Compare commits
6 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 1okko
|
b5c035cda4 | ||
|
Calvin Park
|
66bac16eb6 | ||
|
Calvin Park
|
9c26885363 | ||
|
Calvin Park
|
fbf834a656 | ||
|
Calvin Park
|
a128236026 | ||
|
Vehicle Researcher
|
9f648e0963 |
+19
@@ -0,0 +1,19 @@
|
||||
---
|
||||
Checks: '
|
||||
bugprone-*,
|
||||
-bugprone-integer-division,
|
||||
-bugprone-narrowing-conversions,
|
||||
performance-*,
|
||||
clang-analyzer-*,
|
||||
misc-*,
|
||||
-misc-unused-parameters,
|
||||
modernize-*,
|
||||
-modernize-avoid-c-arrays,
|
||||
-modernize-deprecated-headers,
|
||||
-modernize-use-auto,
|
||||
-modernize-use-using,
|
||||
-modernize-use-nullptr,
|
||||
-modernize-use-trailing-return-type,
|
||||
'
|
||||
CheckOptions:
|
||||
...
|
||||
@@ -1,6 +0,0 @@
|
||||
Wen
|
||||
REGIST
|
||||
PullRequest
|
||||
cancelled
|
||||
FOF
|
||||
NoO
|
||||
@@ -0,0 +1,39 @@
|
||||
**/.git
|
||||
.DS_Store
|
||||
*.dylib
|
||||
*.DSYM
|
||||
*.d
|
||||
*.pyc
|
||||
*.pyo
|
||||
.*.swp
|
||||
.*.swo
|
||||
.*.un~
|
||||
*.tmp
|
||||
*.o
|
||||
*.o-*
|
||||
*.os
|
||||
*.os-*
|
||||
*.so
|
||||
*.a
|
||||
|
||||
venv/
|
||||
.venv/
|
||||
|
||||
notebooks
|
||||
phone
|
||||
massivemap
|
||||
neos
|
||||
installer
|
||||
chffr/app2
|
||||
chffr/backend/env
|
||||
selfdrive/nav
|
||||
selfdrive/baseui
|
||||
selfdrive/test/simulator2
|
||||
**/cache_data
|
||||
xx/plus
|
||||
xx/community
|
||||
xx/projects
|
||||
!xx/projects/eon_testing_master
|
||||
!xx/projects/map3d
|
||||
xx/ops
|
||||
xx/junk
|
||||
@@ -1,11 +0,0 @@
|
||||
* @sunnypilot/dev-internal
|
||||
/.github/ @devtekve @sunnyhaibin
|
||||
/release/ci/ @devtekve @sunnyhaibin
|
||||
/tinygrad_repo @devtekve @Discountchubbs
|
||||
/tinygrad/ @devtekve @Discountchubbs
|
||||
/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
|
||||
/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
|
||||
/selfdrive/modeld/ @devtekve @Discountchubbs
|
||||
/sunnypilot/model* @devtekve @Discountchubbs
|
||||
/sunnypilot/sunnylink/ @devtekve
|
||||
/system/athena/ @devtekve
|
||||
@@ -0,0 +1,8 @@
|
||||
---
|
||||
name: Enhancement
|
||||
about: For openpilot enhancement suggestions
|
||||
title: ''
|
||||
labels: 'enhancement'
|
||||
assignees: ''
|
||||
---
|
||||
|
||||
+7
-11
@@ -1,31 +1,27 @@
|
||||
ci:
|
||||
CI / testing:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
|
||||
|
||||
chore:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: "{.github/**}"
|
||||
|
||||
car:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: '{openpilot/selfdrive/car/**,opendbc_repo}'
|
||||
- any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
|
||||
|
||||
simulation:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'openpilot/tools/sim/**'
|
||||
- any-glob-to-all-files: 'tools/sim/**'
|
||||
|
||||
ui:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: '{openpilot/selfdrive/assets/**,openpilot/selfdrive/ui/**,openpilot/system/ui/**}'
|
||||
- any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
|
||||
|
||||
tools:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'openpilot/tools/**'
|
||||
- any-glob-to-all-files: 'tools/**'
|
||||
|
||||
multilanguage:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'openpilot/selfdrive/ui/translations/**'
|
||||
- any-glob-to-all-files: 'selfdrive/ui/translations/**'
|
||||
|
||||
autonomy:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: "{openpilot/selfdrive/modeld/models/**,openpilot/selfdrive/test/process_replay/model_replay_ref_commit,openpilot/sunnypilot/modeld*/models/**}"
|
||||
- any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"
|
||||
|
||||
@@ -0,0 +1,68 @@
|
||||
<!-- Please copy and paste the relevant template -->
|
||||
|
||||
<!--- ***** Template: Fingerprint *****
|
||||
|
||||
**Car**
|
||||
Which car (make, model, year) this fingerprint is for
|
||||
|
||||
**Route**
|
||||
A route with the fingerprint
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Car Bugfix *****
|
||||
|
||||
**Description**
|
||||
|
||||
A description of the bug and the fix. Also link the issue if it exists.
|
||||
|
||||
**Verification**
|
||||
|
||||
Explain how you tested this bug fix.
|
||||
|
||||
**Route**
|
||||
|
||||
Route: [a route with the bug fix]
|
||||
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Bugfix *****
|
||||
|
||||
**Description**
|
||||
|
||||
A description of the bug and the fix. Also link the issue if it exists.
|
||||
|
||||
**Verification**
|
||||
|
||||
Explain how you tested this bug fix.
|
||||
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Car Port *****
|
||||
|
||||
**Checklist**
|
||||
|
||||
- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
|
||||
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
|
||||
- [ ] route with openpilot:
|
||||
- [ ] route with stock system:
|
||||
- [ ] car harness used (if comma doesn't sell it, put N/A):
|
||||
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Refactor *****
|
||||
|
||||
**Description**
|
||||
|
||||
A description of the refactor, including the goals it accomplishes.
|
||||
|
||||
**Verification**
|
||||
|
||||
Explain how you tested the refactor for regressions.
|
||||
|
||||
|
||||
-->
|
||||
|
||||
@@ -1,43 +0,0 @@
|
||||
exclude-labels:
|
||||
- 'no-changelog'
|
||||
categories:
|
||||
- title: '🚀 Features'
|
||||
labels:
|
||||
- 'feature'
|
||||
- 'enhancement'
|
||||
- title: '🐛 Bug Fixes'
|
||||
collapse-after: 5
|
||||
labels:
|
||||
- 'fix'
|
||||
- 'bugfix'
|
||||
- 'bug'
|
||||
- title: '🧰 Maintenance'
|
||||
collapse-after: 5
|
||||
label: 'chore'
|
||||
change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
|
||||
change-title-escapes: '\<*_&'
|
||||
replacers:
|
||||
- search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
|
||||
replace: 'sunnypilot'
|
||||
- search: '/\b[Ss][Pp]\b/g'
|
||||
replace: 'SP'
|
||||
version-resolver:
|
||||
major:
|
||||
labels:
|
||||
- 'major'
|
||||
minor:
|
||||
labels:
|
||||
- 'minor'
|
||||
patch:
|
||||
labels:
|
||||
- 'patch'
|
||||
default: patch
|
||||
name-template: 'v$RESOLVED_VERSION 🚀'
|
||||
tag-template: 'v$RESOLVED_VERSION'
|
||||
version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
|
||||
tag-prefix: "v0." # The day OP becomes v1, we need to bump this
|
||||
prerelease-identifier: "staging"
|
||||
template: |
|
||||
## Changes
|
||||
|
||||
$CHANGES
|
||||
+41
-42
@@ -7,26 +7,21 @@ venv/
|
||||
.tags
|
||||
.ipynb_checkpoints
|
||||
.idea
|
||||
*.iml
|
||||
.overlay_init
|
||||
.overlay_consistent
|
||||
.sconsign.dblite
|
||||
model2.png
|
||||
a.out
|
||||
.hypothesis
|
||||
.cache/
|
||||
bin/
|
||||
|
||||
# created at launch for comma hardware PYTHONPATH (PC uses editable installs via pyproject.toml)
|
||||
/msgq
|
||||
/opendbc
|
||||
/rednose
|
||||
/teleoprtc
|
||||
/tinygrad
|
||||
/docs_site/
|
||||
|
||||
*.mp4
|
||||
*.dylib
|
||||
*.DSYM
|
||||
*.d
|
||||
*.pem
|
||||
*.pyc
|
||||
*.pyo
|
||||
.*.swp
|
||||
@@ -39,68 +34,72 @@ bin/
|
||||
*.os-*
|
||||
*.so
|
||||
*.a
|
||||
st[0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z]
|
||||
*.unchunked
|
||||
*.clb
|
||||
*.class
|
||||
*.pyxbldc
|
||||
*.vcd
|
||||
*.mo
|
||||
*.qm
|
||||
*_pyx.cpp
|
||||
*.stats
|
||||
*.pkl
|
||||
*.pkl*
|
||||
config.json
|
||||
clcache
|
||||
compile_commands.json
|
||||
compare_runtime*.html
|
||||
openpilot/selfdrive/modeld/models/tg_input_devices.json
|
||||
|
||||
# build artifacts
|
||||
docs/_site/
|
||||
openpilot/selfdrive/pandad/pandad
|
||||
openpilot/cereal/services.h
|
||||
openpilot/cereal/gen
|
||||
openpilot/cereal/messaging/bridge
|
||||
openpilot/selfdrive/ui/translations/tmp
|
||||
openpilot/selfdrive/car/tests/cars_dump
|
||||
openpilot/system/camerad/camerad
|
||||
openpilot/system/camerad/test/ae_gray_test
|
||||
persist
|
||||
selfdrive/pandad/pandad
|
||||
cereal/services.h
|
||||
cereal/gen
|
||||
cereal/messaging/bridge
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
system/proclogd/proclogd
|
||||
selfdrive/ui/translations/tmp
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/car/tests/cars_dump
|
||||
system/camerad/camerad
|
||||
system/camerad/test/ae_gray_test
|
||||
|
||||
notebooks
|
||||
hyperthneed
|
||||
provisioning
|
||||
|
||||
.coverage*
|
||||
coverage.xml
|
||||
htmlcov
|
||||
pandaextra
|
||||
|
||||
.mypy_cache/
|
||||
flycheck_*
|
||||
|
||||
cppcheck_report.txt
|
||||
comma*.sh
|
||||
|
||||
selfdrive/modeld/models/*.pkl
|
||||
|
||||
# openpilot log files
|
||||
*.bz2
|
||||
*.zst
|
||||
*.rlog
|
||||
|
||||
build/
|
||||
|
||||
!**/.gitkeep
|
||||
|
||||
poetry.toml
|
||||
Pipfile
|
||||
|
||||
### VisualStudioCode ###
|
||||
*.vsix
|
||||
.history
|
||||
.ionide
|
||||
.vscode/*
|
||||
.history/
|
||||
!.vscode/settings.json
|
||||
!.vscode/tasks.json
|
||||
!.vscode/launch.json
|
||||
!.vscode/extensions.json
|
||||
!.vscode/*.code-snippets
|
||||
|
||||
# agents
|
||||
.claude/
|
||||
.context/
|
||||
PLAN.md
|
||||
TASK.md
|
||||
CLAUDE.md
|
||||
SKILL.md
|
||||
# Local History for Visual Studio Code
|
||||
.history/
|
||||
|
||||
### JetBrains ###
|
||||
!.idea/customTargets.xml
|
||||
!.idea/tools/*
|
||||
!.run/*
|
||||
# Built Visual Studio Code Extensions
|
||||
*.vsix
|
||||
|
||||
### VisualStudioCode Patch ###
|
||||
# Ignore all local history of files
|
||||
.history
|
||||
.ionide
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
3.12.13
|
||||
Vendored
+5
-47
@@ -6,9 +6,9 @@
|
||||
"type": "pickString",
|
||||
"description": "Select the process to debug",
|
||||
"options": [
|
||||
"openpilot/selfdrive/controls/controlsd.py",
|
||||
"openpilot/system/timed/timed.py",
|
||||
"openpilot/tools/sim/run_bridge.py"
|
||||
"selfdrive/controls/controlsd.py",
|
||||
"system/timed/timed.py",
|
||||
"tools/sim/run_bridge.py"
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -16,18 +16,13 @@
|
||||
"type": "pickString",
|
||||
"description": "Select the process to debug",
|
||||
"options": [
|
||||
"openpilot/selfdrive/ui/ui"
|
||||
"selfdrive/ui/ui"
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "args",
|
||||
"description": "Arguments to pass to the process",
|
||||
"type": "promptString"
|
||||
},
|
||||
{
|
||||
"id": "replayArg",
|
||||
"type": "promptString",
|
||||
"description": "Enter route or segment to replay."
|
||||
}
|
||||
],
|
||||
"configurations": [
|
||||
@@ -45,44 +40,7 @@
|
||||
"type": "cppdbg",
|
||||
"request": "launch",
|
||||
"program": "${workspaceFolder}/${input:cpp_process}",
|
||||
"cwd": "${workspaceFolder}"
|
||||
},
|
||||
{
|
||||
"name": "Attach LLDB to Replay drive",
|
||||
"type": "lldb",
|
||||
"request": "attach",
|
||||
"pid": "${command:pickMyProcess}",
|
||||
"sourceMap": {
|
||||
".": "${workspaceFolder}/opendbc/safety"
|
||||
},
|
||||
"initCommands": [
|
||||
"script import time; time.sleep(3)"
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "Replay drive",
|
||||
"type": "debugpy",
|
||||
"request": "launch",
|
||||
"program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
|
||||
"args": [
|
||||
"${input:replayArg}"
|
||||
],
|
||||
"console": "integratedTerminal",
|
||||
"justMyCode": false,
|
||||
"env": {
|
||||
"PYTHONPATH": "${workspaceFolder}"
|
||||
},
|
||||
"subProcess": true,
|
||||
"stopOnEntry": false
|
||||
}
|
||||
],
|
||||
"compounds": [
|
||||
{
|
||||
"name": "Replay drive + Safety LLDB",
|
||||
"configurations": [
|
||||
"Replay drive",
|
||||
"Attach LLDB to Replay drive"
|
||||
]
|
||||
"cwd": "${workspaceFolder}",
|
||||
}
|
||||
]
|
||||
}
|
||||
Vendored
+6
@@ -17,5 +17,11 @@
|
||||
"**/.git",
|
||||
"**/.venv",
|
||||
"**/__pycache__",
|
||||
// exclude directories that should be using the symlinked version
|
||||
"common/**",
|
||||
"selfdrive/**",
|
||||
"system/**",
|
||||
"third_party/**",
|
||||
"tools/**",
|
||||
]
|
||||
}
|
||||
|
||||
-1320
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,12 @@
|
||||
FROM ghcr.io/commaai/openpilot-base:latest
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV OPENPILOT_PATH=/home/batman/openpilot
|
||||
|
||||
RUN mkdir -p ${OPENPILOT_PATH}
|
||||
WORKDIR ${OPENPILOT_PATH}
|
||||
|
||||
COPY . ${OPENPILOT_PATH}/
|
||||
|
||||
RUN scons --cache-readonly -j$(nproc)
|
||||
@@ -0,0 +1,81 @@
|
||||
FROM ubuntu:24.04
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && \
|
||||
apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
|
||||
rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
|
||||
ENV LANG=en_US.UTF-8
|
||||
ENV LANGUAGE=en_US:en
|
||||
ENV LC_ALL=en_US.UTF-8
|
||||
|
||||
COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
|
||||
RUN /tmp/tools/install_ubuntu_dependencies.sh && \
|
||||
rm -rf /var/lib/apt/lists/* /tmp/* && \
|
||||
cd /usr/lib/gcc/arm-none-eabi/* && \
|
||||
rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
|
||||
|
||||
# Add OpenCL
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
apt-utils \
|
||||
alien \
|
||||
unzip \
|
||||
tar \
|
||||
curl \
|
||||
xz-utils \
|
||||
dbus \
|
||||
gcc-arm-none-eabi \
|
||||
tmux \
|
||||
vim \
|
||||
libx11-6 \
|
||||
wget \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN mkdir -p /tmp/opencl-driver-intel && \
|
||||
cd /tmp/opencl-driver-intel && \
|
||||
wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
mkdir -p /etc/OpenCL/vendors && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
|
||||
cd /opt/intel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
mkdir -p /etc/ld.so.conf.d && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
cd / && \
|
||||
rm -rf /tmp/opencl-driver-intel
|
||||
|
||||
ENV NVIDIA_VISIBLE_DEVICES=all
|
||||
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
|
||||
ENV QTWEBENGINE_DISABLE_SANDBOX=1
|
||||
|
||||
RUN dbus-uuidgen > /etc/machine-id
|
||||
|
||||
ARG USER=batman
|
||||
ARG USER_UID=1001
|
||||
RUN useradd -m -s /bin/bash -u $USER_UID $USER
|
||||
RUN usermod -aG sudo $USER
|
||||
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
|
||||
USER $USER
|
||||
|
||||
COPY --chown=$USER pyproject.toml uv.lock /home/$USER
|
||||
COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
|
||||
|
||||
ENV VIRTUAL_ENV=/home/$USER/.venv
|
||||
ENV PATH="$VIRTUAL_ENV/bin:$PATH"
|
||||
RUN cd /home/$USER && \
|
||||
tools/install_python_dependencies.sh && \
|
||||
rm -rf tools/ pyproject.toml uv.lock .cache
|
||||
|
||||
USER root
|
||||
RUN sudo git config --global --add safe.directory /tmp/openpilot
|
||||
Vendored
-261
@@ -1,261 +0,0 @@
|
||||
def retryWithDelay(int maxRetries, int delay, Closure body) {
|
||||
for (int i = 0; i < maxRetries; i++) {
|
||||
try {
|
||||
return body()
|
||||
} catch (Exception e) {
|
||||
sleep(delay)
|
||||
}
|
||||
}
|
||||
throw Exception("Failed after ${maxRetries} retries")
|
||||
}
|
||||
|
||||
def device(String ip, String step_label, String cmd) {
|
||||
withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
|
||||
def ssh_cmd = """
|
||||
ssh -o ControlMaster=auto -o ControlPath=/tmp/ssh_control_%C -o ControlPersist=yes -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
|
||||
|
||||
set -e
|
||||
|
||||
export TERM=xterm-256color
|
||||
|
||||
shopt -s huponexit # kill all child processes when the shell exits
|
||||
|
||||
export CI=1
|
||||
export PYTHONWARNINGS=error
|
||||
#export LOGPRINT=debug # this has gotten too spammy...
|
||||
export TEST_DIR=${env.TEST_DIR}
|
||||
export SOURCE_DIR=${env.SOURCE_DIR}
|
||||
export GIT_BRANCH=${env.GIT_BRANCH}
|
||||
export GIT_COMMIT=${env.GIT_COMMIT}
|
||||
export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
|
||||
export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
|
||||
export AZURE_TOKEN='${env.AZURE_TOKEN}'
|
||||
# only use 1 thread since most require real hardware that can't be shared
|
||||
export PYTEST_ADDOPTS="-n0 -s"
|
||||
|
||||
|
||||
export GIT_SSH_COMMAND="ssh -i /data/gitkey"
|
||||
|
||||
source ~/.bash_profile
|
||||
if [ -f /AGNOS ]; then
|
||||
source /etc/profile
|
||||
|
||||
rm -rf /tmp/tmp*
|
||||
rm -rf ~/.commacache
|
||||
rm -rf /dev/shm/*
|
||||
rm -rf /dev/tmp/tmp*
|
||||
|
||||
if ! systemctl is-active --quiet systemd-resolved; then
|
||||
echo "restarting resolved"
|
||||
sudo systemctl start systemd-resolved
|
||||
sleep 3
|
||||
fi
|
||||
|
||||
# restart aux USB
|
||||
if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
|
||||
echo "restarting aux usb"
|
||||
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
|
||||
sleep 0.5
|
||||
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
|
||||
fi
|
||||
fi
|
||||
if [ -f /data/openpilot/launch_env.sh ]; then
|
||||
source /data/openpilot/launch_env.sh
|
||||
fi
|
||||
|
||||
export LD_LIBRARY_PATH="\$(python -c 'import ffmpeg; print(ffmpeg.LIB_DIR)'):/usr/local/lib:\${LD_LIBRARY_PATH:-}"
|
||||
|
||||
ln -snf ${env.TEST_DIR} /data/pythonpath
|
||||
|
||||
cd ${env.TEST_DIR} || true
|
||||
time ${cmd}
|
||||
END"""
|
||||
|
||||
sh script: ssh_cmd, label: step_label
|
||||
}
|
||||
}
|
||||
|
||||
def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
|
||||
stage(stageName) {
|
||||
if (currentBuild.result != null) {
|
||||
return
|
||||
}
|
||||
|
||||
if (isReplay()) {
|
||||
error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
|
||||
}
|
||||
|
||||
def extra = extra_env.collect { "export ${it}" }.join('\n');
|
||||
def branch = env.BRANCH_NAME ?: 'master';
|
||||
def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
|
||||
|
||||
lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
|
||||
docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
|
||||
timeout(time: 35, unit: 'MINUTES') {
|
||||
retry (3) {
|
||||
def date = sh(script: 'date', returnStdout: true).trim();
|
||||
device(device_ip, "set time", "date -s '" + date + "'")
|
||||
device(device_ip, "git checkout", extra + "\n" + readFile("openpilot/selfdrive/test/setup_device_ci.sh"))
|
||||
}
|
||||
steps.each { item ->
|
||||
def name = item[0]
|
||||
def cmd = item[1]
|
||||
|
||||
def args = item[2]
|
||||
def diffPaths = args.diffPaths ?: []
|
||||
def cmdTimeout = args.timeout ?: 9999
|
||||
|
||||
if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
|
||||
println "Skipping ${name}: no changes in ${diffPaths}."
