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@@ -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.
|
||||
+34
-8
@@ -1,4 +1,6 @@
|
||||
venv/
|
||||
.env
|
||||
.clang-format
|
||||
.DS_Store
|
||||
.tags
|
||||
.ipynb_checkpoints
|
||||
@@ -6,9 +8,10 @@ venv/
|
||||
.overlay_init
|
||||
.overlay_consistent
|
||||
.sconsign.dblite
|
||||
.vscode
|
||||
.vscode*
|
||||
model2.png
|
||||
a.out
|
||||
.hypothesis
|
||||
|
||||
*.dylib
|
||||
*.DSYM
|
||||
@@ -31,21 +34,20 @@ a.out
|
||||
*.vcd
|
||||
config.json
|
||||
clcache
|
||||
compile_commands.json
|
||||
|
||||
persist
|
||||
board/obj/
|
||||
selfdrive/boardd/boardd
|
||||
selfdrive/logcatd/logcatd
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
selfdrive/proclogd/proclogd
|
||||
system/proclogd/proclogd
|
||||
selfdrive/ui/_ui
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/visiond/visiond
|
||||
selfdrive/loggerd/loggerd
|
||||
selfdrive/sensord/_gpsd
|
||||
selfdrive/sensord/_sensord
|
||||
selfdrive/camerad/camerad
|
||||
system/camerad/camerad
|
||||
system/camerad/test/ae_gray_test
|
||||
selfdrive/modeld/_modeld
|
||||
selfdrive/modeld/_navmodeld
|
||||
selfdrive/modeld/_dmonitoringmodeld
|
||||
/src/
|
||||
|
||||
@@ -53,10 +55,34 @@ one
|
||||
openpilot
|
||||
notebooks
|
||||
xx
|
||||
yy
|
||||
hyperthneed
|
||||
panda_jungle
|
||||
provisioning
|
||||
|
||||
.coverage*
|
||||
coverage.xml
|
||||
coverage.xmlcar
|
||||
htmlcov
|
||||
pandaextra
|
||||
|
||||
.mypy_cache/
|
||||
flycheck_*
|
||||
|
||||
cppcheck_report.txt
|
||||
comma*.sh
|
||||
|
||||
selfdrive/modeld/thneed/compile
|
||||
selfdrive/modeld/models/*.thneed
|
||||
|
||||
*.bz2
|
||||
|
||||
build/
|
||||
|
||||
!**/.gitkeep
|
||||
|
||||
poetry.toml
|
||||
selfdrive/ui/_ui_nonav
|
||||
*.po~
|
||||
selfdrive/loggerd/bootlog
|
||||
selfdrive/loggerd/loggerd
|
||||
selfdrive/proclogd/proclogd
|
||||
|
||||
@@ -1,436 +0,0 @@
|
||||
dragonpilot 0.7.5.4
|
||||
========================
|
||||
* 加入 2018 skoda kodiaq 指紋v1。(感謝 @Gold 提供)
|
||||
* Added 2018 skoda kodiaq FPv1. (Thanks to @Gold)
|
||||
* 移除方向盤監控設定。(無法取消/關閉方向盤監控)
|
||||
* Removed Steering monitor timer adjustment in code (timer in settings will no longer work.)
|
||||
* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
|
||||
* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
|
||||
|
||||
dragonpilot 0.7.5.3
|
||||
========================
|
||||
* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
|
||||
* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
|
||||
* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
|
||||
* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
|
||||
* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
|
||||
* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
|
||||
* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
|
||||
* Fixed issue showing "pedalPressed" error. (Thanks to @Wei)
|
||||
* 將剎車狀熊顯示於 dp 資訊欄。
|
||||
* Added brake indicator to dp infobar.
|
||||
* 修正「溫度監控」燈示。
|
||||
* Fixed "Temp monitor" indicator.
|
||||
* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
|
||||
* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
|
||||
* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
|
||||
* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22)
|
||||
|
||||
dragonpilot 0.7.5.2
|
||||
========================
|
||||
* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
|
||||
* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
|
||||
* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
|
||||
* Updated to stop charging after 3 hrs. (Thanks to @Wei)
|
||||
* 移除行車記錄下的「碰撞偵測」功能。
|
||||
* Removed Impact Detection in Dashcam.
|
||||
* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
|
||||
* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
|
||||
* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
|
||||
* Fixed alert issue in waze mode. (Thanks to @axandres)
|
||||
* 修正無法顯示更新中圖示的問題。
|
||||
* Fixed unable to display "UPDATING" icon issue.
|
||||
* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
|
||||
* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
|
||||
* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
|
||||
* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
|
||||
* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
|
||||
* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
|
||||
|
||||
dragonpilot 0.7.5.1
|
||||
========================
|
||||
* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
|
||||
* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林)
|
||||
* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
|
||||
* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
|
||||
* 更新 appd 使用 cnpmjs 來下載 APKs。
|
||||
* Updated appd to use cnpmjs to download APKs.
|
||||
* 修正更新服務。(感謝 @Wei)
|
||||
* Fixed Update Service. (Thanks to @Wei)
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
|
||||
* 新增「通過移動網路上傳」開關
|
||||
* Added Upload Over Mobile Network toggle.
|
||||
* 新增「通過熱點上傳」開關
|
||||
* Added Upload Over Hotspot toggle.
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
|
||||
* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
|
||||
* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
|
||||
|
||||
dragonpilot 0.7.5.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.5 devel-staging.
|
||||
* Based on latest openpilot 0.7.5 devel-staging.
|
||||
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
|
||||
* Updated dp logo, special thanks to @wabes for the design.
|
||||
* 簡/繁中文版和 i18n 整合成為單一版本。
|
||||
* Merged zhs/zht/i18n versions into one.
|
||||
* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
|
||||
* Added China Camery Hybrid FPv2. (Thanks to @杜子腾)
|
||||
* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
|
||||
* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
|
||||
* 新增行駛時關閉畫面功能。
|
||||
* Added Screen off while driving feature.
|
||||
* 新增倒車時關閉畫面功能。
|
||||
* Added Screen off while reversing feature.
|
||||
* 新增駕駛介面加入「加速模式」切換鈕。
|
||||
* Added acceleration profile toggle onto driving UI.
|
||||
* 新增自定車型功能，取代指紋暫存功能。
|
||||
* Replaced fingerprint cache with custom car model selector.
|
||||
* 新增可調亮度。
|
||||
* Added Brightness changer.
|
||||
* 新增部分德語支持。(特別感謝 @arne182 提供)
|
||||
* Added partial de_DE language support (Thanks to @arne182)
|
||||
* 新增停車碰撞偵測記錄功能。
|
||||
* Added off road impact detection to dashcam.
|
||||
|
||||
2020-05-06
|
||||
========================
|
||||
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
|
||||
* 中文版整合進 i18n 版。
|
||||
* 刪除指紋暫存功能。
|
||||
* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾)
|
||||
* 新增行駛時關閉畫面功能。
|
||||
* 新增倒車時關閉畫面功能。
|
||||
* 新增駕駛介面加入「加速模式」切換鈕。
|
||||
* 新增自定義車型。
|
||||
|
||||
2020-04-16
|
||||
========================
|
||||
* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai)
|
||||
* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip)
|
||||
* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip)
|
||||
* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip)
|
||||
* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助)
|
||||
|
||||
2020-04-13
|
||||
========================
|
||||
* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR)
|
||||
* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議)
|
||||
* [DEVEL] 更新 update script。(感謝 深鯨希西 回報)
|
||||
|
||||
2020-04-10
|
||||
========================
|
||||
* [DEVEL] 更新 panda 至最新的 comma:master 分支。
|
||||
* [DEVEL] 移除所有的第三方應用改為自動下載。
|
||||
* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
|
||||
|
||||
2020-03-31
|
||||
========================
|
||||
* [DEVEL] 更新至 2020-03-31 testing 分支。
|
||||
|
||||
2020-03-27
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支:
|
||||
* 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
|
||||
* 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
|
||||
* 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
|
||||
* 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
|
||||
* 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
|
||||
* 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
|
||||
* 加入韓文支持。(感謝 crwusiz 提供)
|
||||
* 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
|
||||
|
||||
2020-03-22
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支。
|
||||
|
||||
2020-03-17
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。
|
||||
* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
|
||||
|
||||
2020-03-14
|
||||
========================
|
||||
* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
|
||||
* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議)
|
||||
* [DEVEL] 調高 Toyota 扭力容錯值。
|
||||
* [DEVEL] 優化讀取 dp 設定值。
|
||||
* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
|
||||
* [DEVEL] dp 功能加入對 Subaru 車系的支援。
|
||||
|
||||
2020-03-06
|
||||
========================
|
||||
* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供)
|
||||
* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
|
||||
* [DEVEL] 建立 devel-i18n 取代 devel-en。
|
||||
* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead.
|
||||
|
||||
2020-03-04
|
||||
========================
|
||||
* [DEVEL] 加入顯示駕駛監控畫面。
|
||||
* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
|
||||
* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
|
||||
|
||||
2020-02-25
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
|
||||
|
||||
2020-02-21
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
|
||||
|
||||
2020-02-14
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
|
||||
* [DEVEL] 修正錯誤。
|
||||
|
||||
2020-02-08
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
|
||||
* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。
|
||||
* [DEVEL] 加入神盾測速照相自動啟動的開關。
|
||||
* [DEVEL] 更新高德地圖至 v4.5.0.600053。
|
||||
* [DEVEL] 使用 0.6.6 版的更新系統。
|
||||
* [DEVEL] 修正急剎問題。(感謝 kumar 提供)
|
||||
|
||||
2020-01-31
|
||||
========================
|
||||
* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
|
||||
|
||||
2020-01-29
|
||||
========================
|
||||
* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
|
||||
|
||||
2020-01-23
|
||||
========================
|
||||
* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
|
||||
* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
|
||||
* [DEVEL] 優化 appd。
|
||||
|
||||
2020-01-19
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
|
||||
* [DEVEL] 調整 appd 和 ALC 邏輯。
|
||||
|
||||
2020-01-14
|
||||
========================
|
||||
* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
|
||||
|
||||
2020-01-08
|
||||
========================
|
||||
* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
|
||||
* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
|
||||
|
||||
2019-12-31
|
||||
========================
|
||||
* [DEVEL-ZHS] 加回第三方應用。
|
||||
|
||||
2019-12-29
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
|
||||
* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
|
||||
* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
|
||||
|
||||
2019-12-18
|
||||
========================
|
||||
* [DEVEL] 修正自動換道邏輯。
|
||||
* [DEVEL] 更新 offroad 翻譯。
|
||||
* [DEVEL] 錯誤修正。
|
||||
* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
|
||||
|
||||
2019-12-17
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
|
||||
* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上)
|
||||
* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上)
|
||||
* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
|
||||
* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
|
||||
* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
|
||||
|
||||
2019-12-10
|
||||
========================
|
||||
* [DEVEL] 加入位智車機模式。 (Waze Mode)
|
||||
|
||||
2019-11-21
|
||||
========================
|
||||
* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報)
|
||||
* [DEVEL] 調整前車靜止移動偵測參數。
|
||||
* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。
|
||||
|
||||
2019-11-18
|
||||
========================
|
||||
* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
|
||||
|
||||
2019-11-18
|
||||
========================
|
||||
* [DEVEL] 修正 frame 翻譯。
|
||||
|
||||
2019-11-15
|
||||
========================
|
||||
* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應)
|
||||
|
||||
2019-11-15
|
||||
========================
|
||||
* [DEVEL] 修正充電控制。 (感謝 KT 反應)
|
||||
* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
|
||||
2019-11-12
|
||||
========================
|
||||
* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
|
||||
* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。
|
||||
|
||||
2019-11-12
|
||||
========================
|
||||
* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。
|
||||
|
||||
2019-11-11
|
||||
========================
|
||||
* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
|
||||
* [DEVEL] 更新 MiXplorer 至 v6.40.3
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
* [DEVEL] 前車靜止移動偵測加入偵測警示。
|
||||
|
||||
2019-11-07
|
||||
========================
|
||||
* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
|
||||
* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
|
||||
|
||||
2019-11-06
|
||||
========================
|
||||
* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
|
||||
2019-11-05
|
||||
========================
|
||||
* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
|
||||
|
||||
2019-11-01
|
||||
========================
|
||||
* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
|
||||
* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
|
||||
|
||||
2019-11-01
|
||||
========================
|
||||
* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。
|
||||
* [DEVEL] 更新 offroad 為多語言版
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
|
||||
2019-10-29
|
||||
========================
|
||||
* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智)
|
||||
|
||||
2019-10-28
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
|
||||
|
||||
2019-10-18
|
||||
========================
|
||||
* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
|
||||
* [DEVEL] 移除強迫網路連線提示。(感謝 Shell)
|
||||
* [DEVEL] 修正 allow_gas 功能。
|
||||
|
||||
2019-10-18
|
||||
========================
|
||||
* [DEVEL] 加入彎道減速功能開關。
|
||||
* [DEVEL] 強迫使用 dp 版 Panda 韌體。
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
|
||||
2019-10-17
|
||||
========================
|
||||
* [DEVEL] 加入「車型」顯示於 dp 設定畫面。
|
||||
* [DEVEL] 修正充電控制讀取預設值的錯誤。
|
||||
* [DEVEL] 修正無法顯示更新記錄的錯誤。
|
||||
|
||||
2019-10-16
|
||||
========================
|
||||
* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
|
||||
* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。
|
||||
* [DEVEL] 更新高德地圖至 v4.3.0
|
||||
* [DEVEL] 刪除 bs (Branch Switcher)
|
||||
|
||||
2019-10-14
|
||||
========================
|
||||
* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供)
|
||||
* [DEVEL] 清除不再使用的 dp params。
|
||||
* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議)
|
||||
* [DEVEL] 加入刷新 Panda 韌體按鈕。
|
||||
|
||||
2019-10-11
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
|
||||
|
||||
2019-10-09
|
||||
========================
|
||||
* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
|
||||
|
||||
2019-10-08
|
||||
========================
|
||||
* [DEVEL] 加回駕駛監控開關。
|
||||
* [DEVEL] 加入 bs (branch switcher) 程式。
|
||||
|
||||
2019-10-07
|
||||
========================
|
||||
* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
|
||||
|
||||
2019-10-05
|
||||
========================
|
||||
* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。
|
||||
|
||||
2019-09-30
|
||||
========================
|
||||
* [DEVEL] 更新 curvature learner 版本至 v4。
|
||||
* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor
|
||||
|
||||
2019-09-27
|
||||
========================
|
||||
* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
|
||||
* [DEVEL] 加入可開關駕駛監控的程式碼。
|
||||
* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
|
||||
* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
|
||||
|
||||
2019-09-26
|
||||
========================
|
||||
* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
|
||||
|
||||
2019-09-24
|
||||
========================
|
||||
* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
|
||||
* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
|
||||
|
||||
2019-09-23
|
||||
========================
|
||||
* [DEVEL] 優化讀取 params 的次數。
|
||||
* [DEVEL] 加入可開關的車道偏移警示。
|
||||
* [DEVEL] 修正充電控制邏輯。
|
||||
* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
|
||||
|
||||
2019-09-20
|
||||
========================
|
||||
* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
|
||||
|
||||
2019-09-16
|
||||
========================
|
||||
* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
|
||||
* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
|
||||
|
||||
2019-09-13
|
||||
========================
|
||||
* [DEVEL] 行車介面加入可開關的「速度顯示」設定。
|
||||
|
||||
2019-09-09
|
||||
========================
|
||||
* [DEVEL] 加入 GreyPanda 模式。
|
||||
|
||||
2019-08-28
|
||||
========================
|
||||
* [DEVEL] 加入可調警示音量。
|
||||
|
||||
2019-08-27
|
||||
========================
|
||||
* [DEVEL] 自動關機改為可調時長。
|
||||
@@ -1,195 +0,0 @@
|
||||
dragonpilot 0.7.5
|
||||
========================
|
||||
* 移除方向盤監控設定。(無法取消/關閉方向盤監控)
|
||||
* Removed Steering monitor timer adjustment in code (timer in settings will no longer work.)
|
||||
* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
|
||||
* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
|
||||
* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
|
||||
* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
|
||||
* 將剎車狀熊顯示於 dp 資訊欄。
|
||||
* Added brake indicator to dp infobar.
|
||||
* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
|
||||
* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
|
||||
* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
|
||||
* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22)
|
||||
* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
|
||||
* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
|
||||
* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
|
||||
* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
|
||||
* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
|
||||
* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
|
||||
* 新增「通過移動網路上傳」開關
|
||||
* Added Upload Over Mobile Network toggle.
|
||||
* 新增「通過熱點上傳」開關
|
||||
* Added Upload Over Hotspot toggle.
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
|
||||
* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
|
||||
* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
|
||||
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
|
||||
* Updated dp logo, special thanks to @wabes for the design.
|
||||
* 簡/繁中文版和 i18n 整合成為單一版本。
|
||||
* Merged zhs/zht/i18n versions into one.
|
||||
* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
|
||||
* Added China Camery Hybrid FPv2. (Thanks to @杜子腾)
|
||||
* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
|
||||
* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
|
||||
* 新增行駛時關閉畫面功能。
|
||||
* Added Screen off while driving feature.
|
||||
* 新增倒車時關閉畫面功能。
|
||||
* Added Screen off while reversing feature.
|
||||
* 新增駕駛介面加入「加速模式」切換鈕。
|
||||
* Added acceleration profile toggle onto driving UI.
|
||||
* 新增自定車型功能，取代指紋暫存功能。
|
||||
* Replaced fingerprint cache with custom car model selector.
|
||||
* 新增可調亮度。
|
||||
* Added Brightness changer.
|
||||
* 新增部分德語支持。(特別感謝 @arne182 提供)
|
||||
* Added partial de_DE language support (Thanks to @arne182)
|
||||
|
||||
dragonpilot 0.7.4
|
||||
========================
|
||||
* [2020-04-10] 移除所有的第三方應用改為自動下載。
|
||||
* [2020-04-10] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
|
||||
* [2020-03-31] 還原部分修改代碼以達到 comma ai 安全準則。 (Reverted changes to panda safety code to comply with comma ai safety guideline.)
|
||||
* [2020-03-31] 調整「啟用原廠 DSU 模式」為踩剎車時會暫時斷開控制 。(Enable Stock DSU Mode will temporary disable controls when brake is pressed.)
|
||||
* [2020-03-27] 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
|
||||
* [2020-03-27] 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
|
||||
* [2020-03-27] 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
|
||||
* [2020-03-27] 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
|
||||
* [2020-03-27] 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
|
||||
* [2020-03-27] 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
|
||||
* [2020-03-27] 加入韓文支持。(感謝 crwusiz 提供)
|
||||
* [2020-03-27] 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
|
||||
|
||||
dragonpilot 0.7.3
|
||||
========================
|
||||
* [2020-03-17] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
|
||||
* [2020-03-14] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
|
||||
* [2020-03-14] 加入自動關機開關。(感謝 Rzxd 建議)
|
||||
* [2020-03-14] 調高 Toyota 扭力容錯值。
|
||||
* [2020-03-14] 優化讀取 dp 設定值。
|
||||
* [2020-03-14] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
|
||||
* [2020-03-14] dp 功能加入對 Subaru 車系的支援。
|
||||
* [2020-03-06] 加入葡萄牙語支持。(感謝 berno22 提供)
|
||||
* [2020-03-06] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
|
||||
* [2020-03-04] 加入顯示駕駛監控畫面。
|
||||
* [2020-03-04] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
|
||||
* [2020-03-04] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
|
||||
|
||||
dragonpilot 0.7.2
|
||||
========================
|
||||
* [2020-02-08] dp 功能加入對現代 (Hyundai) 車系的支援。
|
||||
* [2020-02-08] 加入神盾測速照相自動啟動的開關。
|
||||
* [2020-02-08] 更新高德地圖至 v4.5.0.600053。
|
||||
* [2020-02-08] 使用 0.6.6 版的更新系統。
|
||||
* [2020-02-08] 修正急剎問題。(感謝 kumar 提供)
|
||||
* [2020-01-31] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
|
||||
* [2020-01-29] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
|
||||
* [2020-01-23] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
|
||||
* [2020-01-23] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
|
||||
* [2020-01-23] 優化 appd。
|
||||
|
||||
dragonpilot 0.7.1
|
||||
========================
|
||||
* [2020-01-19] 調整 appd 和 ALC 邏輯。
|
||||
* [2020-01-14] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
|
||||
* [2020-01-18] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
|
||||
* [2020-01-18] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
|
||||
|
||||
dragonpilot 0.7.0
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
|
||||
* [2019-12-29] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
|
||||
* [2019-12-29] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
|
||||
* [2019-12-18] 修正自動換道邏輯。
|
||||
* [2019-12-18] 更新 offroad 翻譯。
|
||||
* [2019-12-18] 錯誤修正。
|
||||
* [2019-12-18] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
|
||||
* [2019-12-17] 加入輔助換道開關。（24mph / 40kph 以上)
|
||||
* [2019-12-17] 加入自動換道開關。（40mph / 65kph 以上)
|
||||
* [2019-12-17] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
|
||||
* [2019-12-17] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
|
||||
* [2019-12-17] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
|
||||
* [2019-12-10] 加入位智車機模式。 (Waze Mode)
|
||||
* [2019-11-21] 修正 offroad 翻譯。(感謝 鄧育林 回報)
|
||||
* [2019-11-21] 調整前車靜止移動偵測參數。
|
||||
* [2019-11-21] 前車靜止移動偵測可在未啟用 dp 時運作。
|
||||
* [2019-11-18] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
|
||||
* [2019-11-18] 修正 frame 翻譯。
|
||||
|
||||
dragonpilot 0.6.6
|
||||
========================
|
||||
* [2019-11-15] 修正不會充電的錯誤。 (感謝 袁昊 反應)
|
||||
* [2019-11-15] 修正充電控制。 (感謝 KT 反應)
|
||||
* [2019-11-15] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
|
||||
* [2019-11-12] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
|
||||
* [2019-11-12] 自動偵測並鎖定硬體 (EON / UNO)。
|
||||
* [2019-11-12] 加入鎖定硬體 (EON / UNO) 的程式碼。
|
||||
* [2019-11-11] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
|
||||
* [2019-11-11] 更新 MiXplorer 至 v6.40.3
|
||||
* [2019-11-11] 前車靜止移動偵測加入偵測警示。
|
||||
* [2019-11-07] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
|
||||
* [2019-11-07] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
|
||||
* [2019-11-06] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
|
||||
|
||||
dragonpilot 0.6.5
|
||||
========================
|
||||
* [2019-11-05] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
|
||||
* [2019-11-01] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
|
||||
* [2019-11-01] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
|
||||
* [2019-11-01] 移除 Miui 字型，縮小 dp 使用空間。
|
||||
* [2019-11-01] 更新 offroad 為多語言版
|
||||
* [2019-10-29] 加入 SnG 補丁。（感謝 楊雅智)
|
||||
* [2019-10-28] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
|
||||
* [2019-10-22] 移除強迫網路連線提示。(感謝 Shell)
|
||||
* [2019-10-18] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
|
||||
* [2019-10-18] 移除強迫網路連線提示。(感謝 Shell)
|
||||
* [2019-10-18] 修正 allow_gas 功能。
|
||||
* [2019-10-18] 加入彎道減速功能開關。
|
||||
* [2019-10-18] 強迫使用 dp 版 Panda 韌體。
|
||||
* [2019-10-17] 加入「車型」顯示於 dp 設定畫面。
|
||||
* [2019-10-17] 修正充電控制讀取預設值的錯誤。
|
||||
* [2019-10-17] 修正無法顯示更新記錄的錯誤。
|
||||
* [2019-10-17] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
|
||||
* [2019-10-17] 下載更新記錄時使用 "no-cache" 標頭。
|
||||
* [2019-10-17] 更新高德地圖至 v4.3.0
|
||||
* [2019-10-14] 啟用自動更新功能。(感謝 鄧育林 提供)
|
||||
* [2019-10-14] 清除不再使用的 dp params。
|
||||
* [2019-10-14] 加入數字電量指示。(感謝 鄧育林 建議)
|
||||
* [2019-10-14] 加入刷新 Panda 韌體按鈕。
|
||||
* [2019-10-11] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
|
||||
* [2019-10-11] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
|
||||
|
||||
dragonpilot 0.6.4
|
||||
========================
|
||||
* [2019-10-11] 加入台灣版 2019 RAV4H 油電版指紋。
|
||||
* [2019-10-08] 加回駕駛監控開關。
|
||||
* [2019-10-07] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
|
||||
* [2019-10-05] 移除 curvature learner: 轉角明顯比原廠小。
|
||||
* [2019-09-30] 更新 curvature learner 版本至 v4。
|
||||
* [2019-09-30] Lexus ISH 使用更精確的 EPS Steering Angle Sensor
|
||||
* [2019-09-27] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
|
||||
* [2019-09-27] 加入可開關駕駛監控的程式碼。
|
||||
* [2019-09-27] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
|
||||
* [2019-09-27] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
|
||||
* [2019-09-26] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
|
||||
* [2019-09-24] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
|
||||
* [2019-09-24] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
|
||||
* [2019-09-23] 優化讀取 params 的次數。
|
||||
* [2019-09-23] 加入可開關的車道偏移警示。
|
||||
* [2019-09-23] 修正充電控制邏輯。
|
||||
* [2019-09-23] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
|
||||
* [2019-09-20] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
|
||||
* [2019-09-16] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
|
||||
* [2019-09-16] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
|
||||
* [2019-09-13] 行車介面加入可開關的「速度顯示」設定。
|
||||
* [2019-09-09] 加入 GreyPanda 模式。
|
||||
* [2019-08-28] 加入可調警示音量。
|
||||
* [2019-08-27] 自動關機改為可調時長。
|
||||
|
||||
dragonpilot 0.6.3
|
||||
========================
|
||||
* [2019-10-11] 加入台灣版 2019 RAV4H 油電版指紋。
|
||||
+947
-40
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,976 @@
|
||||
dragonpilot [Latest] - EON/C2 Release
|
||||
========================
|
||||
* Synced with openpilot master 2023.03.26 commits.
|
||||
* DP Highlight
|
||||
* NEW: Manual Lane Change.
|
||||
* NEW: Road Edge detection when Lane Change.
|
||||
* NEW: Rainbow mode. (fancy lol)
|
||||
* NEW: Local Trip counter.
|
||||
* NEW: Alternative Lateral Controller
|
||||
* Ability to switch to another lateral controller when SET speed is higher than configure speed.
|
||||
* E.g. Use Torque + Laneless when belows 80kph and use PID + Laneline when above.
|
||||
* TWEAK: **10s Lat MPC is removed due to poor performance on EON/C2**
|
||||
* TWEAK: Refactored cameraview widget.
|
||||
* TWEAK: Different color when Always On Lateral is enabled.
|
||||
* TWEAK: Better TSS2 Long and DF tune. @cgw1968-5779
|
||||
* TWEAK: e2e Lateral will display lanelines in white.
|
||||
* TWEAK: Updated VisionIPC to match current version.
|
||||
* TWEAK: DM reverted to 0.8.13 model and algorithm.
|
||||
* TWEAK: E2E Initial speed matches ACC initial speed. (105 -> 40)
|
||||
* FIXED: Fixed Reverse message not showing issue.
|
||||
* FIXED: Honda - ALKA not working. @loveloveses
|
||||
* FIXED: Display Mode.
|
||||
* FIXED: Toyota - Speed Override.
|
||||
* FIXED: Re-include CJK system font for EON/C2.
|
||||
|
||||
dragonpilot 2023.02.08 - EON/C2 Release
|
||||
========================
|
||||
* Synced with openpilot master 2022.12.14 commits.
|
||||
* TWEAK: Ability to disable build-in NAV completely. (reduced CPU/memory load)
|
||||
* NEW: Lateral Controller Selector
|
||||
* Ability to select between DEFAULT / PID / LQR / Torque Controller.
|
||||
* NEW: Redesigned UI to match Comma's new UI/UX style.
|
||||
* NEW: Dynamic End-to-End can be turned on when lead car is going below x km/h. (Useful for stop and go traffic.)
|
||||
* NEW: Toggle to adapt Dynamic End-to-End to Following Dist. Mode.
|
||||
* NEW: Toggle to adapt Dynamic End-to-End to Accel Mode.
|
||||
* NEW: Always On Lateral v2 (For Toyota/VAG/HKG/Honda).
|
||||
* NEW: VAG - vw-spam-resume (Thanks to @jyoung8607)
|
||||
* FIXED: Bugs in updated.
|
||||
* FIXED: Issue in C2 fan control.
|
||||
* TWEAK: Bug fixes and improvement.
|
||||
|
||||
dragonpilot 2022.11.09 - EON/C2 Release
|
||||
========================
|
||||
* Synced with openpilot master 2022.10.26 commits.
|
||||
* COMMA: Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models.
|
||||
* NEW: Mapd Database selector menu to use mapd offline located in software. When installing Database it will take some time. It is not stuck just be patience run `tmux a` for more info. DO NOT RESTART When database is being installed.
|
||||
* Ability to use MapD without internet connection.
|
||||
* NEW: TOYOTA - Better TSS2 Long and DF tune. @cgw1968-5779
|
||||
* NEW: MAZDA - Toggle to bypass dashcam mode.
|
||||
* NEW: Added lanelines mode.
|
||||
* Ability to adjust camera/path offset.
|
||||
* NEW: Lateral Planner option.
|
||||
* Ability to select 0.8.13, 0.8.16 and the latest/current planner.
|
||||
* NEW: Offline OSM map database.
|
||||
* NEW: Turn and BSM indicator. (turn = blink green, turn + bsm = blink yellow, bsm = solid yellow)
|
||||
* TWEAK: Better Optimization for Vision Turn Controller with laneline mode.
|
||||
* FIXED: When going offroad, the screen does not turn off. (w/ CP or w/ Battery)
|
||||
* bug fix and improvement.
|
||||
|
||||
|
||||
dragonpilot 2022.10.17 - EON/C2 Release
|
||||
========================
|
||||
* Synced with openpilot master 2022.09.22 commits.
|
||||
* Live Torque Tune (Only available to certain vehicle models with op long.)
|
||||
* NEW: TOYOTA - Added a TSS2 RAV4 Special PID Tune toggle.
|
||||
* NEW: TOYOTA - Added a PRIUS 2017 Special Torque Tune toggle.
|
||||
* NEW: TOYOTA - PRIUS_TSS2 (2020-2022) now uses torque as default and auto learns.
|
||||
* NEW: Added a toggle to force enable torque controller. (may not work on some vehicles)
|
||||
* NEW: Added a toggle to force enable live torque tune. (may not work on some vehicles)
|
||||
* NEW: VAG - Added auto resume fix toggle.
|
||||
* NEW: refactored dynamic follow. support all car with op long.
|
||||
* NEW: New blinker and BSM indicators.
|
||||
* NEW: Lead Info is now displaying both speed and distance.
|
||||
* FIXED: Minor bug fixes and improvement.
|
||||
|
||||
dragonpilot 2022.09.22 - EON/C2 Release
|
||||
========================
|
||||
* Synced with openpilot master 2022.09.17 commits.
|
||||
* e2e longitudinal toggle. (Extremely alpha feature)
|
||||
* Deprecated SNPE lib and switched to tinygrad.
|
||||
* NEW: Added back nav support on EON/C2.
|
||||
* WARNING: DUE TO THE INTRODUCTION OF END TO END LONGITUDINAL FEATURE, FOLLOWING FEATURES HAS BEEN CHANGED:
|
||||
* WIP: Dynamic Follow has been temporary removed for refactoring.
|
||||
* WIP: Vision Turn Control has been temporary removed for refactoring.
|
||||
* REMOVED: Camera offset has been removed permanently due to new e2e implementation.
|
||||
* EON/C2 WILL NO LONGER RECEIVE ANY DRIVING/DRIVER MONITORING MODEL UPDATES.
|
||||
|
||||
dragonpilot 2022.08.29 - EON/C2 Release
|
||||
========================
|
||||
* NEW: Synced to openpilot master 2022.08.23 commits.
|
||||
* New driving model.
|
||||
* NEW: Added back honda eps mod toggle.
|
||||
* NEW: Added back camera offset toggle.
|
||||
* TWEAK: Resume logic to adapt ATL mode.
|
||||
|
||||
dragonpilot 2022.08.17 - EON/C2 Release
|
||||
========================
|
||||
* NEW: Synced to openpilot master 2022.08.07 commits.
|
||||
* NEW: Added back auto shutdown toggle.
|
||||
* NEW: Added back On-Road Dashcam toggle. (You should not replace this with your dashcam!!!)
|
||||
* NEW: Added back LQR tune toggle.
|
||||
* NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd)
|
||||
* NEW: Included all vehicles.
|
||||
* TWEAK: Panda Recovery should kill boardd process first.
|
||||
* FIXED: Fixed stop working issue when mapd crashed.
|
||||
|
||||
dragonpilot 2022.07.29 - EON/C2 Release
|
||||
========================
|
||||
* NEW: Synced to openpilot 2022.07.27 commits.
|
||||
* NEW: Included Mazda vehicles.
