|
||||
|
||||
#include "impl_msgq.hpp"
|
||||
|
||||
volatile sig_atomic_t msgq_do_exit = 0;
|
||||
|
||||
void sig_handler(int signal) {
|
||||
assert(signal == SIGINT || signal == SIGTERM);
|
||||
msgq_do_exit = 1;
|
||||
}
|
||||
|
||||
|
||||
MSGQContext::MSGQContext() {
|
||||
}
|
||||
|
||||
MSGQContext::~MSGQContext() {
|
||||
}
|
||||
|
||||
void MSGQMessage::init(size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
}
|
||||
|
||||
void MSGQMessage::init(char * d, size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
memcpy(data, d, size);
|
||||
}
|
||||
|
||||
void MSGQMessage::takeOwnership(char * d, size_t sz) {
|
||||
size = sz;
|
||||
data = d;
|
||||
}
|
||||
|
||||
void MSGQMessage::close() {
|
||||
if (size > 0){
|
||||
delete[] data;
|
||||
}
|
||||
size = 0;
|
||||
}
|
||||
|
||||
MSGQMessage::~MSGQMessage() {
|
||||
this->close();
|
||||
}
|
||||
|
||||
|
||||
int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
|
||||
assert(context);
|
||||
assert(address == "127.0.0.1");
|
||||
|
||||
q = new msgq_queue_t;
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
|
||||
if (r != 0){
|
||||
return r;
|
||||
}
|
||||
|
||||
msgq_init_subscriber(q);
|
||||
|
||||
if (conflate){
|
||||
q->read_conflate = true;
|
||||
}
|
||||
|
||||
timeout = -1;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
Message * MSGQSubSocket::receive(bool non_blocking){
|
||||
msgq_do_exit = 0;
|
||||
|
||||
void (*prev_handler_sigint)(int);
|
||||
void (*prev_handler_sigterm)(int);
|
||||
if (!non_blocking){
|
||||
prev_handler_sigint = std::signal(SIGINT, sig_handler);
|
||||
prev_handler_sigterm = std::signal(SIGTERM, sig_handler);
|
||||
}
|
||||
|
||||
msgq_msg_t msg;
|
||||
|
||||
MSGQMessage *r = NULL;
|
||||
r = NULL;
|
||||
|
||||
int rc = msgq_msg_recv(&msg, q);
|
||||
|
||||
// Hack to implement blocking read with a poller. Don't use this
|
||||
while (!non_blocking && rc == 0 && msgq_do_exit == 0){
|
||||
msgq_pollitem_t items[1];
|
||||
items[0].q = q;
|
||||
|
||||
int t = (timeout != -1) ? timeout : 100;
|
||||
|
||||
int n = msgq_poll(items, 1, t);
|
||||
rc = msgq_msg_recv(&msg, q);
|
||||
|
||||
// The poll indicated a message was ready, but the receive failed. Try again
|
||||
if (n == 1 && rc == 0){
|
||||
continue;
|
||||
}
|
||||
|
||||
if (timeout != -1){
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (rc > 0){
|
||||
r = new MSGQMessage;
|
||||
r->takeOwnership(msg.data, msg.size);
|
||||
}
|
||||
errno = msgq_do_exit ? EINTR : 0;
|
||||
|
||||
if (!non_blocking){
|
||||
std::signal(SIGINT, prev_handler_sigint);
|
||||
std::signal(SIGTERM, prev_handler_sigterm);
|
||||
}
|
||||
|
||||
return (Message*)r;
|
||||
}
|
||||
|
||||
void MSGQSubSocket::setTimeout(int t){
|
||||
timeout = t;
|
||||
}
|
||||
|
||||
MSGQSubSocket::~MSGQSubSocket(){
|
||||
if (q != NULL){
|
||||
msgq_close_queue(q);
|
||||
delete q;
|
||||
}
|
||||
}
|
||||
|
||||
int MSGQPubSocket::connect(Context *context, std::string endpoint){
|
||||
assert(context);
|
||||
|
||||
q = new msgq_queue_t;
|
||||
msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
|
||||
msgq_init_publisher(q);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int MSGQPubSocket::sendMessage(Message *message){
|
||||
msgq_msg_t msg;
|
||||
msg.data = message->getData();
|
||||
msg.size = message->getSize();
|
||||
|
||||
return msgq_msg_send(&msg, q);
|
||||
}
|
||||
|
||||
int MSGQPubSocket::send(char *data, size_t size){
|
||||
msgq_msg_t msg;
|
||||
msg.data = data;
|
||||
msg.size = size;
|
||||
|
||||
return msgq_msg_send(&msg, q);
|
||||
}
|
||||
|
||||
MSGQPubSocket::~MSGQPubSocket(){
|
||||
if (q != NULL){
|
||||
msgq_close_queue(q);
|
||||
delete q;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void MSGQPoller::registerSocket(SubSocket * socket){
|
||||
assert(num_polls + 1 < MAX_POLLERS);
|
||||
polls[num_polls].q = (msgq_queue_t*)socket->getRawSocket();
|
||||
|
||||
sockets.push_back(socket);
|
||||
num_polls++;
|
||||
}
|
||||
|
||||
std::vector<SubSocket*> MSGQPoller::poll(int timeout){
|
||||
std::vector<SubSocket*> r;
|
||||
|
||||
msgq_poll(polls, num_polls, timeout);
|
||||
for (size_t i = 0; i < num_polls; i++){
|
||||
if (polls[i].revents){
|
||||
r.push_back(sockets[i]);
|
||||
}
|
||||
}
|
||||
|
||||
return r;
|
||||
}
|
||||
@@ -1,64 +0,0 @@
|
||||
#pragma once
|
||||
#include "messaging.hpp"
|
||||
#include "msgq.hpp"
|
||||
#include <zmq.h>
|
||||
#include <string>
|
||||
|
||||
#define MAX_POLLERS 128
|
||||
|
||||
class MSGQContext : public Context {
|
||||
private:
|
||||
void * context = NULL;
|
||||
public:
|
||||
MSGQContext();
|
||||
void * getRawContext() {return context;}
|
||||
~MSGQContext();
|
||||
};
|
||||
|
||||
class MSGQMessage : public Message {
|
||||
private:
|
||||
char * data;
|
||||
size_t size;
|
||||
public:
|
||||
void init(size_t size);
|
||||
void init(char *data, size_t size);
|
||||
void takeOwnership(char *data, size_t size);
|
||||
size_t getSize(){return size;}
|
||||
char * getData(){return data;}
|
||||
void close();
|
||||
~MSGQMessage();
|
||||
};
|
||||
|
||||
class MSGQSubSocket : public SubSocket {
|
||||
private:
|
||||
msgq_queue_t * q = NULL;
|
||||
int timeout;
|
||||
public:
|
||||
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);
|
||||
~MSGQSubSocket();
|
||||
};
|
||||
|
||||
class MSGQPubSocket : public PubSocket {
|
||||
private:
|
||||
msgq_queue_t * q = NULL;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
~MSGQPubSocket();
|
||||
};
|
||||
|
||||
class MSGQPoller : public Poller {
|
||||
private:
|
||||
std::vector<SubSocket*> sockets;
|
||||
msgq_pollitem_t polls[MAX_POLLERS];
|
||||
size_t num_polls = 0;
|
||||
|
||||
public:
|
||||
void registerSocket(SubSocket *socket);
|
||||
std::vector<SubSocket*> poll(int timeout);
|
||||
~MSGQPoller(){};
|
||||
};
|
||||
@@ -1,155 +0,0 @@
|
||||
#include <cassert>
|
||||
#include <cstring>
|
||||
#include <iostream>
|
||||
#include <cstdlib>
|
||||
#include <cerrno>
|
||||
|
||||
#include <zmq.h>
|
||||
|
||||
#include "services.h"
|
||||
#include "impl_zmq.hpp"
|
||||
|
||||
static int get_port(std::string endpoint) {
|
||||
int port = -1;
|
||||
for (const auto& it : services) {
|
||||
std::string name = it.name;
|
||||
if (name == endpoint) {
|
||||
port = it.port;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
assert(port >= 0);
|
||||
return port;
|
||||
}
|
||||
|
||||
ZMQContext::ZMQContext() {
|
||||
context = zmq_ctx_new();
|
||||
}
|
||||
|
||||
ZMQContext::~ZMQContext() {
|
||||
zmq_ctx_term(context);
|
||||
}
|
||||
|
||||
void ZMQMessage::init(size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
}
|
||||
|
||||
void ZMQMessage::init(char * d, size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
memcpy(data, d, size);
|
||||
}
|
||||
|
||||
void ZMQMessage::close() {
|
||||
if (size > 0){
|
||||
delete[] data;
|
||||
}
|
||||
size = 0;
|
||||
}
|
||||
|
||||
ZMQMessage::~ZMQMessage() {
|
||||
this->close();
|
||||
}
|
||||
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
|
||||
|
||||
if (conflate){
|
||||
int arg = 1;
|
||||
zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
|
||||
}
|
||||
|
||||
int reconnect_ivl = 500;
|
||||
zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
|
||||
|
||||
full_endpoint = "tcp://" + address + ":";
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
|
||||
return zmq_connect(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
|
||||
Message * ZMQSubSocket::receive(bool non_blocking){
|
||||
zmq_msg_t msg;
|
||||
assert(zmq_msg_init(&msg) == 0);
|
||||
|
||||
int flags = non_blocking ? ZMQ_DONTWAIT : 0;
|
||||
int rc = zmq_msg_recv(&msg, sock, flags);
|
||||
Message *r = NULL;
|
||||
|
||||
if (rc >= 0){
|
||||
// Make a copy to ensure the data is aligned
|
||||
r = new ZMQMessage;
|
||||
r->init((char*)zmq_msg_data(&msg), zmq_msg_size(&msg));
|
||||
}
|
||||
|
||||
zmq_msg_close(&msg);
|
||||
return r;
|
||||
}
|
||||
|
||||
void ZMQSubSocket::setTimeout(int timeout){
|
||||
zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
|
||||
}
|
||||
|
||||
ZMQSubSocket::~ZMQSubSocket(){
|
||||
zmq_close(sock);
|
||||
}
|
||||
|
||||
int ZMQPubSocket::connect(Context *context, std::string endpoint){
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
|
||||
if (sock == NULL){
|
||||
return -1;
|
||||
}
|
||||
|
||||
full_endpoint = "tcp://*:";
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
|
||||
return zmq_bind(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
int ZMQPubSocket::sendMessage(Message *message){
|
||||
return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
int ZMQPubSocket::send(char *data, size_t size){
|
||||
return zmq_send(sock, data, size, ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
ZMQPubSocket::~ZMQPubSocket(){
|
||||
zmq_close(sock);
|
||||
}
|
||||
|
||||
|
||||
void ZMQPoller::registerSocket(SubSocket * socket){
|
||||
assert(num_polls + 1 < MAX_POLLERS);
|
||||
polls[num_polls].socket = socket->getRawSocket();
|
||||
polls[num_polls].events = ZMQ_POLLIN;
|
||||
|
||||
sockets.push_back(socket);
|
||||
num_polls++;
|
||||
}
|
||||
|
||||
std::vector<SubSocket*> ZMQPoller::poll(int timeout){
|
||||
std::vector<SubSocket*> r;
|
||||
|
||||
int rc = zmq_poll(polls, num_polls, timeout);
|
||||
if (rc < 0){
|
||||
return r;
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < num_polls; i++){
|
||||
if (polls[i].revents){
|
||||
r.push_back(sockets[i]);
|
||||
}
|
||||
}
|
||||
|
||||
return r;
|
||||
}
|
||||
@@ -1,63 +0,0 @@
|
||||
#pragma once
|
||||
#include "messaging.hpp"
|
||||
#include <zmq.h>
|
||||
#include <string>
|
||||
|
||||
#define MAX_POLLERS 128
|
||||
|
||||
class ZMQContext : public Context {
|
||||
private:
|
||||
void * context = NULL;
|
||||
public:
|
||||
ZMQContext();
|
||||
void * getRawContext() {return context;}
|
||||
~ZMQContext();
|
||||
};
|
||||
|
||||
class ZMQMessage : public Message {
|
||||
private:
|
||||
char * data;
|
||||
size_t size;
|
||||
public:
|
||||
void init(size_t size);
|
||||
void init(char *data, size_t size);
|
||||
size_t getSize(){return size;}
|
||||
char * getData(){return data;}
|
||||
void close();
|
||||
~ZMQMessage();
|
||||
};
|
||||
|
||||
class ZMQSubSocket : public SubSocket {
|
||||
private:
|
||||
void * sock;
|
||||
std::string full_endpoint;
|
||||
public:
|
||||
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);
|
||||
~ZMQSubSocket();
|
||||
};
|
||||
|
||||
class ZMQPubSocket : public PubSocket {
|
||||
private:
|
||||
void * sock;
|
||||
std::string full_endpoint;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
~ZMQPubSocket();
|
||||
};
|
||||
|
||||
class ZMQPoller : public Poller {
|
||||
private:
|
||||
std::vector<SubSocket*> sockets;
|
||||
zmq_pollitem_t polls[MAX_POLLERS];
|
||||
size_t num_polls = 0;
|
||||
|
||||
public:
|
||||
void registerSocket(SubSocket *socket);
|
||||
std::vector<SubSocket*> poll(int timeout);
|
||||
~ZMQPoller(){};
|
||||
};
|
||||
@@ -1,117 +0,0 @@
|
||||
#include "messaging.hpp"
|
||||
#include "impl_zmq.hpp"
|
||||
#include "impl_msgq.hpp"
|
||||
|
||||
Context * Context::create(){
|
||||
Context * c;
|
||||
if (std::getenv("MSGQ")){
|
||||
c = new MSGQContext();
|
||||
} else {
|
||||
c = new ZMQContext();
|
||||
}
|
||||
return c;
|
||||
}
|
||||
|
||||
SubSocket * SubSocket::create(){
|
||||
SubSocket * s;
|
||||
if (std::getenv("MSGQ")){
|
||||
s = new MSGQSubSocket();
|
||||
} else {
|
||||
s = new ZMQSubSocket();
|
||||
}
|
||||
return s;
|
||||
}
|
||||
|
||||
SubSocket * SubSocket::create(Context * context, std::string endpoint){
|
||||
SubSocket *s = SubSocket::create();
|
||||
int r = s->connect(context, endpoint, "127.0.0.1");
|
||||
|
||||
if (r == 0) {
|
||||
return s;
|
||||
} else {
|
||||
delete s;
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address){
|
||||
SubSocket *s = SubSocket::create();
|
||||
int r = s->connect(context, endpoint, address);
|
||||
|
||||
if (r == 0) {
|
||||
return s;
|
||||
} else {
|
||||
delete s;
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate){
|
||||
SubSocket *s = SubSocket::create();
|
||||
int r = s->connect(context, endpoint, address, conflate);
|
||||
|
||||
if (r == 0) {
|
||||
return s;
|
||||
} else {
|
||||
delete s;
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
PubSocket * PubSocket::create(){
|
||||
PubSocket * s;
|
||||
if (std::getenv("MSGQ")){
|
||||
s = new MSGQPubSocket();
|
||||
} else {
|
||||
s = new ZMQPubSocket();
|
||||
}
|
||||
return s;
|
||||
}
|
||||
|
||||
PubSocket * PubSocket::create(Context * context, std::string endpoint){
|
||||
PubSocket *s = PubSocket::create();
|
||||
int r = s->connect(context, endpoint);
|
||||
|
||||
if (r == 0) {
|
||||
return s;
|
||||
} else {
|
||||
delete s;
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
Poller * Poller::create(){
|
||||
Poller * p;
|
||||
if (std::getenv("MSGQ")){
|
||||
p = new MSGQPoller();
|
||||
} else {
|
||||
p = new ZMQPoller();
|
||||
}
|
||||
return p;
|
||||
}
|
||||
|
||||
Poller * Poller::create(std::vector<SubSocket*> sockets){
|
||||
Poller * p = Poller::create();
|
||||
|
||||
for (auto s : sockets){
|
||||
p->registerSocket(s);
|
||||
}
|
||||
return p;
|
||||
}
|
||||
|
||||
extern "C" Context * messaging_context_create() {
|
||||
return Context::create();
|
||||
}
|
||||
|
||||
extern "C" SubSocket * messaging_subsocket_create(Context* context, const char* endpoint) {
|
||||
return SubSocket::create(context, std::string(endpoint));
|
||||
}
|
||||
|
||||
extern "C" PubSocket * messaging_pubsocket_create(Context* context, const char* endpoint) {
|
||||
return PubSocket::create(context, std::string(endpoint));
|
||||
}
|
||||
|
||||
extern "C" Poller * messaging_poller_create(SubSocket** sockets, int size) {
|
||||
std::vector<SubSocket*> socketsVec(sockets, sockets + size);
|
||||
return Poller::create(socketsVec);
|
||||
}
|
||||
@@ -1,56 +0,0 @@
|
||||
#pragma once
|
||||
#include <cstddef>
|
||||
#include <vector>
|
||||
#include <string>
|
||||
|
||||
#define MSG_MULTIPLE_PUBLISHERS 100
|
||||
|
||||
class Context {
|
||||
public:
|
||||
virtual void * getRawContext() = 0;
|
||||
static Context * create();
|
||||
virtual ~Context(){};
|
||||
};
|
||||
|
||||
class Message {
|
||||
public:
|
||||
virtual void init(size_t size) = 0;