|
||||
return
|
||||
} else {
|
||||
timeout(time: cmdTimeout, unit: 'SECONDS') {
|
||||
device(device_ip, name, cmd)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def hasPathChanged(String gitDiff, List<String> paths) {
|
||||
for (path in paths) {
|
||||
if (gitDiff.contains(path)) {
|
||||
return true
|
||||
}
|
||||
}
|
||||
return false
|
||||
}
|
||||
|
||||
def isReplay() {
|
||||
def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
|
||||
return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
|
||||
}
|
||||
|
||||
def setupCredentials() {
|
||||
withCredentials([
|
||||
string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
|
||||
]) {
|
||||
env.AZURE_TOKEN = "${AZURE_TOKEN}"
|
||||
}
|
||||
|
||||
withCredentials([
|
||||
string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
|
||||
]) {
|
||||
env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
|
||||
}
|
||||
|
||||
withCredentials([
|
||||
string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
|
||||
]) {
|
||||
env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
|
||||
}
|
||||
}
|
||||
|
||||
def step(String name, String cmd, Map args = [:]) {
|
||||
return [name, cmd, args]
|
||||
}
|
||||
|
||||
node {
|
||||
env.CI = "1"
|
||||
env.PYTHONWARNINGS = "error"
|
||||
env.TEST_DIR = "/data/openpilot"
|
||||
env.SOURCE_DIR = "/data/openpilot_source/"
|
||||
setupCredentials()
|
||||
|
||||
env.GIT_BRANCH = checkout(scm).GIT_BRANCH
|
||||
env.GIT_COMMIT = checkout(scm).GIT_COMMIT
|
||||
|
||||
def excludeBranches = ['__nightly', 'devel', 'devel-staging',
|
||||
'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
|
||||
def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
|
||||
|
||||
if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
|
||||
properties([
|
||||
disableConcurrentBuilds(abortPrevious: true)
|
||||
])
|
||||
}
|
||||
|
||||
try {
|
||||
if (env.BRANCH_NAME == 'devel-staging') {
|
||||
deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
|
||||
step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/tools/release/build_release.sh"),
|
||||
])
|
||||
}
|
||||
|
||||
if (env.BRANCH_NAME == '__nightly') {
|
||||
parallel (
|
||||
'nightly': {
|
||||
deviceStage("build nightly", "tizi-needs-can", [], [
|
||||
step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/tools/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
'nightly-dev': {
|
||||
deviceStage("build nightly-dev", "tizi-needs-can", [], [
|
||||
step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/tools/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
)
|
||||
}
|
||||
|
||||
if (!env.BRANCH_NAME.matches(excludeRegex)) {
|
||||
parallel (
|
||||
'onroad tests': {
|
||||
deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd openpilot/system/manager && ./build.py"),
|
||||
step("check dirty", "tools/release/check-dirty.sh"),
|
||||
step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py", [timeout: 60]),
|
||||
])
|
||||
},
|
||||
'HW + Unit Tests': {
|
||||
deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
|
||||
step("build", "cd openpilot/system/manager && ./build.py"),
|
||||
step("test power draw", "./openpilot/selfdrive/test/test_power_draw.py"),
|
||||
step("test encoder", "./openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
|
||||
step("test manager", "./openpilot/system/manager/test/test_manager.py"),
|
||||
])
|
||||
},
|
||||
'camerad OX03C10': {
|
||||
deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
|
||||
step("build", "cd openpilot/system/manager && ./build.py"),
|
||||
step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
|
||||
step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
|
||||
])
|
||||
},
|
||||
'camerad OS04C10': {
|
||||
deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
|
||||
step("build", "cd openpilot/system/manager && ./build.py"),
|
||||
step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
|
||||
step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
|
||||
])
|
||||
},
|
||||
'sensord': {
|
||||
deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
|
||||
step("build", "cd openpilot/system/manager && ./build.py"),
|
||||
step("test sensord", "./openpilot/system/sensord/tests/test_sensord.py"),
|
||||
])
|
||||
},
|
||||
'replay': {
|
||||
deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
|
||||
step("build", "cd openpilot/system/manager && ./build.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
|
||||
step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
|
||||
])
|
||||
},
|
||||
'tizi': {
|
||||
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd openpilot/system/manager && ./build.py"),
|
||||
step("test pandad loopback", "./openpilot/selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
step("test pandad spi", "./openpilot/selfdrive/pandad/tests/test_pandad_spi.py"),
|
||||
step("test amp", "./openpilot/common/hardware/comma/tests/test_amplifier.py"),
|
||||
])
|
||||
},
|
||||
|
||||
)
|
||||
}
|
||||
} catch (Exception e) {
|
||||
currentBuild.result = 'FAILED'
|
||||
throw e
|
||||
}
|
||||
}
|
||||
-21
@@ -1,21 +0,0 @@
|
||||
# Custom MIT License
|
||||
|
||||
Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
|
||||
|
||||
1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
|
||||
|
||||
2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
|
||||
"This software is licensed under a custom license requiring permission for use."
|
||||
|
||||
3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
|
||||
"This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
|
||||
|
||||
4. **No Warranty**: 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.
|
||||
|
||||
Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
|
||||
|
||||
---
|
||||
|
||||
Haibin Wen, SUNNYPILOT LLC
|
||||
@@ -1,74 +1,107 @@
|
||||
|
||||
<div align="center" style="text-align: center;">
|
||||
|
||||
## 🌞 What is sunnypilot?
|
||||
[sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
|
||||
<h1>openpilot</h1>
|
||||
|
||||
## 💭 Join our Community Forum
|
||||
Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
|
||||
* https://community.sunnypilot.ai/
|
||||
<p>
|
||||
<b>openpilot is an operating system for robotics.</b>
|
||||
<br>
|
||||
Currently, it upgrades the driver assistance system in 300+ supported cars.
|
||||
</p>
|
||||
|
||||
## Documentation
|
||||
https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
|
||||
<h3>
|
||||
<a href="https://docs.comma.ai">Docs</a>
|
||||
<span> · </span>
|
||||
<a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
|
||||
<span> · </span>
|
||||
<a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
|
||||
<span> · </span>
|
||||
<a href="https://discord.comma.ai">Community</a>
|
||||
<span> · </span>
|
||||
<a href="https://comma.ai/shop">Try it on a comma 3X</a>
|
||||
</h3>
|
||||
|
||||
## 🚘 Running on a dedicated device in a car
|
||||
First, check out this list of items you'll need to [get started](https://community.sunnypilot.ai/t/getting-started-using-sunnypilot-in-your-supported-car/251).
|
||||
Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
|
||||
|
||||
## Installation
|
||||
Next, refer to the sunnypilot community forum for [installation instructions](https://community.sunnypilot.ai/t/read-before-installing-sunnypilot/254), as well as a complete list of [Recommended Branch Installations](https://community.sunnypilot.ai/t/recommended-branch-installations/235).
|
||||
[](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml)
|
||||
[](LICENSE)
|
||||
[](https://x.com/comma_ai)
|
||||
[](https://discord.comma.ai)
|
||||
|
||||
## 🎆 Pull Requests
|
||||
We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
|
||||
</div>
|
||||
|
||||
Pull requests should be against the most current `master` branch.
|
||||
<table>
|
||||
<tr>
|
||||
<td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
|
||||
<td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
|
||||
<td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
## 📊 User Data
|
||||
|
||||
By default, sunnypilot uploads the driving data to comma servers. You can also access your data through [comma connect](https://connect.comma.ai/).
|
||||
Using openpilot in a car
|
||||
------
|
||||
|
||||
sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
|
||||
To use openpilot in a car, you need four things:
|
||||
1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
|
||||
2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
|
||||
3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
|
||||
4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
|
||||
|
||||
sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
|
||||
|
||||
### Branches
|
||||
| branch | URL | description |
|
||||
|------------------|----------------------------------------|-------------------------------------------------------------------------------------|
|
||||
| `release3` | openpilot.comma.ai | This is openpilot's release branch. |
|
||||
| `release3-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
|
||||
| `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
|
||||
| `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
|
||||
|
||||
To start developing openpilot
|
||||
------
|
||||
|
||||
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).
|
||||
|
||||
* Join the [community Discord](https://discord.comma.ai)
|
||||
* Check out [the contributing docs](docs/CONTRIBUTING.md)
|
||||
* Check out the [openpilot tools](tools/)
|
||||
* Code documentation lives at https://docs.comma.ai
|
||||
* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
|
||||
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
|
||||
|
||||
Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) 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.
|
||||
|
||||
<details>
|
||||
<summary>MIT Licensed</summary>
|
||||
|
||||
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.
|
||||
|
||||
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
</details>
|
||||
|
||||
<details>
|
||||
<summary>User Data and comma Account</summary>
|
||||
|
||||
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 and microphone are only logged if you explicitly opt-in in settings.
|
||||
|
||||
By using this software, 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.
|
||||
|
||||
## Licensing
|
||||
|
||||
sunnypilot is released under the [MIT License](LICENSE). This repository includes original work as well as significant portions of code derived from [openpilot by comma.ai](https://github.com/commaai/openpilot), which is also released under the MIT license with additional disclaimers.
|
||||
|
||||
The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
|
||||
|
||||
> 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.
|
||||
>
|
||||
> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
> NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
|
||||
For full license terms, please see the [`LICENSE`](LICENSE) file.
|
||||
|
||||
## 💰 Support sunnypilot
|
||||
If you find any of the features useful, consider becoming a [sponsor on GitHub](https://github.com/sponsors/sunnyhaibin) to support future feature development and improvements.
|
||||
|
||||
|
||||
By becoming a sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development.
|
||||
|
||||
|
||||
<h3>GitHub Sponsor</h3>
|
||||
|
||||
<a href="https://github.com/sponsors/sunnyhaibin">
|
||||
<img src="https://user-images.githubusercontent.com/47793918/244135584-9800acbd-69fd-4b2b-bec9-e5fa2d85c817.png" alt="Become a Sponsor" width="300" style="max-width: 100%; height: auto;">
|
||||
</a>
|
||||
<br>
|
||||
|
||||
<h3>PayPal</h3>
|
||||
|
||||
<a href="https://paypal.me/sunnyhaibin0850" target="_blank">
|
||||
<img src="https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif" alt="PayPal this" title="PayPal - The safer, easier way to pay online!" border="0" />
|
||||
</a>
|
||||
<br></br>
|
||||
|
||||
Your continuous love and support are greatly appreciated! Enjoy 🥰
|
||||
|
||||
<span>-</span> Jason, Founder of sunnypilot
|
||||
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.
|
||||
</details>
|
||||
|
||||
+3
-55
@@ -1,59 +1,7 @@
|
||||
Version 0.11.2 (2026-08-12)
|
||||
=======================
|
||||
* New driving model
|
||||
* Big model with 880M parameters
|
||||
* Support for big models running on an external GPU
|
||||
* Live stream cameras from comma connect
|
||||
* Generate dashcam clips from comma connect
|
||||
* Remote comma body control from comma connect
|
||||
* New alert sounds
|
||||
* CUPRA Born 2021-2023 support thanks to DaHansi!
|
||||
* Volkswagen ID.4 2021-2025 support thanks to DaHansi!
|
||||
|
||||
Version 0.11.1 (2026-05-18)
|
||||
========================
|
||||
* New driver monitoring model
|
||||
* Improved image processing pipeline for driver camera
|
||||
* Improved thermal policy for comma four
|
||||
* Acura MDX 2022-24 support thanks to mvl-boston!
|
||||
* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
|
||||
|
||||
Version 0.11.0 (2026-03-17)
|
||||
========================
|
||||
* New driving model #36798
|
||||
* Fully trained using a learned simulator
|
||||
* Improved longitudinal performance in Experimental mode
|
||||
* Reduce comma four standby power usage by 77% to 52 mW
|
||||
* Kia K7 2017 support thanks to royjr!
|
||||
* Lexus LS 2018 support thanks to Hacheoy!
|
||||
|
||||
Version 0.10.3 (2025-12-17)
|
||||
========================
|
||||
* New driving model #36249
|
||||
* New temporal policy architecture
|
||||
* New on-policy training physics noise model
|
||||
* New driver monitoring model #36409
|
||||
* Trained on a new dataset, including comma four data
|
||||
* Improved inter-process communication memory efficiency
|
||||
|
||||
Version 0.10.2 (2025-11-19)
|
||||
========================
|
||||
* comma four support
|
||||
|
||||
Version 0.10.1 (2025-09-08)
|
||||
========================
|
||||
* New driving model #36276
|
||||
* World Model: removed global localization inputs
|
||||
* World Model: 2x the number of parameters
|
||||
* World Model: trained on 4x the number of segments
|
||||
* VAE Compression Model: new architecture and training objective
|
||||
* Driving Vision Model: trained on 4x the number of segments
|
||||
* New Driver Monitoring model #36198
|
||||
* Acura TLX 2021 support thanks to MVL!
|
||||
* Honda City 2023 support thanks to vanillagorillaa and drFritz!
|
||||
* Honda N-Box 2018 support thanks to miettal!
|
||||
* Honda Odyssey 2021-25 support thanks to csouers and MVL!
|
||||
* Honda Passport 2026 support thanks to vanillagorillaa and MVL!
|
||||
* Record driving feedback using LKAS button
|
||||
* Honda City 2023 support thanks to drFritz!
|
||||
|
||||
Version 0.10.0 (2025-08-05)
|
||||
========================
|
||||
@@ -1112,7 +1060,7 @@ Version 0.2.1 (2016-12-14)
|
||||
|
||||
Version 0.2 (2016-12-12)
|
||||
=========================
|
||||
* Car/Radar abstraction layers have shipped, see openpilot/cereal/car.capnp
|
||||
* 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
|
||||
|
||||
+264
-254
@@ -3,267 +3,324 @@ import subprocess
|
||||
import sys
|
||||
import sysconfig
|
||||
import platform
|
||||
import shlex
|
||||
import importlib
|
||||
import numpy as np
|
||||
|
||||
import SCons.Errors
|
||||
from SCons.Defaults import _stripixes
|
||||
|
||||
COMMA_HARDWARE = os.path.isfile('/AGNOS')
|
||||
|
||||
SCons.Warnings.warningAsException(True)
|
||||
|
||||
# pending upstream fix - https://github.com/SCons/scons/issues/4461
|
||||
#SetOption('warn', 'all')
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
AGNOS = TICI
|
||||
|
||||
Decider('MD5-timestamp')
|
||||
|
||||
SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2))))
|
||||
SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
|
||||
|
||||
AddOption('--kaitai',
|
||||
action='store_true',
|
||||
help='Regenerate kaitai struct parsers')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
AddOption('--ubsan',
|
||||
action='store_true',
|
||||
help='turn on UBSan')
|
||||
|
||||
AddOption('--coverage',
|
||||
action='store_true',
|
||||
help='build with test coverage options')
|
||||
|
||||
AddOption('--clazy',
|
||||
action='store_true',
|
||||
help='build with clazy')
|
||||
|
||||
AddOption('--ccflags',
|
||||
action='store',
|
||||
type='string',
|
||||
default='',
|
||||
help='pass arbitrary flags over the command line')
|
||||
|
||||
AddOption('--external-sconscript',
|
||||
action='store',
|
||||
metavar='FILE',
|
||||
dest='external_sconscript',
|
||||
help='add an external SConscript to the build')
|
||||
|
||||
AddOption('--mutation',
|
||||
action='store_true',
|
||||
help='generate mutation-ready code')
|
||||
|
||||
AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
|
||||
AddOption('--verbose', action='store_true', default=False, help='show full build commands')
|
||||
release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
|
||||
AddOption('--minimal',
|
||||
action='store_false',
|
||||
dest='extras',
|
||||
default=(not COMMA_HARDWARE and not release),
|
||||
default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
|
||||
help='the minimum build to run openpilot. no tests, tools, etc.')
|
||||
|
||||
submodule_python_paths = [
|
||||
Dir("#").abspath,
|
||||
Dir("#msgq_repo").abspath,
|
||||
Dir("#opendbc_repo").abspath,
|
||||
Dir("#rednose_repo").abspath,
|
||||
Dir("#teleoprtc_repo").abspath,
|
||||
Dir("#tinygrad_repo").abspath,
|
||||
]
|
||||
for p in reversed(submodule_python_paths):
|
||||
if p not in sys.path:
|
||||
sys.path.insert(0, p)
|
||||
|
||||
if external_pythonpath := os.environ.get("PYTHONPATH"):
|
||||
submodule_python_paths += [p for p in external_pythonpath.split(os.pathsep) if p and p not in submodule_python_paths]
|
||||
|
||||
# Detect platform
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
## Architecture name breakdown (arch)
|
||||
## - larch64: linux tici aarch64
|
||||
## - aarch64: linux pc aarch64
|
||||
## - x86_64: linux pc x64
|
||||
## - Darwin: mac x64 or arm64
|
||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
elif arch == "aarch64" and COMMA_HARDWARE:
|
||||
arch = "comma_arm64"
|
||||
assert arch in [
|
||||
"comma_arm64", # linux comma hardware (AGNOS) arm64
|
||||
"aarch64", # linux pc arm64
|
||||
"x86_64", # linux pc x64
|
||||
"Darwin", # macOS arm64 (x86 not supported)
|
||||
]
|
||||
brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
|
||||
elif arch == "aarch64" and AGNOS:
|
||||
arch = "larch64"
|
||||
assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
|
||||
|
||||
pkg_names = ['acados', 'capnproto', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
|
||||
pkgs = [importlib.import_module(name) for name in pkg_names]
|
||||
acados = pkgs[pkg_names.index('acados')]
|
||||
ffmpeg = pkgs[pkg_names.index('ffmpeg')]
|
||||
# Shared package ships .so/.dylib; older device venvs still have static .a only.
|
||||
# Keep static link deps (x264/z/va/drm) when the installed package is static so
|
||||
# COMMA_HARDWARE CI works without upgrading the device venv yet.
|
||||
# TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94
|
||||
_ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else []
|
||||
ffmpeg_shared = any(
|
||||
n.startswith('libavcodec.so') or (n.startswith('libavcodec') and n.endswith('.dylib'))
|
||||
for n in _ffmpeg_lib_names
|
||||
)
|
||||
ffmpeg_libs = ['avformat', 'avcodec', 'swresample', 'avutil']
|
||||
if not ffmpeg_shared:
|
||||
ffmpeg_libs += ['x264', 'z']
|
||||
if arch != "Darwin":
|
||||
ffmpeg_libs += ['va', 'va-drm', 'drm']
|
||||
acados_include_dirs = [
|
||||
acados.INCLUDE_DIR,
|
||||
os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
|
||||
os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
|
||||
]