|
||||
* TWEAK: Only show road name bar when it's not empty.
|
||||
* TWEAK: Enlarged lead car distance text.
|
||||
* TWEAK: TOYOTA - Updated lowest speed override feature.
|
||||
* FIXED: Fixed Panda Flash/Recovery buttons.
|
||||
* FIXED: Included dp_patcher.py execution.
|
||||
|
||||
dragonpilot 2022.07.20 - EON/C2 Release
|
||||
========================
|
||||
* FIXED: Included correct camera/path offset values for EON/C2.
|
||||
* FIXED: Param bug in HKG. (Thanks to @sunnyhaibin).
|
||||
* FIXED: Included fan controller for UNO (C2).
|
||||
* TWEAK: Auto set a decent date/time to prevent onroad incorrect date/time detection.
|
||||
* TWEAK: Removed sounds unavailable warning.
|
||||
* TWEAK: Removed unused loggers.
|
||||
* TWEAK: Disabled IR controls completely.
|
||||
|
||||
dragonpilot 2022.07.14 - EON/C2 Release
|
||||
========================
|
||||
* FIXED: DM bug.
|
||||
* FIXED: white / grey panda support.
|
||||
* FIXED: Removed No GPS signal warning.
|
||||
|
||||
dragonpilot 2022.07.12 - EON/C2 Release
|
||||
========================
|
||||
* Synced up with dragonpilot 2022.06.25 C3 release
|
||||
* Running on latest AI model.
|
||||
* Steering monitor only.
|
||||
* Works on EON/C2 + white/grey/black panda (tested only on Toyotas).
|
||||
* Buggy!
|
||||
|
||||
dragonpilot 2022.07.01
|
||||
========================
|
||||
* Synced with openpilot master 2022.06.29 commits.
|
||||
* ADDED: MapD based off @move-fast. Thanks to @sunnyhaibin for mapbox as datapoint and ui refactor. (setting destination will use mapxbox speedlimit data which is more accurate. MapD priority: Mapbox(if nav active), OSM, RSA )
|
||||
|
||||
dragonpilot 2022.06.25
|
||||
========================
|
||||
* Synced with openpilot master 2022.06.25 commits.
|
||||
* Updated zh-TW translation.
|
||||
* ADDED: Dynamid follow @krkeegan version. (press the distance button)
|
||||
* ADDED: dp ui vol.
|
||||
* ADDED: dp ui brightness.
|
||||
* ADDED: dp ui top/side bar.
|
||||
* ADDED: dp display mode (0=off/normal, 1=turn off the screen when onroad).
|
||||
|
||||
dragonpilot 2022.06.16
|
||||
========================
|
||||
* Synced with openpilot master 2022.06.16 commits.
|
||||
* ADDED: Toyota SnG hack.
|
||||
* ADDED: Accel Profile.
|
||||
* FIXED: Car Selection.
|
||||
* FLXED: ALCA Delay Setting UI.
|
||||
* FIXED: Lane lines mode (w/ DLP built-in).
|
||||
|
||||
dragonpilot 2022.06.11
|
||||
========================
|
||||
* Synced with openpilot master 2022.06.07 commits
|
||||
* Migrating more features soon, stay tuned!
|
||||
|
||||
dragonpilot 0.8.13-1
|
||||
========================
|
||||
* Based on openpilot 0.8.13 devel.
|
||||
* ADDED: Support for SDSU. Can now control distance with the button on the steering wheel. (Thanks to @CT9212)
|
||||
* FIXED: DLP fix. (Thank to @Hikari1023)
|
||||
* Bug fixes.
|
||||
|
||||
dragonpilot 0.8.12-3
|
||||
========================
|
||||
* Bug fixes.
|
||||
* ADDED: Car Selector for C3.
|
||||
* ADDED: ColorBlind mode eon only. (thanks to @ihsakashi)
|
||||
* TUNNING: Toyota long improvement.
|
||||
* Reimplement: Following Distance and added @krkeegan implementation (toyota only with sdsu/tss2).
|
||||
|
||||
dragonpilot 0.8.12-2
|
||||
========================
|
||||
* Bug fixes.
|
||||
* ADDED: FTP to easily manage storage.
|
||||
* Readded: camera offset, path offset and autoshutdown.
|
||||
|
||||
dragonpilot 0.8.12-1
|
||||
========================
|
||||
* Based on openpilot 0.8.12 devel.
|
||||
* ADDED: Support for no gps (mr.one panda).
|
||||
* Reimplement: camera offset, path offset, nav for c2 and autoshutdown.
|
||||
|
||||
dragonpilot 0.8.10-4
|
||||
========================
|
||||
* FIXED: Allow gas press. (Thanks to @loveloveses)
|
||||
* FIXED: Honda SnG. (Thanks to @loveloveses
|
||||
* ADDED: Toyota: Display Blue Barriers When Engaged. (Thanks to @krkeegan)
|
||||
|
||||
dragonpilot 0.8.10-3
|
||||
========================
|
||||
* NAV: Gaode/amap to use new key combination. (Thanks to @loveloveses)
|
||||
|
||||
dragonpilot 0.8.10
|
||||
========================
|
||||
* Based on openpilot 0.8.10 devel.
|
||||
* Reimplement: Following Distance.
|
||||
* Better Subaru support. (Thanks to @martinl https://github.com/martinl/openpilot)
|
||||
* NAV: Added use of Navigation tab to access home/work/recent dest.
|
||||
* NAV: Added auto Day/Night Mode.
|
||||
* NAV: Added customizable style.
|
||||
* NAV: Added Gaode/amap Search. (Thanks to @loveloveses)
|
||||
* FIXED: Device w/ battery no longer need to set auto shutdown to 1 min.
|
||||
* FIXED: Auto shutdown while on bench (Thanks to @sunnyhaibin)
|
||||
* REMOVED: Timebomb feature for VW.
|
||||
* REMOVED: Support of running Android apps.
|
||||
|
||||
dragonpilot 0.8.9-3
|
||||
========================
|
||||
* Bug fixes.
|
||||
* Fixed up auto updater.
|
||||
* Fixed Honda Jade dbc. (Thanks to @lijunhao731)
|
||||
* ADDED: 0.8.10 model.
|
||||
* ADDED: Nav for all device.
|
||||
* ADDED: Support for Nvidia Xavier.
|
||||
|
||||
dragonpilot 0.8.9-2
|
||||
========================
|
||||
* Bug fixes.
|
||||
* Refactor UI related changes.
|
||||
* Updated Simplified Chinese translation. (Thanks to @CCZ)
|
||||
* WARNING: Due to recent OP change, Device w/ battery recommended setting autoshutdown to 1 min to prevent libusb error.
|
||||
* Re-tuned acceleraton profile. (Thank to @wer5lcy)
|
||||
* ADDED: Car port for Toyota Prius Alpha. (Thanks to @CT921)
|
||||
|
||||
dragonpilot 0.8.9-1
|
||||
========================
|
||||
* Based on openpilot 0.8.8 devel.
|
||||
* Re-introduce Follow Distance 4th profile (2.2s / 1.8s / 1.5s / 1.2s).
|
||||
* ADDED: New softer sound for c3.
|
||||
* ADDED: Dynamic Lane Profile. (Thanks to @sunnyhaibin)
|
||||
* Bug Fixes.
|
||||
|
||||
dragonpilot 0.8.8-2
|
||||
========================
|
||||
* ADDED: newer faster and modularized mapd and slow down for curve. (Thanks to @move-fast)
|
||||
* ADDED: Street name on the bottom bar.
|
||||
* ADDED: Now supports 1+3t / C2 / C3 / Jetson Xavier NX.
|
||||
* ADDED: Smoother tune for PRIUS_TSS2.
|
||||
* Bug fixes.
|
||||
|
||||
dragonpilot 0.8.8-1
|
||||
========================
|
||||
** BETA TESTING ONLY **
|
||||
* Based on openpilot 0.8.8 devel.
|
||||
* FIXED: dashcam issue.
|
||||
* FIXED: some VW vehicles issue. (Thanks to @yayism)
|
||||
* FIXED: white panda + j533 acc issue. (Thanks to @lirudy)
|
||||
* ADDED: Auto fake black panda.
|
||||
* ADDED: 2018 chinese camry hybrid fingerprint (Thanks to @stingshen)
|
||||
* WIP: mapd.
|
||||
|
||||
dragonpilot 0.8.7-4
|
||||
========================
|
||||
* 2017 JADE w/ Added Comma Pedal Support. (Thanks to @lijunhao731)
|
||||
* Fixed toyota / honda brake light display. (Thanks to @loveloveses)
|
||||
* Fixed UI toggle. (Thanks to @鄧育林、@謝聖鴻)
|
||||
* Fixed VW resume/display issue. (Thanks to @SKY)
|
||||
* Fixed CJK font installation issue.
|
||||
|
||||
dragonpilot 0.8.7-3
|
||||
========================
|
||||
* Bug fixes.
|
||||
* Fixed gpxd.
|
||||
* Added some Chinese support.
|
||||
|
||||
dragonpilot 0.8.7-2
|
||||
========================
|
||||
* Fixed sound issue.
|
||||
* Changed gpx logs to OSM compatible format.
|
||||
* HONDA: Added BSM support for CRV-Hybrid.
|
||||
* HONDA: Added toggle to force displaying km/h in HUD.
|
||||
* TOYOTA: Add new Toggles under DP - Cars to enable/disable Following Modes / Accel Modes with physical button feature.
|
||||
|
||||
dragonpilot 0.8.7-1
|
||||
========================
|
||||
* Based on openpilot 0.8.7 devel.
|
||||
* Support 1+3t / C2 / Jetson Xavier NX.
|
||||
* Support White / Grey Panda.
|
||||
* TOYOTA: Can now change Following Modes with physical button from the steering wheel.
|
||||
* TOYOTA: Can now change Acceleration Modes with physical button if your car supports it.
|
||||
* TOYOTA: Added Low speed override toggles.
|
||||
* Dev UI now displays RPM reading.
|
||||
* Added Prebuilt toggle for faster boot.
|
||||
* Lexus RX high RPM fix. (Thanks to @crazysim).
|
||||
* Added toggle to launch Language settings.
|
||||
* Added toggle to launch Volume settings.
|
||||
* Added toggle to launch date/time settings.
|
||||
* Added toggle to flash panda.
|
||||
* Added toggle to recover panda firmware.
|
||||
* Added toggle to delete logging (/sdcard/realdata).
|
||||
* Added GPS Logger.
|
||||
|
||||
dragonpilot 0.8.6-1
|
||||
========================
|
||||
* Based on openpilot 0.8.6 devel.
|
||||
* Support 1+3t / C2 / Jetson Xavier NX.
|
||||
* Support White / Grey Panda.
|
||||
|
||||
dragonpilot 0.8.5-4
|
||||
========================
|
||||
* Added multiple toggles.
|
||||
* Code clean up.
|
||||
* Android app support. (see selfdrive/dragonpilot/HOWTO-APPD.md)
|
||||
* Better support for VW MPQ (Thanks to @Saber)
|
||||
|
||||
dragonpilot 0.8.5-3
|
||||
========================
|
||||
* Added Jetson support toggle.
|
||||
* Added Steering Ratio controller.
|
||||
* Reduce Following Profile to 3 modes only. (1.8s / 1.5s / 1.2s)
|
||||
* Bug fixes.
|
||||
|
||||
dragonpilot 0.8.5-2
|
||||
========================
|
||||
* Added black panda simulation toggle.
|
||||
* Added No GPS toggle.
|
||||
* Added No Battery Toggle.
|
||||
* Bug fixes.
|
||||
|
||||
dragonpilot 0.8.5-1
|
||||
========================
|
||||
* Based on openpilot 0.8.5 devel.
|
||||
* 基於 openpilot 0.8.5 devel.
|
||||
* Support 1+3t / C2 / Jetson Xavier NX.
|
||||
* 支持 1+3t / C2 / Jetson Xavier NX.
|
||||
* No White/Grey Panda Support.
|
||||
* 不支持白灰熊.
|
||||
|
||||
dragonpilot 0.8.4-3
|
||||
========================
|
||||
* 簡化 1+3t 安裝方法. (請查閱 HOWTO-ONEPLUS.md)
|
||||
* Simplied 1+3t installation. (See HOWTO-ONEPLUS.md)
|
||||
* 加回舊 ssh 登錄.
|
||||
* Good old ssh key.
|
||||
* 修復本田錯誤. (感謝 @loveloveses)
|
||||
* Fixed Honda bug. (Thanks to @loveloveses)
|
||||
|
||||
dragonpilot 0.8.4-2
|
||||
========================
|
||||
* 加回可調整加速/跟車設定.
|
||||
* Added back Accel/Following Profile.
|
||||
* 支持 Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
|
||||
* Support Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
|
||||
* 支持 1+3t (需額外安裝手續)
|
||||
* Support 1+3t (Require additional install procedure)
|
||||
* 支持白/灰熊
|
||||
* Support White/Grey Panda.
|
||||
|
||||
dragonpilot 0.8.4-1
|
||||
========================
|
||||
* 基於 openpilot 0.8.4 devel.
|
||||
* Based on openpilot 0.8.4 devel.
|
||||
|
||||
dragonpilot 0.8.1
|
||||
========================
|
||||
* 基於最新 openpilot 0.8.1 devel.
|
||||
* Based on latest openpilot 0.8.1 devel.
|
||||
* 加入行車記錄按鈕。(感謝 @toyboxZ 提供)
|
||||
* Added REC screen button. (Thanks to @toyboxZ)
|
||||
|
||||
dragonpilot 0.8.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.8.0 devel.
|
||||
* Based on latest openpilot 0.8.0 devel.
|
||||
* 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
|
||||
* Added git error fix. (Thanks to @toyboxZ)
|
||||
|
||||
dragonpilot 0.7.10.1
|
||||
========================
|
||||
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
|
||||
* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
|
||||
* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe)
|
||||
* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
|
||||
* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
|
||||
* 使用 openpilot v0.8 的模型。(感謝 @eisenheim)
|
||||
* Use openpilot v0.8 model. (Thanks to @eisenheim)
|
||||
* 加入 0.8 測試版的部分優化。
|
||||
* Added optimizations from pre-0.8.
|
||||
* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供)
|
||||
* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369)
|
||||
* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供)
|
||||
* Fixed issue with white/grey panda support for VW (Thanks to @lirudy)
|
||||
* GENESIS_G70 優化 (感謝 @sebastian4k 提供)
|
||||
* GENESIS_G70 Optimisation (Thanks to @sebastian4k)
|
||||
* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
|
||||
* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
|
||||
* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
|
||||
* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
|
||||
* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang)
|
||||
* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
|
||||
* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
|
||||
|
||||
dragonpilot 0.7.10.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.10 devel.
|
||||
* Based on latest openpilot 0.7.10 devel.
|
||||
* 修正 Prius 特定情況下無法操控方向盤的問題。
|
||||
* Fixed unable to regain Prius steering control under certain condition.
|
||||
* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
|
||||
* Updated support of VW MQB. (scripts/vw.sh script required)
|
||||
* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
|
||||
* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
|
||||
* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
|
||||
* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa)
|
||||
* 優化 nanovg。(感謝 @piggy 提供)
|
||||
* Optomized nanovg. (Thanks to @piggy)
|
||||
* 加入 complete_setup.sh (感謝 @深鲸希西 提供)
|
||||
* Added complete_setup.sh (Thanks to @深鲸希西)
|
||||
* Based on latest openpilot 0.7.10 devel.
|
||||
* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
|
||||
* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
|
||||
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
|
||||
|
||||
dragonpilot 0.7.8.3
|
||||
========================
|
||||
* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼)
|
||||
* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd)
|
||||
|
||||
dragonpilot 0.7.8.2
|
||||
========================
|
||||
* 修正在沒網路的情況下，開機超過五分鐘的問題。
|
||||
* Fixed 5+ minutes boot time issue when there is no internet connection.
|
||||
* 錯誤回傳改使用 dp 的主機。
|
||||
* Used dp server for error reporting.
|
||||
* 更新服務改使用 gitee 的 IP 檢查連線狀態。
|
||||
* updated service uses gitee IP address instead.
|
||||
|
||||
dragonpilot 0.7.8.1
|
||||
========================
|
||||
* 加入 ko-KR 翻譯。
|
||||
* Added ko-KR translation.
|
||||
* 加入 Honda Jade 支援。(感謝 @李俊灝)
|
||||
* Added Honda Jade support. (Thanks to @lijunhao731)
|
||||
* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供)
|
||||
* Fixed ui.cc memory out of bound issue. (Thanks to @piggy)
|
||||
* gpxd 記錄改自動存成 zip 格式。
|
||||
* gpxd now store in zip format.
|
||||
* 強制關閉 panda 檢查 DOS 硬體。
|
||||
* Force disabled DOS hardware check in panda.
|
||||
|
||||
dragonpilot 0.7.8.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.8 devel.
|
||||
* Based on latest openpilot 0.7.8 devel.
|
||||
* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議)
|
||||
* Added "Reset DP Settings" button. (Thanks to @LOVEChen)
|
||||
* 將警示訊息更改為類似於概念 UI 的設計。
|
||||
* Alert messages changed to concept UI alike design.
|
||||
* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
|
||||
* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors.
|
||||
|
||||
dragonpilot 0.7.7.3
|
||||
========================
|
||||
* 修正方向盤監控。
|
||||
* Fixed steering monitor timer param.
|
||||
* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報)
|
||||
* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough)
|
||||
* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議)
|
||||
* Re-added Dev Mini UI. (Thanks to @Ninjaa)
|
||||
* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim)
|
||||
* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim)
|
||||
* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough)
|
||||
* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough)
|
||||
* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1）
|
||||
* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1)
|
||||
* 使用德國的車道寬度估算值。 （感謝 @arne182）
|
||||
* Used lane width estimate value from Germany. (Thanks to @arne182)
|
||||
|
||||
dragonpilot 0.7.7.2
|
||||
========================
|
||||
* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
|
||||
* Added d_poly offset. (Thanks to @ShaneSmiskol)
|
||||
* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
|
||||
* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
|
||||
* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
|
||||
* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
|
||||
* 加入 LQR 控制器開關進設定畫面。
|
||||
* Added LQR Controller toggle to settings.
|
||||
|
||||
dragonpilot 0.7.7.1
|
||||
========================
|
||||
* 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
|
||||
* Added C2 quiet fan mode. (Thanks to @dingliangxue)
|
||||
* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
|
||||
* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
|
||||
* 加入回調校介面。(感謝 @Kent)
|
||||
* Re-added Dev UI. (Thanks to @Kent)
|
||||
* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
|
||||
* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim)
|
||||
|
||||
dragonpilot 0.7.7.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.7 devel.
|
||||
* Based on latest openpilot 0.7.7 devel.
|
||||
* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue)
|
||||
* When Manager failed, display IP address. (Thanks to @dingliangxue)
|
||||
* 加回 sr learner 開關。
|
||||
* Re-added sr learner toggle.
|
||||
* 加回 加速模式 開關。
|
||||
* Re-added Accel Profile toggle.
|
||||
* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo)
|
||||
* Added Toyota to override lowerest cruise speed. (Thanks to @Mojo)
|
||||
* 介面加入盲點偵測顯示。(感謝 @wabes)
|
||||
* Added BSM indicator to UI. (Thanks to @wabes)
|
||||
* 加回彎道減速功能。(感謝 @Mojo)
|
||||
* re-added Slow On Curve functionality. (Thanks to @Mojo)
|
||||
|
||||
dragonpilot 0.7.6.2
|
||||
========================
|
||||
* 修正無法正確關閉駕駛監控的問題。
|
||||
* Fixed unable to properly turn off driver monitor issue.
|
||||
|
||||
dragonpilot 0.7.6.1
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.6.1 devel.
|
||||
* Based on latest openpilot 0.7.6.1 devel.
|
||||
* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
|
||||
* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
|
||||
* 完全關閉 steer ratio learner。
|
||||
* Completely disabled steer ratio learner.
|
||||
* 移除「加速模式」。
|
||||
* Removed Accel Profile.
|
||||
* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
|
||||
* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
|
||||
* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
|
||||
* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
|
||||
|
||||
dragonpilot 0.7.5.4
|
||||
========================
|
||||
* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
|
||||
* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
|
||||
|
||||
dragonpilot 0.7.5.3
|
||||
========================
|
||||
* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
|
||||
* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
|
||||
* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
|
||||
* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
|
||||
* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
|
||||
* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
|
||||
* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
|
||||
* Fixed issue showing "pedalPressed" error. (Thanks to @Wei)
|
||||
* 將剎車狀熊顯示於 dp 資訊欄。
|
||||
* Added brake indicator to dp infobar.
|
||||
* 修正「溫度監控」燈示。
|
||||
* Fixed "Temp monitor" indicator.
|
||||
* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
|
||||
* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
|
||||
* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
|
||||
* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22)
|
||||
|
||||
dragonpilot 0.7.5.2
|
||||
========================
|
||||
* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
|
||||
* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
|
||||
* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
|
||||
* Updated to stop charging after 3 hrs. (Thanks to @Wei)
|
||||
* 移除行車記錄下的「碰撞偵測」功能。
|
||||
* Removed Impact Detection in Dashcam.
|
||||
* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
|
||||
* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
|
||||
* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
|
||||
* Fixed alert issue in waze mode. (Thanks to @axandres)
|
||||
* 修正無法顯示更新中圖示的問題。
|
||||
* Fixed unable to display "UPDATING" icon issue.
|
||||
* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
|
||||
* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
|
||||
* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
|
||||
* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
|
||||
* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
|
||||
* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
|
||||
|
||||
dragonpilot 0.7.5.1
|
||||
========================
|
||||
* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
|
||||
* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林)
|
||||
* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
|
||||
* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
|
||||
* 更新 appd 使用 cnpmjs 來下載 APKs。
|
||||
* Updated appd to use cnpmjs to download APKs.
|
||||
* 修正更新服務。(感謝 @Wei)
|
||||
* Fixed Update Service. (Thanks to @Wei)
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
|
||||
* 新增「通過移動網路上傳」開關
|
||||
* Added Upload Over Mobile Network toggle.
|
||||
* 新增「通過熱點上傳」開關
|
||||
* Added Upload Over Hotspot toggle.
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
|
||||
* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
|
||||
* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
|
||||
|
||||
dragonpilot 0.7.5.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.5 devel-staging.
|
||||
* Based on latest openpilot 0.7.5 devel-staging.
|
||||
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
|
||||
* Updated dp logo, special thanks to @wabes for the design.
|
||||
* 簡/繁中文版和 i18n 整合成為單一版本。
|
||||
* Merged zhs/zht/i18n versions into one.
|
||||
* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
|
||||
* Added China Camery Hybrid FPv2. (Thanks to @杜子腾)
|
||||
* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
|
||||
* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
|
||||
* 新增行駛時關閉畫面功能。
|
||||
* Added Screen off while driving feature.
|
||||
* 新增倒車時關閉畫面功能。
|
||||
* Added Screen off while reversing feature.
|
||||
* 新增駕駛介面加入「加速模式」切換鈕。
|
||||
* Added acceleration profile toggle onto driving UI.
|
||||
* 新增自定車型功能，取代指紋暫存功能。
|
||||
* Replaced fingerprint cache with custom car model selector.
|
||||
* 新增可調亮度。
|
||||
* Added Brightness changer.
|
||||
* 新增部分德語支持。(特別感謝 @arne182 提供)
|
||||
* Added partial de_DE language support (Thanks to @arne182)
|
||||
* 新增停車碰撞偵測記錄功能。
|
||||
* Added off road impact detection to dashcam.
|
||||
|
||||
2020-05-06
|
||||
========================
|
||||
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
|
||||
* 中文版整合進 i18n 版。
|
||||
* 刪除指紋暫存功能。
|
||||
* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾)
|
||||
* 新增行駛時關閉畫面功能。
|
||||
* 新增倒車時關閉畫面功能。
|
||||
* 新增駕駛介面加入「加速模式」切換鈕。
|
||||
* 新增自定義車型。
|
||||
|
||||
2020-04-16
|
||||
========================
|
||||
* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai)
|
||||
* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip)
|
||||
* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip)
|
||||
* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip)
|
||||
* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助)
|
||||
|
||||
2020-04-13
|
||||
========================
|
||||
* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR)
|
||||
* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議)
|
||||
* [DEVEL] 更新 update script。(感謝 深鯨希西 回報)
|
||||
|
||||
2020-04-10
|
||||
========================
|
||||
* [DEVEL] 更新 panda 至最新的 comma:master 分支。
|
||||
* [DEVEL] 移除所有的第三方應用改為自動下載。
|
||||
* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
|
||||
|
||||
2020-03-31
|
||||
========================
|
||||
* [DEVEL] 更新至 2020-03-31 testing 分支。
|
||||
|
||||
2020-03-27
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支:
|
||||
* 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
|
||||
* 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
|
||||
* 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
|
||||
* 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
|
||||
* 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
|
||||
* 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
|
||||
* 加入韓文支持。(感謝 crwusiz 提供)
|
||||
* 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
|
||||
|
||||
2020-03-22
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支。
|
||||
|
||||
2020-03-17
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。
|
||||
* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
|
||||
|
||||
2020-03-14
|
||||
========================
|
||||
* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
|
||||
* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議)
|
||||
* [DEVEL] 調高 Toyota 扭力容錯值。
|
||||
* [DEVEL] 優化讀取 dp 設定值。
|
||||
* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
|
||||
* [DEVEL] dp 功能加入對 Subaru 車系的支援。
|
||||
|
||||
2020-03-06
|
||||
========================
|
||||
* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供)
|
||||
* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
|
||||
* [DEVEL] 建立 devel-i18n 取代 devel-en。
|
||||
* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead.
|
||||
|
||||
2020-03-04
|
||||
========================
|
||||
* [DEVEL] 加入顯示駕駛監控畫面。
|
||||
* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
|
||||
* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
|
||||
|
||||
2020-02-25
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
|
||||
|
||||
2020-02-21
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
|
||||
|
||||
2020-02-14
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
|
||||
* [DEVEL] 修正錯誤。
|
||||
|
||||
2020-02-08
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
|
||||
* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。
|
||||
* [DEVEL] 加入神盾測速照相自動啟動的開關。
|
||||
* [DEVEL] 更新高德地圖至 v4.5.0.600053。
|
||||
* [DEVEL] 使用 0.6.6 版的更新系統。
|
||||
* [DEVEL] 修正急剎問題。(感謝 kumar 提供)
|
||||
|
||||
2020-01-31
|
||||
========================
|
||||
* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
|
||||
|
||||
2020-01-29
|
||||
========================
|
||||
* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
|
||||
|
||||
2020-01-23
|
||||
========================
|
||||
* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
|
||||
* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
|
||||
* [DEVEL] 優化 appd。
|
||||
|
||||
2020-01-19
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
|
||||
* [DEVEL] 調整 appd 和 ALC 邏輯。
|
||||
|
||||
2020-01-14
|
||||
========================
|
||||
* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
|
||||
|
||||
2020-01-08
|
||||
========================
|
||||
* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
|
||||
* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
|
||||
|
||||
2019-12-31
|
||||
========================
|
||||
* [DEVEL-ZHS] 加回第三方應用。
|
||||
|
||||
2019-12-29
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
|
||||
* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
|
||||
* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
|
||||
|
||||
2019-12-18
|
||||
========================
|
||||
* [DEVEL] 修正自動換道邏輯。
|
||||
* [DEVEL] 更新 offroad 翻譯。
|
||||
* [DEVEL] 錯誤修正。
|
||||
* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
|
||||
|
||||
2019-12-17
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
|
||||
* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上)
|
||||
* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上)
|
||||
* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
|
||||
* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
|
||||
* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
|
||||
|
||||
2019-12-10
|
||||
========================
|
||||
* [DEVEL] 加入位智車機模式。 (Waze Mode)
|
||||
|
||||
2019-11-21
|
||||
========================
|
||||
* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報)
|
||||
* [DEVEL] 調整前車靜止移動偵測參數。
|
||||
* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。
|
||||
|
||||
2019-11-18
|
||||
========================
|
||||
* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
|
||||
|
||||
2019-11-18
|
||||
========================
|
||||
* [DEVEL] 修正 frame 翻譯。
|
||||
|
||||
2019-11-15
|
||||
========================
|
||||
* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應)
|
||||
|
||||
2019-11-15
|
||||
========================
|
||||
* [DEVEL] 修正充電控制。 (感謝 KT 反應)
|
||||
* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
|
||||
2019-11-12
|
||||
========================
|
||||
* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
|
||||
* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。
|
||||
|
||||
2019-11-12
|
||||
========================
|
||||
* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。
|
||||
|
||||
2019-11-11
|
||||
========================
|
||||
* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
|
||||
* [DEVEL] 更新 MiXplorer 至 v6.40.3
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
* [DEVEL] 前車靜止移動偵測加入偵測警示。
|
||||
|
||||
2019-11-07
|
||||
========================
|
||||
* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
|
||||
* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
|
||||
|
||||
2019-11-06
|
||||
========================
|
||||
* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
|
||||
2019-11-05
|
||||
========================
|
||||
* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
|
||||
|
||||
2019-11-01
|
||||
========================
|
||||
* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
|
||||
* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
|
||||
|
||||
2019-11-01
|
||||
========================
|
||||
* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。
|
||||
* [DEVEL] 更新 offroad 為多語言版
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
|
||||
2019-10-29
|
||||
========================
|
||||
* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智)
|
||||
|
||||
2019-10-28
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
|
||||
|
||||
2019-10-18
|
||||
========================
|
||||
* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
|
||||
* [DEVEL] 移除強迫網路連線提示。(感謝 Shell)
|
||||
* [DEVEL] 修正 allow_gas 功能。
|
||||
|
||||
2019-10-18
|
||||
========================
|
||||
* [DEVEL] 加入彎道減速功能開關。
|
||||
* [DEVEL] 強迫使用 dp 版 Panda 韌體。
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
|
||||
2019-10-17
|
||||
========================
|
||||
* [DEVEL] 加入「車型」顯示於 dp 設定畫面。
|
||||
* [DEVEL] 修正充電控制讀取預設值的錯誤。
|
||||
* [DEVEL] 修正無法顯示更新記錄的錯誤。
|
||||
|
||||
2019-10-16
|
||||
========================
|
||||
* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
|
||||
* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。
|
||||
* [DEVEL] 更新高德地圖至 v4.3.0
|
||||
* [DEVEL] 刪除 bs (Branch Switcher)
|
||||
|
||||
2019-10-14
|
||||
========================
|
||||
* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供)
|
||||
* [DEVEL] 清除不再使用的 dp params。
|
||||
* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議)
|
||||
* [DEVEL] 加入刷新 Panda 韌體按鈕。
|
||||
|
||||
2019-10-11
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
|
||||
|
||||
2019-10-09
|
||||
========================
|
||||
* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
|
||||
|
||||
2019-10-08
|
||||
========================
|
||||
* [DEVEL] 加回駕駛監控開關。
|
||||
* [DEVEL] 加入 bs (branch switcher) 程式。
|
||||
|
||||
2019-10-07
|
||||
========================
|
||||
* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
|
||||
|
||||
2019-10-05
|
||||
========================
|
||||
* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。
|
||||
|
||||
2019-09-30
|
||||
========================
|
||||
* [DEVEL] 更新 curvature learner 版本至 v4。
|
||||
* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor
|
||||
|
||||
2019-09-27
|
||||
========================
|
||||
* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
|
||||
* [DEVEL] 加入可開關駕駛監控的程式碼。
|
||||
* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
|
||||
* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
|
||||
|
||||
2019-09-26
|
||||
========================
|
||||
* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
|
||||
|
||||
2019-09-24
|
||||
========================
|
||||
* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
|
||||
* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
|
||||
|
||||
2019-09-23
|
||||
========================
|
||||
* [DEVEL] 優化讀取 params 的次數。
|
||||
* [DEVEL] 加入可開關的車道偏移警示。
|
||||
* [DEVEL] 修正充電控制邏輯。
|
||||
* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
|
||||
|
||||
2019-09-20
|
||||
========================
|
||||
* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
|
||||
|
||||
2019-09-16
|
||||
========================
|
||||
* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
|
||||
* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
|
||||
|
||||
2019-09-13
|
||||
========================
|
||||
* [DEVEL] 行車介面加入可開關的「速度顯示」設定。
|
||||
|
||||
2019-09-09
|
||||
========================
|
||||
* [DEVEL] 加入 GreyPanda 模式。
|
||||
|
||||
2019-08-28
|
||||
========================
|
||||
* [DEVEL] 加入可調警示音量。
|
||||
|
||||
2019-08-27
|
||||
========================
|
||||
* [DEVEL] 自動關機改為可調時長。
|
||||
@@ -1,50 +0,0 @@
|
||||
# How to contribute
|
||||
|
||||
Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
|
||||
|
||||
Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
|
||||
|
||||
## Getting Started
|
||||
|
||||
* Join our [Discord](https://discord.comma.ai)
|
||||
* Make sure you have a [GitHub account](https://github.com/signup/free)
|
||||
* Fork [our repositories](https://github.com/commaai) on GitHub
|
||||
|
||||
## Testing
|
||||
|
||||
### Local Testing
|
||||
|
||||
You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code.