|
||||
virtual void init(char * data, size_t size) = 0;
|
||||
virtual void close() = 0;
|
||||
virtual size_t getSize() = 0;
|
||||
virtual char * getData() = 0;
|
||||
virtual ~Message(){};
|
||||
};
|
||||
|
||||
|
||||
class SubSocket {
|
||||
public:
|
||||
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);
|
||||
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) = 0;
|
||||
virtual int sendMessage(Message *message) = 0;
|
||||
virtual int send(char *data, size_t size) = 0;
|
||||
static PubSocket * create();
|
||||
static PubSocket * create(Context * context, std::string endpoint);
|
||||
virtual ~PubSocket(){};
|
||||
};
|
||||
|
||||
class Poller {
|
||||
public:
|
||||
virtual void registerSocket(SubSocket *socket) = 0;
|
||||
virtual std::vector<SubSocket*> poll(int timeout) = 0;
|
||||
static Poller * create();
|
||||
static Poller * create(std::vector<SubSocket*> sockets);
|
||||
virtual ~Poller(){};
|
||||
};
|
||||
@@ -1,39 +0,0 @@
|
||||
# distutils: language = c++
|
||||
#cython: language_level=3
|
||||
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libcpp cimport bool
|
||||
|
||||
|
||||
cdef extern from "messaging.hpp":
|
||||
cdef cppclass Context:
|
||||
@staticmethod
|
||||
Context * create()
|
||||
|
||||
cdef cppclass Message:
|
||||
void init(size_t)
|
||||
void init(char *, size_t)
|
||||
void close()
|
||||
size_t getSize()
|
||||
char *getData()
|
||||
|
||||
cdef cppclass SubSocket:
|
||||
@staticmethod
|
||||
SubSocket * create()
|
||||
int connect(Context *, string, string, bool)
|
||||
Message * receive(bool)
|
||||
void setTimeout(int)
|
||||
|
||||
cdef cppclass PubSocket:
|
||||
@staticmethod
|
||||
PubSocket * create()
|
||||
int connect(Context *, string)
|
||||
int sendMessage(Message *)
|
||||
int send(char *, size_t)
|
||||
|
||||
cdef cppclass Poller:
|
||||
@staticmethod
|
||||
Poller * create()
|
||||
void registerSocket(SubSocket *)
|
||||
vector[SubSocket*] poll(int) nogil
|
||||
@@ -1,151 +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 cimport errno
|
||||
|
||||
|
||||
from messaging cimport Context as cppContext
|
||||
from messaging cimport SubSocket as cppSubSocket
|
||||
from messaging cimport PubSocket as cppPubSocket
|
||||
from messaging cimport Poller as cppPoller
|
||||
from messaging cimport Message as cppMessage
|
||||
|
||||
|
||||
class MessagingError(Exception):
|
||||
pass
|
||||
|
||||
|
||||
class MultiplePublishersError(MessagingError):
|
||||
pass
|
||||
|
||||
|
||||
cdef class Context:
|
||||
cdef cppContext * context
|
||||
|
||||
def __cinit__(self):
|
||||
self.context = cppContext.create()
|
||||
|
||||
def term(self):
|
||||
del self.context
|
||||
self.context = NULL
|
||||
|
||||
def __dealloc__(self):
|
||||
pass
|
||||
# Deleting the context will hang if sockets are still active
|
||||
# TODO: Figure out a way to make sure the context is closed last
|
||||
# del self.context
|
||||
|
||||
|
||||
cdef class Poller:
|
||||
cdef cppPoller * poller
|
||||
cdef list sub_sockets
|
||||
|
||||
def __cinit__(self):
|
||||
self.sub_sockets = []
|
||||
self.poller = cppPoller.create()
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.poller
|
||||
|
||||
def registerSocket(self, SubSocket socket):
|
||||
self.sub_sockets.append(socket)
|
||||
self.poller.registerSocket(socket.socket)
|
||||
|
||||
def poll(self, timeout):
|
||||
sockets = []
|
||||
cdef int t = timeout
|
||||
|
||||
with nogil:
|
||||
result = self.poller.poll(t)
|
||||
|
||||
for s in result:
|
||||
socket = SubSocket()
|
||||
socket.setPtr(s)
|
||||
sockets.append(socket)
|
||||
|
||||
return sockets
|
||||
|
||||
cdef class SubSocket:
|
||||
cdef cppSubSocket * socket
|
||||
cdef bool is_owner
|
||||
|
||||
def __cinit__(self):
|
||||
self.socket = cppSubSocket.create()
|
||||
self.is_owner = True
|
||||
|
||||
if self.socket == NULL:
|
||||
raise MessagingError
|
||||
|
||||
def __dealloc__(self):
|
||||
if self.is_owner:
|
||||
del self.socket
|
||||
|
||||
cdef setPtr(self, cppSubSocket * ptr):
|
||||
if self.is_owner:
|
||||
del self.socket
|
||||
|
||||
self.is_owner = False
|
||||
self.socket = ptr
|
||||
|
||||
def connect(self, Context context, string endpoint, string address=b"127.0.0.1", bool conflate=False):
|
||||
r = self.socket.connect(context.context, endpoint, address, conflate)
|
||||
|
||||
if r != 0:
|
||||
if errno.errno == errno.EADDRINUSE:
|
||||
raise MultiplePublishersError
|
||||
else:
|
||||
raise MessagingError
|
||||
|
||||
def setTimeout(self, int timeout):
|
||||
self.socket.setTimeout(timeout)
|
||||
|
||||
def receive(self, bool non_blocking=False):
|
||||
msg = self.socket.receive(non_blocking)
|
||||
|
||||
if msg == NULL:
|
||||
# If a blocking read returns no message check errno if SIGINT was caught in the C++ code
|
||||
if errno.errno == errno.EINTR:
|
||||
print("SIGINT received, exiting")
|
||||
sys.exit(1)
|
||||
|
||||
return None
|
||||
else:
|
||||
sz = msg.getSize()
|
||||
m = msg.getData()[:sz]
|
||||
del msg
|
||||
|
||||
return m
|
||||
|
||||
|
||||
cdef class PubSocket:
|
||||
cdef cppPubSocket * socket
|
||||
|
||||
def __cinit__(self):
|
||||
self.socket = cppPubSocket.create()
|
||||
if self.socket == NULL:
|
||||
raise MessagingError
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.socket
|
||||
|
||||
def connect(self, Context context, string endpoint):
|
||||
r = self.socket.connect(context.context, endpoint)
|
||||
|
||||
if r != 0:
|
||||
if errno.errno == errno.EADDRINUSE:
|
||||
raise MultiplePublishersError
|
||||
else:
|
||||
raise MessagingError
|
||||
|
||||
def send(self, string data):
|
||||
length = len(data)
|
||||
r = self.socket.send(<char*>data.c_str(), length)
|
||||
|
||||
if r != length:
|
||||
if errno.errno == errno.EADDRINUSE:
|
||||
raise MultiplePublishersError
|
||||
else:
|
||||
raise MessagingError
|
||||
@@ -1,56 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
import sysconfig
|
||||
from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module
|
||||
|
||||
from Cython.Build import cythonize
|
||||
from Cython.Distutils import build_ext
|
||||
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
|
||||
|
||||
if ext_suffix == ext:
|
||||
return filename
|
||||
|
||||
ext_suffix = ext_suffix.replace(ext, '')
|
||||
idx = name.find(ext_suffix)
|
||||
|
||||
if idx == -1:
|
||||
return filename
|
||||
else:
|
||||
return name[:idx] + ext
|
||||
|
||||
|
||||
class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
def get_ext_filename(self, ext_name):
|
||||
filename = super().get_ext_filename(ext_name)
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
|
||||
|
||||
sourcefiles = ['messaging_pyx.pyx']
|
||||
extra_compile_args = ["-std=c++11"]
|
||||
libraries = ['zmq']
|
||||
ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() # pylint: disable=unexpected-keyword-arg
|
||||
|
||||
if ARCH == "aarch64":
|
||||
extra_compile_args += ["-Wno-deprecated-register"]
|
||||
libraries += ['gnustl_shared']
|
||||
|
||||
setup(name='CAN parser',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"messaging_pyx",
|
||||
language="c++",
|
||||
sources=sourcefiles,
|
||||
extra_compile_args=extra_compile_args,
|
||||
libraries=libraries,
|
||||
extra_objects=[
|
||||
os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
|
||||
]
|
||||
)
|
||||
),
|
||||
nthreads=4,
|
||||
)
|
||||
@@ -1,441 +0,0 @@
|
||||
#include <iostream>
|
||||
#include <cassert>
|
||||
#include <cerrno>
|
||||
#include <cmath>
|
||||
#include <cstring>
|
||||
#include <cstdint>
|
||||
#include <chrono>
|
||||
#include <algorithm>
|
||||
#include <cstdlib>
|
||||
#include <csignal>
|
||||
#include <random>
|
||||
|
||||
#include <poll.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <sys/mman.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/types.h>
|
||||
#include <sys/syscall.h>
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
#include "msgq.hpp"
|
||||
|
||||
void sigusr1_handler(int signal) {
|
||||
assert(signal == SIGUSR1);
|
||||
}
|
||||
|
||||
uint64_t msgq_get_uid(void){
|
||||
std::random_device rd("/dev/urandom");
|
||||
std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint32_t>::max());
|
||||
|
||||
uint64_t uid = distribution(rd) << 32 | syscall(SYS_gettid);
|
||||
return uid;
|
||||
}
|
||||
|
||||
int msgq_msg_init_size(msgq_msg_t * msg, size_t size){
|
||||
msg->size = size;
|
||||
msg->data = new(std::nothrow) char[size];
|
||||
|
||||
return (msg->data == NULL) ? -1 : 0;
|
||||
}
|
||||
|
||||
|
||||
int msgq_msg_init_data(msgq_msg_t * msg, char * data, size_t size) {
|
||||
int r = msgq_msg_init_size(msg, size);
|
||||
|
||||
if (r == 0)
|
||||
memcpy(msg->data, data, size);
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
int msgq_msg_close(msgq_msg_t * msg){
|
||||
if (msg->size > 0)
|
||||
delete[] msg->data;
|
||||
|
||||
msg->size = 0;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void msgq_reset_reader(msgq_queue_t * q){
|
||||
int id = q->reader_id;
|
||||
q->read_valids[id]->store(true);
|
||||
q->read_pointers[id]->store(*q->write_pointer);
|
||||
}
|
||||
|
||||
void msgq_wait_for_subscriber(msgq_queue_t *q){
|
||||
while (*q->num_readers == 0){
|
||||
;
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
|
||||
assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
|
||||
|
||||
std::signal(SIGUSR1, sigusr1_handler);
|
||||
|
||||
const char * prefix = "/dev/shm/";
|
||||
char * full_path = new char[strlen(path) + strlen(prefix) + 1];
|
||||
strcpy(full_path, prefix);
|
||||
strcat(full_path, path);
|
||||
|
||||
auto fd = open(full_path, O_RDWR | O_CREAT, 0777);
|
||||
delete[] full_path;
|
||||
|
||||
if (fd < 0)
|
||||
return -1;
|
||||
|
||||
int rc = ftruncate(fd, size + sizeof(msgq_header_t));
|
||||
if (rc < 0)
|
||||
return -1;
|
||||
|
||||
char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
|
||||
close(fd);
|
||||
|
||||
if (mem == NULL)
|
||||
return -1;
|
||||
|
||||
q->mmap_p = mem;
|
||||
|
||||
msgq_header_t *header = (msgq_header_t *)mem;
|
||||
|
||||
// Setup pointers to header segment
|
||||
q->num_readers = reinterpret_cast<std::atomic<uint64_t>*>(&header->num_readers);
|
||||
q->write_pointer = reinterpret_cast<std::atomic<uint64_t>*>(&header->write_pointer);
|
||||
q->write_uid = reinterpret_cast<std::atomic<uint64_t>*>(&header->write_uid);
|
||||
|
||||
for (size_t i = 0; i < NUM_READERS; i++){
|
||||
q->read_pointers[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_pointers[i]);
|
||||
q->read_valids[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_valids[i]);
|
||||
q->read_uids[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_uids[i]);
|
||||
}
|
||||
|
||||
q->data = mem + sizeof(msgq_header_t);
|
||||
q->size = size;
|
||||
q->reader_id = -1;
|
||||
|
||||
q->endpoint = path;
|
||||
q->read_conflate = false;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void msgq_close_queue(msgq_queue_t *q){
|
||||
if (q->mmap_p != NULL){
|
||||
munmap(q->mmap_p, q->size + sizeof(msgq_header_t));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void msgq_init_publisher(msgq_queue_t * q) {
|
||||
std::cout << "Starting publisher" << std::endl;
|
||||
uint64_t uid = msgq_get_uid();
|
||||
|
||||
*q->write_uid = uid;
|
||||
*q->num_readers = 0;
|
||||
|
||||
for (size_t i = 0; i < NUM_READERS; i++){
|
||||
*q->read_valids[i] = false;
|
||||
*q->read_uids[i] = 0;
|
||||
}
|
||||
|
||||
q->write_uid_local = uid;
|
||||
}
|
||||
|
||||
void msgq_init_subscriber(msgq_queue_t * q) {
|
||||
assert(q != NULL);
|
||||
assert(q->num_readers != NULL);
|
||||
|
||||
uint64_t uid = msgq_get_uid();
|
||||
|
||||
// Get reader id
|
||||
while (true){
|
||||
uint64_t cur_num_readers = *q->num_readers;
|
||||
uint64_t new_num_readers = cur_num_readers + 1;
|
||||
|
||||
// No more slots available. Reset all subscribers to kick out inactive ones
|
||||
if (new_num_readers > NUM_READERS){
|
||||
std::cout << "Warning, evicting all subscribers!" << std::endl;
|
||||
*q->num_readers = 0;
|
||||
|
||||
for (size_t i = 0; i < NUM_READERS; i++){
|
||||
*q->read_valids[i] = false;
|
||||
|
||||
uint64_t old_uid = *q->read_uids[i];
|
||||
*q->read_uids[i] = 0;
|
||||
|
||||
// Wake up reader in case they are in a poll
|
||||
syscall(SYS_tkill, old_uid & 0xFFFFFFFF, SIGUSR1);
|
||||
}
|
||||
|
||||
continue;
|
||||
}
|
||||
|
||||
// Use atomic compare and swap to handle race condition
|
||||
// where two subscribers start at the same time
|
||||
if (std::atomic_compare_exchange_strong(q->num_readers,
|
||||
&cur_num_readers,
|
||||
new_num_readers)){
|
||||
q->reader_id = cur_num_readers;
|
||||
q->read_uid_local = uid;
|
||||
|
||||
// We start with read_valid = false,
|
||||
// on the first read the read pointer will be synchronized with the write pointer
|
||||
*q->read_valids[cur_num_readers] = false;
|
||||
*q->read_pointers[cur_num_readers] = 0;
|
||||
*q->read_uids[cur_num_readers] = uid;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl;
|
||||
msgq_reset_reader(q);
|
||||
}
|
||||
|
||||
int msgq_msg_send(msgq_msg_t * msg, msgq_queue_t *q){
|
||||
// Die if we are no longer the active publisher
|
||||
if (q->write_uid_local != *q->write_uid){
|
||||
std::cout << "Killing old publisher: " << q->endpoint << std::endl;
|
||||
errno = EADDRINUSE;
|
||||
return -1;
|
||||
}
|
||||
|
||||
uint64_t total_msg_size = ALIGN(msg->size + sizeof(int64_t));
|
||||
|
||||
// We need to fit at least three messages in the queue,
|
||||
// then we can always safely access the last message
|
||||
assert(3 * total_msg_size <= q->size);
|
||||
|
||||
uint64_t num_readers = *q->num_readers;
|
||||
|
||||
uint32_t write_cycles, write_pointer;
|
||||
UNPACK64(write_cycles, write_pointer, *q->write_pointer);
|
||||
|
||||
char *p = q->data + write_pointer; // add base offset
|
||||
|
||||
// Check remaining space
|
||||
// Always leave space for a wraparound tag for the next message, including alignment
|
||||
int64_t remaining_space = q->size - write_pointer - total_msg_size - sizeof(int64_t);
|
||||
if (remaining_space <= 0){
|
||||
// Write -1 size tag indicating wraparound
|
||||
*(int64_t*)p = -1;
|
||||
|
||||
// Invalidate all readers that are beyond the write pointer
|
||||
// TODO: should we handle the case where a new reader shows up while this is running?