|
||||
lenv = {
|
||||
"PATH": os.environ['PATH'],
|
||||
"PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
|
||||
|
||||
|
||||
# ***** enforce a whitelist of system libraries *****
|
||||
# this prevents silently relying on a 3rd party package,
|
||||
# e.g. apt-installed libusb. all libraries should either
|
||||
# be distributed with all Linux distros and macOS, or
|
||||
# vendored in commaai/dependencies.
|
||||
allowed_system_libs = {
|
||||
"EGL", "GLESv2", "GL",
|
||||
"Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
|
||||
"dl", "drm", "gbm", "m", "pthread",
|
||||
"ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
|
||||
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
|
||||
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
|
||||
}
|
||||
|
||||
def _resolve_lib(env, name):
|
||||
for d in env.Flatten(env.get('LIBPATH', [])):
|
||||
p = Dir(str(d)).abspath
|
||||
for ext in ('.a', '.so', '.dylib'):
|
||||
f = File(os.path.join(p, f'lib{name}{ext}'))
|
||||
if f.exists() or f.has_builder():
|
||||
return name
|
||||
if name in allowed_system_libs:
|
||||
return name
|
||||
raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
|
||||
rpath = []
|
||||
|
||||
def _libflags(target, source, env, for_signature):
|
||||
libs = []
|
||||
lp = env.subst('$LIBLITERALPREFIX')
|
||||
for lib in env.Flatten(env.get('LIBS', [])):
|
||||
if isinstance(lib, str):
|
||||
if os.sep in lib or lib.startswith('#'):
|
||||
libs.append(File(lib))
|
||||
elif lib.startswith('-') or (lp and lib.startswith(lp)):
|
||||
libs.append(lib)
|
||||
else:
|
||||
libs.append(_resolve_lib(env, lib))
|
||||
else:
|
||||
libs.append(lib)
|
||||
return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
|
||||
env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])
|
||||
if arch == "larch64":
|
||||
cpppath = [
|
||||
"#third_party/opencl/include",
|
||||
]
|
||||
|
||||
libpath = [
|
||||
"/usr/local/lib",
|
||||
"/system/vendor/lib64",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
]
|
||||
|
||||
libpath += [
|
||||
"#third_party/libyuv/larch64/lib",
|
||||
"/usr/lib/aarch64-linux-gnu"
|
||||
]
|
||||
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
rpath += ["/usr/local/lib"]
|
||||
else:
|
||||
cflags = []
|
||||
cxxflags = []
|
||||
cpppath = []
|
||||
rpath += []
|
||||
|
||||
# MacOS
|
||||
if arch == "Darwin":
|
||||
libpath = [
|
||||
f"#third_party/libyuv/{arch}/lib",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
f"{brew_prefix}/lib",
|
||||
f"{brew_prefix}/opt/openssl@3.0/lib",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
]
|
||||
|
||||
cflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cpppath += [
|
||||
f"{brew_prefix}/include",
|
||||
f"{brew_prefix}/opt/openssl@3.0/include",
|
||||
]
|
||||
# Linux
|
||||
else:
|
||||
libpath = [
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
f"#third_party/libyuv/{arch}/lib",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
if GetOption('asan'):
|
||||
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags = ["-fsanitize=address"]
|
||||
elif GetOption('ubsan'):
|
||||
ccflags = ["-fsanitize=undefined"]
|
||||
ldflags = ["-fsanitize=undefined"]
|
||||
else:
|
||||
ccflags = []
|
||||
ldflags = []
|
||||
|
||||
# no --as-needed on mac linker
|
||||
if arch != "Darwin":
|
||||
ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
|
||||
|
||||
ccflags_option = GetOption('ccflags')
|
||||
if ccflags_option:
|
||||
ccflags += ccflags_option.split(' ')
|
||||
|
||||
env = Environment(
|
||||
ENV={
|
||||
"PATH": os.environ['PATH'],
|
||||
"PYTHONPATH": os.pathsep.join(submodule_python_paths),
|
||||
"ACADOS_SOURCE_DIR": acados.DIR,
|
||||
"ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
|
||||
"TERA_PATH": acados.TERA_PATH
|
||||
},
|
||||
ENV=lenv,
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-pipe",
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wshadow" if arch in ("Darwin", "comma_arm64") else "-Wshadow=local",
|
||||
"-Wshadow",
|
||||
"-Wno-unknown-warning-option",
|
||||
"-Wno-inconsistent-missing-override",
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
"-Wno-vla-cxx-extension",
|
||||
],
|
||||
CFLAGS=["-std=gnu11"],
|
||||
CXXFLAGS=["-std=c++1z"],
|
||||
CPPPATH=[
|
||||
"#openpilot",
|
||||
"#msgq_repo", # #include "msgq/..."
|
||||
"#opendbc_repo", # #include "opendbc/..."
|
||||
"#rednose_repo", # #include "rednose/..."
|
||||
"#rednose_repo/rednose", # #include "logger/..." (rednose package root)
|
||||
"#openpilot/cereal/gen/cpp",
|
||||
acados_include_dirs,
|
||||
[x.INCLUDE_DIR for x in pkgs],
|
||||
] + cflags + ccflags,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
"#",
|
||||
"#third_party/acados/include",
|
||||
"#third_party/acados/include/blasfeo/include",
|
||||
"#third_party/acados/include/hpipm/include",
|
||||
"#third_party/catch2/include",
|
||||
"#third_party/libyuv/include",
|
||||
"#third_party/json11",
|
||||
"#third_party/linux/include",
|
||||
"#third_party",
|
||||
"#msgq",
|
||||
],
|
||||
LIBPATH=[
|
||||
"#openpilot/common",
|
||||
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
LINKFLAGS=ldflags,
|
||||
|
||||
RPATH=rpath,
|
||||
|
||||
CFLAGS=["-std=gnu11"] + cflags,
|
||||
CXXFLAGS=["-std=c++1z"] + cxxflags,
|
||||
LIBPATH=libpath + [
|
||||
"#msgq_repo",
|
||||
"#openpilot/selfdrive/pandad",
|
||||
"#rednose_repo/rednose/helpers",
|
||||
[x.LIB_DIR for x in pkgs],
|
||||
"#third_party",
|
||||
"#selfdrive/pandad",
|
||||
"#common",
|
||||
"#rednose/helpers",
|
||||
],
|
||||
RPATH=[ffmpeg.LIB_DIR] if ffmpeg_shared else [],
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
COMPILATIONDB_USE_ABSPATH=True,
|
||||
REDNOSE_ROOT="#rednose_repo",
|
||||
REDNOSE_ROOT="#",
|
||||
tools=["default", "cython", "compilation_db", "rednose_filter"],
|
||||
toolpath=["#msgq_repo/site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
|
||||
toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
|
||||
)
|
||||
# SCons' Darwin linker tool doesn't define the variables used to expand RPATH.
|
||||
|
||||
if arch == "Darwin":
|
||||
env["RPATHPREFIX"] = "-Wl,-rpath,"
|
||||
env["RPATHSUFFIX"] = ""
|
||||
env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
|
||||
if arch != "comma_arm64":
|
||||
env['_LIBFLAGS'] = _libflags
|
||||
# RPATH is not supported on macOS, instead use the linker flags
|
||||
darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
|
||||
env["LINKFLAGS"] += darwin_rpath_link_flags
|
||||
|
||||
# Arch-specific flags and paths
|
||||
if arch == "comma_arm64":
|
||||
env["CC"] = "clang"
|
||||
env["CXX"] = "clang++"
|
||||
env.Append(LIBPATH=[
|
||||
"/usr/lib/aarch64-linux-gnu",
|
||||
])
|
||||
arch_flags = ["-D__COMMA_HARDWARE__", "-mcpu=cortex-a57"]
|
||||
env.Append(CCFLAGS=arch_flags)
|
||||
env.Append(CXXFLAGS=arch_flags)
|
||||
elif arch == "Darwin":
|
||||
env.Append(LIBPATH=[
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
])
|
||||
env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
|
||||
env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
|
||||
_extra_cc = shlex.split(GetOption('ccflags') or '')
|
||||
if _extra_cc:
|
||||
env.Append(CCFLAGS=_extra_cc)
|
||||
# Setup cache dir
|
||||
cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
|
||||
CacheDir(cache_dir)
|
||||
Clean(["."], cache_dir)
|
||||
|
||||
# no --as-needed on mac linker
|
||||
if arch != "Darwin":
|
||||
env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
|
||||
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)
|
||||
|
||||
# Shorter build output: show brief descriptions instead of full commands.
|
||||
# Full command lines are still printed on failure by scons.
|
||||
if not GetOption('verbose'):
|
||||
for action, short in (
|
||||
("CC", "CC"),
|
||||
("CXX", "CXX"),
|
||||
("LINK", "LINK"),
|
||||
("SHCC", "CC"),
|
||||
("SHCXX", "CXX"),
|
||||
("SHLINK", "LINK"),
|
||||
("AR", "AR"),
|
||||
("RANLIB", "RANLIB"),
|
||||
("AS", "AS"),
|
||||
):
|
||||
env[f"{action}COMSTR"] = f" [{short}] $TARGET"
|
||||
if os.environ.get('SCONS_PROGRESS'):
|
||||
Progress(progress_function, interval=node_interval)
|
||||
|
||||
# ********** Cython build environment **********
|
||||
# Cython build environment
|
||||
py_include = sysconfig.get_paths()['include']
|
||||
envCython = env.Clone()
|
||||
envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
envCython["CPPPATH"] += [py_include, np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
envCython["CCFLAGS"].remove("-Werror")
|
||||
|
||||
envCython["LIBS"] = []
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
np_version = SCons.Script.Value(np.__version__)
|
||||
Export('envCython', 'np_version')
|
||||
|
||||
Export('env', 'arch', 'acados', 'release', 'ffmpeg_libs')
|
||||
# Qt build environment
|
||||
qt_env = env.Clone()
|
||||
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
|
||||
|
||||
# Setup cache dir
|
||||
default_cache_dir = '/data/scons_cache' if arch == "comma_arm64" else '/tmp/scons_cache'
|
||||
cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
|
||||
cache_size_limit = 4e9 if "CI" in os.environ else 2e9
|
||||
CacheDir(cache_dir)
|
||||
Clean(["."], cache_dir)
|
||||
qt_libs = []
|
||||
if arch == "Darwin":
|
||||
qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
|
||||
qt_dirs = [
|
||||
os.path.join(qt_env['QTDIR'], "include"),
|
||||
]
|
||||
qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
|
||||
qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
|
||||
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
|
||||
qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
|
||||
else:
|
||||
qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
|
||||
qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
|
||||
|
||||
def prune_cache_dir(target=None, source=None, env=None):
|
||||
cache_files = sorted((os.path.join(root, f) for root, _, files in os.walk(cache_dir) for f in files), key=os.path.getmtime)
|
||||
cache_size = sum(os.path.getsize(f) for f in cache_files)
|
||||
for f in cache_files:
|
||||
if cache_size < cache_size_limit:
|
||||
break
|
||||
cache_size -= os.path.getsize(f)
|
||||
os.unlink(f)
|
||||
qt_env['QTDIR'] = qt_install_prefix
|
||||
qt_dirs = [
|
||||
f"{qt_install_headers}",
|
||||
]
|
||||
|
||||
# ********** start building stuff **********
|
||||
qt_gui_path = os.path.join(qt_install_headers, "QtGui")
|
||||
qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
|
||||
qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
|
||||
qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
|
||||
|
||||
qt_libs = [f"Qt5{m}" for m in qt_modules]
|
||||
if arch == "larch64":
|
||||
qt_libs += ["GLESv2", "wayland-client"]
|
||||
qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
|
||||
elif arch != "Darwin":
|
||||
qt_libs += ["GL"]
|
||||
qt_env['QT3DIR'] = qt_env['QTDIR']
|
||||
qt_env.Tool('qt3')
|
||||
|
||||
qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
|
||||
qt_flags = [
|
||||
"-D_REENTRANT",
|
||||
"-DQT_NO_DEBUG",
|
||||
"-DQT_WIDGETS_LIB",
|
||||
"-DQT_GUI_LIB",
|
||||
"-DQT_CORE_LIB",
|
||||
"-DQT_MESSAGELOGCONTEXT",
|
||||
]
|
||||
qt_env['CXXFLAGS'] += qt_flags
|
||||
qt_env['LIBPATH'] += ['#selfdrive/ui', ]
|
||||
qt_env['LIBS'] = qt_libs
|
||||
|
||||
if GetOption("clazy"):
|
||||
checks = [
|
||||
"level0",
|
||||
"level1",
|
||||
"no-range-loop",
|
||||
"no-non-pod-global-static",
|
||||
]
|
||||
qt_env['CXX'] = 'clazy'
|
||||
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
|
||||
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
|
||||
|
||||
Export('env', 'qt_env', 'arch', 'real_arch')
|
||||
|
||||
# Build common module
|
||||
SConscript(['openpilot/common/SConscript'])
|
||||
Import('_common')
|
||||
SConscript(['common/SConscript'])
|
||||
Import('_common', '_gpucommon')
|
||||
|
||||
common = [_common, 'json11', 'zmq']
|
||||
Export('common')
|
||||
gpucommon = [_gpucommon]
|
||||
|
||||
Export('common', 'gpucommon')
|
||||
|
||||
# Build messaging (cereal + msgq + socketmaster + their dependencies)
|
||||
# Enable swaglog include in submodules
|
||||
env_swaglog = env.Clone()
|
||||
env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
|
||||
SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
|
||||
SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
|
||||
|
||||
SConscript(['openpilot/cereal/SConscript'])
|
||||
SConscript(['cereal/SConscript'])
|
||||
|
||||
Import('socketmaster', 'msgq')
|
||||
messaging = [socketmaster, msgq, 'capnp', 'kj',]
|
||||
@@ -274,79 +331,32 @@ Export('messaging')
|
||||
SConscript(['panda/SConscript'])
|
||||
|
||||
# Build rednose library
|
||||
SConscript(['rednose_repo/rednose/SConscript'])
|
||||
SConscript(['rednose/SConscript'])
|
||||
|
||||
# Build system services
|
||||
SConscript([
|
||||
'openpilot/system/loggerd/SConscript',
|
||||
'system/ubloxd/SConscript',
|
||||
'system/loggerd/SConscript',
|
||||
])
|
||||
|
||||
if arch == "comma_arm64":
|
||||
SConscript(['openpilot/system/camerad/SConscript'])
|
||||
|
||||
# Build selfdrive
|
||||
SConscript([
|
||||
'openpilot/selfdrive/pandad/SConscript',
|
||||
'openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
|
||||
'openpilot/selfdrive/locationd/SConscript',
|
||||
'openpilot/selfdrive/modeld/SConscript',
|
||||
'openpilot/selfdrive/ui/SConscript',
|
||||
])
|
||||
|
||||
SConscript(['openpilot/sunnypilot/SConscript'])
|
||||
|
||||
# Build desktop-only tools
|
||||
if GetOption('extras') and arch != "comma_arm64":
|
||||
if arch != "Darwin":
|
||||
SConscript([
|
||||
'openpilot/tools/replay/SConscript',
|
||||
'openpilot/tools/cabana/SConscript',
|
||||
'openpilot/tools/jotpluggler/SConscript',
|
||||
'system/logcatd/SConscript',
|
||||
'system/proclogd/SConscript',
|
||||
])
|
||||
|
||||
if arch == "larch64":
|
||||
SConscript(['system/camerad/SConscript'])
|
||||
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
# Build openpilot
|
||||
SConscript(['third_party/SConscript'])
|
||||
|
||||
# progress output
|
||||
def count_scons_nodes(nodes):
|
||||
seen = set()
|
||||
stack = list(nodes)
|
||||
SConscript(['selfdrive/SConscript'])
|
||||
|
||||
while stack:
|
||||
node = stack.pop().disambiguate()
|
||||
if node in seen:
|
||||
continue
|
||||
seen.add(node)
|
||||
if hasattr(node, 'has_builder') and node.has_builder():
|
||||
build_product_nodes.add(node)
|
||||
executor = node.get_executor()
|
||||
if executor is not None:
|
||||
stack += executor.get_all_prerequisites() + executor.get_all_children()
|
||||
if Dir('#tools/cabana/').exists() and GetOption('extras'):
|
||||
SConscript(['tools/replay/SConscript'])
|
||||
if arch != "larch64":
|
||||
SConscript(['tools/cabana/SConscript'])
|
||||
|
||||
return len(seen)
|
||||
|
||||
progress_interval = 5
|
||||
progress_count = 0
|
||||
build_product_nodes = set()
|
||||
progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
|
||||
|
||||
def progress_function(node):
|
||||
global progress_count
|
||||
if progress_count >= progress_total:
|
||||
return
|
||||
progress_count = min(progress_count + progress_interval, progress_total)
|
||||
progress = round(100. * progress_count / progress_total, 1)
|
||||
sys.stderr.write("\rBuilding: %5.1f%%" % progress if sys.stderr.isatty() else "progress: %.1f\n" % progress)
|
||||
if progress == 100. and sys.stderr.isatty():
|
||||
sys.stderr.write("\n")
|
||||
sys.stderr.flush()
|
||||
|
||||
Progress(progress_function, interval=progress_interval)
|
||||
AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
|
||||
|
||||
def check_build_product_size(target, source, env):
|
||||
limit = 50 * 1024 * 1024 # GitHub max size
|
||||
for t in target:
|
||||
if hasattr(t, 'isfile') and t.isfile() and (size := os.path.getsize(t.abspath)) > limit:
|
||||
raise SCons.Errors.UserError(f"{t} is {size / (1024 * 1024):.1f} MiB, exceeding the {limit / (1024 * 1024):.1f} MiB limit")
|
||||
if not GetOption('extras'):
|
||||
AddPostAction(list(build_product_nodes), Action(check_build_product_size, None))
|
||||
external_sconscript = GetOption('external_sconscript')
|
||||
if external_sconscript:
|
||||
SConscript([external_sconscript])
|
||||
|
||||
@@ -0,0 +1,95 @@
|
||||
# What is cereal?
|
||||
|
||||
cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs.
|
||||
|
||||
|
||||
## 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.
|
||||
|
||||
### 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.
|
||||
|
||||
### Maintaining backwards-compatibility
|
||||
|
||||
When making changes to the messaging spec you want to maintain backwards-compatibility, such that old logs can
|
||||
be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other
|
||||
things are not. Read more details [here](https://capnproto.org/language.html).
|
||||
|
||||
### Custom forks
|
||||
|
||||
Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
|
||||
spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
|
||||
then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
|
||||
[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
|
||||
fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
|
||||
|
||||
An example of compatible changes:
|
||||
```diff
|
||||
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
|
||||
index 3348e859e..3365c7b98 100644
|
||||
--- a/cereal/custom.capnp
|
||||
+++ b/cereal/custom.capnp
|
||||
@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
|
||||
# DO rename the structs
|
||||
# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
|
||||
|
||||
-struct CustomReserved0 @0x81c2f05a394cf4af {
|
||||
+struct SteeringInfo @0x81c2f05a394cf4af {
|
||||
+ active @0 :Bool;
|
||||
+ steeringAngleDeg @1 :Float32;
|
||||
+ steeringRateDeg @2 :Float32;
|
||||
+ steeringAccelDeg @3 :Float32;
|
||||
}
|
||||
|
||||
struct CustomReserved1 @0xaedffd8f31e7b55d {
|
||||
diff --git a/cereal/log.capnp b/cereal/log.capnp
|
||||
index 1209f3fd9..b189f58b6 100644
|
||||
--- a/cereal/log.capnp
|
||||
+++ b/cereal/log.capnp
|
||||
@@ -2558,14 +2558,14 @@ struct Event {
|
||||
|
||||
# DO change the name of the field
|
||||
# DON'T change anything after the "@"
|
||||
- customReservedRawData0 @124 :Data;
|
||||
+ rawCanData @124 :Data;
|
||||
customReservedRawData1 @125 :Data;
|
||||
customReservedRawData2 @126 :Data;
|
||||
|
||||
# DO change the name of the field and struct
|
||||
# DON'T change the ID (e.g. @107)
|
||||
# DON'T change which struct it points to
|
||||
- customReserved0 @107 :Custom.CustomReserved0;
|
||||
+ steeringInfo @107 :Custom.SteeringInfo;
|
||||
customReserved1 @108 :Custom.CustomReserved1;
|
||||
customReserved2 @109 :Custom.CustomReserved2;
|
||||
customReserved3 @110 :Custom.CustomReserved3;
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
Example
|
||||
---
|
||||
```python
|
||||
import cereal.messaging as messaging
|
||||
|
||||
# in subscriber
|
||||
sm = messaging.SubMaster(['sensorEvents'])
|
||||
while 1:
|
||||
sm.update()
|
||||
print(sm['sensorEvents'])
|
||||
|
||||
```
|
||||
|
||||
```python
|
||||
# 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)
|
||||
```
|
||||
@@ -0,0 +1,20 @@
|
||||
Import('env', 'common', 'msgq')
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
gen_dir = Dir('gen')
|
||||
|
||||
# Build cereal
|
||||
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
|
||||
env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
|
||||
schema_files,
|
||||
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
|
||||
|
||||
cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
|
||||
|
||||
# Build messaging
|
||||
services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
|
||||
|
||||
socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
|
||||
|
||||
Export('cereal', 'socketmaster')
|
||||
@@ -0,0 +1,11 @@
|
||||
import os
|
||||
import capnp
|
||||
from importlib.resources import as_file, files
|
||||
|
||||
capnp.remove_import_hook()
|
||||
|
||||
with as_file(files("cereal")) as fspath:
|
||||
CEREAL_PATH = fspath.as_posix()
|
||||
log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
|
||||
car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
|
||||
custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
|
||||
Symlink
+1
@@ -0,0 +1 @@
|
||||
../opendbc_repo/opendbc/car/car.capnp
|
||||
@@ -0,0 +1,71 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0xb526ba661d550a59;
