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| Author | SHA1 | Date | |
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mawei
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github-actions[bot]
|
8383cc6688 |
+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:
|
||||
...
|
||||
@@ -0,0 +1,6 @@
|
||||
Wen
|
||||
REGIST
|
||||
PullRequest
|
||||
cancelled
|
||||
FOF
|
||||
NoO
|
||||
@@ -13,6 +13,27 @@
|
||||
*.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
|
||||
|
||||
@@ -1,47 +0,0 @@
|
||||
name: Bug report
|
||||
description: For issues with running openpilot on your comma device
|
||||
labels: ["bug"]
|
||||
body:
|
||||
|
||||
- type: markdown
|
||||
attributes:
|
||||
value: >
|
||||
Before creating a **bug report**, please check the following:
|
||||
* If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
|
||||
* If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
|
||||
* Ensure you're running the latest openpilot release.
|
||||
* Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
|
||||
* Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
|
||||
* Ensure you're running stock openpilot. We cannot look into bug reports from forks.
|
||||
|
||||
If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe the bug
|
||||
description: Also include a description of how to reproduce the bug
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: route
|
||||
attributes:
|
||||
label: Provide a route where the issue occurs
|
||||
description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
|
||||
placeholder: 77611a1fac303767|2020-05-11--16-37-07
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: version
|
||||
attributes:
|
||||
label: openpilot version
|
||||
description: If you're not on release, provide the commit hash
|
||||
placeholder: 0.8.10
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Additional info
|
||||
|
||||
@@ -1,14 +0,0 @@
|
||||
blank_issues_enabled: false
|
||||
contact_links:
|
||||
- name: Car bug report
|
||||
url: https://github.com/commaai/opendbc/issues/new
|
||||
about: For issues with a particular car make or model
|
||||
- name: Join the Discord
|
||||
url: https://discord.comma.ai
|
||||
about: The community Discord is for both openpilot development and experience discussion
|
||||
- name: Report driving behavior feedback
|
||||
url: https://discord.com/channels/469524606043160576/1254834193066623017
|
||||
about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
|
||||
- name: Community Wiki
|
||||
url: https://github.com/commaai/openpilot/wiki
|
||||
about: Check out our community wiki
|
||||
@@ -1,8 +0,0 @@
|
||||
---
|
||||
name: Enhancement
|
||||
about: For openpilot enhancement suggestions
|
||||
title: ''
|
||||
labels: 'enhancement'
|
||||
assignees: ''
|
||||
---
|
||||
|
||||
@@ -1,42 +0,0 @@
|
||||
name: PC bug report
|
||||
description: For issues with running openpilot on PC
|
||||
labels: ["PC"]
|
||||
body:
|
||||
|
||||
- type: markdown
|
||||
attributes:
|
||||
value: >
|
||||
Before creating a **bug report**, please check the following:
|
||||
* Ensure you're running the latest openpilot release.
|
||||
* Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
|
||||
* Ensure you're running stock openpilot. We cannot look into bug reports from forks.
|
||||
|
||||
If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe the bug
|
||||
description: Also include a description of how to reproduce the bug
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: os-version
|
||||
attributes:
|
||||
label: OS Version
|
||||
placeholder: Ubuntu 24.04
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: input
|
||||
id: version
|
||||
attributes:
|
||||
label: openpilot version or commit
|
||||
placeholder: bd36f2ec8d3559909678eff2690c10a520938367
|
||||
validations:
|
||||
required: false
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Additional info
|
||||
|
||||
@@ -1,27 +0,0 @@
|
||||
CI / testing:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
|
||||
|
||||
car:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
|
||||
|
||||
simulation:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'tools/sim/**'
|
||||
|
||||
ui:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
|
||||
|
||||
tools:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'tools/**'
|
||||
|
||||
multilanguage:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: 'selfdrive/ui/translations/**'
|
||||
|
||||
autonomy:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"
|
||||
@@ -1,68 +0,0 @@
|
||||
<!-- 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.
|
||||
|
||||
|
||||
-->
|
||||
|
||||
+41
-20
@@ -7,20 +7,20 @@ venv/
|
||||
.tags
|
||||
.ipynb_checkpoints
|
||||
.idea
|
||||
*.iml
|
||||
.overlay_init
|
||||
.overlay_consistent
|
||||
.sconsign.dblite
|
||||
model2.png
|
||||
a.out
|
||||
.hypothesis
|
||||
.cache/
|
||||
bin/
|
||||
|
||||
/docs_site/
|
||||
|
||||
*.mp4
|
||||
*.dylib
|
||||
*.DSYM
|
||||
*.d
|
||||
*.pem
|
||||
*.pyc
|
||||
*.pyo
|
||||
.*.swp
|
||||
@@ -37,54 +37,75 @@ bin/
|
||||
*.class
|
||||
*.pyxbldc
|
||||
*.vcd
|
||||
*.mo
|
||||
*.qm
|
||||
*_pyx.cpp
|
||||
*.stats
|
||||
*.pkl
|
||||
*.pkl*
|
||||
config.json
|
||||
clcache
|
||||
compile_commands.json
|
||||
compare_runtime*.html
|
||||
selfdrive/modeld/models/tg_compiled_flags.json
|
||||
|
||||
# build artifacts
|
||||
persist
|
||||
selfdrive/pandad/pandad
|
||||
cereal/services.h
|
||||
cereal/gen
|
||||
cereal/messaging/bridge
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
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
|
||||
sunnypilot/modeld*/thneed/compile
|
||||
sunnypilot/modeld*/models/*.thneed
|
||||
sunnypilot/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
|
||||
# Local History for Visual Studio Code
|
||||
.history/
|
||||
|
||||
# Built Visual Studio Code Extensions
|
||||
*.vsix
|
||||
|
||||
### VisualStudioCode Patch ###
|
||||
# Ignore all local history of files
|
||||
.history
|
||||
.ionide
|
||||
|
||||
### JetBrains ###
|
||||
!.idea/customTargets.xml
|
||||
!.idea/tools/*
|
||||
!.run/*
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
3.12.13
|
||||
Vendored
-3
@@ -52,9 +52,6 @@
|
||||
"type": "lldb",
|
||||
"request": "attach",
|
||||
"pid": "${command:pickMyProcess}",
|
||||
"sourceMap": {
|
||||
".": "${workspaceFolder}/opendbc/safety"
|
||||
},
|
||||
"initCommands": [
|
||||
"script import time; time.sleep(3)"
|
||||
]
|
||||
|
||||
+1101
File diff suppressed because it is too large
Load Diff
@@ -1,98 +0,0 @@
|
||||
# TSK Manager
|
||||
|
||||
## Background
|
||||
|
||||
### The Problem
|
||||
|
||||
comma.ai makes DIY ADAS devices. Older devices include the comma eon; current ones are comma three (C3, aka tici), comma threeX (C3X, aka tizi), and comma four (C4, aka mici). comma discontinued support for C3.
|
||||
|
||||
Not all cars work with comma. Some use FlexRay (e.g. BMW) instead of CAN/CAN-FD. Toyota added cryptographic signatures to CAN messages — comma can still read the bus but can't write because it can't generate valid signatures.
|
||||
|
||||
### The Hack
|
||||
|
||||
Willem, an ex-comma.ai employee, found a way to extract the security key from the EPS firmware on 2021-23 RAV4 Prime. The same hack works unmodified on 2021-23 Sienna Hybrid, and with modifications on Yaris. Details are in `/Users/calvin/GitRepos/docs/README.md`.
|
||||
|
||||
Willem's hack was a Python script run over SSH. Calvin built a GUI around it — that's TSK Manager (TSKM), living in `tsk/` in this repo.
|
||||
|
||||
### Calvin's Cars
|
||||
|
||||
- 2023 Sienna Hybrid — C3X
|
||||
- 2023 Bolt EV 2LT (no ACC) — C4
|
||||
|
||||
### Architecture
|
||||
|
||||
- `tsk/main.py` dispatches based on device type (C3X vs C4)
|
||||
- `tsk/c3/` — C3X code (maintenance mode, 1920x1080)
|
||||
- `tsk/c4/` — C4 code (active development, 536x240)
|
||||
- `tsk/common/` — shared code (extractor, key file manager, widget base)
|
||||
- Run with `./c3x` or `./c4`; requires .venv
|
||||
|
||||
### The Rebasing Problem
|
||||
|
||||
comma devices use vertical phone LCD screens (C3/C3X are 1920x1080 portrait). comma wrote their own GUI libs to draw on the rotated screen — there's no way to use the display without going through their libs. They replaced Qt with RayLib, and rewrite these GUI libs constantly with zero backwards compatibility. TSKM has been rewritten 3+ times to keep up.
|
||||
|
||||
TSKM rebases on `nightly-dev` to stay current with AGNOS (the device OS). This is necessary because:
|
||||
|
||||
- AGNOS updates are ~1GB and take ~10 minutes
|
||||
- The key extraction process is already stressful for users (removing camera housing, running the extractor, hoping the car still drives)
|
||||
- Adding an AGNOS update mid-process is a terrible experience
|
||||
- Some users have poor connectivity (rural US)
|
||||
|
||||
The goal: user installs the TSKM branch at home, AGNOS updates while on Wi-Fi, then they drive to do the extraction with everything already current.
|
||||
|
||||
SunnyPilot's SunnyLink integration is a potential long-term path to avoid the rebasing entirely.
|
||||
|
||||
### SSH / Device Tips
|
||||
|
||||
- tmux detach on comma devices: backtick (`` ` ``) then `d`
|
||||
|
||||
### comma Release Branches
|
||||
|
||||
Each device family has its own release branch:
|
||||
|
||||
- C3X (tizi): `release-tizi`
|
||||
- C4 (mici): `release-mici`
|
||||
- C3 (tici): `release-tici` (no longer supported)
|
||||
- `release3` is an older legacy device-agnostic branch
|
||||
|
||||
### Versioned Branches
|
||||
|
||||
Each release is tagged as a branch (e.g. `tskm-0.10.4`, `tskm-0.10.2`, `tskm-0.9.8`). These were meant to be frozen fallbacks, but comma's changes can break even old branches.
|
||||
|
||||
---
|
||||
|
||||
## Journal
|
||||
|
||||
When the user says "update the journal", write a summary of what was done in the current session into the journal below.
|
||||
|
||||
### 2025-11-15
|
||||
Released TSK Manager v0.10.4 (latest commit on `tskm` branch).
|
||||
|
||||
### 2026-04-09
|
||||
Current status: **fixed and verified end-to-end in car**.
|
||||
- Latest `tskm` branch had a Panda error; older `tskm-0.10.2` also broken (three stripes black/gray/white screen).
|
||||
- Diagnosed: `RuntimeError: CAN packet version mismatch` — the panda firmware is stale because TSKM kills boardd/pandad before they can flash it. The panda's `can_version` (firmware) doesn't match `CAN_PACKET_VERSION` (library). Different tskm versions show different library values: older tskm hardcoded `4`, current tskm uses `compute_version_hash()` which produces `1974202998`.
|
||||
- Fix: added `panda.flash()` to `TSKExtractor.hack()` right after `panda = Panda()` in `tsk/common/extractor.py`. The `up_to_date()` guard makes it safe to call every run (no-ops in 0.0s if current). C3X uses the same `tsk.common.extractor`, so the fix covers both devices.
|
||||
- Flash takes ~2.8s, no network required (firmware bundled locally). Reversible — when user installs nightly-dev/sunnypilot afterwards, pandad's signature check will reflash to that branch's version.
|
||||
- End-to-end test passed: install release3 → panda flashed to release3 firmware (`can_version=4`) → install pre-fix tskm → got mismatch error as expected → install post-fix tskm → `panda.flash()` ran, extractor proceeded all the way to writing SecOC key to `/data/params/d/SecOCKey`.
|
||||
- Bonus fix: `launch_chffrplus.sh` had an active `bash # Debug` line between `python3 tsk/main.py` and `sudo reboot`, which left the device in a debug shell after the user clicked "Install nightly-dev" instead of auto-rebooting. Commented it out so the install→reboot flow works end-to-end.
|
||||
|
||||
### 2026-04-10
|
||||
Two users reported successful key extraction using `calvinpark/tskm` — fix confirmed in the wild. Plan: squash the tskm branch to a single commit and push to `optskug/tskm` to ship it.
|
||||
|
||||
### 2026-04-15
|
||||
Third user hit the same `can_version=0, library v1974202998` error after the 2026-04-09 fix shipped to `optskug/tskm`. Root-cause investigation revealed a harder failure mode.
|
||||
|
||||
**What happened**: The user's device had `DEV-18392c3e-RELEASE` firmware. `panda.flash()` ran without error — but the firmware string and `up_to_date: False` were identical before and after. The SPI bulk writes were accepted without error but didn't persist. Immediately re-checking showed the same DEV firmware.
|
||||
|
||||
**Why bare `panda.flash()` worked before but not here**: Previous users' firmware was overwritable via SPI. This device's DEV firmware resists SPI writes — possibly flash write protection, a hardware difference, or something specific to DEV builds. We can't prove it from the outside. What we know: the same scenario is exactly what pandad handles with its GPIO recovery path.
|
||||
|
||||
**How the user was unblocked**: Installed `commaai/nightly-dev` on the device, which let pandad run and flash panda successfully via its full recovery sequence (GPIO BOOT0 HIGH → hardware DFU mode). Then ran TSKM from bare clone. This confirmed pandad's GPIO path could flash the device when bare `panda.flash()` could not.
|
||||
|
||||
**Fix**: Replaced `panda = Panda(); panda.flash()` with `flash_panda()` from `selfdrive/pandad/pandad.py`. pandad's sequence adds: (1) `HARDWARE.recover_internal_panda()` on `PandaProtocolMismatch` (asserts BOOT0 HIGH during reset, forcing STM32 into hardware DFU mode), (2) `panda.recover()` (flashes bootstub via USB DFU), then reflashes the main app. The GPIO path bypasses whatever blocks SPI writes on resistant firmware.
|
||||
|
||||
**Code changes** (`tsk/common/extractor.py`):
|
||||
- Added `class PandaError(Exception)` — hardware precondition failure, not retryable (falls through to "Unexpected error" handler, not `RetryError`)
|
||||
- Extracted flash logic to `TSKExtractor._connect_and_flash_panda()` staticmethod with full historical commentary (background, original fix, new failure, hypothesis, fix rationale, source attribution)
|
||||
- `hack()` call site: `panda = cls._connect_and_flash_panda()`
|
||||
- New imports: `from panda import PandaProtocolMismatch`, `from selfdrive.pandad.pandad import flash_panda`
|
||||
+4
-30
@@ -1,38 +1,12 @@
|
||||
FROM ubuntu:24.04
|
||||
FROM ghcr.io/commaai/openpilot-base:latest
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && \
|
||||
apt-get install -y --no-install-recommends sudo tzdata locales && \
|
||||
rm -rf /var/lib/apt/lists/*
|
||||
ENV OPENPILOT_PATH=/home/batman/openpilot
|
||||
|
||||
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
|
||||
|
||||
ENV NVIDIA_VISIBLE_DEVICES=all
|
||||
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
|
||||
|
||||
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 $USER
|
||||
|
||||
ENV OPENPILOT_PATH=/home/$USER/openpilot
|
||||
RUN mkdir -p ${OPENPILOT_PATH}
|
||||
WORKDIR ${OPENPILOT_PATH}
|
||||
|
||||
COPY --chown=$USER . ${OPENPILOT_PATH}/
|
||||
COPY . ${OPENPILOT_PATH}/
|
||||
|
||||
ENV UV_BIN="/home/$USER/.local/bin/"
|
||||
ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
|
||||
ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
|
||||
RUN tools/setup_dependencies.sh && \
|
||||
sudo rm -rf /var/lib/apt/lists/*
|
||||
|
||||
USER root
|
||||
RUN git config --global --add safe.directory '*'
|
||||
RUN scons --cache-readonly -j$(nproc)
|
||||
|
||||
@@ -0,0 +1,82 @@
|
||||
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
|
||||
RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
|
||||
|
||||
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
|
||||
@@ -0,0 +1,12 @@
|
||||
FROM ghcr.io/sunnypilot/sunnypilot-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 +1,83 @@
|
||||
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 \
|
||||
rsync \
|
||||
&& 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
|
||||
RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
|
||||
|
||||
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
|
||||
+21
@@ -0,0 +1,21 @@
|
||||
# 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
|
||||
@@ -1,111 +1,130 @@
|
||||
<div align="center" style="text-align: center;">
|
||||
|
||||
|
||||
<h1>openpilot</h1>
|
||||
## 🌞 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.
|
||||
|
||||
<p>
|
||||
<b>openpilot is an operating system for robotics.</b>
|
||||
<br>
|
||||
Currently, it upgrades the driver assistance system in 300+ supported cars.
|
||||
</p>
|
||||
## 💭 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/
|
||||
|
||||
<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 four</a>
|
||||
</h3>
|
||||
## Documentation
|
||||
https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
|
||||
|
||||
Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
|
||||
## 🚘 Running on a dedicated device in a car
|
||||
* A supported device to run this software
|
||||
* a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
|
||||
* This software
|
||||
* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
|
||||
* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
|
||||
|
||||
[](https://github.com/commaai/openpilot/actions/workflows/tests.yaml)
|
||||
[](LICENSE)
|
||||
[](https://x.com/comma_ai)
|
||||
[](https://discord.comma.ai)
|
||||
Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
|
||||
|
||||
</div>
|
||||
## Installation
|
||||
Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` 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>
|
||||
### If you want to use our newest branches (our rewrite)
|
||||
> [!TIP]
|
||||
>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
|
||||
|
||||
* sunnypilot not installed or you installed a version before 0.8.17?
|
||||
1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
|
||||
2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
|
||||
3. Input the installation URL per [Recommended Branches](#recommended-branches). Example: ```https://staging.sunnypilot.ai```.
|
||||
4. Complete the rest of the installation following the onscreen instructions.
|
||||
|
||||
Using openpilot in a car
|
||||
------
|
||||
* sunnypilot already installed and you installed a version after 0.8.17?
|
||||
1. On the comma three/3X, go to `Settings` ▶️ `Software`.
|
||||
2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
|
||||
3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
|
||||
4. Scroll to select the desired branch per Recommended Branches (see below). Example: `staging`
|
||||
|
||||
To use openpilot in a car, you need four things:
|
||||
1. **Supported Device:** a comma four, available at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).
|
||||
2. **Software:** The setup procedure for the comma four 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 four to your car.
|
||||
### Recommended Branches
|
||||
| Branch | Installation URL |
|
||||
|:---------------:|:---------------------------------------------:|
|
||||
| `release` | `https://release.sunnypilot.ai` |
|
||||
| `staging` | `https://staging.sunnypilot.ai` |
|
||||
| `dev` | `https://dev.sunnypilot.ai` |
|
||||
| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
|
||||
|
||||
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.
|
||||
> [!TIP]
|
||||
> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.
|
||||
|
||||
> [!NOTE]
|
||||
> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.
|
||||
|
||||
### Branches
|
||||
|
||||
Running `master` and other branches directly is supported, but it's recommended to run one of the following prebuilt branches:
|
||||
|
||||
| comma four branch | comma 3X branch | URL | description |
|
||||
|------------------------|------------------------|----------------------------------------|-------------------------------------------------------------------------------------|
|
||||
| `release-mici` | `release-tizi` | openpilot.comma.ai | This is openpilot's release branch. |
|
||||
| `release-mici-staging` | `release-tizi-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
|
||||
| `nightly` | `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
|
||||
| `nightly-dev` | `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/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.
|
||||
<summary>Older legacy branches</summary>
|
||||
|
||||
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.
|
||||
### If you want to use our older legacy branches (*not recommended*)
|
||||
|
||||
> [**IMPORTANT**]
|
||||
> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
|
||||
> You can still restore the latest sunnylink backup made on the old branches.
|
||||
|
||||
| Branch | Installation URL |
|
||||
|:------------:|:--------------------------------:|
|
||||
| `release-c3` | https://release-c3.sunnypilot.ai |
|
||||
| `staging-c3` | https://staging-c3.sunnypilot.ai |
|
||||
| `dev-c3` | https://dev-c3.sunnypilot.ai |
|
||||
|
||||
**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.
|
||||
## 🎆 Pull Requests
|
||||
We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
|
||||
|
||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
||||
Pull requests should be against the most current `master` branch.
|
||||
|
||||
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
## 📊 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/).
|
||||
|
||||
sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
|
||||
|
||||
sunnypilot logs the road-facing camera, 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 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>
|
||||
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
|
||||
|
||||
+1
-33
@@ -1,45 +1,13 @@
|
||||
Version 0.11.1 (2026-04-22)
|
||||
========================
|
||||
* New driver monitoring model
|
||||
* Improved image processing pipeline for driver camera
|
||||
* 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
|
||||
* New driving model
|
||||
* 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!
|
||||
|
||||
Version 0.10.0 (2025-08-05)
|
||||
========================
|
||||
|
||||
-266
@@ -1,266 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
import sys
|
||||
import sysconfig
|
||||
import platform
|
||||
import shlex
|
||||
import importlib
|
||||
import numpy as np
|
||||
|
||||
import SCons.Errors
|
||||
from SCons.Defaults import _stripixes
|
||||
|
||||
SCons.Warnings.warningAsException(True)
|
||||
|
||||
Decider('MD5-timestamp')
|
||||
|
||||
SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
|
||||
|
||||
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')
|
||||
AddOption('--minimal',
|
||||
action='store_false',
|
||||
dest='extras',
|
||||
default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
|
||||
help='the minimum build to run openpilot. no tests, tools, etc.')