|
||||
for (uint64_t i = 0; i < num_readers; i++){
|
||||
uint64_t read_pointer = *q->read_pointers[i];
|
||||
uint64_t read_cycles = read_pointer >> 32;
|
||||
read_pointer &= 0xFFFFFFFF;
|
||||
|
||||
if ((read_pointer > write_pointer) && (read_cycles != write_cycles)) {
|
||||
*q->read_valids[i] = false;
|
||||
}
|
||||
}
|
||||
|
||||
// Update global and local copies of write pointer and write_cycles
|
||||
write_pointer = 0;
|
||||
write_cycles = write_cycles + 1;
|
||||
PACK64(*q->write_pointer, write_cycles, write_pointer);
|
||||
|
||||
// Set actual pointer to the beginning of the data segment
|
||||
p = q->data;
|
||||
}
|
||||
|
||||
// Invalidate readers that are in the area that will be written
|
||||
uint64_t start = write_pointer;
|
||||
uint64_t end = ALIGN(start + sizeof(int64_t) + msg->size);
|
||||
|
||||
for (uint64_t i = 0; i < num_readers; i++){
|
||||
uint32_t read_cycles, read_pointer;
|
||||
UNPACK64(read_cycles, read_pointer, *q->read_pointers[i]);
|
||||
|
||||
if ((read_pointer >= start) && (read_pointer < end) && (read_cycles != write_cycles)) {
|
||||
*q->read_valids[i] = false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// Write size tag
|
||||
std::atomic<int64_t> *size_p = reinterpret_cast<std::atomic<int64_t>*>(p);
|
||||
*size_p = msg->size;
|
||||
|
||||
// Copy data
|
||||
memcpy(p + sizeof(int64_t), msg->data, msg->size);
|
||||
__sync_synchronize();
|
||||
|
||||
// Update write pointer
|
||||
uint32_t new_ptr = ALIGN(write_pointer + msg->size + sizeof(int64_t));
|
||||
PACK64(*q->write_pointer, write_cycles, new_ptr);
|
||||
|
||||
// Notify readers
|
||||
for (uint64_t i = 0; i < num_readers; i++){
|
||||
uint64_t reader_uid = *q->read_uids[i];
|
||||
|
||||
syscall(SYS_tkill, reader_uid & 0xFFFFFFFF, SIGUSR1);
|
||||
}
|
||||
|
||||
return msg->size;
|
||||
}
|
||||
|
||||
|
||||
int msgq_msg_ready(msgq_queue_t * q){
|
||||
start:
|
||||
int id = q->reader_id;
|
||||
assert(id >= 0); // Make sure subscriber is initialized
|
||||
|
||||
if (q->read_uid_local != *q->read_uids[id]){
|
||||
std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
|
||||
msgq_init_subscriber(q);
|
||||
goto start;
|
||||
}
|
||||
|
||||
// Check valid
|
||||
if (!*q->read_valids[id]){
|
||||
msgq_reset_reader(q);
|
||||
goto start;
|
||||
}
|
||||
|
||||
uint32_t read_cycles, read_pointer;
|
||||
UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
|
||||
|
||||
uint32_t write_cycles, write_pointer;
|
||||
UNPACK64(write_cycles, write_pointer, *q->write_pointer);
|
||||
|
||||
// Check if new message is available
|
||||
return (read_pointer != write_pointer);
|
||||
}
|
||||
|
||||
int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){
|
||||
start:
|
||||
int id = q->reader_id;
|
||||
assert(id >= 0); // Make sure subscriber is initialized
|
||||
|
||||
if (q->read_uid_local != *q->read_uids[id]){
|
||||
std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
|
||||
msgq_init_subscriber(q);
|
||||
goto start;
|
||||
}
|
||||
|
||||
// Check valid
|
||||
if (!*q->read_valids[id]){
|
||||
msgq_reset_reader(q);
|
||||
goto start;
|
||||
}
|
||||
|
||||
uint32_t read_cycles, read_pointer;
|
||||
UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
|
||||
|
||||
uint32_t write_cycles, write_pointer;
|
||||
UNPACK64(write_cycles, write_pointer, *q->write_pointer);
|
||||
|
||||
char * p = q->data + read_pointer;
|
||||
|
||||
// Check if new message is available
|
||||
if (read_pointer == write_pointer) {
|
||||
msg->size = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Read potential message size
|
||||
std::atomic<int64_t> *size_p = reinterpret_cast<std::atomic<int64_t>*>(p);
|
||||
std::int64_t size = *size_p;
|
||||
|
||||
// Check if the size that was read is valid
|
||||
if (!*q->read_valids[id]){
|
||||
msgq_reset_reader(q);
|
||||
goto start;
|
||||
}
|
||||
|
||||
// If size is -1 the buffer was full, and we need to wrap around
|
||||
if (size == -1){
|
||||
read_cycles++;
|
||||
PACK64(*q->read_pointers[id], read_cycles, 0);
|
||||
goto start;
|
||||
}
|
||||
|
||||
// crashing is better than passing garbage data to the consumer
|
||||
// the size will have weird value if it was overwritten by data accidentally
|
||||
assert((uint64_t)size < q->size);
|
||||
assert(size > 0);
|
||||
|
||||
uint32_t new_read_pointer = ALIGN(read_pointer + sizeof(std::int64_t) + size);
|
||||
|
||||
// If conflate is true, check if this is the latest message, else start over
|
||||
if (q->read_conflate){
|
||||
if (new_read_pointer != write_pointer){
|
||||
// Update read pointer
|
||||
PACK64(*q->read_pointers[id], read_cycles, new_read_pointer);
|
||||
goto start;
|
||||
}
|
||||
}
|
||||
|
||||
// Copy message
|
||||
if (msgq_msg_init_size(msg, size) < 0)
|
||||
return -1;
|
||||
|
||||
__sync_synchronize();
|
||||
memcpy(msg->data, p + sizeof(int64_t), size);
|
||||
__sync_synchronize();
|
||||
|
||||
// Update read pointer
|
||||
PACK64(*q->read_pointers[id], read_cycles, new_read_pointer);
|
||||
|
||||
// Check if the actual data that was copied is valid
|
||||
if (!*q->read_valids[id]){
|
||||
msgq_msg_close(msg);
|
||||
msgq_reset_reader(q);
|
||||
goto start;
|
||||
}
|
||||
|
||||
|
||||
return msg->size;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
|
||||
assert(timeout >= 0);
|
||||
|
||||
int num = 0;
|
||||
|
||||
// Check if messages ready
|
||||
for (size_t i = 0; i < nitems; i++) {
|
||||
items[i].revents = msgq_msg_ready(items[i].q);
|
||||
if (items[i].revents) num++;
|
||||
}
|
||||
|
||||
int ms = (timeout == -1) ? 100 : timeout;
|
||||
struct timespec ts;
|
||||
ts.tv_sec = ms / 1000;
|
||||
ts.tv_nsec = (ms % 1000) * 1000 * 1000;
|
||||
|
||||
|
||||
while (num == 0) {
|
||||
int ret;
|
||||
|
||||
ret = nanosleep(&ts, &ts);
|
||||
|
||||
// Check if messages ready
|
||||
for (size_t i = 0; i < nitems; i++) {
|
||||
if (items[i].revents == 0 && msgq_msg_ready(items[i].q)){
|
||||
num += 1;
|
||||
items[i].revents = 1;
|
||||
}
|
||||
}
|
||||
|
||||
// exit if we had a timeout and the sleep finished
|
||||
if (timeout != -1 && ret == 0){
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return num;
|
||||
}
|
||||
@@ -1,66 +0,0 @@
|
||||
#pragma once
|
||||
#include <cstdint>
|
||||
#include <cstring>
|
||||
#include <string>
|
||||
#include <atomic>
|
||||
|
||||
#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
|
||||
#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)
|
||||
#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF)
|
||||
|
||||
struct msgq_header_t {
|
||||
uint64_t num_readers;
|
||||
uint64_t write_pointer;
|
||||
uint64_t write_uid;
|
||||
uint64_t read_pointers[NUM_READERS];
|
||||
uint64_t read_valids[NUM_READERS];
|
||||
uint64_t read_uids[NUM_READERS];
|
||||
};
|
||||
|
||||
struct msgq_queue_t {
|
||||
std::atomic<uint64_t> *num_readers;
|
||||
std::atomic<uint64_t> *write_pointer;
|
||||
std::atomic<uint64_t> *write_uid;
|
||||
std::atomic<uint64_t> *read_pointers[NUM_READERS];
|
||||
std::atomic<uint64_t> *read_valids[NUM_READERS];
|
||||
std::atomic<uint64_t> *read_uids[NUM_READERS];
|
||||
char * mmap_p;
|
||||
char * data;
|
||||
size_t size;
|
||||
int reader_id;
|
||||
uint64_t read_uid_local;
|
||||
uint64_t write_uid_local;
|
||||
|
||||
bool read_conflate;
|
||||
std::string endpoint;
|
||||
};
|
||||
|
||||
struct msgq_msg_t {
|
||||
size_t size;
|
||||
char * data;
|
||||
};
|
||||
|
||||
struct msgq_pollitem_t {
|
||||
msgq_queue_t *q;
|
||||
int revents;
|
||||
};
|
||||
|
||||
void msgq_wait_for_subscriber(msgq_queue_t *q);
|
||||
void msgq_reset_reader(msgq_queue_t *q);
|
||||
|
||||
int msgq_msg_init_size(msgq_msg_t *msg, size_t size);
|
||||
int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size);
|
||||
int msgq_msg_close(msgq_msg_t *msg);
|
||||
|
||||
int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size);
|
||||
void msgq_close_queue(msgq_queue_t *q);
|
||||
void msgq_init_publisher(msgq_queue_t * q);
|
||||
void msgq_init_subscriber(msgq_queue_t * q);
|
||||
|
||||
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);
|
||||
@@ -1,56 +0,0 @@
|
||||
# MSGQ: A lock free single producer multi consumer message queue
|
||||
|
||||
[](https://dev.azure.com/commaai/default/_build/latest?definitionId=21&branchName=master)
|
||||
|
||||
## What is MSGQ?
|
||||
MSGQ is a system to pass messages from a single producer to multiple consumers. All the consumers need to be able to receive all the messages. It is designed to be a high performance replacement for ZMQ-like SUB/PUB patterns. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance.
|
||||
|
||||
## Storage
|
||||
The storage for the queue consists of an area of metadata, and the actual buffer. The metadata contains:
|
||||
|
||||
1. A counter to the number of readers that are active
|
||||
2. A pointer to the head of the queue for writing. From now on referred to as *write pointer*
|
||||
3. A cycle counter for the writer. This counter is incremented when the writer wraps around
|
||||
4. N pointers, pointing to the current read position for all the readers. From now on referred to as *read pointer*
|
||||
5. N counters, counting the number of cycles for all the readers
|
||||
6. N booleans, indicating validity for all the readers. From now on referred to as *validity flag*
|
||||
|
||||
The counter and the pointer are both 32 bit values, packed into 64 bit so they can be read and written atomically.
|
||||
|
||||
The data buffer is a ring buffer. All messages are prefixed by an 8 byte size field, followed by the data. A size of -1 indicates a wrap-around, and means the next message is stored at the beginning of the buffer.
|
||||
|
||||
|
||||
## Writing
|
||||
Writing involves the following steps:
|
||||
|
||||
1. Check if the area that is to be written overlaps with any of the read pointers, mark those readers as invalid by clearing the validity flag.
|
||||
2. Write the message
|
||||
3. Increase the write pointer by the size of the message
|
||||
|
||||
In case there is not enough space at the end of the buffer, a special empty message with a prefix of -1 is written. The cycle counter is incremented by one. In this case step 1 will check there are no read pointers pointing to the remainder of the buffer. Then another write cycle will start with the actual message.
|
||||
|
||||
There always needs to be 8 bytes of empty space at the end of the buffer. By doing this there is always space to write the -1.
|
||||
|
||||
## Reset reader
|
||||
When the reader is lagging too much behind the read pointer becomes invalid and no longer points to the beginning of a valid message. To reset a reader to the current write pointer, the following steps are performed:
|
||||
|
||||
1. Set valid flag
|
||||
2. Set read cycle counter to that of the writer
|
||||
3. Set read pointer to write pointer
|
||||
|
||||
## Reading
|
||||
Reading involves the following steps:
|
||||
|
||||
1. Read the size field at the current read pointer
|
||||
2. Read the validity flag
|
||||
3. Copy the data out of the buffer
|
||||
4. Increase the read pointer by the size of the message
|
||||
5. Check the validity flag again
|
||||
|
||||
Before starting the copy, the valid flag is checked. This is to prevent a race condition where the size prefix was invalid, and the read could read outside of the buffer. Make sure that step 1 and 2 are not reordered by your compiler or CPU.
|
||||
|
||||
If a writer overwrites the data while it's being copied out, the data will be invalid. Therefore the validity flag is also checked after reading it. The order of step 4 and 5 does not matter.
|
||||
|
||||
If at steps 2 or 5 the validity flag is not set, the reader is reset. Any data that was already read is discarded. After the reader is reset, the reading starts from the beginning.
|
||||
|
||||
If a message with size -1 is encountered, step 3 and 4 are replaced by increasing the cycle counter and setting the read pointer to the beginning of the buffer. After that another read is performed.
|
||||
@@ -1,395 +0,0 @@
|
||||
#include "catch2/catch.hpp"
|
||||
#include "msgq.hpp"
|
||||
|
||||
TEST_CASE("ALIGN"){
|
||||
REQUIRE(ALIGN(0) == 0);
|
||||
REQUIRE(ALIGN(1) == 8);
|
||||
REQUIRE(ALIGN(7) == 8);
|
||||
REQUIRE(ALIGN(8) == 8);
|
||||
REQUIRE(ALIGN(99999) == 100000);
|
||||
}
|
||||
|
||||
TEST_CASE("msgq_msg_init_size"){
|
||||
const size_t msg_size = 30;
|
||||
msgq_msg_t msg;
|
||||
|
||||
msgq_msg_init_size(&msg, msg_size);
|
||||
REQUIRE(msg.size == msg_size);
|
||||
|
||||
msgq_msg_close(&msg);
|
||||
}
|
||||
|
||||
TEST_CASE("msgq_msg_init_data"){
|
||||
const size_t msg_size = 30;
|
||||
char * data = new char[msg_size];
|
||||
|
||||
for (size_t i = 0; i < msg_size; i++){
|
||||
data[i] = i;
|
||||
}
|
||||
|
||||
msgq_msg_t msg;
|
||||
msgq_msg_init_data(&msg, data, msg_size);
|
||||
|
||||
REQUIRE(msg.size == msg_size);
|
||||
REQUIRE(memcmp(msg.data, data, msg_size) == 0);
|
||||
|
||||
delete[] data;
|
||||
msgq_msg_close(&msg);
|
||||
}
|
||||
|
||||
|
||||
TEST_CASE("msgq_init_subscriber"){
|
||||
remove("/dev/shm/test_queue");
|
||||
msgq_queue_t q;
|
||||
msgq_new_queue(&q, "test_queue", 1024);
|
||||
REQUIRE(*q.num_readers == 0);
|
||||
|
||||
q.reader_id = 1;
|
||||
*q.read_valids[0] = false;
|
||||
*q.read_pointers[0] = ((uint64_t)1 << 32);
|
||||
|
||||
*q.write_pointer = 255;
|
||||
|
||||
msgq_init_subscriber(&q);
|
||||
REQUIRE(q.read_conflate == false);
|
||||
REQUIRE(*q.read_valids[0] == true);
|
||||
REQUIRE((*q.read_pointers[0] >> 32) == 0);
|
||||
REQUIRE((*q.read_pointers[0] & 0xFFFFFFFF) == 255);
|
||||
}
|
||||
|
||||
TEST_CASE("msgq_msg_send first message"){
|
||||
remove("/dev/shm/test_queue");
|
||||
msgq_queue_t q;
|
||||
msgq_new_queue(&q, "test_queue", 1024);
|
||||
msgq_init_publisher(&q);
|
||||
|
||||
REQUIRE(*q.write_pointer == 0);
|
||||
|
||||
size_t msg_size = 128;
|
||||
|
||||
SECTION("Aligned message size"){
|
||||
}
|
||||
SECTION("Unaligned message size"){
|
||||
msg_size--;
|
||||
}
|
||||
|
||||
char * data = new char[msg_size];
|
||||
|
||||
for (size_t i = 0; i < msg_size; i++){
|
||||
data[i] = i;
|
||||
}
|
||||
|
||||
msgq_msg_t msg;
|
||||
msgq_msg_init_data(&msg, data, msg_size);
|
||||
|
||||
|
||||
msgq_msg_send(&msg, &q);
|
||||
REQUIRE(*(int64_t*)q.data == msg_size); // Check size tag
|
||||
REQUIRE(*q.write_pointer == 128 + sizeof(int64_t));
|
||||
REQUIRE(memcmp(q.data + sizeof(int64_t), data, msg_size) == 0);