|
||||
|
||||
# custom.capnp: a home for empty structs reserved for custom forks
|
||||
# These structs are guaranteed to remain reserved and empty in mainline
|
||||
# cereal, so use these if you want custom events in your fork.
|
||||
|
||||
# DO rename the structs
|
||||
# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
|
||||
|
||||
struct CustomReserved0 @0x81c2f05a394cf4af {
|
||||
}
|
||||
|
||||
struct CustomReserved1 @0xaedffd8f31e7b55d {
|
||||
}
|
||||
|
||||
struct CustomReserved2 @0xf35cc4560bbf6ec2 {
|
||||
}
|
||||
|
||||
struct CustomReserved3 @0xda96579883444c35 {
|
||||
}
|
||||
|
||||
struct CustomReserved4 @0x80ae746ee2596b11 {
|
||||
}
|
||||
|
||||
struct CustomReserved5 @0xa5cd762cd951a455 {
|
||||
}
|
||||
|
||||
struct CustomReserved6 @0xf98d843bfd7004a3 {
|
||||
}
|
||||
|
||||
struct CustomReserved7 @0xb86e6369214c01c8 {
|
||||
}
|
||||
|
||||
struct CustomReserved8 @0xf416ec09499d9d19 {
|
||||
}
|
||||
|
||||
struct CustomReserved9 @0xa1680744031fdb2d {
|
||||
}
|
||||
|
||||
struct CustomReserved10 @0xcb9fd56c7057593a {
|
||||
}
|
||||
|
||||
struct CustomReserved11 @0xc2243c65e0340384 {
|
||||
}
|
||||
|
||||
struct CustomReserved12 @0x9ccdc8676701b412 {
|
||||
}
|
||||
|
||||
struct CustomReserved13 @0xcd96dafb67a082d0 {
|
||||
}
|
||||
|
||||
struct CustomReserved14 @0xb057204d7deadf3f {
|
||||
}
|
||||
|
||||
struct CustomReserved15 @0xbd443b539493bc68 {
|
||||
}
|
||||
|
||||
struct CustomReserved16 @0xfc6241ed8877b611 {
|
||||
}
|
||||
|
||||
struct CustomReserved17 @0xa30662f84033036c {
|
||||
}
|
||||
|
||||
struct CustomReserved18 @0xc86a3d38d13eb3ef {
|
||||
}
|
||||
|
||||
struct CustomReserved19 @0xa4f1eb3323f5f582 {
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,777 @@
|
||||
// Generated by Cap'n Proto compiler, DO NOT EDIT
|
||||
// source: custom.capnp
|
||||
|
||||
#include "custom.capnp.h"
|
||||
|
||||
namespace capnp {
|
||||
namespace schemas {
|
||||
static const ::capnp::_::AlignedData<17> b_81c2f05a394cf4af = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
175, 244, 76, 57, 90, 240, 194, 129,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 48, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_81c2f05a394cf4af = b_81c2f05a394cf4af.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_81c2f05a394cf4af = {
|
||||
0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_aedffd8f31e7b55d = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
93, 181, 231, 49, 143, 253, 223, 174,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_aedffd8f31e7b55d = b_aedffd8f31e7b55d.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_aedffd8f31e7b55d = {
|
||||
0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_f35cc4560bbf6ec2 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
194, 110, 191, 11, 86, 196, 92, 243,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 50, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
|
||||
0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_da96579883444c35 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
53, 76, 68, 131, 152, 87, 150, 218,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 51, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_da96579883444c35 = b_da96579883444c35.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_da96579883444c35 = {
|
||||
0xda96579883444c35, b_da96579883444c35.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_da96579883444c35, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_80ae746ee2596b11 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
17, 107, 89, 226, 110, 116, 174, 128,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 52, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_80ae746ee2596b11 = b_80ae746ee2596b11.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_80ae746ee2596b11 = {
|
||||
0x80ae746ee2596b11, b_80ae746ee2596b11.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_80ae746ee2596b11, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_a5cd762cd951a455 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
85, 164, 81, 217, 44, 118, 205, 165,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 53, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_a5cd762cd951a455 = b_a5cd762cd951a455.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_a5cd762cd951a455 = {
|
||||
0xa5cd762cd951a455, b_a5cd762cd951a455.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_a5cd762cd951a455, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_f98d843bfd7004a3 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
163, 4, 112, 253, 59, 132, 141, 249,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 54, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_f98d843bfd7004a3 = b_f98d843bfd7004a3.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_f98d843bfd7004a3 = {
|
||||
0xf98d843bfd7004a3, b_f98d843bfd7004a3.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_f98d843bfd7004a3, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_b86e6369214c01c8 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
200, 1, 76, 33, 105, 99, 110, 184,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 55, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_b86e6369214c01c8 = b_b86e6369214c01c8.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_b86e6369214c01c8 = {
|
||||
0xb86e6369214c01c8, b_b86e6369214c01c8.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_b86e6369214c01c8, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_f416ec09499d9d19 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
25, 157, 157, 73, 9, 236, 22, 244,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 56, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_f416ec09499d9d19 = b_f416ec09499d9d19.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_f416ec09499d9d19 = {
|
||||
0xf416ec09499d9d19, b_f416ec09499d9d19.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_a1680744031fdb2d = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
45, 219, 31, 3, 68, 7, 104, 161,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 234, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 57, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_a1680744031fdb2d = b_a1680744031fdb2d.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_a1680744031fdb2d = {
|
||||
0xa1680744031fdb2d, b_a1680744031fdb2d.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_cb9fd56c7057593a = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
58, 89, 87, 112, 108, 213, 159, 203,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 48, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_cb9fd56c7057593a = b_cb9fd56c7057593a.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_cb9fd56c7057593a = {
|
||||
0xcb9fd56c7057593a, b_cb9fd56c7057593a.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_cb9fd56c7057593a, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_c2243c65e0340384 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
132, 3, 52, 224, 101, 60, 36, 194,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 49, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_c2243c65e0340384 = b_c2243c65e0340384.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_c2243c65e0340384 = {
|
||||
0xc2243c65e0340384, b_c2243c65e0340384.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_c2243c65e0340384, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_9ccdc8676701b412 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
18, 180, 1, 103, 103, 200, 205, 156,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_9ccdc8676701b412 = b_9ccdc8676701b412.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_9ccdc8676701b412 = {
|
||||
0x9ccdc8676701b412, b_9ccdc8676701b412.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_9ccdc8676701b412, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_cd96dafb67a082d0 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
208, 130, 160, 103, 251, 218, 150, 205,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 51, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_cd96dafb67a082d0 = b_cd96dafb67a082d0.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_cd96dafb67a082d0 = {
|
||||
0xcd96dafb67a082d0, b_cd96dafb67a082d0.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_cd96dafb67a082d0, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_b057204d7deadf3f = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
63, 223, 234, 125, 77, 32, 87, 176,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 52, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_b057204d7deadf3f = b_b057204d7deadf3f.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_b057204d7deadf3f = {
|
||||
0xb057204d7deadf3f, b_b057204d7deadf3f.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_b057204d7deadf3f, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_bd443b539493bc68 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
104, 188, 147, 148, 83, 59, 68, 189,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 53, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_bd443b539493bc68 = b_bd443b539493bc68.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_bd443b539493bc68 = {
|
||||
0xbd443b539493bc68, b_bd443b539493bc68.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_bd443b539493bc68, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_fc6241ed8877b611 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
17, 182, 119, 136, 237, 65, 98, 252,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 54, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_fc6241ed8877b611 = b_fc6241ed8877b611.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_fc6241ed8877b611 = {
|
||||
0xfc6241ed8877b611, b_fc6241ed8877b611.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_fc6241ed8877b611, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_a30662f84033036c = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
108, 3, 51, 64, 248, 98, 6, 163,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 55, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_a30662f84033036c = b_a30662f84033036c.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_a30662f84033036c = {
|
||||
0xa30662f84033036c, b_a30662f84033036c.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_a30662f84033036c, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_c86a3d38d13eb3ef = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
239, 179, 62, 209, 56, 61, 106, 200,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 56, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_c86a3d38d13eb3ef = b_c86a3d38d13eb3ef.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_c86a3d38d13eb3ef = {
|
||||
0xc86a3d38d13eb3ef, b_c86a3d38d13eb3ef.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_c86a3d38d13eb3ef, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<17> b_a4f1eb3323f5f582 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
130, 245, 245, 35, 51, 235, 241, 164,
|
||||
13, 0, 0, 0, 1, 0, 0, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 242, 0, 0, 0,
|
||||
33, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 67, 117, 115,
|
||||
116, 111, 109, 82, 101, 115, 101, 114,
|
||||
118, 101, 100, 49, 57, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_a4f1eb3323f5f582 = b_a4f1eb3323f5f582.words;
|
||||
#if !CAPNP_LITE
|
||||
const ::capnp::_::RawSchema s_a4f1eb3323f5f582 = {
|
||||
0xa4f1eb3323f5f582, b_a4f1eb3323f5f582.words, 17, nullptr, nullptr,
|
||||
0, 0, nullptr, nullptr, nullptr, { &s_a4f1eb3323f5f582, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
} // namespace schemas
|
||||
} // namespace capnp
|
||||
|
||||
// =======================================================================================
|
||||
|
||||
namespace cereal {
|
||||
|
||||
// CustomReserved0
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved0::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved0::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved0::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved0::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved1
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved1::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved1::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved1::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved1::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved2
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved2::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved2::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved2::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved2::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved3
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved3::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved3::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved3::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved3::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved4
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved4::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved4::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved4::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved4::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved5
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved5::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved5::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved5::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved5::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved6
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved6::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved6::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved6::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved6::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved7
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved7::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved7::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved7::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved7::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved8
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved8::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved8::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved8::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved8::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved9
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved9::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved9::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved9::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved9::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved10
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved10::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved10::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved10::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved10::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved11
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved11::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved11::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved11::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved11::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved12
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved12::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved12::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved12::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved12::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved13
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved13::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved13::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved13::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved13::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved14
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved14::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved14::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved14::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved14::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved15
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved15::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved15::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved15::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved15::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved16
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved16::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved16::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved16::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved16::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved17
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved17::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved17::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved17::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved17::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved18
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved18::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved18::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved18::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved18::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// CustomReserved19
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t CustomReserved19::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t CustomReserved19::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind CustomReserved19::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* CustomReserved19::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
|
||||
} // namespace
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -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;
|
||||
}
|
||||
|
||||
|
||||
+2691
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,257 @@
|
||||
# must be built with scons
|
||||
from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
|
||||
set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
|
||||
from msgq.ipc_pyx import MultiplePublishersError, IpcError
|
||||
from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
|
||||
import msgq
|
||||
|
||||
import os
|
||||
import capnp
|
||||
import time
|
||||
|
||||
from typing import Optional, List, Union, Dict
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.common.util import MovingAverage
|
||||
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
|
||||
|
||||
def reset_context():
|
||||
msgq.context = Context()
|
||||
|
||||
|
||||
def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
|
||||
with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
|
||||
return msg
|
||||
|
||||
|
||||
def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
args = {
|
||||
'valid': False,
|
||||
'logMonoTime': int(time.monotonic() * 1e9),
|
||||
**kwargs
|
||||
}
|
||||
dat = log.Event.new_message(**args)
|
||||
if service is not None:
|
||||
if size is None:
|
||||
dat.init(service)
|
||||
else:
|
||||
dat.init(service, size)
|
||||
return dat
|
||||
|
||||
|
||||
def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
|
||||
return [log_from_bytes(m) for m in msgs]
|
||||
|
||||
|
||||
# TODO: print when we drop packets?
|
||||
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
|
||||
|
||||
while 1:
|
||||
if wait and dat is None:
|
||||
recv = sock.receive()
|
||||
else:
|
||||
recv = sock.receive(non_blocking=True)
|
||||
|
||||
if recv is None: # Timeout hit
|
||||
break
|
||||
|
||||
dat = recv
|
||||
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
|
||||
return dat
|
||||
|
||||
|
||||
def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
|
||||
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_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
|
||||
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_from_bytes(dat)
|
||||
|
||||
|
||||
class FrequencyTracker:
|
||||
def __init__(self, service_freq: float, update_freq: float, is_poll: bool):
|
||||
freq = max(min(service_freq, update_freq), 1.)
|
||||
if is_poll:
|
||||
min_freq = max_freq = freq
|
||||
else:
|
||||
max_freq = min(freq, update_freq)
|
||||
if service_freq >= 2 * update_freq:
|
||||
min_freq = update_freq
|
||||
elif update_freq >= 2* service_freq:
|
||||
min_freq = freq
|
||||
else:
|
||||
min_freq = min(freq, freq / 2.)
|
||||
|
||||
self.min_freq = min_freq * 0.8
|
||||
self.max_freq = max_freq * 1.2
|
||||
self.avg_dt = MovingAverage(int(10 * freq))
|
||||
self.recent_avg_dt = MovingAverage(int(freq))
|
||||
self.prev_time = 0.0
|
||||
|
||||
def record_recv_time(self, cur_time: float) -> None:
|
||||
# TODO: Handle case where cur_time is less than prev_time
|
||||
if self.prev_time > 1e-5:
|
||||
dt = cur_time - self.prev_time
|
||||
|
||||
self.avg_dt.add_value(dt)
|
||||
self.recent_avg_dt.add_value(dt)
|
||||
|
||||
self.prev_time = cur_time
|
||||
|
||||
@property
|
||||
def valid(self) -> bool:
|
||||
if self.avg_dt.count == 0:
|
||||
return False
|
||||
|
||||
avg_freq = 1.0 / self.avg_dt.get_average()
|
||||
if self.min_freq <= avg_freq <= self.max_freq:
|
||||
return True
|
||||
|
||||
avg_freq_recent = 1.0 / self.recent_avg_dt.get_average()
|
||||
return self.min_freq <= avg_freq_recent <= self.max_freq
|
||||
|
||||
|
||||
class SubMaster:
|
||||
def __init__(self, services: List[str], poll: Optional[str] = None,
|
||||
ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
|
||||
ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
|
||||
self.frame = -1
|
||||
self.services = services
|
||||
self.seen = {s: False for s in services}
|
||||
self.updated = {s: False for s in services}
|
||||
self.recv_time = {s: 0. for s in services}
|
||||
self.recv_frame = {s: 0 for s in services}
|
||||
self.sock = {}
|
||||
self.data = {}
|
||||
self.logMonoTime = {s: 0 for s in services}
|
||||
|
||||
# zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
|
||||
on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
|
||||
self.static_freq_services = set(s for s in services if not on_demand[s])
|
||||
self.alive = {s: on_demand[s] for s in services}
|
||||
self.freq_ok = {s: on_demand[s] for s in services}
|
||||
self.valid = {s: on_demand[s] for s in services}
|
||||
|
||||
self.freq_tracker: Dict[str, FrequencyTracker] = {}
|
||||
self.poller = Poller()
|
||||
polled_services = set([poll, ] if poll is not None else services)
|
||||
self.non_polled_services = set(services) - polled_services
|
||||
|
||||
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
|
||||
self.ignore_valid = [] if ignore_valid is None else ignore_valid
|
||||
|
||||
self.simulation = bool(int(os.getenv("SIMULATION", "0")))
|
||||
|
||||
# if freq and poll aren't specified, assume the max to be conservative
|
||||
assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used."
|
||||
self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services])
|
||||
|
||||
for s in services:
|
||||
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)
|
||||
|
||||
try:
|
||||
data = new_message(s)
|
||||
except capnp.lib.capnp.KjException:
|
||||
data = new_message(s, 0) # lists
|
||||
|
||||
self.data[s] = getattr(data.as_reader(), s)
|
||||
self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
|
||||
|
||||
def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return self.data[s]
|
||||
|
||||
def _check_avg_freq(self, s: str) -> bool:
|
||||
return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)
|
||||
|
||||
def update(self, timeout: int = 100) -> 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(time.monotonic(), msgs)
|
||||
|
||||
def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
|
||||
self.frame += 1
|
||||
self.updated = dict.fromkeys(self.services, False)
|
||||
for msg in msgs:
|
||||
if msg is None:
|
||||
continue
|
||||
|
||||
s = msg.which()
|
||||
self.seen[s] = True
|
||||
self.updated[s] = True
|
||||
|
||||
self.freq_tracker[s].record_recv_time(cur_time)
|
||||
self.recv_time[s] = cur_time
|
||||
self.recv_frame[s] = self.frame
|
||||
self.data[s] = getattr(msg, s)
|
||||
self.logMonoTime[s] = msg.logMonoTime
|
||||
self.valid[s] = msg.valid
|
||||
|
||||
for s in self.static_freq_services:
|
||||
# alive if delay is within 10x the expected frequency; checks relaxed in simulator
|
||||
self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
|
||||
self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
|
||||
|
||||
def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
|
||||
|
||||
def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
|
||||
|
||||
def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
|
||||
|
||||
def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
|
||||
|
||||
|
||||
class PubMaster:
|
||||
def __init__(self, services: List[str]):
|
||||
self.sock = {}
|
||||
for s in services:
|
||||
self.sock[s] = pub_sock(s)
|
||||
|
||||
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 wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
|
||||
for _ in range(int(timeout*(1./dt))):
|
||||
if self.sock[s].all_readers_updated():
|
||||
return True
|
||||
time.sleep(dt)
|
||||
return False
|
||||
|
||||
def all_readers_updated(self, s: str) -> bool:
|
||||
return self.sock[s].all_readers_updated() # type: ignore
|
||||
Executable
BIN
Binary file not shown.