|
||||
|
||||
# Detect platform
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
elif arch == "aarch64" and os.path.isfile('/TICI'):
|
||||
arch = "larch64"
|
||||
assert arch in [
|
||||
"larch64", # linux tici arm64
|
||||
"aarch64", # linux pc arm64
|
||||
"x86_64", # linux pc x64
|
||||
"Darwin", # macOS arm64 (x86 not supported)
|
||||
]
|
||||
|
||||
pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
|
||||
pkgs = [importlib.import_module(name) for name in pkg_names]
|
||||
|
||||
|
||||
# ***** 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",
|
||||
}
|
||||
|
||||
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}'")
|
||||
|
||||
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'])
|
||||
|
||||
env = Environment(
|
||||
ENV={
|
||||
"PATH": os.environ['PATH'],
|
||||
"PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
|
||||
"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"
|
||||
},
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
|
||||
"-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=[
|
||||
"#",
|
||||
"#msgq",
|
||||
"#third_party",
|
||||
"#third_party/json11",
|
||||
"#third_party/linux/include",
|
||||
"#third_party/acados/include",
|
||||
"#third_party/acados/include/blasfeo/include",
|
||||
"#third_party/acados/include/hpipm/include",
|
||||
"#third_party/catch2/include",
|
||||
[x.INCLUDE_DIR for x in pkgs],
|
||||
],
|
||||
LIBPATH=[
|
||||
"#common",
|
||||
"#msgq_repo",
|
||||
"#third_party",
|
||||
"#selfdrive/pandad",
|
||||
"#rednose/helpers",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
[x.LIB_DIR for x in pkgs],
|
||||
],
|
||||
RPATH=[],
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
COMPILATIONDB_USE_ABSPATH=True,
|
||||
REDNOSE_ROOT="#",
|
||||
tools=["default", "cython", "compilation_db", "rednose_filter"],
|
||||
toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
|
||||
)
|
||||
if arch != "larch64":
|
||||
env['_LIBFLAGS'] = _libflags
|
||||
|
||||
# Arch-specific flags and paths
|
||||
if arch == "larch64":
|
||||
env["CC"] = "clang"
|
||||
env["CXX"] = "clang++"
|
||||
env.Append(LIBPATH=[
|
||||
"/usr/lib/aarch64-linux-gnu",
|
||||
])
|
||||
arch_flags = ["-D__TICI__", "-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"])
|
||||
|
||||
_extra_cc = shlex.split(GetOption('ccflags') or '')
|
||||
if _extra_cc:
|
||||
env.Append(CCFLAGS=_extra_cc)
|
||||
|
||||
# no --as-needed on mac linker
|
||||
if arch != "Darwin":
|
||||
env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
|
||||
|
||||
# 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"
|
||||
|
||||
# progress output
|
||||
node_interval = 5
|
||||
node_count = 0
|
||||
def progress_function(node):
|
||||
global node_count
|
||||
node_count += node_interval
|
||||
sys.stderr.write("progress: %d\n" % node_count)
|
||||
if os.environ.get('SCONS_PROGRESS'):
|
||||
Progress(progress_function, interval=node_interval)
|
||||
|
||||
# ********** Cython build environment **********
|
||||
envCython = env.Clone()
|
||||
envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
envCython["CCFLAGS"].remove("-Werror")
|
||||
|
||||
envCython["LIBS"] = []
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
np_version = SCons.Script.Value(np.__version__)
|
||||
Export('envCython', 'np_version')
|
||||
|
||||
Export('env', 'arch')
|
||||
|
||||
# Setup cache dir
|
||||
cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
|
||||
CacheDir(cache_dir)
|
||||
Clean(["."], cache_dir)
|
||||
|
||||
# ********** start building stuff **********
|
||||
|
||||
# Build common module
|
||||
SConscript(['common/SConscript'])
|
||||
Import('_common')
|
||||
common = [_common, 'json11', 'zmq']
|
||||
Export('common')
|
||||
|
||||
# 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(['cereal/SConscript'])
|
||||
|
||||
Import('socketmaster', 'msgq')
|
||||
messaging = [socketmaster, msgq, 'capnp', 'kj',]
|
||||
Export('messaging')
|
||||
|
||||
|
||||
# Build other submodules
|
||||
SConscript(['panda/SConscript'])
|
||||
|
||||
# Build rednose library
|
||||
SConscript(['rednose/SConscript'])
|
||||
|
||||
# Build system services
|
||||
SConscript([
|
||||
'system/loggerd/SConscript',
|
||||
])
|
||||
|
||||
if arch == "larch64":
|
||||
SConscript(['system/camerad/SConscript'])
|
||||
|
||||
# Build openpilot
|
||||
SConscript(['third_party/SConscript'])
|
||||
|
||||
# Build selfdrive
|
||||
SConscript([
|
||||
'selfdrive/pandad/SConscript',
|
||||
'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
|
||||
'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
|
||||
'selfdrive/locationd/SConscript',
|
||||
'selfdrive/modeld/SConscript',
|
||||
'selfdrive/ui/SConscript',
|
||||
])
|
||||
|
||||
# Build tools
|
||||
if arch != "larch64":
|
||||
SConscript([
|
||||
'tools/replay/SConscript',
|
||||
'tools/cabana/SConscript',
|
||||
'tools/jotpluggler/SConscript',
|
||||
])
|
||||
|
||||
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
@@ -1,20 +0,0 @@
|
||||
Import('env', 'common', 'msgq')
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
gen_dir = Dir('gen')
|
||||
|
||||
# Build cereal
|
||||
schema_files = ['log.capnp', 'car.capnp', 'deprecated.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', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
|
||||
|
||||
socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
|
||||
|
||||
Export('cereal', 'socketmaster')
|
||||
+424
-10
@@ -10,34 +10,448 @@ $Cxx.namespace("cereal");
|
||||
# DO rename the structs
|
||||
# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
|
||||
|
||||
struct CustomReserved0 @0x81c2f05a394cf4af {
|
||||
struct ModularAssistiveDrivingSystem {
|
||||
state @0 :ModularAssistiveDrivingSystemState;
|
||||
enabled @1 :Bool;
|
||||
active @2 :Bool;
|
||||
available @3 :Bool;
|
||||
|
||||
enum ModularAssistiveDrivingSystemState {
|
||||
disabled @0;
|
||||
paused @1;
|
||||
enabled @2;
|
||||
softDisabling @3;
|
||||
overriding @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct CustomReserved1 @0xaedffd8f31e7b55d {
|
||||
struct IntelligentCruiseButtonManagement {
|
||||
state @0 :IntelligentCruiseButtonManagementState;
|
||||
sendButton @1 :SendButtonState;
|
||||
vTarget @2 :Float32;
|
||||
|
||||
enum IntelligentCruiseButtonManagementState {
|
||||
inactive @0; # No button press or default state
|
||||
preActive @1; # Pre-active state before transitioning to increasing or decreasing
|
||||
increasing @2; # Increasing speed
|
||||
decreasing @3; # Decreasing speed
|
||||
holding @4; # Holding steady speed
|
||||
}
|
||||
|
||||
enum SendButtonState {
|
||||
none @0;
|
||||
increase @1;
|
||||
decrease @2;
|
||||
}
|
||||
}
|
||||
|
||||
struct CustomReserved2 @0xf35cc4560bbf6ec2 {
|
||||
# Same struct as Log.RadarState.LeadData
|
||||
struct LeadData {
|
||||
dRel @0 :Float32;
|
||||
yRel @1 :Float32;
|
||||
vRel @2 :Float32;
|
||||
aRel @3 :Float32;
|
||||
vLead @4 :Float32;
|
||||
dPath @6 :Float32;
|
||||
vLat @7 :Float32;
|
||||
vLeadK @8 :Float32;
|
||||
aLeadK @9 :Float32;
|
||||
fcw @10 :Bool;
|
||||
status @11 :Bool;
|
||||
aLeadTau @12 :Float32;
|
||||
modelProb @13 :Float32;
|
||||
radar @14 :Bool;
|
||||
radarTrackId @15 :Int32 = -1;
|
||||
|
||||
aLeadDEPRECATED @5 :Float32;
|
||||
}
|
||||
|
||||
struct CustomReserved3 @0xda96579883444c35 {
|
||||
struct SelfdriveStateSP @0x81c2f05a394cf4af {
|
||||
mads @0 :ModularAssistiveDrivingSystem;
|
||||
intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
|
||||
|
||||
enum AudibleAlert {
|
||||
none @0;
|
||||
|
||||
engage @1;
|
||||
disengage @2;
|
||||
refuse @3;
|
||||
|
||||
warningSoft @4;
|
||||
warningImmediate @5;
|
||||
|
||||
prompt @6;
|
||||
promptRepeat @7;
|
||||
promptDistracted @8;
|
||||
|
||||
# unused, these are reserved for upstream events so we don't collide
|
||||
reserved9 @9;
|
||||
reserved10 @10;
|
||||
reserved11 @11;
|
||||
reserved12 @12;
|
||||
reserved13 @13;
|
||||
reserved14 @14;
|
||||
reserved15 @15;
|
||||
reserved16 @16;
|
||||
reserved17 @17;
|
||||
reserved18 @18;
|
||||
reserved19 @19;
|
||||
reserved20 @20;
|
||||
reserved21 @21;
|
||||
reserved22 @22;
|
||||
reserved23 @23;
|
||||
reserved24 @24;
|
||||
reserved25 @25;
|
||||
reserved26 @26;
|
||||
reserved27 @27;
|
||||
reserved28 @28;
|
||||
reserved29 @29;
|
||||
reserved30 @30;
|
||||
|
||||
promptSingleLow @31;
|
||||
promptSingleHigh @32;
|
||||
}
|
||||
}
|
||||
|
||||
struct CustomReserved4 @0x80ae746ee2596b11 {
|
||||
struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
activeBundle @0 :ModelBundle;
|
||||
selectedBundle @1 :ModelBundle;
|
||||
availableBundles @2 :List(ModelBundle);
|
||||
|
||||
struct DownloadUri {
|
||||
uri @0 :Text;
|
||||
sha256 @1 :Text;
|
||||
}
|
||||
|
||||
enum DownloadStatus {
|
||||
notDownloading @0;
|
||||
downloading @1;
|
||||
downloaded @2;
|
||||
cached @3;
|
||||
failed @4;
|
||||
}
|
||||
|
||||
struct DownloadProgress {
|
||||
status @0 :DownloadStatus;
|
||||
progress @1 :Float32;
|
||||
eta @2 :UInt32;
|
||||
}
|
||||
|
||||
struct Artifact {
|
||||
fileName @0 :Text;
|
||||
downloadUri @1 :DownloadUri;
|
||||
downloadProgress @2 :DownloadProgress;
|
||||
}
|
||||
|
||||
struct Model {
|
||||
type @0 :Type;
|
||||
artifact @1 :Artifact; # Main artifact
|
||||
metadata @2 :Artifact; # Metadata artifact
|
||||
|
||||
enum Type {
|
||||
supercombo @0;
|
||||
navigation @1;
|
||||
vision @2;
|
||||
policy @3;
|
||||
}
|
||||
}
|
||||
|
||||
enum Runner {
|
||||
snpe @0;
|
||||
tinygrad @1;
|
||||
stock @2;
|
||||
}
|
||||
|
||||
struct Override {
|
||||
key @0 :Text;
|
||||
value @1 :Text;
|
||||
}
|
||||
|
||||
struct ModelBundle {
|
||||
index @0 :UInt32;
|
||||
internalName @1 :Text;
|
||||
displayName @2 :Text;
|
||||
models @3 :List(Model);
|
||||
status @4 :DownloadStatus;
|
||||
generation @5 :UInt32;
|
||||
environment @6 :Text;
|
||||
runner @7 :Runner;
|
||||
is20hz @8 :Bool;
|
||||
ref @9 :Text;
|
||||
minimumSelectorVersion @10 :UInt32;
|
||||
overrides @11 :List(Override);
|
||||
}
|
||||
}
|
||||
|
||||
struct CustomReserved5 @0xa5cd762cd951a455 {
|
||||
struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
dec @0 :DynamicExperimentalControl;
|
||||
longitudinalPlanSource @1 :LongitudinalPlanSource;
|
||||
smartCruiseControl @2 :SmartCruiseControl;
|
||||
speedLimit @3 :SpeedLimit;
|
||||
vTarget @4 :Float32;
|
||||
aTarget @5 :Float32;
|
||||
events @6 :List(OnroadEventSP.Event);
|
||||
e2eAlerts @7 :E2eAlerts;
|
||||
|
||||
struct DynamicExperimentalControl {
|
||||
state @0 :DynamicExperimentalControlState;
|
||||
enabled @1 :Bool;
|
||||
active @2 :Bool;
|
||||
|
||||
enum DynamicExperimentalControlState {
|
||||
acc @0;
|
||||
blended @1;
|
||||
}
|
||||
}
|
||||
|
||||
struct SmartCruiseControl {
|
||||
vision @0 :Vision;
|
||||
map @1 :Map;
|
||||
|
||||
struct Vision {
|
||||
state @0 :VisionState;
|
||||
vTarget @1 :Float32;
|
||||
aTarget @2 :Float32;
|
||||
currentLateralAccel @3 :Float32;
|
||||
maxPredictedLateralAccel @4 :Float32;
|
||||
enabled @5 :Bool;
|
||||
active @6 :Bool;
|
||||
}
|
||||
|
||||
struct Map {
|
||||
state @0 :MapState;
|
||||
vTarget @1 :Float32;
|
||||
aTarget @2 :Float32;
|
||||
enabled @3 :Bool;
|
||||
active @4 :Bool;
|
||||
}
|
||||
|
||||
enum VisionState {
|
||||
disabled @0; # System disabled or inactive.
|
||||
enabled @1; # No predicted substantial turn on vision range.
|
||||
entering @2; # A substantial turn is predicted ahead, adapting speed to turn comfort levels.
|
||||
turning @3; # Actively turning. Managing acceleration to provide a roll on turn feeling.
|
||||
leaving @4; # Road ahead straightens. Start to allow positive acceleration.
|
||||
overriding @5; # System overriding with manual control.
|
||||
}
|
||||
|
||||
enum MapState {
|
||||
disabled @0; # System disabled or inactive.
|
||||
enabled @1; # No predicted substantial turn on map range.
|
||||
turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
|
||||
overriding @3; # System overriding with manual control.
|
||||
}
|
||||
}
|
||||
|
||||
struct SpeedLimit {
|
||||
resolver @0 :Resolver;
|
||||
assist @1 :Assist;
|
||||
|
||||
struct Resolver {
|
||||
speedLimit @0 :Float32;
|
||||
distToSpeedLimit @1 :Float32;
|
||||
source @2 :Source;
|
||||
speedLimitOffset @3 :Float32;
|
||||
speedLimitLast @4 :Float32;
|
||||
speedLimitFinal @5 :Float32;
|
||||
speedLimitFinalLast @6 :Float32;
|
||||
speedLimitValid @7 :Bool;
|
||||
speedLimitLastValid @8 :Bool;
|
||||
}
|
||||
|
||||
struct Assist {
|
||||
state @0 :AssistState;
|
||||
enabled @1 :Bool;
|
||||
active @2 :Bool;
|
||||
vTarget @3 :Float32;
|
||||
aTarget @4 :Float32;
|
||||
}
|
||||
|
||||
enum Source {
|
||||
none @0;
|
||||
car @1;
|
||||
map @2;
|
||||
}
|
||||
|
||||
enum AssistState {
|
||||
disabled @0;
|
||||
inactive @1; # No speed limit set or not enabled by parameter.
|
||||
preActive @2;
|
||||
pending @3; # Awaiting new speed limit.
|
||||
adapting @4; # Reducing speed to match new speed limit.
|
||||
active @5; # Cruising at speed limit.
|
||||
}
|
||||
}
|
||||
|
||||
enum LongitudinalPlanSource {
|
||||
cruise @0;
|
||||
sccVision @1;
|
||||
sccMap @2;
|
||||
speedLimitAssist @3;
|
||||
}
|
||||
|
||||
struct E2eAlerts {
|
||||
greenLightAlert @0 :Bool;
|
||||
leadDepartAlert @1 :Bool;
|
||||
}
|
||||
}
|
||||
|
||||
struct CustomReserved6 @0xf98d843bfd7004a3 {
|
||||
struct OnroadEventSP @0xda96579883444c35 {
|
||||
events @0 :List(Event);
|
||||
|
||||
struct Event {
|
||||
name @0 :EventName;
|
||||
|
||||
# event types
|
||||
enable @1 :Bool;
|
||||
noEntry @2 :Bool;
|
||||
warning @3 :Bool; # alerts presented only when enabled or soft disabling
|
||||
userDisable @4 :Bool;
|
||||
softDisable @5 :Bool;
|
||||
immediateDisable @6 :Bool;
|
||||
preEnable @7 :Bool;
|
||||
permanent @8 :Bool; # alerts presented regardless of openpilot state
|
||||
overrideLateral @10 :Bool;
|
||||
overrideLongitudinal @9 :Bool;
|
||||
}
|
||||
|
||||
enum EventName {
|
||||
lkasEnable @0;
|
||||
lkasDisable @1;
|
||||
manualSteeringRequired @2;
|
||||
manualLongitudinalRequired @3;
|
||||
silentLkasEnable @4;
|
||||
silentLkasDisable @5;
|
||||
silentBrakeHold @6;
|
||||
silentWrongGear @7;
|
||||
silentReverseGear @8;
|
||||
silentDoorOpen @9;
|
||||
silentSeatbeltNotLatched @10;
|
||||
silentParkBrake @11;
|
||||
controlsMismatchLateral @12;
|
||||
hyundaiRadarTracksConfirmed @13;
|
||||
experimentalModeSwitched @14;
|
||||
wrongCarModeAlertOnly @15;
|
||||
pedalPressedAlertOnly @16;
|
||||
laneTurnLeft @17;
|
||||
laneTurnRight @18;
|
||||
speedLimitPreActive @19;
|
||||
speedLimitActive @20;
|
||||
speedLimitChanged @21;
|
||||
speedLimitPending @22;
|
||||
e2eChime @23;
|
||||
}
|
||||
}
|
||||
|
||||
struct CustomReserved7 @0xb86e6369214c01c8 {
|
||||
struct CarParamsSP @0x80ae746ee2596b11 {
|
||||
flags @0 :UInt32; # flags for car specific quirks in sunnypilot
|
||||
safetyParam @1 : Int16; # flags for sunnypilot's custom safety flags
|
||||
pcmCruiseSpeed @3 :Bool;
|
||||
intelligentCruiseButtonManagementAvailable @4 :Bool;
|
||||
enableGasInterceptor @5 :Bool;
|
||||
|
||||
neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
|
||||
|
||||
struct NeuralNetworkLateralControl {
|
||||
model @0 :Model;
|
||||
fuzzyFingerprint @1 :Bool;
|
||||
|
||||
struct Model {
|
||||
path @0 :Text;
|
||||
name @1 :Text;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct CustomReserved8 @0xf416ec09499d9d19 {
|
||||
struct CarControlSP @0xa5cd762cd951a455 {
|
||||
mads @0 :ModularAssistiveDrivingSystem;
|
||||
params @1 :List(Param);
|
||||
leadOne @2 :LeadData;
|
||||
leadTwo @3 :LeadData;
|
||||
intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
|
||||
|
||||
struct Param {
|
||||
key @0 :Text;
|
||||
type @2 :ParamType;
|
||||
value @3 :Data;
|
||||
|
||||
valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
|
||||
}
|
||||
|
||||
enum ParamType {
|
||||
string @0;
|
||||
bool @1;
|
||||
int @2;
|
||||
float @3;
|
||||
time @4;
|
||||
json @5;
|
||||
bytes @6;
|
||||
}
|
||||
}
|
||||
|
||||
struct CustomReserved9 @0xa1680744031fdb2d {
|
||||
struct BackupManagerSP @0xf98d843bfd7004a3 {
|
||||
backupStatus @0 :Status;
|
||||
restoreStatus @1 :Status;
|
||||
backupProgress @2 :Float32;
|
||||
restoreProgress @3 :Float32;
|
||||
lastError @4 :Text;
|
||||
currentBackup @5 :BackupInfo;
|
||||
backupHistory @6 :List(BackupInfo);
|
||||
|
||||
enum Status {
|
||||
idle @0;
|
||||
inProgress @1;
|
||||
completed @2;
|
||||
failed @3;
|
||||
}
|
||||
|
||||
struct Version {
|
||||
major @0 :UInt16;
|
||||
minor @1 :UInt16;
|
||||
patch @2 :UInt16;
|
||||
build @3 :UInt16;
|
||||
branch @4 :Text;
|
||||
}
|
||||
|
||||
struct MetadataEntry {
|
||||
key @0 :Text;
|
||||
value @1 :Text;
|
||||
tags @2 :List(Text);
|
||||
}
|
||||
|
||||
struct BackupInfo {
|
||||
deviceId @0 :Text;
|
||||
version @1 :UInt32;
|
||||
config @2 :Text;
|
||||
isEncrypted @3 :Bool;
|
||||
createdAt @4 :Text; # ISO timestamp
|
||||
updatedAt @5 :Text; # ISO timestamp
|
||||
sunnypilotVersion @6 :Version;
|
||||
backupMetadata @7 :List(MetadataEntry);
|
||||
}
|
||||
}
|
||||
|
||||
struct CarStateSP @0xb86e6369214c01c8 {
|
||||
speedLimit @0 :Float32;
|
||||
}
|
||||
|
||||
struct LiveMapDataSP @0xf416ec09499d9d19 {
|
||||
speedLimitValid @0 :Bool;
|
||||
speedLimit @1 :Float32;
|
||||
speedLimitAheadValid @2 :Bool;
|
||||
speedLimitAhead @3 :Float32;
|
||||
speedLimitAheadDistance @4 :Float32;
|
||||
roadName @5 :Text;
|
||||
}
|
||||
|
||||
struct ModelDataV2SP @0xa1680744031fdb2d {
|
||||
laneTurnDirection @0 :TurnDirection;
|
||||
|
||||
enum TurnDirection {
|
||||
none @0;
|
||||
turnLeft @1;
|
||||
turnRight @2;
|
||||
}
|
||||
}
|
||||
|
||||
struct CustomReserved10 @0xcb9fd56c7057593a {
|
||||
|
||||
@@ -1,574 +0,0 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0x80ef1ec4889c2a63;
|
||||
|
||||
# deprecated.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;
|
||||
}
|
||||
|
||||
|
||||
+350
-371
File diff suppressed because it is too large
Load Diff
+32
-51
@@ -8,7 +8,7 @@
|
||||
|
||||
#ifndef CAPNP_VERSION
|
||||
#error "CAPNP_VERSION is not defined, is capnp/generated-header-support.h missing?"
|
||||
#elif CAPNP_VERSION != 1000001
|
||||
#elif CAPNP_VERSION != 1000002
|
||||
#error "Version mismatch between generated code and library headers. You must use the same version of the Cap'n Proto compiler and library."
|
||||
#endif
|
||||
|
||||
@@ -650,7 +650,7 @@ struct CarParams::LateralTorqueTuning {
|
||||
class Pipeline;
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(80366e0e804ecc1d, 5, 0)
|
||||
CAPNP_DECLARE_STRUCT_HEADER(80366e0e804ecc1d, 4, 0)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
@@ -2511,7 +2511,7 @@ public:
|
||||
|
||||
inline bool getEnableCameraDEPRECATED() const;
|
||||
|
||||
inline bool getEnableDsuDEPRECATED() const;
|
||||
inline bool getEnableDsu() const;
|
||||
|
||||
inline bool getEnableApgsDEPRECATED() const;
|
||||
|
||||
@@ -2713,8 +2713,8 @@ public:
|
||||
inline bool getEnableCameraDEPRECATED();
|
||||
inline void setEnableCameraDEPRECATED(bool value);
|
||||
|
||||
inline bool getEnableDsuDEPRECATED();
|
||||
inline void setEnableDsuDEPRECATED(bool value);
|
||||
inline bool getEnableDsu();
|
||||
inline void setEnableDsu(bool value);
|
||||
|
||||
inline bool getEnableApgsDEPRECATED();
|
||||
inline void setEnableApgsDEPRECATED(bool value);
|
||||
@@ -3325,13 +3325,13 @@ public:
|
||||
|
||||
inline bool getUseSteeringAngleDEPRECATED() const;
|
||||
|
||||
inline float getKpDEPRECATED() const;
|
||||
inline float getKp() const;
|
||||
|
||||
inline float getKiDEPRECATED() const;
|
||||
inline float getKi() const;
|
||||
|
||||
inline float getFriction() const;
|
||||
|
||||
inline float getKfDEPRECATED() const;
|
||||
inline float getKf() const;
|
||||
|
||||
inline float getSteeringAngleDeadzoneDeg() const;
|
||||
|
||||
@@ -3339,8 +3339,6 @@ public:
|
||||
|
||||
inline float getLatAccelOffset() const;
|
||||
|
||||
inline float getKdDEPRECATED() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -3372,17 +3370,17 @@ public:
|
||||
inline bool getUseSteeringAngleDEPRECATED();
|
||||
inline void setUseSteeringAngleDEPRECATED(bool value);
|
||||
|
||||
inline float getKpDEPRECATED();
|
||||
inline void setKpDEPRECATED(float value);
|
||||
inline float getKp();
|
||||
inline void setKp(float value);
|
||||
|
||||
inline float getKiDEPRECATED();
|
||||
inline void setKiDEPRECATED(float value);
|
||||
inline float getKi();
|
||||
inline void setKi(float value);
|
||||
|
||||
inline float getFriction();
|
||||
inline void setFriction(float value);
|
||||
|
||||
inline float getKfDEPRECATED();
|
||||
inline void setKfDEPRECATED(float value);
|
||||
inline float getKf();
|
||||
inline void setKf(float value);
|
||||
|
||||
inline float getSteeringAngleDeadzoneDeg();
|
||||
inline void setSteeringAngleDeadzoneDeg(float value);
|
||||
@@ -3393,9 +3391,6 @@ public:
|
||||
inline float getLatAccelOffset();
|
||||
inline void setLatAccelOffset(float value);
|
||||
|
||||
inline float getKdDEPRECATED();
|
||||
inline void setKdDEPRECATED(float value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -3457,7 +3452,7 @@ public:
|
||||
inline bool hasDeadzoneVDEPRECATED() const;
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader getDeadzoneVDEPRECATED() const;
|
||||
|
||||
inline float getKfDEPRECATED() const;
|
||||
inline float getKf() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
@@ -3535,8 +3530,8 @@ public:
|
||||
inline void adoptDeadzoneVDEPRECATED(::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value);
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> disownDeadzoneVDEPRECATED();
|
||||
|
||||
inline float getKfDEPRECATED();
|
||||
inline void setKfDEPRECATED(float value);
|
||||
inline float getKf();
|
||||
inline void setKf(float value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
@@ -6674,16 +6669,16 @@ inline void CarParams::Builder::setEnableCameraDEPRECATED(bool value) {
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool CarParams::Reader::getEnableDsuDEPRECATED() const {
|
||||
inline bool CarParams::Reader::getEnableDsu() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool CarParams::Builder::getEnableDsuDEPRECATED() {
|
||||
inline bool CarParams::Builder::getEnableDsu() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarParams::Builder::setEnableDsuDEPRECATED(bool value) {
|
||||
inline void CarParams::Builder::setEnableDsu(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
@@ -8222,30 +8217,30 @@ inline void CarParams::LateralTorqueTuning::Builder::setUseSteeringAngleDEPRECAT
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float CarParams::LateralTorqueTuning::Reader::getKpDEPRECATED() const {
|
||||
inline float CarParams::LateralTorqueTuning::Reader::getKp() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float CarParams::LateralTorqueTuning::Builder::getKpDEPRECATED() {
|
||||
inline float CarParams::LateralTorqueTuning::Builder::getKp() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarParams::LateralTorqueTuning::Builder::setKpDEPRECATED(float value) {
|
||||
inline void CarParams::LateralTorqueTuning::Builder::setKp(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float CarParams::LateralTorqueTuning::Reader::getKiDEPRECATED() const {
|
||||
inline float CarParams::LateralTorqueTuning::Reader::getKi() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float CarParams::LateralTorqueTuning::Builder::getKiDEPRECATED() {
|
||||
inline float CarParams::LateralTorqueTuning::Builder::getKi() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarParams::LateralTorqueTuning::Builder::setKiDEPRECATED(float value) {
|
||||
inline void CarParams::LateralTorqueTuning::Builder::setKi(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
@@ -8264,16 +8259,16 @@ inline void CarParams::LateralTorqueTuning::Builder::setFriction(float value) {
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float CarParams::LateralTorqueTuning::Reader::getKfDEPRECATED() const {
|
||||
inline float CarParams::LateralTorqueTuning::Reader::getKf() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float CarParams::LateralTorqueTuning::Builder::getKfDEPRECATED() {
|
||||
inline float CarParams::LateralTorqueTuning::Builder::getKf() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarParams::LateralTorqueTuning::Builder::setKfDEPRECATED(float value) {
|
||||
inline void CarParams::LateralTorqueTuning::Builder::setKf(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
@@ -8320,20 +8315,6 @@ inline void CarParams::LateralTorqueTuning::Builder::setLatAccelOffset(float val
|
||||
::capnp::bounded<7>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float CarParams::LateralTorqueTuning::Reader::getKdDEPRECATED() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<8>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float CarParams::LateralTorqueTuning::Builder::getKdDEPRECATED() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<8>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarParams::LateralTorqueTuning::Builder::setKdDEPRECATED(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<8>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool CarParams::LongitudinalPIDTuning::Reader::hasKpBP() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
@@ -8562,16 +8543,16 @@ inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> CarPara
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline float CarParams::LongitudinalPIDTuning::Reader::getKfDEPRECATED() const {
|
||||
inline float CarParams::LongitudinalPIDTuning::Reader::getKf() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float CarParams::LongitudinalPIDTuning::Builder::getKfDEPRECATED() {
|
||||
inline float CarParams::LongitudinalPIDTuning::Builder::getKf() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void CarParams::LongitudinalPIDTuning::Builder::setKfDEPRECATED(float value) {
|
||||
inline void CarParams::LongitudinalPIDTuning::Builder::setKf(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
+5127
-170
File diff suppressed because it is too large
Load Diff
+6974
-91
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
+1598
-1962
File diff suppressed because it is too large
Load Diff
+634
-1113
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;
|
||||
}
|
||||
|
||||
|
||||
+62
-92
@@ -2,7 +2,7 @@ using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Car = import "car.capnp";
|
||||
using Deprecated = import "deprecated.capnp";
|
||||
using Legacy = import "legacy.capnp";
|
||||
using Custom = import "custom.capnp";
|
||||
|
||||
@0xf3b1f17e25a4285b;
|
||||
@@ -68,12 +68,12 @@ struct OnroadEvent @0xc4fa6047f024e718 {
|
||||
longitudinalManeuver @30;
|
||||
steerTempUnavailableSilent @31;
|
||||
resumeRequired @32;
|
||||
driverDistracted1 @33;
|
||||
driverDistracted2 @34;
|
||||
driverDistracted3 @35;
|
||||
driverUnresponsive1 @36;
|
||||
driverUnresponsive2 @37;
|
||||
driverUnresponsive3 @38;
|
||||
preDriverDistracted @33;
|
||||
promptDriverDistracted @34;
|
||||
driverDistracted @35;
|
||||
preDriverUnresponsive @36;
|
||||
promptDriverUnresponsive @37;
|
||||
driverUnresponsive @38;
|
||||
belowSteerSpeed @39;
|
||||
lowBattery @40;
|
||||
accFaulted @41;
|
||||
@@ -87,8 +87,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
|
||||
laneChange @50;
|
||||
lowMemory @51;
|
||||
stockAeb @52;
|
||||
stockLkas @98;
|
||||
lateralManeuver @99;
|
||||
ldw @53;
|
||||
carUnrecognized @54;
|
||||
invalidLkasSetting @55;
|
||||
@@ -500,8 +498,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
pmicTempC @39 :List(Float32);
|
||||
intakeTempC @46 :Float32;
|
||||
exhaustTempC @47 :Float32;
|
||||
gnssTempC @48 :Float32;
|
||||
bottomSocTempC @50 :Float32;
|
||||
caseTempC @48 :Float32;
|
||||
maxTempC @44 :Float32; # max of other temps, used to control fan
|
||||
thermalZones @38 :List(ThermalZone);
|
||||
thermalStatus @14 :ThermalStatus;
|
||||
@@ -594,7 +591,6 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
harnessStatus @21 :HarnessStatus;
|
||||
sbu1Voltage @35 :Float32;
|
||||
sbu2Voltage @36 :Float32;
|
||||
soundOutputLevel @37 :UInt16;
|
||||
|
||||
# can health
|
||||
canState0 @29 :PandaCanState;
|
||||
@@ -613,11 +609,6 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
voltage @0 :UInt32;
|
||||
current @1 :UInt32;