|
||||
|
||||
delete[] data;
|
||||
msgq_msg_close(&msg);
|
||||
}
|
||||
|
||||
TEST_CASE("msgq_msg_send test wraparound"){
|
||||
remove("/dev/shm/test_queue");
|
||||
msgq_queue_t q;
|
||||
msgq_new_queue(&q, "test_queue", 1024);
|
||||
msgq_init_publisher(&q);
|
||||
|
||||
REQUIRE((*q.write_pointer & 0xFFFFFFFF) == 0);
|
||||
REQUIRE((*q.write_pointer >> 32) == 0);
|
||||
|
||||
const size_t msg_size = 120;
|
||||
msgq_msg_t msg;
|
||||
msgq_msg_init_size(&msg, msg_size);
|
||||
|
||||
for (int i = 0; i < 8; i++) {
|
||||
msgq_msg_send(&msg, &q);
|
||||
}
|
||||
// Check 8th message was written at the beginning
|
||||
REQUIRE((*q.write_pointer & 0xFFFFFFFF) == msg_size + sizeof(int64_t));
|
||||
|
||||
// Check cycle count
|
||||
REQUIRE((*q.write_pointer >> 32) == 1);
|
||||
|
||||
// Check wraparound tag
|
||||
char * tag_location = q.data;
|
||||
tag_location += 7 * (msg_size + sizeof(int64_t));
|
||||
REQUIRE(*(int64_t*)tag_location == -1);
|
||||
|
||||
msgq_msg_close(&msg);
|
||||
}
|
||||
|
||||
TEST_CASE("msgq_msg_recv test wraparound"){
|
||||
remove("/dev/shm/test_queue");
|
||||
msgq_queue_t q_pub, q_sub;
|
||||
msgq_new_queue(&q_pub, "test_queue", 1024);
|
||||
msgq_new_queue(&q_sub, "test_queue", 1024);
|
||||
|
||||
msgq_init_publisher(&q_pub);
|
||||
msgq_init_subscriber(&q_sub);
|
||||
|
||||
REQUIRE((*q_pub.write_pointer >> 32) == 0);
|
||||
REQUIRE((*q_sub.read_pointers[0] >> 32) == 0);
|
||||
|
||||
const size_t msg_size = 120;
|
||||
msgq_msg_t msg1;
|
||||
msgq_msg_init_size(&msg1, msg_size);
|
||||
|
||||
|
||||
SECTION("Check cycle counter after reset") {
|
||||
for (int i = 0; i < 8; i++) {
|
||||
msgq_msg_send(&msg1, &q_pub);
|
||||
}
|
||||
|
||||
msgq_msg_t msg2;
|
||||
msgq_msg_recv(&msg2, &q_sub);
|
||||
REQUIRE(msg2.size == 0); // Reader had to reset
|
||||
msgq_msg_close(&msg2);
|
||||
|
||||
}
|
||||
SECTION("Check cycle counter while keeping up with writer") {
|
||||
for (int i = 0; i < 8; i++) {
|
||||
msgq_msg_send(&msg1, &q_pub);
|
||||
|
||||
msgq_msg_t msg2;
|
||||
msgq_msg_recv(&msg2, &q_sub);
|
||||
REQUIRE(msg2.size > 0);
|
||||
msgq_msg_close(&msg2);
|
||||
}
|
||||
}
|
||||
|
||||
REQUIRE((*q_sub.read_pointers[0] >> 32) == 1);
|
||||
msgq_msg_close(&msg1);
|
||||
}
|
||||
|
||||
TEST_CASE("msgq_msg_send test invalidation"){
|
||||
remove("/dev/shm/test_queue");
|
||||
msgq_queue_t q_pub, q_sub;
|
||||
msgq_new_queue(&q_pub, "test_queue", 1024);
|
||||
msgq_new_queue(&q_sub, "test_queue", 1024);
|
||||
|
||||
msgq_init_publisher(&q_pub);
|
||||
msgq_init_subscriber(&q_sub);
|
||||
*q_sub.write_pointer = (uint64_t)1 << 32;
|
||||
|
||||
REQUIRE(*q_sub.read_valids[0] == true);
|
||||
|
||||
SECTION("read pointer in tag"){
|
||||
*q_sub.read_pointers[0] = 0;
|
||||
}
|
||||
SECTION("read pointer in data section"){
|
||||
*q_sub.read_pointers[0] = 64;
|
||||
}
|
||||
SECTION("read pointer in wraparound section"){
|
||||
*q_pub.write_pointer = ((uint64_t)1 << 32) | 1000; // Writer is one cycle ahead
|
||||
*q_sub.read_pointers[0] = 1020;
|
||||
}
|
||||
|
||||
msgq_msg_t msg;
|
||||
msgq_msg_init_size(&msg, 128);
|
||||
msgq_msg_send(&msg, &q_pub);
|
||||
|
||||
REQUIRE(*q_sub.read_valids[0] == false);
|
||||
|
||||
msgq_msg_close(&msg);
|
||||
}
|
||||
|
||||
TEST_CASE("msgq_init_subscriber init 2 subscribers"){
|
||||
remove("/dev/shm/test_queue");
|
||||
msgq_queue_t q1, q2;
|
||||
msgq_new_queue(&q1, "test_queue", 1024);
|
||||
msgq_new_queue(&q2, "test_queue", 1024);
|
||||
|
||||
*q1.num_readers = 0;
|
||||
|
||||
REQUIRE(*q1.num_readers == 0);
|
||||
REQUIRE(*q2.num_readers == 0);
|
||||
|
||||
msgq_init_subscriber(&q1);
|
||||
REQUIRE(*q1.num_readers == 1);
|
||||
REQUIRE(*q2.num_readers == 1);
|
||||
REQUIRE(q1.reader_id == 0);
|
||||
|
||||
msgq_init_subscriber(&q2);
|
||||
REQUIRE(*q1.num_readers == 2);
|
||||
REQUIRE(*q2.num_readers == 2);
|
||||
REQUIRE(q2.reader_id == 1);
|
||||
}
|
||||
|
||||
|
||||
TEST_CASE("Write 1 msg, read 1 msg", "[integration]"){
|
||||
remove("/dev/shm/test_queue");
|
||||
const size_t msg_size = 128;
|
||||
msgq_queue_t writer, reader;
|
||||
|
||||
msgq_new_queue(&writer, "test_queue", 1024);
|
||||
msgq_new_queue(&reader, "test_queue", 1024);
|
||||
|
||||
msgq_init_publisher(&writer);
|
||||
msgq_init_subscriber(&reader);
|
||||
|
||||
// Build 128 byte message
|
||||
msgq_msg_t outgoing_msg;
|
||||
msgq_msg_init_size(&outgoing_msg, msg_size);
|
||||
|
||||
for (size_t i = 0; i < msg_size; i++){
|
||||
outgoing_msg.data[i] = i;
|
||||
}
|
||||
|
||||
REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
|
||||
|
||||
msgq_msg_t incoming_msg1;
|
||||
REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
|
||||
REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
|
||||
|
||||
// Verify that there are no more messages
|
||||
msgq_msg_t incoming_msg2;
|
||||
REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0);
|
||||
|
||||
msgq_msg_close(&outgoing_msg);
|
||||
msgq_msg_close(&incoming_msg1);
|
||||
msgq_msg_close(&incoming_msg2);
|
||||
}
|
||||
|
||||
TEST_CASE("Write 2 msg, read 2 msg - conflate = false", "[integration]"){
|
||||
remove("/dev/shm/test_queue");
|
||||
const size_t msg_size = 128;
|
||||
msgq_queue_t writer, reader;
|
||||
|
||||
msgq_new_queue(&writer, "test_queue", 1024);
|
||||
msgq_new_queue(&reader, "test_queue", 1024);
|
||||
|
||||
msgq_init_publisher(&writer);
|
||||
msgq_init_subscriber(&reader);
|
||||
|
||||
// Build 128 byte message
|
||||
msgq_msg_t outgoing_msg;
|
||||
msgq_msg_init_size(&outgoing_msg, msg_size);
|
||||
|
||||
for (size_t i = 0; i < msg_size; i++){
|
||||
outgoing_msg.data[i] = i;
|
||||
}
|
||||
|
||||
REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
|
||||
REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
|
||||
|
||||
msgq_msg_t incoming_msg1;
|
||||
REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
|
||||
REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
|
||||
|
||||
msgq_msg_t incoming_msg2;
|
||||
REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == msg_size);
|
||||
REQUIRE(memcmp(incoming_msg2.data, outgoing_msg.data, msg_size) == 0);
|
||||
|
||||
msgq_msg_close(&outgoing_msg);
|
||||
msgq_msg_close(&incoming_msg1);
|
||||
msgq_msg_close(&incoming_msg2);
|
||||
}
|
||||
|
||||
TEST_CASE("Write 2 msg, read 2 msg - conflate = true", "[integration]"){
|
||||
remove("/dev/shm/test_queue");
|
||||
const size_t msg_size = 128;
|
||||
msgq_queue_t writer, reader;
|
||||
|
||||
msgq_new_queue(&writer, "test_queue", 1024);
|
||||
msgq_new_queue(&reader, "test_queue", 1024);
|
||||
|
||||
msgq_init_publisher(&writer);
|
||||
msgq_init_subscriber(&reader);
|
||||
reader.read_conflate = true;
|
||||
|
||||
// Build 128 byte message
|
||||
msgq_msg_t outgoing_msg;
|
||||
msgq_msg_init_size(&outgoing_msg, msg_size);
|
||||
|
||||
for (size_t i = 0; i < msg_size; i++){
|
||||
outgoing_msg.data[i] = i;
|
||||
}
|
||||
|
||||
REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
|
||||
REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
|
||||
|
||||
msgq_msg_t incoming_msg1;
|
||||
REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
|
||||
REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
|
||||
|
||||
// Verify that there are no more messages
|
||||
msgq_msg_t incoming_msg2;
|
||||
REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0);
|
||||
|
||||
msgq_msg_close(&outgoing_msg);
|
||||
msgq_msg_close(&incoming_msg1);
|
||||
msgq_msg_close(&incoming_msg2);
|
||||
}
|
||||
|
||||
TEST_CASE("1 publisher, 1 slow subscriber", "[integration]"){
|
||||
remove("/dev/shm/test_queue");
|
||||
msgq_queue_t writer, reader;
|
||||
|
||||
msgq_new_queue(&writer, "test_queue", 1024);
|
||||
msgq_new_queue(&reader, "test_queue", 1024);
|
||||
|
||||
msgq_init_publisher(&writer);
|
||||
msgq_init_subscriber(&reader);
|
||||
|
||||
int n_received = 0;
|
||||
int n_skipped = 0;
|
||||
|
||||
for (uint64_t i = 0; i < 1e5; i++) {
|
||||
msgq_msg_t outgoing_msg;
|
||||
msgq_msg_init_data(&outgoing_msg, (char*)&i, sizeof(uint64_t));
|
||||
msgq_msg_send(&outgoing_msg, &writer);
|
||||
msgq_msg_close(&outgoing_msg);
|
||||
|
||||
if (i % 10 == 0){
|
||||
msgq_msg_t msg1;
|
||||
msgq_msg_recv(&msg1, &reader);
|
||||
|
||||
if (msg1.size == 0){
|
||||
n_skipped++;
|
||||
} else {
|
||||
n_received++;
|
||||
}
|
||||
msgq_msg_close(&msg1);
|
||||
}
|
||||
}
|
||||
|
||||
// TODO: verify these numbers by hand
|
||||
REQUIRE(n_received == 8572);
|
||||
REQUIRE(n_skipped == 1428);
|
||||
}
|
||||
|
||||
TEST_CASE("1 publisher, 2 subscribers", "[integration]"){
|
||||
remove("/dev/shm/test_queue");
|
||||
msgq_queue_t writer, reader1, reader2;
|
||||
|
||||
msgq_new_queue(&writer, "test_queue", 1024);
|
||||
msgq_new_queue(&reader1, "test_queue", 1024);
|
||||
msgq_new_queue(&reader2, "test_queue", 1024);
|
||||
|
||||
msgq_init_publisher(&writer);
|
||||
msgq_init_subscriber(&reader1);
|
||||
msgq_init_subscriber(&reader2);
|
||||
|
||||
for (uint64_t i = 0; i < 1024 * 3; i++) {
|
||||
msgq_msg_t outgoing_msg;
|
||||
msgq_msg_init_data(&outgoing_msg, (char*)&i, sizeof(uint64_t));
|
||||
msgq_msg_send(&outgoing_msg, &writer);
|
||||
|
||||
msgq_msg_t msg1, msg2;
|
||||
msgq_msg_recv(&msg1, &reader1);
|
||||
msgq_msg_recv(&msg2, &reader2);
|
||||
|
||||
REQUIRE(msg1.size == sizeof(uint64_t));
|
||||
REQUIRE(msg2.size == sizeof(uint64_t));
|
||||
REQUIRE(*(uint64_t*)msg1.data == i);
|
||||
REQUIRE(*(uint64_t*)msg2.data == i);
|
||||
|
||||
msgq_msg_close(&outgoing_msg);
|
||||
msgq_msg_close(&msg1);
|
||||
msgq_msg_close(&msg2);
|
||||
}
|
||||
}
|
||||
@@ -1,14 +0,0 @@
|
||||
from messaging_pyx import Context, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
|
||||
|
||||
if __name__ == "__main__":
|
||||
c = Context()
|
||||
pub_sock = PubSocket()
|
||||
pub_sock.connect(c, "controlsState")
|
||||
|
||||
for i in range(int(1e10)):
|
||||
print(i)
|
||||
sub_sock = SubSocket()
|
||||
sub_sock.connect(c, "controlsState")
|
||||
|
||||
pub_sock.send(b'a')
|
||||
print(sub_sock.receive())
|
||||
@@ -1,2 +0,0 @@
|
||||
#define CATCH_CONFIG_MAIN
|
||||
#include "catch2/catch.hpp"
|
||||
@@ -1,142 +0,0 @@
|
||||
import unittest
|
||||
import time
|
||||
import cereal.messaging as messaging
|
||||
|
||||
import concurrent.futures
|
||||
|
||||
|
||||
def poller():
|
||||
context = messaging.Context()
|
||||
|
||||
p = messaging.Poller()
|
||||
|
||||
sub = messaging.SubSocket()
|
||||
sub.connect(context, 'controlsState')
|
||||
p.registerSocket(sub)
|
||||
|
||||
socks = p.poll(10000)
|
||||
r = [s.receive(non_blocking=True) for s in socks]
|
||||
|
||||
return r
|
||||
|
||||
|
||||
class TestPoller(unittest.TestCase):
|
||||
def test_poll_once(self):
|
||||
context = messaging.Context()
|
||||
|
||||
pub = messaging.PubSocket()
|
||||
pub.connect(context, 'controlsState')
|
||||
|
||||
with concurrent.futures.ThreadPoolExecutor() as e:
|
||||
poll = e.submit(poller)
|
||||
|
||||
time.sleep(0.1) # Slow joiner syndrome
|
||||
|
||||
# Send message
|
||||
pub.send("a")
|
||||
|
||||
# Wait for poll result
|
||||
result = poll.result()
|
||||
|
||||
del pub
|
||||
context.term()
|
||||
|
||||
self.assertEqual(result, [b"a"])
|
||||
|
||||
def test_poll_and_create_many_subscribers(self):
|
||||
context = messaging.Context()
|
||||
|
||||
pub = messaging.PubSocket()
|
||||
pub.connect(context, 'controlsState')
|
||||
|
||||
with concurrent.futures.ThreadPoolExecutor() as e:
|
||||
poll = e.submit(poller)
|
||||
|
||||
time.sleep(0.1) # Slow joiner syndrome
|
||||
c = messaging.Context()
|
||||
for _ in range(10):
|
||||
messaging.SubSocket().connect(c, 'controlsState')
|
||||
|
||||
time.sleep(0.1)
|
||||
|
||||
# Send message
|
||||
pub.send("a")
|
||||
|
||||
# Wait for poll result
|
||||
result = poll.result()
|
||||
|
||||
del pub
|
||||
context.term()
|
||||
|
||||
self.assertEqual(result, [b"a"])
|
||||
|
||||
def test_multiple_publishers_exception(self):
|
||||
context = messaging.Context()
|
||||
|
||||
with self.assertRaises(messaging.MultiplePublishersError):
|
||||
pub1 = messaging.PubSocket()
|
||||
pub1.connect(context, 'controlsState')
|
||||
|
||||
pub2 = messaging.PubSocket()
|
||||
pub2.connect(context, 'controlsState')
|
||||
|
||||
pub1.send("a")
|
||||
|
||||
del pub1
|
||||
del pub2
|
||||
context.term()
|
||||
|
||||
def test_multiple_messages(self):
|
||||
context = messaging.Context()
|
||||
|
||||
pub = messaging.PubSocket()
|
||||
pub.connect(context, 'controlsState')
|
||||
|
||||
sub = messaging.SubSocket()
|
||||
sub.connect(context, 'controlsState')
|
||||
|
||||
time.sleep(0.1) # Slow joiner
|
||||
|
||||
for i in range(100):
|
||||
pub.send(str(i))
|
||||
|
||||
msg_seen = False
|
||||
i = 0
|
||||
while True:
|
||||
r = sub.receive(non_blocking=True)
|
||||
|
||||
if r is not None:
|
||||
self.assertEqual(str(i), r.decode('utf8'))
|
||||
|
||||
msg_seen = True
|
||||
i += 1
|
||||
|
||||
if r is None and msg_seen: # ZMQ sometimes receives nothing on the first receive
|
||||
break
|
||||
|
||||
del pub
|
||||
del sub
|
||||
context.term()
|
||||
|
||||
def test_conflate(self):
|
||||
context = messaging.Context()
|
||||
|
||||
pub = messaging.PubSocket()
|
||||
pub.connect(context, 'controlsState')
|
||||
|
||||
sub = messaging.SubSocket()
|
||||
sub.connect(context, 'controlsState', conflate=True)
|
||||
|
||||
time.sleep(0.1) # Slow joiner
|
||||
pub.send('a')
|
||||
pub.send('b')
|
||||
|
||||
self.assertEqual(b'b', sub.receive())
|
||||
|
||||
del pub
|
||||
del sub
|
||||
context.term()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
@@ -1,33 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import yaml
|
||||
|
||||
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
|
||||
|
||||
service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
|
||||
|
||||
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("/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT service_list.yaml */")
|
||||
print("#ifndef __SERVICES_H")
|
||||
print("#define __SERVICES_H")
|
||||
print("struct service { int port; bool should_log; int frequency; int decimation; char name[0x100]; };")
|
||||
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")
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
#!/bin/bash
|
||||
|
||||
# Only pyflakes checks (--select=F)
|
||||
flake8 --select=F $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
|
||||
pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
|
||||
RESULT=$?