|
||||
|
||||
### Automated Testing
|
||||
|
||||
All PRs are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests sould be added to Github Actions.
|
||||
|
||||
### Code Style and Linting
|
||||
|
||||
Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pylint_openpilot.sh` and `flake8_openpilot.sh`.
|
||||
|
||||
## Car Ports (openpilot)
|
||||
|
||||
We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
|
||||
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
|
||||
|
||||
## Pull Requests
|
||||
|
||||
Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
|
||||
```
|
||||
git clone https://github.com/commaai/openpilot.git --recursive
|
||||
```
|
||||
Or alternatively, when on the master branch:
|
||||
```
|
||||
git submodule init
|
||||
git submodule update
|
||||
```
|
||||
The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
|
||||
Modules that are in seperate repositories include:
|
||||
* apks
|
||||
* cereal
|
||||
* laika
|
||||
* opendbc
|
||||
* panda
|
||||
@@ -1,21 +1,26 @@
|
||||
[](#)
|
||||
LIMITATION
|
||||
------
|
||||
* CAN-FD vehicles WILL NOT WORK: this is due to the library in EON/C2 is old and cannot build red panda firmware.
|
||||
* Body WILL NOT WORK: again this is due to the library in EON/C2 cannot build its firmware.
|
||||
* AI Model REMAINS IN 0.8.16: Too much effort to port tinygrad/pyopencl onto EON/C2, still investigating workarounds.
|
||||
* NOO (Navigation On Openpilot) WILL NOT WORK: NOO requires newer driving model to work with nav model, until we resolved the last statement.
|
||||
* Logger WILL NOT WORK: It's running at near full capacity with the 0.8.16 driving model, Logger will cause performance/thermal issue.
|
||||
|
||||
** In short, consider it as openpilot 0.8.16 version PLUS latest vehicle model support from openpilot master branch.**
|
||||
|
||||
** THE BUILD IS VERY DIRTY, for porting/logging purpose we suggest using [openpilot mastertwo branch](https://github.com/commaai/openpilot/tree/commatwo_master).**
|
||||
|
||||
|
||||
|
||||
Table of Contents
|
||||
=======================
|
||||
|
||||
* [What is openpilot?](#what-is-openpilot)
|
||||
* [Integration with Stock Features](#integration-with-stock-features)
|
||||
* [Supported Hardware](#supported-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)
|
||||
* [Running in a car](#running-on-a-dedicated-device-in-a-car)
|
||||
* [Running on PC](#running-on-pc)
|
||||
* [Community and Contributing](#community-and-contributing)
|
||||
* [User Data and comma Account](#user-data-and-comma-account)
|
||||
* [Safety and Testing](#safety-and-testing)
|
||||
* [Testing on PC](#testing-on-pc)
|
||||
* [Community and Contributing](#community-and-contributing)
|
||||
* [Directory Structure](#directory-structure)
|
||||
* [Licensing](#licensing)
|
||||
|
||||
@@ -24,301 +29,123 @@ Table of Contents
|
||||
What is openpilot?
|
||||
------
|
||||
|
||||
[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](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](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
|
||||
|
||||
<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://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://i.imgur.com/1w8c6d2.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://i.imgur.com/LnBucik.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/VxiR4iyBruo" title="Video By Charlie Kim"><img src="https://i.imgur.com/4Qoy48c.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/-IkImTe1NYE" title="Video By Aragon"><img src="https://i.imgur.com/04VNzPf.jpg"></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://youtu.be/iIUICQkdwFQ" title="Video By Logan LeGrand"><img src="https://i.imgur.com/b1LHQTy.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/XOsa0FsVIsg" title="Video By PinoyDrives"><img src="https://i.imgur.com/6FG0Bd8.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/bCwcJ98R_Xw" title="Video By JS"><img src="https://i.imgur.com/zO18CbW.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/BQ0tF3MTyyc" title="Video By Tsai-Fi"><img src="https://i.imgur.com/eZzelq3.jpg"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
Integration with Stock Features
|
||||
|
||||
Running on a dedicated device in a car
|
||||
------
|
||||
|
||||
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.
|
||||
To use openpilot in a car, you need four things
|
||||
* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
|
||||
* This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
|
||||
The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
|
||||
* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
|
||||
* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
|
||||
|
||||
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.
|
||||
We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
|
||||
|
||||
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
|
||||
Running on PC
|
||||
------
|
||||
|
||||
At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
|
||||
All openpilot services can run as usual on a PC without requiring special hardware or a car. You can also run openpilot on recorded or simulated data to develop or experiment with openpilot.
|
||||
|
||||
Supported Cars
|
||||
------
|
||||
With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
|
||||
| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Accord 2018-19 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-19 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2019-20 | Honda Sensing | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</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>1</sup> | 12mph |
|
||||
| Honda | HR-V 2019 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019 | Honda Sensing | Stock | 0mph | 3mph |
|
||||
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
|
||||
| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Lexus | CT Hybrid 2017-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | NX Hybrid 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2016-17 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Avalon 2016 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon 2017-18 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-19 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 2016 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2017-18 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2017-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Sienna 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
|
||||
|
||||
<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](https://comma.ai).*** <br />
|
||||
<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>3</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>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
|
||||
Community Maintained Cars and Features
|
||||
------
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
|
||||
| Buick | Regal 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Cadillac | ATS 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Malibu 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Volt 2017-18<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Genesis | G80 2018<sup>2</sup> | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G90 2018<sup>2</sup> | All | Stock | 0mph | 0mph |
|
||||
| GMC | Acadia Denali 2018<sup>3</sup>| Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Hyundai | Elantra 2017-19<sup>2</sup> | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| Hyundai | Genesis 2015-16<sup>2</sup> | SCC + LKAS | Stock | 19mph | 37mph |
|
||||
| Hyundai | Ioniq 2017<sup>2</sup> | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq 2019 EV<sup>2</sup> | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Kona 2017-19<sup>2</sup> | SCC + LKAS | Stock | 22mph | 0mph |
|
||||
| Hyundai | Kona 2019 EV<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Palisade 2020<sup>2</sup> | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019<sup>2</sup> | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2020<sup>2</sup> | All | Stock | 0mph | 0mph |
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Forte 2018<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Optima 2017<sup>2</sup> | SCC + LKAS/LDWS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2019<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2019 | Propilot | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2018 | Propilot | Stock | 0mph | 0mph |
|
||||
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Impreza 2018-20 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf 2016-19<sup>3</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
|
||||
<sup>1</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 />
|
||||
<sup>2</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>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 />
|
||||
|
||||
Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
|
||||
|
||||
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
|
||||
|
||||
To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
|
||||
|
||||
Installation Instructions
|
||||
------
|
||||
|
||||
Install openpilot on an EON or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.
|
||||
|
||||
Follow these [video instructions](https://youtu.be/3nlkomHathI) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.
|
||||
|
||||
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.
|
||||
|
||||
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.
|
||||
|
||||
While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
|
||||
|
||||
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 device 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 device 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 measurement of the 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's face is partially or completely outside field of view of the driver facing camera.
|
||||
* Right hand driving vehicles.
|
||||
* The driver facing camera is obstructed, covered, or damaged.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
|
||||
|
||||
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](.github/workflows/test.yaml) that run on every commit.
|
||||
* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
|
||||
* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 EONs continuously replaying routes.
|
||||
|
||||
Testing on PC
|
||||
------
|
||||
|
||||
Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
|
||||
A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
|
||||
|
||||
Community and Contributing
|
||||
------
|
||||
|
||||
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.
|
||||
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. Check out [the contributing docs](docs/CONTRIBUTING.md).
|
||||
|
||||
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.
|
||||
Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).
|
||||
|
||||
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).
|
||||
You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
|
||||
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
|
||||
|
||||
And [follow us on Twitter](https://twitter.com/comma_ai).
|
||||
|
||||
User Data and comma Account
|
||||
------
|
||||
|
||||
By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
||||
|
||||
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver-facing camera 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://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](docs/SAFETY.md) for more details.
|
||||
* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
|
||||
* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
|
||||
* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
|
||||
|
||||
Directory Structure
|
||||
------
|
||||
.
|
||||
├── apk # The apk files used for the UI
|
||||
├── cereal # The messaging spec and libs used for all logs
|
||||
├── common # Library like functionality we've developed here
|
||||
├── installer/updater # Manages auto-updates of openpilot
|
||||
├── docs # Documentation
|
||||
├── opendbc # Files showing how to interpret data from cars
|
||||
├── panda # Code used to communicate on CAN
|
||||
├── phonelibs # Libraries used on NEOS devices
|
||||
├── pyextra # Libraries used on NEOS devices
|
||||
├── third_party # External libraries
|
||||
├── pyextra # Extra python packages
|
||||
└── system # Generic services
|
||||
├── camerad # Driver to capture images from the camera sensors
|
||||
├── clocksd # Broadcasts current time
|
||||
├── hardware # Hardware abstraction classes
|
||||
├── logcatd # systemd journal as a service
|
||||
├── loggerd # Logger and uploader of car data
|
||||
├── proclogd # Logs information from /proc
|
||||
├── sensord # IMU interface code
|
||||
└── ubloxd # u-blox GNSS module interface code
|
||||
└── selfdrive # Code needed to drive the car
|
||||
├── assets # Fonts, images, and sounds for UI
|
||||
├── athena # Allows communication with the app
|
||||
├── boardd # Daemon to talk to the board
|
||||
├── camerad # Driver to capture images from the camera sensors
|
||||
├── car # Car specific code to read states and control actuators
|
||||
├── common # Shared C/C++ code for the daemons
|
||||
├── controls # Perception, planning and controls
|
||||
├── controls # Planning and controls
|
||||
├── debug # Tools to help you debug and do car ports
|
||||
├── locationd # Soon to be home of precise location
|
||||
├── logcatd # Android logcat as a service
|
||||
├── loggerd # Logger and uploader of car data
|
||||
├── locationd # Precise localization and vehicle parameter estimation
|
||||
├── manager # Daemon that starts/stops all other daemons as needed
|
||||
├── modeld # Driving and monitoring model runners
|
||||
├── proclogd # Logs information from proc
|
||||
├── sensord # IMU / GPS interface code
|
||||
├── test # Unit tests, system tests and a car simulator
|
||||
├── monitoring # Daemon to determine driver attention
|
||||
├── navd # Turn-by-turn navigation
|
||||
├── test # Unit tests, system tests, and a car simulator
|
||||
└── ui # The UI
|
||||
|
||||
To understand how the services interact, see `cereal/service_list.yaml`.
|
||||
|
||||
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.
|
||||
@@ -328,7 +155,5 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
|
||||
<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
|
||||
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/context:python)
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
|
||||
[](https://github.com/commaai/openpilot/actions)
|
||||
[](https://codecov.io/gh/commaai/openpilot)
|
||||
|
||||
+448
-59
@@ -1,12 +1,401 @@
|
||||
Version 0.9.2 (2023-03-XX)
|
||||
========================
|
||||
* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
|
||||
* Buick LaCrosse 2017-19 support thanks to koch-cf!
|
||||
* Škoda Fabia 2022-23 support thanks to jyoung8607!
|
||||
|
||||
Version 0.9.1 (2023-02-28)
|
||||
========================
|
||||
* New driving model
|
||||
* 30% improved height estimation resulting in better driving performance for tall cars
|
||||
* Driver monitoring: removed timer resetting on user interaction if distracted
|
||||
* UI updates
|
||||
* Adjust alert volume using ambient noise level
|
||||
* Driver monitoring icon shows driver's head pose
|
||||
* German translation thanks to Vrabetz and CzokNorris!
|
||||
* Cadillac Escalade 2017 support thanks to rickygilleland!
|
||||
* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
|
||||
* Genesis GV60 2023 support thanks to sunnyhaibin!
|
||||
* Hyundai Tucson 2022-23 support
|
||||
* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
|
||||
* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
|
||||
* Kia Sorento 2022-23 support thanks to sunnyhaibin!
|
||||
* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
|
||||
* Toyota C-HR 2021 support thanks to eFiniLan!
|
||||
* Toyota C-HR Hybrid 2022 support thanks to Korben00!
|
||||
* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
|
||||
|
||||
Version 0.9.0 (2022-11-21)
|
||||
========================
|
||||
* New driving model
|
||||
* Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
|
||||
* Less reliance on previous frames makes model more reactive and snappy
|
||||
* Trained in new reprojective simulator
|
||||
* Trained in 36 hours from scratch, compared to one week for previous releases
|
||||
* Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
|
||||
* Experimental driving mode
|
||||
* End-to-end longitudinal control
|
||||
* Stops for traffic lights and stop signs
|
||||
* Slows down for turns
|
||||
* openpilot defaults to chill mode, enable experimental mode in settings
|
||||
* Driver monitoring updates
|
||||
* New bigger model with added end-to-end distracted trigger
|
||||
* Reduced false positives during driver calibration
|
||||
* Self-tuning torque controller: learns parameters live for each car
|
||||
* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
|
||||
* UI updates
|
||||
* Matched speeds shown on car's dash
|
||||
* Multi-language in navigation
|
||||
* Improved update experience
|
||||
* Border turns grey while overriding steering
|
||||
* Bookmark events while driving; view them in comma connect
|
||||
* New onroad visualization for experimental mode
|
||||
* tools: new and improved cabana thanks to deanlee!
|
||||
* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
|
||||
* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
|
||||
* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
|
||||
* Kia Sportage 2023 support thanks to sunnyhaibin!
|
||||
* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
|
||||
* Kia Stinger 2022 support thanks to sunnyhaibin!
|
||||
|
||||
Version 0.8.16 (2022-08-26)
|
||||
========================
|
||||
* New driving model
|
||||
* Reduced turn cutting
|
||||
* Auto-detect right hand drive setting with driver monitoring model
|
||||
* Improved fan controller for comma three
|
||||
* New translations
|
||||
* Japanese thanks to cydia2020!
|
||||
* Brazilian Portuguese thanks to AlexandreSato!
|
||||
* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
|
||||
* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
|
||||
* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
|
||||
* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
|
||||
* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
|
||||
* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
|
||||
* Subaru Legacy 2020-22 support thanks to martinl!
|
||||
* Subaru Outback 2020-22 support
|
||||
|
||||
Version 0.8.15 (2022-07-20)
|
||||
========================
|
||||
* New driving model
|
||||
* Path planning uses end-to-end output instead of lane lines at all times
|
||||
* Reduced ping pong
|
||||
* Improved lane centering
|
||||
* New lateral controller based on physical wheel torque model
|
||||
* Much smoother control that's consistent across the speed range
|
||||
* Effective feedforward that uses road roll
|
||||
* Simplified tuning, all car-specific parameters can be derived from data
|
||||
* Used on select Toyota and Hyundai models at first
|
||||
* Significantly improved control on TSS-P Prius
|
||||
* New driver monitoring model
|
||||
* Bigger model, covering full interior view from driver camera
|
||||
* Works with a wider variety of mounting angles
|
||||
* 3x more unique comma three training data than previous
|
||||
* Navigation improvements
|
||||
* Speed limits shown while navigating
|
||||
* Faster position fix by using raw GPS measurements
|
||||
* UI updates
|
||||
* Multilanguage support for settings and home screen
|
||||
* New font
|
||||
* Refreshed max speed design
|
||||
* More consistent camera view perspective across cars
|
||||
* Reduced power usage: device runs cooler and fan spins less
|
||||
* AGNOS 5
|
||||
* Support VSCode remote SSH target
|
||||
* Support for delta updates to reduce data usage on future OS updates
|
||||
* Chrysler ECU firmware fingerprinting thanks to realfast!
|
||||
* Honda Civic 2022 support
|
||||
* Hyundai Tucson 2021 support thanks to bluesforte!
|
||||
* Kia EV6 2022 support
|
||||
* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
|
||||
* Ram 1500 2019-21 support thanks to realfast!
|
||||
|
||||
Version 0.8.14 (2022-06-01)
|
||||
========================
|
||||
* New driving model
|
||||
* Bigger model, using both of comma three's road-facing cameras
|
||||
* Better at cut-in detection and tight turns
|
||||
* New driver monitoring model
|
||||
* Tweaked network structure to improve output resolution for DSP
|
||||
* Fixed bug in quantization aware training to reduce quantizing errors
|
||||
* Resulted in 7x less MSE and no more random biases at runtime
|
||||
* Added toggle to disable disengaging on the accelerator pedal
|
||||
* comma body support
|
||||
* Audi RS3 support thanks to jyoung8607!
|
||||
* Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
|
||||
* Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
|
||||
* Toyota Alphard Hybrid 2021 support
|
||||
* Toyota Avalon Hybrid 2022 support
|
||||
* Toyota RAV4 2022 support
|
||||
* Toyota RAV4 Hybrid 2022 support
|
||||
|
||||
Version 0.8.13 (2022-02-18)
|
||||
========================
|
||||
* Improved driver monitoring
|
||||
* Re-tuned driver pose learner for relaxed driving positions
|
||||
* Added reliance on driving model to be more scene adaptive
|
||||
* Matched strictness between comma two and comma three
|
||||
* Improved performance in turns by compensating for the road bank angle
|
||||
* Improved camera focus on the comma two
|
||||
* AGNOS 4
|
||||
* ADB support
|
||||
* improved cell auto configuration
|
||||
* NEOS 19
|
||||
* package updates
|
||||
* stability improvements
|
||||
* Subaru ECU firmware fingerprinting thanks to martinl!
|
||||
* Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
|
||||
* Mazda CX-5 2022 support thanks to Jafaral!
|
||||
* Subaru Impreza 2020 support thanks to martinl!
|
||||
* Toyota Avalon 2022 support thanks to sshane!
|
||||
* Toyota Prius v 2017 support thanks to CT921!
|
||||
* Volkswagen Caravelle 2020 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.12 (2021-12-15)
|
||||
========================
|
||||
* New driving model
|
||||
* Improved behavior around exits
|
||||
* Better pose accuracy at high speeds, allowing max speed of 90mph
|
||||
* Fully incorporated comma three data into all parts of training stack
|
||||
* Improved follow distance
|
||||
* Better longitudinal policy, especially in low speed traffic
|
||||
* New alert sounds
|
||||
* AGNOS 3
|
||||
* Display burn in mitigation
|
||||
* Improved audio amplifier configuration
|
||||
* System reliability improvements
|
||||
* Update Python to 3.8.10
|
||||
* Raw logs upload moved to connect.comma.ai
|
||||
* Fixed HUD alerts on newer Honda Bosch thanks to csouers!
|
||||
* Audi Q3 2020-21 support thanks to jyoung8607!
|
||||
* Lexus RC 2020 support thanks to ErichMoraga!
|
||||
|
||||
Version 0.8.11 (2021-11-29)
|
||||
========================
|
||||
* Support for CAN FD on the red panda
|
||||
* Support for an external panda on the comma three
|
||||
* Navigation: Show more detailed instructions when approaching maneuver
|
||||
* Fixed occasional steering faults on GM cars thanks to jyoung8607!
|
||||
* Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
|
||||
* Cadillac Escalade ESV 2016 support thanks to Gibby!
|
||||
* Genesis G70 2020 support thanks to tecandrew!
|
||||
* Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
|
||||
* Mazda CX-9 2021 support thanks to Jacar!
|
||||
* Volkswagen Polo 2020 support thanks to jyoung8607!
|
||||
* Volkswagen T-Roc 2021 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.10 (2021-11-01)
|
||||
========================
|
||||
* New driving model
|
||||
* Trained on one million minutes!!!
|
||||
* Fixed lead training making lead predictions significantly more accurate
|
||||
* Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
|
||||
* New driver monitoring model
|
||||
* Trained on latest data from both comma two and comma three
|
||||
* Increased model field of view by 40% on comma three
|
||||
* Improved model stability on masked users
|
||||
* Improved pose prediction with reworked ground-truth stack
|
||||
* Lateral and longitudinal planning MPCs now in ACADOS
|
||||
* Combined longitudinal MPCs
|
||||
* All longitudinal planning now happens in a single MPC system
|
||||
* Fixed instability in MPC problem to prevent sporadic CPU usage
|
||||
* AGNOS 2: minor stability improvements and builder repo open sourced
|
||||
* tools: new and improved replay thanks to deanlee!
|
||||
* Moved community-supported cars outside of the Community Features toggle
|
||||
* Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
|
||||
* Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
|
||||
* Audi S3 2015 support thanks to jyoung8607!
|
||||
* Honda Freed 2020 support thanks to belm0!
|
||||
* Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
|
||||
* Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
|
||||
* Kia K5 2021 support thanks to sunnyhaibin!
|
||||
* Škoda Kamiq 2021 support thanks to jyoung8607!
|
||||
* Škoda Karoq 2019 support thanks to jyoung8607!
|
||||
* Volkswagen Arteon 2021 support thanks to jyoung8607!
|
||||
* Volkswagen California 2021 support thanks to jyoung8607!
|
||||
* Volkswagen Taos 2022 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.9 (2021-09-14)
|
||||
========================
|
||||
* Improved fan control on comma three
|
||||
* AGNOS 1.5: improved stability
|
||||
* Honda e 2020 support
|
||||
|
||||
Version 0.8.8 (2021-08-27)
|
||||
========================
|
||||
* New driving model with improved laneless performance
|
||||
* Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
|
||||
* Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
|
||||
* All new desire ground-truthing stack makes the model better at lane changes
|
||||
* New driver monitoring model: improved performance on comma three
|
||||
* NEOS 18 for comma two: update packages
|
||||
* AGNOS 1.3 for comma three: fix display init at high temperatures
|
||||
* Improved auto-exposure on comma three
|
||||
* Improved longitudinal control on Honda Nidec cars
|
||||
* Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
|
||||
* Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
|
||||
* Kia Niro Hybrid 2021 support thanks to tetious!
|
||||
|
||||
Version 0.8.7 (2021-07-31)
|
||||
========================
|
||||
* comma three support!
|
||||
* Navigation alpha for the comma three!
|
||||
* Volkswagen T-Cross 2021 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.6 (2021-07-21)
|
||||
========================
|
||||
* Revamp lateral and longitudinal planners
|
||||
* Refactor planner output API to be more readable and verbose
|
||||
* Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
|
||||
* Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
|
||||
* Remove "CHECK DRIVER FACE VISIBILITY" warning
|
||||
* Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
|
||||
* Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
|
||||
* Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
|
||||
* Kia Niro Hybrid 2019 support thanks to jyoung8607!
|
||||
* Škoda Octavia RS 2016 support thanks to jyoung8607!
|
||||
* Toyota Alphard 2020 support thanks to belm0!
|
||||
* Volkswagen Golf SportWagen 2015 support thanks to jona96!
|
||||
* Volkswagen Touran 2017 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.5 (2021-06-11)
|
||||
========================
|
||||
* NEOS update: improved reliability and stability with better voltage regulator configuration
|
||||
* Smart model-based Forward Collision Warning
|
||||
* CAN-based fingerprinting moved behind community features toggle
|
||||
* Improved longitudinal control on Toyotas with a comma pedal
|
||||
* Improved auto-brightness using road-facing camera
|
||||
* Added "Software" settings page with updater controls
|
||||
* Audi Q2 2018 support thanks to jyoung8607!
|
||||
* Hyundai Elantra 2021 support thanks to CruiseBrantley!
|
||||
* Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
|
||||
* Toyota Avalon Hybrid 2019 support thanks to jbates9011!
|
||||
* SEAT Leon 2017 & 2020 support thanks to jyoung8607!
|
||||
* Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.4 (2021-05-17)
|
||||
========================
|
||||
* Delay controls start until system is ready
|
||||
* Fuzzy car identification, enabled with Community Features toggle
|
||||
* Localizer optimized for increased precision and less CPU usage
|
||||
* Re-tuned lateral control to be more aggressive when model is confident
|
||||
* Toyota Mirai 2021 support
|
||||
* Lexus NX 300 2020 support thanks to goesreallyfast!
|
||||
* Volkswagen Atlas 2018-19 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.3 (2021-04-01)
|
||||
========================
|
||||
* New model
|
||||
* Trained on new diverse dataset from 2000+ users from 30+ countries
|
||||
* Trained with improved segnet from the comma-pencil community project
|
||||
* 🥬 Dramatically improved end-to-end lateral performance 🥬
|
||||
* Toggle added to disable the use of lanelines
|
||||
* NEOS update: update packages and support for new UI
|
||||
* New offroad UI based on Qt
|
||||
* Default SSH key only used for setup
|
||||
* Kia Ceed 2019 support thanks to ZanZaD13!
|
||||
* Kia Seltos 2021 support thanks to speedking456!
|
||||
* Added support for many Volkswagen and Škoda models thanks to jyoung8607!
|
||||
|
||||
Version 0.8.2 (2021-02-26)
|
||||
========================
|
||||
* Use model points directly in MPC (no more polyfits), making lateral planning more accurate
|
||||
* Use model heading prediction for smoother lateral control
|
||||
* Smarter actuator delay compensation
|
||||
* Improve qcamera resolution for improved video in explorer and connect
|
||||
* Adjust maximum engagement speed to better fit the model's training distribution
|
||||
* New driver monitoring model trained with 3x more diverse data
|
||||
* Improved face detection with masks
|
||||
* More predictable DM alerts when visibility is bad
|
||||
* Rewritten video streaming between openpilot processes
|
||||
* Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
|
||||
* Audi A3 2015 and 2017 support thanks to keeleysam!
|
||||
* Nissan Altima 2020 support thanks to avolmensky!
|
||||
* Lexus ES Hybrid 2018 support thanks to TheInventorMan!
|
||||
* Toyota Camry Hybrid 2021 support thanks to alancyau!
|
||||
|
||||
Version 0.8.1 (2020-12-21)
|
||||
========================
|
||||
* Original EON is deprecated, upgrade to comma two
|
||||
* Better model performance in heavy rain
|
||||
* Better lane positioning in turns
|
||||
* Fixed bug where model would cut turns on empty roads at night
|
||||
* Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
|
||||
* Toyota Camry 2021 with TSS2.5 support
|
||||
* Hyundai Ioniq Electric 2020 support thanks to baldwalker!
|
||||
|
||||
Version 0.8.0 (2020-11-30)
|
||||
========================
|
||||
* New driving model: fully 3D and improved cut-in detection
|
||||
* UI draws 2 road edges, 4 lanelines and paths in 3D
|
||||
* Major fixes to cut-in detection for openpilot longitudinal
|
||||
* Grey panda is no longer supported, upgrade to comma two or black panda
|
||||
* Lexus NX 2018 support thanks to matt12eagles!
|
||||
* Kia Niro EV 2020 support thanks to nickn17!
|
||||
* Toyota Prius 2021 support thanks to rav4kumar!
|
||||
* Improved lane positioning with uncertain lanelines, wide lanes and exits
|
||||
* Improved lateral control for Prius and Subaru
|
||||
|
||||
Version 0.7.10 (2020-10-29)
|
||||
========================
|
||||
* Grey panda is deprecated, upgrade to comma two or black panda
|
||||
* NEOS update: update to Python 3.8.2 and lower CPU frequency
|
||||
* Improved thermals due to reduced CPU frequency
|
||||
* Update SNPE to 1.41.0
|
||||
* Reduced offroad power consumption
|
||||
* Various system stability improvements
|
||||
* Acura RDX 2020 support thanks to csouers!
|
||||
|
||||
Version 0.7.9 (2020-10-09)
|
||||
========================
|
||||
* Improved car battery power management
|
||||
* Improved updater robustness
|
||||
* Improved realtime performance
|
||||
* Reduced UI and modeld lags
|
||||
* Increased torque on 2020 Hyundai Sonata and Palisade
|
||||
|
||||
Version 0.7.8 (2020-08-19)
|
||||
========================
|
||||
* New driver monitoring model: improved face detection and better compatibility with sunglasses
|
||||
* Download NEOS operating system updates in the background
|
||||
* Improved updater reliability and responsiveness
|
||||
* Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
|
||||
|
||||
Version 0.7.7 (2020-07-20)
|
||||
========================
|
||||
* White panda is no longer supported, upgrade to comma two or black panda
|
||||
* Improved vehicle model estimation using high precision localizer
|
||||
* Improved thermal management on comma two
|
||||
* Improved autofocus for road-facing camera
|
||||
* Improved noise performance for driver-facing camera
|
||||
* Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
|
||||
* Fix GM ignition detection
|
||||
* Code cleanup and smaller release sizes
|
||||
* Hyundai Sonata 2020 promoted to officially supported car
|
||||
* Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
|
||||
* Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
|
||||
|
||||
Version 0.7.6.1 (2020-06-16)
|
||||
========================
|
||||
* Hotfix: update kernel on some comma twos (orders #8570-#8680)
|
||||
|
||||
Version 0.7.6 (2020-06-05)
|
||||
========================
|
||||
* White panda is deprecated, upgrade to comma two or black panda
|
||||
* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
|
||||
* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
|
||||
* Huge CPU savings in modeld by using thneed!
|
||||
* Lots of code cleanup and refactors
|
||||
|
||||
Version 0.7.5 (2020-05-13)
|
||||
========================
|
||||
* Right-Hand Drive support for both driving and driver monitoring!
|
||||
* New driving model: improved at sharp turns and lead speed estimation
|
||||
* New driver monitoring model: overall improvement on comma two
|
||||
* Driver camera preview in settings to improve mounting position
|
||||
* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
|
||||
* 2019 Nissan X-Trail and 2018 Nissan Leaf support thanks to avolmensky!
|
||||
* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
|
||||
* Right-Hand Drive support for both driving and driver monitoring!
|
||||
* New driving model: improved at sharp turns and lead speed estimation
|
||||
* New driver monitoring model: overall improvement on comma two
|
||||
* Driver camera preview in settings to improve mounting position
|
||||
* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
|
||||
* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
|
||||
|
||||
Version 0.7.4 (2020-03-20)
|
||||
========================
|
||||
@@ -55,7 +444,7 @@ Version 0.7 (2019-12-13)
|
||||
* 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
|
||||
* Refactor Panda code towards ISO26262 and SIL2 compliance
|
||||
* Forward stock FCW for Honda Nidec
|
||||
* Volkswagen port now standard: comma Harness intercepts stock camera
|
||||
|
||||
@@ -442,96 +831,96 @@ Version 0.3.4 (2017-07-28)
|
||||
|
||||
Version 0.3.3 (2017-06-28)
|
||||
===========================
|
||||
* Improved model trained on more data
|
||||
* Alpha CR-V support thanks to energee and johnnwvs!
|
||||
* Using the opendbc project for DBC files
|
||||
* Minor performance improvements
|
||||
* UI update thanks to pjlao307
|
||||
* Power off button
|
||||
* 6% more torque on the Civic
|
||||
* Improved model trained on more data
|
||||
* Alpha CR-V support thanks to energee and johnnwvs!