@@ -1,7 +1,7 @@
|
||||
#include <cassert>
|
||||
|
||||
#include "openpilot/cereal/messaging/msgq_to_zmq.h"
|
||||
#include "openpilot/cereal/services.h"
|
||||
#include "cereal/messaging/msgq_to_zmq.h"
|
||||
#include "cereal/services.h"
|
||||
#include "common/util.h"
|
||||
|
||||
ExitHandler do_exit;
|
||||
@@ -25,16 +25,15 @@ void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &i
|
||||
}
|
||||
|
||||
void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
auto poller = std::make_unique<BridgeZmqPoller>();
|
||||
auto pub_context = std::make_unique<Context>();
|
||||
auto sub_context = std::make_unique<BridgeZmqContext>();
|
||||
std::map<BridgeZmqSubSocket *, PubSocket *> sub2pub;
|
||||
auto poller = std::make_unique<ZMQPoller>();
|
||||
auto pub_context = std::make_unique<MSGQContext>();
|
||||
auto sub_context = std::make_unique<ZMQContext>();
|
||||
std::map<SubSocket *, PubSocket *> sub2pub;
|
||||
|
||||
for (auto endpoint : endpoints) {
|
||||
auto pub_sock = new PubSocket();
|
||||
auto sub_sock = new BridgeZmqSubSocket();
|
||||
size_t queue_size = services.at(endpoint).queue_size;
|
||||
pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
|
||||
auto pub_sock = new MSGQPubSocket();
|
||||
auto sub_sock = new ZMQSubSocket();
|
||||
pub_sock->connect(pub_context.get(), endpoint);
|
||||
sub_sock->connect(sub_context.get(), endpoint, ip, false);
|
||||
|
||||
poller->registerSocket(sub_sock);
|
||||
@@ -8,7 +8,7 @@
|
||||
|
||||
#include <capnp/serialize.h>
|
||||
|
||||
#include "openpilot/cereal/gen/cpp/log.capnp.h"
|
||||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
#include "common/timing.h"
|
||||
#include "msgq/ipc.h"
|
||||
|
||||
@@ -1,8 +1,7 @@
|
||||
#include "openpilot/cereal/messaging/msgq_to_zmq.h"
|
||||
#include "cereal/messaging/msgq_to_zmq.h"
|
||||
|
||||
#include <cassert>
|
||||
|
||||
#include "openpilot/cereal/services.h"
|
||||
#include "common/util.h"
|
||||
|
||||
extern ExitHandler do_exit;
|
||||
@@ -22,14 +21,14 @@ static std::string recv_zmq_msg(void *sock) {
|
||||
}
|
||||
|
||||
void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
zmq_context = std::make_unique<BridgeZmqContext>();
|
||||
msgq_context = std::make_unique<Context>();
|
||||
zmq_context = std::make_unique<ZMQContext>();
|
||||
msgq_context = std::make_unique<MSGQContext>();
|
||||
|
||||
// Create ZMQPubSockets for each endpoint
|
||||
for (const auto &endpoint : endpoints) {
|
||||
auto &socket_pair = socket_pairs.emplace_back();
|
||||
socket_pair.endpoint = endpoint;
|
||||
socket_pair.pub_sock = std::make_unique<BridgeZmqPubSocket>();
|
||||
socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
|
||||
int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
|
||||
if (ret != 0) {
|
||||
printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
|
||||
@@ -49,7 +48,7 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
|
||||
|
||||
for (auto sub_sock : msgq_poller->poll(100)) {
|
||||
// Process messages for each socket
|
||||
BridgeZmqPubSocket *pub_sock = sub2pub.at(sub_sock);
|
||||
ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
|
||||
for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
|
||||
auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
|
||||
if (!msg) break;
|
||||
@@ -72,7 +71,7 @@ void MsgqToZmq::zmqMonitorThread() {
|
||||
// Set up ZMQ monitor for each pub socket
|
||||
for (int i = 0; i < socket_pairs.size(); ++i) {
|
||||
std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
|
||||
|
||||
void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
|
||||
zmq_connect(monitor_socket, addr.c_str());
|
||||
@@ -109,8 +108,7 @@ void MsgqToZmq::zmqMonitorThread() {
|
||||
if (++pair.connected_clients == 1) {
|
||||
// Create new MSGQ subscriber socket and map to ZMQ publisher
|
||||
pair.sub_sock = std::make_unique<MSGQSubSocket>();
|
||||
size_t queue_size = services.at(pair.endpoint).queue_size;
|
||||
pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size);
|
||||
pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
|
||||
sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
|
||||
registerSockets();
|
||||
}
|
||||
@@ -130,7 +128,7 @@ void MsgqToZmq::zmqMonitorThread() {
|
||||
|
||||
// Clean up monitor sockets
|
||||
for (int i = 0; i < pollitems.size(); ++i) {
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), nullptr, 0);
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
|
||||
zmq_close(pollitems[i].socket);
|
||||
}
|
||||
cv.notify_one();
|
||||
@@ -0,0 +1,37 @@
|
||||
#pragma once
|
||||
|
||||
#include <condition_variable>
|
||||
#include <map>
|
||||
#include <memory>
|
||||
#include <mutex>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#define private public
|
||||
#include "msgq/impl_msgq.h"
|
||||
#include "msgq/impl_zmq.h"
|
||||
|
||||
class MsgqToZmq {
|
||||
public:
|
||||
MsgqToZmq() {}
|
||||
void run(const std::vector<std::string> &endpoints, const std::string &ip);
|
||||
|
||||
protected:
|
||||
void registerSockets();
|
||||
void zmqMonitorThread();
|
||||
|
||||
struct SocketPair {
|
||||
std::string endpoint;
|
||||
std::unique_ptr<ZMQPubSocket> pub_sock;
|
||||
std::unique_ptr<MSGQSubSocket> sub_sock;
|
||||
int connected_clients = 0;
|
||||
};
|
||||
|
||||
std::unique_ptr<MSGQContext> msgq_context;
|
||||
std::unique_ptr<ZMQContext> zmq_context;
|
||||
std::mutex mutex;
|
||||
std::condition_variable cv;
|
||||
std::unique_ptr<MSGQPoller> msgq_poller;
|
||||
std::map<SubSocket *, ZMQPubSocket *> sub2pub;
|
||||
std::vector<SocketPair> socket_pairs;
|
||||
};
|
||||
@@ -3,8 +3,8 @@
|
||||
#include <string>
|
||||
#include <mutex>
|
||||
|
||||
#include "openpilot/cereal/services.h"
|
||||
#include "openpilot/cereal/messaging/messaging.h"
|
||||
#include "cereal/services.h"
|
||||
#include "cereal/messaging/messaging.h"
|
||||
|
||||
const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
|
||||
|
||||
@@ -33,7 +33,7 @@ MessageContext message_context;
|
||||
struct SubMaster::SubMessage {
|
||||
std::string name;
|
||||
SubSocket *socket = nullptr;
|
||||
float freq = 0.0f;
|
||||
int freq = 0;
|
||||
bool updated = false, alive = false, valid = false, ignore_alive;
|
||||
uint64_t rcv_time = 0, rcv_frame = 0;
|
||||
void *allocated_msg_reader = nullptr;
|
||||
@@ -50,7 +50,7 @@ SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::v
|
||||
assert(services.count(std::string(name)) > 0);
|
||||
|
||||
service serv = services.at(std::string(name));
|
||||
SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size);
|
||||
SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
|
||||
assert(socket != 0);
|
||||
bool is_polled = inList(poll, name) || poll.empty();
|
||||
if (is_polled) poller_->registerSocket(socket);
|
||||
@@ -187,8 +187,7 @@ SubMaster::~SubMaster() {
|
||||
PubMaster::PubMaster(const std::vector<const char *> &service_list) {
|
||||
for (auto name : service_list) {
|
||||
assert(services.count(name) > 0);
|
||||
service serv = services.at(std::string(name));
|
||||
PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size);
|
||||
PubSocket *socket = PubSocket::create(message_context.context(), name);
|
||||
assert(socket);
|
||||
sockets_[name] = socket;
|
||||
}
|
||||
+39
-18
@@ -1,16 +1,16 @@
|
||||
import os
|
||||
import capnp
|
||||
import multiprocessing
|
||||
import numbers
|
||||
import random
|
||||
import threading
|
||||
import time
|
||||
from openpilot.common.test import OpenpilotTestCase
|
||||
from openpilot.common.parameterized import parameterized
|
||||
from parameterized import parameterized
|
||||
import pytest
|
||||
|
||||
from openpilot.cereal import log
|
||||
from opendbc.car.structs import car
|
||||
import openpilot.cereal.messaging as messaging
|
||||
from openpilot.cereal.services import SERVICE_LIST
|
||||
from cereal import log, car
|
||||
import cereal.messaging as messaging
|
||||
from cereal.services import SERVICE_LIST
|
||||
|
||||
events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]
|
||||
|
||||
@@ -23,10 +23,14 @@ def random_socks(num_socks=10):
|
||||
def random_bytes(length=1000):
|
||||
return bytes([random.randrange(0xFF) for _ in range(length)])
|
||||
|
||||
def zmq_sleep(t=1):
|
||||
if "ZMQ" in os.environ:
|
||||
time.sleep(t)
|
||||
|
||||
|
||||
# TODO: this should take any capnp struct and returrn a msg with random populated data
|
||||
def random_carstate():
|
||||
fields = ["vEgo", "aEgo", "steeringTorque", "steeringAngleDeg"]
|
||||
fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
|
||||
msg = messaging.new_message("carState")
|
||||
cs = msg.carState
|
||||
for f in fields:
|
||||
@@ -47,7 +51,17 @@ def delayed_send(delay, sock, dat):
|
||||
threading.Timer(delay, send_func).start()
|
||||
|
||||
|
||||
class TestMessaging(OpenpilotTestCase):
|
||||
class TestMessaging:
|
||||
def setUp(self):
|
||||
# TODO: ZMQ tests are too slow; all sleeps will need to be
|
||||
# replaced with logic to block on the necessary condition
|
||||
if "ZMQ" in os.environ:
|
||||
pytest.skip()
|
||||
|
||||
# ZMQ pub socket takes too long to die
|
||||
# sleep to prevent multiple publishers error between tests
|
||||
zmq_sleep()
|
||||
|
||||
@parameterized.expand(events)
|
||||
def test_new_message(self, evt):
|
||||
try:
|
||||
@@ -74,6 +88,7 @@ class TestMessaging(OpenpilotTestCase):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=1000)
|
||||
zmq_sleep()
|
||||
|
||||
# no wait and no msgs in queue
|
||||
msgs = func(sub_sock)
|
||||
@@ -81,11 +96,10 @@ class TestMessaging(OpenpilotTestCase):
|
||||
assert len(msgs) == 0
|
||||
|
||||
# no wait but msgs are queued up
|
||||
pub_sock.send(messaging.new_message(sock).to_bytes())
|
||||
assert sub_sock.receive() is not None # synchronize the PUB/SUB connection
|
||||
num_msgs = random.randrange(3, 10)
|
||||
for _ in range(num_msgs):
|
||||
pub_sock.send(messaging.new_message(sock).to_bytes())
|
||||
time.sleep(0.1)
|
||||
msgs = func(sub_sock)
|
||||
assert isinstance(msgs, list)
|
||||
assert all(isinstance(msg, expected_type) for msg in msgs)
|
||||
@@ -95,6 +109,7 @@ class TestMessaging(OpenpilotTestCase):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=100)
|
||||
zmq_sleep()
|
||||
|
||||
# no wait and no msg in queue, socket should timeout
|
||||
recvd = messaging.recv_sock(sub_sock)
|
||||
@@ -112,7 +127,8 @@ class TestMessaging(OpenpilotTestCase):
|
||||
def test_recv_one(self):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=10)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=1000)
|
||||
zmq_sleep()
|
||||
|
||||
# no msg in queue, socket should timeout
|
||||
recvd = messaging.recv_one(sub_sock)
|
||||
@@ -125,10 +141,12 @@ class TestMessaging(OpenpilotTestCase):
|
||||
assert isinstance(recvd, capnp._DynamicStructReader)
|
||||
assert_carstate(msg.carState, recvd.carState)
|
||||
|
||||
@pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
|
||||
def test_recv_one_or_none(self):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock)
|
||||
zmq_sleep()
|
||||
|
||||
# no msg in queue, socket shouldn't block
|
||||
recvd = messaging.recv_one_or_none(sub_sock)
|
||||
@@ -143,16 +161,19 @@ class TestMessaging(OpenpilotTestCase):
|
||||
|
||||
def test_recv_one_retry(self):
|
||||
sock = "carState"
|
||||
sock_timeout = 0.005
|
||||
sock_timeout = 0.1
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
|
||||
zmq_sleep()
|
||||
|
||||
# wait 5 socket timeouts and make sure it's still retrying
|
||||
p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
|
||||
p.start()
|
||||
time.sleep(sock_timeout*5)
|
||||
assert p.is_alive()
|
||||
p.terminate()
|
||||
# this test doesn't work with ZMQ since multiprocessing interrupts it
|
||||
if "ZMQ" not in os.environ:
|
||||
# wait 5 socket timeouts and make sure it's still retrying
|
||||
p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
|
||||
p.start()
|
||||
time.sleep(sock_timeout*5)
|
||||
assert p.is_alive()
|
||||
p.terminate()
|
||||
|
||||
# wait 5 socket timeouts before sending
|
||||
msg = random_carstate()
|
||||
+35
-17
@@ -1,16 +1,20 @@
|
||||
import random
|
||||
import time
|
||||
from typing import cast
|
||||
from collections.abc import Sized
|
||||
from typing import Sized, cast
|
||||
|
||||
from openpilot.common.test import OpenpilotTestCase
|
||||
import openpilot.cereal.messaging as messaging
|
||||
from openpilot.cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
|
||||
random_bytes, random_carstate, assert_carstate
|
||||
from openpilot.cereal.services import SERVICE_LIST
|
||||
import cereal.messaging as messaging
|
||||
from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
|
||||
random_bytes, random_carstate, assert_carstate, \
|
||||
zmq_sleep
|
||||
from cereal.services import SERVICE_LIST
|
||||
|
||||
|
||||
class TestSubMaster(OpenpilotTestCase):
|
||||
class TestSubMaster:
|
||||
|
||||
def setup_method(self):
|
||||
# ZMQ pub socket takes too long to die
|
||||
# sleep to prevent multiple publishers error between tests
|
||||
zmq_sleep(3)
|
||||
|
||||
def test_init(self):
|
||||
sm = messaging.SubMaster(events)
|
||||
@@ -38,6 +42,7 @@ class TestSubMaster(OpenpilotTestCase):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sm = messaging.SubMaster([sock,])
|
||||
zmq_sleep()
|
||||
|
||||
msg = random_carstate()
|
||||
pub_sock.send(msg.to_bytes())
|
||||
@@ -49,6 +54,7 @@ class TestSubMaster(OpenpilotTestCase):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sm = messaging.SubMaster([sock,])
|
||||
zmq_sleep()
|
||||
|
||||
for i in range(10):
|
||||
msg = messaging.new_message(sock)
|
||||
@@ -60,17 +66,17 @@ class TestSubMaster(OpenpilotTestCase):
|
||||
def test_update_timeout(self):
|
||||
sock = random_sock()
|
||||
sm = messaging.SubMaster([sock,])
|
||||
timeout = random.randrange(10, 30)
|
||||
timeout = random.randrange(1000, 3000)
|
||||
start_time = time.monotonic()
|
||||
sm.update(timeout)
|
||||
t = time.monotonic() - start_time
|
||||
assert t >= timeout/1000.
|
||||
assert t < 0.1
|
||||
assert t < 3
|
||||
assert not any(sm.updated.values())
|
||||
|
||||
def test_avg_frequency_checks(self):
|
||||
for poll in (True, False):
|
||||
sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "extrinsicsCalibration"],
|
||||
sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "liveCalibration"],
|
||||
poll=("modelV2" if poll else None),
|
||||
frequency=(20. if not poll else None))
|
||||
|
||||
@@ -78,39 +84,50 @@ class TestSubMaster(OpenpilotTestCase):
|
||||
"carState": (20, 20),
|
||||
"modelV2": (20, 20 if poll else 10),
|
||||
"cameraOdometry": (20, 10),
|
||||
"extrinsicsCalibration": (4, 4),
|
||||
"liveCalibration": (4, 4),
|
||||
"carParams": (None, None),
|
||||
"userBookmark": (None, None),
|
||||
}
|
||||
|
||||
for service, (max_freq, min_freq) in checks.items():
|
||||
if max_freq is not None:
|
||||
assert min_freq is not None
|
||||
assert sm._check_avg_freq(service)
|
||||
assert sm.freq_tracker[service].max_freq == max_freq*1.2
|
||||
assert sm.freq_tracker[service].min_freq == min_freq*0.8
|
||||
else:
|
||||
assert not sm._check_avg_freq(service)
|
||||
|
||||
def test_alive(self):
|
||||
pass
|
||||
|
||||
def test_ignore_alive(self):
|
||||
pass
|
||||
|
||||
def test_valid(self):
|
||||
pass
|
||||
|
||||
# SubMaster should always conflate
|
||||
def test_conflate(self):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sm = messaging.SubMaster([sock,])
|
||||
|
||||
pub_sock.send(messaging.new_message(sock).to_bytes())
|
||||
sm.update(1000) # synchronize the PUB/SUB connection
|
||||
|
||||
n = 10
|
||||
for i in range(n+1):
|
||||
msg = messaging.new_message(sock)
|
||||
msg.carState.vEgo = i
|
||||
pub_sock.send(msg.to_bytes())
|
||||
time.sleep(0.01)
|
||||
sm.update(1000)
|
||||
assert sm[sock].vEgo == n
|
||||
|
||||
|
||||
class TestPubMaster(OpenpilotTestCase):
|
||||
class TestPubMaster:
|
||||
|
||||
def setup_method(self):
|
||||
# ZMQ pub socket takes too long to die
|
||||
# sleep to prevent multiple publishers error between tests
|
||||
zmq_sleep(3)
|
||||
|
||||
def test_init(self):
|
||||
messaging.PubMaster(events)
|
||||
@@ -119,6 +136,7 @@ class TestPubMaster(OpenpilotTestCase):
|
||||
socks = random_socks()
|
||||
pm = messaging.PubMaster(socks)
|
||||
sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
|
||||
zmq_sleep()
|
||||
|
||||
# PubMaster accepts either a capnp msg builder or bytes
|
||||
for capnp in [True, False]:
|
||||
@@ -0,0 +1,21 @@
|
||||
import os
|
||||
import tempfile
|
||||
from typing import Dict
|
||||
from parameterized import parameterized
|
||||
|
||||
import cereal.services as services
|
||||
from cereal.services import SERVICE_LIST
|
||||
|
||||
|
||||
class TestServices:
|
||||
|
||||
@parameterized.expand(SERVICE_LIST.keys())
|
||||
def test_services(self, s):
|
||||
service = SERVICE_LIST[s]
|
||||
assert service.frequency <= 104
|
||||
assert service.decimation != 0
|
||||
|
||||
def test_generated_header(self):
|
||||
with tempfile.NamedTemporaryFile(suffix=".h") as f:
|
||||
ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
|
||||
assert ret == 0, "generated services header is not valid C"
|
||||
@@ -0,0 +1,91 @@
|
||||
/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */
|
||||
#ifndef __SERVICES_H
|
||||
#define __SERVICES_H
|
||||
#include <map>
|
||||
#include <string>
|
||||
struct service { std::string name; bool should_log; int frequency; int decimation; };
|
||||
static std::map<std::string, service> services = {
|
||||
{ "gyroscope", {"gyroscope", true, 104, 104}},
|
||||
{ "gyroscope2", {"gyroscope2", true, 100, 100}},
|
||||
{ "accelerometer", {"accelerometer", true, 104, 104}},
|
||||
{ "accelerometer2", {"accelerometer2", true, 100, 100}},
|
||||
{ "magnetometer", {"magnetometer", true, 25, -1}},
|
||||
{ "lightSensor", {"lightSensor", true, 100, 100}},
|
||||
{ "temperatureSensor", {"temperatureSensor", true, 2, 200}},
|
||||
{ "temperatureSensor2", {"temperatureSensor2", true, 2, 200}},
|
||||
{ "gpsNMEA", {"gpsNMEA", true, 9, -1}},
|
||||
{ "deviceState", {"deviceState", true, 2, 1}},
|
||||
{ "touch", {"touch", true, 20, 1}},
|
||||
{ "can", {"can", true, 100, 2053}},
|
||||
{ "controlsState", {"controlsState", true, 100, 10}},
|
||||
{ "selfdriveState", {"selfdriveState", true, 100, 10}},
|
||||
{ "pandaStates", {"pandaStates", true, 10, 1}},
|
||||
{ "peripheralState", {"peripheralState", true, 2, 1}},