|
||||
|
||||
# these fields are not used by openpilot, but they're
|
||||
# reserved for forks building alternate experiences.
|
||||
controlsAllowedRESERVED1 @38 :Bool;
|
||||
controlsAllowedRESERVED2 @39 :Bool;
|
||||
|
||||
enum FaultStatus {
|
||||
none @0;
|
||||
faultTemp @1;
|
||||
@@ -927,8 +918,6 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
saturated @7 :Bool;
|
||||
actualLateralAccel @9 :Float32;
|
||||
desiredLateralAccel @10 :Float32;
|
||||
desiredLateralJerk @11 :Float32;
|
||||
version @12 :Int32;
|
||||
}
|
||||
|
||||
struct LateralLQRState {
|
||||
@@ -1247,10 +1236,6 @@ struct DriverAssistance {
|
||||
# FCW, AEB, etc. will go here
|
||||
}
|
||||
|
||||
struct LateralManeuverPlan {
|
||||
desiredCurvature @0 :Float32; # 1/m
|
||||
}
|
||||
|
||||
struct LongitudinalPlan @0xe00b5b3eba12876c {
|
||||
modelMonoTime @9 :UInt64;
|
||||
hasLead @7 :Bool;
|
||||
@@ -1436,8 +1421,6 @@ struct LivePose {
|
||||
posenetOK @5 :Bool = false;
|
||||
sensorsOK @6 :Bool = false;
|
||||
|
||||
timestamp @8 :UInt64;
|
||||
|
||||
debugFilterState @7 :FilterState;
|
||||
|
||||
struct XYZMeasurement {
|
||||
@@ -1492,11 +1475,6 @@ struct ProcLog {
|
||||
|
||||
cmdline @15 :List(Text);
|
||||
exe @16 :Text;
|
||||
|
||||
# from /proc/<pid>/smaps_rollup (proportional/private memory)
|
||||
memPss @17 :UInt64; # Pss — shared pages split by mapper count
|
||||
memPssAnon @18 :UInt64; # Pss_Anon — private anonymous (heap, stack)
|
||||
memPssShmem @19 :UInt64; # Pss_Shmem — proportional MSGQ/tmpfs share
|
||||
}
|
||||
|
||||
struct CPUTimes {
|
||||
@@ -2168,10 +2146,13 @@ struct Joystick {
|
||||
struct DriverStateV2 {
|
||||
frameId @0 :UInt32;
|
||||
modelExecutionTime @1 :Float32;
|
||||
dspExecutionTimeDEPRECATED @2 :Float32;
|
||||
gpuExecutionTime @8 :Float32;
|
||||
rawPredictions @3 :Data;
|
||||
|
||||
poorVisionProb @4 :Float32;
|
||||
wheelOnRightProb @5 :Float32;
|
||||
|
||||
leftDriverData @6 :DriverData;
|
||||
rightDriverData @7 :DriverData;
|
||||
|
||||
@@ -2181,21 +2162,15 @@ struct DriverStateV2 {
|
||||
facePosition @2 :List(Float32);
|
||||
facePositionStd @3 :List(Float32);
|
||||
faceProb @4 :Float32;
|
||||
eyesVisibleProb @14 :Float32;
|
||||
eyesClosedProb @15 :Float32;
|
||||
phoneProb @13 :Float32;
|
||||
leftEyeProbDEPRECATED @5 :Float32;
|
||||
rightEyeProbDEPRECATED @6 :Float32;
|
||||
leftBlinkProbDEPRECATED @7 :Float32;
|
||||
rightBlinkProbDEPRECATED @8 :Float32;
|
||||
sunglassesProbDEPRECATED @9 :Float32;
|
||||
notReadyProbDEPRECATED @12 :List(Float32);
|
||||
occludedProbDEPRECATED @10 :Float32;
|
||||
readyProbDEPRECATED @11 :List(Float32);
|
||||
leftEyeProb @5 :Float32;
|
||||
rightEyeProb @6 :Float32;
|
||||
leftBlinkProb @7 :Float32;
|
||||
rightBlinkProb @8 :Float32;
|
||||
sunglassesProb @9 :Float32;
|
||||
occludedProb @10 :Float32;
|
||||
readyProb @11 :List(Float32);
|
||||
notReadyProb @12 :List(Float32);
|
||||
}
|
||||
|
||||
dspExecutionTimeDEPRECATED @2 :Float32;
|
||||
poorVisionProbDEPRECATED @4 :Float32;
|
||||
}
|
||||
|
||||
struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
|
||||
@@ -2247,10 +2222,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
|
||||
hiStdCount @14 :UInt32;
|
||||
isActiveMode @16 :Bool;
|
||||
isRHD @4 :Bool;
|
||||
uncertainCount @19 :UInt32;
|
||||
|
||||
phoneProbOffsetDEPRECATED @20 :Float32;
|
||||
phoneProbValidCountDEPRECATED @21 :UInt32;
|
||||
isPreviewDEPRECATED @15 :Bool;
|
||||
rhdCheckedDEPRECATED @5 :Bool;
|
||||
eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
|
||||
@@ -2546,10 +2518,13 @@ struct Event {
|
||||
controlsState @7 :ControlsState;
|
||||
selfdriveState @130 :SelfdriveState;
|
||||
gyroscope @99 :SensorEventData;
|
||||
gyroscope2 @100 :SensorEventData;
|
||||
accelerometer @98 :SensorEventData;
|
||||
accelerometer2 @101 :SensorEventData;
|
||||
magnetometer @95 :SensorEventData;
|
||||
lightSensor @96 :SensorEventData;
|
||||
temperatureSensor @97 :SensorEventData;
|
||||
temperatureSensor2 @123 :SensorEventData;
|
||||
pandaStates @81 :List(PandaState);
|
||||
peripheralState @80 :PeripheralState;
|
||||
radarState @13 :RadarState;
|
||||
@@ -2624,8 +2599,6 @@ struct Event {
|
||||
bookmarkButton @148 :UserBookmark;
|
||||
audioFeedback @149 :AudioFeedback;
|
||||
|
||||
lateralManeuverPlan @150 :LateralManeuverPlan;
|
||||
|
||||
# *********** debug ***********
|
||||
testJoystick @52 :Joystick;
|
||||
roadEncodeData @86 :EncodeData;
|
||||
@@ -2649,16 +2622,16 @@ struct Event {
|
||||
# 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;
|
||||
customReserved1 @108 :Custom.CustomReserved1;
|
||||
customReserved2 @109 :Custom.CustomReserved2;
|
||||
customReserved3 @110 :Custom.CustomReserved3;
|
||||
customReserved4 @111 :Custom.CustomReserved4;
|
||||
customReserved5 @112 :Custom.CustomReserved5;
|
||||
customReserved6 @113 :Custom.CustomReserved6;
|
||||
customReserved7 @114 :Custom.CustomReserved7;
|
||||
customReserved8 @115 :Custom.CustomReserved8;
|
||||
customReserved9 @116 :Custom.CustomReserved9;
|
||||
selfdriveStateSP @107 :Custom.SelfdriveStateSP;
|
||||
modelManagerSP @108 :Custom.ModelManagerSP;
|
||||
longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
|
||||
onroadEventsSP @110 :Custom.OnroadEventSP;
|
||||
carParamsSP @111 :Custom.CarParamsSP;
|
||||
carControlSP @112 :Custom.CarControlSP;
|
||||
backupManagerSP @113 :Custom.BackupManagerSP;
|
||||
carStateSP @114 :Custom.CarStateSP;
|
||||
liveMapDataSP @115 :Custom.LiveMapDataSP;
|
||||
modelDataV2SP @116 :Custom.ModelDataV2SP;
|
||||
customReserved10 @136 :Custom.CustomReserved10;
|
||||
customReserved11 @137 :Custom.CustomReserved11;
|
||||
customReserved12 @138 :Custom.CustomReserved12;
|
||||
@@ -2671,51 +2644,48 @@ struct Event {
|
||||
customReserved19 @145 :Custom.CustomReserved19;
|
||||
|
||||
# *********** legacy + deprecated ***********
|
||||
model @9 :Deprecated.ModelData; # TODO: rename modelV2 and mark this as deprecated
|
||||
model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
|
||||
liveMpcDEPRECATED @36 :LiveMpcData;
|
||||
liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData;
|
||||
liveLocationKalmanDeprecatedDEPRECATED @51 :Deprecated.LiveLocationData;
|
||||
orbslamCorrectionDEPRECATED @45 :Deprecated.OrbslamCorrection;
|
||||
liveUIDEPRECATED @14 :Deprecated.LiveUI;
|
||||
liveLocationKalmanLegacyDEPRECATED @51 :Legacy.LiveLocationData;
|
||||
orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection;
|
||||
liveUIDEPRECATED @14 :Legacy.LiveUI;
|
||||
sensorEventDEPRECATED @4 :SensorEventData;
|
||||
liveEventDEPRECATED @8 :List(Deprecated.LiveEventData);
|
||||
liveLocationDEPRECATED @25 :Deprecated.LiveLocationData;
|
||||
ethernetDataDEPRECATED @26 :List(Deprecated.EthernetPacket);
|
||||
cellInfoDEPRECATED @28 :List(Deprecated.CellInfo);
|
||||
wifiScanDEPRECATED @29 :List(Deprecated.WifiScan);
|
||||
uiNavigationEventDEPRECATED @50 :Deprecated.UiNavigationEvent;
|
||||
liveEventDEPRECATED @8 :List(Legacy.LiveEventData);
|
||||
liveLocationDEPRECATED @25 :Legacy.LiveLocationData;
|
||||
ethernetDataDEPRECATED @26 :List(Legacy.EthernetPacket);
|
||||
cellInfoDEPRECATED @28 :List(Legacy.CellInfo);
|
||||
wifiScanDEPRECATED @29 :List(Legacy.WifiScan);
|
||||
uiNavigationEventDEPRECATED @50 :Legacy.UiNavigationEvent;
|
||||
liveMapDataDEPRECATED @62 :LiveMapDataDEPRECATED;
|
||||
gpsPlannerPointsDEPRECATED @40 :Deprecated.GPSPlannerPoints;
|
||||
gpsPlannerPlanDEPRECATED @41 :Deprecated.GPSPlannerPlan;
|
||||
gpsPlannerPointsDEPRECATED @40 :Legacy.GPSPlannerPoints;
|
||||
gpsPlannerPlanDEPRECATED @41 :Legacy.GPSPlannerPlan;
|
||||
applanixRawDEPRECATED @42 :Data;
|
||||
androidGnssDEPRECATED @30 :Deprecated.AndroidGnss;
|
||||
lidarPtsDEPRECATED @32 :Deprecated.LidarPts;
|
||||
navStatusDEPRECATED @38 :Deprecated.NavStatus;
|
||||
trafficEventsDEPRECATED @43 :List(Deprecated.TrafficEvent);
|
||||
liveLocationTimingDEPRECATED @44 :Deprecated.LiveLocationData;
|
||||
liveLocationCorrectedDEPRECATED @46 :Deprecated.LiveLocationData;
|
||||
navUpdateDEPRECATED @27 :Deprecated.NavUpdate;
|
||||
orbObservationDEPRECATED @47 :List(Deprecated.OrbObservation);
|
||||
locationDEPRECATED @49 :Deprecated.LiveLocationData;
|
||||
orbOdometryDEPRECATED @53 :Deprecated.OrbOdometry;
|
||||
orbFeaturesDEPRECATED @54 :Deprecated.OrbFeatures;
|
||||
applanixLocationDEPRECATED @55 :Deprecated.LiveLocationData;
|
||||
orbKeyFrameDEPRECATED @56 :Deprecated.OrbKeyFrame;
|
||||
orbFeaturesSummaryDEPRECATED @58 :Deprecated.OrbFeaturesSummary;
|
||||
featuresDEPRECATED @10 :Deprecated.CalibrationFeatures;
|
||||
kalmanOdometryDEPRECATED @65 :Deprecated.KalmanOdometry;
|
||||
uiLayoutStateDEPRECATED @57 :Deprecated.UiLayoutState;
|
||||
androidGnssDEPRECATED @30 :Legacy.AndroidGnss;
|
||||
lidarPtsDEPRECATED @32 :Legacy.LidarPts;
|
||||
navStatusDEPRECATED @38 :Legacy.NavStatus;
|
||||
trafficEventsDEPRECATED @43 :List(Legacy.TrafficEvent);
|
||||
liveLocationTimingDEPRECATED @44 :Legacy.LiveLocationData;
|
||||
liveLocationCorrectedDEPRECATED @46 :Legacy.LiveLocationData;
|
||||
navUpdateDEPRECATED @27 :Legacy.NavUpdate;
|
||||
orbObservationDEPRECATED @47 :List(Legacy.OrbObservation);
|
||||
locationDEPRECATED @49 :Legacy.LiveLocationData;
|
||||
orbOdometryDEPRECATED @53 :Legacy.OrbOdometry;
|
||||
orbFeaturesDEPRECATED @54 :Legacy.OrbFeatures;
|
||||
applanixLocationDEPRECATED @55 :Legacy.LiveLocationData;
|
||||
orbKeyFrameDEPRECATED @56 :Legacy.OrbKeyFrame;
|
||||
orbFeaturesSummaryDEPRECATED @58 :Legacy.OrbFeaturesSummary;
|
||||
featuresDEPRECATED @10 :Legacy.CalibrationFeatures;
|
||||
kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
|
||||
uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
|
||||
pandaStateDEPRECATED @12 :PandaState;
|
||||
driverStateDEPRECATED @59 :DriverStateDEPRECATED;
|
||||
sensorEventsDEPRECATED @11 :List(SensorEventData);
|
||||
lateralPlanDEPRECATED @64 :LateralPlan;
|
||||
navModelDEPRECATED @104 :NavModelData;
|
||||
uiPlanDEPRECATED @106 :UiPlan;
|
||||
liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
|
||||
liveLocationKalman @72 :LiveLocationKalman;
|
||||
liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
|
||||
onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
|
||||
gyroscope2DEPRECATED @100 :SensorEventData;
|
||||
accelerometer2DEPRECATED @101 :SensorEventData;
|
||||
temperatureSensor2DEPRECATED @123 :SensorEventData;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
# must be built with scons
|
||||
from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \
|
||||
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 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
|
||||
@@ -11,25 +13,11 @@ from typing import Optional, List, Union, Dict
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.common.utils import MovingAverage
|
||||
from openpilot.common.util import MovingAverage
|
||||
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
|
||||
|
||||
def pub_sock(endpoint: str) -> PubSocket:
|
||||
service = SERVICE_LIST.get(endpoint)
|
||||
segment_size = service.queue_size if service else 0
|
||||
return msgq.pub_sock(endpoint, segment_size)
|
||||
|
||||
|
||||
def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
|
||||
conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
|
||||
service = SERVICE_LIST.get(endpoint)
|
||||
segment_size = service.queue_size if service else 0
|
||||
return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
|
||||
timeout=timeout, segment_size=segment_size)
|
||||
|
||||
|
||||
def reset_context():
|
||||
msgq.context = Context()
|
||||
|
||||
|
||||
Binary file not shown.
@@ -1,72 +0,0 @@
|
||||
#include <cassert>
|
||||
|
||||
#include "cereal/messaging/msgq_to_zmq.h"
|
||||
#include "cereal/services.h"
|
||||
#include "common/util.h"
|
||||
|
||||
ExitHandler do_exit;
|
||||
|
||||
static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
|
||||
std::vector<std::string> service_list;
|
||||
for (const auto& it : services) {
|
||||
std::string name = it.second.name;
|
||||
bool in_whitelist = whitelist_str.find(name) != std::string::npos;
|
||||
if (zmq_to_msgq && !in_whitelist) {
|
||||
continue;
|
||||
}
|
||||
service_list.push_back(name);
|
||||
}
|
||||
return service_list;
|
||||
}
|
||||
|
||||
void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &ip) {
|
||||
MsgqToZmq bridge;
|
||||
bridge.run(endpoints, ip);
|
||||
}
|
||||
|
||||
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;
|
||||
|
||||
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);
|
||||
sub_sock->connect(sub_context.get(), endpoint, ip, false);
|
||||
|
||||
poller->registerSocket(sub_sock);
|
||||
sub2pub[sub_sock] = pub_sock;
|
||||
}
|
||||
|
||||
while (!do_exit) {
|
||||
for (auto sub_sock : poller->poll(100)) {
|
||||
std::unique_ptr<Message> msg(sub_sock->receive(true));
|
||||
if (msg) {
|
||||
sub2pub[sub_sock]->sendMessage(msg.get());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Clean up allocated sockets
|
||||
for (auto &[sub_sock, pub_sock] : sub2pub) {
|
||||
delete sub_sock;
|
||||
delete pub_sock;
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char **argv) {
|
||||
bool is_zmq_to_msgq = argc > 2;
|
||||
std::string ip = is_zmq_to_msgq ? argv[1] : "127.0.0.1";
|
||||
std::string whitelist_str = is_zmq_to_msgq ? std::string(argv[2]) : "";
|
||||
std::vector<std::string> endpoints = get_services(whitelist_str, is_zmq_to_msgq);
|
||||
|
||||
if (is_zmq_to_msgq) {
|
||||
zmq_to_msgq(endpoints, ip);
|
||||
} else {
|
||||
msgq_to_zmq(endpoints, ip);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
@@ -1,170 +0,0 @@
|
||||
#include "cereal/messaging/bridge_zmq.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <cstring>
|
||||
#include <unistd.h>
|
||||
|
||||
static size_t fnv1a_hash(const std::string &str) {
|
||||
const size_t fnv_prime = 0x100000001b3;
|
||||
size_t hash_value = 0xcbf29ce484222325;
|
||||
for (char c : str) {
|
||||
hash_value ^= (unsigned char)c;
|
||||
hash_value *= fnv_prime;
|
||||
}
|
||||
return hash_value;
|
||||
}
|
||||
|
||||
// FIXME: This is a hack to get the port number from the socket name, might have collisions.
|
||||
static int get_port(std::string endpoint) {
|
||||
size_t hash_value = fnv1a_hash(endpoint);
|
||||
int start_port = 8023;
|
||||
int max_port = 65535;
|
||||
return start_port + (hash_value % (max_port - start_port));
|
||||
}
|
||||
|
||||
BridgeZmqContext::BridgeZmqContext() {
|
||||
context = zmq_ctx_new();
|
||||
}
|
||||
|
||||
BridgeZmqContext::~BridgeZmqContext() {
|
||||
if (context != nullptr) {
|
||||
zmq_ctx_term(context);
|
||||
}
|
||||
}
|
||||
|
||||
void BridgeZmqMessage::init(size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
}
|
||||
|
||||
void BridgeZmqMessage::init(char *d, size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
memcpy(data, d, size);
|
||||
}
|
||||
|
||||
void BridgeZmqMessage::close() {
|
||||
if (size > 0) {
|
||||
delete[] data;
|
||||
}
|
||||
data = nullptr;
|
||||
size = 0;
|
||||
}
|
||||
|
||||
BridgeZmqMessage::~BridgeZmqMessage() {
|
||||
close();
|
||||
}
|
||||
|
||||
int BridgeZmqSubSocket::connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint) {
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
|
||||
if (sock == nullptr) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
|
||||
|
||||
if (conflate) {
|
||||
int arg = 1;
|
||||
zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
|
||||
}
|
||||
|
||||
int reconnect_ivl = 500;
|
||||
zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
|
||||
|
||||
full_endpoint = "tcp://" + address + ":";
|
||||
if (check_endpoint) {
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
return zmq_connect(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
void BridgeZmqSubSocket::setTimeout(int timeout) {
|
||||
zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
|
||||
}
|
||||
|
||||
Message *BridgeZmqSubSocket::receive(bool non_blocking) {
|
||||
zmq_msg_t msg;
|
||||
assert(zmq_msg_init(&msg) == 0);
|
||||
|
||||
int flags = non_blocking ? ZMQ_DONTWAIT : 0;
|
||||
int rc = zmq_msg_recv(&msg, sock, flags);
|
||||
|
||||
Message *ret = nullptr;
|
||||
if (rc >= 0) {
|
||||
ret = new BridgeZmqMessage;
|
||||
ret->init((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
|
||||
}
|
||||
|
||||
zmq_msg_close(&msg);
|
||||
return ret;
|
||||
}
|
||||
|
||||
BridgeZmqSubSocket::~BridgeZmqSubSocket() {
|
||||
if (sock != nullptr) {
|
||||
zmq_close(sock);
|
||||
}
|
||||
}
|
||||
|
||||
int BridgeZmqPubSocket::connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint) {
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
|
||||
if (sock == nullptr) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
full_endpoint = "tcp://*:";
|
||||
if (check_endpoint) {
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
// ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same.