|
||||
if [ $RESULT -eq 0 ]; then
|
||||
pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
*.cpp
|
||||
@@ -1,6 +0,0 @@
|
||||
Import('env')
|
||||
|
||||
# parser
|
||||
env.Command(['common_pyx.so'],
|
||||
['common_pyx_setup.py', 'clock.pyx'],
|
||||
"cd common && python3 common_pyx_setup.py build_ext --inplace")
|
||||
@@ -1,73 +0,0 @@
|
||||
import binascii
|
||||
import itertools
|
||||
import re
|
||||
import struct
|
||||
import subprocess
|
||||
|
||||
def getprop(key):
|
||||
return subprocess.check_output(["getprop", key], encoding='utf8').strip()
|
||||
|
||||
def get_imei():
|
||||
ret = getprop("oem.device.imeicache")
|
||||
if ret == "":
|
||||
ret = "000000000000000"
|
||||
return ret
|
||||
|
||||
def get_serial():
|
||||
return getprop("ro.serialno")
|
||||
|
||||
def get_subscriber_info():
|
||||
ret = parse_service_call_string(["iphonesubinfo", "7"])
|
||||
if ret is None or len(ret) < 8:
|
||||
return ""
|
||||
return ret
|
||||
|
||||
def reboot(reason=None):
|
||||
if reason is None:
|
||||
reason_args = ["null"]
|
||||
else:
|
||||
reason_args = ["s16", reason]
|
||||
|
||||
subprocess.check_output([
|
||||
"service", "call", "power", "16", # IPowerManager.reboot
|
||||
"i32", "0", # no confirmation,
|
||||
*reason_args,
|
||||
"i32", "1" # wait
|
||||
])
|
||||
|
||||
def parse_service_call_unpack(call, fmt):
|
||||
r = parse_service_call_bytes(call)
|
||||
try:
|
||||
return struct.unpack(fmt, r)[0]
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def parse_service_call_string(call):
|
||||
r = parse_service_call_bytes(call)
|
||||
try:
|
||||
r = r[8:] # Cut off length field
|
||||
r = r.decode('utf_16_be')
|
||||
|
||||
# All pairs of two characters seem to be swapped. Not sure why
|
||||
result = ""
|
||||
for a, b, in itertools.zip_longest(r[::2], r[1::2], fillvalue='\x00'):
|
||||
result += b + a
|
||||
|
||||
result = result.replace('\x00', '')
|
||||
|
||||
return result
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def parse_service_call_bytes(call):
|
||||
ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
|
||||
if 'Parcel' not in ret:
|
||||
return None
|
||||
|
||||
try:
|
||||
r = b""
|
||||
for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
|
||||
r += binascii.unhexlify(hex_part)
|
||||
return r
|
||||
except Exception:
|
||||
return None
|
||||
+4
-12
@@ -4,11 +4,10 @@ from datetime import datetime, timedelta
|
||||
|
||||
from selfdrive.version import version
|
||||
|
||||
class Api():
|
||||
def __init__(self, dongle_id):
|
||||
class Api(object):
|
||||
def __init__(self, dongle_id, private_key):
|
||||
self.dongle_id = dongle_id
|
||||
with open('/persist/comma/id_rsa') as f:
|
||||
self.private_key = f.read()
|
||||
self.private_key = private_key
|
||||
|
||||
def get(self, *args, **kwargs):
|
||||
return self.request('GET', *args, **kwargs)
|
||||
@@ -20,14 +19,7 @@ class Api():
|
||||
return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
|
||||
|
||||
def get_token(self):
|
||||
now = datetime.utcnow()
|
||||
payload = {
|
||||
'identity': self.dongle_id,
|
||||
'nbf': now,
|
||||
'iat': now,
|
||||
'exp': now + timedelta(hours=1)
|
||||
}
|
||||
return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')
|
||||
return jwt.encode({'identity': self.dongle_id, 'exp': datetime.utcnow() + timedelta(hours=1)}, self.private_key, algorithm='RS256')
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
backend = "https://api.commadotai.com/"
|
||||
|
||||
@@ -1,98 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
import glob
|
||||
import hashlib
|
||||
import shutil
|
||||
from common.basedir import BASEDIR
|
||||
from selfdrive.swaglog import cloudlog
|
||||
|
||||
android_packages = ("tw.com.ainvest.outpack", "cn.dragonpilot.gpsservice", "com.autonavi.amapauto", "com.mixplorer", "com.tomtom.speedcams.android.map", "ai.comma.plus.offroad", "ai.comma.plus.frame")
|
||||
|
||||
def get_installed_apks():
|
||||
dat = subprocess.check_output(["pm", "list", "packages", "-f"], encoding='utf8').strip().split("\n")
|
||||
ret = {}
|
||||
for x in dat:
|
||||
if x.startswith("package:"):
|
||||
v,k = x.split("package:")[1].split("=")
|
||||
ret[k] = v
|
||||
return ret
|
||||
|
||||
def install_apk(path):
|
||||
# can only install from world readable path
|
||||
install_path = "/sdcard/%s" % os.path.basename(path)
|
||||
shutil.copyfile(path, install_path)
|
||||
|
||||
ret = subprocess.call(["pm", "install", "-r", install_path])
|
||||
os.remove(install_path)
|
||||
return ret == 0
|
||||
|
||||
def start_frame():
|
||||
set_package_permissions()
|
||||
system("am start -n ai.comma.plus.frame/.MainActivity")
|
||||
|
||||
def set_package_permissions():
|
||||
pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
|
||||
appops_set("ai.comma.plus.offroad", "SU", "allow")
|
||||
appops_set("ai.comma.plus.offroad", "WIFI_SCAN", "allow")
|
||||
appops_set("ai.comma.plus.offroad", "READ_EXTERNAL_STORAGE", "allow")
|
||||
appops_set("ai.comma.plus.offroad", "WRITE_EXTERNAL_STORAGE", "allow")
|
||||
|
||||
def appops_set(package, op, mode):
|
||||
system(f"LD_LIBRARY_PATH= appops set {package} {op} {mode}")
|
||||
|
||||
def pm_grant(package, permission):
|
||||
system(f"pm grant {package} {permission}")
|
||||
|
||||
def system(cmd):
|
||||
try:
|
||||
cloudlog.info("running %s" % cmd)
|
||||
subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
|
||||
except subprocess.CalledProcessError as e:
|
||||
cloudlog.event("running failed",
|
||||
cmd=e.cmd,
|
||||
output=e.output[-1024:],
|
||||
returncode=e.returncode)
|
||||
|
||||
# *** external functions ***
|
||||
|
||||
def update_apks():
|
||||
# install apks
|
||||
installed = get_installed_apks()
|
||||
|
||||
install_apks = glob.glob(os.path.join(BASEDIR, "apk/*.apk"))
|
||||
for apk in install_apks:
|
||||
app = os.path.basename(apk)[:-4]
|
||||
if app not in installed:
|
||||
installed[app] = None
|
||||
|
||||
cloudlog.info("installed apks %s" % (str(installed), ))
|
||||
|
||||
for app in installed.keys():
|
||||
apk_path = os.path.join(BASEDIR, "apk/"+app+".apk")
|
||||
if not os.path.exists(apk_path):
|
||||
continue
|
||||
|
||||
h1 = hashlib.sha1(open(apk_path, 'rb').read()).hexdigest()
|
||||
h2 = None
|
||||
if installed[app] is not None:
|
||||
h2 = hashlib.sha1(open(installed[app], 'rb').read()).hexdigest()
|
||||
cloudlog.info("comparing version of %s %s vs %s" % (app, h1, h2))
|
||||
|
||||
if h2 is None or h1 != h2:
|
||||
cloudlog.info("installing %s" % app)
|
||||
|
||||
success = install_apk(apk_path)
|
||||
if not success:
|
||||
cloudlog.info("needing to uninstall %s" % app)
|
||||
system("pm uninstall %s" % app)
|
||||
success = install_apk(apk_path)
|
||||
|
||||
assert success
|
||||
|
||||
def pm_apply_packages(cmd):
|
||||
for p in android_packages:
|
||||
system("pm %s %s" % (cmd, p))
|
||||
|
||||
if __name__ == "__main__":
|
||||
update_apks()
|
||||
|
||||
@@ -1,20 +0,0 @@
|
||||
from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module
|
||||
from Cython.Build import cythonize
|
||||
|
||||
from common.cython_hacks import BuildExtWithoutPlatformSuffix
|
||||
|
||||
sourcefiles = ['clock.pyx']
|
||||
extra_compile_args = ["-std=c++11"]
|
||||
|
||||
setup(name='Common',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"common_pyx",
|
||||
language="c++",
|
||||
sources=sourcefiles,
|
||||
extra_compile_args=extra_compile_args,
|
||||
)
|
||||
),
|
||||
nthreads=4,
|
||||
)
|
||||
@@ -1,23 +0,0 @@
|
||||
import os
|
||||
import sysconfig
|
||||
from Cython.Distutils import build_ext
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
|
||||
|
||||
if ext_suffix == ext:
|
||||
return filename
|
||||
|
||||
ext_suffix = ext_suffix.replace(ext, '')
|
||||
idx = name.find(ext_suffix)
|
||||
|
||||
if idx == -1:
|
||||
return filename
|
||||
else:
|
||||
return name[:idx] + ext
|
||||
|
||||
class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
def get_ext_filename(self, ext_name):
|
||||
filename = super().get_ext_filename(ext_name)
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
@@ -17,10 +17,10 @@ DBCSignal = namedtuple(
|
||||
"factor", "offset", "tmin", "tmax", "units"])
|
||||
|
||||
|
||||
class dbc():
|
||||
class dbc(object):
|
||||
def __init__(self, fn):
|
||||
self.name, _ = os.path.splitext(os.path.basename(fn))
|
||||
with open(fn, encoding="ascii") as f:
|
||||
with open(fn) as f:
|
||||
self.txt = f.readlines()
|
||||
self._warned_addresses = set()
|
||||
|
||||
@@ -41,7 +41,7 @@ class dbc():
|
||||
self.def_vals = defaultdict(list)
|
||||
|
||||
# lookup to bit reverse each byte
|
||||
self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in range(64)]
|
||||
self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
|
||||
|
||||
for l in self.txt:
|
||||
l = l.strip()
|
||||
@@ -101,8 +101,13 @@ class dbc():
|
||||
defvals = defvals.replace("?",r"\?") #escape sequence in C++
|
||||
defvals = defvals.split('"')[:-1]
|
||||
|
||||
# convert strings to UPPER_CASE_WITH_UNDERSCORES
|
||||
defvals[1::2] = [d.strip().upper().replace(" ","_") for d in defvals[1::2]]
|
||||
defs = defvals[1::2]
|
||||
#cleanup, convert to UPPER_CASE_WITH_UNDERSCORES
|
||||
for i,d in enumerate(defs):
|
||||
d = defs[i].strip().upper()
|
||||
defs[i] = d.replace(" ","_")
|
||||
|
||||
defvals[1::2] = defs
|
||||
defvals = '"'+"".join(str(i) for i in defvals)+'"'
|
||||
|
||||
self.def_vals[ids].append((sgname, defvals))
|
||||
@@ -147,20 +152,22 @@ class dbc():
|
||||
ival = dd.get(s.name)
|
||||
if ival is not None:
|
||||
|
||||
b2 = s.size
|
||||
if s.is_little_endian:
|
||||
b1 = s.start_bit
|
||||
else:
|
||||
b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
|
||||
bo = 64 - (b1 + s.size)
|
||||
|
||||
ival = (ival / s.factor) - s.offset
|
||||
ival = int(round(ival))
|
||||
|
||||
if s.is_signed and ival < 0:
|
||||
ival = (1 << s.size) + ival
|
||||
ival = (1 << b2) + ival
|
||||
|
||||
if s.is_little_endian:
|
||||
shift = s.start_bit
|
||||
else:
|
||||
b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
|
||||
shift = 64 - (b1 + s.size)
|
||||
|
||||
mask = ((1 << s.size) - 1) << shift
|
||||
dat = (ival & ((1 << s.size) - 1)) << shift
|
||||
shift = b1 if s.is_little_endian else bo
|
||||
mask = ((1 << b2) - 1) << shift
|
||||
dat = (ival & ((1 << b2) - 1)) << shift
|
||||
|
||||
if s.is_little_endian:
|
||||
mask = self.reverse_bytes(mask)
|
||||
@@ -206,7 +213,7 @@ class dbc():
|
||||
if debug:
|
||||
print(name)
|
||||
|
||||
st = x[2].ljust(8, b'\x00')
|
||||
st = x[2].ljust(8, '\x00')
|
||||
le, be = None, None
|
||||
|
||||
for s in msg[1]:
|
||||
@@ -220,24 +227,30 @@ class dbc():
|
||||
factor = s[5]
|
||||
offset = s[6]
|
||||
|
||||
b2 = signal_size
|
||||
if little_endian:
|
||||
b1 = start_bit
|
||||
else:
|
||||
b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
|
||||
bo = 64 - (b1 + signal_size)
|
||||
|
||||
if little_endian:
|
||||
if le is None:
|
||||
le = struct.unpack("<Q", st)[0]
|
||||
shift_amount = b1
|
||||
tmp = le
|
||||
shift_amount = start_bit
|
||||
else:
|
||||
if be is None:
|
||||
be = struct.unpack(">Q", st)[0]
|
||||
shift_amount = bo
|
||||
tmp = be
|
||||
b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
|
||||
shift_amount = 64 - (b1 + signal_size)
|
||||
|
||||
if shift_amount < 0:
|
||||
continue
|
||||
|
||||
tmp = (tmp >> shift_amount) & ((1 << signal_size) - 1)
|
||||
if signed and (tmp >> (signal_size - 1)):
|
||||
tmp -= (1 << signal_size)
|
||||
tmp = (tmp >> shift_amount) & ((1 << b2) - 1)
|
||||
if signed and (tmp >> (b2 - 1)):
|
||||
tmp -= (1 << b2)
|
||||
|
||||
tmp = tmp * factor + offset
|
||||
|
||||
@@ -257,6 +270,7 @@ class dbc():
|
||||
|
||||
if __name__ == "__main__":
|
||||
from opendbc import DBC_PATH
|
||||
import numpy as np
|
||||
|
||||
dbc_test = dbc(os.path.join(DBC_PATH, 'toyota_prius_2017_pt_generated.dbc'))
|
||||
msg = ('STEER_ANGLE_SENSOR', {'STEER_ANGLE': -6.0, 'STEER_RATE': 4, 'STEER_FRACTION': -0.2})
|
||||
@@ -266,7 +280,7 @@ if __name__ == "__main__":
|
||||
|
||||
dbc_test = dbc(os.path.join(DBC_PATH, 'hyundai_santa_fe_2019_ccan.dbc'))
|
||||
decoded = dbc_test.decode((0x2b0, 0, "\xfa\xfe\x00\x07\x12"))
|
||||
assert abs(decoded[1]['SAS_Angle'] - (-26.2)) < 0.001
|
||||
assert np.isclose(decoded[1]['SAS_Angle'], -26.2)
|
||||
|
||||
msg = ('SAS11', {'SAS_Stat': 7.0, 'MsgCount': 0.0, 'SAS_Angle': -26.200000000000003, 'SAS_Speed': 0.0, 'CheckSum': 0.0})
|
||||
encoded = dbc_test.encode(*msg)
|
||||
@@ -9,7 +9,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=
|
||||
if libraries is None:
|
||||
libraries = []
|
||||
|
||||
cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
|
||||
cache = name + "_" + hashlib.sha1(c_code).hexdigest()
|
||||
try:
|
||||
os.mkdir(tmpdir)
|
||||
except OSError:
|
||||
|
||||
+15
-6
@@ -24,15 +24,24 @@ def rm_tree_or_link(path):
|
||||
shutil.rmtree(path)
|
||||
|
||||
def get_tmpdir_on_same_filesystem(path):
|
||||
# TODO(mgraczyk): HACK, we should actually check for which filesystem.
|
||||
normpath = os.path.normpath(path)
|
||||
parts = normpath.split("/")
|
||||
if len(parts) > 1 and parts[1] == "scratch":
|
||||
return "/scratch/tmp"
|
||||
elif len(parts) > 2 and parts[2] == "runner":
|
||||
return "/{}/runner/tmp".format(parts[1])
|
||||
if len(parts) > 1:
|
||||
if parts[1].startswith("raid") or parts[1].startswith("datasets"):
|
||||
if len(parts) > 2 and parts[2] == "runner":
|
||||
return "/{}/runner/tmp".format(parts[1])
|
||||
elif len(parts) > 2 and parts[2] == "aws":
|
||||
return "/{}/aws/tmp".format(parts[1])
|
||||
else:
|
||||
return "/{}/tmp".format(parts[1])
|
||||
elif parts[1] == "aws":
|
||||
return "/aws/tmp"
|
||||
elif parts[1] == "scratch":
|
||||
return "/scratch/tmp"
|
||||
return "/tmp"
|
||||
|
||||
class AutoMoveTempdir():
|
||||
class AutoMoveTempdir(object):
|
||||
def __init__(self, target_path, temp_dir=None):
|
||||
self._target_path = target_path
|
||||
self._path = tempfile.mkdtemp(dir=temp_dir)
|
||||
@@ -52,7 +61,7 @@ class AutoMoveTempdir():
|
||||
else:
|
||||
shutil.rmtree(self._path)
|
||||
|
||||
class NamedTemporaryDir():
|
||||
class NamedTemporaryDir(object):
|
||||
def __init__(self, temp_dir=None):
|
||||
self._path = tempfile.mkdtemp(dir=temp_dir)
|
||||
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
simple_kalman_impl.c
|
||||
@@ -0,0 +1,10 @@
|
||||
all: simple_kalman_impl.so
|
||||
|
||||
simple_kalman_impl.so: simple_kalman_impl.pyx simple_kalman_impl.pxd simple_kalman_setup.py
|
||||
python2 simple_kalman_setup.py build_ext --inplace
|
||||
rm -rf build
|
||||
rm simple_kalman_impl.c
|
||||
|
||||
.PHONY: clean
|
||||
clean:
|
||||
rm -f simple_kalman_impl.so
|
||||
@@ -1,6 +0,0 @@
|
||||
Import('env')
|
||||
|
||||
env.Command(['simple_kalman_impl.so'],
|
||||
['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
|
||||
"cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")
|
||||
|
||||
@@ -1,3 +1,10 @@
|
||||
# pylint: skip-file
|
||||
from common.kalman.simple_kalman_impl import KF1D as KF1D
|
||||
import os
|
||||
import subprocess
|
||||
|
||||
kalman_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
subprocess.check_call(["make", "simple_kalman_impl.so"], cwd=kalman_dir)
|
||||
|
||||
from simple_kalman_impl import KF1D as KF1D
|
||||
# Silence pyflakes
|
||||
assert KF1D
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
# cython: language_level=3
|
||||
|
||||
cdef class KF1D:
|
||||
def __init__(self, x0, A, C, K):
|
||||
@@ -33,4 +32,4 @@ cdef class KF1D:
|
||||
@x.setter
|
||||
def x(self, x):
|
||||
self.x0_0 = x[0][0]
|
||||
self.x1_0 = x[1][0]
|
||||
self.x1_0 = x[1][0]
|
||||
@@ -1,9 +1,5 @@
|
||||
from distutils.core import Extension, setup
|
||||
|
||||
from distutils.core import setup, Extension
|
||||
from Cython.Build import cythonize
|
||||
|
||||
from common.cython_hacks import BuildExtWithoutPlatformSuffix
|
||||
|
||||
setup(name='Simple Kalman Implementation',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
|
||||
ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
|
||||
@@ -12,10 +12,7 @@ def interp(x, xp, fp):
|
||||
hi += 1
|
||||
low = hi - 1
|
||||
return fp[-1] if hi == N and xv > xp[low] else (
|
||||
fp[0] if hi == 0 else
|
||||
fp[0] if hi == 0 else
|
||||
(xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
|
||||
return [get_interp(v) for v in x] if hasattr(
|
||||
x, '__iter__') else get_interp(x)
|
||||
|
||||
def mean(x):
|
||||
return sum(x) / len(x)
|
||||
|
||||
+14
-82
@@ -1,4 +1,4 @@
|
||||
#!/usr/bin/env python3
|
||||
#!/usr/bin/env python
|
||||
"""ROS has a parameter server, we have files.