|
||||
* Using the opendbc project for DBC files
|
||||
* Minor performance improvements
|
||||
* UI update thanks to pjlao307
|
||||
* Power off button
|
||||
* 6% more torque on the Civic
|
||||
|
||||
Version 0.3.2 (2017-05-22)
|
||||
===========================
|
||||
* Minor stability bugfixes
|
||||
* Added metrics and rear view mirror disable to settings
|
||||
* Update model with more crowdsourced data
|
||||
* Minor stability bugfixes
|
||||
* Added metrics and rear view mirror disable to settings
|
||||
* Update model with more crowdsourced data
|
||||
|
||||
Version 0.3.1 (2017-05-17)
|
||||
===========================
|
||||
* visiond stability bugfix
|
||||
* Add logging for angle and flashing
|
||||
* visiond stability bugfix
|
||||
* Add logging for angle and flashing
|
||||
|
||||
Version 0.3.0 (2017-05-12)
|
||||
===========================
|
||||
* Add CarParams struct to improve the abstraction layer
|
||||
* Refactor visiond IPC to support multiple clients
|
||||
* Add raw GPS and beginning support for navigation
|
||||
* Improve model in visiond using crowdsourced data
|
||||
* Add improved system logging to diagnose instability
|
||||
* Rewrite baseui in React Native
|
||||
* Moved calibration to the cloud
|
||||
* Add CarParams struct to improve the abstraction layer
|
||||
* Refactor visiond IPC to support multiple clients
|
||||
* Add raw GPS and beginning support for navigation
|
||||
* Improve model in visiond using crowdsourced data
|
||||
* Add improved system logging to diagnose instability
|
||||
* Rewrite baseui in React Native
|
||||
* Moved calibration to the cloud
|
||||
|
||||
Version 0.2.9 (2017-03-01)
|
||||
===========================
|
||||
* Retain compatibility with NEOS v1
|
||||
* Retain compatibility with NEOS v1
|
||||
|
||||
Version 0.2.8 (2017-02-27)
|
||||
===========================
|
||||
* Fix bug where frames were being dropped in minute 71
|
||||
* Fix bug where frames were being dropped in minute 71
|
||||
|
||||
Version 0.2.7 (2017-02-08)
|
||||
===========================
|
||||
* Better performance and pictures at night
|
||||
* Fix ptr alignment issue in boardd
|
||||
* Fix brake error light, fix crash if too cold
|
||||
* Better performance and pictures at night
|
||||
* Fix ptr alignment issue in boardd
|
||||
* Fix brake error light, fix crash if too cold
|
||||
|
||||
Version 0.2.6 (2017-01-31)
|
||||
===========================
|
||||
* Fix bug in visiond model execution
|
||||
* Fix bug in visiond model execution
|
||||
|
||||
Version 0.2.5 (2017-01-30)
|
||||
===========================
|
||||
* Fix race condition in manager
|
||||
* Fix race condition in manager
|
||||
|
||||
Version 0.2.4 (2017-01-27)
|
||||
===========================
|
||||
* OnePlus 3T support
|
||||
* Enable installation as NEOS app
|
||||
* Various minor bugfixes
|
||||
* OnePlus 3T support
|
||||
* Enable installation as NEOS app
|
||||
* Various minor bugfixes
|
||||
|
||||
Version 0.2.3 (2017-01-11)
|
||||
===========================
|
||||
* Reduce space usage by 80%
|
||||
* Add better logging
|
||||
* Add Travis CI
|
||||
* Reduce space usage by 80%
|
||||
* Add better logging
|
||||
* Add Travis CI
|
||||
|
||||
Version 0.2.2 (2017-01-10)
|
||||
===========================
|
||||
* Board triggers started signal on CAN messages
|
||||
* Improved autoexposure
|
||||
* Handle out of space, improve upload status
|
||||
* Board triggers started signal on CAN messages
|
||||
* Improved autoexposure
|
||||
* Handle out of space, improve upload status
|
||||
|
||||
Version 0.2.1 (2016-12-14)
|
||||
===========================
|
||||
* Performance improvements, removal of more numpy
|
||||
* Fix boardd process priority
|
||||
* Make counter timer reset on use of steering wheel
|
||||
* Performance improvements, removal of more numpy
|
||||
* Fix boardd process priority
|
||||
* Make counter timer reset on use of steering wheel
|
||||
|
||||
Version 0.2 (2016-12-12)
|
||||
=========================
|
||||
* Car/Radar abstraction layers have shipped, see cereal/car.capnp
|
||||
* controlsd has been refactored
|
||||
* Shipped plant model and testing maneuvers
|
||||
* visiond exits more gracefully now
|
||||
* Hardware encoder in visiond should always init
|
||||
* ui now turns off the screen after 30 seconds
|
||||
* Switch to openpilot release branch for future releases
|
||||
* Added preliminary Docker container to run tests on PC
|
||||
* Car/Radar abstraction layers have shipped, see cereal/car.capnp
|
||||
* controlsd has been refactored
|
||||
* Shipped plant model and testing maneuvers
|
||||
* visiond exits more gracefully now
|
||||
* Hardware encoder in visiond should always init
|
||||
* ui now turns off the screen after 30 seconds
|
||||
* Switch to openpilot release branch for future releases
|
||||
* Added preliminary Docker container to run tests on PC
|
||||
|
||||
Version 0.1 (2016-11-29)
|
||||
=========================
|
||||
* Initial release of openpilot
|
||||
* Adaptive cruise control is working
|
||||
* Lane keep assist is working
|
||||
* Support for Acura ILX 2016 with AcuraWatch Plus
|
||||
* Support for Honda Civic 2016 Touring Edition
|
||||
* Initial release of openpilot
|
||||
* Adaptive cruise control is working
|
||||
* Lane keep assist is working
|
||||
* Support for Acura ILX 2016 with AcuraWatch Plus
|
||||
* Support for Honda Civic 2016 Touring Edition
|
||||
|
||||
@@ -1,34 +0,0 @@
|
||||
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.
|
||||
|
||||
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.
|
||||
|
||||
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.
|
||||
2. The vehicle must not alter its trajectory too quickly for the driver to safely
|
||||
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/`.
|
||||
|
||||
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
|
||||
not fully meeting the above requirements.
|
||||
-248
@@ -1,248 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
import sys
|
||||
import platform
|
||||
|
||||
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 platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
if arch == "aarch64" and not os.path.isdir("/system"):
|
||||
arch = "larch64"
|
||||
|
||||
webcam = bool(ARGUMENTS.get("use_webcam", 0))
|
||||
|
||||
if arch == "aarch64" or arch == "larch64":
|
||||
lenv = {
|
||||
"LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
|
||||
"PATH": os.environ['PATH'],
|
||||
}
|
||||
|
||||
if arch == "aarch64":
|
||||
# android
|
||||
lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
|
||||
lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
|
||||
|
||||
cpppath = [
|
||||
"#phonelibs/opencl/include",
|
||||
]
|
||||
|
||||
libpath = [
|
||||
"/usr/lib",
|
||||
"/data/data/com.termux/files/usr/lib",
|
||||
"/system/vendor/lib64",
|
||||
"/system/comma/usr/lib",
|
||||
"#phonelibs/nanovg",
|
||||
]
|
||||
|
||||
if arch == "larch64":
|
||||
cpppath += ["#phonelibs/capnp-cpp/include"]
|
||||
libpath += ["#phonelibs/snpe/larch64"]
|
||||
libpath += ["#phonelibs/libyuv/larch64/lib"]
|
||||
libpath += ["#external/capnparm/lib", "/usr/lib/aarch64-linux-gnu"]
|
||||
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
rpath = ["/usr/local/lib"]
|
||||
else:
|
||||
libpath += ["#phonelibs/snpe/aarch64"]
|
||||
libpath += ["#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/zmq/x64/include",
|
||||
"#external/tensorflow/include",
|
||||
]
|
||||
|
||||
if arch == "Darwin":
|
||||
libpath = [
|
||||
"#phonelibs/capnp-cpp/mac/lib",
|
||||
"#phonelibs/libyuv/mac/lib",
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
"/usr/local/lib",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
]
|
||||
else:
|
||||
libpath = [
|
||||
"#phonelibs/capnp-cpp/x64/lib",
|
||||
"#phonelibs/snpe/x86_64-linux-clang",
|
||||
"#phonelibs/zmq/x64/lib",
|
||||
"#phonelibs/libyuv/x64/lib",
|
||||
"#external/zmq/lib",
|
||||
"#external/tensorflow/lib",
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
rpath = ["phonelibs/capnp-cpp/x64/lib",
|
||||
"phonelibs/zmq/x64/lib",
|
||||
"external/tensorflow/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/openmax/include",
|
||||
"#phonelibs/json11",
|
||||
"#phonelibs/eigen",
|
||||
"#phonelibs/curl/include",
|
||||
#"#phonelibs/opencv/include", # use opencv4 instead
|
||||
"#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]
|
||||
|
||||
# still needed for apks
|
||||
if arch == 'larch64':
|
||||
zmq = 'zmq'
|
||||
else:
|
||||
zmq = FindFile("libzmq.a", libpath)
|
||||
Export('env', 'arch', 'zmq', 'SHARED', 'webcam')
|
||||
|
||||
# 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, 'json11']
|
||||
visionipc = _visionipc
|
||||
gpucommon = [_gpucommon] + _gpu_libs
|
||||
|
||||
Export('common', 'visionipc', 'gpucommon')
|
||||
|
||||
SConscript(['opendbc/can/SConscript'])
|
||||
|
||||
SConscript(['common/SConscript'])
|
||||
SConscript(['common/kalman/SConscript'])
|
||||
SConscript(['phonelibs/SConscript'])
|
||||
|
||||
if arch != "Darwin":
|
||||
SConscript(['selfdrive/camerad/SConscript'])
|
||||
SConscript(['selfdrive/modeld/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/boardd/SConscript'])
|
||||
SConscript(['selfdrive/proclogd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/ui/SConscript'])
|
||||
SConscript(['selfdrive/loggerd/SConscript'])
|
||||
|
||||
if arch == "aarch64":
|
||||
SConscript(['selfdrive/logcatd/SConscript'])
|
||||
SConscript(['selfdrive/sensord/SConscript'])
|
||||
SConscript(['selfdrive/clocksd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/locationd/SConscript'])
|
||||
SConscript(['selfdrive/locationd/kalman/SConscript'])
|
||||
SConscript(['tools/lib/index_log/SConscript'])
|
||||
Binary file not shown.
@@ -1 +0,0 @@
|
||||
.sconsign.dblite
|
||||
Vendored
-23
@@ -1,23 +0,0 @@
|
||||
name: Tests
|
||||
|
||||
on: [push, pull_request]
|
||||
|
||||
jobs:
|
||||
test:
|
||||
|
||||
runs-on: ubuntu-16.04
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
- name: Build docker image
|
||||
run: docker build -t cereal .
|
||||
- name: Unit Tests
|
||||
run: |
|
||||
docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
|
||||
- name: Test ZMQ
|
||||
run: |
|
||||
docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
|
||||
- name: Test MSGQ
|
||||
run: |
|
||||
docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
|
||||
|
||||
+9
-5
@@ -1,14 +1,18 @@
|
||||
gen
|
||||
node_modules
|
||||
package-lock.json
|
||||
/gen/
|
||||
*.tmp
|
||||
*.pyc
|
||||
__pycache__
|
||||
.*.swp
|
||||
.*.swo
|
||||
libcereal*.a
|
||||
*.os
|
||||
*.o
|
||||
*.a
|
||||
|
||||
test_runner
|
||||
|
||||
libmessaging.*
|
||||
libmessaging_shared.*
|
||||
services.h
|
||||
.sconsign.dblite
|
||||
libcereal_shared.*
|
||||
|
||||
.mypy_cache/
|
||||
|
||||
+47
-9
@@ -1,19 +1,57 @@
|
||||
from ubuntu:16.04
|
||||
FROM ubuntu:20.04
|
||||
|
||||
RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
autoconf \
|
||||
build-essential \
|
||||
ca-certificates \
|
||||
capnproto \
|
||||
clang \
|
||||
cppcheck \
|
||||
curl \
|
||||
git \
|
||||
libbz2-dev \
|
||||
libcapnp-dev \
|
||||
libffi-dev \
|
||||
liblzma-dev \
|
||||
libncurses5-dev \
|
||||
libncursesw5-dev \
|
||||
libreadline-dev \
|
||||
libsqlite3-dev \
|
||||
libssl-dev \
|
||||
libtool \
|
||||
libzmq3-dev \
|
||||
llvm \
|
||||
make \
|
||||
ocl-icd-opencl-dev \
|
||||
opencl-headers \
|
||||
python-openssl \
|
||||
tk-dev \
|
||||
wget \
|
||||
xz-utils \
|
||||
zlib1g-dev \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
|
||||
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${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
|
||||
RUN pyenv install 3.8.10 && \
|
||||
pyenv global 3.8.10 && \
|
||||
pyenv rehash && \
|
||||
pip3 install --no-cache-dir pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==1.0.0 pre-commit==2.15.0 pylint==2.5.2 parameterized==0.7.4 coverage==5.1 numpy==1.21.1
|
||||
|
||||
WORKDIR /project/
|
||||
RUN cd /tmp/ && \
|
||||
git clone https://github.com/catchorg/Catch2.git && \
|
||||
cd Catch2 && \
|
||||
git checkout 229cc4823c8cbe67366da8179efc6089dd3893e9 && \
|
||||
mv single_include/catch2/ /project/ && \
|
||||
cd .. \
|
||||
rm -rf Catch2
|
||||
|
||||
WORKDIR /project/cereal
|
||||
COPY install_capnp.sh .
|
||||
RUN ./install_capnp.sh
|
||||
|
||||
ENV PYTHONPATH=/project
|
||||
|
||||
COPY . .
|
||||
RUN scons -c && scons -j$(nproc)
|
||||
RUN rm -rf .git && \
|
||||
scons -c && scons -j$(nproc)
|
||||
|
||||
@@ -0,0 +1,7 @@
|
||||
Copyright (c) 2020, Comma.ai, Inc.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
|
||||
|
||||
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.
|
||||
+20
-6
@@ -1,12 +1,12 @@
|
||||
What is cereal?
|
||||
What is cereal? [](https://github.com/commaai/cereal/actions) [](https://codecov.io/gh/commaai/cereal)
|
||||
----
|
||||
|
||||
cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
|
||||
|
||||
Imagine this use case:
|
||||
* A sensor process reads gyro measurements directly from an IMU and publishes a sensorEvents packet
|
||||
* A calibration process subscribes to the sensorEvents packet to use the IMU
|
||||
* A localization process subscribes to the sensorEvents packet to use the IMU also
|
||||
* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet
|
||||
* A calibration process subscribes to the `sensorEvents` packet to use the IMU
|
||||
* A localization process subscribes to the `sensorEvents` packet to use the IMU also
|
||||
|
||||
|
||||
Messaging Spec
|
||||
@@ -14,13 +14,24 @@ Messaging Spec
|
||||
|
||||
You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called Event.
|
||||
|
||||
All Events have a logMonoTime and a valid. Then a big union defines the packet type.
|
||||
All Events have a `logMonoTime` and a `valid`. Then a big union defines the packet type.
|
||||
|
||||
|
||||
Message definition Best Practices
|
||||
----
|
||||
|
||||
- **All fields must describe quantities in SI units**, unless otherwise specified in the field name.
|
||||
|
||||
- In the context of the message they are in, field names should be completely unambiguous.
|
||||
|
||||
- All values should be easy to plot and be human-readable with minimal parsing.
|
||||
|
||||
|
||||
|
||||
Pub Sub Backends
|
||||
----
|
||||
|
||||
cereal supports two backends, one based on [zmq](https://zeromq.org/), the other called msgq, a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
|
||||
cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called msgq, a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
|
||||
|
||||
Example
|
||||
---
|
||||
@@ -33,6 +44,9 @@ while 1:
|
||||
sm.update()
|
||||
print(sm['sensorEvents'])
|
||||
|
||||
```
|
||||
|
||||
```python
|
||||
# in publisher
|
||||
pm = messaging.PubMaster(['sensorEvents'])
|
||||
dat = messaging.new_message('sensorEvents', size=1)
|
||||
|
||||
@@ -1,62 +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/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/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 [zmq]
|
||||
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'])
|
||||
@@ -1,3 +1,4 @@
|
||||
# pylint: skip-file
|
||||
import os
|
||||
import capnp
|
||||
|
||||
|
||||
+297
-111
@@ -1,31 +1,29 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Java = import "./include/java.capnp";
|
||||
$Java.package("ai.comma.openpilot.cereal");
|
||||
$Java.outerClassname("Car");
|
||||
|
||||
@0x8e2af1e708af8b8d;
|
||||
|
||||
# ******* events causing controls state machine transition *******
|
||||
|
||||
struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
name @0 :EventName;
|
||||
|
||||
# event types
|
||||
enable @1 :Bool;
|
||||
noEntry @2 :Bool;
|
||||
warning @3 :Bool;
|
||||
warning @3 :Bool; # alerts presented only when enabled or soft disabling
|
||||
userDisable @4 :Bool;
|
||||
softDisable @5 :Bool;
|
||||
immediateDisable @6 :Bool;
|
||||
preEnable @7 :Bool;
|
||||
permanent @8 :Bool;
|
||||
permanent @8 :Bool; # alerts presented regardless of openpilot state
|
||||
overrideLateral @10 :Bool;
|
||||
overrideLongitudinal @9 :Bool;
|
||||
|
||||
enum EventName @0xbaa8c5d505f727de {
|
||||
# TODO: copy from error list
|
||||
canError @0;
|
||||
steerUnavailable @1;
|
||||
brakeUnavailable @2;
|
||||
gasUnavailable @3;
|
||||
wrongGear @4;
|
||||
doorOpen @5;
|
||||
seatbeltNotLatched @6;
|
||||
@@ -35,10 +33,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
reverseGear @10;
|
||||
buttonCancel @11;
|
||||
buttonEnable @12;
|
||||
pedalPressed @13;
|
||||
pedalPressed @13; # exits active state
|
||||
preEnableStandstill @73; # added during pre-enable state with brake
|
||||
gasPressedOverride @108; # added when user is pressing gas with no disengage on gas
|
||||
steerOverride @114;
|
||||
cruiseDisabled @14;
|
||||
radarCanError @15;
|
||||
dataNeeded @16;
|
||||
speedTooLow @17;
|
||||
outOfSpace @18;
|
||||
overheat @19;
|
||||
@@ -47,64 +46,105 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
controlsMismatch @22;
|
||||
pcmEnable @23;
|
||||
pcmDisable @24;
|
||||
noTarget @25;
|
||||
radarFault @26;
|
||||
modelCommIssueDEPRECATED @27;
|
||||
brakeHold @28;
|
||||
parkBrake @29;
|
||||
manualRestart @30;
|
||||
lowSpeedLockout @31;
|
||||
plannerError @32;
|
||||
ipasOverride @33;
|
||||
debugAlert @34;
|
||||
steerTempUnavailableMute @35;
|
||||
joystickDebug @34;
|
||||
steerTempUnavailableSilent @35;
|
||||
resumeRequired @36;
|
||||
preDriverDistracted @37;
|
||||
promptDriverDistracted @38;
|
||||
driverDistracted @39;
|
||||
geofence @40;
|
||||
driverMonitorOn @41;
|
||||
driverMonitorOff @42;
|
||||
preDriverUnresponsive @43;
|
||||
promptDriverUnresponsive @44;
|
||||
driverUnresponsive @45;
|
||||
belowSteerSpeed @46;
|
||||
calibrationProgress @47;
|
||||
lowBattery @48;
|
||||
invalidGiraffeHonda @49;
|
||||
vehicleModelInvalid @50;
|
||||
controlsFailed @51;
|
||||
accFaulted @51;
|
||||
accFaultedTemp @115;
|
||||
sensorDataInvalid @52;
|
||||
commIssue @53;
|
||||
commIssueAvgFreq @109;
|
||||
tooDistracted @54;
|
||||
posenetInvalid @55;
|
||||
soundsUnavailable @56;
|
||||
preLaneChangeLeft @57;
|
||||
preLaneChangeRight @58;
|
||||
laneChange @59;
|
||||
invalidGiraffeToyota @60;
|
||||
internetConnectivityNeeded @61;
|
||||
communityFeatureDisallowed @62;
|
||||
lowMemory @63;
|
||||
stockAeb @64;
|
||||
ldw @65;
|
||||
carUnrecognized @66;
|
||||
radarCommIssue @67;
|
||||
driverMonitorLowAcc @68;
|
||||
invalidLkasSetting @69;
|
||||
speedTooHigh @70;
|
||||
laneChangeBlocked @71;
|
||||
relayMalfunction @72;
|
||||
gasPressed @73;
|
||||
stockFcw @74;
|
||||
# dp
|
||||
preLaneChangeLeftALC @75;
|
||||
preLaneChangeRightALC @76;
|
||||
laneChangeALC @77;
|
||||
manualSteeringRequired @78;
|
||||
manualSteeringRequiredBlinkersOn @79;
|
||||
leadCarMoving @80;
|
||||
leadCarDetected @81;
|
||||
startup @75;
|
||||
startupNoCar @76;
|
||||
startupNoControl @77;
|
||||
startupMaster @78;
|
||||
startupNoFw @104;
|
||||
fcw @79;
|
||||
steerSaturated @80;
|
||||
belowEngageSpeed @84;
|
||||
noGps @85;
|
||||
wrongCruiseMode @87;
|
||||
modeldLagging @89;
|
||||
deviceFalling @90;
|
||||
fanMalfunction @91;
|
||||
cameraMalfunction @92;
|
||||
cameraFrameRate @110;
|
||||
gpsMalfunction @94;
|
||||
processNotRunning @95;
|
||||
dashcamMode @96;
|
||||
controlsInitializing @98;
|
||||
usbError @99;
|
||||
roadCameraError @100;
|
||||
driverCameraError @101;
|
||||
wideRoadCameraError @102;
|
||||
localizerMalfunction @103;
|
||||
highCpuUsage @105;
|
||||
cruiseMismatch @106;
|
||||
lkasDisabled @107;
|
||||
canBusMissing @111;
|
||||
controlsdLagging @112;
|
||||
resumeBlocked @113;
|
||||
|
||||
#dp
|
||||
speedLimitActive @116;
|
||||
speedLimitValueChange @117;
|
||||
leadMovingAlertSilent @118;
|
||||
leadMovingAlert @119;
|
||||
manualSteeringRequiredBlinkersOn @120;
|
||||
|
||||
radarCanErrorDEPRECATED @15;
|
||||
communityFeatureDisallowedDEPRECATED @62;
|
||||
radarCommIssueDEPRECATED @67;
|
||||
driverMonitorLowAccDEPRECATED @68;
|
||||
gasUnavailableDEPRECATED @3;
|
||||
dataNeededDEPRECATED @16;
|
||||
modelCommIssueDEPRECATED @27;
|
||||
ipasOverrideDEPRECATED @33;
|
||||
geofenceDEPRECATED @40;
|
||||
driverMonitorOnDEPRECATED @41;
|
||||
driverMonitorOffDEPRECATED @42;
|
||||
calibrationProgressDEPRECATED @47;
|
||||
invalidGiraffeHondaDEPRECATED @49;
|
||||
invalidGiraffeToyotaDEPRECATED @60;
|
||||
internetConnectivityNeededDEPRECATED @61;
|
||||
whitePandaUnsupportedDEPRECATED @81;
|
||||
commIssueWarningDEPRECATED @83;
|
||||
focusRecoverActiveDEPRECATED @86;
|
||||
neosUpdateRequiredDEPRECATED @88;
|
||||
modelLagWarningDEPRECATED @93;
|
||||
startupOneplusDEPRECATED @82;
|
||||
startupFuzzyFingerprintDEPRECATED @97;
|
||||
noTargetDEPRECATED @25;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -112,38 +152,46 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
# all speeds in m/s
|
||||
|
||||
struct CarState {
|
||||
errorsDEPRECATED @0 :List(CarEvent.EventName);
|
||||
events @13 :List(CarEvent);
|
||||
|
||||
# CAN health
|
||||
canValid @26 :Bool; # invalid counter/checksums
|
||||
canTimeout @40 :Bool; # CAN bus dropped out
|
||||
|
||||
# car speed
|
||||
vEgo @1 :Float32; # best estimate of speed
|
||||
aEgo @16 :Float32; # best estimate of acceleration
|
||||
vEgoRaw @17 :Float32; # unfiltered speed from CAN sensors
|
||||
vEgo @1 :Float32; # best estimate of speed
|
||||
aEgo @16 :Float32; # best estimate of acceleration
|
||||
vEgoRaw @17 :Float32; # unfiltered speed from CAN sensors
|
||||
vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI
|
||||
|
||||
yawRate @22 :Float32; # best estimate of yaw rate
|
||||
standstill @18 :Bool;
|
||||
wheelSpeeds @2 :WheelSpeeds;
|
||||
|
||||
# gas pedal, 0.0-1.0
|
||||
gas @3 :Float32; # this is user + computer
|
||||
gas @3 :Float32; # this is user pedal only
|
||||
gasPressed @4 :Bool; # this is user pedal only
|
||||
|
||||
# brake pedal, 0.0-1.0
|
||||
brake @5 :Float32; # this is user pedal only
|
||||
brakePressed @6 :Bool; # this is user pedal only
|
||||
brakeLights @19 :Bool;
|
||||
regenBraking @45 :Bool; # this is user pedal only
|
||||
parkingBrake @39 :Bool;
|
||||
brakeHoldActive @38 :Bool;
|
||||
|
||||
# steering wheel
|
||||
steeringAngle @7 :Float32; # deg
|
||||
steeringRate @15 :Float32; # deg/s
|
||||
steeringAngleDeg @7 :Float32;
|
||||
steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
|
||||
steeringRateDeg @15 :Float32;
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
steeringTorqueEps @27 :Float32; # TODO: standardize units
|
||||
steeringPressed @9 :Bool; # if the user is using the steering wheel
|
||||
steeringRateLimited @29 :Bool; # if the torque is limited by the rate limiter
|
||||
steerWarning @35 :Bool; # temporary steer unavailble
|
||||
steerError @36 :Bool; # permanent steer error
|
||||
steerFaultTemporary @35 :Bool; # temporary EPS fault
|
||||
steerFaultPermanent @36 :Bool; # permanent EPS fault
|
||||
stockAeb @30 :Bool;
|
||||
stockFcw @31 :Bool;
|
||||
espDisabled @32 :Bool;
|
||||
accFaulted @42 :Bool;
|
||||
|
||||
# cruise state
|
||||
cruiseState @10 :CruiseState;
|
||||
@@ -160,21 +208,26 @@ struct CarState {
|
||||
# lock info
|
||||
doorOpen @24 :Bool;
|
||||
seatbeltUnlatched @25 :Bool;
|
||||
canValid @26 :Bool;
|
||||
|
||||
# clutch (manual transmission only)
|
||||
clutchPressed @28 :Bool;
|
||||
|
||||
# dp
|
||||
lkMode @37 :Bool;
|
||||
|
||||
# which packets this state came from
|
||||
canMonoTimes @12: List(UInt64);
|
||||
|
||||
# blindspot sensors
|
||||
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
|
||||
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
|
||||
|
||||
fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
|
||||
charging @43 :Bool;
|
||||
|
||||
# dp
|
||||
engineRPM @46 :Float32;
|
||||
distanceLines @47 :UInt8;
|
||||
rightBlindspotD1 @48 :Float32;
|
||||
rightBlindspotD2 @49 :Float32;
|
||||
leftBlindspotD1 @50 :Float32;
|
||||
leftBlindspotD2 @51 :Float32;
|
||||
blindspotside @52 :Float32;
|
||||
|
||||
struct WheelSpeeds {
|
||||
# optional wheel speeds
|
||||
fl @0 :Float32;
|
||||
@@ -186,9 +239,12 @@ struct CarState {
|
||||
struct CruiseState {
|
||||
enabled @0 :Bool;
|
||||
speed @1 :Float32;
|
||||
speedCluster @6 :Float32; # Set speed as shown on instrument cluster
|
||||
available @2 :Bool;
|
||||
speedOffset @3 :Float32;
|
||||
standstill @4 :Bool;
|
||||
nonAdaptive @5 :Bool;
|
||||
speedLimit @7 :Float32;
|
||||
}
|
||||
|
||||
enum GearShifter {
|
||||
@@ -224,6 +280,12 @@ struct CarState {
|
||||
gapAdjustCruise @11;
|
||||
}
|
||||
}
|
||||
|
||||
# deprecated
|
||||
errorsDEPRECATED @0 :List(CarEvent.EventName);
|
||||
brakeLightsDEPRECATED @19 :Bool;
|
||||
steeringRateLimitedDEPRECATED @29 :Bool;
|
||||
canMonoTimesDEPRECATED @12: List(UInt64);
|
||||
}
|
||||
|
||||
# ******* radar state @ 20hz *******
|
||||
@@ -232,9 +294,6 @@ struct RadarData @0x888ad6581cf0aacb {
|
||||
errors @0 :List(Error);
|
||||
points @1 :List(RadarPoint);
|
||||
|
||||
# which packets this state came from
|
||||
canMonoTimes @2 :List(UInt64);
|
||||
|
||||
enum Error {
|
||||
canError @0;
|
||||
fault @1;
|
||||
@@ -258,6 +317,9 @@ struct RadarData @0x888ad6581cf0aacb {
|
||||
# some radars flag measurements VS estimates
|
||||
measured @6 :Bool;
|
||||
}
|
||||
|
||||
# deprecated
|
||||
canMonoTimesDEPRECATED @2 :List(UInt64);
|
||||
}
|
||||
|
||||
# ******* car controls @ 100hz *******
|
||||
@@ -265,31 +327,58 @@ struct RadarData @0x888ad6581cf0aacb {
|
||||
struct CarControl {
|
||||
# must be true for any actuator commands to work
|
||||
enabled @0 :Bool;
|
||||
active @7 :Bool;
|
||||
|
||||
gasDEPRECATED @1 :Float32;
|
||||
brakeDEPRECATED @2 :Float32;
|
||||
steeringTorqueDEPRECATED @3 :Float32;
|
||||
latActive @11: Bool;
|
||||
longActive @12: Bool;
|
||||
|
||||
# Actuator commands as computed by controlsd
|
||||
actuators @6 :Actuators;
|
||||
|
||||
leftBlinker @15: Bool;
|
||||
rightBlinker @16: Bool;
|
||||
|
||||
# Any car specific rate limits or quirks applied by
|
||||
# the CarController are reflected in actuatorsOutput
|
||||
# and matches what is sent to the car
|
||||
actuatorsOutput @10 :Actuators;
|
||||
|
||||
orientationNED @13 :List(Float32);
|
||||
angularVelocity @14 :List(Float32);
|
||||
|
||||
cruiseControl @4 :CruiseControl;
|
||||
hudControl @5 :HUDControl;
|
||||
|
||||
latController @17 :Text;
|
||||
|
||||
struct Actuators {
|
||||
# range from 0.0 - 1.0
|
||||
gas @0: Float32;
|
||||
brake @1: Float32;
|
||||
# range from -1.0 - 1.0
|
||||
steer @2: Float32;
|
||||
steerAngle @3: Float32;
|
||||
# value sent over can to the car
|
||||
steerOutputCan @8: Float32;
|
||||
steeringAngleDeg @3: Float32;
|
||||
|
||||
curvature @7: Float32;
|
||||
|
||||
speed @6: Float32; # m/s
|
||||
accel @4: Float32; # m/s^2
|
||||
longControlState @5: LongControlState;
|
||||
|
||||
enum LongControlState @0xe40f3a917d908282{
|
||||
off @0;
|
||||
pid @1;
|
||||
stopping @2;
|
||||
starting @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct CruiseControl {
|
||||
cancel @0: Bool;
|
||||
override @1: Bool;
|
||||
speedOverride @2: Float32;
|
||||
accelOverride @3: Float32;
|
||||
resume @1: Bool;
|
||||
override @4: Bool;
|
||||
speedOverrideDEPRECATED @2: Float32;
|
||||
accelOverrideDEPRECATED @3: Float32;
|
||||
}
|
||||
|
||||
struct HUDControl {
|
||||
@@ -318,19 +407,27 @@ struct CarControl {
|
||||
}
|
||||
|
||||
enum AudibleAlert {
|
||||
# these are the choices from the Honda
|
||||
# map as good as you can for your car
|
||||
none @0;
|
||||
chimeEngage @1;
|
||||
chimeDisengage @2;
|
||||
chimeError @3;
|
||||
chimeWarning1 @4;
|
||||
chimeWarning2 @5;
|
||||
chimeWarningRepeat @6;
|
||||
chimePrompt @7;
|
||||
chimeWarning2Repeat @8;
|
||||
|
||||
engage @1;
|
||||
disengage @2;
|
||||
refuse @3;
|
||||
|
||||
warningSoft @4;
|
||||
warningImmediate @5;
|
||||
|
||||
prompt @6;
|
||||
promptRepeat @7;
|
||||
promptDistracted @8;
|
||||
}
|
||||
}
|
||||
|
||||
gasDEPRECATED @1 :Float32;
|
||||
brakeDEPRECATED @2 :Float32;
|
||||
steeringTorqueDEPRECATED @3 :Float32;
|
||||
activeDEPRECATED @7 :Bool;
|
||||
rollDEPRECATED @8 :Float32;
|
||||
pitchDEPRECATED @9 :Float32;
|
||||
}
|
||||
|
||||
# ****** car param ******
|
||||
@@ -338,32 +435,41 @@ struct CarControl {
|
||||
struct CarParams {
|
||||
carName @0 :Text;
|
||||
carFingerprint @1 :Text;
|
||||
fuzzyFingerprint @55 :Bool;
|
||||
|
||||
notCar @66 :Bool; # flag for non-car robotics platforms
|
||||
|
||||
enableGasInterceptor @2 :Bool;
|
||||
enableCruise @3 :Bool;
|
||||
enableCamera @4 :Bool;
|
||||
enableDsu @5 :Bool; # driving support unit
|
||||
enableApgs @6 :Bool; # advanced parking guidance system
|
||||
pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state?