|
||||
pid = getpid();
|
||||
|
||||
return zmq_bind(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
int BridgeZmqPubSocket::sendMessage(Message *message) {
|
||||
assert(pid == getpid());
|
||||
return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
int BridgeZmqPubSocket::send(char *data, size_t size) {
|
||||
assert(pid == getpid());
|
||||
return zmq_send(sock, data, size, ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
BridgeZmqPubSocket::~BridgeZmqPubSocket() {
|
||||
if (sock != nullptr) {
|
||||
zmq_close(sock);
|
||||
}
|
||||
}
|
||||
|
||||
void BridgeZmqPoller::registerSocket(BridgeZmqSubSocket *socket) {
|
||||
assert(num_polls + 1 < (sizeof(polls) / sizeof(polls[0])));
|
||||
polls[num_polls].socket = socket->getRawSocket();
|
||||
polls[num_polls].events = ZMQ_POLLIN;
|
||||
|
||||
sockets.push_back(socket);
|
||||
num_polls++;
|
||||
}
|
||||
|
||||
std::vector<BridgeZmqSubSocket *> BridgeZmqPoller::poll(int timeout) {
|
||||
std::vector<BridgeZmqSubSocket *> ret;
|
||||
|
||||
int rc = zmq_poll(polls, num_polls, timeout);
|
||||
if (rc < 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < num_polls; i++) {
|
||||
if (polls[i].revents) {
|
||||
ret.push_back(sockets[i]);
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
@@ -1,72 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstddef>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include <zmq.h>
|
||||
|
||||
#include "msgq/ipc.h"
|
||||
|
||||
class BridgeZmqContext {
|
||||
public:
|
||||
BridgeZmqContext();
|
||||
void *getRawContext() { return context; }
|
||||
~BridgeZmqContext();
|
||||
|
||||
private:
|
||||
void *context = nullptr;
|
||||
};
|
||||
|
||||
class BridgeZmqMessage : public Message {
|
||||
public:
|
||||
void init(size_t size);
|
||||
void init(char *data, size_t size);
|
||||
void close();
|
||||
size_t getSize() { return size; }
|
||||
char *getData() { return data; }
|
||||
~BridgeZmqMessage();
|
||||
|
||||
private:
|
||||
char *data = nullptr;
|
||||
size_t size = 0;
|
||||
};
|
||||
|
||||
class BridgeZmqSubSocket {
|
||||
public:
|
||||
int connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true);
|
||||
void setTimeout(int timeout);
|
||||
Message *receive(bool non_blocking = false);
|
||||
void *getRawSocket() { return sock; }
|
||||
~BridgeZmqSubSocket();
|
||||
|
||||
private:
|
||||
void *sock = nullptr;
|
||||
std::string full_endpoint;
|
||||
};
|
||||
|
||||
class BridgeZmqPubSocket {
|
||||
public:
|
||||
int connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint = true);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
void *getRawSocket() { return sock; }
|
||||
~BridgeZmqPubSocket();
|
||||
|
||||
private:
|
||||
void *sock = nullptr;
|
||||
std::string full_endpoint;
|
||||
int pid = -1;
|
||||
};
|
||||
|
||||
class BridgeZmqPoller {
|
||||
public:
|
||||
void registerSocket(BridgeZmqSubSocket *socket);
|
||||
std::vector<BridgeZmqSubSocket *> poll(int timeout);
|
||||
|
||||
private:
|
||||
static constexpr size_t MAX_BRIDGE_ZMQ_POLLERS = 128;
|
||||
std::vector<BridgeZmqSubSocket *> sockets;
|
||||
zmq_pollitem_t polls[MAX_BRIDGE_ZMQ_POLLERS] = {};
|
||||
size_t num_polls = 0;
|
||||
};
|
||||
@@ -1,146 +0,0 @@
|
||||
#include "cereal/messaging/msgq_to_zmq.h"
|
||||
|
||||
#include <cassert>
|
||||
|
||||
#include "cereal/services.h"
|
||||
#include "common/util.h"
|
||||
|
||||
extern ExitHandler do_exit;
|
||||
|
||||
// Max messages to process per socket per poll
|
||||
constexpr int MAX_MESSAGES_PER_SOCKET = 50;
|
||||
|
||||
static std::string recv_zmq_msg(void *sock) {
|
||||
zmq_msg_t msg;
|
||||
zmq_msg_init(&msg);
|
||||
std::string ret;
|
||||
if (zmq_msg_recv(&msg, sock, 0) > 0) {
|
||||
ret.assign((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
|
||||
}
|
||||
zmq_msg_close(&msg);
|
||||
return ret;
|
||||
}
|
||||
|
||||
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>();
|
||||
|
||||
// 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>();
|
||||
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()));
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// Start ZMQ monitoring thread to monitor socket events
|
||||
std::thread thread(&MsgqToZmq::zmqMonitorThread, this);
|
||||
|
||||
// Main loop for processing messages
|
||||
while (!do_exit) {
|
||||
{
|
||||
std::unique_lock lk(mutex);
|
||||
cv.wait(lk, [this]() { return do_exit || !sub2pub.empty(); });
|
||||
if (do_exit) break;
|
||||
|
||||
for (auto sub_sock : msgq_poller->poll(100)) {
|
||||
// Process messages for each socket
|
||||
BridgeZmqPubSocket *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;
|
||||
|
||||
while (pub_sock->sendMessage(msg.get()) == -1) {
|
||||
if (errno != EINTR) break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
util::sleep_for(1); // Give zmqMonitorThread a chance to acquire the mutex
|
||||
}
|
||||
|
||||
thread.join();
|
||||
}
|
||||
|
||||
void MsgqToZmq::zmqMonitorThread() {
|
||||
std::vector<zmq_pollitem_t> pollitems;
|
||||
|
||||
// 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);
|
||||
|
||||
void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
|
||||
zmq_connect(monitor_socket, addr.c_str());
|
||||
pollitems.emplace_back(zmq_pollitem_t{.socket = monitor_socket, .events = ZMQ_POLLIN});
|
||||
}
|
||||
|
||||
while (!do_exit) {
|
||||
int ret = zmq_poll(pollitems.data(), pollitems.size(), 1000);
|
||||
if (ret < 0) {
|
||||
if (errno == EINTR) {
|
||||
// Due to frequent EINTR signals from msgq, introduce a brief delay (200 ms)
|
||||
// to reduce CPU usage during retry attempts.
|
||||
util::sleep_for(200);
|
||||
}
|
||||
continue;
|
||||
}
|
||||
|
||||
for (int i = 0; i < pollitems.size(); ++i) {
|
||||
if (pollitems[i].revents & ZMQ_POLLIN) {
|
||||
// First frame in message contains event number and value
|
||||
std::string frame = recv_zmq_msg(pollitems[i].socket);
|
||||
if (frame.empty()) continue;
|
||||
|
||||
uint16_t event_type = *(uint16_t *)(frame.data());
|
||||
|
||||
// Second frame in message contains event address
|
||||
frame = recv_zmq_msg(pollitems[i].socket);
|
||||
if (frame.empty()) continue;
|
||||
|
||||
std::unique_lock lk(mutex);
|
||||
auto &pair = socket_pairs[i];
|
||||
if (event_type & ZMQ_EVENT_ACCEPTED) {
|
||||
printf("socket [%s] connected\n", pair.endpoint.c_str());
|
||||
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);
|
||||
sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
|
||||
registerSockets();
|
||||
}
|
||||
} else if (event_type & ZMQ_EVENT_DISCONNECTED) {
|
||||
printf("socket [%s] disconnected\n", pair.endpoint.c_str());
|
||||
if (pair.connected_clients == 0 || --pair.connected_clients == 0) {
|
||||
// Remove MSGQ subscriber socket from mapping and reset it
|
||||
sub2pub.erase(pair.sub_sock.get());
|
||||
pair.sub_sock.reset(nullptr);
|
||||
registerSockets();
|
||||
}
|
||||
}
|
||||
cv.notify_one();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Clean up monitor sockets
|
||||
for (int i = 0; i < pollitems.size(); ++i) {
|
||||
zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), nullptr, 0);
|
||||
zmq_close(pollitems[i].socket);
|
||||
}
|
||||
cv.notify_one();
|
||||
}
|
||||
|
||||
void MsgqToZmq::registerSockets() {
|
||||
msgq_poller = std::make_unique<MSGQPoller>();
|
||||
for (const auto &socket_pair : socket_pairs) {
|
||||
if (socket_pair.sub_sock) {
|
||||
msgq_poller->registerSocket(socket_pair.sub_sock.get());
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -7,8 +7,9 @@
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#define private public
|
||||
#include "msgq/impl_msgq.h"
|
||||
#include "cereal/messaging/bridge_zmq.h"
|
||||
#include "msgq/impl_zmq.h"
|
||||
|
||||
class MsgqToZmq {
|
||||
public:
|
||||
@@ -21,16 +22,16 @@ protected:
|
||||
|
||||
struct SocketPair {
|
||||
std::string endpoint;
|
||||
std::unique_ptr<BridgeZmqPubSocket> pub_sock;
|
||||
std::unique_ptr<ZMQPubSocket> pub_sock;
|
||||
std::unique_ptr<MSGQSubSocket> sub_sock;
|
||||
int connected_clients = 0;
|
||||
};
|
||||
|
||||
std::unique_ptr<Context> msgq_context;
|
||||
std::unique_ptr<BridgeZmqContext> zmq_context;
|
||||
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 *, BridgeZmqPubSocket *> sub2pub;
|
||||
std::map<SubSocket *, ZMQPubSocket *> sub2pub;
|
||||
std::vector<SocketPair> socket_pairs;
|
||||
};
|
||||
|
||||
@@ -1,204 +0,0 @@
|
||||
#include <assert.h>
|
||||
#include <stdlib.h>
|
||||
#include <string>
|
||||
#include <mutex>
|
||||
|
||||
#include "cereal/services.h"
|
||||
#include "cereal/messaging/messaging.h"
|
||||
|
||||
const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
|
||||
|
||||
static inline bool inList(const std::vector<const char *> &list, const char *value) {
|
||||
for (auto &v : list) {
|
||||
if (strcmp(value, v) == 0) return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
class MessageContext {
|
||||
public:
|
||||
MessageContext() : ctx_(nullptr) {}
|
||||
~MessageContext() { delete ctx_; }
|
||||
inline Context *context() {
|
||||
std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
|
||||
return ctx_;
|
||||
}
|
||||
private:
|
||||
Context *ctx_;
|
||||
std::once_flag init_flag;
|
||||
};
|
||||
|
||||
MessageContext message_context;
|
||||
|
||||
struct SubMaster::SubMessage {
|
||||
std::string name;
|
||||
SubSocket *socket = nullptr;
|
||||
float freq = 0.0f;
|
||||
bool updated = false, alive = false, valid = false, ignore_alive;
|
||||
uint64_t rcv_time = 0, rcv_frame = 0;
|
||||
void *allocated_msg_reader = nullptr;
|
||||
bool is_polled = false;
|
||||
capnp::FlatArrayMessageReader *msg_reader = nullptr;
|
||||
AlignedBuffer aligned_buf;
|
||||
cereal::Event::Reader event;
|
||||
};
|
||||
|
||||
SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll,
|
||||
const char *address, const std::vector<const char *> &ignore_alive) {
|
||||
poller_ = Poller::create();
|
||||
for (auto name : service_list) {
|
||||
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);
|
||||
assert(socket != 0);
|
||||
bool is_polled = inList(poll, name) || poll.empty();
|
||||
if (is_polled) poller_->registerSocket(socket);
|
||||
SubMessage *m = new SubMessage{
|
||||
.name = name,
|
||||
.socket = socket,
|
||||
.freq = serv.frequency,
|
||||
.ignore_alive = inList(ignore_alive, name),
|
||||
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
|
||||
.is_polled = is_polled};
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
|
||||
messages_[socket] = m;
|
||||
services_[name] = m;
|
||||
}
|
||||
}
|
||||
|
||||
void SubMaster::update(int timeout) {
|
||||
for (auto &kv : messages_) kv.second->updated = false;
|
||||
|
||||
auto sockets = poller_->poll(timeout);
|
||||
|
||||
// add non-polled sockets for non-blocking receive
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
SubSocket *s = kv.first;
|
||||
if (!m->is_polled) sockets.push_back(s);
|
||||
}
|
||||
|
||||
uint64_t current_time = nanos_since_boot();
|
||||
|
||||
std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
|
||||
|
||||
for (auto s : sockets) {
|
||||
Message *msg = s->receive(true);
|
||||
if (msg == nullptr) continue;
|
||||
|
||||
SubMessage *m = messages_.at(s);
|
||||
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
capnp::ReaderOptions options;
|
||||
options.traversalLimitInWords = kj::maxValue; // Don't limit
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
|
||||
delete msg;
|
||||
messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
|
||||
}
|
||||
|
||||
update_msgs(current_time, messages);
|
||||
}
|
||||
|
||||
void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
|
||||
if (++frame == UINT64_MAX) frame = 1;
|
||||
|
||||
for (auto &kv : messages) {
|
||||
auto m_find = services_.find(kv.first);
|
||||
if (m_find == services_.end()){
|
||||
continue;
|
||||
}
|
||||
SubMessage *m = m_find->second;
|
||||
m->event = kv.second;
|
||||
m->updated = true;
|
||||
m->rcv_time = current_time;
|
||||
m->rcv_frame = frame;
|
||||
m->valid = m->event.getValid();
|
||||
if (SIMULATION) m->alive = true;
|
||||
}
|
||||
|
||||
if (!SIMULATION) {
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
|
||||
int found = 0;
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
|
||||
found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
|
||||
}
|
||||
}
|
||||
return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
|
||||
}
|
||||
|
||||
void SubMaster::drain() {
|
||||
while (true) {
|
||||
auto polls = poller_->poll(0);
|
||||
if (polls.size() == 0)
|
||||
break;
|
||||
|
||||
for (auto sock : polls) {
|
||||
Message *msg = sock->receive(true);
|
||||
delete msg;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool SubMaster::updated(const char *name) const {
|
||||
return services_.at(name)->updated;
|
||||
}
|
||||
|
||||
bool SubMaster::alive(const char *name) const {
|
||||
return services_.at(name)->alive;
|
||||
}
|
||||
|
||||
bool SubMaster::valid(const char *name) const {
|
||||
return services_.at(name)->valid;
|
||||
}
|
||||
|
||||
uint64_t SubMaster::rcv_frame(const char *name) const {
|
||||
return services_.at(name)->rcv_frame;
|
||||
}
|
||||
|
||||
uint64_t SubMaster::rcv_time(const char *name) const {
|
||||
return services_.at(name)->rcv_time;
|
||||
}
|
||||
|
||||
cereal::Event::Reader &SubMaster::operator[](const char *name) const {
|
||||
return services_.at(name)->event;
|
||||
}
|
||||
|
||||
SubMaster::~SubMaster() {
|
||||
delete poller_;
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
free(m->allocated_msg_reader);
|
||||
delete m->socket;
|
||||
delete m;
|
||||
}
|
||||
}
|
||||
|
||||
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);
|
||||
assert(socket);
|
||||
sockets_[name] = socket;
|
||||
}
|
||||
}
|
||||
|
||||
int PubMaster::send(const char *name, MessageBuilder &msg) {
|
||||
auto bytes = msg.toBytes();
|
||||
return send(name, bytes.begin(), bytes.size());
|
||||
}
|
||||
|
||||
PubMaster::~PubMaster() {
|
||||
for (auto s : sockets_) delete s.second;
|
||||
}
|
||||
@@ -5,7 +5,7 @@ import numbers
|
||||
import random
|
||||
import threading
|
||||
import time
|
||||
from openpilot.common.parameterized import parameterized
|
||||
from parameterized import parameterized
|
||||
import pytest
|
||||
|
||||
from cereal import log, car
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import os
|
||||
import tempfile
|
||||
from typing import Dict
|
||||
from openpilot.common.parameterized import parameterized
|
||||
from parameterized import parameterized
|
||||
|
||||
import cereal.services as services
|
||||
from cereal.services import SERVICE_LIST
|
||||
|
||||
+222
@@ -0,0 +1,222 @@
|
||||
#!/usr/bin/env python3
|
||||
import argparse
|
||||
import sys
|
||||
from typing import Any, List, Tuple
|
||||
|
||||
DEBUG = False
|
||||
|
||||
|
||||
def print_debug(string: str) -> None:
|
||||
if DEBUG:
|
||||
print(string)
|
||||
|
||||
|
||||
def create_schema_instance(struct: Any, prop: Tuple[str, Any]) -> Any:
|
||||
"""
|
||||
Create a new instance of a schema type, handling different field types.
|
||||
|
||||
Args:
|
||||
struct: The Cap'n Proto schema structure
|
||||
prop: A tuple containing the field name and field metadata
|
||||
|
||||
Returns:
|
||||
A new initialized schema instance
|
||||
"""
|
||||
struct_instance = struct.new_message()
|
||||
field_name, field_metadata = prop
|
||||
|
||||
try:
|
||||
field_type = field_metadata.proto.slot.type.which()
|
||||
|
||||
# Initialize different types of fields
|
||||
if field_type in ('list', 'text', 'data'):
|
||||
struct_instance.init(field_name, 1)
|
||||
print_debug(f"Initialized list/text/data field: {field_name}")
|
||||
elif field_type in ('struct', 'object'):
|
||||
struct_instance.init(field_name)
|
||||
print_debug(f"Initialized struct/object field: {field_name}")
|
||||
|
||||
return struct_instance
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error creating instance for {field_name}: {e}")
|
||||
return None
|
||||
|
||||
|
||||
def get_schema_fields(schema_struct: Any) -> List[Tuple[str, Any]]:
|
||||
"""
|
||||
Retrieve all fields from a given schema structure.
|
||||
|
||||
Args:
|
||||
schema_struct: The Cap'n Proto schema structure
|
||||
|
||||
Returns:
|
||||
A list of field names and their metadata
|
||||
"""
|
||||
try:
|
||||
# Get all fields from the schema
|
||||
schema_fields = list(schema_struct.schema.fields.items())
|
||||
|
||||
print_debug("Discovered schema fields:")
|
||||
for field_name, field_metadata in schema_fields:
|
||||
print_debug(f"- {field_name}")
|
||||
|
||||
return schema_fields
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error retrieving schema fields: {e}")
|
||||
return []
|
||||
|
||||
|
||||
def generate_schema_instances(schema_struct: Any) -> List[Any]:
|
||||
"""
|
||||
Generate instances for all fields in a given schema.
|
||||
|
||||
Args:
|
||||
schema_struct: The Cap'n Proto schema structure
|
||||
|
||||
Returns:
|
||||
A list of schema instances
|
||||
"""
|
||||
schema_fields = get_schema_fields(schema_struct)
|
||||
instances = []
|
||||
|
||||
for field_prop in schema_fields:
|
||||
try:
|
||||
instance = create_schema_instance(schema_struct, field_prop)
|
||||
if instance is not None:
|
||||
instances.append(instance)
|
||||
except Exception as e:
|
||||
print(f"Skipping field due to error: {e}")
|
||||
|
||||
print(f"Generated {len(instances)} schema instances")
|
||||
return instances
|
||||
|
||||
|
||||
def persist_instances(instances: List[Any], filename: str) -> None:
|
||||
"""
|
||||
Write schema instances to a binary file.
|
||||
|
||||
Args:
|
||||
instances: List of schema instances
|
||||
filename: Output file path
|
||||
"""
|
||||
try:
|
||||
with open(filename, 'wb') as f:
|
||||
for instance in instances:
|
||||
f.write(instance.to_bytes())
|
||||
|
||||
print(f"Successfully wrote {len(instances)} instances to {filename}")
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error persisting instances: {e}")
|
||||
sys.exit(1)
|
||||
|
||||
|
||||
def read_instances(filename: str, schema_type: Any) -> List[Any]:
|
||||
"""
|
||||
Read schema instances from a binary file.
|
||||
|
||||
Args:
|
||||
filename: Input file path
|
||||
schema_type: The schema type to use for reading
|
||||
|
||||
Returns:
|
||||
A list of read schema instances
|
||||
"""
|
||||
try:
|
||||
with open(filename, 'rb') as f:
|
||||
data = f.read()
|
||||
|
||||
instances = list(schema_type.read_multiple_bytes(data))
|
||||
|
||||
print(f"Read {len(instances)} instances from {filename}")
|
||||
return instances
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error reading instances: {e}")
|
||||
sys.exit(1)
|
||||
|
||||
|
||||
def compare_schemas(original_instances: List[Any], read_instances: List[Any]) -> bool:
|
||||
"""
|
||||
Compare original and read-back instances to detect potential breaking changes.
|
||||
|
||||
Args:
|
||||
original_instances: List of originally generated instances
|
||||
read_instances: List of instances read back from file
|
||||
|
||||
Returns:
|
||||
Boolean indicating whether schemas appear compatible
|
||||
"""
|
||||
if len(original_instances) != len(read_instances):
|
||||
print("❌ Schema Compatibility Warning: Instance count mismatch")
|
||||
return False
|
||||
|
||||
compatible = True
|
||||
for struct in read_instances:
|
||||
try:
|
||||
getattr(struct, struct.which()) # Attempting to access the field to validate readability
|
||||
except Exception as e:
|
||||
print(f"❌ Structural change detected: {struct.which()} is not readable.\nFull error: {e}")
|
||||
compatible = False
|
||||
|
||||
return compatible
|
||||
|
||||
|
||||
def main():
|
||||
"""
|
||||
CLI entry point for schema compatibility testing.
|
||||
"""
|
||||
# Setup argument parser
|
||||
parser = argparse.ArgumentParser(
|
||||
description='Cap\'n Proto Schema Compatibility Testing Tool',
|
||||
epilog='Test schema compatibility by generating and reading back instances.'
|
||||
)
|
||||
|
||||
# Add mutually exclusive group for generation or reading mode
|
||||
mode_group = parser.add_mutually_exclusive_group(required=True)
|
||||
mode_group.add_argument('-g', '--generate', action='store_true',
|
||||
help='Generate schema instances')
|
||||
mode_group.add_argument('-r', '--read', action='store_true',
|
||||
help='Read and validate schema instances')
|
||||
|
||||
# Common arguments
|
||||
parser.add_argument('-f', '--file',
|
||||
default='schema_instances.bin',
|
||||
help='Output/input binary file (default: schema_instances.bin)')
|
||||
|
||||
# Parse arguments
|
||||
args = parser.parse_args()
|
||||
|
||||
# Import the schema dynamically
|
||||
try:
|
||||
from cereal import log
|
||||
schema_type = log.Event
|
||||
except ImportError:
|
||||
print("Error: Unable to import schema. Ensure 'cereal' is installed.")