|
||||
|
||||
The parameter store is a persistent key value store, implemented as a directory with a writer lock.
|
||||
@@ -27,7 +27,6 @@ import sys
|
||||
import shutil
|
||||
import fcntl
|
||||
import tempfile
|
||||
import threading
|
||||
from enum import Enum
|
||||
|
||||
|
||||
@@ -55,55 +54,44 @@ keys = {
|
||||
"CalibrationParams": [TxType.PERSISTENT],
|
||||
"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CommunityFeaturesToggle": [TxType.PERSISTENT],
|
||||
"CompletedTrainingVersion": [TxType.PERSISTENT],
|
||||
"ControlsParams": [TxType.PERSISTENT],
|
||||
"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"DongleId": [TxType.PERSISTENT],
|
||||
"GithubSshKeys": [TxType.PERSISTENT],
|
||||
"GitBranch": [TxType.PERSISTENT],
|
||||
"GitCommit": [TxType.PERSISTENT],
|
||||
"GitRemote": [TxType.PERSISTENT],
|
||||
"GithubSshKeys": [TxType.PERSISTENT],
|
||||
"HasAcceptedTerms": [TxType.PERSISTENT],
|
||||
"HasCompletedSetup": [TxType.PERSISTENT],
|
||||
"IsLdwEnabled": [TxType.PERSISTENT],
|
||||
"IsDriverMonitoringEnabled": [TxType.PERSISTENT],
|
||||
"IsFcwEnabled": [TxType.PERSISTENT],
|
||||
"IsGeofenceEnabled": [TxType.PERSISTENT],
|
||||
"IsMetric": [TxType.PERSISTENT],
|
||||
"IsRHD": [TxType.PERSISTENT],
|
||||
"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsUpdateAvailable": [TxType.PERSISTENT],
|
||||
"IsUploadRawEnabled": [TxType.PERSISTENT],
|
||||
"LastUpdateTime": [TxType.PERSISTENT],
|
||||
"IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
|
||||
"LimitSetSpeed": [TxType.PERSISTENT],
|
||||
"LimitSetSpeedNeural": [TxType.PERSISTENT],
|
||||
"LiveParameters": [TxType.PERSISTENT],
|
||||
"LongitudinalControl": [TxType.PERSISTENT],
|
||||
"OpenpilotEnabledToggle": [TxType.PERSISTENT],
|
||||
"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"Passive": [TxType.PERSISTENT],
|
||||
"RecordFront": [TxType.PERSISTENT],
|
||||
"ReleaseNotes": [TxType.PERSISTENT],
|
||||
"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"SpeedLimitOffset": [TxType.PERSISTENT],
|
||||
"SubscriberInfo": [TxType.PERSISTENT],
|
||||
"TermsVersion": [TxType.PERSISTENT],
|
||||
"TrainingVersion": [TxType.PERSISTENT],
|
||||
"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Version": [TxType.PERSISTENT],
|
||||
"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
#dragonpilot config
|
||||
"DragonEnableDashcam": [TxType.PERSISTENT],
|
||||
"DragonDisableDriverSafetyCheck": [TxType.PERSISTENT], # deprecated
|
||||
"DragonEnableDriverSafetyCheck": [TxType.PERSISTENT],
|
||||
"DragonAutoShutdownAt": [TxType.PERSISTENT],
|
||||
"DragonTempDisableSteerOnSignal": [TxType.PERSISTENT], # deprecated
|
||||
"DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
|
||||
"DragonDisableLogger": [TxType.PERSISTENT], # deprecated
|
||||
"DragonEnableLogger": [TxType.PERSISTENT],
|
||||
"DragonDisableUploader": [TxType.PERSISTENT], # deprecated
|
||||
"DragonEnableUploader": [TxType.PERSISTENT],
|
||||
"DragonNoctuaMode": [TxType.PERSISTENT],
|
||||
"DragonCacheCar": [TxType.PERSISTENT],
|
||||
@@ -111,9 +99,9 @@ keys = {
|
||||
"DragonCachedFP": [TxType.PERSISTENT],
|
||||
"DragonCachedVIN": [TxType.PERSISTENT],
|
||||
"DragonAllowGas": [TxType.PERSISTENT],
|
||||
"DragonBBUI": [TxType.PERSISTENT], # deprecated
|
||||
"DragonToyotaStockDSU": [TxType.PERSISTENT],
|
||||
"DragonLatCtrl": [TxType.PERSISTENT],
|
||||
"DragonUISpeed": [TxType.PERSISTENT],
|
||||
"DragonUIEvent": [TxType.PERSISTENT],
|
||||
"DragonUIMaxSpeed": [TxType.PERSISTENT],
|
||||
"DragonUIFace": [TxType.PERSISTENT],
|
||||
@@ -125,41 +113,11 @@ keys = {
|
||||
"DragonEnableAutonavi": [TxType.PERSISTENT],
|
||||
"DragonBootAutonavi": [TxType.PERSISTENT],
|
||||
"DragonRunAutonavi": [TxType.PERSISTENT],
|
||||
"DragonEnableAegis": [TxType.PERSISTENT],
|
||||
"DragonBootAegis": [TxType.PERSISTENT],
|
||||
"DragonRunAegis": [TxType.PERSISTENT],
|
||||
"DragonEnableMixplorer": [TxType.PERSISTENT],
|
||||
"DragonRunMixplorer": [TxType.PERSISTENT],
|
||||
"DragonSteeringMonitorTimer": [TxType.PERSISTENT],
|
||||
"DragonCameraOffset": [TxType.PERSISTENT],
|
||||
"DragonUIVolumeBoost": [TxType.PERSISTENT],
|
||||
"DragonGreyPandaMode": [TxType.PERSISTENT],
|
||||
"DragonDrivingUI": [TxType.PERSISTENT],
|
||||
"DragonDisplaySteeringLimitAlert": [TxType.PERSISTENT],
|
||||
"DragonChargingCtrl": [TxType.PERSISTENT],
|
||||
"DragonCharging": [TxType.PERSISTENT],
|
||||
"DragonDisCharging": [TxType.PERSISTENT],
|
||||
"DragonToyotaLaneDepartureWarning": [TxType.PERSISTENT],
|
||||
"DragonUILane": [TxType.PERSISTENT],
|
||||
"DragonUILead": [TxType.PERSISTENT],
|
||||
"DragonUIPath": [TxType.PERSISTENT],
|
||||
"DragonUIBlinker": [TxType.PERSISTENT],
|
||||
"DragonEnableDriverMonitoring": [TxType.PERSISTENT],
|
||||
"DragonCarModel": [TxType.PERSISTENT],
|
||||
"DragonCarVIN": [TxType.PERSISTENT],
|
||||
"DragonEnableSlowOnCurve": [TxType.PERSISTENT],
|
||||
"DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
|
||||
"DragonToyotaSnGMod": [TxType.PERSISTENT],
|
||||
"DragonIsEON": [TxType.PERSISTENT],
|
||||
"DragonHWChecked": [TxType.PERSISTENT],
|
||||
"DragonEnableSRLearner": [TxType.PERSISTENT],
|
||||
"DragonWazeMode": [TxType.PERSISTENT],
|
||||
"DragonRunWaze": [TxType.PERSISTENT],
|
||||
"DragonEnableAssistedLC": [TxType.PERSISTENT],
|
||||
"DragonEnableAutoLC": [TxType.PERSISTENT],
|
||||
"DragonAssistedLCMinMPH": [TxType.PERSISTENT],
|
||||
"DragonAutoLCMinMPH": [TxType.PERSISTENT],
|
||||
"DragonAutoLCDelay": [TxType.PERSISTENT],
|
||||
}
|
||||
|
||||
|
||||
@@ -171,7 +129,7 @@ def fsync_dir(path):
|
||||
os.close(fd)
|
||||
|
||||
|
||||
class FileLock():
|
||||
class FileLock(object):
|
||||
def __init__(self, path, create):
|
||||
self._path = path
|
||||
self._create = create
|
||||
@@ -187,7 +145,7 @@ class FileLock():
|
||||
self._fd = None
|
||||
|
||||
|
||||
class DBAccessor():
|
||||
class DBAccessor(object):
|
||||
def __init__(self, path):
|
||||
self._path = path
|
||||
self._vals = None
|
||||
@@ -357,9 +315,6 @@ def read_db(params_path, key):
|
||||
return None
|
||||
|
||||
def write_db(params_path, key, value):
|
||||
if isinstance(value, str):
|
||||
value = value.encode('utf8')
|
||||
|
||||
prev_umask = os.umask(0)
|
||||
lock = FileLock(params_path+"/.lock", True)
|
||||
lock.acquire()
|
||||
@@ -378,7 +333,7 @@ def write_db(params_path, key, value):
|
||||
os.umask(prev_umask)
|
||||
lock.release()
|
||||
|
||||
class Params():
|
||||
class Params(object):
|
||||
def __init__(self, db='/data/params'):
|
||||
self.db = db
|
||||
|
||||
@@ -409,7 +364,7 @@ class Params():
|
||||
with self.transaction(write=True) as txn:
|
||||
txn.delete(key)
|
||||
|
||||
def get(self, key, block=False, encoding=None):
|
||||
def get(self, key, block=False):
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
@@ -419,37 +374,14 @@ class Params():
|
||||
break
|
||||
# is polling really the best we can do?
|
||||
time.sleep(0.05)
|
||||
|
||||
if ret is not None and encoding is not None:
|
||||
ret = ret.decode(encoding)
|
||||
|
||||
return ret
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
In very rare cases this can take over a second, and your code will hang.
|
||||
|
||||
Use the put_nonblocking helper function in time sensitive code, but
|
||||
in general try to avoid writing params as much as possible.
|
||||
"""
|
||||
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
write_db(self.db, key, dat)
|
||||
|
||||
|
||||
def put_nonblocking(key, val):
|
||||
def f(key, val):
|
||||
params = Params()
|
||||
params.put(key, val)
|
||||
|
||||
t = threading.Thread(target=f, args=(key, val))
|
||||
t.start()
|
||||
return t
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
params = Params()
|
||||
if len(sys.argv) > 2:
|
||||
|
||||
+1
-1
@@ -1,6 +1,6 @@
|
||||
import time
|
||||
|
||||
class Profiler():
|
||||
class Profiler(object):
|
||||
def __init__(self, enabled=False):
|
||||
self.enabled = enabled
|
||||
self.cp = {}
|
||||
|
||||
+9
-2
@@ -6,11 +6,18 @@ import subprocess
|
||||
import multiprocessing
|
||||
from cffi import FFI
|
||||
|
||||
from common.common_pyx import sec_since_boot # pylint: disable=no-name-in-module, import-error
|
||||
# Build and load cython module
|
||||
import pyximport
|
||||
installer = pyximport.install(inplace=True, build_dir='/tmp')
|
||||
from common.clock import monotonic_time, sec_since_boot # pylint: disable=no-name-in-module, import-error
|
||||
pyximport.uninstall(*installer)
|
||||
assert monotonic_time
|
||||
assert sec_since_boot
|
||||
|
||||
|
||||
# time step for each process
|
||||
DT_CTRL = 0.01 # controlsd
|
||||
DT_PLAN = 0.05 # mpc
|
||||
DT_MDL = 0.05 # model
|
||||
DT_DMON = 0.1 # driver monitoring
|
||||
DT_TRML = 0.5 # thermald and manager
|
||||
@@ -36,7 +43,7 @@ def set_realtime_priority(level):
|
||||
return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])
|
||||
|
||||
|
||||
class Ratekeeper():
|
||||
class Ratekeeper(object):
|
||||
def __init__(self, rate, print_delay_threshold=0.):
|
||||
"""Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
|
||||
self._interval = 1. / rate
|
||||
|
||||
@@ -1,53 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
|
||||
class Spinner():
|
||||
def __init__(self):
|
||||
self.spinner_proc = subprocess.Popen(["./spinner"],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
|
||||
close_fds=True)
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, spinner_text):
|
||||
self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
|
||||
self.spinner_proc.stdin.flush()
|
||||
|
||||
def close(self):
|
||||
if self.spinner_proc is not None:
|
||||
self.spinner_proc.stdin.close()
|
||||
self.spinner_proc.terminate()
|
||||
self.spinner_proc = None
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
class FakeSpinner():
|
||||
def __init__(self):
|
||||
pass
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, _):
|
||||
pass
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
pass
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import time
|
||||
with Spinner() as s:
|
||||
s.update("Spinner text")
|
||||
time.sleep(5.0)
|
||||
print("gone")
|
||||
time.sleep(5.0)
|
||||
@@ -1,73 +0,0 @@
|
||||
import numpy as np
|
||||
|
||||
class RunningStat():
|
||||
# tracks realtime mean and standard deviation without storing any data
|
||||
def __init__(self, priors=None, max_trackable=-1):
|
||||
self.max_trackable = max_trackable
|
||||
if priors is not None:
|
||||
# initialize from history
|
||||
self.M = priors[0]
|
||||
self.S = priors[1]
|
||||
self.n = priors[2]
|
||||
self.M_last = self.M
|
||||
self.S_last = self.S
|
||||
|
||||
else:
|
||||
self.reset()
|
||||
|
||||
def reset(self):
|
||||
self.M = 0.
|
||||
self.S = 0.
|
||||
self.M_last = 0.
|
||||
self.S_last = 0.
|
||||
self.n = 0
|
||||
|
||||
def push_data(self, new_data):
|
||||
# short term memory hack
|
||||
if self.max_trackable < 0 or self.n < self.max_trackable:
|
||||
self.n += 1
|
||||
if self.n == 0:
|
||||
self.M_last = new_data
|
||||
self.M = self.M_last
|
||||
self.S_last = 0.
|
||||
else:
|
||||
self.M = self.M_last + (new_data - self.M_last) / self.n
|
||||
self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M);
|
||||
self.M_last = self.M
|
||||
self.S_last = self.S
|
||||
|
||||
def mean(self):
|
||||
return self.M
|
||||
|
||||
def variance(self):
|
||||
if self.n >= 2:
|
||||
return self.S / (self.n - 1.)
|
||||
else:
|
||||
return 0
|
||||
|
||||
def std(self):
|
||||
return np.sqrt(self.variance())
|
||||
|
||||
def params_to_save(self):
|
||||
return [self.M, self.S, self.n]
|
||||
|
||||
class RunningStatFilter():
|
||||
def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
|
||||
self.raw_stat = RunningStat(raw_priors, max_trackable)
|
||||
self.filtered_stat = RunningStat(filtered_priors, max_trackable)
|
||||
|
||||
def reset(self):
|
||||
self.raw_stat.reset()
|
||||
self.filtered_stat.reset()
|
||||
|
||||
def push_and_update(self, new_data):
|
||||
_std_last = self.raw_stat.std()
|
||||
self.raw_stat.push_data(new_data)
|
||||
_delta_std = self.raw_stat.std() - _std_last
|
||||
if _delta_std<=0:
|
||||
self.filtered_stat.push_data(new_data)
|
||||
else:
|
||||
pass
|
||||
# self.filtered_stat.push_data(self.filtered_stat.mean())
|
||||
|
||||
# class SequentialBayesian():
|
||||
@@ -1,4 +1,4 @@
|
||||
#!/usr/bin/env python3
|
||||
#!/usr/bin/env python
|
||||
import sympy as sp
|
||||
import numpy as np
|
||||
|
||||
|
||||
@@ -125,7 +125,7 @@ def img_from_device(pt_device):
|
||||
|
||||
#TODO please use generic img transform below
|
||||
def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
|
||||
import cv2 # pylint: disable=import-error
|
||||
import cv2
|
||||
|
||||
size = img.shape[:2]
|
||||
rot = orient.rot_from_euler(eulers)
|
||||
@@ -138,8 +138,8 @@ def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
|
||||
warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
|
||||
warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
|
||||
if crop:
|
||||
W_border = (size[1] - crop[0])//2
|
||||
H_border = (size[0] - crop[1])//2
|
||||
W_border = (size[1] - crop[0])/2
|
||||
H_border = (size[0] - crop[1])/2
|
||||
outside_crop = (((warped_quadrangle[:,0] < W_border) |
|
||||
(warped_quadrangle[:,0] >= size[1] - W_border)) &
|
||||
((warped_quadrangle[:,1] < H_border) |
|
||||
@@ -154,40 +154,16 @@ def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
|
||||
W_border: size[1] - W_border]
|
||||
|
||||
|
||||
def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
|
||||
camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
|
||||
calib_frame_from_ground = np.dot(eon_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
|
||||
ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
|
||||
camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
|
||||
return camera_frame_from_calib_frame
|
||||
|
||||
|
||||
def pretransform_from_calib(calib):
|
||||
roll, pitch, yaw, height = calib
|
||||
view_frame_from_road_frame = get_view_frame_from_road_frame(roll, pitch, yaw, height)
|
||||
camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
|
||||
camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
|
||||
return np.linalg.inv(camera_frame_from_calib_frame)
|
||||
|
||||
|
||||
def transform_img(base_img,
|
||||
augment_trans=np.array([0,0,0]),
|
||||
augment_eulers=np.array([0,0,0]),
|
||||
from_intr=eon_intrinsics,
|
||||
to_intr=eon_intrinsics,
|
||||
calib_rot_view=None,
|
||||
output_size=None,
|
||||
pretransform=None,
|
||||
top_hacks=False,
|
||||
yuv=False,
|
||||
alpha=1.0,
|
||||
beta=0,
|
||||
blur=0):
|
||||
import cv2 # pylint: disable=import-error
|
||||
cv2.setNumThreads(1)
|
||||
|
||||
if yuv:
|
||||
base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)
|
||||
top_hacks=True):
|
||||
import cv2
|
||||
|
||||
size = base_img.shape[:2]
|
||||
if not output_size:
|
||||
@@ -204,6 +180,8 @@ def transform_img(base_img,
|
||||
h*np.ones(4),
|
||||
h/quadrangle_norm[:,1]))
|
||||
rot = orient.rot_from_euler(augment_eulers)
|
||||
if calib_rot_view is not None:
|
||||
rot = calib_rot_view.dot(rot)
|
||||
to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
|
||||
to_KE = to_intr.dot(to_extrinsics)
|
||||
warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
|
||||
@@ -224,24 +202,12 @@ def transform_img(base_img,
|
||||
M = M.dot(pretransform)
|
||||
augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), borderMode=cv2.BORDER_REPLICATE)
|
||||
|
||||
# brightness and contrast augment
|
||||
augmented_rgb = np.clip((float(alpha)*augmented_rgb + beta), 0, 255).astype(np.uint8)
|
||||
|
||||
# gaussian blur
|
||||
if blur > 0:
|
||||
augmented_rgb = cv2.GaussianBlur(augmented_rgb,(blur*2+1,blur*2+1),cv2.BORDER_DEFAULT)
|
||||
|
||||
if yuv:
|
||||
augmented_img = cv2.cvtColor(augmented_rgb, cv2.COLOR_RGB2YUV_I420)
|
||||
else:
|
||||
augmented_img = augmented_rgb
|
||||
return augmented_img
|
||||
|
||||
return augmented_rgb
|
||||
|
||||
def yuv_crop(frame, output_size, center=None):
|
||||
# output_size in camera coordinates so u,v
|
||||
# center in array coordinates so row, column
|
||||
import cv2 # pylint: disable=import-error
|
||||
import cv2
|
||||
rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
|
||||
if not center:
|
||||
center = (rgb.shape[0]/2, rgb.shape[1]/2)
|
||||
|
||||
@@ -65,7 +65,7 @@ def ecef2geodetic(ecef, radians=False):
|
||||
geodetic = np.column_stack((lat, lon, h))
|
||||
return geodetic.reshape(input_shape)
|
||||
|
||||
class LocalCoord():
|
||||
class LocalCoord(object):
|
||||
"""
|
||||
Allows conversions to local frames. In this case NED.