|
||||
enableDsu @5 :Bool; # driving support unit
|
||||
enableBsm @56 :Bool; # blind spot monitoring
|
||||
flags @64 :UInt32; # flags for car specific quirks
|
||||
experimentalLongitudinalAvailable @71 :Bool;
|
||||
#dp: enable torque interceptor
|
||||
enableTorqueInterceptor @72 :Bool;
|
||||
#dp: alt tune collection
|
||||
latTuneCollection @73 :LatTunes;
|
||||
struct LatTunes {
|
||||
pid @0 :LateralPIDTuning;
|
||||
lqr @1 :LateralLQRTuning;
|
||||
torque @2 :LateralTorqueTuning;
|
||||
}
|
||||
|
||||
minEnableSpeed @7 :Float32;
|
||||
minSteerSpeed @8 :Float32;
|
||||
safetyModel @9 :SafetyModel;
|
||||
safetyModelPassive @42 :SafetyModel = silent;
|
||||
safetyParam @10 :Int16;
|
||||
safetyConfigs @62 :List(SafetyConfig);
|
||||
alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas
|
||||
|
||||
steerMaxBP @11 :List(Float32);
|
||||
steerMaxV @12 :List(Float32);
|
||||
gasMaxBP @13 :List(Float32);
|
||||
gasMaxV @14 :List(Float32);
|
||||
brakeMaxBP @15 :List(Float32);
|
||||
brakeMaxV @16 :List(Float32);
|
||||
# Car docs fields
|
||||
maxLateralAccel @68 :Float32;
|
||||
autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically
|
||||
|
||||
# things about the car in the manual
|
||||
mass @17 :Float32; # [kg] running weight
|
||||
wheelbase @18 :Float32; # [m] distance from rear to front axle
|
||||
centerToFront @19 :Float32; # [m] GC distance to front axle
|
||||
steerRatio @20 :Float32; # [] ratio between front wheels and steering wheel angles
|
||||
steerRatioRear @21 :Float32; # [] rear steering ratio wrt front steering (usually 0)
|
||||
mass @17 :Float32; # [kg] curb weight: all fluids no cargo
|
||||
wheelbase @18 :Float32; # [m] distance from rear axle to front axle
|
||||
centerToFront @19 :Float32; # [m] distance from center of mass to front axle
|
||||
steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle
|
||||
steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0)
|
||||
|
||||
# things we can derive
|
||||
rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia
|
||||
@@ -376,31 +482,44 @@ struct CarParams {
|
||||
pid @26 :LateralPIDTuning;
|
||||
indi @27 :LateralINDITuning;
|
||||
lqr @40 :LateralLQRTuning;
|
||||
torque @67 :LateralTorqueTuning;
|
||||
}
|
||||
|
||||
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
|
||||
stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
|
||||
startAccel @32 :Float32; # Required acceleraton to overcome creep braking
|
||||
steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
|
||||
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
|
||||
stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
|
||||
steerControlType @34 :SteerControlType;
|
||||
radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
|
||||
radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
|
||||
stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
|
||||
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
|
||||
startAccel @32 :Float32; # Required acceleration to get car moving
|
||||
startingState @70 :Bool; # Does this car make use of special starting state
|
||||
|
||||
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
|
||||
longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
|
||||
longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
|
||||
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
|
||||
carVin @38 :Text; # VIN number queried during fingerprinting
|
||||
isPandaBlack @39: Bool;
|
||||
dashcamOnly @41: Bool;
|
||||
transmissionType @43 :TransmissionType;
|
||||
carFw @44 :List(CarFw);
|
||||
|
||||
radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
|
||||
communityFeature @46: Bool; # true if a community maintained feature is detected
|
||||
fingerprintSource @49: FingerprintSource;
|
||||
networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
|
||||
|
||||
wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
|
||||
|
||||
struct SafetyConfig {
|
||||
safetyModel @0 :SafetyModel;
|
||||
safetyParam @3 :UInt16;
|
||||
safetyParamDEPRECATED @1 :Int16;
|
||||
safetyParam2DEPRECATED @2 :UInt32;
|
||||
}
|
||||
|
||||
struct LateralParams {
|
||||
torqueBP @0 :List(Int32);
|
||||
torqueV @1 :List(Int32);
|
||||
@@ -414,20 +533,41 @@ struct CarParams {
|
||||
kf @4 :Float32;
|
||||
}
|
||||
|
||||
struct LateralTorqueTuning {
|
||||
useSteeringAngle @0 :Bool;
|
||||
kp @1 :Float32;
|
||||
ki @2 :Float32;
|
||||
friction @3 :Float32;
|
||||
kf @4 :Float32;
|
||||
steeringAngleDeadzoneDeg @5 :Float32;
|
||||
latAccelFactor @6 :Float32;
|
||||
latAccelOffset @7 :Float32;
|
||||
}
|
||||
|
||||
struct LongitudinalPIDTuning {
|
||||
kpBP @0 :List(Float32);
|
||||
kpV @1 :List(Float32);
|
||||
kiBP @2 :List(Float32);
|
||||
kiV @3 :List(Float32);
|
||||
kf @6 :Float32;
|
||||
deadzoneBP @4 :List(Float32);
|
||||
deadzoneV @5 :List(Float32);
|
||||
}
|
||||
|
||||
struct LateralINDITuning {
|
||||
outerLoopGain @0 :Float32;
|
||||
innerLoopGain @1 :Float32;
|
||||
timeConstant @2 :Float32;
|
||||
actuatorEffectiveness @3 :Float32;
|
||||
outerLoopGainBP @4 :List(Float32);
|
||||
outerLoopGainV @5 :List(Float32);
|
||||
innerLoopGainBP @6 :List(Float32);
|
||||
innerLoopGainV @7 :List(Float32);
|
||||
timeConstantBP @8 :List(Float32);
|
||||
timeConstantV @9 :List(Float32);
|
||||
actuatorEffectivenessBP @10 :List(Float32);
|
||||
actuatorEffectivenessV @11 :List(Float32);
|
||||
|
||||
outerLoopGainDEPRECATED @0 :Float32;
|
||||
innerLoopGainDEPRECATED @1 :Float32;
|
||||
timeConstantDEPRECATED @2 :Float32;
|
||||
actuatorEffectivenessDEPRECATED @3 :Float32;
|
||||
}
|
||||
|
||||
struct LateralLQRTuning {
|
||||
@@ -465,14 +605,22 @@ struct CarParams {
|
||||
allOutput @17;
|
||||
gmAscm @18;
|
||||
noOutput @19; # like silent but without silent CAN TXs
|
||||
hondaBoschHarness @20;
|
||||
hondaBosch @20;
|
||||
volkswagenPq @21;
|
||||
subaruLegacy @22; # pre-Global platform
|
||||
hyundaiLegacy @23;
|
||||
hyundaiCommunity @24;
|
||||
volkswagenMlb @25;
|
||||
hongqi @26;
|
||||
body @27;
|
||||
hyundaiCanfd @28;
|
||||
volvoC1 @29;
|
||||
}
|
||||
|
||||
enum SteerControlType {
|
||||
torque @0;
|
||||
angle @1;
|
||||
curvature @2;
|
||||
}
|
||||
|
||||
enum TransmissionType {
|
||||
@@ -480,18 +628,25 @@ struct CarParams {
|
||||
automatic @1; # Traditional auto, including DSG
|
||||
manual @2; # True "stick shift" only
|
||||
direct @3; # Electric vehicle or other direct drive
|
||||
cvt @4;
|
||||
}
|
||||
|
||||
struct CarFw {
|
||||
ecu @0 :Ecu;
|
||||
fwVersion @1 :Data;
|
||||
address @2: UInt32;
|
||||
subAddress @3: UInt8;
|
||||
address @2 :UInt32;
|
||||
subAddress @3 :UInt8;
|
||||
responseAddress @4 :UInt32;
|
||||
request @5 :List(Data);
|
||||
brand @6 :Text;
|
||||
bus @7 :UInt8;
|
||||
logging @8 :Bool;
|
||||
obdMultiplexing @9 :Bool;
|
||||
}
|
||||
|
||||
enum Ecu {
|
||||
eps @0;
|
||||
esp @1;
|
||||
abs @1;
|
||||
fwdRadar @2;
|
||||
fwdCamera @3;
|
||||
engine @4;
|
||||
@@ -501,6 +656,11 @@ struct CarParams {
|
||||
gateway @10; # can gateway
|
||||
hud @11; # heads up display
|
||||
combinationMeter @12; # instrument cluster
|
||||
electricBrakeBooster @15;
|
||||
shiftByWire @16;
|
||||
adas @19;
|
||||
cornerRadar @21;
|
||||
hvac @20;
|
||||
|
||||
# Toyota only
|
||||
dsu @6;
|
||||
@@ -509,8 +669,14 @@ struct CarParams {
|
||||
# Honda only
|
||||
vsa @13; # Vehicle Stability Assist
|
||||
programmedFuelInjection @14;
|
||||
electricBrakeBooster @15;
|
||||
shiftByWire @16;
|
||||
|
||||
# Chrysler only
|
||||
hcp @18; # Hybrid Control Processor
|
||||
|
||||
# Hyundai only
|
||||
parking @22; # ADAS parking ECU
|
||||
|
||||
debug @17;
|
||||
}
|
||||
|
||||
enum FingerprintSource {
|
||||
@@ -523,4 +689,24 @@ struct CarParams {
|
||||
fwdCamera @0; # Standard/default integration at LKAS camera
|
||||
gateway @1; # Integration at vehicle's CAN gateway
|
||||
}
|
||||
|
||||
enableCameraDEPRECATED @4 :Bool;
|
||||
enableApgsDEPRECATED @6 :Bool;
|
||||
steerRateCostDEPRECATED @33 :Float32;
|
||||
isPandaBlackDEPRECATED @39 :Bool;
|
||||
hasStockCameraDEPRECATED @57 :Bool;
|
||||
safetyParamDEPRECATED @10 :Int16;
|
||||
safetyModelDEPRECATED @9 :SafetyModel;
|
||||
safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
|
||||
minSpeedCanDEPRECATED @51 :Float32;
|
||||
communityFeatureDEPRECATED @46: Bool;
|
||||
startingAccelRateDEPRECATED @53 :Float32;
|
||||
steerMaxBPDEPRECATED @11 :List(Float32);
|
||||
steerMaxVDEPRECATED @12 :List(Float32);
|
||||
gasMaxBPDEPRECATED @13 :List(Float32);
|
||||
gasMaxVDEPRECATED @14 :List(Float32);
|
||||
brakeMaxBPDEPRECATED @15 :List(Float32);
|
||||
brakeMaxVDEPRECATED @16 :List(Float32);
|
||||
directAccelControlDEPRECATED @30 :Bool;
|
||||
maxSteeringAngleDegDEPRECATED @54 :Float32;
|
||||
}
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
comment: false
|
||||
coverage:
|
||||
status:
|
||||
project:
|
||||
@@ -0,0 +1,58 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0xbfa7e645486440c7;
|
||||
|
||||
# dp
|
||||
struct DragonConf {
|
||||
dpAtl @0 :UInt8;
|
||||
dpLocale @1 :Text;
|
||||
dpLateralMode @2 :UInt8;
|
||||
dpLcMinMph @3 :UInt8;
|
||||
dpLcAutoMinMph @4 :UInt8;
|
||||
dpLcAutoDelay @5 :Float32;
|
||||
dpLateralLanelines @6 :Bool;
|
||||
dpLateralCameraOffset @7 :Int8;
|
||||
dpLateralPathOffset @8 :Int8;
|
||||
dpLateralRoadEdgeDetected @9 :Bool;
|
||||
dpIpAddr @10 :Text;
|
||||
dpUiTop @11 :Bool;
|
||||
dpUiSide @12 :Bool;
|
||||
dpUiBrightness @13 :UInt8;
|
||||
dpUiDisplayMode @14 :UInt8;
|
||||
dpUiSpeed @15 :Bool;
|
||||
dpUiEvent @16 :Bool;
|
||||
dpUiFace @17 :Bool;
|
||||
dpUiLeadInfo @18 :Bool;
|
||||
dpUiLaneline @19 :Bool;
|
||||
dpUiChevron @20 :Bool;
|
||||
dpUiDmCam @21 :Bool;
|
||||
dpUiRainbow @22 :Bool;
|
||||
dpToyotaSng @23 :Bool;
|
||||
dpAccelProfileCtrl @24 :Bool;
|
||||
dpAccelProfile @25 :UInt8;
|
||||
dpToyotaCruiseOverride @26 :Bool;
|
||||
dpToyotaCruiseOverrideSpeed @27 :UInt8;
|
||||
dpToyotaAutoLock @28 :Bool;
|
||||
dpToyotaAutoUnlock @29 :Bool;
|
||||
dpToyotaDebugBsm @30 :Bool;
|
||||
dpMapd @31 :Bool;
|
||||
dpLocalDb @32 :Bool;
|
||||
dpDashcamd @33 :Bool;
|
||||
dpMazdaSteerAlert @34 :Bool;
|
||||
dpSpeedCheck @35 :Bool;
|
||||
dpFollowingProfileCtrl @36 :Bool;
|
||||
dpFollowingProfile @37 :UInt8;
|
||||
dpLateralAlt @38 :Bool;
|
||||
dpLateralAltSpeed @39 :UInt8;
|
||||
dpLateralAltCtrl @40 :UInt8;
|
||||
dpLateralAltLanelines @41 :Bool;
|
||||
dpLateralAltCameraOffset @42 :Int8;
|
||||
dpLateralAltPathOffset @43 :Int8;
|
||||
dpE2EConditional @44 :Bool;
|
||||
dpE2EConditionalAdaptFp @45 :Bool;
|
||||
dpE2EConditionalAdaptAp @46 :Bool;
|
||||
dpE2EConditionalVoacc @47 :Bool;
|
||||
dpLongLeadMovingAlert @48 :Int8;
|
||||
dpLateralLcManual @49 :Bool;
|
||||
}
|
||||
@@ -1,28 +0,0 @@
|
||||
# Copyright (c) 2013-2015 Sandstorm Development Group, Inc. and contributors
|
||||
# Licensed under the MIT License:
|
||||
#
|
||||
# Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
# of this software and associated documentation files (the "Software"), to deal
|
||||
# in the Software without restriction, including without limitation the rights
|
||||
# to use, copy, modify, merge, publish, distribute, 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.
|
||||
|
||||
@0xc5f1af96651f70ea;
|
||||
|
||||
annotation package @0x9ee4c8f803b3b596 (file) : Text;
|
||||
# Name of the package, such as "org.example.foo", in which the generated code will reside.
|
||||
|
||||
annotation outerClassname @0x9b066bb4881f7cd3 (file) : Text;
|
||||
# Name of the outer class that will wrap the generated code.
|
||||
@@ -1,40 +0,0 @@
|
||||
set -e
|
||||
echo "Installing capnp"
|
||||
|
||||
cd /tmp
|
||||
VERSION=0.6.1
|
||||
wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
|
||||
tar xvf capnproto-c++-${VERSION}.tar.gz
|
||||
cd capnproto-c++-${VERSION}
|
||||
CXXFLAGS="-fPIC" ./configure
|
||||
|
||||
make -j$(nproc)
|
||||
make install
|
||||
|
||||
# manually build binaries statically
|
||||
g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
|
||||
|
||||
g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
|
||||
|
||||
g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
|
||||
|
||||
cp .libs/capnp /usr/local/bin/
|
||||
cp .libs/capnpc-c++ /usr/local/bin/
|
||||
cp .libs/capnpc-capnp /usr/local/bin/
|
||||
cp .libs/*.a /usr/local/lib
|
||||
|
||||
cd /tmp
|
||||
echo "Installing c-capnp"
|
||||
git clone https://github.com/commaai/c-capnproto.git
|
||||
cd c-capnproto
|
||||
git submodule update --init --recursive
|
||||
autoreconf -f -i -s
|
||||
CXXFLAGS="-fPIC" ./configure
|
||||
make -j$(nproc)
|
||||
make install
|
||||
|
||||
# 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
|
||||
|
||||
cp .libs/capnpc-c /usr/local/bin/
|
||||
cp .libs/*.a /usr/local/lib
|
||||
@@ -0,0 +1,574 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0x80ef1ec4889c2a63;
|
||||
|
||||
# legacy.capnp: a home for deprecated structs
|
||||
|
||||
struct LogRotate @0x9811e1f38f62f2d1 {
|
||||
segmentNum @0 :Int32;
|
||||
path @1 :Text;
|
||||
}
|
||||
|
||||
struct LiveUI @0xc08240f996aefced {
|
||||
rearViewCam @0 :Bool;
|
||||
alertText1 @1 :Text;
|
||||
alertText2 @2 :Text;
|
||||
awarenessStatus @3 :Float32;
|
||||
}
|
||||
|
||||
struct UiLayoutState @0x88dcce08ad29dda0 {
|
||||
activeApp @0 :App;
|
||||
sidebarCollapsed @1 :Bool;
|
||||
mapEnabled @2 :Bool;
|
||||
mockEngaged @3 :Bool;
|
||||
|
||||
enum App @0x9917470acf94d285 {
|
||||
home @0;
|
||||
music @1;
|
||||
nav @2;
|
||||
settings @3;
|
||||
none @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbslamCorrection @0x8afd33dc9b35e1aa {
|
||||
correctionMonoTime @0 :UInt64;
|
||||
prePositionECEF @1 :List(Float64);
|
||||
postPositionECEF @2 :List(Float64);
|
||||
prePoseQuatECEF @3 :List(Float32);
|
||||
postPoseQuatECEF @4 :List(Float32);
|
||||
numInliers @5 :UInt32;
|
||||
}
|
||||
|
||||
struct EthernetPacket @0xa99a9d5b33cf5859 {
|
||||
pkt @0 :Data;
|
||||
ts @1 :Float32;
|
||||
}
|
||||
|
||||
struct CellInfo @0xcff7566681c277ce {
|
||||
timestamp @0 :UInt64;
|
||||
repr @1 :Text; # android toString() for now
|
||||
}
|
||||
|
||||
struct WifiScan @0xd4df5a192382ba0b {
|
||||
bssid @0 :Text;
|
||||
ssid @1 :Text;
|
||||
capabilities @2 :Text;
|
||||
frequency @3 :Int32;
|
||||
level @4 :Int32;
|
||||
timestamp @5 :Int64;
|
||||
|
||||
centerFreq0 @6 :Int32;
|
||||
centerFreq1 @7 :Int32;
|
||||
channelWidth @8 :ChannelWidth;
|
||||
operatorFriendlyName @9 :Text;
|
||||
venueName @10 :Text;
|
||||
is80211mcResponder @11 :Bool;
|
||||
passpoint @12 :Bool;
|
||||
|
||||
distanceCm @13 :Int32;
|
||||
distanceSdCm @14 :Int32;
|
||||
|
||||
enum ChannelWidth @0xcb6a279f015f6b51 {
|
||||
w20Mhz @0;
|
||||
w40Mhz @1;
|
||||
w80Mhz @2;
|
||||
w160Mhz @3;
|
||||
w80Plus80Mhz @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveEventData @0x94b7baa90c5c321e {
|
||||
name @0 :Text;
|
||||
value @1 :Int32;
|
||||
}
|
||||
|
||||
struct ModelData @0xb8aad62cffef28a9 {
|
||||
frameId @0 :UInt32;
|
||||
frameAge @12 :UInt32;
|
||||
frameDropPerc @13 :Float32;
|
||||
timestampEof @9 :UInt64;
|
||||
modelExecutionTime @14 :Float32;
|
||||
gpuExecutionTime @16 :Float32;
|
||||
rawPred @15 :Data;
|
||||
|
||||
path @1 :PathData;
|
||||
leftLane @2 :PathData;
|
||||
rightLane @3 :PathData;
|
||||
lead @4 :LeadData;
|
||||
freePath @6 :List(Float32);
|
||||
|
||||
settings @5 :ModelSettings;
|
||||
leadFuture @7 :LeadData;
|
||||
speed @8 :List(Float32);
|
||||
meta @10 :MetaData;
|
||||
longitudinal @11 :LongitudinalData;
|
||||
|
||||
struct PathData @0x8817eeea389e9f08 {
|
||||
points @0 :List(Float32);
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
stds @3 :List(Float32);
|
||||
poly @4 :List(Float32);
|
||||
validLen @5 :Float32;
|
||||
}
|
||||
|
||||
struct LeadData @0xd1c9bef96d26fa91 {
|
||||
dist @0 :Float32;
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
relVel @3 :Float32;
|
||||
relVelStd @4 :Float32;
|
||||
relY @5 :Float32;
|
||||
relYStd @6 :Float32;
|
||||
relA @7 :Float32;
|
||||
relAStd @8 :Float32;
|
||||
}
|
||||
|
||||
struct ModelSettings @0xa26e3710efd3e914 {
|
||||
bigBoxX @0 :UInt16;
|
||||
bigBoxY @1 :UInt16;
|
||||
bigBoxWidth @2 :UInt16;
|
||||
bigBoxHeight @3 :UInt16;
|
||||
boxProjection @4 :List(Float32);
|
||||
yuvCorrection @5 :List(Float32);
|
||||
inputTransform @6 :List(Float32);
|
||||
}
|
||||
|
||||
struct MetaData @0x9744f25fb60f2bf8 {
|
||||
engagedProb @0 :Float32;
|
||||
desirePrediction @1 :List(Float32);
|
||||
brakeDisengageProb @2 :Float32;
|
||||
gasDisengageProb @3 :Float32;
|
||||
steerOverrideProb @4 :Float32;
|
||||
desireState @5 :List(Float32);
|
||||
}
|
||||
|
||||
struct LongitudinalData @0xf98f999c6a071122 {
|
||||
distances @2 :List(Float32);
|
||||
speeds @0 :List(Float32);
|
||||
accelerations @1 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
struct ECEFPoint @0xc25bbbd524983447 {
|
||||
x @0 :Float64;
|
||||
y @1 :Float64;
|
||||
z @2 :Float64;
|
||||
}
|
||||
|
||||
struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
|
||||
x @0 :Float32;
|
||||
y @1 :Float32;
|
||||
z @2 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPoints @0xab54c59699f8f9f3 {
|
||||
curPosDEPRECATED @0 :ECEFPointDEPRECATED;
|
||||
pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
|
||||
curPos @6 :ECEFPoint;
|
||||
points @7 :List(ECEFPoint);
|
||||
valid @2 :Bool;
|
||||
trackName @3 :Text;
|
||||
speedLimit @4 :Float32;
|
||||
accelTarget @5 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
|
||||
valid @0 :Bool;
|
||||
poly @1 :List(Float32);
|
||||
trackName @2 :Text;
|
||||
speed @3 :Float32;
|
||||
acceleration @4 :Float32;
|
||||
pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
|
||||
points @6 :List(ECEFPoint);
|
||||
xLookahead @7 :Float32;
|
||||
}
|
||||
|
||||
struct UiNavigationEvent @0x90c8426c3eaddd3b {
|
||||
type @0: Type;
|
||||
status @1: Status;
|
||||
distanceTo @2: Float32;
|
||||
endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
|
||||
endRoadPoint @4: ECEFPoint;
|
||||
|
||||
enum Type @0xe8db07dcf8fcea05 {
|
||||
none @0;
|
||||
laneChangeLeft @1;
|
||||
laneChangeRight @2;
|
||||
mergeLeft @3;
|
||||
mergeRight @4;
|
||||
turnLeft @5;
|
||||
turnRight @6;
|
||||
}
|
||||
|
||||
enum Status @0xb9aa88c75ef99a1f {
|
||||
none @0;
|
||||
passive @1;
|
||||
approaching @2;
|
||||
active @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveLocationData @0xb99b2bc7a57e8128 {
|
||||
status @0 :UInt8;
|
||||
|
||||
# 3D fix
|
||||
lat @1 :Float64;
|
||||
lon @2 :Float64;
|
||||
alt @3 :Float32; # m
|
||||
|
||||
# speed
|
||||
speed @4 :Float32; # m/s
|
||||
|
||||
# NED velocity components
|
||||
vNED @5 :List(Float32);
|
||||
|
||||
# roll, pitch, heading (x,y,z)
|
||||
roll @6 :Float32; # WRT to center of earth?
|
||||
pitch @7 :Float32; # WRT to center of earth?
|
||||
heading @8 :Float32; # WRT to north?
|
||||
|
||||
# what are these?
|
||||
wanderAngle @9 :Float32;
|
||||
trackAngle @10 :Float32;
|
||||
|
||||
# car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
|
||||
|
||||
# gyro, in car frame, deg/s
|
||||
gyro @11 :List(Float32);
|
||||
|
||||
# accel, in car frame, m/s^2
|
||||
accel @12 :List(Float32);
|
||||
|
||||
accuracy @13 :Accuracy;
|
||||
|
||||
source @14 :SensorSource;
|
||||
# if we are fixing a location in the past
|
||||
fixMonoTime @15 :UInt64;
|
||||
|
||||
gpsWeek @16 :Int32;
|
||||
timeOfWeek @17 :Float64;
|
||||
|
||||
positionECEF @18 :List(Float64);
|
||||
poseQuatECEF @19 :List(Float32);
|
||||
pitchCalibration @20 :Float32;
|
||||
yawCalibration @21 :Float32;
|
||||
imuFrame @22 :List(Float32);
|
||||
|
||||
struct Accuracy @0x943dc4625473b03f {
|
||||
pNEDError @0 :List(Float32);
|
||||
vNEDError @1 :List(Float32);
|
||||
rollError @2 :Float32;
|
||||
pitchError @3 :Float32;
|
||||
headingError @4 :Float32;
|
||||
ellipsoidSemiMajorError @5 :Float32;
|
||||
ellipsoidSemiMinorError @6 :Float32;
|
||||
ellipsoidOrientationError @7 :Float32;
|
||||
}
|
||||
|
||||
enum SensorSource @0xc871d3cc252af657 {
|
||||
applanix @0;
|
||||
kalman @1;
|
||||
orbslam @2;
|
||||
timing @3;
|
||||
dummy @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbOdometry @0xd7700859ed1f5b76 {
|
||||
# timing first
|
||||
startMonoTime @0 :UInt64;
|
||||
endMonoTime @1 :UInt64;
|
||||
|
||||
# fundamental matrix and error
|
||||
f @2: List(Float64);
|
||||
err @3: Float64;
|
||||
|
||||
# number of inlier points
|
||||
inliers @4: Int32;
|
||||
|
||||
# for debug only
|
||||
# indexed by endMonoTime features
|
||||
# value is startMonoTime feature match
|
||||
# -1 if no match
|
||||
matches @5: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeatures @0xcd60164a8a0159ef {
|
||||
timestampEof @0 :UInt64;
|
||||
# transposed arrays of normalized image coordinates
|
||||
# len(xs) == len(ys) == len(descriptors) * 32
|
||||
xs @1 :List(Float32);
|
||||
ys @2 :List(Float32);
|
||||
descriptors @3 :Data;
|
||||
octaves @4 :List(Int8);
|
||||
|
||||
# match index to last OrbFeatures
|
||||
# -1 if no match
|
||||
timestampLastEof @5 :UInt64;
|
||||
matches @6: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeaturesSummary @0xd500d30c5803fa4f {
|
||||
timestampEof @0 :UInt64;
|
||||
timestampLastEof @1 :UInt64;
|
||||
|
||||
featureCount @2 :UInt16;
|
||||
matchCount @3 :UInt16;
|
||||
computeNs @4 :UInt64;
|
||||
}
|
||||
|
||||
struct OrbKeyFrame @0xc8233c0345e27e24 {
|
||||
# this is a globally unique id for the KeyFrame
|
||||
id @0: UInt64;
|
||||
|
||||
# this is the location of the KeyFrame
|
||||
pos @1: ECEFPoint;
|
||||
|
||||
# these are the features in the world
|
||||
# len(dpos) == len(descriptors) * 32
|
||||
dpos @2 :List(ECEFPoint);
|
||||
descriptors @3 :Data;
|
||||
}
|
||||
|
||||
struct KalmanOdometry @0x92e21bb7ea38793a {
|
||||
trans @0 :List(Float32); # m/s in device frame
|
||||
rot @1 :List(Float32); # rad/s in device frame
|
||||
transStd @2 :List(Float32); # std m/s in device frame
|
||||
rotStd @3 :List(Float32); # std rad/s in device frame
|
||||
}
|
||||
|
||||
struct OrbObservation @0x9b326d4e436afec7 {
|
||||
observationMonoTime @0 :UInt64;
|
||||
normalizedCoordinates @1 :List(Float32);
|
||||
locationECEF @2 :List(Float64);
|
||||
matchDistance @3: UInt32;
|
||||
}
|
||||
|
||||
struct CalibrationFeatures @0x8fdfadb254ea867a {
|
||||
frameId @0 :UInt32;
|
||||
|
||||
p0 @1 :List(Float32);
|
||||
p1 @2 :List(Float32);
|
||||
status @3 :List(Int8);
|
||||
}
|
||||
|
||||
struct NavStatus @0xbd8822120928120c {
|
||||
isNavigating @0 :Bool;
|
||||
currentAddress @1 :Address;
|
||||
|
||||
struct Address @0xce7cd672cacc7814 {
|
||||
title @0 :Text;
|
||||
lat @1 :Float64;
|
||||
lng @2 :Float64;
|
||||
house @3 :Text;
|
||||
address @4 :Text;
|
||||
street @5 :Text;
|
||||
city @6 :Text;
|
||||
state @7 :Text;
|
||||
country @8 :Text;
|
||||
}
|
||||
}
|
||||
|
||||
struct NavUpdate @0xdb98be6565516acb {
|
||||
isNavigating @0 :Bool;
|
||||
curSegment @1 :Int32;
|
||||
segments @2 :List(Segment);
|
||||
|
||||
struct LatLng @0x9eaef9187cadbb9b {
|
||||
lat @0 :Float64;
|
||||
lng @1 :Float64;
|
||||
}
|
||||
|
||||
struct Segment @0xa5b39b4fc4d7da3f {
|
||||
from @0 :LatLng;
|
||||
to @1 :LatLng;
|
||||
updateTime @2 :Int32;
|
||||
distance @3 :Int32;
|
||||
crossTime @4 :Int32;
|
||||
exitNo @5 :Int32;
|
||||
instruction @6 :Instruction;
|
||||
|
||||
parts @7 :List(LatLng);
|
||||
|
||||
enum Instruction @0xc5417a637451246f {
|
||||
turnLeft @0;
|
||||
turnRight @1;
|
||||
keepLeft @2;
|
||||
keepRight @3;
|
||||
straight @4;
|
||||
roundaboutExitNumber @5;
|
||||
roundaboutExit @6;
|
||||
roundaboutTurnLeft @7;
|
||||
unkn8 @8;
|
||||
roundaboutStraight @9;
|
||||
unkn10 @10;
|
||||
roundaboutTurnRight @11;
|
||||
unkn12 @12;
|
||||
roundaboutUturn @13;
|
||||
unkn14 @14;
|
||||
arrive @15;
|
||||
exitLeft @16;
|
||||
exitRight @17;
|
||||
unkn18 @18;
|
||||
uturn @19;
|
||||
# ...
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct TrafficEvent @0xacfa74a094e62626 {
|
||||
type @0 :Type;
|
||||
distance @1 :Float32;
|
||||
action @2 :Action;
|
||||
resuming @3 :Bool;
|
||||
|
||||
enum Type @0xd85d75253435bf4b {
|
||||
stopSign @0;
|
||||
lightRed @1;
|
||||
lightYellow @2;
|
||||
lightGreen @3;
|
||||
stopLight @4;
|
||||
}
|
||||
|
||||
enum Action @0xa6f6ce72165ccb49 {
|
||||
none @0;
|
||||
yield @1;
|
||||
stop @2;
|
||||
resumeReady @3;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
struct AndroidGnss @0xdfdf30d03fc485bd {
|
||||
union {
|
||||
measurements @0 :Measurements;
|
||||
navigationMessage @1 :NavigationMessage;
|
||||
}
|
||||
|
||||
struct Measurements @0xa20710d4f428d6cd {
|
||||
clock @0 :Clock;
|
||||
measurements @1 :List(Measurement);
|
||||
|
||||
struct Clock @0xa0e27b453a38f450 {
|
||||
timeNanos @0 :Int64;
|
||||
hardwareClockDiscontinuityCount @1 :Int32;
|
||||
|
||||
hasTimeUncertaintyNanos @2 :Bool;
|
||||
timeUncertaintyNanos @3 :Float64;
|
||||
|
||||
hasLeapSecond @4 :Bool;
|
||||
leapSecond @5 :Int32;
|
||||
|
||||
hasFullBiasNanos @6 :Bool;
|
||||
fullBiasNanos @7 :Int64;
|
||||
|
||||
hasBiasNanos @8 :Bool;
|
||||
biasNanos @9 :Float64;
|
||||
|
||||
hasBiasUncertaintyNanos @10 :Bool;
|
||||
biasUncertaintyNanos @11 :Float64;
|
||||
|
||||
hasDriftNanosPerSecond @12 :Bool;
|
||||
driftNanosPerSecond @13 :Float64;
|
||||
|
||||
hasDriftUncertaintyNanosPerSecond @14 :Bool;
|
||||
driftUncertaintyNanosPerSecond @15 :Float64;
|
||||
}
|
||||
|
||||
struct Measurement @0xd949bf717d77614d {
|
||||
svId @0 :Int32;
|
||||
constellation @1 :Constellation;
|
||||
|
||||
timeOffsetNanos @2 :Float64;
|
||||
state @3 :Int32;
|
||||
receivedSvTimeNanos @4 :Int64;
|
||||
receivedSvTimeUncertaintyNanos @5 :Int64;
|
||||
cn0DbHz @6 :Float64;
|
||||
pseudorangeRateMetersPerSecond @7 :Float64;
|
||||
pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
|
||||
accumulatedDeltaRangeState @9 :Int32;
|
||||
accumulatedDeltaRangeMeters @10 :Float64;
|
||||
accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
|
||||
|
||||
hasCarrierFrequencyHz @12 :Bool;
|
||||
carrierFrequencyHz @13 :Float32;
|
||||
hasCarrierCycles @14 :Bool;
|
||||
carrierCycles @15 :Int64;
|
||||
hasCarrierPhase @16 :Bool;
|
||||
carrierPhase @17 :Float64;
|
||||
hasCarrierPhaseUncertainty @18 :Bool;
|
||||
carrierPhaseUncertainty @19 :Float64;
|
||||
hasSnrInDb @20 :Bool;
|
||||
snrInDb @21 :Float64;
|
||||
|
||||
multipathIndicator @22 :MultipathIndicator;
|
||||
|
||||
enum Constellation @0x9ef1f3ff0deb5ffb {
|
||||
unknown @0;
|
||||
gps @1;
|
||||
sbas @2;
|
||||
glonass @3;
|
||||
qzss @4;
|
||||
beidou @5;
|
||||
galileo @6;
|
||||
}
|
||||
|
||||
enum State @0xcbb9490adce12d72 {
|
||||
unknown @0;
|
||||
codeLock @1;
|
||||
bitSync @2;
|
||||
subframeSync @3;
|
||||
towDecoded @4;
|
||||
msecAmbiguous @5;
|
||||
symbolSync @6;
|
||||
gloStringSync @7;
|
||||
gloTodDecoded @8;
|
||||
bdsD2BitSync @9;
|
||||
bdsD2SubframeSync @10;
|
||||
galE1bcCodeLock @11;
|
||||
galE1c2ndCodeLock @12;
|
||||
galE1bPageSync @13;
|
||||
sbasSync @14;
|
||||
}
|
||||
|
||||
enum MultipathIndicator @0xc04e7b6231d4caa8 {
|
||||
unknown @0;
|
||||
detected @1;
|
||||
notDetected @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct NavigationMessage @0xe2517b083095fd4e {
|
||||
type @0 :Int32;
|
||||
svId @1 :Int32;
|
||||
messageId @2 :Int32;
|
||||
submessageId @3 :Int32;
|
||||
data @4 :Data;
|
||||
status @5 :Status;
|
||||
|
||||
enum Status @0xec1ff7996b35366f {
|
||||
unknown @0;
|
||||
parityPassed @1;
|
||||
parityRebuilt @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct LidarPts @0xe3d6685d4e9d8f7a {
|
||||
r @0 :List(UInt16); # uint16 m*500.0
|
||||
theta @1 :List(UInt16); # uint16 deg*100.0
|
||||
reflect @2 :List(UInt8); # uint8 0-255
|
||||
|
||||
# For storing out of file.
|
||||
idx @3 :UInt64;
|
||||
|
||||
# For storing in file
|
||||
pkt @4 :Data;
|
||||
}
|
||||
|
||||
|
||||
Executable
BIN
Binary file not shown.