|
||||
sys.exit(1)
|
||||
|
||||
# Execute based on mode
|
||||
if args.generate:
|
||||
print("🔧 Generating Schema Instances")
|
||||
instances = generate_schema_instances(schema_type)
|
||||
persist_instances(instances, args.file)
|
||||
print("✅ Instance generation complete")
|
||||
|
||||
elif args.read:
|
||||
print("🔍 Reading and Validating Schema Instances")
|
||||
generated_instances = generate_schema_instances(schema_type)
|
||||
read_back_instances = read_instances(args.file, schema_type)
|
||||
|
||||
# Compare schemas
|
||||
if compare_schemas(generated_instances, read_back_instances):
|
||||
print("✅ Schema Compatibility: No breaking changes detected")
|
||||
sys.exit(0)
|
||||
else:
|
||||
print("❌ Potential Schema Breaking Changes Detected")
|
||||
sys.exit(1)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
+93
-80
@@ -3,87 +3,100 @@
|
||||
#define __SERVICES_H
|
||||
#include <map>
|
||||
#include <string>
|
||||
struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };
|
||||
struct service { std::string name; bool should_log; float frequency; int decimation; };
|
||||
static std::map<std::string, service> services = {
|
||||
{ "gyroscope", {"gyroscope", true, 104.000000, 104, 256000}},
|
||||
{ "accelerometer", {"accelerometer", true, 104.000000, 104, 256000}},
|
||||
{ "magnetometer", {"magnetometer", true, 25.000000, -1, 256000}},
|
||||
{ "lightSensor", {"lightSensor", true, 100.000000, 100, 256000}},
|
||||
{ "temperatureSensor", {"temperatureSensor", true, 2.000000, 200, 256000}},
|
||||
{ "gpsNMEA", {"gpsNMEA", true, 9.000000, -1, 256000}},
|
||||
{ "deviceState", {"deviceState", true, 2.000000, 1, 256000}},
|
||||
{ "touch", {"touch", true, 20.000000, 1, 256000}},
|
||||
{ "can", {"can", true, 100.000000, 2053, 10485760}},
|
||||
{ "controlsState", {"controlsState", true, 100.000000, 10, 2097152}},
|
||||
{ "selfdriveState", {"selfdriveState", true, 100.000000, 10, 256000}},
|
||||
{ "pandaStates", {"pandaStates", true, 10.000000, 1, 256000}},
|
||||
{ "peripheralState", {"peripheralState", true, 2.000000, 1, 256000}},
|
||||
{ "radarState", {"radarState", true, 20.000000, 5, 256000}},
|
||||
{ "roadEncodeIdx", {"roadEncodeIdx", false, 20.000000, 1, 256000}},
|
||||
{ "liveTracks", {"liveTracks", true, 20.000000, -1, 256000}},
|
||||
{ "sendcan", {"sendcan", true, 100.000000, 139, 2097152}},
|
||||
{ "logMessage", {"logMessage", true, 0.000000, -1, 10485760}},
|
||||
{ "errorLogMessage", {"errorLogMessage", true, 0.000000, 1, 10485760}},
|
||||
{ "liveCalibration", {"liveCalibration", true, 4.000000, 4, 256000}},
|
||||
{ "liveTorqueParameters", {"liveTorqueParameters", true, 4.000000, 1, 256000}},
|
||||
{ "liveDelay", {"liveDelay", true, 4.000000, 1, 256000}},
|
||||
{ "androidLog", {"androidLog", true, 0.000000, -1, 256000}},
|
||||
{ "carState", {"carState", true, 100.000000, 10, 256000}},
|
||||
{ "carControl", {"carControl", true, 100.000000, 10, 256000}},
|
||||
{ "carOutput", {"carOutput", true, 100.000000, 10, 256000}},
|
||||
{ "longitudinalPlan", {"longitudinalPlan", true, 20.000000, 10, 256000}},
|
||||
{ "lateralManeuverPlan", {"lateralManeuverPlan", true, 20.000000, -1, 256000}},
|
||||
{ "driverAssistance", {"driverAssistance", true, 20.000000, 20, 256000}},
|
||||
{ "procLog", {"procLog", true, 0.500000, 15, 10485760}},
|
||||
{ "gpsLocationExternal", {"gpsLocationExternal", true, 10.000000, 10, 256000}},
|
||||
{ "gpsLocation", {"gpsLocation", true, 1.000000, 1, 256000}},
|
||||
{ "ubloxGnss", {"ubloxGnss", true, 10.000000, -1, 256000}},
|
||||
{ "qcomGnss", {"qcomGnss", true, 2.000000, -1, 256000}},
|
||||
{ "gnssMeasurements", {"gnssMeasurements", true, 10.000000, 10, 256000}},
|
||||
{ "clocks", {"clocks", true, 0.100000, 1, 256000}},
|
||||
{ "ubloxRaw", {"ubloxRaw", true, 20.000000, -1, 256000}},
|
||||
{ "livePose", {"livePose", true, 20.000000, 4, 256000}},
|
||||
{ "liveParameters", {"liveParameters", true, 20.000000, 5, 256000}},
|
||||
{ "cameraOdometry", {"cameraOdometry", true, 20.000000, 10, 256000}},
|
||||
{ "thumbnail", {"thumbnail", true, 0.016667, 1, 256000}},
|
||||
{ "onroadEvents", {"onroadEvents", true, 1.000000, 1, 256000}},
|
||||
{ "carParams", {"carParams", true, 0.020000, 1, 256000}},
|
||||
{ "roadCameraState", {"roadCameraState", true, 20.000000, 20, 256000}},
|
||||
{ "driverCameraState", {"driverCameraState", true, 20.000000, 20, 256000}},
|
||||
{ "driverEncodeIdx", {"driverEncodeIdx", false, 20.000000, 1, 256000}},
|
||||
{ "driverStateV2", {"driverStateV2", true, 20.000000, 10, 256000}},
|
||||
{ "driverMonitoringState", {"driverMonitoringState", true, 20.000000, 10, 256000}},
|
||||
{ "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20.000000, 1, 256000}},
|
||||
{ "wideRoadCameraState", {"wideRoadCameraState", true, 20.000000, 20, 256000}},
|
||||
{ "drivingModelData", {"drivingModelData", true, 20.000000, 10, 256000}},
|
||||
{ "modelV2", {"modelV2", true, 20.000000, -1, 10485760}},
|
||||
{ "managerState", {"managerState", true, 2.000000, 1, 256000}},
|
||||
{ "uploaderState", {"uploaderState", true, 0.000000, 1, 256000}},
|
||||
{ "navInstruction", {"navInstruction", true, 1.000000, 10, 256000}},
|
||||
{ "navRoute", {"navRoute", true, 0.000000, -1, 256000}},
|
||||
{ "navThumbnail", {"navThumbnail", true, 0.000000, -1, 256000}},
|
||||
{ "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20.000000, -1, 256000}},
|
||||
{ "userBookmark", {"userBookmark", true, 0.000000, 1, 256000}},
|
||||
{ "soundPressure", {"soundPressure", true, 10.000000, 10, 256000}},
|
||||
{ "rawAudioData", {"rawAudioData", false, 20.000000, -1, 256000}},
|
||||
{ "bookmarkButton", {"bookmarkButton", true, 0.000000, 1, 256000}},
|
||||
{ "audioFeedback", {"audioFeedback", true, 0.000000, 1, 256000}},
|
||||
{ "roadEncodeData", {"roadEncodeData", false, 20.000000, -1, 10485760}},
|
||||
{ "driverEncodeData", {"driverEncodeData", false, 20.000000, -1, 10485760}},
|
||||
{ "wideRoadEncodeData", {"wideRoadEncodeData", false, 20.000000, -1, 10485760}},
|
||||
{ "qRoadEncodeData", {"qRoadEncodeData", false, 20.000000, -1, 10485760}},
|
||||
{ "uiDebug", {"uiDebug", true, 0.000000, 1, 256000}},
|
||||
{ "testJoystick", {"testJoystick", true, 0.000000, -1, 256000}},
|
||||
{ "alertDebug", {"alertDebug", true, 20.000000, 5, 256000}},
|
||||
{ "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", false, 20.000000, -1, 256000}},
|
||||
{ "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", false, 20.000000, -1, 256000}},
|
||||
{ "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", false, 20.000000, -1, 256000}},
|
||||
{ "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20.000000, -1, 2097152}},
|
||||
{ "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20.000000, -1, 2097152}},
|
||||
{ "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20.000000, -1, 2097152}},
|
||||
{ "customReservedRawData0", {"customReservedRawData0", true, 0.000000, -1, 256000}},
|
||||
{ "customReservedRawData1", {"customReservedRawData1", true, 0.000000, -1, 256000}},
|
||||
{ "customReservedRawData2", {"customReservedRawData2", true, 0.000000, -1, 256000}},
|
||||
{ "gyroscope", {"gyroscope", true, 104.000000, 104}},
|
||||
{ "gyroscope2", {"gyroscope2", true, 100.000000, 100}},
|
||||
{ "accelerometer", {"accelerometer", true, 104.000000, 104}},
|
||||
{ "accelerometer2", {"accelerometer2", true, 100.000000, 100}},
|
||||
{ "magnetometer", {"magnetometer", true, 25.000000, -1}},
|
||||
{ "lightSensor", {"lightSensor", true, 100.000000, 100}},
|
||||
{ "temperatureSensor", {"temperatureSensor", true, 2.000000, 200}},
|
||||
{ "temperatureSensor2", {"temperatureSensor2", true, 2.000000, 200}},
|
||||
{ "gpsNMEA", {"gpsNMEA", true, 9.000000, -1}},
|
||||
{ "deviceState", {"deviceState", true, 2.000000, 1}},
|
||||
{ "touch", {"touch", true, 20.000000, 1}},
|
||||
{ "can", {"can", true, 100.000000, 2053}},
|
||||
{ "controlsState", {"controlsState", true, 100.000000, 10}},
|
||||
{ "selfdriveState", {"selfdriveState", true, 100.000000, 10}},
|
||||
{ "pandaStates", {"pandaStates", true, 10.000000, 1}},
|
||||
{ "peripheralState", {"peripheralState", true, 2.000000, 1}},
|
||||
{ "radarState", {"radarState", true, 20.000000, 5}},
|
||||
{ "roadEncodeIdx", {"roadEncodeIdx", false, 20.000000, 1}},
|
||||
{ "liveTracks", {"liveTracks", true, 20.000000, -1}},
|
||||
{ "sendcan", {"sendcan", true, 100.000000, 139}},
|
||||
{ "logMessage", {"logMessage", true, 0.000000, -1}},
|
||||
{ "errorLogMessage", {"errorLogMessage", true, 0.000000, 1}},
|
||||
{ "liveCalibration", {"liveCalibration", true, 4.000000, 4}},
|
||||
{ "liveTorqueParameters", {"liveTorqueParameters", true, 4.000000, 1}},
|
||||
{ "liveDelay", {"liveDelay", true, 4.000000, 1}},
|
||||
{ "androidLog", {"androidLog", true, 0.000000, -1}},
|
||||
{ "carState", {"carState", true, 100.000000, 10}},
|
||||
{ "carControl", {"carControl", true, 100.000000, 10}},
|
||||
{ "carOutput", {"carOutput", true, 100.000000, 10}},
|
||||
{ "longitudinalPlan", {"longitudinalPlan", true, 20.000000, 10}},
|
||||
{ "driverAssistance", {"driverAssistance", true, 20.000000, 20}},
|
||||
{ "procLog", {"procLog", true, 0.500000, 15}},
|
||||
{ "gpsLocationExternal", {"gpsLocationExternal", true, 10.000000, 10}},
|
||||
{ "gpsLocation", {"gpsLocation", true, 1.000000, 1}},
|
||||
{ "ubloxGnss", {"ubloxGnss", true, 10.000000, -1}},
|
||||
{ "qcomGnss", {"qcomGnss", true, 2.000000, -1}},
|
||||
{ "gnssMeasurements", {"gnssMeasurements", true, 10.000000, 10}},
|
||||
{ "clocks", {"clocks", true, 0.100000, 1}},
|
||||
{ "ubloxRaw", {"ubloxRaw", true, 20.000000, -1}},
|
||||
{ "livePose", {"livePose", true, 20.000000, 4}},
|
||||
{ "liveParameters", {"liveParameters", true, 20.000000, 5}},
|
||||
{ "cameraOdometry", {"cameraOdometry", true, 20.000000, 10}},
|
||||
{ "thumbnail", {"thumbnail", true, 0.016667, 1}},
|
||||
{ "onroadEvents", {"onroadEvents", true, 1.000000, 1}},
|
||||
{ "carParams", {"carParams", true, 0.020000, 1}},
|
||||
{ "roadCameraState", {"roadCameraState", true, 20.000000, 20}},
|
||||
{ "driverCameraState", {"driverCameraState", true, 20.000000, 20}},
|
||||
{ "driverEncodeIdx", {"driverEncodeIdx", false, 20.000000, 1}},
|
||||
{ "driverStateV2", {"driverStateV2", true, 20.000000, 10}},
|
||||
{ "driverMonitoringState", {"driverMonitoringState", true, 20.000000, 10}},
|
||||
{ "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20.000000, 1}},
|
||||
{ "wideRoadCameraState", {"wideRoadCameraState", true, 20.000000, 20}},
|
||||
{ "drivingModelData", {"drivingModelData", true, 20.000000, 10}},
|
||||
{ "modelV2", {"modelV2", true, 20.000000, -1}},
|
||||
{ "managerState", {"managerState", true, 2.000000, 1}},
|
||||
{ "uploaderState", {"uploaderState", true, 0.000000, 1}},
|
||||
{ "navInstruction", {"navInstruction", true, 1.000000, 10}},
|
||||
{ "navRoute", {"navRoute", true, 0.000000, -1}},
|
||||
{ "navThumbnail", {"navThumbnail", true, 0.000000, -1}},
|
||||
{ "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20.000000, -1}},
|
||||
{ "userBookmark", {"userBookmark", true, 0.000000, 1}},
|
||||
{ "soundPressure", {"soundPressure", true, 10.000000, 10}},
|
||||
{ "rawAudioData", {"rawAudioData", false, 20.000000, -1}},
|
||||
{ "bookmarkButton", {"bookmarkButton", true, 0.000000, 1}},
|
||||
{ "audioFeedback", {"audioFeedback", true, 0.000000, 1}},
|
||||
{ "modelManagerSP", {"modelManagerSP", false, 1.000000, 1}},
|
||||
{ "backupManagerSP", {"backupManagerSP", false, 1.000000, 1}},
|
||||
{ "selfdriveStateSP", {"selfdriveStateSP", true, 100.000000, 10}},
|
||||
{ "longitudinalPlanSP", {"longitudinalPlanSP", true, 20.000000, 10}},
|
||||
{ "onroadEventsSP", {"onroadEventsSP", true, 1.000000, 1}},
|
||||
{ "carParamsSP", {"carParamsSP", true, 0.020000, 1}},
|
||||
{ "carControlSP", {"carControlSP", true, 100.000000, 10}},
|
||||
{ "carStateSP", {"carStateSP", true, 100.000000, 10}},
|
||||
{ "liveMapDataSP", {"liveMapDataSP", true, 1.000000, 1}},
|
||||
{ "modelDataV2SP", {"modelDataV2SP", true, 20.000000, -1}},
|
||||
{ "liveLocationKalman", {"liveLocationKalman", true, 20.000000, -1}},
|
||||
{ "uiDebug", {"uiDebug", true, 0.000000, 1}},
|
||||
{ "testJoystick", {"testJoystick", true, 0.000000, -1}},
|
||||
{ "alertDebug", {"alertDebug", true, 20.000000, 5}},
|
||||
{ "roadEncodeData", {"roadEncodeData", false, 20.000000, -1}},
|
||||
{ "driverEncodeData", {"driverEncodeData", false, 20.000000, -1}},
|
||||
{ "wideRoadEncodeData", {"wideRoadEncodeData", false, 20.000000, -1}},
|
||||
{ "qRoadEncodeData", {"qRoadEncodeData", false, 20.000000, -1}},
|
||||
{ "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", false, 20.000000, -1}},
|
||||
{ "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", false, 20.000000, -1}},
|
||||
{ "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", false, 20.000000, -1}},
|
||||
{ "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20.000000, -1}},
|
||||
{ "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20.000000, -1}},
|
||||
{ "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20.000000, -1}},
|
||||
{ "customReservedRawData0", {"customReservedRawData0", true, 0.000000, -1}},
|
||||
{ "customReservedRawData1", {"customReservedRawData1", true, 0.000000, -1}},
|
||||
{ "customReservedRawData2", {"customReservedRawData2", true, 0.000000, -1}},
|
||||
};
|
||||
#endif
|
||||
|
||||
|
||||
+34
-29
@@ -1,46 +1,39 @@
|
||||
#!/usr/bin/env python3
|
||||
from enum import IntEnum
|
||||
from typing import Optional
|
||||
|
||||
|
||||
# TODO: this should be automatically determined using the capnp schema
|
||||
class QueueSize(IntEnum):
|
||||
BIG = 10 * 1024 * 1024 # 10MB - video frames, large AI outputs
|
||||
MEDIUM = 2 * 1024 * 1024 # 2MB - high freq (CAN), livestream
|
||||
SMALL = 250 * 1024 # 250KB - most services
|
||||
|
||||
|
||||
class Service:
|
||||
def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
|
||||
queue_size: QueueSize = QueueSize.SMALL):
|
||||
def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
|
||||
self.should_log = should_log
|
||||
self.frequency = frequency
|
||||
self.decimation = decimation
|
||||
self.queue_size = queue_size
|
||||
|
||||
|
||||
_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, QueueSize.BIG), # decimation gives ~3 msgs in a full segment
|
||||
"controlsState": (True, 100., 10, QueueSize.MEDIUM),
|
||||
"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, QueueSize.MEDIUM),
|
||||
"logMessage": (True, 0., None, QueueSize.BIG),
|
||||
"errorLogMessage": (True, 0., 1, QueueSize.BIG),
|
||||
"sendcan": (True, 100., 139),
|
||||
"logMessage": (True, 0.),
|
||||
"errorLogMessage": (True, 0., 1),
|
||||
"liveCalibration": (True, 4., 4),
|
||||
"liveTorqueParameters": (True, 4., 1),
|
||||
"liveDelay": (True, 4., 1),
|
||||
@@ -49,9 +42,8 @@ _services: dict[str, tuple] = {
|
||||
"carControl": (True, 100., 10),
|
||||
"carOutput": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 10),
|
||||
"lateralManeuverPlan": (True, 20.),
|
||||
"driverAssistance": (True, 20., 20),
|
||||
"procLog": (True, 0.5, 15, QueueSize.BIG),
|
||||
"procLog": (True, 0.5, 15),
|
||||
"gpsLocationExternal": (True, 10., 10),
|
||||
"gpsLocation": (True, 1., 1),
|
||||
"ubloxGnss": (True, 10.),
|
||||
@@ -73,7 +65,7 @@ _services: dict[str, tuple] = {
|
||||
"wideRoadEncodeIdx": (False, 20., 1),
|
||||
"wideRoadCameraState": (True, 20., 20),
|
||||
"drivingModelData": (True, 20., 10),
|
||||
"modelV2": (True, 20., None, QueueSize.BIG),
|
||||
"modelV2": (True, 20.),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
"navInstruction": (True, 1., 10),
|
||||
@@ -85,21 +77,34 @@ _services: dict[str, tuple] = {
|
||||
"rawAudioData": (False, 20.),
|
||||
"bookmarkButton": (True, 0., 1),
|
||||
"audioFeedback": (True, 0., 1),
|
||||
"roadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"driverEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"qRoadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
|
||||
# sunnypilot
|
||||
"modelManagerSP": (False, 1., 1),
|
||||
"backupManagerSP": (False, 1., 1),
|
||||
"selfdriveStateSP": (True, 100., 10),
|
||||
"longitudinalPlanSP": (True, 20., 10),
|
||||
"onroadEventsSP": (True, 1., 1),
|
||||
"carParamsSP": (True, 0.02, 1),
|
||||
"carControlSP": (True, 100., 10),
|
||||
"carStateSP": (True, 100., 10),
|
||||
"liveMapDataSP": (True, 1., 1),
|
||||
"modelDataV2SP": (True, 20.),
|
||||
"liveLocationKalman": (True, 20.),
|
||||
|
||||
# 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., None, QueueSize.MEDIUM),
|
||||
"livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
|
||||
"livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
|
||||
"livestreamWideRoadEncodeData": (False, 20.),
|
||||
"livestreamRoadEncodeData": (False, 20.),
|
||||
"livestreamDriverEncodeData": (False, 20.),
|
||||
"customReservedRawData0": (True, 0.),
|
||||
"customReservedRawData1": (True, 0.),
|
||||
"customReservedRawData2": (True, 0.),
|
||||
@@ -117,13 +122,13 @@ def build_header():
|
||||
h += "#include <map>\n"
|
||||
h += "#include <string>\n"
|
||||
|
||||
h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n"
|
||||
h += "struct service { std::string name; bool should_log; float 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, %f, %d, %d}},\n' % \
|
||||
(k, k, should_log, v.frequency, decimation, v.queue_size)
|
||||
h += ' { "%s", {"%s", %s, %f, %d}},\n' % \
|
||||
(k, k, should_log, v.frequency, decimation)
|
||||
h += "};\n"
|
||||
|
||||
h += "#endif\n"
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
*.cpp
|
||||
@@ -1,23 +0,0 @@
|
||||
Import('env', 'envCython')
|
||||
|
||||
common_libs = [
|
||||
'params.cc',
|
||||
'swaglog.cc',
|
||||
'util.cc',
|
||||
'ratekeeper.cc',
|
||||
]
|
||||
|
||||
_common = env.Library('common', common_libs, LIBS="json11")
|
||||
Export('_common')
|
||||
|
||||
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'])
|
||||
|
||||
common_python = [params_python]
|
||||
|
||||
Export('common_python')
|
||||
@@ -1,62 +0,0 @@
|
||||
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')
|
||||
|
||||
# name: jwt signature algorithm
|
||||
KEYS = {"id_rsa": "RS256",
|
||||
"id_ecdsa": "ES256"}
|
||||
|
||||
|
||||
class Api:
|
||||
def __init__(self, dongle_id):
|
||||
self.dongle_id = dongle_id
|
||||
self.jwt_algorithm, self.private_key, _ = get_key_pair()
|
||||
|
||||
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, payload_extra=None, 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)
|
||||
}
|
||||
if payload_extra is not None:
|
||||
payload.update(payload_extra)
|
||||
token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
|
||||
if isinstance(token, bytes):
|
||||
token = token.decode('utf8')
|
||||
return token
|
||||
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
|
||||
headers = {}
|
||||
if access_token is not None:
|
||||
headers['Authorization'] = "JWT " + access_token
|
||||
|
||||
headers['User-Agent'] = "openpilot-" + get_version()
|
||||
|
||||
# TODO: add session to Api
|
||||
req = requests if session is None else session
|
||||
return req.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
||||
|
||||
|
||||
def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
|
||||
for key in KEYS:
|
||||
if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
|
||||
with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
|
||||
return KEYS[key], private.read(), public.read()
|
||||
return None, None, None
|
||||
@@ -0,0 +1,22 @@
|
||||
from openpilot.common.api.comma_connect import CommaConnectApi
|
||||
|
||||
|
||||
class Api:
|
||||
def __init__(self, dongle_id):
|
||||
self.service = CommaConnectApi(dongle_id)
|
||||
|
||||
def request(self, method, endpoint, **params):
|
||||
return self.service.request(method, endpoint, **params)
|
||||
|
||||
def get(self, *args, **kwargs):
|
||||
return self.service.get(*args, **kwargs)
|
||||
|
||||
def post(self, *args, **kwargs):
|
||||
return self.service.post(*args, **kwargs)
|
||||
|
||||
def get_token(self, expiry_hours=1):
|
||||
return self.service.get_token(expiry_hours)
|
||||
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
|
||||
@@ -0,0 +1,56 @@
|
||||
import jwt
|
||||
import requests
|
||||
import unicodedata
|
||||
from datetime import datetime, timedelta, UTC
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.version import get_version
|
||||
|
||||
|
||||
class BaseApi:
|
||||
def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
|
||||
self.dongle_id = dongle_id
|
||||
self.api_host = api_host
|
||||
self.user_agent = user_agent
|
||||
with open(f'{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 self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
|
||||
|
||||
def _get_token(self, expiry_hours=1, **extra_payload):
|
||||
now = datetime.now(UTC).replace(tzinfo=None)
|
||||
payload = {
|
||||
'identity': self.dongle_id,
|
||||
'nbf': now,
|
||||
'iat': now,
|
||||
'exp': now + timedelta(hours=expiry_hours),
|
||||
**extra_payload
|
||||
}
|
||||
token = jwt.encode(payload, self.private_key, algorithm='RS256')
|
||||
if isinstance(token, bytes):
|
||||
token = token.decode('utf8')
|
||||
return token
|
||||
|
||||
def get_token(self, expiry_hours=1):
|
||||
return self._get_token(expiry_hours)
|
||||
|
||||
def remove_non_ascii_chars(self, text):
|
||||
normalized_text = unicodedata.normalize('NFD', text)
|
||||
ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
|
||||
return ascii_encoded_text.decode()
|
||||
|
||||
def api_get(self, endpoint, method='GET', timeout=None, access_token=None, json=None, **params):
|
||||
headers = {}
|
||||
if access_token is not None:
|
||||
headers['Authorization'] = "JWT " + access_token
|
||||
|
||||
version = self.remove_non_ascii_chars(get_version())
|
||||
headers['User-Agent'] = self.user_agent + version
|
||||
|
||||
return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
|
||||
@@ -0,0 +1,11 @@
|
||||
import os
|
||||
|
||||
from openpilot.common.api.base import BaseApi
|
||||
|
||||
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
|
||||
|
||||
|
||||
class CommaConnectApi(BaseApi):
|
||||
def __init__(self, dongle_id):
|
||||
super().__init__(dongle_id, API_HOST)
|
||||
self.user_agent = "openpilot-"
|
||||
@@ -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
|
||||
@@ -1,37 +0,0 @@
|
||||
import math
|
||||
import os
|
||||
from pathlib import Path
|
||||
|
||||
CHUNK_SIZE = 45 * 1024 * 1024 # 45MB, under GitHub's 50MB limit
|
||||
|
||||
def get_chunk_name(name, idx, num_chunks):
|
||||
return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
|
||||
|
||||
def get_manifest_path(name):
|
||||
return f"{name}.chunkmanifest"
|
||||
|
||||
def get_chunk_paths(path, file_size):
|
||||
num_chunks = math.ceil(file_size / CHUNK_SIZE)
|
||||
return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
|
||||
|
||||
def chunk_file(path, targets):
|
||||
manifest_path, *chunk_paths = targets
|
||||
with open(path, 'rb') as f:
|
||||
data = f.read()
|
||||
actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
|
||||
assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
|
||||
for i, chunk_path in enumerate(chunk_paths):
|
||||
with open(chunk_path, 'wb') as f:
|
||||
f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
|
||||
Path(manifest_path).write_text(str(len(chunk_paths)))
|
||||
os.remove(path)
|
||||
|
||||
|
||||
def read_file_chunked(path):
|
||||
manifest_path = get_manifest_path(path)
|
||||
if os.path.isfile(manifest_path):
|
||||
num_chunks = int(Path(manifest_path).read_text().strip())
|
||||
return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
|
||||
if os.path.isfile(path):
|
||||
return Path(path).read_bytes()
|
||||
raise FileNotFoundError(path)
|
||||
@@ -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
|
||||
@@ -15,20 +15,3 @@ class FirstOrderFilter:
|
||||
self.initialized = True
|
||||
self.x = x
|
||||
return self.x
|
||||
|
||||
|
||||
class BounceFilter(FirstOrderFilter):
|
||||
def __init__(self, x0, rc, dt, initialized=True, bounce=2):
|
||||
self.velocity = FirstOrderFilter(0.0, 0.15, dt)
|
||||
self.bounce = bounce
|
||||
super().__init__(x0, rc, dt, initialized)
|
||||
|
||||
def update(self, x):
|
||||
super().update(x)
|
||||
scale = self.dt / (1.0 / 60.0) # tuned at 60 fps
|
||||
self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
|
||||
self.velocity.update(0.0)
|
||||
if abs(self.velocity.x) < 1e-3:
|
||||
self.velocity.x = 0.0
|
||||
self.x += self.velocity.x
|
||||
return self.x
|
||||
|
||||
+7
-7
@@ -1,30 +1,30 @@
|
||||
from functools import cache
|
||||
import subprocess
|
||||
from openpilot.common.utils import run_cmd, run_cmd_default
|
||||
from openpilot.common.run import run_cmd, run_cmd_default
|
||||
|
||||
|
||||
@cache
|
||||
def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
|
||||
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 = None, commit: str = "HEAD") -> str:
|
||||
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 = None) -> str:
|
||||
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 = None) -> str:
|
||||
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 = None) -> str:
|
||||
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)
|
||||
@@ -34,7 +34,7 @@ def get_origin(cwd: str | None = None) -> str:
|
||||
|
||||
|
||||
@cache
|
||||
def get_normalized_origin(cwd: str | None = None) -> str:
|
||||
def get_normalized_origin(cwd: str = None) -> str:
|
||||
return get_origin(cwd) \
|
||||
.replace("git@", "", 1) \
|
||||
.replace(".git", "", 1) \
|
||||
|
||||
@@ -1,81 +0,0 @@
|
||||
import os
|
||||
import fcntl
|
||||
import ctypes
|
||||
|
||||
# I2C constants from /usr/include/linux/i2c-dev.h
|
||||
I2C_SLAVE = 0x0703
|
||||
I2C_SLAVE_FORCE = 0x0706
|
||||
I2C_SMBUS = 0x0720
|
||||
|
||||
# SMBus transfer types
|
||||
I2C_SMBUS_READ = 1
|
||||
I2C_SMBUS_WRITE = 0
|
||||
I2C_SMBUS_BYTE_DATA = 2
|
||||
I2C_SMBUS_I2C_BLOCK_DATA = 8
|
||||
|
||||
I2C_SMBUS_BLOCK_MAX = 32
|
||||
|
||||
|
||||
class _I2cSmbusData(ctypes.Union):
|
||||
_fields_ = [
|
||||
("byte", ctypes.c_uint8),
|
||||
("word", ctypes.c_uint16),
|
||||
("block", ctypes.c_uint8 * (I2C_SMBUS_BLOCK_MAX + 2)),
|
||||
]
|
||||
|
||||
|
||||
class _I2cSmbusIoctlData(ctypes.Structure):
|
||||
_fields_ = [
|
||||
("read_write", ctypes.c_uint8),
|
||||
("command", ctypes.c_uint8),
|
||||
("size", ctypes.c_uint32),
|
||||
("data", ctypes.POINTER(_I2cSmbusData)),
|
||||
]
|
||||
|
||||
|
||||
class SMBus:
|
||||
def __init__(self, bus: int):
|
||||
self._fd = os.open(f'/dev/i2c-{bus}', os.O_RDWR)
|
||||
|
||||
def __enter__(self) -> 'SMBus':
|
||||
return self
|
||||
|
||||
def __exit__(self, *args) -> None:
|
||||
self.close()
|
||||
|
||||
def close(self) -> None:
|
||||
if hasattr(self, '_fd') and self._fd >= 0:
|
||||
os.close(self._fd)
|
||||
self._fd = -1
|
||||
|
||||
def _set_address(self, addr: int, force: bool = False) -> None:
|
||||
ioctl_arg = I2C_SLAVE_FORCE if force else I2C_SLAVE
|
||||
fcntl.ioctl(self._fd, ioctl_arg, addr)
|
||||
|
||||
def _smbus_access(self, read_write: int, command: int, size: int, data: _I2cSmbusData) -> None:
|
||||
ioctl_data = _I2cSmbusIoctlData(read_write, command, size, ctypes.pointer(data))
|
||||
fcntl.ioctl(self._fd, I2C_SMBUS, ioctl_data)
|
||||
|
||||
def read_byte_data(self, addr: int, register: int, force: bool = False) -> int:
|
||||
self._set_address(addr, force)
|
||||
data = _I2cSmbusData()
|
||||
self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_BYTE_DATA, data)
|
||||
return int(data.byte)
|
||||
|
||||
def write_byte_data(self, addr: int, register: int, value: int, force: bool = False) -> None:
|
||||
self._set_address(addr, force)
|
||||
data = _I2cSmbusData()
|
||||
data.byte = value & 0xFF
|
||||
self._smbus_access(I2C_SMBUS_WRITE, register, I2C_SMBUS_BYTE_DATA, data)
|
||||
|
||||
def read_i2c_block_data(self, addr: int, register: int, length: int, force: bool = False) -> list[int]:
|
||||
self._set_address(addr, force)
|
||||
if not (0 <= length <= I2C_SMBUS_BLOCK_MAX):
|
||||
raise ValueError(f"length must be 0..{I2C_SMBUS_BLOCK_MAX}")
|
||||
|
||||
data = _I2cSmbusData()
|
||||
data.block[0] = length
|
||||
self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_I2C_BLOCK_DATA, data)
|
||||
read_len = int(data.block[0]) or length
|
||||
read_len = min(read_len, length)
|
||||
return [int(b) for b in data.block[1 : read_len + 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 @@
|
||||
#define DEFAULT_MODEL "Firehose (Default)"
|
||||
@@ -1,47 +0,0 @@
|
||||
import sys
|
||||
import pytest
|
||||
import inspect
|
||||
|
||||
|
||||
class parameterized:
|
||||
@staticmethod
|
||||
def expand(cases):
|
||||
cases = list(cases)
|
||||
|
||||
if not cases:
|
||||
return lambda func: pytest.mark.skip("no parameterized cases")(func)
|
||||
|
||||
def decorator(func):
|
||||
params = [p for p in inspect.signature(func).parameters if p != 'self']
|
||||
normalized = [c if isinstance(c, tuple) else (c,) for c in cases]
|
||||
# Infer arg count from first case so extra params (e.g. from @given) are left untouched
|
||||
expand_params = params[: len(normalized[0])]
|
||||
if len(expand_params) == 1:
|
||||
return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func)
|
||||
return pytest.mark.parametrize(', '.join(expand_params), normalized)(func)
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def parameterized_class(attrs, input_list=None):
|
||||
if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)):
|
||||
params_list = attrs
|
||||
else:
|
||||
assert input_list is not None
|
||||
attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs)
|
||||
params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list]
|
||||
|
||||
def decorator(cls):
|
||||
globs = sys._getframe(1).f_globals
|
||||
for i, params in enumerate(params_list):
|
||||
name = f"{cls.__name__}_{i}"
|
||||
new_cls = type(name, (cls,), dict(params))
|
||||
new_cls.__module__ = cls.__module__
|
||||
new_cls.__test__ = True # override inherited False so pytest collects this subclass