|
||||
That is: North East Down from the start position in
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
import numpy as np
|
||||
|
||||
from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
|
||||
get_view_frame_from_road_frame,
|
||||
vp_from_ke)
|
||||
from common.transformations.camera import eon_focal_length, \
|
||||
vp_from_ke, get_view_frame_from_road_frame, \
|
||||
FULL_FRAME_SIZE
|
||||
|
||||
# segnet
|
||||
|
||||
|
||||
@@ -29,7 +29,7 @@ def euler2quat(eulers):
|
||||
np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)
|
||||
|
||||
quats = array([q0, q1, q2, q3]).T
|
||||
for i in range(len(quats)):
|
||||
for i in xrange(len(quats)):
|
||||
if quats[i,0] < 0:
|
||||
quats[i] = -quats[i]
|
||||
return quats.reshape(output_shape)
|
||||
@@ -99,7 +99,7 @@ def rot2quat(rots):
|
||||
K3[:, 3, 2] = K3[:, 2, 3]
|
||||
K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
|
||||
q = np.empty((len(rots), 4))
|
||||
for i in range(len(rots)):
|
||||
for i in xrange(len(rots)):
|
||||
_, eigvecs = linalg.eigh(K3[i].T)
|
||||
eigvecs = eigvecs[:,3:]
|
||||
q[i, 0] = eigvecs[-1]
|
||||
|
||||
@@ -1,11 +1,14 @@
|
||||
#!/usr/bin/env python3
|
||||
import cereal.messaging as messaging
|
||||
#!/usr/bin/env python
|
||||
import selfdrive.messaging as messaging
|
||||
from selfdrive.boardd.boardd import can_list_to_can_capnp
|
||||
|
||||
VIN_UNKNOWN = "0" * 17
|
||||
|
||||
# sanity checks on response messages from vin query
|
||||
def is_vin_response_valid(can_dat, step, cnt):
|
||||
|
||||
can_dat = [ord(i) for i in can_dat]
|
||||
|
||||
if len(can_dat) != 8:
|
||||
# ISO-TP meesages are all 8 bytes
|
||||
return False
|
||||
@@ -33,18 +36,17 @@ class VinQuery():
|
||||
self.bus = bus
|
||||
# works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
|
||||
# Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
|
||||
self.query_ext_msgs = [[0x18DB33F1, 0, b'\x02\x09\x02'.ljust(8, b"\x00"), bus],
|
||||
[0x18DA10f1, 0, b'\x30'.ljust(8, b"\x00"), bus]]
|
||||
self.query_nor_msgs = [[0x7df, 0, b'\x02\x09\x02'.ljust(8, b"\x00"), bus],
|
||||
[0x7e0, 0, b'\x30'.ljust(8, b"\x00"), bus]]
|
||||
self.query_ext_msgs = [[0x18DB33F1, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
|
||||
[0x18DA10f1, 0, '\x30'.ljust(8, "\x00"), bus]]
|
||||
self.query_nor_msgs = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
|
||||
[0x7e0, 0, '\x30'.ljust(8, "\x00"), bus]]
|
||||
|
||||
self.cnts = [1, 2] # number of messages to wait for at each iteration
|
||||
self.step = 0
|
||||
self.cnt = 0
|
||||
self.responded = False
|
||||
self.never_responded = True
|
||||
self.dat = b""
|
||||
self.got_vin = False
|
||||
self.dat = []
|
||||
self.vin = VIN_UNKNOWN
|
||||
|
||||
def check_response(self, msg):
|
||||
@@ -53,29 +55,25 @@ class VinQuery():
|
||||
self.never_responded = False
|
||||
# basic sanity checks on ISO-TP response
|
||||
if is_vin_response_valid(msg.dat, self.step, self.cnt):
|
||||
self.dat += bytes(msg.dat[2:]) if self.step == 0 else bytes(msg.dat[1:])
|
||||
self.dat += msg.dat[2:] if self.step == 0 else msg.dat[1:]
|
||||
self.cnt += 1
|
||||
if self.cnt == self.cnts[self.step]:
|
||||
self.responded = True
|
||||
self.step += 1
|
||||
if self.step == len(self.cnts):
|
||||
self.got_vin = True
|
||||
|
||||
def send_query(self, sendcan):
|
||||
# keep sending VIN query if ECU isn't responsing.
|
||||
# keep sending VIN qury if ECU isn't responsing.
|
||||
# sendcan is probably not ready due to the zmq slow joiner syndrome
|
||||
if self.never_responded or (self.responded and not self.got_vin):
|
||||
if self.never_responded or (self.responded and self.step < len(self.cnts)):
|
||||
sendcan.send(can_list_to_can_capnp([self.query_ext_msgs[self.step]], msgtype='sendcan'))
|
||||
sendcan.send(can_list_to_can_capnp([self.query_nor_msgs[self.step]], msgtype='sendcan'))
|
||||
self.responded = False
|
||||
self.cnt = 0
|
||||
|
||||
def get_vin(self):
|
||||
if self.got_vin:
|
||||
try:
|
||||
self.vin = self.dat[3:].decode('utf8')
|
||||
except UnicodeDecodeError:
|
||||
pass # have seen unexpected non-unicode characters
|
||||
# only report vin if procedure is finished
|
||||
if self.step == len(self.cnts) and self.cnt == self.cnts[-1]:
|
||||
self.vin = "".join(self.dat[3:])
|
||||
return self.vin
|
||||
|
||||
|
||||
@@ -84,13 +82,11 @@ def get_vin(logcan, sendcan, bus, query_time=1.):
|
||||
frame = 0
|
||||
|
||||
# 1s max of VIN query time
|
||||
while frame < query_time * 100 and not vin_query.got_vin:
|
||||
a = messaging.get_one_can(logcan)
|
||||
while frame < query_time * 100:
|
||||
a = messaging.recv_one(logcan)
|
||||
|
||||
for can in a.can:
|
||||
vin_query.check_response(can)
|
||||
if vin_query.got_vin:
|
||||
break
|
||||
|
||||
vin_query.send_query(sendcan)
|
||||
frame += 1
|
||||
@@ -99,6 +95,7 @@ def get_vin(logcan, sendcan, bus, query_time=1.):
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
logcan = messaging.sub_sock('can')
|
||||
sendcan = messaging.pub_sock('sendcan')
|
||||
print(get_vin(logcan, sendcan, 0))
|
||||
from selfdrive.services import service_list
|
||||
logcan = messaging.sub_sock(service_list['can'].port)
|
||||
sendcan = messaging.pub_sock(service_list['sendcan'].port)
|
||||
print get_vin(logcan, sendcan, 0)
|
||||
@@ -1,21 +0,0 @@
|
||||
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.
|
||||
@@ -1,92 +0,0 @@
|
||||
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.
|
||||
Binary file not shown.
Binary file not shown.
@@ -334,6 +334,12 @@
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansSymbols-Regular-Subsetted.ttf</font>
|
||||
</family>
|
||||
<family lang="zh-Hans">
|
||||
<font weight="400" style="normal">NotoSansSC-Regular.otf</font>
|
||||
</family>
|
||||
<family lang="zh-Hant">
|
||||
<font weight="400" style="normal">NotoSansTC-Regular.otf</font>
|
||||
</family>
|
||||
<family lang="ja">
|
||||
<font weight="400" style="normal">NotoSansJP-Regular.otf</font>
|
||||
</family>
|
||||
@@ -346,15 +352,8 @@
|
||||
<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>
|
||||
<font weight="400" style="normal">Miui-Regular.ttf</font>
|
||||
</family>
|
||||
<family lang="ja">
|
||||
<font weight="400" style="normal">MTLmr3m.ttf</font>
|
||||
|
||||
@@ -1,67 +1,48 @@
|
||||
#!/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.
|
||||
#
|
||||
###############################################################################
|
||||
# Anndroid system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
|
||||
lang=en
|
||||
|
||||
|
||||
# Android system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
|
||||
lang=zh-TW
|
||||
|
||||
update_font=0
|
||||
update_font_reg=0
|
||||
update_font_bold=0
|
||||
remove_old_font=0
|
||||
|
||||
# check regular font
|
||||
if [ ! -f "/system/fonts/NotoSansCJKtc-Regular.otf" ]; then
|
||||
update_font=1
|
||||
if [ ! -f "/system/fonts/Miui-Regular.ttf" ]; then
|
||||
update_font_reg=1
|
||||
fi
|
||||
|
||||
# check miui font
|
||||
if ls /system/fonts/Miui*.ttf 1> /dev/null 2>&1; then
|
||||
# check bold font
|
||||
if [ ! -f "/system/fonts/Miui-Bold.ttf" ]; then
|
||||
update_font_bold=1
|
||||
fi
|
||||
|
||||
# check droidsans font
|
||||
if ls /system/fonts/DroidSansFallback*.ttf 1> /dev/null 2>&1; then
|
||||
remove_old_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
|
||||
if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ] || [ $remove_old_font -eq "1" ]; then
|
||||
# sleep 3 secs in case, make sure the /system is remountable
|
||||
sleep 3
|
||||
mount -o remount,rw /system
|
||||
if [ $update_font -eq "1" ]; then
|
||||
# install font
|
||||
cp -rf /data/openpilot/dragonpilot/chinese-fonts/NotoSansCJKtc-* /system/fonts/
|
||||
# install font mapping
|
||||
cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
|
||||
# change permissions
|
||||
if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ]; then
|
||||
# download regular font
|
||||
if [ $update_font_reg -eq "1" ]; then
|
||||
yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Regular.ttf /system/fonts/Miui-Regular.ttf
|
||||
fi
|
||||
# download bold font
|
||||
if [ $update_font_bold -eq "1" ]; then
|
||||
yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Bold.ttf /system/fonts/Miui-Bold.ttf
|
||||
fi
|
||||
# dont new font mapping
|
||||
yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
|
||||
chmod 644 /system/etc/fonts.xml
|
||||
chmod 644 /system/fonts/NotoSansCJKtc-*
|
||||
chmod 644 /system/fonts/Miui-*
|
||||
fi
|
||||
# remove miui font
|
||||
# remove driodsans font
|
||||
if [ $remove_old_font -eq "1" ]; then
|
||||
rm -fr /system/fonts/Miui*.ttf
|
||||
rm -fr /system/fonts/DroidSansFallback*.ttf
|
||||
fi
|
||||
mount -o remount,r /system
|
||||
# change system locale
|
||||
|
||||
@@ -31,9 +31,9 @@ FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
|
||||
.PHONY: all
|
||||
all: updater
|
||||
|
||||
OBJS = NotoSansCJKtc-Regular.otf.o \
|
||||
NotoSansCJKtc-Medium.otf.o \
|
||||
NotoSansCJKtc-Bold.otf.o \
|
||||
OBJS = opensans_regular.ttf.o \
|
||||
opensans_semibold.ttf.o \
|
||||
opensans_bold.ttf.o \
|
||||
../../selfdrive/common/touch.o \
|
||||
../../selfdrive/common/framebuffer.o \
|
||||
$(PHONELIBS)/json11/json11.o \
|
||||
@@ -52,15 +52,15 @@ updater: updater.o $(OBJS)
|
||||
-lcutils -lm -llog
|
||||
strip updater
|
||||
|
||||
NotoSansCJKtc-Regular.otf.o: ../../selfdrive/assets/fonts/NotoSansCJKtc-Regular.otf
|
||||
opensans_regular.ttf.o: ../../selfdrive/assets/fonts/opensans_regular.ttf
|
||||
@echo "[ bin2o ] $@"
|
||||
cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
|
||||
|
||||
NotoSansCJKtc-Bold.otf.o: ../../selfdrive/assets/fonts/NotoSansCJKtc-Bold.otf
|
||||
opensans_bold.ttf.o: ../../selfdrive/assets/fonts/opensans_bold.ttf
|
||||
@echo "[ bin2o ] $@"
|
||||
cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
|
||||
|
||||
NotoSansCJKtc-Medium.otf.o: ../../selfdrive/assets/fonts/NotoSansCJKtc-Medium.otf
|
||||
opensans_semibold.ttf.o: ../../selfdrive/assets/fonts/opensans_semibold.ttf
|
||||
@echo "[ bin2o ] $@"
|
||||
cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
{
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-07df505453684371b6c22583ffbb74ee414fcd389a46ff369ffd1b6bac75414e.zip",
|
||||
"ota_hash": "07df505453684371b6c22583ffbb74ee414fcd389a46ff369ffd1b6bac75414e",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-3a6f973295ded6e4ff5cfff3b12e19c80d3bf45e2e8dd8699da3fc25b23ed7c6.img",
|
||||
"recovery_len": 15848748,
|
||||
"recovery_hash": "3a6f973295ded6e4ff5cfff3b12e19c80d3bf45e2e8dd8699da3fc25b23ed7c6"
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11.zip",
|
||||
"ota_hash": "4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662.img",
|
||||
"recovery_len": 15136044,
|
||||
"recovery_hash": "31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662"
|
||||
}
|
||||
|
||||
Binary file not shown.