+1250
-1007
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,21 @@
|
||||
#pragma once
|
||||
|
||||
#ifdef SWAGLOG
|
||||
// cppcheck-suppress preprocessorErrorDirective
|
||||
#include SWAGLOG
|
||||
#else
|
||||
|
||||
#define CLOUDLOG_DEBUG 10
|
||||
#define CLOUDLOG_INFO 20
|
||||
#define CLOUDLOG_WARNING 30
|
||||
#define CLOUDLOG_ERROR 40
|
||||
#define CLOUDLOG_CRITICAL 50
|
||||
|
||||
#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__)
|
||||
|
||||
#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
|
||||
#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
|
||||
#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
|
||||
#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
|
||||
|
||||
#endif
|
||||
@@ -1,10 +1,6 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Java = import "./include/java.capnp";
|
||||
$Java.package("ai.comma.openpilot.cereal");
|
||||
$Java.outerClassname("Map");
|
||||
|
||||
@0xa086df597ef5d7a0;
|
||||
|
||||
# Geometry
|
||||
|
||||
+101
-64
@@ -1,13 +1,21 @@
|
||||
# must be build with scons
|
||||
from .messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
|
||||
from .messaging_pyx import MultiplePublishersError, MessagingError # pylint: disable=no-name-in-module, import-error
|
||||
import os
|
||||
import capnp
|
||||
|
||||
from typing import Optional, List, Union
|
||||
from collections import deque
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import service_list
|
||||
|
||||
assert MultiplePublishersError
|
||||
assert MessagingError
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import service_list
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
AVG_FREQ_HISTORY = 100
|
||||
SIMULATION = "SIMULATION" in os.environ
|
||||
|
||||
# sec_since_boot is faster, but allow to run standalone too
|
||||
try:
|
||||
@@ -19,7 +27,10 @@ except ImportError:
|
||||
|
||||
context = Context()
|
||||
|
||||
def new_message(service=None, size=None):
|
||||
def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)
|
||||
|
||||
def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
dat = log.Event.new_message()
|
||||
dat.logMonoTime = int(sec_since_boot() * 1e9)
|
||||
dat.valid = True
|
||||
@@ -30,15 +41,15 @@ def new_message(service=None, size=None):
|
||||
dat.init(service, size)
|
||||
return dat
|
||||
|
||||
def pub_sock(endpoint):
|
||||
def pub_sock(endpoint: str) -> PubSocket:
|
||||
sock = PubSocket()
|
||||
sock.connect(context, endpoint)
|
||||
return sock
|
||||
|
||||
def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=None):
|
||||
def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
|
||||
conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
|
||||
sock = SubSocket()
|
||||
addr = addr.encode('utf8')
|
||||
sock.connect(context, endpoint, addr, conflate)
|
||||
sock.connect(context, endpoint, addr.encode('utf8'), conflate)
|
||||
|
||||
if timeout is not None:
|
||||
sock.setTimeout(timeout)
|
||||
@@ -48,9 +59,9 @@ def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=No
|
||||
return sock
|
||||
|
||||
|
||||
def drain_sock_raw(sock, wait_for_one=False):
|
||||
def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret = []
|
||||
ret: List[bytes] = []
|
||||
while 1:
|
||||
if wait_for_one and len(ret) == 0:
|
||||
dat = sock.receive()
|
||||
@@ -64,26 +75,26 @@ def drain_sock_raw(sock, wait_for_one=False):
|
||||
|
||||
return ret
|
||||
|
||||
def drain_sock(sock, wait_for_one=False):
|
||||
def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret = []
|
||||
ret: List[capnp.lib.capnp._DynamicStructReader] = []
|
||||
while 1:
|
||||
if wait_for_one and len(ret) == 0:
|
||||
dat = sock.receive()
|
||||
else:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
|
||||
if dat is None: # Timeout hit
|
||||
if dat is None: # Timeout hit
|
||||
break
|
||||
|
||||
dat = log.Event.from_bytes(dat)
|
||||
dat = log_from_bytes(dat)
|
||||
ret.append(dat)
|
||||
|
||||
return ret
|
||||
|
||||
|
||||
# TODO: print when we drop packets?
|
||||
def recv_sock(sock, wait=False):
|
||||
def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Same as drain sock, but only returns latest message. Consider using conflate instead."""
|
||||
dat = None
|
||||
|
||||
@@ -93,87 +104,88 @@ def recv_sock(sock, wait=False):
|
||||
else:
|
||||
rcv = sock.receive(non_blocking=True)
|
||||
|
||||
if rcv is None: # Timeout hit
|
||||
if rcv is None: # Timeout hit
|
||||
break
|
||||
|
||||
dat = rcv
|
||||
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
dat = log_from_bytes(dat)
|
||||
|
||||
return dat
|
||||
|
||||
def recv_one(sock):
|
||||
def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_or_none(sock):
|
||||
def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_retry(sock):
|
||||
def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
"""Keep receiving until we get a message"""
|
||||
while True:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
return log.Event.from_bytes(dat)
|
||||
return log_from_bytes(dat)
|
||||
|
||||
# TODO: This does not belong in messaging
|
||||
def get_one_can(logcan):
|
||||
while True:
|
||||
can = recv_one_retry(logcan)
|
||||
if len(can.can) > 0:
|
||||
return can
|
||||
|
||||
class SubMaster():
|
||||
def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
|
||||
self.poller = Poller()
|
||||
class SubMaster:
|
||||
def __init__(self, services: List[str], poll: Optional[List[str]] = None,
|
||||
ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
|
||||
addr: str = "127.0.0.1"):
|
||||
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.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.freq_ok = {s: False for s in services}
|
||||
self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
|
||||
self.sock = {}
|
||||
self.freq = {}
|
||||
self.data = {}
|
||||
self.logMonoTime = {}
|
||||
self.valid = {}
|
||||
self.logMonoTime = {}
|
||||
|
||||
if ignore_alive is not None:
|
||||
self.ignore_alive = ignore_alive
|
||||
else:
|
||||
self.ignore_alive = []
|
||||
self.poller = Poller()
|
||||
self.non_polled_services = [s for s in services if poll is not None and
|
||||
len(poll) and s not in poll]
|
||||
|
||||
self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
|
||||
self.ignore_alive = [] if ignore_alive is None else ignore_alive
|
||||
|
||||
for s in services:
|
||||
if addr is not None:
|
||||
self.sock[s] = sub_sock(s, poller=self.poller, addr=addr, conflate=True)
|
||||
p = self.poller if s not in self.non_polled_services else None
|
||||
self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
|
||||
self.freq[s] = service_list[s].frequency
|
||||
|
||||
try:
|
||||
data = new_message(s)
|
||||
except capnp.lib.capnp.KjException:
|
||||
# lists
|
||||
data = new_message(s, 0)
|
||||
except capnp.lib.capnp.KjException: # pylint: disable=c-extension-no-member
|
||||
data = new_message(s, 0) # lists
|
||||
|
||||
self.data[s] = getattr(data, s)
|
||||
self.logMonoTime[s] = 0
|
||||
self.valid[s] = data.valid
|
||||
|
||||
def __getitem__(self, s):
|
||||
def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return self.data[s]
|
||||
|
||||
def update(self, timeout=1000):
|
||||
def update(self, timeout: int = 1000) -> None:
|
||||
msgs = []
|
||||
for sock in self.poller.poll(timeout):
|
||||
msgs.append(recv_one_or_none(sock))
|
||||
|
||||
# non-blocking receive for non-polled sockets
|
||||
for s in self.non_polled_services:
|
||||
msgs.append(recv_one_or_none(self.sock[s]))
|
||||
self.update_msgs(sec_since_boot(), msgs)
|
||||
|
||||
def update_msgs(self, cur_time, msgs):
|
||||
# TODO: add optional input that specify the service to wait for
|
||||
def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
|
||||
self.frame += 1
|
||||
self.updated = dict.fromkeys(self.updated, False)
|
||||
for msg in msgs:
|
||||
@@ -182,44 +194,69 @@ class SubMaster():
|
||||
|
||||
s = msg.which()
|
||||
self.updated[s] = True
|
||||
|
||||
if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
|
||||
and (s not in self.ignore_average_freq):
|
||||
self.recv_dts[s].append(cur_time - self.rcv_time[s])
|
||||
|
||||
self.rcv_time[s] = cur_time
|
||||
self.rcv_frame[s] = self.frame
|
||||
self.data[s] = getattr(msg, s)
|
||||
self.logMonoTime[s] = msg.logMonoTime
|
||||
self.valid[s] = msg.valid
|
||||
|
||||
for s in self.data:
|
||||
# arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
|
||||
if self.freq[s] > 1e-5:
|
||||
# alive if delay is within 10x the expected frequency
|
||||
self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
|
||||
else:
|
||||
if SIMULATION:
|
||||
self.freq_ok[s] = True
|
||||
self.alive[s] = True
|
||||
|
||||
def all_alive(self, service_list=None):
|
||||
if not SIMULATION:
|
||||
for s in self.data:
|
||||
# arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
|
||||
if self.freq[s] > 1e-5:
|
||||
# alive if delay is within 10x the expected frequency
|
||||
self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
|
||||
|
||||
# TODO: check if update frequency is high enough to not drop messages
|
||||
# freq_ok if average frequency is higher than 90% of expected frequency
|
||||
avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
|
||||
expected_dt = 1 / (self.freq[s] * 0.90)
|
||||
self.freq_ok[s] = (avg_dt < expected_dt)
|
||||
else:
|
||||
self.freq_ok[s] = True
|
||||
self.alive[s] = True
|
||||
|
||||
def all_alive(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
|
||||
|
||||
def all_valid(self, service_list=None):
|
||||
def all_freq_ok(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return all(self.freq_ok[s] for s in service_list if s not in self.ignore_alive)
|
||||
|
||||
def all_valid(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.valid.keys()
|
||||
return all(self.valid[s] for s in service_list)
|
||||
|
||||
def all_alive_and_valid(self, service_list=None):
|
||||
def all_checks(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
|
||||
return self.all_alive(service_list=service_list) \
|
||||
and self.all_freq_ok(service_list=service_list) \
|
||||
and self.all_valid(service_list=service_list)
|
||||
|
||||
|
||||
class PubMaster():
|
||||
def __init__(self, services):
|
||||
class PubMaster:
|
||||
def __init__(self, services: List[str]):
|
||||
self.sock = {}
|
||||
for s in services:
|
||||
self.sock[s] = pub_sock(s)
|
||||
|
||||
def send(self, s, dat):
|
||||
# accept either bytes or capnp builder
|
||||
def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
|
||||
if not isinstance(dat, bytes):
|
||||
dat = dat.to_bytes()
|
||||
self.sock[s].send(dat)
|
||||
|
||||
def all_readers_updated(self, s: str) -> bool:
|
||||
return self.sock[s].all_readers_updated() # type: ignore
|
||||
|
||||
Executable
BIN
Binary file not shown.
@@ -1,64 +0,0 @@
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <cassert>
|
||||
#include <csignal>
|
||||
#include <map>
|
||||
|
||||
typedef void (*sighandler_t)(int sig);
|
||||
|
||||
#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;
|
||||
}
|
||||
@@ -1,6 +1,6 @@
|
||||
import time
|
||||
|
||||
from messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
|
||||
from messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
|
||||
|
||||
MSGS = 1e5
|
||||
|
||||
@@ -12,7 +12,6 @@ if __name__ == "__main__":
|
||||
sub_sock.connect(c, "controlsState")
|
||||
pub_sock.connect(c, "controlsState")
|
||||
|
||||
|
||||
poller = Poller()
|
||||
poller.registerSocket(sub_sock)
|
||||
|
||||
|
||||
@@ -1,195 +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;
|
||||
|
||||
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 (!non_blocking){
|
||||
std::signal(SIGINT, prev_handler_sigint);
|
||||
std::signal(SIGTERM, prev_handler_sigterm);
|
||||
}
|
||||
|
||||
errno = msgq_do_exit ? EINTR : 0;
|
||||
|
||||
if (rc > 0){
|
||||
if (msgq_do_exit){
|
||||
msgq_msg_close(&msg); // Free unused message on exit
|
||||
} else {
|
||||
r = new MSGQMessage;
|
||||
r->takeOwnership(msg.data, msg.size);
|
||||
}
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
@@ -0,0 +1,67 @@
|
||||
#pragma once
|
||||
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include "cereal/messaging/messaging.h"
|
||||
#include "cereal/messaging/msgq.h"
|
||||
|
||||
#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, bool check_endpoint=true);
|
||||
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, bool check_endpoint=true);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
bool all_readers_updated();
|
||||
~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(){};
|
||||
};
|
||||
@@ -1,64 +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;
|
||||
}
|
||||
@@ -0,0 +1,67 @@
|
||||
#pragma once
|
||||
|
||||
#include <zmq.h>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include "cereal/messaging/messaging.h"
|
||||
|
||||
#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, bool check_endpoint=true);
|
||||
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, bool check_endpoint=true);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
bool all_readers_updated();
|
||||
~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(){};
|
||||
};
|
||||
@@ -1,63 +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("ZMQ")){
|
||||
c = new ZMQContext();
|
||||
} else {
|
||||
c = new MSGQContext();
|
||||
}
|
||||
return c;
|
||||
}
|
||||
|
||||
SubSocket * SubSocket::create(){
|
||||
SubSocket * s;
|
||||
if (std::getenv("ZMQ")){
|
||||
s = new ZMQSubSocket();
|
||||
} else {
|
||||
s = new MSGQSubSocket();
|
||||
}
|
||||
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("ZMQ")){
|
||||
s = new ZMQPubSocket();
|
||||
} else {
|
||||
s = new MSGQPubSocket();
|
||||
}
|
||||
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("ZMQ")){
|
||||
p = new ZMQPoller();
|
||||
} else {
|
||||
p = new MSGQPoller();
|
||||
}
|
||||
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);
|
||||
}
|
||||
@@ -0,0 +1,150 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstddef>
|
||||
#include <map>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <utility>
|
||||
#include <time.h>
|
||||
|
||||
#include <capnp/serialize.h>
|
||||
|
||||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
|
||||
#ifdef __APPLE__
|
||||
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
|
||||
#endif
|
||||
|
||||
#define MSG_MULTIPLE_PUBLISHERS 100
|
||||
|
||||
bool messaging_use_zmq();
|
||||
|
||||
class Context {
|
||||
public:
|
||||
virtual void * getRawContext() = 0;
|
||||
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, bool check_endpoint=true) = 0;
|
||||
virtual void setTimeout(int timeout) = 0;
|
||||
virtual Message *receive(bool non_blocking=false) = 0;
|
||||
virtual void * getRawSocket() = 0;
|
||||
static SubSocket * create();
|
||||
static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
|
||||
virtual ~SubSocket(){};
|
||||
};
|
||||
|
||||
class PubSocket {
|
||||
public:
|
||||
virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
|
||||
virtual int sendMessage(Message *message) = 0;
|
||||
virtual int send(char *data, size_t size) = 0;
|
||||
virtual bool all_readers_updated() = 0;
|
||||
static PubSocket * create();
|
||||
static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
|
||||
static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
|
||||
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(){};
|
||||
};
|
||||
|
||||
class SubMaster {
|
||||
public:
|
||||
SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
|
||||
const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
|
||||
void update(int timeout = 1000);
|
||||
void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
|
||||
inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
|
||||
inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
|
||||
inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
|
||||
void drain();
|
||||
~SubMaster();
|
||||
|
||||
uint64_t frame = 0;
|
||||
bool updated(const char *name) const;
|
||||
bool alive(const char *name) const;
|
||||
bool valid(const char *name) const;
|
||||
uint64_t rcv_frame(const char *name) const;
|
||||
uint64_t rcv_time(const char *name) const;
|
||||
cereal::Event::Reader &operator[](const char *name) const;
|
||||
|
||||
private:
|
||||
bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
|
||||
Poller *poller_ = nullptr;
|
||||
struct SubMessage;
|
||||
std::map<SubSocket *, SubMessage *> messages_;
|
||||
std::map<std::string, SubMessage *> services_;
|
||||
};
|
||||
|
||||
class MessageBuilder : public capnp::MallocMessageBuilder {
|
||||
public:
|
||||
MessageBuilder() = default;
|
||||
|
||||
cereal::Event::Builder initEvent(bool valid = true) {
|
||||
cereal::Event::Builder event = initRoot<cereal::Event>();
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
event.setLogMonoTime(current_time);
|
||||
event.setValid(valid);
|
||||
return event;
|
||||
}
|
||||
|
||||
kj::ArrayPtr<capnp::byte> toBytes() {
|
||||
heapArray_ = capnp::messageToFlatArray(*this);
|
||||
return heapArray_.asBytes();
|
||||
}
|
||||
|
||||
private:
|
||||
kj::Array<capnp::word> heapArray_;
|
||||
};
|
||||
|
||||
class PubMaster {
|
||||
public:
|
||||
PubMaster(const std::vector<const char *> &service_list);
|
||||
inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
|
||||
int send(const char *name, MessageBuilder &msg);
|
||||
~PubMaster();
|
||||
|
||||
private:
|
||||
std::map<std::string, PubSocket *> sockets_;
|
||||
};
|
||||
|
||||
class AlignedBuffer {
|
||||
public:
|
||||
kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
|
||||
words_size = size / sizeof(capnp::word) + 1;
|
||||
if (aligned_buf.size() < words_size) {
|
||||
aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
|
||||
}
|
||||
memcpy(aligned_buf.begin(), data, size);
|
||||
return aligned_buf.slice(0, words_size);
|
||||
}
|
||||
inline kj::ArrayPtr<const capnp::word> align(Message *m) {
|
||||
return align(m->getData(), m->getSize());
|
||||
}
|
||||
private:
|
||||
kj::Array<capnp::word> aligned_buf;
|
||||
size_t words_size;
|
||||
};
|
||||
@@ -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(){};
|
||||
};
|
||||
@@ -6,7 +6,7 @@ from libcpp.vector cimport vector
|
||||
from libcpp cimport bool
|
||||
|
||||
|
||||
cdef extern from "messaging.hpp":
|
||||
cdef extern from "cereal/messaging/messaging.h":
|
||||
cdef cppclass Context:
|
||||
@staticmethod
|
||||
Context * create()
|
||||
@@ -31,6 +31,7 @@ cdef extern from "messaging.hpp":
|
||||
int connect(Context *, string)
|
||||
int sendMessage(Message *)
|
||||
int send(char *, size_t)
|
||||
bool all_readers_updated()
|
||||
|
||||
cdef cppclass Poller:
|
||||
@staticmethod
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -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
|
||||
Executable
BIN
Binary file not shown.
@@ -1,57 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
import sysconfig
|
||||
from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module
|
||||
|
||||
from Cython.Build import cythonize
|
||||
from Cython.Distutils import build_ext
|
||||
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
|
||||
|
||||
if ext_suffix == ext:
|
||||
return filename
|
||||
|
||||
ext_suffix = ext_suffix.replace(ext, '')
|
||||
idx = name.find(ext_suffix)
|
||||
|
||||
if idx == -1:
|
||||
return filename
|
||||
else:
|
||||
return name[:idx] + ext
|
||||
|
||||
|
||||
class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
def get_ext_filename(self, ext_name):
|
||||
filename = super().get_ext_filename(ext_name)
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
|
||||
|
||||
sourcefiles = ['messaging_pyx.pyx']
|
||||
extra_compile_args = ["-std=c++11"]
|
||||
libraries = ['zmq']
|
||||
ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() # pylint: disable=unexpected-keyword-arg
|
||||
|
||||
if ARCH == "aarch64" and os.path.isdir("/system"):
|
||||
# android
|
||||
extra_compile_args += ["-Wno-deprecated-register"]
|
||||
libraries += ['gnustl_shared']
|
||||
|
||||
setup(name='CAN parser',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"messaging_pyx",
|
||||
language="c++",
|
||||
sources=sourcefiles,
|
||||
extra_compile_args=extra_compile_args,
|
||||
libraries=libraries,
|
||||
extra_objects=[
|
||||
os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
|
||||
]
|
||||
)
|
||||
),
|
||||
nthreads=4,
|
||||
)
|
||||
@@ -1,449 +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 sigusr2_handler(int signal) {
|
||||
assert(signal == SIGUSR2);
|
||||
}
|
||||
|
||||
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(SIGUSR2, sigusr2_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;
|
||||
}
|
||||
|
||||
static void thread_signal(uint32_t tid) {
|
||||
#ifndef SYS_tkill
|
||||
// TODO: this won't work for multithreaded programs
|
||||
kill(tid, SIGUSR2);
|
||||
#else
|
||||
syscall(SYS_tkill, tid, SIGUSR2);
|
||||
#endif
|
||||
}
|
||||
|
||||
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
|
||||
thread_signal(old_uid & 0xFFFFFFFF);
|
||||
}
|
||||
|
||||
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];
|
||||
thread_signal(reader_uid & 0xFFFFFFFF);
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
@@ -0,0 +1,70 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
#include <cstring>
|
||||
#include <string>
|
||||
#include <atomic>
|
||||
|
||||
#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
|
||||
#define NUM_READERS 18 //default comma is 12
|
||||
#define ALIGN(n) ((n + (8 - 1)) & -8)
|
||||
|
||||
#define UNUSED(x) (void)x
|
||||
#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);
|
||||
|
||||
bool msgq_all_readers_updated(msgq_queue_t *q);
|
||||
@@ -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);
|
||||
@@ -1,7 +1,5 @@
|
||||
# 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.
|
||||
|
||||
|
||||
@@ -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);
|
||||
}
|
||||
}
|
||||
@@ -1,2 +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()
|
||||
@@ -1,177 +0,0 @@
|
||||
# TODO: these port numbers are hardcoded in c, fix this
|
||||
|
||||
# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
|
||||
|
||||
# all ZMQ pub sub: port, should_log, frequency, (qlog_decimation)
|
||||
|
||||
# frame syncing packet
|
||||
frame: [8002, true, 20., 1]
|
||||
# accel, gyro, and compass
|
||||
sensorEvents: [8003, true, 100., 100]
|
||||
# GPS data, also global timestamp
|
||||
gpsNMEA: [8004, true, 9.] # 9 msgs each sec
|
||||
# CPU+MEM+GPU+BAT temps
|
||||
thermal: [8005, true, 2., 1]
|
||||
# List(CanData), list of can messages
|
||||
can: [8006, true, 100.]
|
||||
controlsState: [8007, true, 100., 100]
|
||||
#liveEvent: [8008, true, 0.]
|
||||
model: [8009, true, 20., 5]
|
||||
features: [8010, true, 0.]
|
||||
health: [8011, true, 2., 1]
|
||||
radarState: [8012, true, 20., 5]
|
||||
#liveUI: [8014, true, 0.]
|
||||
encodeIdx: [8015, true, 20.]
|
||||
liveTracks: [8016, true, 20.]
|
||||
sendcan: [8017, true, 100.]
|
||||
logMessage: [8018, true, 0.]
|
||||
liveCalibration: [8019, true, 4., 4]
|
||||
androidLog: [8020, true, 0.]
|
||||
carState: [8021, true, 100., 10]
|
||||
# 8022 is reserved for sshd
|
||||
carControl: [8023, true, 100., 10]
|
||||
plan: [8024, true, 20.]
|
||||
liveLocation: [8025, true, 0., 1]
|
||||
gpsLocation: [8026, true, 1., 1]
|
||||
ethernetData: [8027, true, 0.]
|
||||
navUpdate: [8028, true, 0.]
|
||||
qcomGnss: [8029, true, 0.]
|
||||
lidarPts: [8030, true, 0.]
|
||||
procLog: [8031, true, 0.5]
|
||||
gpsLocationExternal: [8032, true, 10., 1]
|
||||
ubloxGnss: [8033, true, 10.]
|
||||
clocks: [8034, true, 1., 1]
|
||||
liveMpc: [8035, false, 20.]
|
||||
liveLongitudinalMpc: [8036, false, 20.]
|
||||
navStatus: [8038, true, 0.]
|
||||
gpsLocationTrimble: [8039, true, 0.]
|
||||
trimbleGnss: [8041, true, 0.]
|
||||
ubloxRaw: [8042, true, 20.]
|
||||
gpsPlannerPoints: [8043, true, 0.]
|
||||
gpsPlannerPlan: [8044, true, 0.]
|
||||
applanixRaw: [8046, true, 0.]
|
||||
orbLocation: [8047, true, 0.]
|
||||
trafficEvents: [8048, true, 0.]
|
||||
liveLocationTiming: [8049, true, 0.]
|
||||
orbslamCorrection: [8050, true, 0.]
|
||||
liveLocationCorrected: [8051, true, 0.]
|
||||
orbObservation: [8052, true, 0.]
|
||||
applanixLocation: [8053, true, 0.]
|
||||
liveLocationKalman: [8054, true, 0., 1]
|
||||
uiNavigationEvent: [8055, true, 0.]
|
||||
orbOdometry: [8057, true, 0.]
|
||||
orbFeatures: [8058, false, 0.]
|
||||
orbKeyFrame: [8059, true, 0.]
|
||||
uiLayoutState: [8060, true, 0.]
|
||||
frontEncodeIdx: [8061, true, 5.]
|
||||
orbFeaturesSummary: [8062, true, 0.]
|
||||
driverState: [8063, true, 5., 1]
|
||||
liveParameters: [8064, true, 10.]
|
||||
liveMapData: [8065, true, 0.]
|
||||
cameraOdometry: [8066, true, 20., 5]
|
||||
pathPlan: [8067, true, 20.]
|
||||
kalmanOdometry: [8068, true, 0.]
|
||||
thumbnail: [8069, true, 0.2, 1]
|
||||
carEvents: [8070, true, 1., 1]
|
||||
carParams: [8071, true, 0.02, 1]
|
||||
frontFrame: [8072, true, 10.]
|
||||
dMonitoringState: [8073, true, 5., 1]
|
||||
offroadLayout: [8074, false, 0.]
|
||||
|
||||
testModel: [8040, false, 0.]
|
||||
testLiveLocation: [8045, false, 0.]
|
||||
testJoystick: [8056, false, 0.]