|
||||
globs[name] = new_cls
|
||||
# Don't collect the un-parametrised base, but return it so outer decorators
|
||||
# (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO.
|
||||
cls.__test__ = False
|
||||
return cls
|
||||
|
||||
return decorator
|
||||
@@ -1,242 +0,0 @@
|
||||
#include "common/params.h"
|
||||
|
||||
#include <dirent.h>
|
||||
#include <sys/file.h>
|
||||
|
||||
#include <algorithm>
|
||||
#include <cassert>
|
||||
#include <csignal>
|
||||
#include <unordered_map>
|
||||
|
||||
#include "common/params_keys.h"
|
||||
#include "common/queue.h"
|
||||
#include "common/swaglog.h"
|
||||
#include "common/util.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
namespace {
|
||||
|
||||
volatile sig_atomic_t params_do_exit = 0;
|
||||
void params_sig_handler(int signal) {
|
||||
params_do_exit = 1;
|
||||
}
|
||||
|
||||
int fsync_dir(const std::string &path) {
|
||||
int result = -1;
|
||||
int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
|
||||
if (fd >= 0) {
|
||||
result = HANDLE_EINTR(fsync(fd));
|
||||
HANDLE_EINTR(close(fd));
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
bool create_params_path(const std::string ¶m_path, const std::string &key_path) {
|
||||
// Make sure params path exists
|
||||
if (!util::file_exists(param_path) && !util::create_directories(param_path, 0775)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// See if the symlink exists, otherwise create it
|
||||
if (!util::file_exists(key_path)) {
|
||||
// 1) Create temp folder
|
||||
// 2) Symlink it to temp link
|
||||
// 3) Move symlink to <params>/d
|
||||
|
||||
std::string tmp_path = param_path + "/.tmp_XXXXXX";
|
||||
// this should be OK since mkdtemp just replaces characters in place
|
||||
char *tmp_dir = mkdtemp((char *)tmp_path.c_str());
|
||||
if (tmp_dir == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
std::string link_path = std::string(tmp_dir) + ".link";
|
||||
if (symlink(tmp_dir, link_path.c_str()) != 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// don't return false if it has been created by other
|
||||
if (rename(link_path.c_str(), key_path.c_str()) != 0 && errno != EEXIST) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) {
|
||||
std::string params_path = path.empty() ? Path::params() : path;
|
||||
if (!create_params_path(params_path, params_path + prefix)) {
|
||||
throw std::runtime_error(util::string_format(
|
||||
"Failed to ensure params path, errno=%d, path=%s, param_prefix=%s",
|
||||
errno, params_path.c_str(), prefix.c_str()));
|
||||
}
|
||||
return params_path;
|
||||
}
|
||||
|
||||
class FileLock {
|
||||
public:
|
||||
FileLock(const std::string &fn) {
|
||||
fd_ = HANDLE_EINTR(open(fn.c_str(), O_CREAT, 0775));
|
||||
if (fd_ < 0 || HANDLE_EINTR(flock(fd_, LOCK_EX)) < 0) {
|
||||
LOGE("Failed to lock file %s, errno=%d", fn.c_str(), errno);
|
||||
}
|
||||
}
|
||||
~FileLock() { close(fd_); }
|
||||
|
||||
private:
|
||||
int fd_ = -1;
|
||||
};
|
||||
|
||||
} // namespace
|
||||
|
||||
|
||||
Params::Params(const std::string &path) {
|
||||
params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
|
||||
params_path = ensure_params_path(params_prefix, path);
|
||||
}
|
||||
|
||||
Params::~Params() {
|
||||
if (future.valid()) {
|
||||
future.wait();
|
||||
}
|
||||
assert(queue.empty());
|
||||
}
|
||||
|
||||
std::vector<std::string> Params::allKeys() const {
|
||||
std::vector<std::string> ret;
|
||||
for (auto &p : keys) {
|
||||
ret.push_back(p.first);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool Params::checkKey(const std::string &key) {
|
||||
return keys.find(key) != keys.end();
|
||||
}
|
||||
|
||||
ParamKeyFlag Params::getKeyFlag(const std::string &key) {
|
||||
return static_cast<ParamKeyFlag>(keys[key].flags);
|
||||
}
|
||||
|
||||
ParamKeyType Params::getKeyType(const std::string &key) {
|
||||
return keys[key].type;
|
||||
}
|
||||
|
||||
std::optional<std::string> Params::getKeyDefaultValue(const std::string &key) {
|
||||
return keys[key].default_value;
|
||||
}
|
||||
|
||||
int Params::put(const char* key, const char* value, size_t value_size) {
|
||||
// Information about safely and atomically writing a file: https://lwn.net/Articles/457667/
|
||||
// 1) Create temp file
|
||||
// 2) Write data to temp file
|
||||
// 3) fsync() the temp file
|
||||
// 4) rename the temp file to the real name
|
||||
// 5) fsync() the containing directory
|
||||
std::string tmp_path = params_path + "/.tmp_value_XXXXXX";
|
||||
int tmp_fd = mkstemp((char*)tmp_path.c_str());
|
||||
if (tmp_fd < 0) return -1;
|
||||
|
||||
int result = -1;
|
||||
do {
|
||||
// Write value to temp.
|
||||
ssize_t bytes_written = HANDLE_EINTR(write(tmp_fd, value, value_size));
|
||||
if (bytes_written < 0 || (size_t)bytes_written != value_size) {
|
||||
result = -20;
|
||||
break;
|
||||
}
|
||||
|
||||
// fsync to force persist the changes.
|
||||
if ((result = HANDLE_EINTR(fsync(tmp_fd))) < 0) break;
|
||||
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
|
||||
// Move temp into place.
|
||||
if ((result = rename(tmp_path.c_str(), getParamPath(key).c_str())) < 0) break;
|
||||
|
||||
// fsync parent directory
|
||||
result = fsync_dir(getParamPath());
|
||||
} while (false);
|
||||
|
||||
close(tmp_fd);
|
||||
if (result != 0) {
|
||||
::unlink(tmp_path.c_str());
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
int Params::remove(const std::string &key) {
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
int result = unlink(getParamPath(key).c_str());
|
||||
if (result != 0) {
|
||||
return result;
|
||||
}
|
||||
return fsync_dir(getParamPath());
|
||||
}
|
||||
|
||||
std::string Params::get(const std::string &key, bool block) {
|
||||
if (!block) {
|
||||
return util::read_file(getParamPath(key));
|
||||
} else {
|
||||
// blocking read until successful
|
||||
params_do_exit = 0;
|
||||
void (*prev_handler_sigint)(int) = std::signal(SIGINT, params_sig_handler);
|
||||
void (*prev_handler_sigterm)(int) = std::signal(SIGTERM, params_sig_handler);
|
||||
|
||||
std::string value;
|
||||
while (!params_do_exit) {
|
||||
if (value = util::read_file(getParamPath(key)); !value.empty()) {
|
||||
break;
|
||||
}
|
||||
util::sleep_for(100); // 0.1 s
|
||||
}
|
||||
|
||||
std::signal(SIGINT, prev_handler_sigint);
|
||||
std::signal(SIGTERM, prev_handler_sigterm);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
std::map<std::string, std::string> Params::readAll() {
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
return util::read_files_in_dir(getParamPath());
|
||||
}
|
||||
|
||||
void Params::clearAll(ParamKeyFlag key_flag) {
|
||||
FileLock file_lock(params_path + "/.lock");
|
||||
|
||||
// 1) delete params of key_flag
|
||||
// 2) delete files that are not defined in the keys.
|
||||
if (DIR *d = opendir(getParamPath().c_str())) {
|
||||
struct dirent *de = NULL;
|
||||
while ((de = readdir(d))) {
|
||||
if (de->d_type != DT_DIR) {
|
||||
auto it = keys.find(de->d_name);
|
||||
if (it == keys.end() || (it->second.flags & key_flag)) {
|
||||
unlink(getParamPath(de->d_name).c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
closedir(d);
|
||||
}
|
||||
|
||||
fsync_dir(getParamPath());
|
||||
}
|
||||
|
||||
void Params::putNonBlocking(const std::string &key, const std::string &val) {
|
||||
queue.push(std::make_pair(key, val));
|
||||
// start thread on demand
|
||||
if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) {
|
||||
future = std::async(std::launch::async, &Params::asyncWriteThread, this);
|
||||
}
|
||||
}
|
||||
|
||||
void Params::asyncWriteThread() {
|
||||
// TODO: write the latest one if a key has multiple values in the queue.
|
||||
std::pair<std::string, std::string> p;
|
||||
while (queue.try_pop(p, 0)) {
|
||||
// Params::put is Thread-Safe
|
||||
put(p.first, p.second);
|
||||
}
|
||||
}
|
||||
+2
-1
@@ -18,6 +18,7 @@ enum ParamKeyFlag {
|
||||
DONT_LOG = 0x20,
|
||||
DEVELOPMENT_ONLY = 0x40,
|
||||
CLEAR_ON_IGNITION_ON = 0x80,
|
||||
BACKUP = 0x100,
|
||||
ALL = 0xFFFFFFFF
|
||||
};
|
||||
|
||||
@@ -45,7 +46,7 @@ public:
|
||||
Params(const Params&) = delete;
|
||||
Params& operator=(const Params&) = delete;
|
||||
|
||||
std::vector<std::string> allKeys() const;
|
||||
std::vector<std::string> allKeys(ParamKeyFlag flag = ALL) const;
|
||||
bool checkKey(const std::string &key);
|
||||
ParamKeyFlag getKeyFlag(const std::string &key);
|
||||
ParamKeyType getKeyType(const std::string &key);
|
||||
|
||||
+159
-29
@@ -7,8 +7,8 @@
|
||||
|
||||
inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
|
||||
{"AdbEnabled", {PERSISTENT, BOOL}},
|
||||
{"AlwaysOnDM", {PERSISTENT, BOOL}},
|
||||
{"AdbEnabled", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"AlwaysOnDM", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"ApiCache_Device", {PERSISTENT, STRING}},
|
||||
{"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
|
||||
{"AssistNowToken", {PERSISTENT, STRING}},
|
||||
@@ -29,36 +29,36 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"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"}},
|
||||
{"DisablePowerDown", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"DisableUpdates", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"DisengageOnAccelerator", {PERSISTENT | BACKUP, 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}},
|
||||
{"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
|
||||
{"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, 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}},
|
||||
{"GithubSshKeys", {PERSISTENT | BACKUP, STRING}},
|
||||
{"GithubUsername", {PERSISTENT | BACKUP, STRING}},
|
||||
{"GitRemote", {PERSISTENT, STRING}},
|
||||
{"GsmApn", {PERSISTENT, STRING}},
|
||||
{"GsmMetered", {PERSISTENT, BOOL, "1"}},
|
||||
{"GsmRoaming", {PERSISTENT, BOOL}},
|
||||
{"GsmApn", {PERSISTENT | BACKUP, STRING}},
|
||||
{"GsmMetered", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"GsmRoaming", {PERSISTENT | BACKUP, 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}},
|
||||
{"IsLdwEnabled", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"IsMetric", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsOnroad", {PERSISTENT, BOOL}},
|
||||
{"IsRhdDetected", {PERSISTENT, BOOL}},
|
||||
@@ -66,26 +66,24 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"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, "en"}},
|
||||
{"LanguageSetting", {PERSISTENT | BACKUP, 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}},
|
||||
{"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"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}},
|
||||
{"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
|
||||
{"LiveParameters", {PERSISTENT, JSON}},
|
||||
{"LiveParametersV2", {PERSISTENT, BYTES}},
|
||||
{"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
|
||||
{"LocationFilterInitialState", {PERSISTENT, BYTES}},
|
||||
{"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"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}},
|
||||
{"LongitudinalPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
|
||||
{"NetworkMetered", {PERSISTENT | BACKUP, 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}},
|
||||
@@ -99,22 +97,22 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_DriverMonitoringUncertain", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"OpenpilotEnabledToggle", {PERSISTENT, BOOL, "1"}},
|
||||
{"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, 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}},
|
||||
{"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RecordFront", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"RecordFrontLock", {PERSISTENT, BOOL}}, // for the internal fleet
|
||||
{"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
|
||||
{"ShowDebugInfo", {PERSISTENT, BOOL}},
|
||||
{"SecOCKey", {PERSISTENT | DONT_LOG | BACKUP, STRING}},
|
||||
{"RouteCount", {PERSISTENT, INT, "0"}},
|
||||
{"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"SshEnabled", {PERSISTENT, BOOL}},
|
||||
{"SshEnabled", {PERSISTENT | BACKUP, 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}},
|
||||
@@ -130,4 +128,136 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"Version", {PERSISTENT, STRING}},
|
||||
|
||||
// --- sunnypilot params --- //
|
||||
{"ApiCache_DriveStats", {PERSISTENT, JSON}},
|
||||
{"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}}, // MPH or km/h
|
||||
{"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
|
||||
{"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"CarParamsSPPersistent", {PERSISTENT, BYTES}},
|
||||
{"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
|
||||
{"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
|
||||
{"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
|
||||
{"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
|
||||
{"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
|
||||
{"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"LastGPSPositionLLK", {PERSISTENT, STRING}},
|
||||
{"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
|
||||
{"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
|
||||
{"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
|
||||
{"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// MADS params
|
||||
{"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"MadsSteeringMode", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"MadsUnifiedEngagementMode", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
|
||||
// Model Manager params
|
||||
{"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
|
||||
{"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
|
||||
{"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
|
||||
{"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
|
||||
{"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
|
||||
|
||||
// Neural Network Lateral Control
|
||||
{"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// sunnylink params
|
||||
{"EnableSunnylinkUploader", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"LastSunnylinkPingTime", {CLEAR_ON_MANAGER_START, INT}},
|
||||
{"SunnylinkCache_Roles", {PERSISTENT, STRING}},
|
||||
{"SunnylinkCache_Users", {PERSISTENT, STRING}},
|
||||
{"SunnylinkDongleId", {PERSISTENT, STRING}},
|
||||
{"SunnylinkdPid", {PERSISTENT, INT}},
|
||||
{"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
|
||||
{"SunnylinkTempFault", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
|
||||
|
||||
// Backup Manager params
|
||||
{"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
|
||||
{"BackupManager_RestoreVersion", {PERSISTENT, STRING}},
|
||||
|
||||
// sunnypilot car specific params
|
||||
{"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
{"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// sunnypilot model params
|
||||
{"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
|
||||
{"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
|
||||
{"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
|
||||
|
||||
// mapd
|
||||
{"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
|
||||
{"MapdVersion", {PERSISTENT, STRING}},
|
||||
{"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
|
||||
{"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"OsmDbUpdatesCheck", {CLEAR_ON_MANAGER_START, BOOL}}, // mapd database update happens with device ON, reset on boot
|
||||
{"OSMDownloadBounds", {PERSISTENT, STRING}},
|
||||
{"OsmDownloadedDate", {PERSISTENT, STRING, "0.0"}},
|
||||
{"OSMDownloadLocations", {PERSISTENT, JSON}},
|
||||
{"OSMDownloadProgress", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"OsmLocal", {PERSISTENT, BOOL}},
|
||||
{"OsmLocationName", {PERSISTENT, STRING}},
|
||||
{"OsmLocationTitle", {PERSISTENT, STRING}},
|
||||
{"OsmLocationUrl", {PERSISTENT, STRING}},
|
||||
{"OsmStateName", {PERSISTENT, STRING, "All"}},
|
||||
{"OsmStateTitle", {PERSISTENT, STRING}},
|
||||
{"OsmWayTest", {PERSISTENT, STRING}},
|
||||
{"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"RoadNameToggle", {PERSISTENT, STRING}},
|
||||
|
||||
// Speed Limit
|
||||
{"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
|
||||
{"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
|
||||
{"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
|
||||
// Smart Cruise Control
|
||||
{"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// Torque lateral control custom params
|
||||
{"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
|
||||
{"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
|
||||
};
|
||||
|
||||
+1156
-1043
File diff suppressed because it is too large
Load Diff
@@ -18,6 +18,7 @@ cdef extern from "common/params.h":
|
||||
CLEAR_ON_OFFROAD_TRANSITION
|
||||
DEVELOPMENT_ONLY
|
||||
CLEAR_ON_IGNITION_ON
|
||||
BACKUP
|
||||
ALL
|
||||
|
||||
cpdef enum ParamKeyType:
|
||||
@@ -43,7 +44,7 @@ cdef extern from "common/params.h":
|
||||
optional[string] getKeyDefaultValue(string) nogil
|
||||
string getParamPath(string) nogil
|
||||
void clearAll(ParamKeyFlag)
|
||||
vector[string] allKeys()
|
||||
vector[string] allKeys(ParamKeyFlag)
|
||||
|
||||
PYTHON_2_CPP = {
|
||||
(str, STRING): lambda v: v,
|
||||
@@ -181,8 +182,8 @@ cdef class Params:
|
||||
def get_type(self, key):
|
||||
return self.p.getKeyType(self.check_key(key))
|
||||
|
||||
def all_keys(self):
|
||||
return self.p.allKeys()
|
||||
def all_keys(self, flag=ParamKeyFlag.ALL):
|
||||
return self.p.allKeys(flag)
|
||||
|
||||
def get_default_value(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
|
||||
Binary file not shown.