|
||||
{ "radarState", {"radarState", true, 20, 5}},
|
||||
{ "roadEncodeIdx", {"roadEncodeIdx", false, 20, 1}},
|
||||
{ "liveTracks", {"liveTracks", true, 20, -1}},
|
||||
{ "sendcan", {"sendcan", true, 100, 139}},
|
||||
{ "logMessage", {"logMessage", true, 0, -1}},
|
||||
{ "errorLogMessage", {"errorLogMessage", true, 0, 1}},
|
||||
{ "liveCalibration", {"liveCalibration", true, 4, 4}},
|
||||
{ "liveTorqueParameters", {"liveTorqueParameters", true, 4, 1}},
|
||||
{ "liveDelay", {"liveDelay", true, 4, 1}},
|
||||
{ "androidLog", {"androidLog", true, 0, -1}},
|
||||
{ "carState", {"carState", true, 100, 10}},
|
||||
{ "carControl", {"carControl", true, 100, 10}},
|
||||
{ "carOutput", {"carOutput", true, 100, 10}},
|
||||
{ "longitudinalPlan", {"longitudinalPlan", true, 20, 10}},
|
||||
{ "driverAssistance", {"driverAssistance", true, 20, 20}},
|
||||
{ "procLog", {"procLog", true, 0, 15}},
|
||||
{ "gpsLocationExternal", {"gpsLocationExternal", true, 10, 10}},
|
||||
{ "gpsLocation", {"gpsLocation", true, 1, 1}},
|
||||
{ "ubloxGnss", {"ubloxGnss", true, 10, -1}},
|
||||
{ "qcomGnss", {"qcomGnss", true, 2, -1}},
|
||||
{ "gnssMeasurements", {"gnssMeasurements", true, 10, 10}},
|
||||
{ "clocks", {"clocks", true, 0, 1}},
|
||||
{ "ubloxRaw", {"ubloxRaw", true, 20, -1}},
|
||||
{ "livePose", {"livePose", true, 20, 4}},
|
||||
{ "liveParameters", {"liveParameters", true, 20, 5}},
|
||||
{ "cameraOdometry", {"cameraOdometry", true, 20, 10}},
|
||||
{ "thumbnail", {"thumbnail", true, 0, 1}},
|
||||
{ "onroadEvents", {"onroadEvents", true, 1, 1}},
|
||||
{ "carParams", {"carParams", true, 0, 1}},
|
||||
{ "roadCameraState", {"roadCameraState", true, 20, 20}},
|
||||
{ "driverCameraState", {"driverCameraState", true, 20, 20}},
|
||||
{ "driverEncodeIdx", {"driverEncodeIdx", false, 20, 1}},
|
||||
{ "driverStateV2", {"driverStateV2", true, 20, 10}},
|
||||
{ "driverMonitoringState", {"driverMonitoringState", true, 20, 10}},
|
||||
{ "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20, 1}},
|
||||
{ "wideRoadCameraState", {"wideRoadCameraState", true, 20, 20}},
|
||||
{ "drivingModelData", {"drivingModelData", true, 20, 10}},
|
||||
{ "modelV2", {"modelV2", true, 20, -1}},
|
||||
{ "managerState", {"managerState", true, 2, 1}},
|
||||
{ "uploaderState", {"uploaderState", true, 0, 1}},
|
||||
{ "navInstruction", {"navInstruction", true, 1, 10}},
|
||||
{ "navRoute", {"navRoute", true, 0, -1}},
|
||||
{ "navThumbnail", {"navThumbnail", true, 0, -1}},
|
||||
{ "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20, -1}},
|
||||
{ "userBookmark", {"userBookmark", true, 0, 1}},
|
||||
{ "soundPressure", {"soundPressure", true, 10, 10}},
|
||||
{ "rawAudioData", {"rawAudioData", false, 20, -1}},
|
||||
{ "bookmarkButton", {"bookmarkButton", true, 0, 1}},
|
||||
{ "audioFeedback", {"audioFeedback", true, 0, 1}},
|
||||
{ "uiDebug", {"uiDebug", true, 0, 1}},
|
||||
{ "testJoystick", {"testJoystick", true, 0, -1}},
|
||||
{ "alertDebug", {"alertDebug", true, 20, 5}},
|
||||
{ "roadEncodeData", {"roadEncodeData", false, 20, -1}},
|
||||
{ "driverEncodeData", {"driverEncodeData", false, 20, -1}},
|
||||
{ "wideRoadEncodeData", {"wideRoadEncodeData", false, 20, -1}},
|
||||
{ "qRoadEncodeData", {"qRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", false, 20, -1}},
|
||||
{ "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20, -1}},
|
||||
{ "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20, -1}},
|
||||
{ "customReservedRawData0", {"customReservedRawData0", true, 0, -1}},
|
||||
{ "customReservedRawData1", {"customReservedRawData1", true, 0, -1}},
|
||||
{ "customReservedRawData2", {"customReservedRawData2", true, 0, -1}},
|
||||
};
|
||||
#endif
|
||||
|
||||
Executable
+126
@@ -0,0 +1,126 @@
|
||||
#!/usr/bin/env python3
|
||||
from typing import Optional
|
||||
|
||||
|
||||
class Service:
|
||||
def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
|
||||
self.should_log = should_log
|
||||
self.frequency = frequency
|
||||
self.decimation = decimation
|
||||
|
||||
|
||||
_services: dict[str, tuple] = {
|
||||
# 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, 25.),
|
||||
"lightSensor": (True, 100., 100),
|
||||
"temperatureSensor": (True, 2., 200),
|
||||
"temperatureSensor2": (True, 2., 200),
|
||||
"gpsNMEA": (True, 9.),
|
||||
"deviceState": (True, 2., 1),
|
||||
"touch": (True, 20., 1),
|
||||
"can": (True, 100., 2053), # decimation gives ~3 msgs in a full segment
|
||||
"controlsState": (True, 100., 10),
|
||||
"selfdriveState": (True, 100., 10),
|
||||
"pandaStates": (True, 10., 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),
|
||||
"liveDelay": (True, 4., 1),
|
||||
"androidLog": (True, 0.),
|
||||
"carState": (True, 100., 10),
|
||||
"carControl": (True, 100., 10),
|
||||
"carOutput": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 10),
|
||||
"driverAssistance": (True, 20., 20),
|
||||
"procLog": (True, 0.5, 15),
|
||||
"gpsLocationExternal": (True, 10., 10),
|
||||
"gpsLocation": (True, 1., 1),
|
||||
"ubloxGnss": (True, 10.),
|
||||
"qcomGnss": (True, 2.),
|
||||
"gnssMeasurements": (True, 10., 10),
|
||||
"clocks": (True, 0.1, 1),
|
||||
"ubloxRaw": (True, 20.),
|
||||
"livePose": (True, 20., 4),
|
||||
"liveParameters": (True, 20., 5),
|
||||
"cameraOdometry": (True, 20., 10),
|
||||
"thumbnail": (True, 1 / 60., 1),
|
||||
"onroadEvents": (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),
|
||||
"drivingModelData": (True, 20., 10),
|
||||
"modelV2": (True, 20.),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
"navInstruction": (True, 1., 10),
|
||||
"navRoute": (True, 0.),
|
||||
"navThumbnail": (True, 0.),
|
||||
"qRoadEncodeIdx": (False, 20.),
|
||||
"userBookmark": (True, 0., 1),
|
||||
"soundPressure": (True, 10., 10),
|
||||
"rawAudioData": (False, 20.),
|
||||
"bookmarkButton": (True, 0., 1),
|
||||
"audioFeedback": (True, 0., 1),
|
||||
|
||||
# debug
|
||||
"uiDebug": (True, 0., 1),
|
||||
"testJoystick": (True, 0.),
|
||||
"alertDebug": (True, 20., 5),
|
||||
"roadEncodeData": (False, 20.),
|
||||
"driverEncodeData": (False, 20.),
|
||||
"wideRoadEncodeData": (False, 20.),
|
||||
"qRoadEncodeData": (False, 20.),
|
||||
"livestreamWideRoadEncodeIdx": (False, 20.),
|
||||
"livestreamRoadEncodeIdx": (False, 20.),
|
||||
"livestreamDriverEncodeIdx": (False, 20.),
|
||||
"livestreamWideRoadEncodeData": (False, 20.),
|
||||
"livestreamRoadEncodeData": (False, 20.),
|
||||
"livestreamDriverEncodeData": (False, 20.),
|
||||
"customReservedRawData0": (True, 0.),
|
||||
"customReservedRawData1": (True, 0.),
|
||||
"customReservedRawData2": (True, 0.),
|
||||
}
|
||||
SERVICE_LIST = {name: Service(*vals) for
|
||||
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 += "#include <map>\n"
|
||||
h += "#include <string>\n"
|
||||
|
||||
h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
|
||||
h += "static std::map<std::string, 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", {"%s", %s, %d, %d}},\n' % \
|
||||
(k, k, should_log, v.frequency, decimation)
|
||||
h += "};\n"
|
||||
|
||||
h += "#endif\n"
|
||||
return h
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
print(build_header())
|
||||
@@ -0,0 +1 @@
|
||||
*.cpp
|
||||
@@ -0,0 +1,35 @@
|
||||
Import('env', 'envCython', 'arch')
|
||||
|
||||
common_libs = [
|
||||
'params.cc',
|
||||
'swaglog.cc',
|
||||
'util.cc',
|
||||
'watchdog.cc',
|
||||
'ratekeeper.cc'
|
||||
]
|
||||
|
||||
_common = env.Library('common', common_libs, LIBS="json11")
|
||||
|
||||
files = [
|
||||
'clutil.cc',
|
||||
]
|
||||
|
||||
_gpucommon = env.Library('gpucommon', files)
|
||||
Export('_common', '_gpucommon')
|
||||
|
||||
if GetOption('extras'):
|
||||
env.Program('tests/test_common',
|
||||
['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
|
||||
LIBS=[_common, 'json11', 'zmq', 'pthread'])
|
||||
|
||||
# Cython bindings
|
||||
params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
|
||||
|
||||
SConscript([
|
||||
'transformations/SConscript',
|
||||
])
|
||||
|
||||
Import('transformations_python')
|
||||
common_python = [params_python, transformations_python]
|
||||
|
||||
Export('common_python')
|
||||
@@ -0,0 +1,46 @@
|
||||
import jwt
|
||||
import os
|
||||
import requests
|
||||
from datetime import datetime, timedelta, UTC
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.version import get_version
|
||||
|
||||
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
|
||||
|
||||
class Api:
|
||||
def __init__(self, dongle_id):
|
||||
self.dongle_id = dongle_id
|
||||
with open(Paths.persist_root()+'/comma/id_rsa') as f:
|
||||
self.private_key = f.read()
|
||||
|
||||
def get(self, *args, **kwargs):
|
||||
return self.request('GET', *args, **kwargs)
|
||||
|
||||
def post(self, *args, **kwargs):
|
||||
return self.request('POST', *args, **kwargs)
|
||||
|
||||
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, expiry_hours=1):
|
||||
now = datetime.now(UTC).replace(tzinfo=None)
|
||||
payload = {
|
||||
'identity': self.dongle_id,
|
||||
'nbf': now,
|
||||
'iat': now,
|
||||
'exp': now + timedelta(hours=expiry_hours)
|
||||
}
|
||||
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):
|
||||
headers = {}
|
||||
if access_token is not None:
|
||||
headers['Authorization'] = "JWT " + access_token
|
||||
|
||||
headers['User-Agent'] = "openpilot-" + get_version()
|
||||
|
||||
return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
||||
@@ -0,0 +1,4 @@
|
||||
import os
|
||||
|
||||
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
@@ -0,0 +1,98 @@
|
||||
#include "common/clutil.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
|
||||
#include "common/util.h"
|
||||
#include "common/swaglog.h"
|
||||
|
||||
namespace { // helper functions
|
||||
|
||||
template <typename Func, typename Id, typename Name>
|
||||
std::string get_info(Func get_info_func, Id id, Name param_name) {
|
||||
size_t size = 0;
|
||||
CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
|
||||
std::string info(size, '\0');
|
||||
CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
|
||||
return info;
|
||||
}
|
||||
inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
|
||||
inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
|
||||
|
||||
void cl_print_info(cl_platform_id platform, cl_device_id device) {
|
||||
size_t work_group_size = 0;
|
||||
cl_device_type device_type = 0;
|
||||
clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
|
||||
clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
|
||||
const char *type_str = "Other...";
|
||||
switch (device_type) {
|
||||
case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
|
||||
case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
|
||||
case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
|
||||
}
|
||||
|
||||
LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
|
||||
LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
|
||||
LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
|
||||
LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
|
||||
LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
|
||||
LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
|
||||
LOGD("max work group size: %zu", work_group_size);
|
||||
LOGD("type = %d, %s", (int)device_type, type_str);
|
||||
}
|
||||
|
||||
void cl_print_build_errors(cl_program program, cl_device_id device) {
|
||||
cl_build_status status;
|
||||
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
|
||||
size_t log_size;
|
||||
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
|
||||
std::string log(log_size, '\0');
|
||||
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
|
||||
|
||||
LOGE("build failed; status=%d, log: %s", status, log.c_str());
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
cl_device_id cl_get_device_id(cl_device_type device_type) {
|
||||
cl_uint num_platforms = 0;
|
||||
CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
|
||||
std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
|
||||
CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
|
||||
|
||||
for (size_t i = 0; i < num_platforms; ++i) {
|
||||
LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
|
||||
|
||||
// Get first device
|
||||
if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
|
||||
cl_print_info(platform_ids[i], device_id);
|
||||
return device_id;
|
||||
}
|
||||
}
|
||||
LOGE("No valid openCL platform found");
|
||||
assert(0);
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
cl_context cl_create_context(cl_device_id device_id) {
|
||||
return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
|
||||
}
|
||||
|
||||
void cl_release_context(cl_context context) {
|
||||
clReleaseContext(context);
|
||||
}
|
||||
|
||||
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
|
||||
return cl_program_from_source(ctx, device_id, util::read_file(path), args);
|
||||
}
|
||||
|
||||
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
|
||||
const char *csrc = src.c_str();
|
||||
cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
|
||||
if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
|
||||
cl_print_build_errors(prg, device_id);
|
||||
assert(0);
|
||||
}
|
||||
return prg;
|
||||
}
|
||||
@@ -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_context cl_create_context(cl_device_id device_id);
|
||||
void cl_release_context(cl_context context);
|
||||
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_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
|
||||
@@ -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
|
||||
@@ -0,0 +1,58 @@
|
||||
import io
|
||||
import os
|
||||
import tempfile
|
||||
import contextlib
|
||||
import zstandard as zstd
|
||||
|
||||
LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
|
||||
|
||||
|
||||
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
|
||||
|
||||
|
||||
@contextlib.contextmanager
|
||||
def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None,
|
||||
overwrite: bool = False):
|
||||
"""Write to a file atomically using a temporary file in the same directory as the destination file."""
|
||||
dir_name = os.path.dirname(path)
|
||||
|
||||
if not overwrite and os.path.exists(path):
|
||||
raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
|
||||
|
||||
with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
|
||||
yield tmp_file
|
||||
tmp_file_name = tmp_file.name
|
||||
os.replace(tmp_file_name, path)
|
||||
|
||||
|
||||
def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
|
||||
if not should_compress:
|
||||
file_size = os.path.getsize(filepath)
|
||||
file_stream = open(filepath, "rb")
|
||||
return file_stream, file_size
|
||||
|
||||
# Compress the file on the fly
|
||||
compressed_stream = io.BytesIO()
|
||||
compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
|
||||
|
||||
with open(filepath, "rb") as f:
|
||||
compressor.copy_stream(f, compressed_stream)
|
||||
compressed_size = compressed_stream.tell()
|
||||
compressed_stream.seek(0)
|
||||
return compressed_stream, compressed_size
|
||||
@@ -0,0 +1,17 @@
|
||||
class FirstOrderFilter:
|
||||
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):
|
||||
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 +1,42 @@
|
||||
from functools import cache
|
||||
import subprocess
|
||||
from openpilot.common.run import run_cmd, run_cmd_default
|
||||
|
||||
|
||||
@cache
|
||||
def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
|
||||
return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
|
||||
return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_short_branch(cwd: str = None) -> str:
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_branch(cwd: str = None) -> str:
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_origin(cwd: str = None) -> str:
|
||||
try:
|
||||
local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
|
||||
tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
|
||||
return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd)
|
||||
except subprocess.CalledProcessError: # Not on a branch, fallback
|
||||
return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_normalized_origin(cwd: str = None) -> str:
|
||||
return get_origin(cwd) \
|
||||
.replace("git@", "", 1) \
|
||||
.replace(".git", "", 1) \
|
||||
.replace("https://", "", 1) \
|
||||
.replace(":", "/", 1)
|
||||
@@ -0,0 +1,85 @@
|
||||
#pragma once
|
||||
|
||||
typedef struct vec3 {
|
||||
float v[3];
|
||||
} vec3;
|
||||
|
||||
typedef struct vec4 {
|
||||
float v[4];
|
||||
} vec4;
|
||||
|
||||
typedef struct mat3 {
|
||||
float v[3*3];
|
||||
} mat3;
|
||||
|
||||
typedef struct mat4 {
|
||||
float v[4*4];
|
||||
} mat4;
|
||||
|
||||
static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
|
||||
mat3 ret = {{0.0}};
|
||||
for (int r=0; r<3; r++) {
|
||||
for (int c=0; c<3; c++) {
|
||||
float v = 0.0;
|
||||
for (int k=0; k<3; k++) {
|
||||
v += a.v[r*3+k] * b.v[k*3+c];
|
||||
}
|
||||
ret.v[r*3+c] = v;
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
|
||||
vec3 ret = {{0.0}};
|
||||
for (int r=0; r<3; r++) {
|
||||
for (int c=0; c<3; c++) {
|
||||
ret.v[r] += a.v[r*3+c] * b.v[c];
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline mat4 matmul(const mat4 &a, const mat4 &b) {
|
||||
mat4 ret = {{0.0}};
|
||||
for (int r=0; r<4; r++) {
|
||||
for (int c=0; c<4; c++) {
|
||||
float v = 0.0;
|
||||
for (int k=0; k<4; k++) {
|
||||
v += a.v[r*4+k] * b.v[k*4+c];
|
||||
}
|
||||
ret.v[r*4+c] = v;
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
|
||||
vec4 ret = {{0.0}};
|
||||
for (int r=0; r<4; r++) {
|
||||
for (int c=0; c<4; c++) {
|
||||
ret.v[r] += a.v[r*4+c] * b.v[c];
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
// scales the input and output space of a transformation matrix
|
||||
// that assumes pixel-center origin.
|
||||
static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
|
||||
// in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
|
||||
|
||||
mat3 transform_out = {{
|
||||
1.0f/s, 0.0f, 0.5f,
|
||||
0.0f, 1.0f/s, 0.5f,
|
||||
0.0f, 0.0f, 1.0f,
|
||||
}};
|
||||
|
||||
mat3 transform_in = {{
|
||||
s, 0.0f, -0.5f*s,
|
||||
0.0f, s, -0.5f*s,
|
||||
0.0f, 0.0f, 1.0f,
|
||||
}};
|
||||
|
||||
return matmul3(transform_in, matmul3(in, transform_out));
|
||||
}
|
||||
@@ -0,0 +1,50 @@
|
||||
"""
|
||||
Utilities for generating mock messages for testing.