|
||||
|
||||
# 8080 is reserved for slave testing daemon
|
||||
# 8762 is reserved for logserver
|
||||
|
||||
# manager -- base process to manage starting and stopping of all others
|
||||
# subscribes: thermal
|
||||
|
||||
# **** processes that communicate with the outside world ****
|
||||
|
||||
# thermald -- decides when to start and stop onroad
|
||||
# subscribes: health, location
|
||||
# publishes: thermal
|
||||
|
||||
# boardd -- communicates with the car
|
||||
# subscribes: sendcan
|
||||
# publishes: can, health, ubloxRaw
|
||||
|
||||
# sensord -- publishes IMU and Magnetometer
|
||||
# publishes: sensorEvents
|
||||
|
||||
# gpsd -- publishes EON's gps
|
||||
# publishes: gpsNMEA
|
||||
|
||||
# camerad -- publishes camera frames
|
||||
# publishes: frame, frontFrame, thumbnail
|
||||
# subscribes: driverState
|
||||
|
||||
# dmonitoringmodeld -- runs face detection on camera frames
|
||||
# publishes: driverState
|
||||
|
||||
# **** stateful data transformers ****
|
||||
|
||||
# modeld -- runs & publishes the model
|
||||
# publishes: model, cameraOdometry
|
||||
# subscribes: liveCalibration, pathPlan
|
||||
|
||||
# plannerd -- decides where to drive the car
|
||||
# subscribes: carState, model, radarState, controlsState, liveParameters
|
||||
# publishes: plan, pathPlan, liveMpc, liveLongitudinalMpc
|
||||
|
||||
# controlsd -- drives the car by sending CAN messages to panda
|
||||
# subscribes: can, thermal, health, plan, pathPlan, dMonitoringState, liveCalibration, model
|
||||
# publishes: carState, carControl, sendcan, controlsState, carEvents, carParams
|
||||
|
||||
# dmonitoringd -- processes driver monitoring data and publishes driver awareness
|
||||
# subscribes: driverState, liveCalibration, carState, model, gpsLocation
|
||||
# publishes: dMonitoringState
|
||||
|
||||
# radard -- processes the radar and vision data
|
||||
# subscribes: can, controlsState, model, liveParameters
|
||||
# publishes: radarState, liveTracks
|
||||
|
||||
# params_learner -- learns vehicle params by observing the vehicle dynamics
|
||||
# subscribes: controlsState, sensorEvents, cameraOdometry
|
||||
# publishes: liveParameters
|
||||
|
||||
# calibrationd -- reads posenet and applies a temporal filter on the frame region to look at
|
||||
# subscribes: cameraOdometry
|
||||
# publishes: liveCalibration
|
||||
|
||||
# ubloxd -- read raw ublox data and converts them in readable format
|
||||
# subscribes: ubloxRaw
|
||||
# publishes: ubloxGnss
|
||||
|
||||
# **** LOGGING SERVICE ****
|
||||
|
||||
# loggerd
|
||||
# subscribes: EVERYTHING
|
||||
|
||||
# **** NON VITAL SERVICES ****
|
||||
|
||||
# ui
|
||||
# subscribes: thermal, model, controlsState, uiLayout, liveCalibration, radarState, liveMpc, plusFrame, liveMapData
|
||||
|
||||
# uploader
|
||||
# communicates through file system with loggerd
|
||||
|
||||
# deleter
|
||||
# communicates through file system with loggerd and uploader
|
||||
|
||||
# logmessaged -- central logging service, can log to cloud
|
||||
# publishes: logMessage
|
||||
|
||||
# logcatd -- fetches logcat info from android
|
||||
# publishes: androidLog
|
||||
|
||||
# proclogd -- fetches process information
|
||||
# publishes: procLog
|
||||
|
||||
# tombstoned -- reports native crashes
|
||||
|
||||
# athenad -- on request, open a sub socket and return the value
|
||||
|
||||
# updated -- waits for network access and tries to update every hour
|
||||
@@ -0,0 +1,65 @@
|
||||
/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */
|
||||
#ifndef __SERVICES_H
|
||||
#define __SERVICES_H
|
||||
struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };
|
||||
static struct service services[] = {
|
||||
{ "deviceState", 8001, true, 2, 1 },
|
||||
{ "can", 8002, true, 100, 1223 },
|
||||
{ "controlsState", 8003, true, 100, 10 },
|
||||
{ "pandaStates", 8004, true, 2, 1 },
|
||||
{ "peripheralState", 8005, true, 2, 1 },
|
||||
{ "radarState", 8006, true, 20, 5 },
|
||||
{ "roadEncodeIdx", 8007, false, 20, 1 },
|
||||
{ "liveTracks", 8008, true, 20, -1 },
|
||||
{ "sendcan", 8009, true, 100, 139 },
|
||||
{ "logMessage", 8010, true, 0, -1 },
|
||||
{ "errorLogMessage", 8011, true, 0, 1 },
|
||||
{ "liveCalibration", 8012, true, 4, 4 },
|
||||
{ "liveTorqueParameters", 8013, true, 4, 1 },
|
||||
{ "androidLog", 8014, true, 0, -1 },
|
||||
{ "carState", 8015, true, 100, 10 },
|
||||
{ "carControl", 8016, true, 100, 10 },
|
||||
{ "longitudinalPlan", 8017, true, 20, 5 },
|
||||
{ "procLog", 8018, true, 0, -1 },
|
||||
{ "gpsLocationExternal", 8019, true, 10, 10 },
|
||||
{ "gpsLocation", 8020, true, 1, 1 },
|
||||
{ "ubloxGnss", 8021, true, 10, -1 },
|
||||
{ "qcomGnss", 8023, true, 2, -1 },
|
||||
{ "gnssMeasurements", 8024, true, 10, 10 },
|
||||
{ "clocks", 8025, true, 1, 1 },
|
||||
{ "ubloxRaw", 8026, true, 20, -1 },
|
||||
{ "liveLocationKalman", 8027, true, 20, 5 },
|
||||
{ "liveParameters", 8028, true, 20, 5 },
|
||||
{ "cameraOdometry", 8029, true, 20, 5 },
|
||||
{ "lateralPlan", 8030, true, 20, 5 },
|
||||
{ "thumbnail", 8031, true, 0, 1 },
|
||||
{ "carEvents", 8032, true, 1, 1 },
|
||||
{ "carParams", 8033, true, 0, 1 },
|
||||
{ "roadCameraState", 8034, true, 20, 20 },
|
||||
{ "modelV2", 8035, true, 20, 40 },
|
||||
{ "managerState", 8036, true, 2, 1 },
|
||||
{ "uploaderState", 8037, true, 0, 1 },
|
||||
{ "navInstruction", 8038, true, 1, 10 },
|
||||
{ "navRoute", 8039, true, 0, -1 },
|
||||
{ "navThumbnail", 8040, true, 0, -1 },
|
||||
{ "navModel", 8041, true, 2, 4 },
|
||||
{ "mapRenderState", 8042, true, 2, 1 },
|
||||
{ "uiPlan", 8043, true, 20, 40 },
|
||||
{ "qRoadEncodeIdx", 8044, false, 20, -1 },
|
||||
{ "userFlag", 8045, true, 0, 1 },
|
||||
{ "uiDebug", 8046, true, 0, 1 },
|
||||
{ "testJoystick", 8047, true, 0, -1 },
|
||||
{ "roadEncodeData", 8048, false, 20, -1 },
|
||||
{ "driverEncodeData", 8049, false, 20, -1 },
|
||||
{ "wideRoadEncodeData", 8050, false, 20, -1 },
|
||||
{ "qRoadEncodeData", 8051, false, 20, -1 },
|
||||
{ "driverCameraState", 8052, true, 10, 10 },
|
||||
{ "driverEncodeIdx", 8053, false, 10, 1 },
|
||||
{ "driverState", 8054, true, 10, 5 },
|
||||
{ "driverMonitoringState", 8055, true, 10, 5 },
|
||||
{ "sensorEvents", 8056, true, 100, 100 },
|
||||
{ "dragonConf", 8057, false, 1, -1 },
|
||||
{ "liveMapData", 8058, true, 0, -1 },
|
||||
};
|
||||
#endif
|
||||
|
||||
+115
-22
@@ -1,33 +1,126 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import yaml
|
||||
from typing import Optional
|
||||
|
||||
class Service():
|
||||
def __init__(self, port, should_log, frequency, decimation=None):
|
||||
RESERVED_PORT = 8022 # sshd
|
||||
STARTING_PORT = 8001
|
||||
|
||||
|
||||
def new_port(port: int):
|
||||
port += STARTING_PORT
|
||||
return port + 1 if port >= RESERVED_PORT else port
|
||||
|
||||
|
||||
class Service:
|
||||
def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
|
||||
self.port = port
|
||||
self.should_log = should_log
|
||||
self.frequency = frequency
|
||||
self.decimation = decimation
|
||||
|
||||
service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
|
||||
|
||||
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]
|
||||
services = {
|
||||
# service: (should_log, frequency, qlog decimation (optional))
|
||||
# note: the "EncodeIdx" packets will still be in the log
|
||||
# "gyroscope": (True, 104., 104),
|
||||
# "gyroscope2": (True, 100., 100),
|
||||
# "accelerometer": (True, 104., 104),
|
||||
# "accelerometer2": (True, 100., 100),
|
||||
# "magnetometer": (True, 100., 100),
|
||||
# "lightSensor": (True, 100., 100),
|
||||
# "temperatureSensor": (True, 100., 100),
|
||||
# "gpsNMEA": (True, 9.),
|
||||
"deviceState": (True, 2., 1),
|
||||
"can": (True, 100., 1223), # decimation gives ~5 msgs in a full segment
|
||||
"controlsState": (True, 100., 10),
|
||||
"pandaStates": (True, 2., 1),
|
||||
"peripheralState": (True, 2., 1),
|
||||
"radarState": (True, 20., 5),
|
||||
"roadEncodeIdx": (False, 20., 1),
|
||||
"liveTracks": (True, 20.),
|
||||
"sendcan": (True, 100., 139),
|
||||
"logMessage": (True, 0.),
|
||||
"errorLogMessage": (True, 0., 1),
|
||||
"liveCalibration": (True, 4., 4),
|
||||
"liveTorqueParameters": (True, 4., 1),
|
||||
"androidLog": (True, 0.),
|
||||
"carState": (True, 100., 10),
|
||||
"carControl": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 5),
|
||||
"procLog": (True, 0.5),
|
||||
"gpsLocationExternal": (True, 10., 10),
|
||||
"gpsLocation": (True, 1., 1),
|
||||
"ubloxGnss": (True, 10.),
|
||||
"qcomGnss": (True, 2.),
|
||||
"gnssMeasurements": (True, 10., 10),
|
||||
"clocks": (True, 1., 1),
|
||||
"ubloxRaw": (True, 20.),
|
||||
"liveLocationKalman": (True, 20., 5),
|
||||
"liveParameters": (True, 20., 5),
|
||||
"cameraOdometry": (True, 20., 5),
|
||||
"lateralPlan": (True, 20., 5),
|
||||
"thumbnail": (True, 0.2, 1),
|
||||
"carEvents": (True, 1., 1),
|
||||
"carParams": (True, 0.02, 1),
|
||||
"roadCameraState": (True, 20., 20),
|
||||
# "driverCameraState": (True, 20., 20),
|
||||
# "driverEncodeIdx": (False, 20., 1),
|
||||
# "driverStateV2": (True, 20., 10),
|
||||
# "driverMonitoringState": (True, 20., 10),
|
||||
# "wideRoadEncodeIdx": (False, 20., 1),
|
||||
# "wideRoadCameraState": (True, 20., 20),
|
||||
"modelV2": (True, 20., 40),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
"navInstruction": (True, 1., 10),
|
||||
"navRoute": (True, 0.),
|
||||
"navThumbnail": (True, 0.),
|
||||
"navModel": (True, 2., 4.),
|
||||
"mapRenderState": (True, 2., 1.),
|
||||
"uiPlan": (True, 20., 40.),
|
||||
"qRoadEncodeIdx": (False, 20.),
|
||||
"userFlag": (True, 0., 1),
|
||||
# "microphone": (True, 10., 10),
|
||||
|
||||
# debug
|
||||
"uiDebug": (True, 0., 1),
|
||||
"testJoystick": (True, 0.),
|
||||
"roadEncodeData": (False, 20.),
|
||||
"driverEncodeData": (False, 20.),
|
||||
"wideRoadEncodeData": (False, 20.),
|
||||
"qRoadEncodeData": (False, 20.),
|
||||
|
||||
# dp
|
||||
# legacy
|
||||
"driverCameraState": (True, 10., 10),
|
||||
"driverEncodeIdx": (False, 10., 1),
|
||||
"driverState": (True, 10, 5),
|
||||
"driverMonitoringState": (True, 10., 5),
|
||||
"sensorEvents": (True, 100., 100),
|
||||
# conf
|
||||
"dragonConf": (False, 1.),
|
||||
# mapd
|
||||
"liveMapData": (True, 0.),
|
||||
}
|
||||
service_list = {name: Service(new_port(idx), *vals) for # type: ignore
|
||||
idx, (name, vals) in enumerate(services.items())}
|
||||
|
||||
|
||||
def build_header():
|
||||
h = ""
|
||||
h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
|
||||
h += "#ifndef __SERVICES_H\n"
|
||||
h += "#define __SERVICES_H\n"
|
||||
h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
|
||||
h += "static struct service services[] = {\n"
|
||||
for k, v in service_list.items():
|
||||
should_log = "true" if v.should_log else "false"
|
||||
decimation = -1 if v.decimation is None else v.decimation
|
||||
h += ' { "%s", %d, %s, %d, %d },\n' % \
|
||||
(k, v.port, should_log, v.frequency, decimation)
|
||||
h += "};\n"
|
||||
h += "#endif\n"
|
||||
return h
|
||||
|
||||
service_list[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")
|
||||
|
||||
print(build_header())
|
||||
|
||||
@@ -0,0 +1,72 @@
|
||||
import re
|
||||
import SCons
|
||||
from SCons.Action import Action
|
||||
from SCons.Scanner import Scanner
|
||||
|
||||
pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M)
|
||||
pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M)
|
||||
cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M)
|
||||
|
||||
|
||||
def pyx_scan(node, env, path, arg=None):
|
||||
contents = node.get_text_contents()
|
||||
|
||||
# from <module> cimport ...
|
||||
matches = pyx_from_import_re.findall(contents)
|
||||
# cimport <module>
|
||||
matches += pyx_import_re.findall(contents)
|
||||
|
||||
# Modules can be either .pxd or .pyx files
|
||||
files = [m.replace('.', '/') + '.pxd' for m in matches]
|
||||
files += [m.replace('.', '/') + '.pyx' for m in matches]
|
||||
|
||||
# cdef extern from <file>
|
||||
files += cdef_import_re.findall(contents)
|
||||
|
||||
# Handle relative imports
|
||||
cur_dir = str(node.get_dir())
|
||||
files = [cur_dir + f if f.startswith('/') else f for f in files]
|
||||
|
||||
# Filter out non-existing files (probably system imports)
|
||||
files = [f for f in files if env.File(f).exists()]
|
||||
return env.File(files)
|
||||
|
||||
|
||||
pyxscanner = Scanner(function=pyx_scan, skeys=['.pyx', '.pxd'], recursive=True)
|
||||
cythonAction = Action("$CYTHONCOM")
|
||||
|
||||
|
||||
def create_builder(env):
|
||||
try:
|
||||
cython = env['BUILDERS']['Cython']
|
||||
except KeyError:
|
||||
cython = SCons.Builder.Builder(
|
||||
action=cythonAction,
|
||||
emitter={},
|
||||
suffix=cython_suffix_emitter,
|
||||
single_source=1
|
||||
)
|
||||
env.Append(SCANNERS=pyxscanner)
|
||||
env['BUILDERS']['Cython'] = cython
|
||||
return cython
|
||||
|
||||
def cython_suffix_emitter(env, source):
|
||||
return "$CYTHONCFILESUFFIX"
|
||||
|
||||
def generate(env):
|
||||
env["CYTHON"] = "cythonize"
|
||||
env["CYTHONCOM"] = "$CYTHON $CYTHONFLAGS $SOURCE"
|
||||
env["CYTHONCFILESUFFIX"] = ".cpp"
|
||||
|
||||
c_file, _ = SCons.Tool.createCFileBuilders(env)
|
||||
|
||||
c_file.suffix['.pyx'] = cython_suffix_emitter
|
||||
c_file.add_action('.pyx', cythonAction)
|
||||
|
||||
c_file.suffix['.py'] = cython_suffix_emitter
|
||||
c_file.add_action('.py', cythonAction)
|
||||
|
||||
create_builder(env)
|
||||
|
||||
def exists(env):
|
||||
return True
|
||||
@@ -0,0 +1,2 @@
|
||||
visionipc_pyx.cpp
|
||||
*.so
|
||||
@@ -0,0 +1,4 @@
|
||||
from cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionIpcServer, VisionStreamType # pylint: disable=no-name-in-module, import-error
|
||||
assert VisionIpcClient
|
||||
assert VisionIpcServer
|
||||
assert VisionStreamType
|
||||
@@ -0,0 +1,7 @@
|
||||
#pragma once
|
||||
#include <cstddef>
|
||||
|
||||
int ipc_connect(const char* socket_path);
|
||||
int ipc_bind(const char* socket_path);
|
||||
int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
|
||||
int *out_num_fds);
|
||||
@@ -0,0 +1,72 @@
|
||||
#pragma once
|
||||
|
||||
#include "cereal/visionipc/visionipc.h"
|
||||
|
||||
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
|
||||
#ifdef __APPLE__
|
||||
#include <OpenCL/cl.h>
|
||||
#else
|
||||
#include <CL/cl.h>
|
||||
#endif
|
||||
|
||||
#define VISIONBUF_SYNC_FROM_DEVICE 0
|
||||
#define VISIONBUF_SYNC_TO_DEVICE 1
|
||||
|
||||
enum VisionStreamType {
|
||||
VISION_STREAM_RGB_ROAD,
|
||||
VISION_STREAM_RGB_DRIVER,
|
||||
VISION_STREAM_RGB_WIDE_ROAD,
|
||||
|
||||
VISION_STREAM_ROAD,
|
||||
VISION_STREAM_DRIVER,
|
||||
VISION_STREAM_WIDE_ROAD,
|
||||
|
||||
VISION_STREAM_MAP,
|
||||
VISION_STREAM_MAX,
|
||||
};
|
||||
|
||||
class VisionBuf {
|
||||
public:
|
||||
size_t len = 0;
|
||||
size_t mmap_len = 0;
|
||||
void * addr = nullptr;
|
||||
uint64_t *frame_id;
|
||||
int fd = 0;
|
||||
|
||||
bool rgb = false;
|
||||
size_t width = 0;
|
||||
size_t height = 0;
|
||||
size_t stride = 0;
|
||||
size_t uv_offset = 0;
|
||||
|
||||
// YUV
|
||||
uint8_t * y = nullptr;
|
||||
uint8_t * u = nullptr;
|
||||
uint8_t * v = nullptr;
|
||||
uint8_t * uv = nullptr;
|
||||
|
||||
// Visionipc
|
||||
uint64_t server_id = 0;
|
||||
size_t idx = 0;
|
||||
VisionStreamType type;
|
||||
|
||||
// OpenCL
|
||||
cl_mem buf_cl = nullptr;
|
||||
cl_command_queue copy_q = nullptr;
|
||||
|
||||
// ion
|
||||
int handle = 0;
|
||||
|
||||
void allocate(size_t len);
|
||||
void import();
|
||||
void init_cl(cl_device_id device_id, cl_context ctx);
|
||||
void init_rgb(size_t width, size_t height, size_t stride);
|
||||
void init_yuv(size_t width, size_t height, size_t stride, size_t uv_offset);
|
||||
int sync(int dir);
|
||||
int free();
|
||||
|
||||
void set_frame_id(uint64_t id);
|
||||
uint64_t get_frame_id();
|
||||
};
|
||||
|
||||
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
|
||||
@@ -0,0 +1,18 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
#include <cstddef>
|
||||
|
||||
constexpr int VISIONIPC_MAX_FDS = 128;
|
||||
|
||||
struct VisionIpcBufExtra {
|
||||
uint32_t frame_id;
|
||||
uint64_t timestamp_sof;
|
||||
uint64_t timestamp_eof;
|
||||
};
|
||||
|
||||
struct VisionIpcPacket {
|
||||
uint64_t server_id;
|
||||
size_t idx;
|
||||
struct VisionIpcBufExtra extra;
|
||||
};
|
||||
@@ -0,0 +1,45 @@
|
||||
# distutils: language = c++
|
||||
#cython: language_level=3
|
||||
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libcpp.set cimport set
|
||||
from libc.stdint cimport uint32_t, uint64_t
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "cereal/visionipc/visionbuf.h":
|
||||
cdef enum VisionStreamType:
|
||||
pass
|
||||
|
||||
cdef cppclass VisionBuf:
|
||||
void * addr
|
||||
size_t len
|
||||
size_t width
|
||||
size_t height
|
||||
size_t stride
|
||||
size_t uv_offset
|
||||
void set_frame_id(uint64_t id)
|
||||
|
||||
cdef extern from "cereal/visionipc/visionipc.h":
|
||||
struct VisionIpcBufExtra:
|
||||
uint32_t frame_id
|
||||
uint64_t timestamp_sof
|
||||
uint64_t timestamp_eof
|
||||
|
||||
cdef extern from "cereal/visionipc/visionipc_server.h":
|
||||
cdef cppclass VisionIpcServer:
|
||||
VisionIpcServer(string, void*, void*)
|
||||
void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
|
||||
void create_buffers_with_sizes(VisionStreamType, size_t, bool, size_t, size_t, size_t, size_t, size_t)
|
||||
VisionBuf * get_buffer(VisionStreamType)
|
||||
void send(VisionBuf *, VisionIpcBufExtra *, bool)
|
||||
void start_listener()
|
||||
|
||||
cdef extern from "cereal/visionipc/visionipc_client.h":
|
||||
cdef cppclass VisionIpcClient:
|
||||
VisionIpcClient(string, VisionStreamType, bool, void*, void*)
|
||||
VisionBuf * recv(VisionIpcBufExtra *, int)
|
||||
bool connect(bool)
|
||||
bool is_connected()
|
||||
@staticmethod
|
||||
set[VisionStreamType] getAvailableStreams(string, bool)
|
||||
@@ -0,0 +1,35 @@
|
||||
#pragma once
|
||||
|
||||
#include <set>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "cereal/messaging/messaging.h"
|
||||
#include "cereal/visionipc/visionipc.h"
|
||||
#include "cereal/visionipc/visionbuf.h"
|
||||
|
||||
class VisionIpcClient {
|
||||
private:
|
||||
std::string name;
|
||||
Context * msg_ctx;
|
||||
SubSocket * sock;
|
||||
Poller * poller;
|
||||
|
||||
cl_device_id device_id = nullptr;
|
||||
cl_context ctx = nullptr;
|
||||
|
||||
void init_msgq(bool conflate);
|
||||
|
||||
public:
|
||||
bool connected = false;
|
||||
VisionStreamType type;
|
||||
int num_buffers = 0;
|
||||
VisionBuf buffers[VISIONIPC_MAX_FDS];
|
||||
VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
|
||||
~VisionIpcClient();
|
||||
VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
|
||||
bool connect(bool blocking=true);
|
||||
bool is_connected() { return connected; }
|
||||
static std::set<VisionStreamType> getAvailableStreams(const std::string &name, bool blocking = true);
|
||||
};
|
||||
File diff suppressed because it is too large
Load Diff
Executable
BIN
Binary file not shown.
@@ -0,0 +1,43 @@
|
||||
#pragma once
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <thread>
|
||||
#include <atomic>
|
||||
#include <map>
|
||||
|
||||
#include "cereal/messaging/messaging.h"
|
||||
#include "cereal/visionipc/visionipc.h"
|
||||
#include "cereal/visionipc/visionbuf.h"
|
||||
|
||||
std::string get_endpoint_name(std::string name, VisionStreamType type);
|
||||
|
||||
class VisionIpcServer {
|
||||
private:
|
||||
cl_device_id device_id = nullptr;
|
||||
cl_context ctx = nullptr;
|
||||
uint64_t server_id;
|
||||
|
||||
std::atomic<bool> should_exit = false;
|
||||
std::string name;
|
||||
std::thread listener_thread;
|
||||
|
||||
std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
|
||||
std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
|
||||
std::map<VisionStreamType, std::map<VisionBuf*, size_t> > idxs;
|
||||
|
||||
Context * msg_ctx;
|
||||
std::map<VisionStreamType, PubSocket*> sockets;
|
||||
|
||||
void listener(void);
|
||||
|
||||
public:
|
||||
VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
|
||||
~VisionIpcServer();
|
||||
|
||||
VisionBuf * get_buffer(VisionStreamType type);
|
||||
|
||||
void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
|
||||
void create_buffers_with_sizes(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height, size_t size, size_t stride, size_t uv_offset);
|
||||
void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
|
||||
void start_listener();
|
||||
};
|
||||
@@ -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")
|
||||
@@ -1,281 +0,0 @@
|
||||
import os
|
||||
import binascii
|
||||
import itertools
|
||||
import re
|
||||
import struct
|
||||
import subprocess
|
||||
import random
|
||||
from cereal import log
|
||||
|
||||
NetworkType = log.ThermalData.NetworkType
|
||||
NetworkStrength = log.ThermalData.NetworkStrength
|
||||
|
||||
ANDROID = os.path.isfile('/EON')
|
||||
|
||||
def getprop(key):
|
||||
if not ANDROID:
|
||||
return ""
|
||||
return subprocess.check_output(["getprop", key], encoding='utf8').strip()
|
||||
|
||||
def get_imei(slot):
|
||||
slot = str(slot)
|
||||
if slot not in ("0", "1"):
|
||||
raise ValueError("SIM slot must be 0 or 1")
|
||||
|
||||
ret = parse_service_call_string(service_call(["iphonesubinfo", "3" ,"i32", str(slot)]))
|
||||
if not ret:
|
||||
# allow non android to be identified differently
|
||||
ret = "%015d" % random.randint(0, 1<<32)
|
||||
return ret
|
||||
|
||||
def get_serial():
|
||||
ret = getprop("ro.serialno")
|
||||
if ret == "":
|
||||
ret = "cccccccc"
|
||||
return ret
|
||||
|
||||
def get_subscriber_info():
|
||||
ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
|
||||
if ret is None or len(ret) < 8:
|
||||
return ""
|
||||
return ret
|
||||
|
||||
def reboot(reason=None):
|
||||
if reason is None:
|
||||
reason_args = ["null"]
|
||||
else:
|
||||
reason_args = ["s16", reason]
|
||||
|
||||
subprocess.check_output([
|
||||
"service", "call", "power", "16", # IPowerManager.reboot
|
||||
"i32", "0", # no confirmation,
|
||||
*reason_args,
|
||||
"i32", "1" # wait
|
||||
])
|
||||
|
||||
def service_call(call):
|
||||
if not ANDROID:
|
||||
return None
|
||||
|
||||
ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
|
||||
if 'Parcel' not in ret:
|
||||
return None
|
||||
|
||||
return parse_service_call_bytes(ret)
|
||||
|
||||
def parse_service_call_unpack(r, fmt):
|
||||
try:
|
||||
return struct.unpack(fmt, r)[0]
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def parse_service_call_string(r):
|
||||
try:
|
||||
r = r[8:] # Cut off length field
|
||||
r = r.decode('utf_16_be')
|
||||
|
||||
# All pairs of two characters seem to be swapped. Not sure why
|
||||
result = ""
|
||||
for a, b, in itertools.zip_longest(r[::2], r[1::2], fillvalue='\x00'):
|
||||
result += b + a
|
||||
|
||||
result = result.replace('\x00', '')
|
||||
|
||||
return result
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def parse_service_call_bytes(ret):
|
||||
try:
|
||||
r = b""
|
||||
for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
|
||||
r += binascii.unhexlify(hex_part)
|
||||
return r
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def get_network_type():
|
||||
if not ANDROID:
|
||||
return NetworkType.none
|
||||
|
||||
wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
|
||||
if wifi_check is None:
|
||||
return NetworkType.none
|
||||
elif 'WIFI' in wifi_check:
|
||||
return NetworkType.wifi
|
||||
else:
|
||||
cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
|
||||
# from TelephonyManager.java
|
||||
cell_networks = {
|
||||
0: NetworkType.none,
|
||||
1: NetworkType.cell2G,
|
||||
2: NetworkType.cell2G,
|
||||
3: NetworkType.cell3G,
|
||||
4: NetworkType.cell2G,
|
||||
5: NetworkType.cell3G,
|
||||
6: NetworkType.cell3G,
|
||||
7: NetworkType.cell3G,
|
||||
8: NetworkType.cell3G,
|
||||
9: NetworkType.cell3G,
|
||||
10: NetworkType.cell3G,
|
||||
11: NetworkType.cell2G,
|
||||
12: NetworkType.cell3G,
|
||||
13: NetworkType.cell4G,
|
||||
14: NetworkType.cell4G,
|
||||
15: NetworkType.cell3G,
|
||||
16: NetworkType.cell2G,
|
||||
17: NetworkType.cell3G,
|
||||
18: NetworkType.cell4G,
|
||||
19: NetworkType.cell4G
|
||||
}
|
||||
return cell_networks.get(cell_check, NetworkType.none)
|
||||
|
||||
def get_network_strength(network_type):
|
||||
network_strength = NetworkStrength.unknown
|
||||
# from SignalStrength.java
|
||||
def get_lte_level(rsrp, rssnr):
|
||||
INT_MAX = 2147483647
|
||||
if rsrp == INT_MAX:
|
||||
lvl_rsrp = NetworkStrength.unknown
|
||||
elif rsrp >= -95:
|
||||
lvl_rsrp = NetworkStrength.great
|
||||
elif rsrp >= -105:
|
||||
lvl_rsrp = NetworkStrength.good
|
||||
elif rsrp >= -115:
|
||||
lvl_rsrp = NetworkStrength.moderate
|
||||
else:
|
||||
lvl_rsrp = NetworkStrength.poor
|
||||
if rssnr == INT_MAX:
|
||||
lvl_rssnr = NetworkStrength.unknown
|
||||
elif rssnr >= 45:
|
||||
lvl_rssnr = NetworkStrength.great
|
||||
elif rssnr >= 10:
|
||||
lvl_rssnr = NetworkStrength.good
|
||||
elif rssnr >= -30:
|
||||
lvl_rssnr = NetworkStrength.moderate
|
||||
else:
|
||||
lvl_rssnr = NetworkStrength.poor
|
||||
return max(lvl_rsrp, lvl_rssnr)
|
||||
|
||||
def get_tdscdma_level(tdscmadbm):
|
||||
lvl = NetworkStrength.unknown
|
||||
if tdscmadbm > -25:
|
||||
lvl = NetworkStrength.unknown
|
||||
elif tdscmadbm >= -49:
|
||||
lvl = NetworkStrength.great
|
||||
elif tdscmadbm >= -73:
|
||||
lvl = NetworkStrength.good
|
||||
elif tdscmadbm >= -97:
|
||||
lvl = NetworkStrength.moderate
|
||||
elif tdscmadbm >= -110:
|
||||
lvl = NetworkStrength.poor
|
||||
return lvl
|
||||
|
||||
def get_gsm_level(asu):
|
||||
if asu <= 2 or asu == 99:
|
||||
lvl = NetworkStrength.unknown
|
||||
elif asu >= 12:
|
||||
lvl = NetworkStrength.great
|
||||
elif asu >= 8:
|
||||
lvl = NetworkStrength.good
|
||||
elif asu >= 5:
|
||||
lvl = NetworkStrength.moderate
|
||||
else:
|
||||
lvl = NetworkStrength.poor
|
||||
return lvl
|
||||
|
||||
def get_evdo_level(evdodbm, evdosnr):
|
||||
lvl_evdodbm = NetworkStrength.unknown
|
||||
lvl_evdosnr = NetworkStrength.unknown
|
||||
if evdodbm >= -65:
|
||||
lvl_evdodbm = NetworkStrength.great
|
||||
elif evdodbm >= -75:
|
||||
lvl_evdodbm = NetworkStrength.good
|
||||
elif evdodbm >= -90:
|
||||
lvl_evdodbm = NetworkStrength.moderate
|
||||
elif evdodbm >= -105:
|
||||
lvl_evdodbm = NetworkStrength.poor
|
||||
if evdosnr >= 7:
|
||||
lvl_evdosnr = NetworkStrength.great
|
||||
elif evdosnr >= 5:
|
||||
lvl_evdosnr = NetworkStrength.good
|
||||
elif evdosnr >= 3:
|
||||
lvl_evdosnr = NetworkStrength.moderate
|
||||
elif evdosnr >= 1:
|
||||
lvl_evdosnr = NetworkStrength.poor
|
||||
return max(lvl_evdodbm, lvl_evdosnr)
|
||||
|
||||
def get_cdma_level(cdmadbm, cdmaecio):
|
||||
lvl_cdmadbm = NetworkStrength.unknown
|
||||
lvl_cdmaecio = NetworkStrength.unknown
|
||||
if cdmadbm >= -75:
|
||||
lvl_cdmadbm = NetworkStrength.great
|
||||
elif cdmadbm >= -85:
|
||||
lvl_cdmadbm = NetworkStrength.good
|
||||
elif cdmadbm >= -95:
|
||||
lvl_cdmadbm = NetworkStrength.moderate
|
||||
elif cdmadbm >= -100:
|
||||
lvl_cdmadbm = NetworkStrength.poor
|
||||
if cdmaecio >= -90:
|
||||
lvl_cdmaecio = NetworkStrength.great
|
||||
elif cdmaecio >= -110:
|
||||
lvl_cdmaecio = NetworkStrength.good
|
||||
elif cdmaecio >= -130:
|
||||
lvl_cdmaecio = NetworkStrength.moderate
|
||||
elif cdmaecio >= -150:
|
||||
lvl_cdmaecio = NetworkStrength.poor
|
||||
return max(lvl_cdmadbm, lvl_cdmaecio)
|
||||
|
||||
if network_type == NetworkType.none:
|
||||
return network_strength
|
||||
if network_type == NetworkType.wifi:
|
||||
out = subprocess.check_output('dumpsys connectivity', shell=True).decode('utf-8')
|
||||
network_strength = NetworkStrength.unknown
|
||||
for line in out.split('\n'):
|
||||
signal_str = "SignalStrength: "
|
||||
if signal_str in line:
|
||||
lvl_idx_start = line.find(signal_str) + len(signal_str)
|
||||
lvl_idx_end = line.find(']', lvl_idx_start)
|
||||
lvl = int(line[lvl_idx_start : lvl_idx_end])
|
||||
if lvl >= -50:
|
||||
network_strength = NetworkStrength.great
|
||||
elif lvl >= -60:
|
||||
network_strength = NetworkStrength.good
|
||||
elif lvl >= -70:
|
||||
network_strength = NetworkStrength.moderate
|
||||
else:
|
||||
network_strength = NetworkStrength.poor
|
||||
return network_strength
|
||||
else:
|
||||
# check cell strength
|
||||
out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('utf-8')
|
||||
for line in out.split('\n'):
|
||||
if "mSignalStrength" in line:
|
||||
arr = line.split(' ')
|
||||
ns = 0
|
||||
if ("gsm" in arr[14]):
|
||||
rsrp = int(arr[9])
|
||||
rssnr = int(arr[11])
|
||||
ns = get_lte_level(rsrp, rssnr)
|
||||
if ns == NetworkStrength.unknown:
|
||||
tdscmadbm = int(arr[13])
|
||||
ns = get_tdscdma_level(tdscmadbm)
|
||||
if ns == NetworkStrength.unknown:
|
||||
asu = int(arr[1])
|
||||
ns = get_gsm_level(asu)
|
||||
else:
|
||||
cdmadbm = int(arr[3])
|
||||
cdmaecio = int(arr[4])
|
||||
evdodbm = int(arr[5])
|
||||
evdosnr = int(arr[7])
|
||||
lvl_cdma = get_cdma_level(cdmadbm, cdmaecio)
|
||||
lvl_edmo = get_evdo_level(evdodbm, evdosnr)
|
||||
if lvl_edmo == NetworkStrength.unknown:
|
||||
ns = lvl_cdma
|
||||
elif lvl_cdma == NetworkStrength.unknown:
|
||||
ns = lvl_edmo
|
||||
else:
|
||||
ns = min(lvl_cdma, lvl_edmo)
|
||||
network_strength = max(network_strength, ns)
|
||||
|
||||
return network_strength
|
||||
+15
-10
@@ -1,8 +1,12 @@
|
||||
import jwt
|
||||
import os
|
||||
import requests
|
||||
from datetime import datetime, timedelta
|
||||
from common.basedir import PERSIST
|
||||
from selfdrive.version import version
|
||||
from system.version import get_version
|
||||
|
||||
from common.params import Params
|
||||
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') if not Params().get_bool("dp_api_custom") else Params().get("dp_api_custom_url", encoding='utf-8')
|
||||
|
||||
class Api():
|
||||
def __init__(self, dongle_id):
|
||||
@@ -19,24 +23,25 @@ class Api():
|
||||
def request(self, method, endpoint, timeout=None, access_token=None, **params):
|
||||
return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
|
||||
|
||||
def get_token(self):
|
||||
def get_token(self, expiry_hours=1):
|
||||
now = datetime.utcnow()
|
||||
payload = {
|
||||
'identity': self.dongle_id,
|
||||
'nbf': now,
|
||||
'iat': now,
|
||||
'exp': now + timedelta(hours=1)
|
||||
'exp': now + timedelta(hours=expiry_hours)
|
||||
}
|
||||
return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')
|
||||
token = jwt.encode(payload, self.private_key, algorithm='RS256')
|
||||
if isinstance(token, bytes):
|
||||
token = token.decode('utf8')
|
||||
return token
|
||||
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
backend = "https://api.commadotai.com/"
|
||||
|
||||
headers = {}
|
||||
if access_token is not None:
|
||||
headers['Authorization'] = "JWT "+access_token
|
||||
headers['Authorization'] = "JWT " + access_token
|
||||
|
||||
headers['User-Agent'] = "openpilot-" + version
|
||||
|
||||
return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
|
||||
headers['User-Agent'] = "openpilot-" + get_version()
|
||||
|
||||
return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
||||
|
||||
@@ -1,97 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
import glob
|
||||
import hashlib
|
||||
import shutil
|
||||
from common.basedir import BASEDIR
|
||||
from selfdrive.swaglog import cloudlog
|
||||
|
||||
android_packages = ("ai.comma.plus.offroad",)
|
||||
|
||||
def get_installed_apks():
|
||||
dat = subprocess.check_output(["pm", "list", "packages", "-f"], encoding='utf8').strip().split("\n")
|
||||
ret = {}
|
||||
for x in dat:
|
||||
if x.startswith("package:"):
|
||||
v,k = x.split("package:")[1].split("=")
|
||||
ret[k] = v
|
||||
return ret
|
||||
|
||||
def install_apk(path):
|
||||
# can only install from world readable path
|
||||
install_path = "/sdcard/%s" % os.path.basename(path)
|
||||
shutil.copyfile(path, install_path)
|
||||
|
||||
ret = subprocess.call(["pm", "install", "-r", install_path])
|
||||
os.remove(install_path)
|
||||
return ret == 0
|
||||
|
||||
def start_offroad():
|
||||
set_package_permissions()
|
||||
system("am start -n ai.comma.plus.offroad/.MainActivity")
|
||||
|
||||
def set_package_permissions():
|
||||
pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
|
||||
pm_grant("ai.comma.plus.offroad", "android.permission.READ_PHONE_STATE")
|
||||
pm_grant("ai.comma.plus.offroad", "android.permission.READ_EXTERNAL_STORAGE")
|
||||
appops_set("ai.comma.plus.offroad", "SU", "allow")
|
||||
appops_set("ai.comma.plus.offroad", "WIFI_SCAN", "allow")
|
||||
|
||||
def appops_set(package, op, mode):
|
||||
system(f"LD_LIBRARY_PATH= appops set {package} {op} {mode}")
|
||||
|
||||
def pm_grant(package, permission):
|
||||
system(f"pm grant {package} {permission}")
|
||||
|
||||
def system(cmd):
|
||||
try:
|
||||
cloudlog.info("running %s" % cmd)
|
||||
subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
|
||||
except subprocess.CalledProcessError as e:
|
||||
cloudlog.event("running failed",
|
||||
cmd=e.cmd,
|
||||
output=e.output[-1024:],
|
||||
returncode=e.returncode)
|
||||
|
||||
# *** external functions ***
|
||||
|
||||
def update_apks():
|
||||
# install apks
|
||||
installed = get_installed_apks()
|
||||
|
||||
install_apks = glob.glob(os.path.join(BASEDIR, "apk/*.apk"))
|
||||
for apk in install_apks:
|
||||
app = os.path.basename(apk)[:-4]
|
||||
if app not in installed:
|
||||
installed[app] = None
|
||||
|
||||
cloudlog.info("installed apks %s" % (str(installed), ))
|
||||
|
||||
for app in installed.keys():
|
||||
apk_path = os.path.join(BASEDIR, "apk/"+app+".apk")
|
||||
if not os.path.exists(apk_path):
|
||||
continue
|
||||
|
||||
h1 = hashlib.sha1(open(apk_path, 'rb').read()).hexdigest()
|
||||
h2 = None
|
||||
if installed[app] is not None:
|
||||
h2 = hashlib.sha1(open(installed[app], 'rb').read()).hexdigest()
|
||||
cloudlog.info("comparing version of %s %s vs %s" % (app, h1, h2))
|
||||
|
||||
if h2 is None or h1 != h2:
|
||||
cloudlog.info("installing %s" % app)
|
||||
|
||||
success = install_apk(apk_path)
|
||||
if not success:
|
||||
cloudlog.info("needing to uninstall %s" % app)
|
||||
system("pm uninstall %s" % app)
|
||||
success = install_apk(apk_path)
|
||||
|
||||
assert success
|
||||
|
||||
def pm_apply_packages(cmd):
|
||||
for p in android_packages:
|
||||
system("pm %s %s" % (cmd, p))
|
||||
|
||||
if __name__ == "__main__":
|
||||
update_apks()
|
||||
+7
-7
@@ -1,11 +1,11 @@
|
||||
import os
|
||||
from pathlib import Path
|
||||
|
||||
from system.hardware import PC
|
||||
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
|
||||
from common.android import ANDROID
|
||||
if ANDROID:
|
||||
PERSIST = "/persist"
|
||||
PARAMS = "/data/params"
|
||||
if PC:
|
||||
PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
|
||||
else:
|
||||
PERSIST = os.path.join(BASEDIR, "persist")
|
||||
PARAMS = os.path.join(BASEDIR, "persist", "params")
|
||||
|
||||
PERSIST = "/persist"
|
||||
|
||||
+2889
File diff suppressed because it is too large
Load Diff
@@ -1,3 +1,5 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
|
||||
|
||||
IF UNAME_SYSNAME == "Darwin":
|
||||
|
||||
Executable
BIN
Binary file not shown.