+16
-9
@@ -2,14 +2,21 @@ import numpy as np
|
||||
from numbers import Number
|
||||
|
||||
class PIDController:
|
||||
def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
|
||||
self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
|
||||
self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
|
||||
self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
|
||||
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_dt = 1.0 / rate
|
||||
self.i_rate = 1.0 / rate
|
||||
self.speed = 0.0
|
||||
|
||||
self.reset()
|
||||
@@ -39,12 +46,12 @@ class PIDController:
|
||||
|
||||
def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
|
||||
self.speed = speed
|
||||
self.p = self.k_p * float(error)
|
||||
self.d = self.k_d * error_rate
|
||||
self.f = feedforward
|
||||
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 + self.k_i * self.i_dt * error
|
||||
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
|
||||
|
||||
+5
-9
@@ -13,11 +13,7 @@ public:
|
||||
if (prefix.empty()) {
|
||||
prefix = util::random_string(15);
|
||||
}
|
||||
#ifdef __APPLE__
|
||||
msgq_path = "/tmp/msgq_" + prefix;
|
||||
#else
|
||||
msgq_path = "/dev/shm/msgq_" + prefix;
|
||||
#endif
|
||||
msgq_path = Path::shm_path() + "/" + prefix;
|
||||
bool ret = util::create_directories(msgq_path, 0777);
|
||||
assert(ret);
|
||||
setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
|
||||
@@ -27,14 +23,14 @@ public:
|
||||
auto param_path = Params().getParamPath();
|
||||
if (util::file_exists(param_path)) {
|
||||
std::string real_path = util::readlink(param_path);
|
||||
util::check_system(util::string_format("rm %s -rf", real_path.c_str()));
|
||||
system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
|
||||
unlink(param_path.c_str());
|
||||
}
|
||||
if (getenv("COMMA_CACHE") == nullptr) {
|
||||
util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()));
|
||||
system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
|
||||
}
|
||||
util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
|
||||
util::check_system(util::string_format("rm %s -rf", msgq_path.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");
|
||||
}
|
||||
|
||||
|
||||
+2
-4
@@ -1,5 +1,4 @@
|
||||
import os
|
||||
import platform
|
||||
import shutil
|
||||
import uuid
|
||||
|
||||
@@ -10,10 +9,9 @@ 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
|
||||
|
||||
@@ -1,40 +0,0 @@
|
||||
#include "common/ratekeeper.h"
|
||||
|
||||
#include <algorithm>
|
||||
|
||||
#include "common/swaglog.h"
|
||||
#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_)) {
|
||||
interval = 1 / rate;
|
||||
last_monitor_time = seconds_since_boot();
|
||||
next_frame_time = last_monitor_time + interval;
|
||||
}
|
||||
|
||||
bool RateKeeper::keepTime() {
|
||||
bool lagged = monitorTime();
|
||||
if (remaining_ > 0) {
|
||||
util::sleep_for(remaining_ * 1000);
|
||||
}
|
||||
return lagged;
|
||||
}
|
||||
|
||||
bool RateKeeper::monitorTime() {
|
||||
++frame_;
|
||||
last_monitor_time = seconds_since_boot();
|
||||
remaining_ = next_frame_time - last_monitor_time;
|
||||
|
||||
bool lagged = remaining_ < 0;
|
||||
if (lagged) {
|
||||
if (print_delay_threshold > 0 && remaining_ < -print_delay_threshold) {
|
||||
LOGW("%s lagging by %.2f ms", name.c_str(), -remaining_ * 1000);
|
||||
}
|
||||
next_frame_time = last_monitor_time + interval;
|
||||
} else {
|
||||
next_frame_time += interval;
|
||||
}
|
||||
return lagged;
|
||||
}
|
||||
+1
-1
@@ -6,7 +6,7 @@ import time
|
||||
|
||||
from setproctitle import getproctitle
|
||||
|
||||
from openpilot.common.utils import MovingAverage
|
||||
from openpilot.common.util import MovingAverage
|
||||
from openpilot.system.hardware import PC
|
||||
|
||||
|
||||
|
||||
@@ -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()
|
||||
@@ -1,155 +0,0 @@
|
||||
#ifndef _GNU_SOURCE
|
||||
#define _GNU_SOURCE
|
||||
#endif
|
||||
|
||||
#include "common/swaglog.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <limits>
|
||||
#include <mutex>
|
||||
#include <string>
|
||||
|
||||
#include <zmq.h>
|
||||
#include <stdarg.h>
|
||||
#include "third_party/json11/json11.hpp"
|
||||
#include "common/version.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
class SwaglogState {
|
||||
public:
|
||||
SwaglogState() {
|
||||
zctx = zmq_ctx_new();
|
||||
sock = zmq_socket(zctx, ZMQ_PUSH);
|
||||
|
||||
// Timeout on shutdown for messages to be received by the logging process
|
||||
int timeout = 100;
|
||||
zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
|
||||
zmq_connect(sock, Path::swaglog_ipc().c_str());
|
||||
|
||||
// workaround for https://github.com/dropbox/json11/issues/38
|
||||
setlocale(LC_NUMERIC, "C");
|
||||
|
||||
print_level = CLOUDLOG_WARNING;
|
||||
if (const char* print_lvl = getenv("LOGPRINT")) {
|
||||
if (strcmp(print_lvl, "debug") == 0) {
|
||||
print_level = CLOUDLOG_DEBUG;
|
||||
} else if (strcmp(print_lvl, "info") == 0) {
|
||||
print_level = CLOUDLOG_INFO;
|
||||
} else if (strcmp(print_lvl, "warning") == 0) {
|
||||
print_level = CLOUDLOG_WARNING;
|
||||
}
|
||||
}
|
||||
|
||||
ctx_j = json11::Json::object{};
|
||||
if (char* dongle_id = getenv("DONGLE_ID")) {
|
||||
ctx_j["dongle_id"] = dongle_id;
|
||||
}
|
||||
if (char* git_origin = getenv("GIT_ORIGIN")) {
|
||||
ctx_j["origin"] = git_origin;
|
||||
}
|
||||
if (char* git_branch = getenv("GIT_BRANCH")) {
|
||||
ctx_j["branch"] = git_branch;
|
||||
}
|
||||
if (char* git_commit = getenv("GIT_COMMIT")) {
|
||||
ctx_j["commit"] = git_commit;
|
||||
}
|
||||
if (char* daemon_name = getenv("MANAGER_DAEMON")) {
|
||||
ctx_j["daemon"] = daemon_name;
|
||||
}
|
||||
ctx_j["version"] = COMMA_VERSION;
|
||||
ctx_j["dirty"] = !getenv("CLEAN");
|
||||
ctx_j["device"] = Hardware::get_name();
|
||||
}
|
||||
|
||||
~SwaglogState() {
|
||||
zmq_close(sock);
|
||||
zmq_ctx_destroy(zctx);
|
||||
}
|
||||
|
||||
void log(int levelnum, const char* filename, int lineno, const char* func, const char* msg, const std::string& log_s) {
|
||||
std::lock_guard lk(lock);
|
||||
if (levelnum >= print_level) {
|
||||
printf("%s: %s\n", filename, msg);
|
||||
}
|
||||
zmq_send(sock, log_s.data(), log_s.length(), ZMQ_NOBLOCK);
|
||||
}
|
||||
|
||||
std::mutex lock;
|
||||
void* zctx = nullptr;
|
||||
void* sock = nullptr;
|
||||
int print_level;
|
||||
json11::Json::object ctx_j;
|
||||
};
|
||||
|
||||
bool LOG_TIMESTAMPS = getenv("LOG_TIMESTAMPS");
|
||||
uint32_t NO_FRAME_ID = std::numeric_limits<uint32_t>::max();
|
||||
|
||||
static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func,
|
||||
char* msg_buf, const json11::Json::object &msg_j={}) {
|
||||
static SwaglogState s;
|
||||
|
||||
json11::Json::object log_j = json11::Json::object {
|
||||
{"ctx", s.ctx_j},
|
||||
{"levelnum", levelnum},
|
||||
{"filename", filename},
|
||||
{"lineno", lineno},
|
||||
{"funcname", func},
|
||||
{"created", seconds_since_epoch()}
|
||||
};
|
||||
if (msg_j.empty()) {
|
||||
log_j["msg"] = msg_buf;
|
||||
} else {
|
||||
log_j["msg"] = msg_j;
|
||||
}
|
||||
|
||||
std::string log_s;
|
||||
log_s += (char)levelnum;
|
||||
((json11::Json)log_j).dump(log_s);
|
||||
s.log(levelnum, filename, lineno, func, msg_buf, log_s);
|
||||
|
||||
free(msg_buf);
|
||||
}
|
||||
|
||||
void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
|
||||
const char* fmt, ...) {
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
char* msg_buf = nullptr;
|
||||
int ret = vasprintf(&msg_buf, fmt, args);
|
||||
va_end(args);
|
||||
if (ret <= 0 || !msg_buf) return;
|
||||
cloudlog_common(levelnum, filename, lineno, func, msg_buf);
|
||||
}
|
||||
|
||||
void cloudlog_t_common(int levelnum, const char* filename, int lineno, const char* func,
|
||||
uint32_t frame_id, const char* fmt, va_list args) {
|
||||
if (!LOG_TIMESTAMPS) return;
|
||||
char* msg_buf = nullptr;
|
||||
int ret = vasprintf(&msg_buf, fmt, args);
|
||||
if (ret <= 0 || !msg_buf) return;
|
||||
json11::Json::object tspt_j = json11::Json::object{
|
||||
{"event", msg_buf},
|
||||
{"time", std::to_string(nanos_since_boot())}
|
||||
};
|
||||
if (frame_id < NO_FRAME_ID) {
|
||||
tspt_j["frame_id"] = std::to_string(frame_id);
|
||||
}
|
||||
tspt_j = json11::Json::object{{"timestamp", tspt_j}};
|
||||
cloudlog_common(levelnum, filename, lineno, func, msg_buf, tspt_j);
|
||||
}
|
||||
|
||||
|
||||
void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
|
||||
const char* fmt, ...) {
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
cloudlog_t_common(levelnum, filename, lineno, func, NO_FRAME_ID, fmt, args);
|
||||
va_end(args);
|
||||
}
|
||||
void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
|
||||
uint32_t frame_id, const char* fmt, ...) {
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
cloudlog_t_common(levelnum, filename, lineno, func, frame_id, fmt, args);
|
||||
va_end(args);
|
||||
}
|
||||
@@ -1,7 +1,7 @@
|
||||
import os
|
||||
from uuid import uuid4
|
||||
|
||||
from openpilot.common.utils import atomic_write
|
||||
from openpilot.common.file_helpers import atomic_write_in_dir
|
||||
|
||||
|
||||
class TestFileHelpers:
|
||||
@@ -15,5 +15,5 @@ class TestFileHelpers:
|
||||
assert f.read() == "test"
|
||||
os.remove(path)
|
||||
|
||||
def test_atomic_write(self):
|
||||
self.run_atomic_write_func(atomic_write)
|
||||
def test_atomic_write_in_dir(self):
|
||||
self.run_atomic_write_func(atomic_write_in_dir)
|
||||
|
||||
@@ -6,7 +6,7 @@ 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:
|
||||
with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
|
||||
release_notes = f.read().split("\n\n")
|
||||
assert len(release_notes) > 10
|
||||
|
||||
|
||||
@@ -1,27 +0,0 @@
|
||||
#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");
|
||||
}
|
||||
}
|
||||
@@ -1,2 +0,0 @@
|
||||
#define CATCH_CONFIG_MAIN
|
||||
#include "catch2/catch.hpp"
|
||||
@@ -1,88 +0,0 @@
|
||||
#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);
|
||||
}
|
||||
@@ -1,147 +0,0 @@
|
||||
|
||||
#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);
|
||||
REQUIRE(write(fd, content.c_str(), content.size()) == (ssize_t)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") {
|
||||
REQUIRE(system("rm /tmp/test_create_directories -rf") == 0);
|
||||
std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";
|
||||
|
||||
auto check_dir_permissions = [](const std::string &path, mode_t mode) -> bool {
|
||||
struct stat st = {};
|
||||
return stat(path.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, 0644);
|
||||
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);
|
||||
}
|
||||
}
|
||||
@@ -2,7 +2,6 @@ import datetime
|
||||
from pathlib import Path
|
||||
|
||||
MIN_DATE = datetime.datetime(year=2025, month=2, day=21)
|
||||
MAX_DATE = datetime.datetime(year=2035, month=1, day=1)
|
||||
|
||||
def min_date():
|
||||
# on systemd systems, the default time is the systemd build time
|
||||
@@ -13,4 +12,4 @@ def min_date():
|
||||
return MIN_DATE
|
||||
|
||||
def system_time_valid():
|
||||
return min_date() < datetime.datetime.now() < MAX_DATE
|
||||
return datetime.datetime.now() > min_date()
|
||||
|
||||
@@ -0,0 +1,2 @@
|
||||
transformations
|
||||
transformations.cpp
|
||||
@@ -0,0 +1,43 @@
|
||||
#pragma once
|
||||
|
||||
#include <eigen3/Eigen/Dense>
|
||||
|
||||
#define DEG2RAD(x) ((x) * M_PI / 180.0)
|
||||
#define RAD2DEG(x) ((x) * 180.0 / M_PI)
|
||||
|
||||
struct ECEF {
|
||||
double x, y, z;
|
||||
Eigen::Vector3d to_vector() const {
|
||||
return Eigen::Vector3d(x, y, z);
|
||||
}
|
||||
};
|
||||
|
||||
struct NED {
|
||||
double n, e, d;
|
||||
Eigen::Vector3d to_vector() const {
|
||||
return Eigen::Vector3d(n, e, d);
|
||||
}
|
||||
};
|
||||
|
||||
struct Geodetic {
|
||||
double lat, lon, alt;
|
||||
bool radians=false;
|
||||
};
|
||||
|
||||
ECEF geodetic2ecef(const Geodetic &g);
|
||||
Geodetic ecef2geodetic(const ECEF &e);
|
||||
|
||||
class LocalCoord {
|
||||
public:
|
||||
Eigen::Matrix3d ned2ecef_matrix;
|
||||
Eigen::Matrix3d ecef2ned_matrix;
|
||||
Eigen::Vector3d init_ecef;
|
||||
LocalCoord(const Geodetic &g, const ECEF &e);
|
||||
LocalCoord(const Geodetic &g) : LocalCoord(g, ::geodetic2ecef(g)) {}
|
||||
LocalCoord(const ECEF &e) : LocalCoord(::ecef2geodetic(e), e) {}
|
||||
|
||||
NED ecef2ned(const ECEF &e);
|
||||
ECEF ned2ecef(const NED &n);
|
||||
NED geodetic2ned(const Geodetic &g);
|
||||
Geodetic ned2geodetic(const NED &n);
|
||||
};
|
||||
@@ -0,0 +1,17 @@
|
||||
#pragma once
|
||||
#include <eigen3/Eigen/Dense>
|
||||
#include "common/transformations/coordinates.hpp"
|
||||
|
||||
|
||||
Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat);
|
||||
|
||||
Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler);
|
||||
Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat);
|
||||
Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat);
|
||||
Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
|
||||
Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler);
|
||||
Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
|
||||
Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
|
||||
Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle);
|
||||
Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose);
|
||||
Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose);
|
||||
@@ -102,36 +102,3 @@ class TestNED:
|
||||
np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
|
||||
ecef_positions_offset_batch,
|
||||
rtol=1e-9, atol=1e-7)
|
||||
|
||||
def test_errors(self):
|
||||
# Test wrong shape/type for geodetic2ecef
|
||||
# numpy_wrap raises IndexError for scalar input
|
||||
with np.testing.assert_raises(IndexError):
|
||||
coord.geodetic2ecef(1.0)
|
||||
|
||||
with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
|
||||
coord.geodetic2ecef([0, 0])
|
||||
|
||||
with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
|
||||
coord.geodetic2ecef([0, 0, 0, 0])
|
||||
|
||||
with np.testing.assert_raises(TypeError):
|
||||
coord.geodetic2ecef(['a', 'b', 'c'])
|
||||
|
||||
# Test LocalCoord constructor errors
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.LocalCoord.from_geodetic([0, 0])
|
||||
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.LocalCoord.from_geodetic(1)
|
||||
|
||||
with np.testing.assert_raises(TypeError):
|
||||
coord.LocalCoord.from_geodetic(['a', 'b', 'c'])
|
||||
|
||||
# Test wrong shape/type for ecef2geodetic
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.ecef2geodetic([1, 2])
|
||||
with np.testing.assert_raises(ValueError):
|
||||
coord.ecef2geodetic([1, 2, 3, 4])
|
||||
with np.testing.assert_raises(IndexError):
|
||||
coord.ecef2geodetic(1.0)
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
|
||||
rot2quat, quat2rot, \
|
||||
@@ -60,32 +59,3 @@ class TestOrientation:
|
||||
np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
|
||||
#np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
|
||||
# np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
|
||||
|
||||
def test_inputs(self):
|
||||
with pytest.raises(ValueError):
|
||||
euler2quat([1, 2])
|
||||
|
||||
with pytest.raises(ValueError):
|
||||
quat2rot([1, 2, 3])
|
||||
|
||||
with pytest.raises(IndexError):
|
||||
rot2quat(np.zeros((2, 2)))
|
||||
|
||||
def test_euler_rot_consistency(self):
|
||||
rpy = [0.1, 0.2, 0.3]
|
||||
R = euler2rot(rpy)
|
||||
|
||||
# R -> q -> R
|
||||
q = rot2quat(R)
|
||||
R_new = quat2rot(q)
|
||||
np.testing.assert_allclose(R, R_new, atol=1e-15)
|
||||
|
||||
# q -> R -> Euler (quat2euler) -> R
|
||||
rpy_new = quat2euler(q)
|
||||
R_new2 = euler2rot(rpy_new)
|
||||
np.testing.assert_allclose(R, R_new2, atol=1e-15)
|
||||
|
||||
# R -> Euler (rot2euler) -> R
|
||||
rpy_from_rot = rot2euler(R)
|
||||
R_new3 = euler2rot(rpy_from_rot)
|
||||
np.testing.assert_allclose(R, R_new3, atol=1e-15)
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,72 @@
|
||||
# cython: language_level=3
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "orientation.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "orientation.hpp":
|
||||
cdef cppclass Quaternion "Eigen::Quaterniond":
|
||||
Quaternion()
|
||||
Quaternion(double, double, double, double)
|
||||
double w()
|
||||
double x()
|
||||
double y()
|
||||
double z()
|
||||
|
||||
cdef cppclass Vector3 "Eigen::Vector3d":
|
||||
Vector3()
|
||||
Vector3(double, double, double)
|
||||
double operator()(int)
|
||||
|
||||
cdef cppclass Matrix3 "Eigen::Matrix3d":
|
||||
Matrix3()
|
||||
Matrix3(double*)
|
||||
|
||||
double operator()(int, int)
|
||||
|
||||
Quaternion euler2quat(const Vector3 &)
|
||||
Vector3 quat2euler(const Quaternion &)
|
||||
Matrix3 quat2rot(const Quaternion &)
|
||||
Quaternion rot2quat(const Matrix3 &)
|
||||
Vector3 rot2euler(const Matrix3 &)
|
||||
Matrix3 euler2rot(const Vector3 &)
|
||||
Matrix3 rot_matrix(double, double, double)
|
||||
Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
|
||||
Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
|
||||
|
||||
|
||||
cdef extern from "coordinates.cc":
|
||||
cdef struct ECEF:
|
||||
double x
|
||||
double y
|
||||
double z
|
||||
|
||||
cdef struct NED:
|
||||
double n
|
||||
double e
|
||||
double d
|
||||
|
||||
cdef struct Geodetic:
|
||||
double lat
|
||||
double lon
|
||||
double alt
|
||||
bool radians
|
||||
|
||||
ECEF geodetic2ecef(const Geodetic &)
|
||||
Geodetic ecef2geodetic(const ECEF &)
|
||||
|
||||
cdef cppclass LocalCoord_c "LocalCoord":
|
||||
Matrix3 ned2ecef_matrix
|
||||
Matrix3 ecef2ned_matrix
|
||||
|
||||
LocalCoord_c(const Geodetic &, const ECEF &)
|
||||
LocalCoord_c(const Geodetic &)
|
||||
LocalCoord_c(const ECEF &)
|
||||
|
||||
NED ecef2ned(const ECEF &)
|
||||
ECEF ned2ecef(const NED &)
|
||||
NED geodetic2ned(const Geodetic &)
|
||||
Geodetic ned2geodetic(const NED &)
|
||||
|
||||
cdef extern from "coordinates.hpp":
|
||||
pass
|
||||
@@ -1,342 +0,0 @@
|
||||
import numpy as np
|
||||
|
||||
|
||||
# Constants
|
||||
a = 6378137.0
|
||||
b = 6356752.3142
|
||||
esq = 6.69437999014e-3
|
||||
e1sq = 6.73949674228e-3
|
||||
|
||||
|
||||
def geodetic2ecef_single(g):
|
||||
"""
|
||||
Convert geodetic coordinates (latitude, longitude, altitude) to ECEF.
|
||||
"""
|
||||
try:
|
||||
if len(g) != 3:
|
||||
raise ValueError("Geodetic must be size 3")
|
||||
except TypeError:
|
||||
raise ValueError("Geodetic must be a sequence of length 3") from None
|
||||
|
||||
lat, lon, alt = g
|
||||
lat = np.radians(lat)
|
||||
lon = np.radians(lon)
|
||||
xi = np.sqrt(1.0 - esq * np.sin(lat)**2)
|
||||
x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
|
||||
y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
|
||||
z = (a / xi * (1.0 - esq) + alt) * np.sin(lat)
|
||||
return np.array([x, y, z])
|
||||
|
||||
|
||||
def ecef2geodetic_single(e):
|
||||
"""
|
||||
Convert ECEF to geodetic coordinates using Ferrari's solution.
|
||||
"""
|
||||
x, y, z = e
|
||||
r = np.sqrt(x**2 + y**2)
|
||||
Esq = a**2 - b**2
|
||||
F = 54 * b**2 * z**2
|
||||
G = r**2 + (1 - esq) * z**2 - esq * Esq
|
||||
C = (esq**2 * F * r**2) / (G**3)
|
||||
S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C))
|
||||
P = F / (3 * (S + 1 / S + 1)**2 * G**2)
|
||||
Q = np.sqrt(1 + 2 * esq**2 * P)
|
||||
r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2)
|
||||
U = np.sqrt((r - esq * r_0)**2 + z**2)
|
||||
V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2)
|
||||
Z_0 = b**2 * z / (a * V)
|
||||
h = U * (1 - b**2 / (a * V))
|
||||
lat = np.arctan((z + e1sq * Z_0) / r)
|
||||
lon = np.arctan2(y, x)
|
||||
return np.array([np.degrees(lat), np.degrees(lon), h])
|
||||
|
||||
|
||||
def euler2quat_single(euler):
|
||||
"""
|
||||
Convert Euler angles (roll, pitch, yaw) to a quaternion.
|
||||
Rotation order: Z-Y-X (yaw, pitch, roll).
|
||||
"""
|
||||
phi, theta, psi = euler
|
||||
|
||||
c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2)
|
||||
c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2)
|
||||
c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2)
|
||||
|
||||
w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi
|
||||
x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi
|
||||
y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi
|
||||
z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi
|
||||
|
||||
if w < 0:
|
||||
return np.array([-w, -x, -y, -z])
|
||||
return np.array([w, x, y, z])
|
||||
|
||||
|
||||
def quat2euler_single(q):
|
||||
"""
|
||||
Convert a quaternion to Euler angles (roll, pitch, yaw).
|
||||
"""
|
||||
w, x, y, z = q
|
||||
gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2))
|
||||
sin_arg = 2 * (w * y - z * x)
|
||||
sin_arg = np.clip(sin_arg, -1.0, 1.0)
|
||||
theta = np.arcsin(sin_arg)
|
||||
psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2))
|
||||
return np.array([gamma, theta, psi])
|
||||
|
||||
|
||||
def quat2rot_single(q):
|
||||
"""
|
||||
Convert a quaternion to a 3x3 rotation matrix.
|
||||
"""
|
||||
w, x, y, z = q
|
||||
xx, yy, zz = x * x, y * y, z * z
|
||||
xy, xz, yz = x * y, x * z, y * z
|
||||
wx, wy, wz = w * x, w * y, w * z
|
||||
|
||||
mat = np.array([
|
||||
[1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)],
|
||||
[2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)],
|
||||
[2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)]
|
||||
])
|
||||
return mat
|
||||
|
||||
|
||||
def rot2quat_single(rot):
|
||||
"""
|
||||
Convert a 3x3 rotation matrix to a quaternion.
|
||||
"""
|
||||
trace = np.trace(rot)
|
||||
if trace > 0:
|
||||
s = 0.5 / np.sqrt(trace + 1.0)
|
||||
w = 0.25 / s
|
||||
x = (rot[2, 1] - rot[1, 2]) * s
|
||||
y = (rot[0, 2] - rot[2, 0]) * s
|
||||
z = (rot[1, 0] - rot[0, 1]) * s
|
||||
else:
|
||||
if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]:
|
||||
s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2])
|
||||
w = (rot[2, 1] - rot[1, 2]) / s
|
||||
x = 0.25 * s
|
||||
y = (rot[0, 1] + rot[1, 0]) / s
|
||||
z = (rot[0, 2] + rot[2, 0]) / s
|
||||
elif rot[1, 1] > rot[2, 2]:
|
||||
s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2])
|
||||
w = (rot[0, 2] - rot[2, 0]) / s
|
||||
x = (rot[0, 1] + rot[1, 0]) / s
|
||||
y = 0.25 * s
|
||||
z = (rot[1, 2] + rot[2, 1]) / s
|
||||
else:
|
||||
s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1])
|
||||
w = (rot[1, 0] - rot[0, 1]) / s
|
||||
x = (rot[0, 2] + rot[2, 0]) / s
|
||||
y = (rot[1, 2] + rot[2, 1]) / s
|
||||
z = 0.25 * s
|
||||
|
||||
if w < 0:
|
||||
return np.array([-w, -x, -y, -z])
|
||||
return np.array([w, x, y, z])
|
||||
|
||||
|
||||
def euler2rot_single(euler):
|
||||
"""
|
||||
Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix.
|
||||
Rotation order: Z-Y-X (yaw, pitch, roll).
|
||||
"""
|
||||
phi, theta, psi = euler
|
||||
|
||||
cx, sx = np.cos(phi), np.sin(phi)
|
||||
cy, sy = np.cos(theta), np.sin(theta)
|
||||
cz, sz = np.cos(psi), np.sin(psi)
|
||||
|
||||
Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]])
|
||||
Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]])
|
||||
Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]])
|
||||
|
||||
return Rz @ Ry @ Rx
|
||||
|
||||
|
||||
def rot2euler_single(rot):
|
||||
"""
|
||||
Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw).