+42
-104
@@ -43,12 +43,12 @@ const char *manifest_url = MANIFEST_URL_EON;
|
||||
|
||||
#define UPDATE_DIR "/data/neoupdate"
|
||||
|
||||
extern const uint8_t bin_opensans_regular[] asm("_binary_NotoSansCJKtc_Regular_otf_start");
|
||||
extern const uint8_t bin_opensans_regular_end[] asm("_binary_NotoSansCJKtc_Regular_otf_end");
|
||||
extern const uint8_t bin_opensans_semibold[] asm("_binary_NotoSansCJKtc_Medium_otf_start");
|
||||
extern const uint8_t bin_opensans_semibold_end[] asm("_binary_NotoSansCJKtc_Medium_otf_end");
|
||||
extern const uint8_t bin_opensans_bold[] asm("_binary_NotoSansCJKtc_Bold_otf_start");
|
||||
extern const uint8_t bin_opensans_bold_end[] asm("_binary_NotoSansCJKtc_Bold_otf_end");
|
||||
extern const uint8_t bin_opensans_regular[] asm("_binary_opensans_regular_ttf_start");
|
||||
extern const uint8_t bin_opensans_regular_end[] asm("_binary_opensans_regular_ttf_end");
|
||||
extern const uint8_t bin_opensans_semibold[] asm("_binary_opensans_semibold_ttf_start");
|
||||
extern const uint8_t bin_opensans_semibold_end[] asm("_binary_opensans_semibold_ttf_end");
|
||||
extern const uint8_t bin_opensans_bold[] asm("_binary_opensans_bold_ttf_start");
|
||||
extern const uint8_t bin_opensans_bold_end[] asm("_binary_opensans_bold_ttf_end");
|
||||
|
||||
namespace {
|
||||
|
||||
@@ -117,19 +117,11 @@ size_t download_file_write(void *ptr, size_t size, size_t nmeb, void *up) {
|
||||
return fwrite(ptr, size, nmeb, (FILE*)up);
|
||||
}
|
||||
|
||||
int battery_capacity() {
|
||||
std::string bat_cap_s = util::read_file("/sys/class/power_supply/battery/capacity");
|
||||
return atoi(bat_cap_s.c_str());
|
||||
}
|
||||
|
||||
int battery_current() {
|
||||
std::string current_now_s = util::read_file("/sys/class/power_supply/battery/current_now");
|
||||
return atoi(current_now_s.c_str());
|
||||
}
|
||||
|
||||
bool check_battery() {
|
||||
int bat_cap = battery_capacity();
|
||||
int current_now = battery_current();
|
||||
std::string bat_cap_s = util::read_file("/sys/class/power_supply/battery/capacity");
|
||||
int bat_cap = atoi(bat_cap_s.c_str());
|
||||
std::string current_now_s = util::read_file("/sys/class/power_supply/battery/current_now");
|
||||
int current_now = atoi(current_now_s.c_str());
|
||||
return bat_cap > 35 || (current_now < 0 && bat_cap > 10);
|
||||
}
|
||||
|
||||
@@ -171,7 +163,6 @@ struct Updater {
|
||||
// i hate state machines give me coroutines already
|
||||
enum UpdateState {
|
||||
CONFIRMATION,
|
||||
LOW_BATTERY,
|
||||
RUNNING,
|
||||
ERROR,
|
||||
};
|
||||
@@ -182,12 +173,6 @@ struct Updater {
|
||||
|
||||
std::string error_text;
|
||||
|
||||
std::string low_battery_text;
|
||||
std::string low_battery_title;
|
||||
std::string low_battery_context;
|
||||
std::string battery_cap_text;
|
||||
int min_battery_cap = 35;
|
||||
|
||||
// button
|
||||
int b_x, b_w, b_y, b_h;
|
||||
int balt_x;
|
||||
@@ -311,31 +296,21 @@ struct Updater {
|
||||
state = ERROR;
|
||||
}
|
||||
|
||||
void set_battery_low() {
|
||||
std::lock_guard<std::mutex> guard(lock);
|
||||
state = LOW_BATTERY;
|
||||
}
|
||||
|
||||
void set_running() {
|
||||
std::lock_guard<std::mutex> guard(lock);
|
||||
state = RUNNING;
|
||||
}
|
||||
|
||||
std::string stage_download(std::string url, std::string hash, std::string name) {
|
||||
std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
|
||||
|
||||
set_progress("下載 " + name + " 中...");
|
||||
set_progress("Downloading " + name + "...");
|
||||
bool r = download_file(url, out_fn);
|
||||
if (!r) {
|
||||
set_error("無法下載 " + name);
|
||||
set_error("failed to download " + name);
|
||||
return "";
|
||||
}
|
||||
|
||||
set_progress("驗證 " + name + " 中...");
|
||||
set_progress("Verifying " + name + "...");
|
||||
std::string fn_hash = sha256_file(out_fn);
|
||||
printf("得到 %s hash: %s\n", name.c_str(), hash.c_str());
|
||||
printf("got %s hash: %s\n", name.c_str(), hash.c_str());
|
||||
if (fn_hash != hash) {
|
||||
set_error(name + " 已損壞");
|
||||
set_error(name + " was corrupt");
|
||||
unlink(out_fn.c_str());
|
||||
return "";
|
||||
}
|
||||
@@ -348,18 +323,12 @@ struct Updater {
|
||||
assert(curl);
|
||||
|
||||
if (!check_battery()) {
|
||||
set_battery_low();
|
||||
int battery_cap = battery_capacity();
|
||||
while(battery_cap < min_battery_cap) {
|
||||
battery_cap = battery_capacity();
|
||||
battery_cap_text = std::to_string(battery_cap);
|
||||
usleep(1000000);
|
||||
}
|
||||
set_running();
|
||||
set_error("Please plug power in to your EON and wait for charge");
|
||||
return;
|
||||
}
|
||||
|
||||
if (!check_space()) {
|
||||
set_error("您需要至少 2GB 的空間進行升級");
|
||||
set_error("2GB of free space required to update");
|
||||
return;
|
||||
}
|
||||
|
||||
@@ -367,7 +336,7 @@ struct Updater {
|
||||
|
||||
const int EON = (access("/EON", F_OK) != -1);
|
||||
|
||||
set_progress("尋找最新的版本...");
|
||||
set_progress("Finding latest version...");
|
||||
std::string manifest_s;
|
||||
if (EON) {
|
||||
manifest_s = download_string(curl, manifest_url);
|
||||
@@ -376,12 +345,12 @@ struct Updater {
|
||||
exit(0);
|
||||
}
|
||||
|
||||
printf("宣示說明: %s\n", manifest_s.c_str());
|
||||
printf("manifest: %s\n", manifest_s.c_str());
|
||||
|
||||
std::string err;
|
||||
auto manifest = json11::Json::parse(manifest_s, err);
|
||||
if (manifest.is_null() || !err.empty()) {
|
||||
set_error("無法載入新的宣示說明");
|
||||
set_error("failed to load update manifest");
|
||||
return;
|
||||
}
|
||||
|
||||
@@ -396,7 +365,7 @@ struct Updater {
|
||||
// std::string installer_hash = manifest["installer_hash"].string_value();
|
||||
|
||||
if (ota_url.empty() || ota_hash.empty()) {
|
||||
set_error("錯誤的宣示說明");
|
||||
set_error("invalid update manifest");
|
||||
return;
|
||||
}
|
||||
|
||||
@@ -408,12 +377,12 @@ struct Updater {
|
||||
|
||||
std::string recovery_fn;
|
||||
if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
|
||||
set_progress("跳過 recovery 更新...");
|
||||
set_progress("Skipping recovery flash...");
|
||||
} else {
|
||||
// only download the recovery if it differs from what's flashed
|
||||
set_progress("檢查 recovery...");
|
||||
set_progress("Checking recovery...");
|
||||
std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
|
||||
printf("目前 recovery 的 hash: %s\n", existing_recovery_hash.c_str());
|
||||
printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
|
||||
|
||||
if (existing_recovery_hash != recovery_hash) {
|
||||
recovery_fn = stage_download(recovery_url, recovery_hash, "recovery");
|
||||
@@ -431,30 +400,24 @@ struct Updater {
|
||||
}
|
||||
|
||||
if (!check_battery()) {
|
||||
set_battery_low();
|
||||
int battery_cap = battery_capacity();
|
||||
while(battery_cap < min_battery_cap) {
|
||||
battery_cap = battery_capacity();
|
||||
battery_cap_text = std::to_string(battery_cap);
|
||||
usleep(1000000);
|
||||
}
|
||||
set_running();
|
||||
set_error("must have at least 35% battery to update");
|
||||
return;
|
||||
}
|
||||
|
||||
if (!recovery_fn.empty()) {
|
||||
// flash recovery
|
||||
set_progress("刷新 recovery...");
|
||||
set_progress("Flashing recovery...");
|
||||
|
||||
FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
|
||||
if (!flash_file) {
|
||||
set_error("刷新 recovery 失敗");
|
||||
set_error("failed to flash recovery");
|
||||
return;
|
||||
}
|
||||
|
||||
FILE *recovery_dev = fopen(RECOVERY_DEV, "w+b");
|
||||
if (!recovery_dev) {
|
||||
fclose(flash_file);
|
||||
set_error("刷新 recovery 失敗");
|
||||
set_error("failed to flash recovery");
|
||||
return;
|
||||
}
|
||||
|
||||
@@ -469,7 +432,7 @@ struct Updater {
|
||||
if (bytes_read != bytes_written) {
|
||||
fclose(recovery_dev);
|
||||
fclose(flash_file);
|
||||
set_error("刷新 recovery 失敗: 無法寫入");
|
||||
set_error("failed to flash recovery: write failed");
|
||||
return;
|
||||
}
|
||||
}
|
||||
@@ -477,12 +440,12 @@ struct Updater {
|
||||
fclose(recovery_dev);
|
||||
fclose(flash_file);
|
||||
|
||||
set_progress("驗證新的 recovery...");
|
||||
set_progress("Verifying flash...");
|
||||
std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
|
||||
printf("新的 recovery hash: %s\n", new_recovery_hash.c_str());
|
||||
printf("new recovery hash: %s\n", new_recovery_hash.c_str());
|
||||
|
||||
if (new_recovery_hash != recovery_hash) {
|
||||
set_error("刷新 recovery 失敗");
|
||||
set_error("recovery flash corrupted");
|
||||
return;
|
||||
}
|
||||
|
||||
@@ -491,13 +454,13 @@ struct Updater {
|
||||
// write arguments to recovery
|
||||
FILE *cmd_file = fopen(RECOVERY_COMMAND, "wb");
|
||||
if (!cmd_file) {
|
||||
set_error("無法重啟至 recovery");
|
||||
set_error("failed to reboot into recovery");
|
||||
return;
|
||||
}
|
||||
fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
|
||||
fclose(cmd_file);
|
||||
|
||||
set_progress("重新啟動");
|
||||
set_progress("Rebooting");
|
||||
|
||||
// remove the continue.sh so we come back into the setup.
|
||||
// maybe we should go directly into the installer, but what if we don't come back with internet? :/
|
||||
@@ -563,27 +526,6 @@ struct Updater {
|
||||
}
|
||||
}
|
||||
|
||||
void draw_battery_screen() {
|
||||
low_battery_title = "電量過低";
|
||||
low_battery_text = "請將您的 EON 充電。當電量達到 35% 時系統將會繼續更新。";
|
||||
low_battery_context = "目前的電量為: " + battery_cap_text + "%";
|
||||
|
||||
nvgFillColor(vg, nvgRGBA(255,255,255,255));
|
||||
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
||||
|
||||
nvgFontFace(vg, "opensans_bold");
|
||||
nvgFontSize(vg, 120.0f);
|
||||
nvgTextBox(vg, 110, 220, fb_w-240, low_battery_title.c_str(), NULL);
|
||||
|
||||
nvgFontFace(vg, "opensans_regular");
|
||||
nvgFontSize(vg, 86.0f);
|
||||
nvgTextBox(vg, 130, 380, fb_w-260, low_battery_text.c_str(), NULL);
|
||||
|
||||
nvgFontFace(vg, "opensans_bold");
|
||||
nvgFontSize(vg, 86.0f);
|
||||
nvgTextBox(vg, 130, 700, fb_w-260, low_battery_context.c_str(), NULL);
|
||||
}
|
||||
|
||||
void draw_progress_screen() {
|
||||
// draw progress message
|
||||
nvgFontSize(vg, 64.0f);
|
||||
@@ -603,7 +545,7 @@ struct Updater {
|
||||
int powerprompt_y = 312;
|
||||
nvgFontFace(vg, "opensans_regular");
|
||||
nvgFontSize(vg, 64.0f);
|
||||
nvgText(vg, fb_w/2, 740, "請確保您的 EON 已接上充電器。", NULL);
|
||||
nvgText(vg, fb_w/2, 740, "Ensure EON is connected to power.", NULL);
|
||||
|
||||
NVGpaint paint = nvgBoxGradient(
|
||||
vg, progress_x + 1, progress_y + 1,
|
||||
@@ -637,19 +579,16 @@ struct Updater {
|
||||
|
||||
switch (state) {
|
||||
case CONFIRMATION:
|
||||
draw_ack_screen("NEOS 需要更新。",
|
||||
"您的設備將在點擊繼續後開始更新。\n更新檔約為 1GB 我們建議您先連接至無線網路。\n設備上現有的檔案不會丟失。",
|
||||
"繼續",
|
||||
"連線至無線網路");
|
||||
break;
|
||||
case LOW_BATTERY:
|
||||
draw_battery_screen();
|
||||
draw_ack_screen("An update to NEOS is required.",
|
||||
"Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB. Existing data on device should not be lost.",
|
||||
"Continue",
|
||||
"Connect to WiFi");
|
||||
break;
|
||||
case RUNNING:
|
||||
draw_progress_screen();
|
||||
break;
|
||||
case ERROR:
|
||||
draw_ack_screen("發生錯誤", (error_text).c_str(), NULL, "重新啟動");
|
||||
draw_ack_screen("There was an error.", ("ERROR: " + error_text + "\n\nYou will need to retry").c_str(), NULL, "exit");
|
||||
break;
|
||||
}
|
||||
|
||||
@@ -709,7 +648,6 @@ struct Updater {
|
||||
glDisable(GL_BLEND);
|
||||
|
||||
eglSwapBuffers(display, surface);
|
||||
|
||||
assert(glGetError() == GL_NO_ERROR);
|
||||
|
||||
// no simple way to do 30fps vsync with surfaceflinger...
|
||||
|
||||
+14
-29
@@ -11,16 +11,19 @@ if [ -z "$PASSIVE" ]; then
|
||||
fi
|
||||
|
||||
function launch {
|
||||
# Wifi scan
|
||||
wpa_cli IFNAME=wlan0 SCAN
|
||||
|
||||
## apply update
|
||||
#if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
|
||||
# git reset --hard @{u} &&
|
||||
# git clean -xdf &&
|
||||
#
|
||||
# exec "${BASH_SOURCE[0]}"
|
||||
#fi
|
||||
# apply update
|
||||
# if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
|
||||
# git reset --hard @{u} &&
|
||||
# git clean -xdf &&
|
||||
#
|
||||
# # Touch all files on release2 after checkout to prevent rebuild
|
||||
# BRANCH=$(git rev-parse --abbrev-ref HEAD)
|
||||
# if [[ "$BRANCH" == "release2" ]]; then
|
||||
# touch **
|
||||
# fi
|
||||
#
|
||||
# exec "${BASH_SOURCE[0]}"
|
||||
# fi
|
||||
|
||||
# no cpu rationing for now
|
||||
echo 0-3 > /dev/cpuset/background/cpus
|
||||
@@ -29,26 +32,8 @@ function launch {
|
||||
echo 0-3 > /dev/cpuset/foreground/cpus
|
||||
echo 0-3 > /dev/cpuset/android/cpus
|
||||
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
# Remove old NEOS update file
|
||||
if [ -d /data/neoupdate ]; then
|
||||
rm -rf /data/neoupdate
|
||||
fi
|
||||
|
||||
# Check for NEOS update
|
||||
if [ $(< /VERSION) != "13" ]; then
|
||||
if [ -f "$DIR/scripts/continue.sh" ]; then
|
||||
cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
|
||||
fi
|
||||
|
||||
git clean -xdf
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
|
||||
fi
|
||||
|
||||
|
||||
# handle pythonpath
|
||||
ln -sfn $(pwd) /data/pythonpath
|
||||
ln -s /data/openpilot /data/pythonpath
|
||||
export PYTHONPATH="$PWD"
|
||||
|
||||
# start manager
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1,10 +1,2 @@
|
||||
*.pyc
|
||||
*.os
|
||||
*.tmp
|
||||
.*.swp
|
||||
can/*.so
|
||||
can/build/
|
||||
can/obj/
|
||||
can/packer_pyx.cpp
|
||||
can/parser_pyx.cpp
|
||||
can/packer_impl.cpp
|
||||
|
||||
@@ -1,25 +0,0 @@
|
||||
from ubuntu:16.04
|
||||
|
||||
RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
|
||||
|
||||
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
|
||||
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
|
||||
RUN pyenv install 3.7.3
|
||||
RUN pyenv global 3.7.3
|
||||
RUN pyenv rehash
|
||||
|
||||
COPY requirements.txt /tmp/
|
||||
RUN pip install -r /tmp/requirements.txt
|
||||
|
||||
ENV PYTHONPATH=/project
|
||||
|
||||
# TODO: Add tag to cereal
|
||||
RUN git clone https://github.com/commaai/cereal.git /project/cereal
|
||||
RUN /project/cereal/install_capnp.sh
|
||||
|
||||
WORKDIR /project
|
||||
|
||||
COPY SConstruct .
|
||||
COPY . /project/opendbc
|
||||
|
||||
RUN scons -c && scons -j$(nproc)
|
||||
+1
-1
@@ -42,7 +42,7 @@ For example:
|
||||
SG_ VEHICLE_SPEED : 7|15@0+ (0.01,0) [0|250] "kph" PCM
|
||||
```
|
||||
|
||||
- Signal size: always use the smallest amount of bits possible. For example, let's say I'm reverse engineering the gas pedal position and I've determined that it's in a 3 bytes message. For 0% pedal position I read a message value of `0x00 0x00 0x00`, while for 100% of pedal position I read `0x64 0x00 0x00`: clearly, the gas pedal position is within the first byte of the message and I might be tempted to define the signal `GAS_POS` as:
|
||||
- Signal's size: always use the smallest amount of bits possible. For example, let's say I'm reverse engineering the gas pedal position and I've determined that it's in a 3 bytes message. For 0% pedal position I read a message value of `0x00 0x00 0x00`, while for 100% of pedal position I read `0x64 0x00 0x00`: clearly, the gas pedal position is within the first byte of the message and I might be tempted to define the signal `GAS_POS` as:
|
||||
```
|
||||
SG_ GAS_POS : 7|8@0+ (1,0) [0|100] "%" PCM
|
||||
```
|
||||
|
||||
@@ -1,57 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
|
||||
zmq = 'zmq'
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
|
||||
cpppath = [
|
||||
'#',
|
||||
'#cereal',
|
||||
"#cereal/messaging",
|
||||
"#opendbc/can",
|
||||
'/usr/lib/include',
|
||||
]
|
||||
|
||||
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",
|
||||
"-Werror=implicit-function-declaration",
|
||||
"-Werror=incompatible-pointer-types",
|
||||
"-Werror=int-conversion",
|
||||
"-Werror=return-type",
|
||||
"-Werror=format-extra-args",
|
||||
] + ccflags_asan,
|
||||
LDFLAGS=ldflags_asan,
|
||||
LINKFLAGS=ldflags_asan,
|
||||
|
||||
CFLAGS="-std=gnu11",
|
||||
CXXFLAGS="-std=c++14",
|
||||
CPPPATH=cpppath,
|
||||
)
|
||||
|
||||
Export('env', 'zmq', 'arch')
|
||||
|
||||
cereal = [File('#cereal/libcereal.a')]
|
||||
messaging = [File('#cereal/libmessaging.a')]
|
||||
Export('cereal', 'messaging')
|
||||
|
||||
SConscript(['cereal/SConscript'])
|
||||
SConscript(['opendbc/can/SConscript'])
|
||||
@@ -78,7 +78,6 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
@@ -124,7 +123,7 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
@@ -164,7 +163,7 @@ BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_OFF_2 : 35|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH_2 : 35|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
|
||||
@@ -174,12 +173,10 @@ BO_ 780 ACC_HUD: 8 ADAS
|
||||
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_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
|
||||
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
|
||||
|
||||
@@ -229,7 +226,6 @@ BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
@@ -239,7 +235,6 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
@@ -273,8 +268,8 @@ BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 399 STEER_STATUS: 7 EPS
|
||||
SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" 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_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user