|
||||
example in common/tests/test_mock.py
|
||||
"""
|
||||
|
||||
|
||||
import functools
|
||||
import threading
|
||||
from cereal.messaging import PubMaster
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.common.mock.generators import generate_livePose
|
||||
from openpilot.common.realtime import Ratekeeper
|
||||
|
||||
|
||||
MOCK_GENERATOR = {
|
||||
"livePose": generate_livePose
|
||||
}
|
||||
|
||||
|
||||
def generate_messages_loop(services: list[str], done: threading.Event):
|
||||
pm = PubMaster(services)
|
||||
rk = Ratekeeper(100)
|
||||
i = 0
|
||||
while not done.is_set():
|
||||
for s in services:
|
||||
should_send = i % (100/SERVICE_LIST[s].frequency) == 0
|
||||
if should_send:
|
||||
message = MOCK_GENERATOR[s]()
|
||||
pm.send(s, message)
|
||||
i += 1
|
||||
rk.keep_time()
|
||||
|
||||
|
||||
def mock_messages(services: list[str] | str):
|
||||
if isinstance(services, str):
|
||||
services = [services]
|
||||
|
||||
def decorator(func):
|
||||
@functools.wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
done = threading.Event()
|
||||
t = threading.Thread(target=generate_messages_loop, args=(services, done))
|
||||
t.start()
|
||||
try:
|
||||
return func(*args, **kwargs)
|
||||
finally:
|
||||
done.set()
|
||||
t.join()
|
||||
return wrapper
|
||||
return decorator
|
||||
@@ -0,0 +1,14 @@
|
||||
from cereal import messaging
|
||||
|
||||
|
||||
def generate_livePose():
|
||||
msg = messaging.new_message('livePose')
|
||||
meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
|
||||
msg.livePose.orientationNED = meas
|
||||
msg.livePose.velocityDevice = meas
|
||||
msg.livePose.angularVelocityDevice = meas
|
||||
msg.livePose.accelerationDevice = meas
|
||||
msg.livePose.inputsOK = True
|
||||
msg.livePose.posenetOK = True
|
||||
msg.livePose.sensorsOK = True
|
||||
return msg
|
||||
@@ -12,7 +12,7 @@
|
||||
#include "common/queue.h"
|
||||
#include "common/swaglog.h"
|
||||
#include "common/util.h"
|
||||
#include "common/hardware/hw.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
namespace {
|
||||
|
||||
@@ -103,12 +103,10 @@ Params::~Params() {
|
||||
assert(queue.empty());
|
||||
}
|
||||
|
||||
std::vector<std::string> Params::allKeys(ParamKeyFlag flag) const {
|
||||
std::vector<std::string> Params::allKeys() const {
|
||||
std::vector<std::string> ret;
|
||||
for (auto &p : keys) {
|
||||
if (flag == ALL || (p.second.flags & flag)) {
|
||||
ret.push_back(p.first);
|
||||
}
|
||||
ret.push_back(p.first);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
@@ -18,7 +18,6 @@ enum ParamKeyFlag {
|
||||
DONT_LOG = 0x20,
|
||||
DEVELOPMENT_ONLY = 0x40,
|
||||
CLEAR_ON_IGNITION_ON = 0x80,
|
||||
BACKUP = 0x100,
|
||||
ALL = 0xFFFFFFFF
|
||||
};
|
||||
|
||||
@@ -46,7 +45,7 @@ public:
|
||||
Params(const Params&) = delete;
|
||||
Params& operator=(const Params&) = delete;
|
||||
|
||||
std::vector<std::string> allKeys(ParamKeyFlag flag = ALL) const;
|
||||
std::vector<std::string> allKeys() const;
|
||||
bool checkKey(const std::string &key);
|
||||
ParamKeyFlag getKeyFlag(const std::string &key);
|
||||
ParamKeyType getKeyType(const std::string &key);
|
||||
@@ -0,0 +1,19 @@
|
||||
from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
|
||||
assert Params
|
||||
assert ParamKeyFlag
|
||||
assert ParamKeyType
|
||||
assert UnknownKeyName
|
||||
|
||||
if __name__ == "__main__":
|
||||
import sys
|
||||
|
||||
params = Params()
|
||||
key = sys.argv[1]
|
||||
assert params.check_key(key), f"unknown param: {key}"
|
||||
|
||||
if len(sys.argv) == 3:
|
||||
val = sys.argv[2]
|
||||
print(f"SET: {key} = {val}")
|
||||
params.put(key, val)
|
||||
elif len(sys.argv) == 2:
|
||||
print(f"GET: {key} = {params.get(key)}")
|
||||
@@ -0,0 +1,132 @@
|
||||
#pragma once
|
||||
|
||||
#include <string>
|
||||
#include <unordered_map>
|
||||
|
||||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
|
||||
inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
|
||||
{"AdbEnabled", {PERSISTENT, BOOL}},
|
||||
{"AlwaysOnDM", {PERSISTENT, BOOL}},
|
||||
{"ApiCache_Device", {PERSISTENT, STRING}},
|
||||
{"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
|
||||
{"AssistNowToken", {PERSISTENT, STRING}},
|
||||
{"AthenadPid", {PERSISTENT, INT}},
|
||||
{"AthenadUploadQueue", {PERSISTENT, JSON}},
|
||||
{"AthenadRecentlyViewedRoutes", {PERSISTENT, STRING}},
|
||||
{"BootCount", {PERSISTENT, INT}},
|
||||
{"CalibrationParams", {PERSISTENT, BYTES}},
|
||||
{"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"CameraDebugExpTime", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"CarBatteryCapacity", {PERSISTENT, INT}},
|
||||
{"CarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
|
||||
{"CarParamsCache", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"CarParamsPersistent", {PERSISTENT, BYTES}},
|
||||
{"CarParamsPrevRoute", {PERSISTENT, BYTES}},
|
||||
{"CompletedTrainingVersion", {PERSISTENT, STRING, "0"}},
|
||||
{"ControlsReady", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"CurrentBootlog", {PERSISTENT, STRING}},
|
||||
{"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"DisableLogging", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"DisablePowerDown", {PERSISTENT, BOOL}},
|
||||
{"DisableUpdates", {PERSISTENT, BOOL}},
|
||||
{"DisengageOnAccelerator", {PERSISTENT, BOOL, "0"}},
|
||||
{"DongleId", {PERSISTENT, STRING}},
|
||||
{"DoReboot", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
|
||||
{"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY, BOOL}},
|
||||
{"ExperimentalMode", {PERSISTENT, BOOL}},
|
||||
{"ExperimentalModeConfirmed", {PERSISTENT, BOOL}},
|
||||
{"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"ForcePowerDown", {PERSISTENT, BOOL}},
|
||||
{"GitBranch", {PERSISTENT, STRING}},
|
||||
{"GitCommit", {PERSISTENT, STRING}},
|
||||
{"GitCommitDate", {PERSISTENT, STRING}},
|
||||
{"GitDiff", {PERSISTENT, STRING}},
|
||||
{"GithubSshKeys", {PERSISTENT, STRING}},
|
||||
{"GithubUsername", {PERSISTENT, STRING}},
|
||||
{"GitRemote", {PERSISTENT, STRING}},
|
||||
{"GsmApn", {PERSISTENT, STRING}},
|
||||
{"GsmMetered", {PERSISTENT, BOOL, "1"}},
|
||||
{"GsmRoaming", {PERSISTENT, BOOL}},
|
||||
{"HardwareSerial", {PERSISTENT, STRING}},
|
||||
{"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
|
||||
{"InstallDate", {PERSISTENT, TIME}},
|
||||
{"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsEngaged", {PERSISTENT, BOOL}},
|
||||
{"IsLdwEnabled", {PERSISTENT, BOOL}},
|
||||
{"IsMetric", {PERSISTENT, BOOL}},
|
||||
{"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsOnroad", {PERSISTENT, BOOL}},
|
||||
{"IsRhdDetected", {PERSISTENT, BOOL}},
|
||||
{"IsReleaseBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"LanguageSetting", {PERSISTENT, STRING, "main_en"}},
|
||||
{"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
|
||||
{"LastGPSPosition", {PERSISTENT, STRING}},
|
||||
{"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
|
||||
{"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
|
||||
{"LastUpdateTime", {PERSISTENT, TIME}},
|
||||
{"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"LiveDelay", {PERSISTENT, BYTES}},
|
||||
{"LiveParameters", {PERSISTENT, JSON}},
|
||||
{"LiveParametersV2", {PERSISTENT, BYTES}},
|
||||
{"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
|
||||
{"LocationFilterInitialState", {PERSISTENT, BYTES}},
|
||||
{"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
|
||||
{"NetworkMetered", {PERSISTENT, BOOL}},
|
||||
{"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
|
||||
{"Offroad_IsTakingSnapshot", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_StorageMissing", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"OpenpilotEnabledToggle", {PERSISTENT, BOOL, "1"}},
|
||||
{"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"PrimeType", {PERSISTENT, INT}},
|
||||
{"RecordAudio", {PERSISTENT, BOOL}},
|
||||
{"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}},
|
||||
{"RecordFront", {PERSISTENT, BOOL}},
|
||||
{"RecordFrontLock", {PERSISTENT, BOOL}}, // for the internal fleet
|
||||
{"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
|
||||
{"RouteCount", {PERSISTENT, INT, "0"}},
|
||||
{"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"SshEnabled", {PERSISTENT, BOOL}},
|
||||
{"TermsVersion", {PERSISTENT, STRING}},
|
||||
{"TrainingVersion", {PERSISTENT, STRING}},
|
||||
{"UbloxAvailable", {PERSISTENT, BOOL}},
|
||||
{"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"UpdateFailedCount", {CLEAR_ON_MANAGER_START, INT}},
|
||||
{"UpdaterAvailableBranches", {PERSISTENT, STRING}},
|
||||
{"UpdaterCurrentDescription", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"UpdaterCurrentReleaseNotes", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"UpdaterFetchAvailable", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"UpdaterNewDescription", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"UpdaterNewReleaseNotes", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"UpdaterState", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"UpdaterTargetBranch", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"UpdaterLastFetchTime", {PERSISTENT, TIME}},
|
||||
{"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"Version", {PERSISTENT, STRING}},
|
||||
};
|
||||
+17719
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,196 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
import builtins
|
||||
import datetime
|
||||
import json
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libcpp.optional cimport optional
|
||||
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
cdef extern from "common/params.h":
|
||||
cpdef enum ParamKeyFlag:
|
||||
PERSISTENT
|
||||
CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_ONROAD_TRANSITION
|
||||
CLEAR_ON_OFFROAD_TRANSITION
|
||||
DEVELOPMENT_ONLY
|
||||
CLEAR_ON_IGNITION_ON
|
||||
ALL
|
||||
|
||||
cpdef enum ParamKeyType:
|
||||
STRING
|
||||
BOOL
|
||||
INT
|
||||
FLOAT
|
||||
TIME
|
||||
JSON
|
||||
BYTES
|
||||
|
||||
cdef cppclass c_Params "Params":
|
||||
c_Params(string) except + nogil
|
||||
string get(string, bool) nogil
|
||||
bool getBool(string, bool) nogil
|
||||
int remove(string) nogil
|
||||
int put(string, string) nogil
|
||||
void putNonBlocking(string, string) nogil
|
||||
void putBoolNonBlocking(string, bool) nogil
|
||||
int putBool(string, bool) nogil
|
||||
bool checkKey(string) nogil
|
||||
ParamKeyType getKeyType(string) nogil
|
||||
optional[string] getKeyDefaultValue(string) nogil
|
||||
string getParamPath(string) nogil
|
||||
void clearAll(ParamKeyFlag)
|
||||
vector[string] allKeys()
|
||||
|
||||
PYTHON_2_CPP = {
|
||||
(str, STRING): lambda v: v,
|
||||
(builtins.bool, BOOL): lambda v: "1" if v else "0",
|
||||
(int, INT): str,
|
||||
(float, FLOAT): str,
|
||||
(datetime.datetime, TIME): lambda v: v.isoformat(),
|
||||
(dict, JSON): json.dumps,
|
||||
(list, JSON): json.dumps,
|
||||
(bytes, BYTES): lambda v: v,
|
||||
}
|
||||
CPP_2_PYTHON = {
|
||||
STRING: lambda v: v.decode("utf-8"),
|
||||
BOOL: lambda v: v == b"1",
|
||||
INT: int,
|
||||
FLOAT: float,
|
||||
TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
|
||||
JSON: json.loads,
|
||||
BYTES: lambda v: v,
|
||||
}
|
||||
|
||||
def ensure_bytes(v):
|
||||
return v.encode() if isinstance(v, str) else v
|
||||
|
||||
class UnknownKeyName(Exception):
|
||||
pass
|
||||
|
||||
cdef class Params:
|
||||
cdef c_Params* p
|
||||
cdef str d
|
||||
|
||||
def __cinit__(self, d=""):
|
||||
cdef string path = <string>d.encode()
|
||||
with nogil:
|
||||
self.p = new c_Params(path)
|
||||
self.d = d
|
||||
|
||||
def __reduce__(self):
|
||||
return (type(self), (self.d,))
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.p
|
||||
|
||||
def clear_all(self, tx_flag=ParamKeyFlag.ALL):
|
||||
self.p.clearAll(tx_flag)
|
||||
|
||||
def check_key(self, key):
|
||||
key = ensure_bytes(key)
|
||||
if not self.p.checkKey(key):
|
||||
raise UnknownKeyName(key)
|
||||
return key
|
||||
|
||||
def python2cpp(self, proposed_type, expected_type, value, key):
|
||||
cast = PYTHON_2_CPP.get((proposed_type, expected_type))
|
||||
if cast:
|
||||
return cast(value)
|
||||
raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
|
||||
|
||||
def _cpp2python(self, t, value, default, key):
|
||||
if value is None:
|
||||
return None
|
||||
try:
|
||||
return CPP_2_PYTHON[t](value)
|
||||
except (KeyError, TypeError, ValueError):
|
||||
cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
|
||||
return self._cpp2python(t, default, None, key)
|
||||
|
||||
def get(self, key, bool block=False, bool return_default=False):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
cdef optional[string] default = self.p.getKeyDefaultValue(k)
|
||||
cdef string val
|
||||
with nogil:
|
||||
val = self.p.get(k, block)
|
||||
|
||||
default_val = (default.value() if default.has_value() else None) if return_default else None
|
||||
if val == b"":
|
||||
if block:
|
||||
# If we got no value while running in blocked mode
|
||||
# it means we got an interrupt while waiting
|
||||
raise KeyboardInterrupt
|
||||
else:
|
||||
return self._cpp2python(t, default_val, None, key)
|
||||
return self._cpp2python(t, val, default_val, key)
|
||||
|
||||
def get_bool(self, key, bool block=False):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef bool r
|
||||
with nogil:
|
||||
r = self.p.getBool(k, block)
|
||||
return r
|
||||
|
||||
def _put_cast(self, key, dat):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
In very rare cases this can take over a second, and your code will hang.
|
||||
Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but
|
||||
in general try to avoid writing params as much as possible.
|
||||
"""
|
||||
cdef string k = self.check_key(key)
|
||||
cdef string dat_bytes = self._put_cast(key, dat)
|
||||
with nogil:
|
||||
self.p.put(k, dat_bytes)
|
||||
|
||||
def put_bool(self, key, bool val):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
self.p.putBool(k, val)
|
||||
|
||||
def put_nonblocking(self, key, dat):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef string dat_bytes = self._put_cast(key, dat)
|
||||
with nogil:
|
||||
self.p.putNonBlocking(k, dat_bytes)
|
||||
|
||||
def put_bool_nonblocking(self, key, bool val):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
self.p.putBoolNonBlocking(k, val)
|
||||
|
||||
def remove(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
self.p.remove(k)
|
||||
|
||||
def get_param_path(self, key=""):
|
||||
cdef string key_bytes = ensure_bytes(key)
|
||||
return self.p.getParamPath(key_bytes).decode("utf-8")
|
||||
|
||||
def get_type(self, key):
|
||||
return self.p.getKeyType(self.check_key(key))
|
||||
|
||||
def all_keys(self):
|
||||
return self.p.allKeys()
|
||||
|
||||
def get_default_value(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
cdef optional[string] default = self.p.getKeyDefaultValue(k)
|
||||
return self._cpp2python(t, default.value(), None, key) if default.has_value() else None
|
||||
|
||||
def cpp2python(self, key, value):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef ParamKeyType t = self.p.getKeyType(k)
|
||||
return self._cpp2python(t, value, None, key)
|
||||
Executable
BIN
Binary file not shown.
@@ -0,0 +1,64 @@
|
||||
import numpy as np
|
||||
from numbers import Number
|
||||
|
||||
class PIDController:
|
||||
def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
|
||||
self._k_p = k_p
|
||||
self._k_i = k_i
|
||||
self._k_d = k_d
|
||||
self.k_f = k_f # feedforward gain
|
||||
if isinstance(self._k_p, Number):
|
||||
self._k_p = [[0], [self._k_p]]
|
||||
if isinstance(self._k_i, Number):
|
||||
self._k_i = [[0], [self._k_i]]
|
||||
if isinstance(self._k_d, Number):
|
||||
self._k_d = [[0], [self._k_d]]
|
||||
|
||||
self.set_limits(pos_limit, neg_limit)
|
||||
|
||||
self.i_rate = 1.0 / rate
|
||||
self.speed = 0.0
|
||||
|
||||
self.reset()
|
||||
|
||||
@property
|
||||
def k_p(self):
|
||||
return np.interp(self.speed, self._k_p[0], self._k_p[1])
|
||||
|
||||
@property
|
||||
def k_i(self):
|
||||
return np.interp(self.speed, self._k_i[0], self._k_i[1])
|
||||
|
||||
@property
|
||||
def k_d(self):
|
||||
return np.interp(self.speed, self._k_d[0], self._k_d[1])
|
||||
|
||||
def reset(self):
|
||||
self.p = 0.0
|
||||
self.i = 0.0
|
||||
self.d = 0.0
|
||||
self.f = 0.0
|
||||
self.control = 0
|
||||
|
||||
def set_limits(self, pos_limit, neg_limit):
|
||||
self.pos_limit = pos_limit
|
||||
self.neg_limit = neg_limit
|
||||
|
||||
def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
|
||||
self.speed = speed
|
||||
self.p = float(error) * self.k_p
|
||||
self.f = feedforward * self.k_f
|
||||
self.d = error_rate * self.k_d
|
||||
|
||||
if not freeze_integrator:
|
||||
i = self.i + error * self.k_i * self.i_rate
|
||||
|
||||
# Don't allow windup if already clipping
|
||||
test_control = self.p + i + self.d + self.f
|
||||
i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
|
||||
i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
|
||||
self.i = np.clip(i, i_lowerbound, i_upperbound)
|
||||
|
||||
control = self.p + self.i + self.d + self.f
|
||||
self.control = np.clip(control, self.neg_limit, self.pos_limit)
|
||||
return self.control
|
||||
@@ -0,0 +1,39 @@
|
||||
#pragma once
|
||||
|
||||
#include <cassert>
|
||||
#include <string>
|
||||
|
||||
#include "common/params.h"
|
||||
#include "common/util.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
class OpenpilotPrefix {
|
||||
public:
|
||||
OpenpilotPrefix(std::string prefix = {}) {
|
||||
if (prefix.empty()) {
|
||||
prefix = util::random_string(15);
|
||||
}
|
||||
msgq_path = Path::shm_path() + "/" + prefix;
|
||||
bool ret = util::create_directories(msgq_path, 0777);
|
||||
assert(ret);
|
||||
setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
|
||||
}
|
||||
|
||||
~OpenpilotPrefix() {
|
||||
auto param_path = Params().getParamPath();
|
||||
if (util::file_exists(param_path)) {
|
||||
std::string real_path = util::readlink(param_path);
|
||||
system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
|
||||
unlink(param_path.c_str());
|
||||
}
|
||||
if (getenv("COMMA_CACHE") == nullptr) {
|
||||
system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
|
||||
}
|
||||
system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
|
||||
system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
|
||||
unsetenv("OPENPILOT_PREFIX");
|
||||
}
|
||||
|
||||
private:
|
||||
std::string msgq_path;
|
||||
};
|
||||
@@ -1,19 +1,17 @@
|
||||
import os
|
||||
import platform
|
||||
import shutil
|
||||
import uuid
|
||||
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.hardware import PC
|
||||
from openpilot.common.hardware.hw import Paths
|
||||
from openpilot.common.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
|
||||
from openpilot.system.hardware import PC
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
|
||||
|
||||
class OpenpilotPrefix:
|
||||
def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
|
||||
def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
|
||||
self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
|
||||
shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm"
|
||||
self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix)
|
||||
self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
|
||||
self.create_dirs_on_enter = create_dirs_on_enter
|
||||
self.clean_dirs_on_exit = clean_dirs_on_exit
|
||||
self.shared_download_cache = shared_download_cache
|
||||
@@ -6,9 +6,9 @@
|
||||
#include "common/timing.h"
|
||||
#include "common/util.h"
|
||||
|
||||
RateKeeper::RateKeeper(const std::string &name_, float rate, float print_delay_threshold_)
|
||||
: name(name_),
|
||||
print_delay_threshold(std::max(0.f, print_delay_threshold_)) {
|
||||
RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
|
||||
: name(name),
|
||||
print_delay_threshold(std::max(0.f, print_delay_threshold)) {
|
||||
interval = 1 / rate;
|
||||
last_monitor_time = seconds_since_boot();
|
||||
next_frame_time = last_monitor_time + interval;
|
||||
@@ -6,8 +6,8 @@ import time
|
||||
|
||||
from setproctitle import getproctitle
|
||||
|
||||
from openpilot.common.utils import MovingAverage
|
||||
from openpilot.common.hardware import PC
|
||||
from openpilot.common.util import MovingAverage
|
||||
from openpilot.system.hardware import PC
|
||||
|
||||
|
||||
# time step for each process
|
||||
@@ -28,11 +28,6 @@ class Priority:
|
||||
CTRL_HIGH = 53
|
||||
|
||||
|
||||
def drop_realtime() -> None:
|
||||
if sys.platform == 'linux' and not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_OTHER, os.sched_param(0))
|
||||
|
||||
|
||||
def set_core_affinity(cores: list[int]) -> None:
|
||||
if sys.platform == 'linux' and not PC:
|
||||
os.sched_setaffinity(0, cores)
|
||||
@@ -0,0 +1,30 @@
|
||||
import time
|
||||
import functools
|
||||
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
|
||||
def retry(attempts=3, delay=1.0, ignore_failure=False):
|
||||
def decorator(func):
|
||||
@functools.wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
for _ in range(attempts):
|
||||
try:
|
||||
return func(*args, **kwargs)
|
||||
except Exception:
|
||||
cloudlog.exception(f"{func.__name__} failed, trying again")
|
||||
time.sleep(delay)
|
||||
|
||||
if ignore_failure:
|
||||
cloudlog.error(f"{func.__name__} failed after retry")
|
||||
else:
|
||||
raise Exception(f"{func.__name__} failed after retry")
|
||||
return wrapper
|
||||
return decorator
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
@retry(attempts=10)
|
||||
def abc():
|
||||
raise ValueError("abc failed :(")
|
||||
abc()
|
||||
@@ -0,0 +1,28 @@
|
||||
import subprocess
|
||||
from contextlib import contextmanager
|
||||
from subprocess import Popen, PIPE, TimeoutExpired
|
||||
|
||||
|
||||
def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
|
||||
return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
|
||||
|
||||
|
||||
def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
|
||||
try:
|
||||
return run_cmd(cmd, cwd=cwd, env=env)
|
||||
except subprocess.CalledProcessError:
|
||||
return default
|
||||
|
||||
|
||||
@contextmanager
|
||||
def managed_proc(cmd: list[str], env: dict[str, str]):
|
||||
proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
|
||||
try:
|
||||
yield proc
|
||||
finally:
|
||||
if proc.poll() is None:
|
||||
proc.terminate()
|
||||
try:
|
||||
proc.wait(timeout=5)
|
||||
except TimeoutExpired:
|
||||
proc.kill()
|
||||
Executable
+52
@@ -0,0 +1,52 @@
|
||||
import os
|
||||
import subprocess
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
|
||||
|
||||
class Spinner:
|
||||
def __init__(self):
|
||||
try:
|
||||
self.spinner_proc = subprocess.Popen(["./spinner.py"],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "system", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.spinner_proc = None
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, spinner_text: str):
|
||||
if self.spinner_proc is not None:
|
||||
self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
|
||||
try:
|
||||
self.spinner_proc.stdin.flush()
|
||||
except BrokenPipeError:
|
||||
pass
|
||||
|
||||
def update_progress(self, cur: float, total: float):
|
||||
self.update(str(round(100 * cur / total)))
|
||||
|
||||
def close(self):
|
||||
if self.spinner_proc is not None:
|
||||
self.spinner_proc.kill()
|
||||
try:
|
||||
self.spinner_proc.communicate(timeout=2.)