@@ -0,0 +1,28 @@
|
||||
#pragma once
|
||||
|
||||
#ifdef __APPLE__
|
||||
#include <OpenCL/cl.h>
|
||||
#else
|
||||
#include <CL/cl.h>
|
||||
#endif
|
||||
|
||||
#include <string>
|
||||
|
||||
#define CL_CHECK(_expr) \
|
||||
do { \
|
||||
assert(CL_SUCCESS == (_expr)); \
|
||||
} while (0)
|
||||
|
||||
#define CL_CHECK_ERR(_expr) \
|
||||
({ \
|
||||
cl_int err = CL_INVALID_VALUE; \
|
||||
__typeof__(_expr) _ret = _expr; \
|
||||
assert(_ret&& err == CL_SUCCESS); \
|
||||
_ret; \
|
||||
})
|
||||
|
||||
cl_device_id cl_get_device_id(cl_device_type device_type);
|
||||
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
|
||||
cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
|
||||
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
|
||||
const char* cl_get_error_string(int err);
|
||||
@@ -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,
|
||||
)
|
||||
@@ -0,0 +1,19 @@
|
||||
import numpy as np
|
||||
|
||||
class Conversions:
|
||||
# Speed
|
||||
MPH_TO_KPH = 1.609344
|
||||
KPH_TO_MPH = 1. / MPH_TO_KPH
|
||||
MS_TO_KPH = 3.6
|
||||
KPH_TO_MS = 1. / MS_TO_KPH
|
||||
MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
|
||||
MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
|
||||
MS_TO_KNOTS = 1.9438
|
||||
KNOTS_TO_MS = 1. / MS_TO_KNOTS
|
||||
|
||||
# Angle
|
||||
DEG_TO_RAD = np.pi / 180.
|
||||
RAD_TO_DEG = 1. / DEG_TO_RAD
|
||||
|
||||
# Mass
|
||||
LB_TO_KG = 0.453592
|
||||
@@ -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)
|
||||
@@ -0,0 +1,9 @@
|
||||
# remove all keys that end in DEPRECATED
|
||||
def strip_deprecated_keys(d):
|
||||
for k in list(d.keys()):
|
||||
if isinstance(k, str):
|
||||
if k.endswith('DEPRECATED'):
|
||||
d.pop(k)
|
||||
elif isinstance(d[k], dict):
|
||||
strip_deprecated_keys(d[k])
|
||||
return d
|
||||
@@ -1,33 +0,0 @@
|
||||
#!/usr/bin/env python3.7
|
||||
import subprocess
|
||||
from common.params import Params
|
||||
params = Params()
|
||||
|
||||
def get_last_modified():
|
||||
return Params().get('DragonLastModified', encoding='utf-8')
|
||||
|
||||
def is_online():
|
||||
return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
|
||||
|
||||
def common_controller_update():
|
||||
dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
|
||||
if dragon_lat_ctrl:
|
||||
dragon_enable_steering_on_signal = True if (params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" and params.get("LaneChangeEnabled", encoding='utf8') == "0") else False
|
||||
if dragon_enable_steering_on_signal:
|
||||
try:
|
||||
dragon_blinker_off_timer = float(params.get("DragonBlinkerOffTimer", encoding='utf8')) * 100
|
||||
except (TypeError, ValueError):
|
||||
dragon_blinker_off_timer = 0
|
||||
else:
|
||||
dragon_blinker_off_timer = 0
|
||||
else:
|
||||
dragon_enable_steering_on_signal = False
|
||||
dragon_blinker_off_timer = 0
|
||||
return dragon_lat_ctrl, dragon_enable_steering_on_signal, dragon_blinker_off_timer
|
||||
|
||||
def common_controller_ctrl(enabled, dragon_lat_ctrl, dragon_enable_steering_on_signal, blinker_on, steer_req):
|
||||
if enabled:
|
||||
if (dragon_enable_steering_on_signal and blinker_on) or not dragon_lat_ctrl:
|
||||
steer_req = 0 if isinstance(steer_req, int) else False
|
||||
|
||||
return steer_req
|
||||
@@ -0,0 +1,318 @@
|
||||
#!/usr/bin/env python3.7
|
||||
#pylint: skip-file
|
||||
import os
|
||||
import sys
|
||||
import json
|
||||
import time
|
||||
from math import floor
|
||||
from system.hardware import TICI
|
||||
|
||||
'''
|
||||
* type: Bool, Int8, UInt8, UInt16, Float32
|
||||
* conf_type: param, struct
|
||||
* dependencies needs to use struct and loaded prior so we don't have to read the param multiple times.
|
||||
* update_once: True, False (the param will only load up once, need both param and struct defined)
|
||||
'''
|
||||
confs = [
|
||||
# custom api server
|
||||
{'name': 'dp_api_custom', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_api_custom_url', 'default': 'https://api.retropilot.org', 'type': 'Text', 'depends': [{'name': 'dp_api_custom', 'vals': [True]}], 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_atl', 'default': 0, 'type': 'UInt8', 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
|
||||
{'name': 'dp_locale', 'default': 'en-US', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
{'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
|
||||
# nav service
|
||||
{'name': 'dp_nav', 'default': True if TICI else False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_otisserv', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_mapbox_token_pk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_mapbox_token_sk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_full_screen', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_gmap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_gmap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_amap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_amap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_amap_key_2', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_style_day', 'default': 'mapbox://styles/rav4kumar/ckv7dtfba6oik15r0w8dh1c1q', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_style_night', 'default': 'mapbox://styles/rav4kumar/ckvsf3f4u0zb414tcz9vof5jc', 'type': 'Text', 'conf_type': ['param']},
|
||||
|
||||
# gpxd
|
||||
{'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
|
||||
# assign car via param
|
||||
# echo -n TOYOTA C-HR 2021 > /data/params/d/dp_car_assigned
|
||||
{'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
|
||||
|
||||
# lateral - alc
|
||||
{'name': 'dp_lateral_mode', 'default': 1, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_signal_off_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [0]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_min_mph', 'default': 15, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [1, 2]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_auto_min_mph', 'default': 40, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_auto_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lateral_lanelines', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lateral_camera_offset', 'default': 4 if TICI else -6, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lateral_path_offset', 'default': 4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lateral_road_edge_detected', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
|
||||
#ui
|
||||
{'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
|
||||
{'name': 'dp_quiet_drive', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
#{'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_lead_info', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_laneline', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_chevron', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_dm_cam', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_rainbow', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
|
||||
#toyota
|
||||
{'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_cruise_override_speed', 'default': 30, 'type': 'UInt8', 'min': 5, 'max': 60, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_auto_lock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_auto_unlock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_local_db', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
|
||||
|
||||
# dashcam related
|
||||
{'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# # auto shutdown
|
||||
{'name': 'dp_auto_shutdown', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_auto_shutdown_in', 'default': 60, 'type': 'UInt16', 'min': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_mazda_steer_alert', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_mazda_dashcam_bypass', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# # service
|
||||
# {'name': 'dp_updated', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_logger', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_athenad', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
# {'name': 'dp_uploader', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
# # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_dm', 'default': True if not TICI else False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_temp_check', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_vag_resume_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# # lat ctrl
|
||||
# {'name': 'dp_lane_less_mode_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_lane_less_mode', 'default': 2, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_lane_less_mode_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# # long ctrl
|
||||
# {'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lateral_tune', 'default': 0, 'type': 'UInt8', 'conf_type': ['param']},
|
||||
{'name': 'dp_lateral_torque_live_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_lateral_alt', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lateral_alt_speed', 'default': 80, 'type': 'UInt8', 'min': 10, 'max': 130, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lateral_alt_ctrl', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lateral_alt_lanelines', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lateral_alt_camera_offset', 'default': 4 if TICI else -6, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}, {'name': 'dp_lateral_alt_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lateral_alt_path_offset', 'default': 4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}, {'name': 'dp_lateral_alt_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# # safety
|
||||
# {'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
# # UIs
|
||||
# {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
# # toyota
|
||||
{'name': 'dp_toyota_rav4_tss2_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_toyota_prius_bad_angle_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_e2e_conditional', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
#{'name': 'dp_e2e_conditional_at_speed', 'default': 60, 'type': 'UInt8', 'min': 30, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
#{'name': 'dp_e2e_conditional_at_speed_lead', 'default': 40, 'type': 'UInt8', 'min': 0, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_e2e_conditional_adapt_fp', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_e2e_conditional_adapt_ap', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_e2e_conditional_voacc', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_toyota_no_min_acc_limit', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_toyota_change5speed', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_toyota_cruise_override_vego', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_toyota_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_toyota_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']},
|
||||
# # hyundai
|
||||
# {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# # honda
|
||||
# {'name': 'dp_honda_kmh_display', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# # volkswagen
|
||||
# # {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# #misc
|
||||
# {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
|
||||
# {'name': 'dp_fan_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param']},
|
||||
# {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
|
||||
# {'name': 'dp_camera_offset', 'default': CAMERA_OFFSET, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_path_offset', 'default': 0 if EON else -4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
#
|
||||
# {'name': 'dp_reg', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# # sr learner related
|
||||
# {'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_sr_custom', 'default': 9.99, 'min': 9.99, 'max': 30., 'type': 'Float32', 'depends': [{'name': 'dp_sr_learner', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_sr_stock', 'default': 9.99, 'min': 9.99, 'max': 100., 'type': 'Float32', 'conf_type': ['param']},
|
||||
#
|
||||
# {'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_reset_live_param_on_start', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
#
|
||||
# {'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
# {'name': 'dp_no_batt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_last_candidate', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
# {'name': 'dp_prebuilt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# # no gps is for mr. one's harness + black panda in one solution (without GPS chip)
|
||||
# {'name': 'dp_panda_no_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
#
|
||||
# {'name': 'dp_no_offroad_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_ftpd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_lateral_version', 'default': 0, 'min': 0, 'max': 2, 'type': 'UInt8', 'conf_type': ['param']},
|
||||
{'name': 'dp_lateral_steer_rate_cost', 'default': 1.0, 'min': 0.5, 'max': 2.0, 'type': 'Float32', 'conf_type': ['param']},
|
||||
{'name': 'dp_upload_ignored', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'local_trip_count_total', 'default': 0.0, 'type': 'Float32', 'conf_type': ['param']},
|
||||
{'name': 'local_trip_meter_total', 'default': 0.0, 'type': 'Float32', 'conf_type': ['param']},
|
||||
{'name': 'local_trip_min_total', 'default': 0.0, 'type': 'Float32', 'conf_type': ['param']},
|
||||
{'name': 'dp_lateral_lc_manual', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
]
|
||||
|
||||
def get_definition(name):
|
||||
for conf in confs:
|
||||
if conf['name'] == name:
|
||||
return conf
|
||||
return None
|
||||
|
||||
def to_param_val(name, val):
|
||||
conf = get_definition(name)
|
||||
if conf is not None:
|
||||
type = conf['type'].lower()
|
||||
try:
|
||||
if 'bool' in type:
|
||||
val = '1' if val else '0'
|
||||
elif 'int' in type:
|
||||
val = int(val)
|
||||
elif 'float' in type:
|
||||
val = float(val)
|
||||
return str(val)
|
||||
except (ValueError, TypeError):
|
||||
return ''
|
||||
return ''
|
||||
|
||||
def to_struct_val(name, val):
|
||||
conf = get_definition(name)
|
||||
if conf is not None:
|
||||
try:
|
||||
type = conf['type'].lower()
|
||||
if 'bool' in type:
|
||||
val = True if val == '1' else False
|
||||
elif 'int' in type:
|
||||
val = int(val)
|
||||
elif 'float' in type:
|
||||
val = float(val)
|
||||
return val
|
||||
except (ValueError, TypeError):
|
||||
return None
|
||||
return None
|
||||
|
||||
'''
|
||||
function to convert param name into struct name.
|
||||
'''
|
||||
def get_struct_name(snake_str):
|
||||
components = snake_str.split('_')
|
||||
# We capitalize the first letter of each component except the first one
|
||||
# with the 'title' method and join them together.
|
||||
return components[0] + ''.join(x.title() for x in components[1:])
|
||||
|
||||
'''
|
||||
function to generate struct for log.capnp
|
||||
'''
|
||||
def gen_log_struct():
|
||||
count = 0
|
||||
str = "# dp\n"
|
||||
str += "struct DragonConf {\n"
|
||||
for conf in confs:
|
||||
name = get_struct_name(conf['name'])
|
||||
if 'struct' in conf['conf_type']:
|
||||
str += f" {name} @{count} :{conf['type']};\n"
|
||||
count += 1
|
||||
str += "}"
|
||||
print(str)
|
||||
|
||||
'''
|
||||
function to generate support car list
|
||||
'''
|
||||
def get_support_car_list():
|
||||
attrs = ['FINGERPRINTS', 'FW_VERSIONS']
|
||||
cars = dict({"cars": []})
|
||||
models = []
|
||||
for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]:
|
||||
try:
|
||||
car_name = car_folder.split('/')[-1]
|
||||
if car_name != "mock":
|
||||
for attr in attrs:
|
||||
values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr])
|
||||
if hasattr(values, attr):
|
||||
attr_values = getattr(values, attr)
|
||||
else:
|
||||
continue
|
||||
if isinstance(attr_values, dict):
|
||||
for f, v in attr_values.items():
|
||||
if f not in models:
|
||||
models.append(f)
|
||||
except (ImportError, IOError, ValueError):
|
||||
pass
|
||||
models.sort()
|
||||
cars["cars"] = models
|
||||
return json.dumps(cars)
|
||||
|
||||
'''
|
||||
function to init param value.
|
||||
should add this into manager.py
|
||||
'''
|
||||
def init_params_vals(params):
|
||||
for conf in confs:
|
||||
if 'param' in conf['conf_type']:
|
||||
if conf['name'] == 'dp_car_list':
|
||||
params.put(conf['name'], get_support_car_list())
|
||||
elif params.get(conf['name']) is None:
|
||||
params.put(conf['name'], to_param_val(conf['name'], conf['default']))
|
||||
|
||||
def gen_params_cc_keys():
|
||||
for conf in confs:
|
||||
if 'param' in conf['conf_type']:
|
||||
print(" {\"%s\", PERSISTENT}," % conf['name'])
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
if (len(sys.argv) > 1) and sys.argv[1] == 'cc':
|
||||
gen_params_cc_keys()
|
||||
else:
|
||||
gen_log_struct()
|
||||
@@ -0,0 +1,59 @@
|
||||
#!/usr/bin/env python3.7
|
||||
# import subprocess
|
||||
# from cereal import car
|
||||
from common.params import Params
|
||||
from common.realtime import sec_since_boot
|
||||
import os
|
||||
params = Params()
|
||||
LAST_MODIFIED = params.get_param_path() + "/dp_last_modified"
|
||||
|
||||
# delay of reading last modified
|
||||
# LAST_MODIFIED_TIMER_THERMALD = 10.
|
||||
LAST_MODIFIED_TIMER_SYSTEMD = 1.
|
||||
# LAST_MODIFIED_TIMER_LANE_PLANNER = 3.
|
||||
# LAST_MODIFIED_TIMER_UPLOADER = 10.
|
||||
|
||||
# def is_online():
|
||||
# try:
|
||||
# return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
|
||||
# except ProcessLookupError:
|
||||
# return False
|
||||
#
|
||||
# def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego):
|
||||
# if enabled:
|
||||
# if dragonconf.dpLateralMode == 0 and blinker_on:
|
||||
# steer_req = 0 if isinstance(steer_req, int) else False
|
||||
# return steer_req
|
||||
#
|
||||
def get_last_modified(delay, old_check, old_modified):
|
||||
new_check = sec_since_boot()
|
||||
if os.path.isfile(LAST_MODIFIED) and (old_check is None or new_check - old_check >= delay):
|
||||
return new_check, os.stat(LAST_MODIFIED).st_mtime
|
||||
else:
|
||||
return old_check, old_modified
|
||||
|
||||
# def param_get_if_updated(param, type, old_val, old_modified):
|
||||
# try:
|
||||
# modified = os.stat(PARAM_PATH + param).st_mtime
|
||||
# except OSError:
|
||||
# return old_val, old_modified
|
||||
# if old_modified != modified:
|
||||
# new_val = param_get(param, type, old_val)
|
||||
# new_modified = modified
|
||||
# else:
|
||||
# new_val = old_val
|
||||
# new_modified = old_modified
|
||||
# return new_val, new_modified
|
||||
|
||||
# def param_get(param_name, type, default):
|
||||
# try:
|
||||
# val = params.get(param_name, encoding='utf8').rstrip('\x00')
|
||||
# if type == 'bool':
|
||||
# val = val == '1'
|
||||
# elif type == 'int':
|
||||
# val = int(val)
|
||||
# elif type == 'float':
|
||||
# val = float(val)
|
||||
# except (TypeError, ValueError):
|
||||
# val = default
|
||||
# return val
|
||||
@@ -28,7 +28,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=
|
||||
try:
|
||||
mod = __import__(cache)
|
||||
except Exception:
|
||||
print("cache miss {0}".format(cache))
|
||||
print(f"cache miss {cache}")
|
||||
compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
|
||||
mod = __import__(cache)
|
||||
finally:
|
||||
@@ -44,7 +44,7 @@ def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
|
||||
ffibuilder = FFI()
|
||||
ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
|
||||
ffibuilder.cdef(c_header)
|
||||
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
|
||||
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
|
||||
os.environ['CFLAGS'] = cflags
|
||||
ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
|
||||
|
||||
|
||||
+45
-41
@@ -3,13 +3,17 @@ import shutil
|
||||
import tempfile
|
||||
from atomicwrites import AtomicWriter
|
||||
|
||||
|
||||
def mkdirs_exists_ok(path):
|
||||
if path.startswith('http://') or path.startswith('https://'):
|
||||
raise ValueError('URL path')
|
||||
try:
|
||||
os.makedirs(path)
|
||||
except OSError:
|
||||
if not os.path.isdir(path):
|
||||
raise
|
||||
|
||||
|
||||
def rm_not_exists_ok(path):
|
||||
try:
|
||||
os.remove(path)
|
||||
@@ -17,40 +21,23 @@ def rm_not_exists_ok(path):
|
||||
if os.path.exists(path):
|
||||
raise
|
||||
|
||||
|
||||
def rm_tree_or_link(path):
|
||||
if os.path.islink(path):
|
||||
os.unlink(path)
|
||||
elif os.path.isdir(path):
|
||||
shutil.rmtree(path)
|
||||
|
||||
|
||||
def get_tmpdir_on_same_filesystem(path):
|
||||
normpath = os.path.normpath(path)
|
||||
parts = normpath.split("/")
|
||||
if len(parts) > 1 and parts[1] == "scratch":
|
||||
return "/scratch/tmp"
|
||||
elif len(parts) > 2 and parts[2] == "runner":
|
||||
return "/{}/runner/tmp".format(parts[1])
|
||||
return f"/{parts[1]}/runner/tmp"
|
||||
return "/tmp"
|
||||
|
||||
class AutoMoveTempdir():
|
||||
def __init__(self, target_path, temp_dir=None):
|
||||
self._target_path = target_path
|
||||
self._path = tempfile.mkdtemp(dir=temp_dir)
|
||||
|
||||
@property
|
||||
def name(self):
|
||||
return self._path
|
||||
|
||||
def close(self):
|
||||
os.rename(self._path, self._target_path)
|
||||
|
||||
def __enter__(self): return self
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
if type is None:
|
||||
self.close()
|
||||
else:
|
||||
shutil.rmtree(self._path)
|
||||
|
||||
class NamedTemporaryDir():
|
||||
def __init__(self, temp_dir=None):
|
||||
@@ -63,24 +50,56 @@ class NamedTemporaryDir():
|
||||
def close(self):
|
||||
shutil.rmtree(self._path)
|
||||
|
||||
def __enter__(self): return self
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
class CallbackReader:
|
||||
"""Wraps a file, but overrides the read method to also
|
||||
call a callback function with the number of bytes read so far."""
|
||||
def __init__(self, f, callback, *args):
|
||||
self.f = f
|
||||
self.callback = callback
|
||||
self.cb_args = args
|
||||
self.total_read = 0
|
||||
|
||||
def __getattr__(self, attr):
|
||||
return getattr(self.f, attr)
|
||||
|
||||
def read(self, *args, **kwargs):
|
||||
chunk = self.f.read(*args, **kwargs)
|
||||
self.total_read += len(chunk)
|
||||
self.callback(*self.cb_args, self.total_read)
|
||||
return chunk
|
||||
|
||||
|
||||
def _get_fileobject_func(writer, temp_dir):
|
||||
def _get_fileobject():
|
||||
file_obj = writer.get_fileobject(dir=temp_dir)
|
||||
os.chmod(file_obj.name, 0o644)
|
||||
return file_obj
|
||||
return writer.get_fileobject(dir=temp_dir)
|
||||
return _get_fileobject
|
||||
|
||||
def monkeypatch_os_link():
|
||||
# This is neccesary on EON/C2, where os.link is patched out of python
|
||||
if not hasattr(os, 'link'):
|
||||
from cffi import FFI
|
||||
ffi = FFI()
|
||||
ffi.cdef("int link(const char *oldpath, const char *newpath);")
|
||||
libc = ffi.dlopen(None)
|
||||
|
||||
def link(src, dest):
|
||||
return libc.link(src.encode(), dest.encode())
|
||||
os.link = link
|
||||
|
||||
def atomic_write_on_fs_tmp(path, **kwargs):
|
||||
"""Creates an atomic writer using a temporary file in a temporary directory
|
||||
on the same filesystem as path.
|
||||
"""
|
||||
# TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
|
||||
# directory.
|
||||
monkeypatch_os_link()
|
||||
writer = AtomicWriter(path, **kwargs)
|
||||
return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
|
||||
|
||||
@@ -89,21 +108,6 @@ def atomic_write_in_dir(path, **kwargs):
|
||||
"""Creates an atomic writer using a temporary file in the same directory
|
||||
as the destination file.
|
||||
"""
|
||||
monkeypatch_os_link()
|
||||
writer = AtomicWriter(path, **kwargs)
|
||||
return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
|
||||
|
||||
def atomic_write_in_dir_neos(path, contents, mode=None):
|
||||
"""
|
||||
Atomically writes contents to path using a temporary file in the same directory
|
||||
as path. Useful on NEOS, where `os.link` (required by atomic_write_in_dir) is missing.
|
||||
"""
|
||||
|
||||
f = tempfile.NamedTemporaryFile(delete=False, prefix=".tmp", dir=os.path.dirname(path))
|
||||
f.write(contents)
|
||||
f.flush()
|
||||
if mode is not None:
|
||||
os.fchmod(f.fileno(), mode)
|
||||
os.fsync(f.fileno())
|
||||
f.close()
|
||||
|
||||
os.rename(f.name, path)
|
||||
|
||||
+13
-4
@@ -1,9 +1,18 @@
|
||||
class FirstOrderFilter():
|
||||
class FirstOrderFilter:
|
||||
# first order filter
|
||||
def __init__(self, x0, ts, dt):
|
||||
self.k = (dt / ts) / (1. + dt / ts)
|
||||
def __init__(self, x0, rc, dt, initialized=True):
|
||||
self.x = x0
|
||||
self.dt = dt
|
||||
self.update_alpha(rc)
|
||||
self.initialized = initialized
|
||||
|
||||
def update_alpha(self, rc):
|
||||
self.alpha = self.dt / (rc + self.dt)
|
||||
|
||||
def update(self, x):
|
||||
self.x = (1. - self.k) * self.x + self.k * x
|
||||
if self.initialized:
|
||||
self.x = (1. - self.alpha) * self.x + self.alpha * x
|
||||
else:
|
||||
self.initialized = True
|
||||
self.x = x
|
||||
return self.x
|
||||
|
||||
@@ -0,0 +1,33 @@
|
||||
#pragma once
|
||||
|
||||
// Pin definitions
|
||||
#ifdef QCOM2
|
||||
#define GPIO_HUB_RST_N 30
|
||||
#define GPIO_UBLOX_RST_N 32
|
||||
#define GPIO_UBLOX_SAFEBOOT_N 33
|
||||
#define GPIO_UBLOX_PWR_EN 34
|
||||
#define GPIO_STM_RST_N 124
|
||||
#define GPIO_STM_BOOT0 134
|
||||
#define GPIO_BMX_ACCEL_INT 21
|
||||
#define GPIO_BMX_GYRO_INT 23
|
||||
#define GPIO_BMX_MAGN_INT 87
|
||||
#define GPIO_LSM_INT 84
|
||||
#define GPIOCHIP_INT 0
|
||||
#else
|
||||
#define GPIO_HUB_RST_N 0
|
||||
#define GPIO_UBLOX_RST_N 0
|
||||
#define GPIO_UBLOX_SAFEBOOT_N 0
|
||||
#define GPIO_UBLOX_PWR_EN 0
|
||||
#define GPIO_STM_RST_N 0
|
||||
#define GPIO_STM_BOOT0 0
|
||||
#define GPIO_BMX_ACCEL_INT 0
|
||||
#define GPIO_BMX_GYRO_INT 0
|
||||
#define GPIO_BMX_MAGN_INT 0
|
||||
#define GPIO_LSM_INT 0
|
||||
#define GPIOCHIP_INT 0
|
||||
#endif
|
||||
|
||||
int gpio_init(int pin_nr, bool output);
|
||||
int gpio_set(int pin_nr, bool high);
|
||||
|
||||
int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr);
|
||||
@@ -0,0 +1,25 @@
|
||||
from typing import Optional
|
||||
|
||||
def gpio_init(pin: int, output: bool) -> None:
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
|
||||
f.write(b"out" if output else b"in")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} direction: {e}")
|
||||
|
||||
def gpio_set(pin: int, high: bool) -> None:
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
|
||||
f.write(b"1" if high else b"0")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} value: {e}")
|
||||
|
||||
def gpio_read(pin: int) -> Optional[bool]:
|
||||
val = None
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
|
||||
val = bool(int(f.read().strip()))
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} value: {e}")
|
||||
|
||||
return val
|
||||
@@ -0,0 +1,27 @@
|
||||
import gettext
|
||||
from common.params import Params
|
||||
|
||||
locale_dir = "/data/openpilot/selfdrive/assets/locales"
|
||||
# supported_language = ["en-US", "zh-TW", "zh-CN", "ja-JP", "ko-KR"]
|
||||
supported_languages = {
|
||||
"main_en": "en-US",
|
||||
"main_zh-CHT": "zh-TW",
|
||||
"main_zh-CHS": "zh-CN",
|
||||
"main_ko": "ko-KR",
|
||||
"main_ja": "ja-JP",
|
||||
"main_de": "de-DE",
|
||||
"main_pt-BR": "pt_BR",
|
||||
}
|
||||
|
||||
def events():
|
||||
locale = Params().get("LanguageSetting", encoding='utf8')
|
||||
try:
|
||||
if locale is not None:
|
||||
locale = supported_languages[locale.strip()]
|
||||
else:
|
||||
locale = "en-US"
|
||||
except KeyError:
|
||||
locale = "en-US"
|
||||
i18n = gettext.translation("events", localedir=locale_dir, fallback=True, languages=[locale])
|
||||
i18n.install()
|
||||
return i18n.gettext
|
||||
@@ -0,0 +1,17 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
#include <sys/types.h>
|
||||
|
||||
class I2CBus {
|
||||
private:
|
||||
int i2c_fd;
|
||||
|
||||
public:
|
||||
I2CBus(uint8_t bus_id);
|
||||
~I2CBus();
|
||||
|
||||
int read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len);
|
||||
int set_register(uint8_t device_address, uint register_address, uint8_t data);
|
||||
};
|
||||
@@ -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")
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,3 +1,5 @@
|
||||
# cython: language_level = 3
|
||||
|
||||
cdef class KF1D:
|
||||
cdef public:
|
||||
double x0_0
|
||||
@@ -13,4 +15,4 @@ cdef class KF1D:
|
||||
double A_K_0
|
||||
double A_K_1
|
||||
double A_K_2
|
||||
double A_K_3
|
||||
double A_K_3
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level=3
|
||||
|
||||
cdef class KF1D:
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user