|
||||
"""
|
||||
return quat2euler_single(rot2quat_single(rot))
|
||||
|
||||
|
||||
def rot_matrix(roll, pitch, yaw):
|
||||
"""
|
||||
Create a 3x3 rotation matrix from roll, pitch, and yaw angles.
|
||||
"""
|
||||
return euler2rot_single([roll, pitch, yaw])
|
||||
|
||||
|
||||
def axis_angle_to_rot(axis, angle):
|
||||
"""
|
||||
Convert an axis-angle representation to a 3x3 rotation matrix.
|
||||
"""
|
||||
c = np.cos(angle / 2)
|
||||
s = np.sin(angle / 2)
|
||||
q = np.array([c, s*axis[0], s*axis[1], s*axis[2]])
|
||||
return quat2rot_single(q)
|
||||
|
||||
|
||||
class LocalCoord:
|
||||
"""
|
||||
A class to handle conversions between ECEF and local NED coordinates.
|
||||
"""
|
||||
def __init__(self, geodetic=None, ecef=None):
|
||||
"""
|
||||
Initialize LocalCoord with either geodetic or ECEF coordinates.
|
||||
"""
|
||||
if geodetic is not None:
|
||||
self.init_ecef = geodetic2ecef_single(geodetic)
|
||||
lat, lon, _ = geodetic
|
||||
elif ecef is not None:
|
||||
self.init_ecef = np.array(ecef)
|
||||
lat, lon, _ = ecef2geodetic_single(ecef)
|
||||
else:
|
||||
raise ValueError("Must provide geodetic or ecef")
|
||||
|
||||
lat = np.radians(lat)
|
||||
lon = np.radians(lon)
|
||||
|
||||
self.ned2ecef_matrix = np.array([
|
||||
[-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
|
||||
[-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
|
||||
[np.cos(lat), 0, -np.sin(lat)]
|
||||
])
|
||||
self.ecef2ned_matrix = self.ned2ecef_matrix.T
|
||||
|
||||
@classmethod
|
||||
def from_geodetic(cls, geodetic):
|
||||
"""
|
||||
Create a LocalCoord instance from geodetic coordinates.
|
||||
"""
|
||||
return cls(geodetic=geodetic)
|
||||
|
||||
@classmethod
|
||||
def from_ecef(cls, ecef):
|
||||
"""
|
||||
Create a LocalCoord instance from ECEF coordinates.
|
||||
"""
|
||||
return cls(ecef=ecef)
|
||||
|
||||
def ecef2ned_single(self, ecef):
|
||||
"""
|
||||
Convert a single ECEF point to NED coordinates relative to the origin.
|
||||
"""
|
||||
return self.ecef2ned_matrix @ (ecef - self.init_ecef)
|
||||
|
||||
def ned2ecef_single(self, ned):
|
||||
"""
|
||||
Convert a single NED point to ECEF coordinates.
|
||||
"""
|
||||
return self.ned2ecef_matrix @ ned + self.init_ecef
|
||||
|
||||
def geodetic2ned_single(self, geodetic):
|
||||
"""
|
||||
Convert a single geodetic point to NED coordinates.
|
||||
"""
|
||||
ecef = geodetic2ecef_single(geodetic)
|
||||
return self.ecef2ned_single(ecef)
|
||||
|
||||
def ned2geodetic_single(self, ned):
|
||||
"""
|
||||
Convert a single NED point to geodetic coordinates.
|
||||
"""
|
||||
ecef = self.ned2ecef_single(ned)
|
||||
return ecef2geodetic_single(ecef)
|
||||
|
||||
@property
|
||||
def ned_from_ecef_matrix(self):
|
||||
"""
|
||||
Returns the rotation matrix from ECEF to NED coordinates.
|
||||
"""
|
||||
return self.ecef2ned_matrix
|
||||
|
||||
@property
|
||||
def ecef_from_ned_matrix(self):
|
||||
"""
|
||||
Returns the rotation matrix from NED to ECEF coordinates.
|
||||
"""
|
||||
return self.ned2ecef_matrix
|
||||
|
||||
|
||||
def ecef_euler_from_ned_single(ecef_init, ned_pose):
|
||||
"""
|
||||
Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin
|
||||
to equivalent ECEF Euler angles.
|
||||
"""
|
||||
converter = LocalCoord(ecef=ecef_init)
|
||||
zero = np.array(ecef_init)
|
||||
|
||||
x0 = converter.ned2ecef_single([1, 0, 0]) - zero
|
||||
y0 = converter.ned2ecef_single([0, 1, 0]) - zero
|
||||
z0 = converter.ned2ecef_single([0, 0, 1]) - zero
|
||||
|
||||
phi, theta, psi = ned_pose
|
||||
|
||||
x1 = axis_angle_to_rot(z0, psi) @ x0
|
||||
y1 = axis_angle_to_rot(z0, psi) @ y0
|
||||
z1 = axis_angle_to_rot(z0, psi) @ z0
|
||||
|
||||
x2 = axis_angle_to_rot(y1, theta) @ x1
|
||||
y2 = axis_angle_to_rot(y1, theta) @ y1
|
||||
z2 = axis_angle_to_rot(y1, theta) @ z1
|
||||
|
||||
x3 = axis_angle_to_rot(x2, phi) @ x2
|
||||
y3 = axis_angle_to_rot(x2, phi) @ y2
|
||||
|
||||
x0 = np.array([1.0, 0, 0])
|
||||
y0 = np.array([0, 1.0, 0])
|
||||
z0 = np.array([0, 0, 1.0])
|
||||
|
||||
psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
|
||||
theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
|
||||
|
||||
y2 = axis_angle_to_rot(z0, psi_out) @ y0
|
||||
z2 = axis_angle_to_rot(y2, theta_out) @ z0
|
||||
|
||||
phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
|
||||
|
||||
return np.array([phi_out, theta_out, psi_out])
|
||||
|
||||
|
||||
def ned_euler_from_ecef_single(ecef_init, ecef_pose):
|
||||
"""
|
||||
Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin
|
||||
to equivalent NED Euler angles.
|
||||
"""
|
||||
converter = LocalCoord(ecef=ecef_init)
|
||||
|
||||
x0 = np.array([1.0, 0, 0])
|
||||
y0 = np.array([0, 1.0, 0])
|
||||
z0 = np.array([0, 0, 1.0])
|
||||
|
||||
phi, theta, psi = ecef_pose
|
||||
|
||||
x1 = axis_angle_to_rot(z0, psi) @ x0
|
||||
y1 = axis_angle_to_rot(z0, psi) @ y0
|
||||
z1 = axis_angle_to_rot(z0, psi) @ z0
|
||||
|
||||
x2 = axis_angle_to_rot(y1, theta) @ x1
|
||||
y2 = axis_angle_to_rot(y1, theta) @ y1
|
||||
z2 = axis_angle_to_rot(y1, theta) @ z1
|
||||
|
||||
x3 = axis_angle_to_rot(x2, phi) @ x2
|
||||
y3 = axis_angle_to_rot(x2, phi) @ y2
|
||||
|
||||
zero = np.array(ecef_init)
|
||||
x0 = converter.ned2ecef_single([1, 0, 0]) - zero
|
||||
y0 = converter.ned2ecef_single([0, 1, 0]) - zero
|
||||
z0 = converter.ned2ecef_single([0, 0, 1]) - zero
|
||||
|
||||
psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
|
||||
theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
|
||||
|
||||
y2 = axis_angle_to_rot(z0, psi_out) @ y0
|
||||
z2 = axis_angle_to_rot(y2, theta_out) @ z0
|
||||
|
||||
phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
|
||||
|
||||
return np.array([phi_out, theta_out, psi_out])
|
||||
@@ -0,0 +1,173 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
|
||||
from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
|
||||
|
||||
from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
|
||||
from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
|
||||
from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
|
||||
from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
|
||||
from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
|
||||
from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
|
||||
from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
|
||||
from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
|
||||
from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
|
||||
from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
|
||||
from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
|
||||
from openpilot.common.transformations.transformations cimport LocalCoord_c
|
||||
|
||||
|
||||
import numpy as np
|
||||
cimport numpy as np
|
||||
|
||||
cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
|
||||
return np.array([
|
||||
[m(0, 0), m(0, 1), m(0, 2)],
|
||||
[m(1, 0), m(1, 1), m(1, 2)],
|
||||
[m(2, 0), m(2, 1), m(2, 2)],
|
||||
])
|
||||
|
||||
cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
|
||||
assert m.shape[0] == 3
|
||||
assert m.shape[1] == 3
|
||||
return Matrix3(<double*>m.data)
|
||||
|
||||
cdef ECEF list2ecef(ecef):
|
||||
cdef ECEF e
|
||||
e.x = ecef[0]
|
||||
e.y = ecef[1]
|
||||
e.z = ecef[2]
|
||||
return e
|
||||
|
||||
cdef NED list2ned(ned):
|
||||
cdef NED n
|
||||
n.n = ned[0]
|
||||
n.e = ned[1]
|
||||
n.d = ned[2]
|
||||
return n
|
||||
|
||||
cdef Geodetic list2geodetic(geodetic):
|
||||
cdef Geodetic g
|
||||
g.lat = geodetic[0]
|
||||
g.lon = geodetic[1]
|
||||
g.alt = geodetic[2]
|
||||
return g
|
||||
|
||||
def euler2quat_single(euler):
|
||||
cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
|
||||
cdef Quaternion q = euler2quat_c(e)
|
||||
return [q.w(), q.x(), q.y(), q.z()]
|
||||
|
||||
def quat2euler_single(quat):
|
||||
cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
|
||||
cdef Vector3 e = quat2euler_c(q)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def quat2rot_single(quat):
|
||||
cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
|
||||
cdef Matrix3 r = quat2rot_c(q)
|
||||
return matrix2numpy(r)
|
||||
|
||||
def rot2quat_single(rot):
|
||||
cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
|
||||
cdef Quaternion q = rot2quat_c(r)
|
||||
return [q.w(), q.x(), q.y(), q.z()]
|
||||
|
||||
def euler2rot_single(euler):
|
||||
cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
|
||||
cdef Matrix3 r = euler2rot_c(e)
|
||||
return matrix2numpy(r)
|
||||
|
||||
def rot2euler_single(rot):
|
||||
cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
|
||||
cdef Vector3 e = rot2euler_c(r)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def rot_matrix(roll, pitch, yaw):
|
||||
return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
|
||||
|
||||
def ecef_euler_from_ned_single(ecef_init, ned_pose):
|
||||
cdef ECEF init = list2ecef(ecef_init)
|
||||
cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
|
||||
|
||||
cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def ned_euler_from_ecef_single(ecef_init, ecef_pose):
|
||||
cdef ECEF init = list2ecef(ecef_init)
|
||||
cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
|
||||
|
||||
cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def geodetic2ecef_single(geodetic):
|
||||
cdef Geodetic g = list2geodetic(geodetic)
|
||||
cdef ECEF e = geodetic2ecef_c(g)
|
||||
return [e.x, e.y, e.z]
|
||||
|
||||
def ecef2geodetic_single(ecef):
|
||||
cdef ECEF e = list2ecef(ecef)
|
||||
cdef Geodetic g = ecef2geodetic_c(e)
|
||||
return [g.lat, g.lon, g.alt]
|
||||
|
||||
|
||||
cdef class LocalCoord:
|
||||
cdef LocalCoord_c * lc
|
||||
|
||||
def __init__(self, geodetic=None, ecef=None):
|
||||
assert (geodetic is not None) or (ecef is not None)
|
||||
if geodetic is not None:
|
||||
self.lc = new LocalCoord_c(list2geodetic(geodetic))
|
||||
elif ecef is not None:
|
||||
self.lc = new LocalCoord_c(list2ecef(ecef))
|
||||
|
||||
@property
|
||||
def ned2ecef_matrix(self):
|
||||
return matrix2numpy(self.lc.ned2ecef_matrix)
|
||||
|
||||
@property
|
||||
def ecef2ned_matrix(self):
|
||||
return matrix2numpy(self.lc.ecef2ned_matrix)
|
||||
|
||||
@property
|
||||
def ned_from_ecef_matrix(self):
|
||||
return self.ecef2ned_matrix
|
||||
|
||||
@property
|
||||
def ecef_from_ned_matrix(self):
|
||||
return self.ned2ecef_matrix
|
||||
|
||||
@classmethod
|
||||
def from_geodetic(cls, geodetic):
|
||||
return cls(geodetic=geodetic)
|
||||
|
||||
@classmethod
|
||||
def from_ecef(cls, ecef):
|
||||
return cls(ecef=ecef)
|
||||
|
||||
def ecef2ned_single(self, ecef):
|
||||
assert self.lc
|
||||
cdef ECEF e = list2ecef(ecef)
|
||||
cdef NED n = self.lc.ecef2ned(e)
|
||||
return [n.n, n.e, n.d]
|
||||
|
||||
def ned2ecef_single(self, ned):
|
||||
assert self.lc
|
||||
cdef NED n = list2ned(ned)
|
||||
cdef ECEF e = self.lc.ned2ecef(n)
|
||||
return [e.x, e.y, e.z]
|
||||
|
||||
def geodetic2ned_single(self, geodetic):
|
||||
assert self.lc
|
||||
cdef Geodetic g = list2geodetic(geodetic)
|
||||
cdef NED n = self.lc.geodetic2ned(g)
|
||||
return [n.n, n.e, n.d]
|
||||
|
||||
def ned2geodetic_single(self, ned):
|
||||
assert self.lc
|
||||
cdef NED n = list2ned(ned)
|
||||
cdef Geodetic g = self.lc.ned2geodetic(n)
|
||||
return [g.lat, g.lon, g.alt]
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.lc
|
||||
Executable
BIN
Binary file not shown.
-317
@@ -1,317 +0,0 @@
|
||||
#include "common/util.h"
|
||||
#include "common/swaglog.h"
|
||||
|
||||
#include <sys/ioctl.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/resource.h>
|
||||
|
||||
#include <cassert>
|
||||
#include <cerrno>
|
||||
#include <cstring>
|
||||
#include <dirent.h>
|
||||
#include <fstream>
|
||||
#include <iomanip>
|
||||
#include <random>
|
||||
#include <sstream>
|
||||
#include <limits>
|
||||
|
||||
#ifdef __linux__
|
||||
#include <sys/prctl.h>
|
||||
#include <sys/syscall.h>
|
||||
#ifndef __USE_GNU
|
||||
#define __USE_GNU
|
||||
#endif
|
||||
#include <sched.h>
|
||||
#endif // __linux__
|
||||
|
||||
namespace util {
|
||||
|
||||
void set_thread_name(const char* name) {
|
||||
#ifdef __linux__
|
||||
// pthread_setname_np is dumb (fails instead of truncates)
|
||||
prctl(PR_SET_NAME, (unsigned long)name, 0, 0, 0);
|
||||
#endif
|
||||
}
|
||||
|
||||
int set_realtime_priority(int level) {
|
||||
#ifdef __linux__
|
||||
long tid = syscall(SYS_gettid);
|
||||
|
||||
// should match python using chrt
|
||||
struct sched_param sa;
|
||||
memset(&sa, 0, sizeof(sa));
|
||||
sa.sched_priority = level;
|
||||
return sched_setscheduler(tid, SCHED_FIFO, &sa);
|
||||
#else
|
||||
return -1;
|
||||
#endif
|
||||
}
|
||||
|
||||
int set_core_affinity(std::vector<int> cores) {
|
||||
#ifdef __linux__
|
||||
long tid = syscall(SYS_gettid);
|
||||
cpu_set_t cpu;
|
||||
|
||||
CPU_ZERO(&cpu);
|
||||
for (const int n : cores) {
|
||||
CPU_SET(n, &cpu);
|
||||
}
|
||||
return sched_setaffinity(tid, sizeof(cpu), &cpu);
|
||||
#else
|
||||
return -1;
|
||||
#endif
|
||||
}
|
||||
|
||||
int set_file_descriptor_limit(uint64_t limit_val) {
|
||||
struct rlimit limit;
|
||||
int status;
|
||||
|
||||
if ((status = getrlimit(RLIMIT_NOFILE, &limit)) < 0)
|
||||
return status;
|
||||
|
||||
limit.rlim_cur = limit_val;
|
||||
if ((status = setrlimit(RLIMIT_NOFILE, &limit)) < 0)
|
||||
return status;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
std::string read_file(const std::string& fn) {
|
||||
std::ifstream f(fn, std::ios::binary | std::ios::in);
|
||||
if (f.is_open()) {
|
||||
f.seekg(0, std::ios::end);
|
||||
std::streamsize size = f.tellg();
|
||||
// seekg and tellg on a directory doesn't return pos_type(-1) but max(streamsize)
|
||||
if (f.good() && size > 0 && size < std::numeric_limits<std::streamsize>::max()) {
|
||||
std::string result(size, '\0');
|
||||
f.seekg(0, std::ios::beg);
|
||||
f.read(result.data(), size);
|
||||
// return either good() or has reached end-of-file (e.g. /sys/power/wakeup_count)
|
||||
if (f.good() || f.eof()) {
|
||||
result.resize(f.gcount());
|
||||
return result;
|
||||
}
|
||||
}
|
||||
// fallback for files created on read, e.g. procfs
|
||||
std::stringstream buffer;
|
||||
buffer << f.rdbuf();
|
||||
return buffer.str();
|
||||
}
|
||||
return std::string();
|
||||
}
|
||||
|
||||
std::map<std::string, std::string> read_files_in_dir(const std::string &path) {
|
||||
std::map<std::string, std::string> ret;
|
||||
DIR *d = opendir(path.c_str());
|
||||
if (!d) return ret;
|
||||
|
||||
struct dirent *de = NULL;
|
||||
while ((de = readdir(d))) {
|
||||
if (de->d_type != DT_DIR) {
|
||||
ret[de->d_name] = util::read_file(path + "/" + de->d_name);
|
||||
}
|
||||
}
|
||||
|
||||
closedir(d);
|
||||
return ret;
|
||||
}
|
||||
|
||||
int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
|
||||
int fd = HANDLE_EINTR(open(path, flags, mode));
|
||||
if (fd == -1) {
|
||||
return -1;
|
||||
}
|
||||
ssize_t n = HANDLE_EINTR(write(fd, data, size));
|
||||
close(fd);
|
||||
return (n >= 0 && (size_t)n == size) ? 0 : -1;
|
||||
}
|
||||
|
||||
FILE* safe_fopen(const char* filename, const char* mode) {
|
||||
FILE* fp = NULL;
|
||||
do {
|
||||
fp = fopen(filename, mode);
|
||||
} while ((nullptr == fp) && (errno == EINTR));
|
||||
return fp;
|
||||
}
|
||||
|
||||
size_t safe_fwrite(const void* ptr, size_t size, size_t count, FILE* stream) {
|
||||
size_t written = 0;
|
||||
do {
|
||||
size_t ret = ::fwrite((void*)((char *)ptr + written * size), size, count - written, stream);
|
||||
if (ret == 0 && errno != EINTR) break;
|
||||
written += ret;
|
||||
} while (written != count);
|
||||
return written;
|
||||
}
|
||||
|
||||
int safe_fflush(FILE *stream) {
|
||||
int ret = EOF;
|
||||
do {
|
||||
ret = fflush(stream);
|
||||
} while ((EOF == ret) && (errno == EINTR));
|
||||
return ret;
|
||||
}
|
||||
|
||||
int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg) {
|
||||
int ret;
|
||||
do {
|
||||
ret = ioctl(fd, request, argp);
|
||||
} while ((ret == -1) && (errno == EINTR));
|
||||
|
||||
if (ret == -1 && exception_msg) {
|
||||
LOGE("safe_ioctl error: %s %s(%d) (fd: %d request: %lx argp: %p)", exception_msg, strerror(errno), errno, fd, request, argp);
|
||||
throw std::runtime_error(exception_msg);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
std::string readlink(const std::string &path) {
|
||||
char buff[4096];
|
||||
ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
|
||||
if (len != -1) {
|
||||
buff[len] = '\0';
|
||||
return std::string(buff);
|
||||
}
|
||||
return "";
|
||||
}
|
||||
|
||||
bool file_exists(const std::string& fn) {
|
||||
struct stat st = {};
|
||||
return stat(fn.c_str(), &st) != -1;
|
||||
}
|
||||
|
||||
static bool createDirectory(std::string dir, mode_t mode) {
|
||||
auto verify_dir = [](const std::string& path) -> bool {
|
||||
struct stat st = {};
|
||||
return (stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
|
||||
};
|
||||
// remove trailing /'s
|
||||
while (dir.size() > 1 && dir.back() == '/') {
|
||||
dir.pop_back();
|
||||
}
|
||||
// try to mkdir this directory
|
||||
if (mkdir(dir.c_str(), mode) == 0) return true;
|
||||
if (errno == EEXIST) return verify_dir(dir);
|
||||
if (errno != ENOENT) return false;
|
||||
|
||||
// mkdir failed because the parent dir doesn't exist, so try to create it
|
||||
size_t slash = dir.rfind('/');
|
||||
if ((slash == std::string::npos || slash < 1) ||
|
||||
!createDirectory(dir.substr(0, slash), mode)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// try again
|
||||
if (mkdir(dir.c_str(), mode) == 0) return true;
|
||||
return errno == EEXIST && verify_dir(dir);
|
||||
}
|
||||
|
||||
bool create_directories(const std::string& dir, mode_t mode) {
|
||||
if (dir.empty()) return false;
|
||||
return createDirectory(dir, mode);
|
||||
}
|
||||
|
||||
std::string getenv(const char* key, std::string default_val) {
|
||||
const char* val = ::getenv(key);
|
||||
return val ? val : default_val;
|
||||
}
|
||||
|
||||
int getenv(const char* key, int default_val) {
|
||||
const char* val = ::getenv(key);
|
||||
return val ? atoi(val) : default_val;
|
||||
}
|
||||
|
||||
float getenv(const char* key, float default_val) {
|
||||
const char* val = ::getenv(key);
|
||||
return val ? atof(val) : default_val;
|
||||
}
|
||||
|
||||
std::string hexdump(const uint8_t* in, const size_t size) {
|
||||
std::stringstream ss;
|
||||
ss << std::hex << std::setfill('0');
|
||||
for (size_t i = 0; i < size; i++) {
|
||||
ss << std::setw(2) << static_cast<unsigned int>(in[i]);
|
||||
}
|
||||
return ss.str();
|
||||
}
|
||||
|
||||
int random_int(int min, int max) {
|
||||
std::random_device dev;
|
||||
std::mt19937 rng(dev());
|
||||
std::uniform_int_distribution<std::mt19937::result_type> dist(min, max);
|
||||
return dist(rng);
|
||||
}
|
||||
|
||||
std::string random_string(std::string::size_type length) {
|
||||
const std::string chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ";
|
||||
std::mt19937 rg{std::random_device{}()};
|
||||
std::uniform_int_distribution<std::string::size_type> pick(0, chrs.length() - 1);
|
||||
std::string s;
|
||||
s.reserve(length);
|
||||
while (length--) {
|
||||
s += chrs[pick(rg)];
|
||||
}
|
||||
return s;
|
||||
}
|
||||
|
||||
bool starts_with(const std::string &s1, const std::string &s2) {
|
||||
return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0;
|
||||
}
|
||||
|
||||
bool ends_with(const std::string& s, const std::string& suffix) {
|
||||
return s.size() >= suffix.size() &&
|
||||
strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
|
||||
}
|
||||
|
||||
std::string strip(const std::string &str) {
|
||||
auto should_trim = [](unsigned char ch) {
|
||||
return std::isspace(ch) || ch == '\0';
|
||||
};
|
||||
|
||||
size_t start = 0;
|
||||
while (start < str.size() && should_trim(static_cast<unsigned char>(str[start]))) {
|
||||
start++;
|
||||
}
|
||||
|
||||
if (start == str.size()) {
|
||||
return "";
|
||||
}
|
||||
|
||||
size_t end = str.size() - 1;
|
||||
while (end > 0 && should_trim(static_cast<unsigned char>(str[end]))) {
|
||||
end--;
|
||||
}
|
||||
|
||||
return str.substr(start, end - start + 1);
|
||||
}
|
||||
|
||||
std::string check_output(const std::string& command) {
|
||||
char buffer[128];
|
||||
std::string result;
|
||||
std::unique_ptr<FILE, int(*)(FILE*)> pipe(popen(command.c_str(), "r"), pclose);
|
||||
|
||||
if (!pipe) {
|
||||
return "";
|
||||
}
|
||||
|
||||
while (fgets(buffer, std::size(buffer), pipe.get()) != nullptr) {
|
||||
result += std::string(buffer);
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
bool system_time_valid() {
|
||||
// Default to August 26, 2024
|
||||
tm min_tm = {.tm_mday = 26, .tm_mon = 7, .tm_year = 2024 - 1900};
|
||||
time_t min_date = mktime(&min_tm);
|
||||
|
||||
struct stat st;
|
||||
if (stat("/lib/systemd/systemd", &st) == 0) {
|
||||
min_date = std::max(min_date, st.st_mtime + 86400); // Add 1 day (86400 seconds)
|
||||
}
|
||||
|
||||
return time(nullptr) > min_date;
|
||||
}
|
||||
|
||||
} // namespace util
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user