|
||||
except subprocess.TimeoutExpired:
|
||||
print("WARNING: failed to kill spinner")
|
||||
self.spinner_proc = None
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import time
|
||||
with Spinner() as s:
|
||||
s.update("Spinner text")
|
||||
time.sleep(5.0)
|
||||
print("gone")
|
||||
time.sleep(5.0)
|
||||
@@ -48,6 +48,9 @@ class RunningStat:
|
||||
def std(self):
|
||||
return np.sqrt(self.variance())
|
||||
|
||||
def params_to_save(self):
|
||||
return [self.M, self.S, self.n]
|
||||
|
||||
class RunningStatFilter:
|
||||
def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
|
||||
self.raw_stat = RunningStat(raw_priors, -1)
|
||||
@@ -11,11 +11,9 @@
|
||||
|
||||
#include <zmq.h>
|
||||
#include <stdarg.h>
|
||||
#include "json11/json11.hpp"
|
||||
#include "third_party/json11/json11.hpp"
|
||||
#include "common/version.h"
|
||||
#include "common/hardware/hw.h"
|
||||
|
||||
#include "sunnypilot/common/version.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
class SwaglogState {
|
||||
public:
|
||||
@@ -58,7 +56,7 @@ public:
|
||||
if (char* daemon_name = getenv("MANAGER_DAEMON")) {
|
||||
ctx_j["daemon"] = daemon_name;
|
||||
}
|
||||
ctx_j["version"] = SUNNYPILOT_VERSION;
|
||||
ctx_j["version"] = COMMA_VERSION;
|
||||
ctx_j["dirty"] = !getenv("CLEAN");
|
||||
ctx_j["device"] = Hardware::get_name();
|
||||
}
|
||||
@@ -8,7 +8,7 @@ from logging.handlers import BaseRotatingHandler
|
||||
import zmq
|
||||
|
||||
from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
|
||||
from openpilot.common.hardware.hw import Paths
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
|
||||
|
||||
def get_file_handler():
|
||||
@@ -27,7 +27,7 @@ class SwaglogRotatingFileHandler(BaseRotatingHandler):
|
||||
self.log_files = self.get_existing_logfiles()
|
||||
log_indexes = [f.split(".")[-1] for f in self.log_files]
|
||||
self.last_file_idx = max([int(i) for i in log_indexes if i.isdigit()] or [-1])
|
||||
self.last_rollover = 0.0
|
||||
self.last_rollover = None
|
||||
self.doRollover()
|
||||
|
||||
def _open(self):
|
||||
@@ -39,14 +39,13 @@ class SwaglogRotatingFileHandler(BaseRotatingHandler):
|
||||
return stream
|
||||
|
||||
def get_existing_logfiles(self):
|
||||
log_files = []
|
||||
log_files = list()
|
||||
base_dir = os.path.dirname(self.base_filename)
|
||||
for fn in os.listdir(base_dir):
|
||||
fp = os.path.join(base_dir, fn)
|
||||
if fp.startswith(self.base_filename) and os.path.isfile(fp):
|
||||
log_files.append(fp)
|
||||
# newest first, matching _open()'s insert(0, ...) so doRollover()'s pop() deletes the oldest
|
||||
return sorted(log_files, reverse=True)
|
||||
return sorted(log_files)
|
||||
|
||||
def shouldRollover(self, record):
|
||||
size_exceeded = self.max_bytes > 0 and self.stream.tell() >= self.max_bytes
|
||||
@@ -0,0 +1 @@
|
||||
test_common
|
||||
@@ -0,0 +1,19 @@
|
||||
import os
|
||||
from uuid import uuid4
|
||||
|
||||
from openpilot.common.file_helpers import atomic_write_in_dir
|
||||
|
||||
|
||||
class TestFileHelpers:
|
||||
def run_atomic_write_func(self, atomic_write_func):
|
||||
path = f"/tmp/tmp{uuid4()}"
|
||||
with atomic_write_func(path) as f:
|
||||
f.write("test")
|
||||
assert not os.path.exists(path)
|
||||
|
||||
with open(path) as f:
|
||||
assert f.read() == "test"
|
||||
os.remove(path)
|
||||
|
||||
def test_atomic_write_in_dir(self):
|
||||
self.run_atomic_write_func(atomic_write_in_dir)
|
||||
@@ -0,0 +1,15 @@
|
||||
import os
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.common.markdown import parse_markdown
|
||||
|
||||
|
||||
class TestMarkdown:
|
||||
def test_all_release_notes(self):
|
||||
with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
|
||||
release_notes = f.read().split("\n\n")
|
||||
assert len(release_notes) > 10
|
||||
|
||||
for rn in release_notes:
|
||||
md = parse_markdown(rn)
|
||||
assert len(md) > 0
|
||||
@@ -0,0 +1,27 @@
|
||||
#include "catch2/catch.hpp"
|
||||
#define private public
|
||||
#include "common/params.h"
|
||||
#include "common/util.h"
|
||||
|
||||
TEST_CASE("params_nonblocking_put") {
|
||||
char tmp_path[] = "/tmp/asyncWriter_XXXXXX";
|
||||
const std::string param_path = mkdtemp(tmp_path);
|
||||
auto param_names = {"CarParams", "IsMetric"};
|
||||
{
|
||||
Params params(param_path);
|
||||
for (const auto &name : param_names) {
|
||||
params.putNonBlocking(name, "1");
|
||||
// param is empty
|
||||
REQUIRE(params.get(name).empty());
|
||||
}
|
||||
|
||||
// check if thread is running
|
||||
REQUIRE(params.future.valid());
|
||||
REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout);
|
||||
}
|
||||
// check results
|
||||
Params p(param_path);
|
||||
for (const auto &name : param_names) {
|
||||
REQUIRE(p.get(name) == "1");
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,141 @@
|
||||
import pytest
|
||||
import datetime
|
||||
import os
|
||||
import threading
|
||||
import time
|
||||
import uuid
|
||||
|
||||
from openpilot.common.params import Params, ParamKeyFlag, UnknownKeyName
|
||||
|
||||
class TestParams:
|
||||
def setup_method(self):
|
||||
self.params = Params()
|
||||
|
||||
def test_params_put_and_get(self):
|
||||
self.params.put("DongleId", "cb38263377b873ee")
|
||||
assert self.params.get("DongleId") == "cb38263377b873ee"
|
||||
|
||||
def test_params_non_ascii(self):
|
||||
st = b"\xe1\x90\xff"
|
||||
self.params.put("CarParams", st)
|
||||
assert self.params.get("CarParams") == st
|
||||
|
||||
def test_params_get_cleared_manager_start(self):
|
||||
self.params.put("CarParams", b"test")
|
||||
self.params.put("DongleId", "cb38263377b873ee")
|
||||
assert self.params.get("CarParams") == b"test"
|
||||
|
||||
undefined_param = self.params.get_param_path(uuid.uuid4().hex)
|
||||
with open(undefined_param, "w") as f:
|
||||
f.write("test")
|
||||
assert os.path.isfile(undefined_param)
|
||||
|
||||
self.params.clear_all(ParamKeyFlag.CLEAR_ON_MANAGER_START)
|
||||
assert self.params.get("CarParams") is None
|
||||
assert self.params.get("DongleId") is not None
|
||||
assert not os.path.isfile(undefined_param)
|
||||
|
||||
def test_params_two_things(self):
|
||||
self.params.put("DongleId", "bob")
|
||||
self.params.put("AthenadPid", 123)
|
||||
assert self.params.get("DongleId") == "bob"
|
||||
assert self.params.get("AthenadPid") == 123
|
||||
|
||||
def test_params_get_block(self):
|
||||
def _delayed_writer():
|
||||
time.sleep(0.1)
|
||||
self.params.put("CarParams", b"test")
|
||||
threading.Thread(target=_delayed_writer).start()
|
||||
assert self.params.get("CarParams") is None
|
||||
assert self.params.get("CarParams", block=True) == b"test"
|
||||
|
||||
def test_params_unknown_key_fails(self):
|
||||
with pytest.raises(UnknownKeyName):
|
||||
self.params.get("swag")
|
||||
|
||||
with pytest.raises(UnknownKeyName):
|
||||
self.params.get_bool("swag")
|
||||
|
||||
with pytest.raises(UnknownKeyName):
|
||||
self.params.put("swag", "abc")
|
||||
|
||||
with pytest.raises(UnknownKeyName):
|
||||
self.params.put_bool("swag", True)
|
||||
|
||||
def test_remove_not_there(self):
|
||||
assert self.params.get("CarParams") is None
|
||||
self.params.remove("CarParams")
|
||||
assert self.params.get("CarParams") is None
|
||||
|
||||
def test_get_bool(self):
|
||||
self.params.remove("IsMetric")
|
||||
assert not self.params.get_bool("IsMetric")
|
||||
|
||||
self.params.put_bool("IsMetric", True)
|
||||
assert self.params.get_bool("IsMetric")
|
||||
|
||||
self.params.put_bool("IsMetric", False)
|
||||
assert not self.params.get_bool("IsMetric")
|
||||
|
||||
self.params.put("IsMetric", True)
|
||||
assert self.params.get_bool("IsMetric")
|
||||
|
||||
self.params.put("IsMetric", False)
|
||||
assert not self.params.get_bool("IsMetric")
|
||||
|
||||
def test_put_non_blocking_with_get_block(self):
|
||||
q = Params()
|
||||
def _delayed_writer():
|
||||
time.sleep(0.1)
|
||||
Params().put_nonblocking("CarParams", b"test")
|
||||
threading.Thread(target=_delayed_writer).start()
|
||||
assert q.get("CarParams") is None
|
||||
assert q.get("CarParams", True) == b"test"
|
||||
|
||||
def test_put_bool_non_blocking_with_get_block(self):
|
||||
q = Params()
|
||||
def _delayed_writer():
|
||||
time.sleep(0.1)
|
||||
Params().put_bool_nonblocking("CarParams", True)
|
||||
threading.Thread(target=_delayed_writer).start()
|
||||
assert q.get("CarParams") is None
|
||||
assert q.get("CarParams", True) == b"1"
|
||||
|
||||
def test_params_all_keys(self):
|
||||
keys = Params().all_keys()
|
||||
|
||||
# sanity checks
|
||||
assert len(keys) > 20
|
||||
assert len(keys) == len(set(keys))
|
||||
assert b"CarParams" in keys
|
||||
|
||||
def test_params_default_value(self):
|
||||
self.params.remove("LanguageSetting")
|
||||
self.params.remove("LongitudinalPersonality")
|
||||
self.params.remove("LiveParameters")
|
||||
|
||||
assert self.params.get("LanguageSetting") is None
|
||||
assert self.params.get("LanguageSetting", return_default=False) is None
|
||||
assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
|
||||
assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
|
||||
assert self.params.get("LiveParameters") is None
|
||||
assert self.params.get("LiveParameters", return_default=True) is None
|
||||
|
||||
def test_params_get_type(self):
|
||||
# json
|
||||
self.params.put("ApiCache_FirehoseStats", {"a": 0})
|
||||
assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
|
||||
|
||||
# int
|
||||
self.params.put("BootCount", 1441)
|
||||
assert self.params.get("BootCount") == 1441
|
||||
|
||||
# bool
|
||||
self.params.put("AdbEnabled", True)
|
||||
assert self.params.get("AdbEnabled")
|
||||
assert isinstance(self.params.get("AdbEnabled"), bool)
|
||||
|
||||
# time
|
||||
now = datetime.datetime.now(datetime.UTC)
|
||||
self.params.put("InstallDate", now)
|
||||
assert self.params.get("InstallDate") == now
|
||||
@@ -0,0 +1,2 @@
|
||||
#define CATCH_CONFIG_MAIN
|
||||
#include "catch2/catch.hpp"
|
||||
@@ -1,8 +1,7 @@
|
||||
from openpilot.common.test import OpenpilotTestCase
|
||||
from openpilot.common.simple_kalman import KF1D
|
||||
|
||||
|
||||
class TestSimpleKalman(OpenpilotTestCase):
|
||||
class TestSimpleKalman:
|
||||
def setup_method(self):
|
||||
dt = 0.01
|
||||
x0_0 = 0.0
|
||||
@@ -0,0 +1,88 @@
|
||||
#include <zmq.h>
|
||||
|
||||
#include <iostream>
|
||||
|
||||
#include "catch2/catch.hpp"
|
||||
#include "common/swaglog.h"
|
||||
#include "common/util.h"
|
||||
#include "common/version.h"
|
||||
#include "system/hardware/hw.h"
|
||||
#include "third_party/json11/json11.hpp"
|
||||
|
||||
std::string daemon_name = "testy";
|
||||
std::string dongle_id = "test_dongle_id";
|
||||
int LINE_NO = 0;
|
||||
|
||||
void log_thread(int thread_id, int msg_cnt) {
|
||||
for (int i = 0; i < msg_cnt; ++i) {
|
||||
LOGD("%d", thread_id);
|
||||
LINE_NO = __LINE__ - 1;
|
||||
usleep(1);
|
||||
}
|
||||
}
|
||||
|
||||
void recv_log(int thread_cnt, int thread_msg_cnt) {
|
||||
void *zctx = zmq_ctx_new();
|
||||
void *sock = zmq_socket(zctx, ZMQ_PULL);
|
||||
zmq_bind(sock, Path::swaglog_ipc().c_str());
|
||||
std::vector<int> thread_msgs(thread_cnt);
|
||||
int total_count = 0;
|
||||
|
||||
for (auto start = std::chrono::steady_clock::now(), now = start;
|
||||
now < start + std::chrono::seconds{1} && total_count < (thread_cnt * thread_msg_cnt);
|
||||
now = std::chrono::steady_clock::now()) {
|
||||
char buf[4096] = {};
|
||||
if (zmq_recv(sock, buf, sizeof(buf), ZMQ_DONTWAIT) <= 0) {
|
||||
if (errno == EAGAIN || errno == EINTR || errno == EFSM) continue;
|
||||
break;
|
||||
}
|
||||
|
||||
REQUIRE(buf[0] == CLOUDLOG_DEBUG);
|
||||
std::string err;
|
||||
auto msg = json11::Json::parse(buf + 1, err);
|
||||
REQUIRE(!msg.is_null());
|
||||
|
||||
REQUIRE(msg["levelnum"].int_value() == CLOUDLOG_DEBUG);
|
||||
REQUIRE_THAT(msg["filename"].string_value(), Catch::Contains("test_swaglog.cc"));
|
||||
REQUIRE(msg["funcname"].string_value() == "log_thread");
|
||||
REQUIRE(msg["lineno"].int_value() == LINE_NO);
|
||||
|
||||
auto ctx = msg["ctx"];
|
||||
|
||||
REQUIRE(ctx["daemon"].string_value() == daemon_name);
|
||||
REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
|
||||
REQUIRE(ctx["dirty"].bool_value() == true);
|
||||
|
||||
REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
|
||||
|
||||
std::string device = Hardware::get_name();
|
||||
REQUIRE(ctx["device"].string_value() == device);
|
||||
|
||||
int thread_id = atoi(msg["msg"].string_value().c_str());
|
||||
REQUIRE((thread_id >= 0 && thread_id < thread_cnt));
|
||||
thread_msgs[thread_id]++;
|
||||
total_count++;
|
||||
}
|
||||
for (int i = 0; i < thread_cnt; ++i) {
|
||||
INFO("thread :" << i);
|
||||
REQUIRE(thread_msgs[i] == thread_msg_cnt);
|
||||
}
|
||||
zmq_close(sock);
|
||||
zmq_ctx_destroy(zctx);
|
||||
}
|
||||
|
||||
TEST_CASE("swaglog") {
|
||||
setenv("MANAGER_DAEMON", daemon_name.c_str(), 1);
|
||||
setenv("DONGLE_ID", dongle_id.c_str(), 1);
|
||||
setenv("dirty", "1", 1);
|
||||
const int thread_cnt = 5;
|
||||
const int thread_msg_cnt = 100;
|
||||
|
||||
std::vector<std::thread> log_threads;
|
||||
for (int i = 0; i < thread_cnt; ++i) {
|
||||
log_threads.push_back(std::thread(log_thread, i, thread_msg_cnt));
|
||||
}
|
||||
for (auto &t : log_threads) t.join();
|
||||
|
||||
recv_log(thread_cnt, thread_msg_cnt);
|
||||
}
|
||||
@@ -0,0 +1,147 @@
|
||||
|
||||
#include <dirent.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/types.h>
|
||||
|
||||
#include <algorithm>
|
||||
#include <climits>
|
||||
#include <fstream>
|
||||
#include <random>
|
||||
#include <string>
|
||||
|
||||
#include "catch2/catch.hpp"
|
||||
#include "common/util.h"
|
||||
|
||||
std::string random_bytes(int size) {
|
||||
std::random_device rd;
|
||||
std::independent_bits_engine<std::default_random_engine, CHAR_BIT, unsigned char> rbe(rd());
|
||||
std::string bytes(size + 1, '\0');
|
||||
std::generate(bytes.begin(), bytes.end(), std::ref(rbe));
|
||||
return bytes;
|
||||
}
|
||||
|
||||
TEST_CASE("util::read_file") {
|
||||
SECTION("read /proc/version") {
|
||||
std::string ret = util::read_file("/proc/version");
|
||||
REQUIRE(ret.find("Linux version") != std::string::npos);
|
||||
}
|
||||
SECTION("read from sysfs") {
|
||||
std::string ret = util::read_file("/sys/power/wakeup_count");
|
||||
REQUIRE(!ret.empty());
|
||||
}
|
||||
SECTION("read file") {
|
||||
char filename[] = "/tmp/test_read_XXXXXX";
|
||||
int fd = mkstemp(filename);
|
||||
|
||||
REQUIRE(util::read_file(filename).empty());
|
||||
|
||||
std::string content = random_bytes(64 * 1024);
|
||||
write(fd, content.c_str(), content.size());
|
||||
std::string ret = util::read_file(filename);
|
||||
bool equal = (ret == content);
|
||||
REQUIRE(equal);
|
||||
close(fd);
|
||||
}
|
||||
SECTION("read directory") {
|
||||
REQUIRE(util::read_file(".").empty());
|
||||
}
|
||||
SECTION("read non-existent file") {
|
||||
std::string ret = util::read_file("does_not_exist");
|
||||
REQUIRE(ret.empty());
|
||||
}
|
||||
SECTION("read non-permission") {
|
||||
REQUIRE(util::read_file("/proc/kmsg").empty());
|
||||
}
|
||||
}
|
||||
|
||||
TEST_CASE("util::file_exists") {
|
||||
char filename[] = "/tmp/test_file_exists_XXXXXX";
|
||||
int fd = mkstemp(filename);
|
||||
REQUIRE(fd != -1);
|
||||
close(fd);
|
||||
|
||||
SECTION("existent file") {
|
||||
REQUIRE(util::file_exists(filename));
|
||||
REQUIRE(util::file_exists("/tmp"));
|
||||
}
|
||||
SECTION("nonexistent file") {
|
||||
std::string fn = filename;
|
||||
REQUIRE(!util::file_exists(fn + "/nonexistent"));
|
||||
}
|
||||
SECTION("file has no access permissions") {
|
||||
std::string fn = "/proc/kmsg";
|
||||
std::ifstream f(fn);
|
||||
REQUIRE(f.good() == false);
|
||||
REQUIRE(util::file_exists(fn));
|
||||
}
|
||||
::remove(filename);
|
||||
}
|
||||
|
||||
TEST_CASE("util::read_files_in_dir") {
|
||||
char tmp_path[] = "/tmp/test_XXXXXX";
|
||||
const std::string test_path = mkdtemp(tmp_path);
|
||||
const std::string files[] = {".test1", "'test2'", "test3"};
|
||||
for (auto fn : files) {
|
||||
std::ofstream{test_path + "/" + fn} << fn;
|
||||
}
|
||||
mkdir((test_path + "/dir").c_str(), 0777);
|
||||
|
||||
std::map<std::string, std::string> result = util::read_files_in_dir(test_path);
|
||||
REQUIRE(result.find("dir") == result.end());
|
||||
REQUIRE(result.size() == std::size(files));
|
||||
for (auto& [k, v] : result) {
|
||||
REQUIRE(k == v);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
TEST_CASE("util::safe_fwrite") {
|
||||
char filename[] = "/tmp/XXXXXX";
|
||||
int fd = mkstemp(filename);
|
||||
close(fd);
|
||||
std::string dat = random_bytes(1024 * 1024);
|
||||
|
||||
FILE *f = util::safe_fopen(filename, "wb");
|
||||
REQUIRE(f != nullptr);
|
||||
size_t size = util::safe_fwrite(dat.data(), 1, dat.size(), f);
|
||||
REQUIRE(size == dat.size());
|
||||
int ret = util::safe_fflush(f);
|
||||
REQUIRE(ret == 0);
|
||||
ret = fclose(f);
|
||||
REQUIRE(ret == 0);
|
||||
bool equal = (dat == util::read_file(filename));
|
||||
REQUIRE(equal);
|
||||
}
|
||||
|
||||
TEST_CASE("util::create_directories") {
|
||||
system("rm /tmp/test_create_directories -rf");
|
||||
std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";
|
||||
|
||||
auto check_dir_permissions = [](const std::string &dir, mode_t mode) -> bool {
|
||||
struct stat st = {};
|
||||
return stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
|
||||
};
|
||||
|
||||
SECTION("create_directories") {
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
REQUIRE(check_dir_permissions(dir, 0755));
|
||||
}
|
||||
SECTION("dir already exists") {
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
}
|
||||
SECTION("a file exists with the same name") {
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT);
|
||||
REQUIRE(f != -1);
|
||||
close(f);
|
||||
REQUIRE(util::create_directories(dir + "/file", 0755) == false);
|
||||
REQUIRE(util::create_directories(dir + "/file/1/2/3", 0755) == false);
|
||||
}
|
||||
SECTION("end with slashes") {
|
||||
REQUIRE(util::create_directories(dir + "/", 0755));
|
||||
}
|
||||
SECTION("empty") {
|
||||
REQUIRE(util::create_directories("", 0755) == false);
|
||||
}
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user