c92be0564c
* make sure specified port isn't reserved * only sshd * Add check to tests as well and test * commonly define these safety check numbers in services and check in both places * add function to generate new ports that aren't reserved * port is guaranteed to not be a reserved port and above 8000 now asserting the rate on runtime isn't necessary, just for testing * create service_list dynamically * redundant * just add an offset equal to length of services dict * fix test? * only one reserved * ignore the argument type error * rm line * Add back tests * starts at 8001
What is 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
sensorEventspacket - A calibration process subscribes to the
sensorEventspacket to use the IMU - A localization process subscribes to the
sensorEventspacket to use the IMU also
Messaging Spec
You'll find the message types in log.capnp. It uses Cap'n proto and defines one struct called Event.
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 unambigious.
-
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 and another called msgq, a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
Example
import cereal.messaging as messaging
# in subscriber
sm = messaging.SubMaster(['sensorEvents'])
while 1:
sm.update()
print(sm['sensorEvents'])
# in publisher
pm = messaging.PubMaster(['sensorEvents'])
dat = messaging.new_message('sensorEvents', size=1)
dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
pm.send('sensorEvents', dat)